/**
* Start Streaming Data to Unity
*
* @param robot the Robot to stream data from
* @param divisor Divisor of the maximum sensor sampling rate (400 Hz)
* @param packetFrames Number of samples created on the device before it sends a packet to the
* phone with samples
* @param sensorMask Bitwise selector of data sources to stream
* @param packetCount Packet count (set to 0 for unlimited streaming)
*/
public void setDataStreaming(
Robot robot, int divisor, int packetFrames, long sensorMask, int packetCount) {
// Remove old profile
if (sensorMask == SetDataStreamingCommand.DATA_STREAMING_MASK_OFF) {
DeviceMessenger.getInstance().removeAsyncDataListener(robot, mDataListener);
}
// Override current one
else {
DeviceMessenger.getInstance().addAsyncDataListener(robot, mDataListener);
}
SetDataStreamingCommand.sendCommand(robot, divisor, packetFrames, sensorMask, packetCount);
}
private void startStreaming() {
if (mRobot != null) {
// Set up a bitmask containing the sensor information we want to stream
final int mask =
SetDataStreamingCommand.DATA_STREAMING_MASK_ACCELEROMETER_X_FILTERED
| SetDataStreamingCommand.DATA_STREAMING_MASK_ACCELEROMETER_Y_FILTERED
| SetDataStreamingCommand.DATA_STREAMING_MASK_ACCELEROMETER_Z_FILTERED
| SetDataStreamingCommand.DATA_STREAMING_MASK_IMU_PITCH_ANGLE_FILTERED
| SetDataStreamingCommand.DATA_STREAMING_MASK_IMU_ROLL_ANGLE_FILTERED
| SetDataStreamingCommand.DATA_STREAMING_MASK_IMU_YAW_ANGLE_FILTERED;
// Specify a divisor. The frequency of responses that will be sent is 400hz divided by this
// divisor.
// 50
final int divisor = 50;
// Specify the number of frames that will be in each response. You can use a higher number to
// "save up" responses and send them at once with a lower frequency, but more packets per
// response.
final int packet_frames = 1;
// Total number of responses before streaming ends. 0 is infinite.
final int response_count = 0;
// Send this command to Sphero to start streaming
SetDataStreamingCommand.sendCommand(mRobot, divisor, packet_frames, mask, response_count);
// Set the AsyncDataListener that will process each response.
DeviceMessenger.getInstance().addAsyncDataListener(mRobot, mDataListener);
}
}
/**
* Disable controller data streaming for a Robot
*
* @param robot the Robot to stream data from
*/
public void disableControllerStreaming(Robot robot) {
// Turn on stabilization and turn off back LED
StabilizationCommand.sendCommand(robot, true);
BackLEDOutputCommand.sendCommand(robot, 0.0f);
// Disable data streaming and delete profile
SetDataStreamingCommand.sendCommand(robot, 0, 0, 0, 0);
DeviceMessenger.getInstance().removeAsyncDataListener(robot, mDataListener);
}
@Override
protected void onStop() {
super.onStop();
if (screenWakeLock != null) {
screenWakeLock.release();
screenWakeLock = null;
}
// remove the flag that disables the screen dimming
getWindow().clearFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
// remove use of the location listener
locationManager.removeUpdates(locationListener);
// turn stabilization back on
StabilizationCommand.sendCommand(mRobot, true);
// turn rear light off
FrontLEDOutputCommand.sendCommand(mRobot, 0.0f);
// unregister the async data listener to prevent a memory leak.
DeviceMessenger.getInstance().removeAsyncDataListener(mRobot, mDataListener);
// stop the streaming data when we leave
SetDataStreamingCommand.sendCommand(
mRobot, 0, 0, SetDataStreamingCommand.DATA_STREAMING_MASK_OFF, 0);
// pause here for a tenth of a second to allow the previous commands to go through before we
// shutdown
// the connection to the ball
try {
Thread.sleep(100);
} catch (InterruptedException e) {
e.printStackTrace();
}
// disconnect from the ball
RobotProvider.getDefaultProvider().removeAllControls();
// mRobot = null;
}