RWTH - Mindstorms NXT Toolbox

COM_SendPacket

Sends a communication protocol packet (byte-array) via a USB or Bluetooth channel (serial port)

Contents

Syntax

COM_SendPacket(Packet, handle)

Description

COM_SendPacket(Packet, handle) sends the given byte-array Packet (column vector), (which can easily be created by the function COM_CreatePacket) over the USB or Bluetooth channel specified by the given handle (struct) created by the function COM_OpenNXT or COM_OpenNXTEx, or obtained from COM_GetDefaultNXT.

Note:

In the case of a Bluetooth connection this function uses the specific settings from the ini-file that was specified when opening the handle. Parameters used here are SendSendPause and SendReceivePause, which will cause this function to wait a certain amount of milliseconds between each consecutive send or receive operation to avoid packet loss or buffer overflows inside the blutooth stack.

Example

   COM_MakeBTConfigFile();

   handle = COM_OpenNXT('bluetooth.ini', 'check');

   [type cmd] = name2commandbytes('KEEPALIVE');
   content = [];  % no payload in NXT command KEEPALIVE
   packet = COM_CreatePacket(type, cmd, 'dontreply', content);

   COM_SendPacket(packet, bt_handle);

See also

COM_CreatePacket, COM_CollectPacket, COM_OpenNXT, COM_GetDefaultNXT, COM_MakeBTConfigFile

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