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// this function returns true if the // Bluetooth connection with the robot exists, // otherwise it displays some instructions // and returns false bool CheckBTConnection(int conn) { bool connection_exists; if (BluetoothStatus(conn)==NO_ERR) { connection_exists = true; } else { ClearScreen(); TextOut(0,LCD_LINE1,"You must connect"); TextOut(0,LCD_LINE2,"this NXT on"); TextOut(0,LCD_LINE3,"BT channel 1"); TextOut(0,LCD_LINE4,"using the menu"); TextOut(0,LCD_LINE5,"of the remote"); TextOut(0,LCD_LINE6,"control NXT."); Wait(4000); connection_exists = false; } return connection_exists; } // this function converts the received command // opcode into the corresponding motor speed short DecodeSpeed(short cmd) { short speed; if ( cmd == STOP ) speed = 0; if ( cmd == FWD1 ) speed = SPEED1; if ( cmd == FWD2 ) speed = SPEED2; if ( cmd == FWD3 ) speed = SPEED3; if ( cmd == FWD4 ) speed = SPEED4; if ( cmd == REV1 ) speed = -SPEED1; if ( cmd == REV2 ) speed = -SPEED2; if ( cmd == REV3 ) speed = -SPEED3; if ( cmd == REV4 ) speed = -SPEED4; return speed*sign(DIRECTION); } // // // // this subroutine actuates the command received: if continuous is true, the TOOL motor is run while the remote buttons are pressed, if continuous is false, the TOOL motor is run stepping

In the Tumbleweed example as with all of the examples in this book the animations are run by a subclass of Thread Another standard technique for advancing an animation (or other punctual, repeated task) is to use a Timer and a TimerTask The TimerTask class implements the Runnable interface it s the type of Runnable that is designed to be run repeatedly at fixed intervals by scheduling it on a Timer object A typical application would be to implement the run method to contain a simple call to advance the animation and then call Timerschedule() to schedule the task 20 times a second Timer even allows you to choose what to do in case the Virtual Machine is unable to call the task on schedule for some reason.

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The Aggregation Application Block can complement the Asynchronous Invocation Application Block well. This block, utilizing the Asynchronous Invocation Application Block, dispatches multiple service agents that then go out and retrieve data back into a single XML document that is then returned to the application. This can be used in both Windows and web applications to give the appearance of a more responsive application. You can also use this component with the Caching Application Block for caching purposes as well as the Asynchronous Invocation Block for thread dispatching. Finally, note that this component utilizes the Exception Management Application Block for exception management.

// only if the function is different from the old one, // which holds the preceding value of the function sub Move(byte Lcmd, byte Rcmd, byte function, byte old, bool continuous) { // float wheels if both Xcmd are equal to STOP if (Rcmd == STOP) Float(R_WHEEL); if (Lcmd == STOP) Float(L_WHEEL); if (Rcmd == Lcmd) { // if the speed of the wheels is the same, // run motors in sync OnFwdSync(WHEELS,DecodeSpeed(Rcmd),0); } else { // else run motor at the speed // given by the DecodeSpeed function OnFwd(R_WHEEL,DecodeSpeed(Rcmd)); OnFwd(L_WHEEL,DecodeSpeed(Lcmd)); } // if the commands can be continuous if (continuous) { switch (function) { case 0: Off(TOOL); break; case 1: OnFwd(TOOL,50); break; case 2: OnFwd(TOOL,100); break; case 3: OnRev(TOOL,100); break; } } // if the commands are one-shot else if (function!=old) {

You can use the Caching Application Block alone or with the Aggregation and Asynchronous Invocation Application Blocks. This block provides the mechanisms to manage relatively static information for an application via a cache manager. The cached data can be stored as memory-mapped files, within a singleton object, or even in SQL Server. You can also force refreshes of the cached data as well as expiration timeouts of the cached data. Underneath the hood, like the Asynchronous Invocation Application Block, this block uses the Exception Management and Data Access Application Blocks. You d typically use this application block only for Windows forms, Windows services, and other non-ASP .NET applications, since ASP .NET already provides its own cache mechanism.

Fixed-rate runs each task according to absolute time for example, every hour on the hour and if one run gets delayed for some reason, the next one won t be This is good for timed alarms but bad for animations because a long delay can cause the animation calls to bunch up and be run too frequently For animations there s another choice, fixed-delay, which ensures that the delay between calls will never be less than the delay that is set when the task is scheduled In the section on Using the Thread Class from 3, you saw how to implement the equivalent of a fixed-delay timer using the Thread class.

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