Page 249 - The Unofficial Guide to Lego Mindstorms Robots

238

sendReturn();
}
catch (InterruptedException ie) { System.out.println(ie) ; }
catch (DownloadException de) {
System.out.println();
System.out.println("Line " + n + ":");
System.out.println(" " + de.getMessage());
}
catch (IOException ioe) { System.out.println(ioe); }

// Regardless of what happened, try to clean up.
try {
mPortListener.stop();
mFileIn.close();
mOut.close();
mPort.close();
}
catch (IOException ioe) {}
System.exit(0);
}

protected void sendReturn() throws IOException, InterruptedException {
mOut.write('\r');
mOut.flush();
Thread.sleep(kCharSleep);
// Wait for response, or time out.
long savedTime = System.currentTimeMillis();
boolean trucking = true;
while (trucking) {
if (mPortListener.isComplete()) trucking = false;
long currentTime = System.currentTimeMillis();
if (currentTime - savedTime > kTimeOut) trucking = false;
Thread.sleep(20);
}
}

public class PortListener
implements Runnable {
private Thread mThread;
private BufferedReader mIn;
private boolean mComplete = false;
private boolean mError = false;
private String mLastLine;

public PortListener (Reader in) {
mIn = new BufferedReader(in);
mThread = new Thread(this);
mThread.start();
}

public void run() {
String line;
try {
while((line = mIn.readLine()) != null) {