RCXPort (RCX Java API)

rcx
Class RCXPort

java.lang.Object
  |
  +--rcx.RCXPort

public class RCXPort
extends java.lang.Object

RCXPort - Encapsulates and manages communications to and from the RCX

Field Summary

static boolean debug
          used to display debugging messages

boolean isEmulation
          used to indicate emulation mode

static boolean skipalive
          used to skip sending the initial alive message

Constructor Summary

RCXPort()
          creates the port and calls init(null)

RCXPort(java.lang.String portname)
          creates the port and calls init(portname)

Method Summary

void addAllMessagesListener(AllMessagesListener rl)
          adds an AllMessagesListener

void addRCXErrorListener(RCXErrorListener rl)
          adds an RCXErrorListener

void addRCXListener(RCXListener rl)
          adds an RCXListener

void alive()
          sends an alive message to the RCX

static java.lang.String ArrayToString(byte[] message, int length)
          utility to return a string representation of an array or first part of an array (given a length)

void beep()
          play system sound (0)

void beepSequence()
          plays system sound (2)

void beepSequenceUp()
          plays system sound (3)

void buzz()
          plays system sound (4)

void close()
          closes the streams and the port

void controlMotor(char id, short mode, short power)


float getBatteryPower()
          gets the battery power level in volts

java.io.InputStream getInputStream()
          gets the InputStream

java.lang.String getLastError()
          retrieves the last error that occurred

int getLastValue()
          returns the return value of the last message processed (if it returned a value)

java.io.OutputStream getOutputStream()
          gets the OutputStream

void init(java.lang.String port)
          creates an instance of RCXOpcode for looking up opcodes, creates the static instances of Motor and Sensor, and calls open(port)

protected void initPort()
          creates an instance of the RCXCommPort: RCXUSBPort, RCXSocketPort or RCXSerialPort

boolean isOpen()
          tests to see if port already opened

boolean open()
          actually opens the port and obtains the output and input streams

void open(java.lang.String port)
          determines the type of port from the port name
(if null will find first available serial port

void playTone(int frequency, int duration)
          Plays a tone, given its frequency and duration.

void processMessage(byte[] message)
          processes messages by converting return values and storing the return value internally until retrieved by getLastValue()

int readSensorValue(int sensorId, int requestType)


boolean send(java.lang.String packet)
          converts string to byte array and send it to RCX

void setDebug(boolean set)
          sets debug mode on or off

void setError(java.lang.String msg)
          sets error message and sends it to the errorListener

void setOpen(boolean set)
          used to overide the port open status (for example, mark as closed when errors occur)

void setSensorValue(int sensorId, int val, int requestType)
          sets the sensorID value and type (if in emulation mode, sets the value to be read)

void setStreams(java.io.InputStream in, java.io.OutputStream out)
          sets the streams to swap and creates an instance (thread) of StreamSwap

void systemSound(boolean queued, int code)
          plays a system sound (0-5)
0:Blip 1:Beep beep 2:Downward tones 3:Upward tones 4:Low buzz 5:Fast upward tones
(note: queued not applied here - used just for compatiblity with leJOS)

void twoBeeps()
          plays system sound (1)

void upwardTones()
          plays system sound (5)

boolean write(byte[] bArray)
          writes a byte array to the RCX port

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

debug

public static boolean debug

used to display debugging messages

isEmulation

public boolean isEmulation

used to indicate emulation mode

skipalive

public static boolean skipalive

used to skip sending the initial alive message

Constructor Detail

RCXPort

public RCXPort()

creates the port and calls init(null)

RCXPort

public RCXPort(java.lang.String portname)

creates the port and calls init(portname)

Method Detail

addAllMessagesListener

public void addAllMessagesListener(AllMessagesListener rl)

adds an AllMessagesListener

addRCXErrorListener

public void addRCXErrorListener(RCXErrorListener rl)

adds an RCXErrorListener

addRCXListener

public void addRCXListener(RCXListener rl)

adds an RCXListener

alive

public void alive()

sends an alive message to the RCX

ArrayToString

public static java.lang.String ArrayToString(byte[] message,
                                             int length)

utility to return a string representation of an array or first part of an array (given a length)

beep

public void beep()

play system sound (0)

beepSequence

public void beepSequence()

plays system sound (2)

beepSequenceUp

public void beepSequenceUp()

plays system sound (3)

buzz

public void buzz()

plays system sound (4)

close

public void close()

closes the streams and the port

controlMotor

public void controlMotor(char id,
                         short mode,
                         short power)

getBatteryPower

public float getBatteryPower()

gets the battery power level in volts

getInputStream

public java.io.InputStream getInputStream()

gets the InputStream

getLastError

public java.lang.String getLastError()

retrieves the last error that occurred

getLastValue

public int getLastValue()

returns the return value of the last message processed (if it returned a value)

getOutputStream

public java.io.OutputStream getOutputStream()

gets the OutputStream

init

public void init(java.lang.String port)

creates an instance of RCXOpcode for looking up opcodes, creates the static instances of Motor and Sensor, and calls open(port)

initPort

protected void initPort()

creates an instance of the RCXCommPort: RCXUSBPort, RCXSocketPort or RCXSerialPort

isOpen

public boolean isOpen()

tests to see if port already opened

open

public boolean open()

actually opens the port and obtains the output and input streams

open

public void open(java.lang.String port)

determines the type of port from the port name
(if null will find first available serial port

playTone

public void playTone(int frequency,
                     int duration)

