bluetooth.java

专业汽车级嵌入式操作系统OSEK的源代码

package lejos.nxt.comm;


/**
 * Support for Bluetooth communications.
 */
public class Bluetooth {

	public static  final int MSG_BEGIN_INQUIRY = 0;
	public static  final int MSG_CANCEL_INQUIRY = 1;
	public static  final int MSG_CONNECT = 2;
	public static  final int MSG_OPEN_PORT = 3;
	public static  final int MSG_LOOKUP_NAME = 4;
	public static  final int MSG_ADD_DEVICE = 5;
	public static  final int MSG_REMOVE_DEVICE = 6;
	public static  final int MSG_DUMP_LIST = 7;
	public static  final int MSG_CLOSE_CONNECTION = 8;
	public static  final int MSG_ACCEPT_CONNECTION = 9;
	public static  final int MSG_PIN_CODE = 10;
	public static  final int MSG_OPEN_STREAM = 11;
	public static  final int MSG_START_HEART = 12;
	public static  final int MSG_HEARTBEAT = 13;
	public static  final int MSG_INQUIRY_RUNNING = 14;
	public static  final int MSG_INQUIRY_RESULT = 15;
	public static  final int MSG_INQUIRY_STOPPED = 16;
	public static  final int MSG_LOOKUP_NAME_RESULT = 17;
	public static  final int MSG_LOOKUP_NAME_FAILURE = 18;
	public static  final int MSG_CONNECT_RESULT = 19;
	public static  final int MSG_RESET_INDICATION = 20;
	public static  final int MSG_REQUEST_PIN_CODE = 21;
	public static  final int MSG_REQUEST_CONNECTION = 22;
	public static  final int MSG_LIST_RESULT = 23;
	public static  final int MSG_LIST_ITEM = 24;
	public static  final int MSG_LIST_DUMP_STOPPED = 25;
	public static  final int MSG_CLOSE_CONNECTION_RESULT = 26;
	public static  final int MSG_PORT_OPEN_RESULT = 27;
	public static  final int MSG_SET_DISCOVERABLE = 28;
	public static  final int MSG_CLOSE_PORT = 29;
	public static  final int MSG_CLOSE_PORT_RESULT = 30;
	public static  final int MSG_PIN_CODE_ACK = 31;
	public static  final int MSG_DISCOVERABLE_ACK = 32;
	public static  final int MSG_SET_FRIENDLY_NAME = 33;
	public static  final int MSG_SET_FRIENDLY_NAME_ACK = 34;
	public static  final int MSG_GET_LINK_QUALITY = 35;
	public static  final int MSG_LINK_QUALITY_RESULT = 36;
	public static  final int MSG_SET_FACTORY_SETTINGS = 37;
	public static  final int MSG_SET_FACTORY_SETTINGS_ACK = 38;
	public static  final int MSG_GET_LOCAL_ADDR = 39;
	public static  final int MSG_GET_LOCAL_ADDR_RESULT = 40;
	public static  final int MSG_GET_FRIENDLY_NAME = 41;
	public static  final int MSG_GET_DISCOVERABLE = 42;
	public static  final int MSG_GET_PORT_OPEN = 43;
	public static  final int MSG_GET_FRIENDLY_NAME_RESULT = 44;
	public static  final int MSG_GET_DISCOVERABLE_RESULT = 45;
	public static  final int MSG_GET_PORT_OPEN_RESULT = 46;
	public static  final int MSG_GET_VERSION = 47;
	public static  final int MSG_GET_VERSION_RESULT = 48;
	public static  final int MSG_GET_BRICK_STATUSBYTE_RESULT = 49;
	public static  final int MSG_SET_BRICK_STATUSBYTE_RESULT = 50;
	public static  final int MSG_GET_BRICK_STATUSBYTE = 51;
	public static  final int MSG_SET_BRICK_STATUSBYTE = 52;
	
	static byte[] sendBuf = new byte[256];
	static byte[] receiveBuf = new byte[128];
	
	private Bluetooth()
	{	
	}
	
	/**
	 * Low-level method to send a BT command or data
	 * 
	 * @param buf the buffer to send
	 * @param len the number of bytes to send
	 */
	public static native void btSend(byte[] buf, int len);
	
	/**
	 * Low-level method to receive BT replies or data
	 * 
	 * @param buf the buffer to receive data in
	 */
	public static native void btReceive(byte[] buf);
	
	/**
	 * Low-level method to switch BC4 chip between command
	 * and data (stream) mode.
	 * 
	 * @param mode 0=data mode, 1=command mode
	 */
	public static native void btSetCmdMode(int mode);
	
	/**
	 * Low-level nethod to get the BC4 chip mode - does not work.
	 */
	public static native int btGetCmdMode();
	
	/**
	 * Low-level method to start ADC converter - does not wok.
	 *
	 */
	public static native void btStartADConverter();
	
