BluetoothSerialConnection.java

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/*******************************************************************************
 * Copyright 2010 Neuron Robotics, LLC
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * 
 *   http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ******************************************************************************/
package com.neuronrobotics.sdk.wireless.bluetooth;
 
import javax.bluetooth.RemoteDevice;
 
import com.neuronrobotics.sdk.common.BowlerAbstractConnection;
import com.neuronrobotics.sdk.common.Log;
import com.neuronrobotics.sdk.common.MissingNativeLibraryException;
 
// TODO: Auto-generated Javadoc
public class BluetoothSerialConnection extends BowlerAbstractConnection{
        
        private int sleepTime = 800;
        
        private int pollTimeoutTime = 5;
        
        
        private String bluetoothAddress=null;
        
        private final int baud = 115200;
        
        private BlueCoveManager blue = null;
        
        private boolean connecting=false;
        
        private boolean reconOk = false;
        
        public BluetoothSerialConnection(BlueCoveManager blue,String deviceAddress) {
            this.blue = blue;
            this.bluetoothAddress=deviceAddress;
            RemoteDevice device=blue.getDevice(bluetoothAddress);
            if(device== null){
                throw new RuntimeException();
            }else{
                try {
                    String d = device.getBluetoothAddress();
                    Log.info("Device selected: "+d);
                } catch (Exception e) {
                    // TODO Auto-generated catch block
                    e.printStackTrace();
                }
            }
            init();
        }
        
        private void init(){
            setSynchronusPacketTimeoutTime(sleepTime);
            //
        }
        
        public String getPort() {
            return bluetoothAddress;
        }
 
        /* (non-Javadoc)
         * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#connect()
         */
        @Override
        public synchronized boolean connect() {
            if(isConnected()) {
                Log.error(bluetoothAddress + " is already connected.");
                return true;
            }
            try 
            {   
                setConnected(true);
                connecting=true;
                blue.connect(bluetoothAddress);
                setDataIns(blue.getDataIns());
                setDataOuts(blue.getDataOuts());
                connecting=false;
            }catch(UnsatisfiedLinkError e){
                setConnected(false);
                throw new MissingNativeLibraryException(e.getMessage());
            }catch (Exception e) {
                setConnected(false);
                System.err.println("Failed to connect on port:"+bluetoothAddress+" exception: ");
                e.printStackTrace();
                return false;
            }
            
            return isConnected();   
        }
        
        /* (non-Javadoc)
         * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#disconnect()
         */
        @Override
        public synchronized void disconnect() {
            
            try{
                super.disconnect();
                if(getBlueManager() != null){
                    try{getBlueManager().disconnect();}catch(Exception e){}
                }
            }catch( UnsatisfiedLinkError e){
                throw new MissingNativeLibraryException(e.getMessage());
            }
            setConnected(false);
        }
 
        /* (non-Javadoc)
         * @see java.lang.Object#toString()
         */
        @Override
        public String toString() {
            return bluetoothAddress;
        }
 
 
        public int getBaud() {
            return this.baud;
        }
 
        public BlueCoveManager getBlueManager() {
            return blue;
        }
 
        /* (non-Javadoc)
         * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#reconnect()
         */
        //@Override
        public  boolean reconnect() {
            //return true;
            reconOk = false;
            return recon();
        }
        
        private synchronized boolean recon() {
            if(!isConnected()||reconOk==true)
                return reconOk;
            Log.info("Attempting to re-connect");
            blue.find();
            setConnected(false);
            connect();
            //This prevents multible resyncs from building up and running
            reconOk = true;
            return isConnected();
        }
 
        /* (non-Javadoc)
         * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#waitingForConnection()
         */
        @Override
        public boolean waitingForConnection() {
            return connecting;
        }
        
    
 
}