import lejos.nxt.Sound;
import lejos.nxt.*; 

import lejos.nxt.comm.*; 
//import lejos.robotics.navigation.Pilot;
import lejos.robotics.navigation.TachoPilot;
//import lejos.nxt.Sound.*;
//import icommand.nxt.comm.NXTCommand;

import java.io.*;
//import icommand.nxt.*;
//import icommand.nxt.Motor;
import lejos.nxt.SensorPort; 
import lejos.nxt.SensorPortListener;
import lejos.nxt.TouchSensor;
/** 
 * Receive data from another NXT, a PC, a phone, 
 * or another bluetooth device. 
 * 
 * Waits for a connection, receives an int and returns 
 * its negative as a reply, 100 times, and then closes 
 * the connection, and waits for a new one. 
 * 
 * @author Lawrie Griffiths 
 * 
 */ 
public class BTreceive{ 



	public static void main(String [] args)  throws Exception 
	{ 
		String connected = "Connected"; 
		String waiting = "Waiting..."; 
		String closing = "Closing..."; 
		TachoPilot robot = new TachoPilot(5.6F,16F,Motor.B,Motor.C);//Your Motor information
		robot.setMoveSpeed(5);
		TouchSensor touch1 = new TouchSensor(SensorPort.S1);
		TouchSensor touch2 = new TouchSensor(SensorPort.S4);
		while (true) 
		{ 
			LCD.clear();
			LCD.drawString(waiting,0,0); 
			LCD.refresh(); 

			BTConnection btc = Bluetooth.waitForConnection(); 

			LCD.clear(); 
			LCD.drawString(connected,0,0); 
			LCD.refresh();    
			
			DataInputStream dis = btc.openDataInputStream(); 
			DataOutputStream dos = btc.openDataOutputStream();
			int state = 0;
			while(true)
			{
				String temp="";
				int flag=0;
				byte []b = new byte[100];
				
				int read_bytes = dis.read(b);
				
				byte []b2 = new byte[read_bytes];
				
				for(int i =0;i<read_bytes;i++)
				{
					b2[i]=b[i];
				}
				
				temp = new String(b2);
				
				LCD.clear();
				LCD.refresh();
				LCD.drawString(temp,0,0);
				
				if(temp.equalsIgnoreCase("fosit koloke"))
				{
					robot.forward();
					state = 1;
					dos.writeInt(1);
					dos.flush();
				}
				else if(temp.equalsIgnoreCase("fosit kipupi"))
				{
					robot.setMoveSpeed(robot.getMoveSpeed()/2);
					if(state == 2)
					{
						robot.backward();
						dos.writeInt(1);
						dos.flush();
					}
					else
					{
						robot.forward();
						dos.writeInt(1);
						dos.flush();
					}
				}
				else if(temp.equalsIgnoreCase("fosit jimeja")||temp.equalsIgnoreCase("bobuja"))
				{
					robot.setMoveSpeed(robot.getMoveSpeed()*2);
					if(state == 2)
					{
						robot.backward();
						dos.writeInt(1);
						dos.flush();
					}
					else
					{
						robot.forward();
						dos.writeInt(1);
						dos.flush();
					}
				}
				else if(temp.equalsIgnoreCase("bama buse fosit")||temp.equalsIgnoreCase("buse fosit"))
				{
					robot.stop();
					dos.writeInt(1);
					dos.flush();
				}
				
				else if(temp.equalsIgnoreCase("fosit nole"))
				{
					robot.backward();
					state = 2;
					dos.writeInt(1);
					dos.flush();
				}
				else if(temp.equalsIgnoreCase("fosit webufo"))
				{
					robot.steer(50,-70);
					robot.forward();
					dos.writeInt(1);
					dos.flush();
				}
				else if(temp.equalsIgnoreCase("fosit besati"))
				{
					robot.steer(-50,-70);
					robot.forward();
					dos.writeInt(1);
					dos.flush();
				}
				
				else
				{
					dos.writeInt(0);
					dos.flush();
				}
				LCD.refresh();
				try 
				{
					Thread.sleep(2000);
				} 
				catch (InterruptedException e) 
				{
					// TODO Auto-generated catch block
				}
				if(temp.equalsIgnoreCase("Goodbye"))
				{
					dis.close(); 
					dos.close(); 
					Thread.sleep(100); // wait for data to drain 
					LCD.clear(); 
					LCD.drawString(closing,0,0); 
					LCD.refresh(); 
					btc.close(); 
					LCD.clear();
					break;
				}
			}
		} 
	} 
}