Plays a tone, given its frequency and duration. Frequency is audible from about 31 to 2100 Hertz. The duration argument is in hundreds of a seconds and is truncated at 256, so the maximum duration of a tone is 2.56 seconds.

processMessage

public void processMessage(byte[] message)

processes messages by converting return values and storing the return value internally until retrieved by getLastValue()

readSensorValue

public int readSensorValue(int sensorId,
                           int requestType)

Parameters:: sensorId - Sensor ID (0..2).; requestType - 0 = raw value, 1 = canonical value, 2 = boolean value.

send

public boolean send(java.lang.String packet)

converts string to byte array and send it to RCX

setDebug

public void setDebug(boolean set)

sets debug mode on or off

setError

public void setError(java.lang.String msg)

sets error message and sends it to the errorListener

See Also:: RCXErrorListener

setOpen

public void setOpen(boolean set)

used to overide the port open status (for example, mark as closed when errors occur)

setSensorValue

public void setSensorValue(int sensorId,
                           int val,
                           int requestType)

sets the sensorID value and type (if in emulation mode, sets the value to be read)

See Also:: Sensor, SensorConstants

setStreams

public void setStreams(java.io.InputStream in,
                       java.io.OutputStream out)

sets the streams to swap and creates an instance (thread) of StreamSwap

See Also:: RCXServer

systemSound

public void systemSound(boolean queued,
                        int code)

plays a system sound (0-5)
0:Blip 1:Beep beep 2:Downward tones 3:Upward tones 4:Low buzz 5:Fast upward tones
(note: queued not applied here - used just for compatiblity with leJOS)

twoBeeps

public void twoBeeps()

plays system sound (1)

upwardTones

public void upwardTones()

plays system sound (5)

write

public boolean write(byte[] bArray)

writes a byte array to the RCX port

Field Summary
`static boolean`	`debug` used to display debugging messages
`boolean`	`isEmulation` used to indicate emulation mode
`static boolean`	`skipalive` used to skip sending the initial alive message

Constructor Summary
`RCXPort()` creates the port and calls init(null)
`RCXPort(java.lang.String portname)` creates the port and calls init(portname)

Method Summary
`void`	`addAllMessagesListener(AllMessagesListener rl)` adds an AllMessagesListener
`void`	`addRCXErrorListener(RCXErrorListener rl)` adds an RCXErrorListener
`void`	`addRCXListener(RCXListener rl)` adds an RCXListener
`void`	`alive()` sends an alive message to the RCX
`static java.lang.String`	`ArrayToString(byte[] message, int length)` utility to return a string representation of an array or first part of an array (given a length)
`void`	`beep()` play system sound (0)
`void`	`beepSequence()` plays system sound (2)
`void`	`beepSequenceUp()` plays system sound (3)
`void`	`buzz()` plays system sound (4)
`void`	`close()` closes the streams and the port
`void`	`controlMotor(char id, short mode, short power)`
`float`	`getBatteryPower()` gets the battery power level in volts
`java.io.InputStream`	`getInputStream()` gets the InputStream
`java.lang.String`	`getLastError()` retrieves the last error that occurred
`int`	`getLastValue()` returns the return value of the last message processed (if it returned a value)
`java.io.OutputStream`	`getOutputStream()` gets the OutputStream
`void`	`init(java.lang.String port)` creates an instance of RCXOpcode for looking up opcodes, creates the static instances of Motor and Sensor, and calls open(port)
`protected void`	`initPort()` creates an instance of the RCXCommPort: RCXUSBPort, RCXSocketPort or RCXSerialPort
`boolean`	`isOpen()` tests to see if port already opened
`boolean`	`open()` actually opens the port and obtains the output and input streams
`void`	`open(java.lang.String port)` determines the type of port from the port name (if null will find first available serial port
`void`	`playTone(int frequency, int duration)` Plays a tone, given its frequency and duration.
`void`	`processMessage(byte[] message)` processes messages by converting return values and storing the return value internally until retrieved by getLastValue()
`int`	`readSensorValue(int sensorId, int requestType)`
`boolean`	`send(java.lang.String packet)` converts string to byte array and send it to RCX
`void`	`setDebug(boolean set)` sets debug mode on or off
`void`	`setError(java.lang.String msg)` sets error message and sends it to the errorListener
`void`	`setOpen(boolean set)` used to overide the port open status (for example, mark as closed when errors occur)
`void`	`setSensorValue(int sensorId, int val, int requestType)` sets the sensorID value and type (if in emulation mode, sets the value to be read)
`void`	`setStreams(java.io.InputStream in, java.io.OutputStream out)` sets the streams to swap and creates an instance (thread) of StreamSwap
`void`	`systemSound(boolean queued, int code)` plays a system sound (0-5) 0:Blip 1:Beep beep 2:Downward tones 3:Upward tones 4:Low buzz 5:Fast upward tones (note: queued not applied here - used just for compatiblity with leJOS)
`void`	`twoBeeps()` plays system sound (1)
`void`	`upwardTones()` plays system sound (5)
`boolean`	`write(byte[] bArray)` writes a byte array to the RCX port

rcx Class RCXPort

debug

isEmulation

skipalive

RCXPort

RCXPort

addAllMessagesListener

addRCXErrorListener

addRCXListener

alive

ArrayToString

beep

beepSequence

beepSequenceUp

buzz

close

controlMotor

getBatteryPower

getInputStream

getLastError

getLastValue

getOutputStream

init

initPort

isOpen

open

open

playTone

processMessage

readSensorValue

send

setDebug

setError

setOpen

setSensorValue

setStreams

systemSound

twoBeeps

upwardTones

write

rcx
Class RCXPort