Android Open Source - NXTControl L C P Message

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License

The source code is released under:
GNU General Public License
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Java Source Code

/**
 *   Copyright 2010, 2011, 2012 Guenther Hoelzl, Shawn Brown
 *//from   w w w. j  a va  2  s .  c om
 *   This file is part of MINDdroid.
 *
 *   MINDdroid is free software: you can redistribute it and/or modify
 *   it under the terms of the GNU General Public License as published by
 *   the Free Software Foundation, either version 3 of the License, or
 *   (at your option) any later version.
 *
 *   MINDdroid is distributed in the hope that it will be useful,
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *   GNU General Public License for more details.
 *
 *   You should have received a copy of the GNU General Public License
 *   along with MINDdroid.  If not, see <http://www.gnu.org/licenses/>.
**/

package br.com.bandtec.nxtcontrol;

/**
 * Class for composing the proper messages for simple
 * communication over bluetooth
 */
public class LCPMessage {
  // The folowing constants were taken from the leJOS project (http://www.lejos.org) 
  
  // Command types constants. Indicates type of packet being sent or received.
  public static final byte DIRECT_COMMAND_REPLY = 0x00;
  public static final byte SYSTEM_COMMAND_REPLY = 0x01;
  public static final byte REPLY_COMMAND = 0x02;
  public static final byte DIRECT_COMMAND_NOREPLY = (byte)0x80; // Avoids ~100ms latency
  public static final byte SYSTEM_COMMAND_NOREPLY = (byte)0x81; // Avoids ~100ms latency
  
  // Direct Commands
  public static final byte START_PROGRAM = 0x00;
  public static final byte STOP_PROGRAM = 0x01;
  public static final byte PLAY_SOUND_FILE = 0x02;
  public static final byte PLAY_TONE = 0x03;
  public static final byte SET_OUTPUT_STATE = 0x04;
  public static final byte SET_INPUT_MODE = 0x05;
  public static final byte GET_OUTPUT_STATE = 0x06;
  public static final byte GET_INPUT_VALUES = 0x07;
  public static final byte RESET_SCALED_INPUT_VALUE = 0x08;
  public static final byte MESSAGE_WRITE = 0x09;
  public static final byte RESET_MOTOR_POSITION = 0x0A;   
  public static final byte GET_BATTERY_LEVEL = 0x0B;
  public static final byte STOP_SOUND_PLAYBACK = 0x0C;
  public static final byte KEEP_ALIVE = 0x0D;
  public static final byte LS_GET_STATUS = 0x0E;
  public static final byte LS_WRITE = 0x0F;
  public static final byte LS_READ = 0x10;
  public static final byte GET_CURRENT_PROGRAM_NAME = 0x11;
  public static final byte MESSAGE_READ = 0x13;
  
  // NXJ additions
  public static byte NXJ_DISCONNECT = 0x20; 
  public static byte NXJ_DEFRAG = 0x21;
  
  // MINDdroidConnector additions
  public static final byte SAY_TEXT = 0x30;
  public static final byte VIBRATE_PHONE = 0x31;
  public static final byte ACTION_BUTTON = 0x32;
  
  // System Commands:
  public static final byte OPEN_READ = (byte)0x80;
  public static final byte OPEN_WRITE = (byte)0x81;
  public static final byte READ = (byte)0x82;
  public static final byte WRITE = (byte)0x83;
  public static final byte CLOSE = (byte)0x84;
  public static final byte DELETE = (byte)0x85;    
  public static final byte FIND_FIRST = (byte)0x86;
  public static final byte FIND_NEXT = (byte)0x87;
  public static final byte GET_FIRMWARE_VERSION = (byte)0x88;
  public static final byte OPEN_WRITE_LINEAR = (byte)0x89;
  public static final byte OPEN_READ_LINEAR = (byte)0x8A;
  public static final byte OPEN_WRITE_DATA = (byte)0x8B;
  public static final byte OPEN_APPEND_DATA = (byte)0x8C;
  public static final byte BOOT = (byte)0x97;
  public static final byte SET_BRICK_NAME = (byte)0x98;
  public static final byte GET_DEVICE_INFO = (byte)0x9B;
  public static final byte DELETE_USER_FLASH = (byte)0xA0;
  public static final byte POLL_LENGTH = (byte)0xA1;
  public static final byte POLL = (byte)0xA2;
  
