lejos.nxt.comm
Class LCP

java.lang.Object
  lejos.nxt.comm.LCP

public class LCP
extends Object

Implements the Lego Communication Protocol, with some extensions for lejos NXJ.

Field Summary

static byte	BOOT
static byte	CLOSE
static byte	DELETE
static byte	DELETE_USER_FLASH
static byte	DIRECT_COMMAND_NOREPLY
static byte	DIRECT_COMMAND_REPLY
static byte	DIRECTORY_FULL
static byte	FILE_NOT_FOUND
static byte	FIND_FIRST
static byte	FIND_NEXT
static byte	GET_BATTERY_LEVEL
static byte	GET_CURRENT_PROGRAM_NAME
static byte	GET_DEVICE_INFO
static byte	GET_FIRMWARE_VERSION
static byte	GET_INPUT_VALUES
static byte	GET_OUTPUT_STATE
static Queue[]	inBoxes
static byte	INSUFFICIENT_MEMORY
static byte	KEEP_ALIVE
static byte	LS_GET_STATUS
static byte	LS_READ
static byte	LS_WRITE
static byte	MAILBOX_EMPTY
static byte	MESSAGE_READ
static byte	MESSAGE_WRITE
static byte	NOT_IMPLEMENTED
static byte	NXJ_DEFRAG
static byte	NXJ_DISCONNECT
static byte	NXJ_FIND_FIRST
static byte	NXJ_FIND_NEXT
static byte	NXJ_PACKET_MODE
static byte	OPEN_APPEND_DATA
static byte	OPEN_READ
static byte	OPEN_READ_LINEAR
static byte	OPEN_WRITE
static byte	OPEN_WRITE_DATA
static byte	OPEN_WRITE_LINEAR
static byte	PLAY_SOUND_FILE
static byte	PLAY_TONE
static byte	POLL
static byte	POLL_LENGTH
static byte	READ
static byte	REPLY_COMMAND
static byte	RESET_MOTOR_POSITION
static byte	RESET_SCALED_INPUT_VALUE
static byte	SET_BRICK_NAME
static byte	SET_INPUT_MODE
static byte	SET_OUTPUT_STATE
static byte	START_PROGRAM
static byte	STOP_PROGRAM
static byte	STOP_SOUND_PLAYBACK
static byte	SYSTEM_COMMAND_NOREPLY
static byte	SYSTEM_COMMAND_REPLY
static byte	UNDEFINED_ERROR
static byte	WRITE

Method Summary

static int	emulateCommand(byte[] cmd, int cmdLen, byte[] reply) Emulates a Lego firmware Direct or System command
static void	messageWrite(int mailbox, String msg)

Methods inherited from class java.lang.Object

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

Field Detail

inBoxes

public static Queue[] inBoxes

DIRECT_COMMAND_REPLY

public static byte DIRECT_COMMAND_REPLY

SYSTEM_COMMAND_REPLY

public static byte SYSTEM_COMMAND_REPLY

REPLY_COMMAND

public static byte REPLY_COMMAND

DIRECT_COMMAND_NOREPLY

public static byte DIRECT_COMMAND_NOREPLY

SYSTEM_COMMAND_NOREPLY

public static byte SYSTEM_COMMAND_NOREPLY

START_PROGRAM

public static final byte START_PROGRAM

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Constant Field Values

STOP_PROGRAM

public static final byte STOP_PROGRAM

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PLAY_SOUND_FILE

public static final byte PLAY_SOUND_FILE

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PLAY_TONE

public static final byte PLAY_TONE

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SET_OUTPUT_STATE

public static final byte SET_OUTPUT_STATE

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SET_INPUT_MODE

public static final byte SET_INPUT_MODE

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GET_OUTPUT_STATE

public static final byte GET_OUTPUT_STATE

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GET_INPUT_VALUES

public static final byte GET_INPUT_VALUES

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RESET_SCALED_INPUT_VALUE

public static final byte RESET_SCALED_INPUT_VALUE

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MESSAGE_WRITE

public static final byte MESSAGE_WRITE

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RESET_MOTOR_POSITION

public static final byte RESET_MOTOR_POSITION

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GET_BATTERY_LEVEL

public static final byte GET_BATTERY_LEVEL

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STOP_SOUND_PLAYBACK

public static final byte STOP_SOUND_PLAYBACK

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KEEP_ALIVE

public static final byte KEEP_ALIVE

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LS_GET_STATUS

public static final byte LS_GET_STATUS

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LS_WRITE

public static final byte LS_WRITE

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LS_READ

public static final byte LS_READ

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GET_CURRENT_PROGRAM_NAME

public static final byte GET_CURRENT_PROGRAM_NAME

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MESSAGE_READ

public static final byte MESSAGE_READ

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NXJ_DISCONNECT

public static byte NXJ_DISCONNECT

NXJ_DEFRAG

public static byte NXJ_DEFRAG

OPEN_READ

public static final byte OPEN_READ

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OPEN_WRITE

public static final byte OPEN_WRITE

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READ

public static final byte READ

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WRITE

public static final byte WRITE

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CLOSE

public static final byte CLOSE

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DELETE

public static final byte DELETE

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FIND_FIRST

public static final byte FIND_FIRST

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FIND_NEXT

public static final byte FIND_NEXT

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GET_FIRMWARE_VERSION

public static final byte GET_FIRMWARE_VERSION

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OPEN_WRITE_LINEAR

public static final byte OPEN_WRITE_LINEAR

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OPEN_READ_LINEAR

public static final byte OPEN_READ_LINEAR

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OPEN_WRITE_DATA

public static final byte OPEN_WRITE_DATA

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OPEN_APPEND_DATA

public static final byte OPEN_APPEND_DATA

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BOOT

public static final byte BOOT

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SET_BRICK_NAME

public static final byte SET_BRICK_NAME

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GET_DEVICE_INFO

public static final byte GET_DEVICE_INFO

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DELETE_USER_FLASH

public static final byte DELETE_USER_FLASH

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POLL_LENGTH

public static final byte POLL_LENGTH

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POLL

public static final byte POLL

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NXJ_FIND_FIRST

public static final byte NXJ_FIND_FIRST

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NXJ_FIND_NEXT

public static final byte NXJ_FIND_NEXT

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NXJ_PACKET_MODE

public static final byte NXJ_PACKET_MODE

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MAILBOX_EMPTY

public static final byte MAILBOX_EMPTY

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FILE_NOT_FOUND

public static final byte FILE_NOT_FOUND

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INSUFFICIENT_MEMORY

public static final byte INSUFFICIENT_MEMORY

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DIRECTORY_FULL

public static final byte DIRECTORY_FULL

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UNDEFINED_ERROR

public static final byte UNDEFINED_ERROR

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NOT_IMPLEMENTED

public static final byte NOT_IMPLEMENTED

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Method Detail

emulateCommand

public static int emulateCommand(byte[] cmd,
                                 int cmdLen,
                                 byte[] reply)

Emulates a Lego firmware Direct or System command

Parameters:

cmd - the buffer containing the command

cmdLen - the length of the command

messageWrite

public static void messageWrite(int mailbox,
                                String msg)