NXTProtocol.java :  » Remote » bot-commander » icommand » nxt » comm » Android Open Source

package icommand.nxt.comm;

public interface NXTProtocol {

  // Command types constants. Indicates type of packet being sent or received.
  public static byte DIRECT_COMMAND_REPLY = 0x00;
  public static byte SYSTEM_COMMAND_REPLY = 0x01;
  public static byte REPLY_COMMAND = 0x02;
  public static byte DIRECT_COMMAND_NOREPLY = (byte) 0x80; // Avoids ~100ms latency
  public static byte SYSTEM_COMMAND_NOREPLY = (byte) 0x81; // Avoids ~100ms latency

  // System Commands:
  public static byte OPEN_READ = (byte) 0x80;
  public static byte OPEN_WRITE = (byte) 0x81;
  public static byte READ = (byte) 0x82;
  public static byte WRITE = (byte) 0x83;
  public static byte CLOSE = (byte) 0x84;
  public static byte DELETE = (byte) 0x85;
  public static byte FIND_FIRST = (byte) 0x86;
  public static byte FIND_NEXT = (byte) 0x87;
  public static byte GET_FIRMWARE_VERSION = (byte) 0x88;
  public static byte OPEN_WRITE_LINEAR = (byte) 0x89;
  public static byte OPEN_READ_LINEAR = (byte) 0x8A;
  public static byte OPEN_WRITE_DATA = (byte) 0x8B;
  public static byte OPEN_APPEND_DATA = (byte) 0x8C;
  // Many commands could be hidden between 0x8D and 0x96!
  public static byte BOOT = (byte) 0x97;
  public static byte SET_BRICK_NAME = (byte) 0x98;
  // public static byte MYSTERY_COMMAND = (byte)0x99;
  // public static byte MYSTERY_COMMAND = (byte)0x9A;
  public static byte GET_DEVICE_INFO = (byte) 0x9B;
  // commands could be hidden here...
  public static byte DELETE_USER_FLASH = (byte) 0xA0;
  public static byte POLL_LENGTH = (byte) 0xA1;
  public static byte POLL = (byte) 0xA2;

  // Poll constants:
  public static byte POLL_BUFFER = (byte) 0x00;
  public static byte HIGH_SPEED_BUFFER = (byte) 0x01;

  // Direct Commands
  public static byte START_PROGRAM = 0x00;
  public static byte STOP_PROGRAM = 0x01;
  public static byte PLAY_SOUND_FILE = 0x02;
  public static byte PLAY_TONE = 0x03;
  public static byte SET_OUTPUT_STATE = 0x04;
  public static byte SET_INPUT_MODE = 0x05;
  public static byte GET_OUTPUT_STATE = 0x06;
  public static byte GET_INPUT_VALUES = 0x07;
  public static byte RESET_SCALED_INPUT_VALUE = 0x08;
  public static byte MESSAGE_WRITE = 0x09;
  public static byte RESET_MOTOR_POSITION = 0x0A;
  public static byte GET_BATTERY_LEVEL = 0x0B;
  public static byte STOP_SOUND_PLAYBACK = 0x0C;
  public static byte KEEP_ALIVE = 0x0D;
  public static byte LS_GET_STATUS = 0x0E;
  public static byte LS_WRITE = 0x0F;
  public static byte LS_READ = 0x10;
  public static byte GET_CURRENT_PROGRAM_NAME = 0x11;
  // public static byte MYSTERY_OPCODE = 0x12; // ????
  public static byte MESSAGE_READ = 0x13;
  // public static byte POSSIBLY_MORE_HIDDEN = 0x14; // ????

  // Custom leJOS NXJ commands:
  public static byte NXJ_DISCONNECT = 0x20;
  public static byte NXJ_DEFRAG = 0x21;

  // Output state constants
  // Mode:
  /** Turn on the specified motor */
  public static byte MOTORON = 0x01;
  /** Use run/brake instead of run/float in PWM */
  public static byte BRAKE = 0x02;
  /** Turns on the regulation */
  public static byte REGULATED = 0x04;

  // Regulation Mode:
  /** No regulation will be enabled */
  public static byte REGULATION_MODE_IDLE = 0x00;
  /** Power control will be enabled on specified output */
  public static byte REGULATION_MODE_MOTOR_SPEED = 0x01;
  /** Synchronization will be enabled (Needs enabled on two output) */
  public static byte REGULATION_MODE_MOTOR_SYNC = 0x02;

  // RunState:
  /** Output will be idle */
  public static byte MOTOR_RUN_STATE_IDLE = 0x00;
  /** Output will ramp-up */
  public static byte MOTOR_RUN_STATE_RAMPUP = 0x10;
  /** Output will be running */
  public static byte MOTOR_RUN_STATE_RUNNING = 0x20;
  /** Output will ramp-down */
  public static byte MOTOR_RUN_STATE_RAMPDOWN = 0x40;

  // Input Mode Constants
  // Port Type:
  /**  */
  public static byte NO_SENSOR = 0x00;
  /**  */
  public static byte SWITCH = 0x01;
  /**  */
  public static byte TEMPERATURE = 0x02;
  /**  */
  public static byte REFLECTION = 0x03;
  /**  */
  public static byte ANGLE = 0x04;
  /**  */
  public static byte LIGHT_ACTIVE = 0x05;
  /**  */
  public static byte LIGHT_INACTIVE = 0x06;
  /**  */
  public static byte SOUND_DB = 0x07;
  /**  */
  public static byte SOUND_DBA = 0x08;
  /**  */
  public static byte CUSTOM = 0x09;
  /**  */
  public static byte LOWSPEED = 0x0A;
  /**  */
  public static byte LOWSPEED_9V = 0x0B;
  /**  */
  public static byte NO_OF_SENSOR_TYPES = 0x0C;

  // Port Mode:
  /**  */
  public static byte RAWMODE = 0x00;
  /**  */
  public static byte BOOLEANMODE = 0x20;
  /**  */
  public static byte TRANSITIONCNTMODE = 0x40;
  /**  */
  public static byte PERIODCOUNTERMODE = 0x60;
  /**  */
  public static byte PCTFULLSCALEMODE = (byte) 0x80;
  /**  */
  public static byte CELSIUSMODE = (byte) 0xA0;
  /**  */
  public static byte FAHRENHEITMODE = (byte) 0xC0;
  /**  */
  public static byte ANGLESTEPSMODE = (byte) 0xE0;
  /**  */
  public static byte SLOPEMASK = 0x1F;
  /**  */
  public static byte MODEMASK = (byte) 0xE0;

}