Main.java

import java.io.BufferedReader;
import java.io.DataOutputStream;
import java.io.IOException;
import java.io.InputStreamReader;
import java.io.PrintWriter;
import java.net.InetAddress;
import java.net.Socket;
import java.util.Scanner;

import org.json.JSONObject;

import lejos.pc.comm.NXTConnector;

public class Main {

	public static NXTConnector link;
	public static DataOutputStream outRobot;
	public static Socket socket;

	public static void main(String[] args) {
		System.out.println("Pensez a allumer le Robot Lego NXT");

		if (connect()) {
			try {
				System.out
						.println("Fin de l'adresse IP Appli Regie : 192.168.1.?");

				int finIp = 0;
				Scanner sc = new Scanner(System.in);

				finIp = sc.nextInt();
				System.out.println("Connexion a : 192.168.1." + finIp + " :3000");

				socket = new Socket("192.168.1." + finIp, 3000);

				PrintWriter outRegie = new PrintWriter(socket.getOutputStream());

				JSONObject json = new JSONObject();
				json.put("idModule", "raspberryRobot");
				json.put("action", "init");

				outRegie.println(json);
				outRegie.flush();

				BufferedReader in = new BufferedReader(new InputStreamReader(socket.getInputStream()));

				System.out.println("Pret. Attente d'instructions regie");
				String ligne = null;
				while ((ligne = in.readLine()) != null) {
					System.out.println(ligne);
					commande(ligne);
				}
			} catch (Exception e) {
			}
		}

		disconnect();
	}

	public static boolean connect() {
		link = new NXTConnector();

		if (!link.connectTo("usb://")) {
			System.out.println("\nAucun NXT trouve en USB");
			System.out
					.println("Erreur : le Robot Lego NXT n'est pas connecte.");
			return false;
		}

		outRobot = new DataOutputStream(link.getOutputStream());
		System.out.println("\nNXT connecte");
		return true;
	}

	public static void disconnect() {
		try {
			outRobot.close();
			link.close();
		} catch (IOException ioe) {
			System.out.println("\nIO Exception writing bytes");
		}

		System.out.println("\nFermeture des flux de donnees");
	}

	public static void commande(String ligne) {
		try {
			JSONObject json = new JSONObject(ligne);

			String action = json.get("action").toString();
			String vitesse = json.get("vitesse").toString();

			outRobot.writeUTF(action);
			outRobot.writeUTF(vitesse);
			outRobot.flush();
		} catch (Exception e) {
		}
	}
}