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When you are about to write a program for a complex project, the basic rule is to divide et impera, the Latin motto corresponding to divide and conquer. To maintain the whole program easily, you should split it up into small parts; it is a good habit to split every program into many functions and subroutines. Of course, you already know that, but I mean that the program should also be divided into many files. So, you ll have an NXC file with the routines to manage head movements, another one devoted to remote control command reception, and so on. Then, in the main file, you just need to include the subfiles with the known preprocessor directive #include "filename.nxc". The general working of JohnNXT is shown in Figure 8-8 and is described in the section JohnNXT Behavior and Menu. Now, let s dive into the details. As you know, JohnNXT is controlled by two NXT bricks: the master, placed in the body, and the slave, the one built in the base. You need two different programs for these two NXTs. The FSM in Figure 8-8 is implemented in the master program, while the slave program s duty is just to receive and execute the commands from the master program. The whole slave NXT is just an interface to let the master control the three auxiliary motors attached to it: the torso, the arms, and the laser motors. As said before, the two NXTs communicate through a standard 6-wire cable connecting their respective ports 4. So, I prepared a simple library to use this kind of communication, the High Speed Communication Library, implemented in the file HSlib.nxc. In the following section, you ll learn how to use this library, so you can also reuse it in your own two-NXT robots.

namespace DGTEL.EncryptFileSample { public partial class EncryptSymmetricalToFile : Form { public EncryptSymmetricalToFile() { InitializeComponent(); } private void m_EncryptFile_Click(object sender, EventArgs e) { FileStream inputStream = null; FileStream outputStream = null; byte[] readBuffer; byte[] writeBuffer; int inputOffset = 0; int outputOffset = 0; int count; if (m_EncryptedFileLocation.Text.Length > 0 && m_FileToEncryptLocation.Text.Length > 0) { try { inputStream = new FileStream(m_FileToEncryptLocation.Text, FileMode.Open, FileAccess.Read); outputStream = new FileStream(m_EncryptedFileLocation.Text, FileMode.OpenOrCreate); readBuffer = new byte[(int)inputStream.Length]; while (inputStream.Length > inputOffset) { count = inputStream.Read(readBuffer, inputOffset, (int)inputStream.Length - inputOffset); inputOffset += count; } if (readBuffer.Length > 0) {

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*/ public void setContactList(Vector names, Vector phoneNumbers) { myPhoneNumbers = phoneNumbers; String[] nameArray = new String[names.size()]; names.copyInto(nameArray); myContactMenu = new List("select an opponent", List.IMPLICIT, nameArray, null); myContactMenu.addCommand(myExitCommand); myContactMenu.setCommandListener(this); Display.getDisplay(this).setCurrent(myContactMenu); } //------------------------------------------------------// message methods /** * Displays the remote player's message as an Alert. */ public void displayTauntMessage(String taunt) { Alert tauntScreen = new Alert("message"); tauntScreen.setString(taunt); Display.getDisplay(this).setCurrent(tauntScreen, myCanvas); } /** * Gets the message that the user has entered for the remote * player, if any. Then clears the text. */ public String getTauntMessage() { String retVal = myTauntBox.getString(); myTauntBox.setString(null); return retVal; } /** * Manually set the taunt message to tell the remote * player that he has won. */ public void setWinTaunt() { myTauntBox.setString("You Win!"); } //------------------------------------------------------// error methods /** * Converts an exception to a message and displays

CHAPTER 8 JOHNNXT IS ALIVE!

writeBuffer = Cryptographer.EncryptSymmetric( "TripleDESCryptoServiceProvider", readBuffer); outputStream.Write(writeBuffer, outputOffset, writeBuffer.Length); outputOffset += writeBuffer.Length; } MessageBox.Show("Done"); } catch (Exception ex) { MessageBox.Show(ex.Message); } finally { if (inputStream != null) inputStream.Close(); if (outputStream != null) outputStream.Close(); } } } } }

Now we will take the file encrypted with the code in the previous section and decrypt it. The fun part is that the only modification you need to make from the code in the m_EncryptFile button s click event is to change the EncryptSymmetric call to DecryptSymmetric. Copy the code from the m_EncryptFile button click event to the click event of the m_DecryptFile button. Reverse the controls used for opening the input and output streams. The resulting code should look like Listing 10-8. Listing 10-8. Adding the m_DecryptFile Click Event using using using using System; System.Collections.Generic; System.Text; System.Windows.Forms;

* the message. */ void errorMsg(Exception e) { if(e.getMessage() == null) { errorMsg(e.getClass().getName()); } else { errorMsg(e.getMessage()); } } /** * Displays an error message alert if something goes wrong. */ void errorMsg(String msg) { Alert errorAlert = new Alert("error", msg, null, AlertType.ERROR); errorAlert.setCommandListener(this); errorAlert.setTimeout(Alert.FOREVER); Display.getDisplay(this).setCurrent(errorAlert); } } As you re experimenting with the PIM API, keep in mind that you can create or modify contacts as well. In the WTK, the corresponding data files are stored in the following directory: WTK2.2/appdb/DefaultColorPhone/pim/contacts/Contacts/ There you can have a look at them, or delete all the contents of the directory if you d like to start over with a clean slate.

After that, I ll describe the two programs in an outline form, first starting from the slave, and then proceeding with the master, where we'll focus on the sound counting routine.

namespace DGTEL.EncryptFileSample { public partial class EncryptSymmetricalToFile : Form {

Exploiting the serial communication behind port 4 is made simple by this NXC library. To use the library, simply include it at the top of your program: #include "HSlib.nxc"

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