  public static final byte NXJ_FIND_FIRST = (byte)0xB6;
  public static final byte NXJ_FIND_NEXT = (byte)0xB7;
  public static final byte NXJ_PACKET_MODE = (byte)0xFF;
  
  // Error codes  
  public static final byte MAILBOX_EMPTY = (byte)0x40;
  public static final byte FILE_NOT_FOUND = (byte)0x86;
  public static final byte INSUFFICIENT_MEMORY = (byte)0xFB;
  public static final byte DIRECTORY_FULL = (byte)0xFC;
  public static final byte UNDEFINED_ERROR = (byte)0x8A;
  public static final byte NOT_IMPLEMENTED = (byte)0xFD;
  
  // Firmware codes
  public static byte[] FIRMWARE_VERSION_LEJOSMINDDROID = { 0x6c, 0x4d, 0x49, 0x64 };
  
  public static byte[] getBeepMessage(int frequency, int duration) {
    return new byte[] {
      DIRECT_COMMAND_NOREPLY,
      PLAY_TONE,
      // Frequency for the tone, Hz (UWORD); Range: 200-14000 Hz
      (byte)frequency,
      (byte)(frequency >>> 8),
      // Duration of the tone, ms (UWORD)
      (byte)duration,
      (byte)(duration >>> 8)
    };
  }
  
  public static byte[] getActionMessage(int actionNr) {
    return new byte[] {
      DIRECT_COMMAND_NOREPLY,
      ACTION_BUTTON,
      (byte)actionNr
    };
  }
  
  public static byte[] getMotorMessage(int motor, int speed) {
    final byte[] message = new byte[12];
    message[0] = DIRECT_COMMAND_NOREPLY;
    message[1] = SET_OUTPUT_STATE;
    // Output port
    message[2] = (byte)motor;
    if (speed == 0) {
      message[3] = 0;
      message[4] = 0;
      message[5] = 0;
      message[6] = 0;
      message[7] = 0;
    } else {
      // Power set option (Range: -100 - 100)
      message[3] = (byte)speed;
      // Mode byte (Bit-field): MOTORON + BREAK
      message[4] = 0x03;
      // Regulation mode: REGULATION_MODE_MOTOR_SPEED
      message[5] = 0x01;
      // Turn Ratio (SBYTE; -100 - 100)
      message[6] = 0x00;
      // RunState: MOTOR_RUN_STATE_RUNNING
      message[7] = 0x20;
    }
    // TachoLimit: run forever
    message[8] = 0;
    message[9] = 0;
    message[10] = 0;
    message[11] = 0;
    return message;
  }
  
  public static byte[] getMotorMessage(int motor, int speed, int end) {
    final byte[] message = getMotorMessage(motor, speed);
    // TachoLimit
    message[8] = (byte)end;
    message[9] = (byte)(end >>> 8);
    message[10] = (byte)(end >>> 16);
    message[11] = (byte)(end >>> 24);
    return message;
  }
  
  public static byte[] getResetMessage(int motor) {
    return new byte[] {
      DIRECT_COMMAND_NOREPLY,
      RESET_MOTOR_POSITION,
      // Output port
      (byte)motor,
      // absolute position
      0
    };
  }
  
  public static byte[] getStartProgramMessage(String programName) {
    final byte[] message = new byte[22];
    message[0] = DIRECT_COMMAND_NOREPLY;
    message[1] = START_PROGRAM;
    // Copy programName and end with 0 delimiter
    for (int pos = 0; pos < programName.length(); pos++)
      message[2 + pos] = (byte)programName.charAt(pos);
    message[programName.length() + 2] = 0;
    return message;
  }
  
