Evolution Robotics ER1 - Page 110

Chapter 10 Application Programmer’s Interface
10-24 ER1 User Guide
if (_socket != null) { disconnect(); }
_address = "";
_port = 0;
try {
// Create a new socket connection.
_socket = new Socket(address, port);
try {
// Set the output stream.
_write_stream = new DataOutputStream(_socket.getOutputStream());
_read_stream = new BufferedInputStream(_socket.getInputStream());
}
catch (Exception ex) {
System.out.println(ex.toString());
}
_address = address;
_port = port;
return true;
}
catch (Exception ex) {
System.out.println(ex.toString());
//throw ex;
return false;
}
}
public String readString()
{
try
{
if (_read_stream == null) {
System.out.println("Error: _read_stream is null.");
return null;
}
try {
int size;
String msg;
do {
size = _read_stream.available();
if (size != 0) {
byte[] buffer = new byte[size];
_read_stream.read(buffer, 0, size);
msg = new String(buffer);
return msg;
}
Thread.sleep(50);
} while (size == 0);
}
catch (Exception ex) {
System.out.println(ex.toString());
return null;
}
}
catch (RuntimeException ex)
{
System.out.println(ex.toString());
return null;
//Global.applet.showDebug(ex.toString());
}
return null;
}
public boolean sendString(String s) {