Henrik Klaus Martin

import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;

import lejos.pc.comm.NXTComm;
import lejos.pc.comm.NXTCommException;
import lejos.pc.comm.NXTCommFactory;
import lejos.pc.comm.NXTInfo;


public class bluetooth {
    NXTComm nxtComm;
    InputStream is;
    OutputStream os;

    DataOutputStream dos;
    DataInputStream dis;


    public bluetooth(){
    }

    public void connect(String deviceName, String blueAdr){

        try {
            nxtComm = NXTCommFactory.createNXTComm(NXTCommFactory.BLUETOOTH);
        } catch (NXTCommException e) {
            System.out.println("Failed to load Bluetooth driver");
            //System.exit(1);
        }

        is = nxtComm.getInputStream();
        os = nxtComm.getOutputStream();

        dos = new DataOutputStream(os);
        dis = new DataInputStream(is);

        NXTInfo[] nxtInfo = new NXTInfo[1];

        nxtInfo[0] = new NXTInfo(deviceName, blueAdr);

        System.out.println("Connecting to " + nxtInfo[0].btResourceString);

        boolean opened = false;

        try {
            opened = nxtComm.open(nxtInfo[0]);
        } catch (NXTCommException e) {
            System.out.println("Exception from open");
        }

        if (!opened) {
            System.out.println("Failed to open " + nxtInfo[0].name);
            //System.exit(1);
        }

        System.out.println("Connected to " + nxtInfo[0].btResourceString);
    }

    public myMeasurements exchangeData(int turnDeg, int drive) {
        int dx = 0, dy = 0, dt = 0, s1 = 0, s2 = 0, s3 = 0;

        try {
            System.out.println("Sending: turn " + turnDeg + " degrees and drive " + drive + " mm.");
            dos.writeInt(turnDeg);
            dos.flush();
            dos.writeInt(drive);
            dos.flush();

        } catch (IOException ioe) {
            System.out.println("IO Exception writing bytes:");
            System.out.println(ioe.getMessage());
            System.exit(1);
        }

        try {
            dx = dis.readInt();
            dy = dis.readInt();
            dt = dis.readInt();
            s1 = dis.readInt();
            s2 = dis.readInt();
            s3 = dis.readInt();
            System.out.println("Received: dx " + dx + ", dy " + dy + ", dt " + dt + ", s1 " + s1 + ", s2 " + s2 + ", s3 " + s3);
        } catch (IOException ioe) {
            System.out.println("IO Exception reading bytes:");
            System.out.println(ioe.getMessage());
            System.exit(1);
        }

        return new myMeasurements(dx, dy, dt, s1, s2, s3);
    }

    public void close()
    {
        try {
            System.out.println("Disconnecting bluetooth");
            dis.close();
            dos.close();
            nxtComm.close();
        } catch (IOException ioe) {
            System.out.println("IOException closing connection:");
            System.out.println(ioe.getMessage());
        }
    }
}