  public static byte[] getStopProgramMessage() {
    return new byte[] {
      DIRECT_COMMAND_NOREPLY,
      STOP_PROGRAM
    };
  }
  
  public static byte[] getProgramNameMessage() {
    return new byte[] {
      DIRECT_COMMAND_REPLY,
      GET_CURRENT_PROGRAM_NAME
    };
  }
  
  public static byte[] getOutputStateMessage(int motor) {
    return new byte[] {
      DIRECT_COMMAND_REPLY,
      GET_OUTPUT_STATE,
      // Output port
      (byte)motor
    };
  }
  
  public static byte[] getWriteMailboxMessage(String textMessage) {
    final byte[] message = new byte[5 + textMessage.length()];
    message[0] = DIRECT_COMMAND_NOREPLY;
    message[1] = MESSAGE_WRITE;
    message[2] = 0;
    message[3] = (byte)(textMessage.length() + 1);
    int i;
    for (i = 0; i < textMessage.length(); i++)
      message[i + 4] = (byte)textMessage.charAt(i);
    message[i + 4] = 0;
    return message;
  }
  
  public static byte[] getFirmwareVersionMessage() {
    return new byte[] {
      SYSTEM_COMMAND_REPLY,
      GET_FIRMWARE_VERSION
    };
  }
  
  public static byte[] getFindFilesMessage(boolean findFirst, int handle, String searchString) {
    final byte[] message;
    
    if (findFirst)
      message = new byte[22];
    else
      message = new byte[3];
    
    message[0] = SYSTEM_COMMAND_REPLY;
    if (findFirst) {
      message[1] = FIND_FIRST;
      // Copy searchString and end with 0 delimiter
      for (int pos = 0; pos < searchString.length(); pos++)
        message[2 + pos] = (byte)searchString.charAt(pos);
      message[searchString.length() + 2] = 0;
    } else {
      message[1] = FIND_NEXT;
      message[2] = (byte)handle;
    }
    return message;
  }
  
  public static byte[] getOpenWriteMessage(String fileName, int fileLength) {
    final byte[] message = new byte[26];
    message[0] = SYSTEM_COMMAND_REPLY;
    message[1] = OPEN_WRITE;
    // Copy programName and end with 0 delimiter
    for (int pos = 0; pos < fileName.length(); pos++)
      message[2 + pos] = (byte)fileName.charAt(pos);
    message[fileName.length() + 2] = 0;
    // Copy file size
    message[22] = (byte)fileLength;
    message[23] = (byte)(fileLength >>> 8);
    message[24] = (byte)(fileLength >>> 16);
    message[25] = (byte)(fileLength >>> 24);    
    return message;
  }

  public static byte[] getDeleteMessage(String fileName) {
    final byte[] message = new byte[22];
    message[0] = SYSTEM_COMMAND_REPLY;
    message[1] = DELETE;
    // Copy programName and end with 0 delimiter
    for (int pos = 0; pos < fileName.length(); pos++)
      message[2 + pos] = (byte)fileName.charAt(pos);
    message[fileName.length() + 2] = 0;
    return message;
  }
  
  public static byte[] getWriteMessage(int handle, byte[] data, int dataLength) {
    final byte[] message = new byte[dataLength + 3];
    message[0] = SYSTEM_COMMAND_REPLY;
    message[1] = WRITE;
    // Copy handle
    message[2] = (byte)handle;
    // Copy data
    System.arraycopy(data, 0, message, 3, dataLength);
    return message;
  }
  
  public static byte[] getCloseMessage(int handle) {
    return new byte[] {
      SYSTEM_COMMAND_REPLY,
      CLOSE,
      // Copy handle
      (byte)handle
    };
  }
}
Java Source Code List