	/**
	 * Send a command to the BC4 chip. Must be in command mode.
	 * @param cmd the command
	 * @param len the number of bytes
	 * 
	 */
	public static void sendCommand(byte[] cmd, int len)
	{
		int checkSum = 0;
		
		sendBuf[0] = (byte) (len + 2);
		
		for(int i=0;i<len;i++)
		{
			sendBuf[i+1] = cmd[i];
			checkSum += cmd[i];
		}
		
	    checkSum = -checkSum;
	    sendBuf[len+2] = (byte) ((checkSum >> 8) & 0xff);
	    sendBuf[len+3] = (byte) (checkSum & 0xff);
	    				
		btSend(sendBuf,len+3);
	}
	
	/**
	 * Receive a command or reply from the BC4 chip. 
	 * Must be in command mode.
	 * 
	 * @param buf the buffer to receive the reply
	 * @param bufLen the length of the buffer
	 * @return the number of bytes received
	 */
	public static int receiveReply(byte[] buf, int bufLen)
	{
		int checkSum, negSum, len;
		btReceive(receiveBuf);
		len = receiveBuf[0];
		buf[0] = (byte) len;
		
		if (len == 0) return 0;
		
		checkSum = len;
		
		if (len-1 <= bufLen)
		{
			for(int i=1;i<len-1;i++) 
			{
				buf[i] = receiveBuf[i];
				checkSum += (buf[i] & 0xff);
			}
			negSum = (receiveBuf[len-1] & 0xff) << 8;
			negSum += (receiveBuf[len] & 0xff);
			if (checkSum + negSum == 65536) return len-1;
			else return 0;
		}
		return 0;
	}
	
	/**
	 * Read a data packet (with 2-byte length header) from a stream connection.
	 * Must be in data mode.
	 * 
	 * @param buf the buffer to receive the data in
	 * @param bufLen the length of the buffer
	 * @return the number of bytes received
	 */
	public static int readPacket(byte[] buf, int bufLen)
	{
		int len;
		
		btReceive(receiveBuf);
		len = receiveBuf[0];
		if (len > 0 && len <= bufLen)
		{
	      for(int i=0;i<len;i++) buf[i] = receiveBuf[i+2];
	      return len;
		}
		return 0;
	}
	
	/**
	 * Send a data packet.
	 * Must be in data mode.
	 * @param buf the data to send
	 * @param bufLen the number of bytes to send
	 */
	public static void sendPacket(byte [] buf, int bufLen)
	{
		if (bufLen <= 254)
	    {
			sendBuf[0] = (byte) (bufLen & 0xFF);
			sendBuf[1] = (byte) ((bufLen >> 8) & 0xFF);
			for(int i=0;i<bufLen;i++) sendBuf[i+2] = buf[i];
			btSend(sendBuf,bufLen+2);
	    }
	}
	
	/**
	 * Wait for a remote device to connect.
	 * Pin currently must be 1234.
	 * 
	 * @return a BTConnection
	 */
	public static BTConnection waitForConnection()
	{
		byte[] reply = new byte[32];
		byte[] dummy = new byte[32];
		byte[] msg = new byte[32];
		byte[] device = new byte[7];
		boolean cmdMode = true;
		BTConnection btc = null;

		Bluetooth.btSetCmdMode(1);
		Bluetooth.btStartADConverter();

		while (cmdMode)
		{
			receiveReply(reply,32);
			
			if (reply[0] != 0) {
				if (reply[1] == MSG_REQUEST_PIN_CODE) {
					for(int i=0;i<7;i++) device[i] = reply[i+2];
					msg[0] = Bluetooth.MSG_PIN_CODE;
					for(int i=0;i<7;i++) msg[i+1] = device[i];
					msg[8] = '1';
					msg[9] = '2';
					msg[10] = '3';
					msg[11] = '4';
					for(int i=0;i<12;i++) msg[i+12] = 0;
					sendCommand(msg, 24);					
				}	
				
				if (reply[1] == MSG_REQUEST_CONNECTION) {
					for(int i=0;i<7;i++) device[i] = reply[i+2];
					msg[0] = MSG_ACCEPT_CONNECTION;
					msg[1] = 1;
					sendCommand(msg, 2);					
				}
				
				if (reply[1] == MSG_CONNECT_RESULT) {
					try {
						Thread.sleep(300);
					} catch (InterruptedException ie) {}
					receiveReply(dummy,32);					
					if (dummy[0] == 0) {
	                    btc = new BTConnection(reply[3]);
						msg[0] = MSG_OPEN_STREAM;
						msg[1] = reply[3];
						sendCommand(msg, 2);
						try {
							Thread.sleep(100);
						} catch (InterruptedException ie) {}
						btSetCmdMode(0);
						cmdMode = false;
					} 
				}
			}
		}
		return btc;
	}
}