public void connect() {
if (!packetManager.isRunning()) {
// Start a timer that attempt a connection on a regular basis
connectionTimer.schedule(
new TimerTask() {
@Override
public void run() {
try {
RobotResolver resolver = RobotResolver.getInstance(context);
InetAddress robotAddress = resolver.resolve(roboRIOName);
packetManager.start(robotAddress);
resolver.stop();
cancel();
} catch (UnknownHostException e) {
Log.d(TAG, "Could not resolve robot IP: " + e);
} catch (IOException ex) {
Log.e(TAG, "Failed to initialize networking: " + ex);
}
}
},
0,
connectionPeriod);
}
}
public void disconnect() {
if (packetManager.isRunning()) {
RobotResolver.getInstance(context).stop();
packetManager.stop();
}
}
public ConnectionManager(
final Context context,
final String roboRIOName,
final int connectionPeriod,
final ControlDatabase controlDatabase,
final ConnectionIndicator connectionIndicator,
final ModeSwitch modeSwitch,
final EnableButton enableButton) {
this.context = context;
this.roboRIOName = roboRIOName;
this.connectionPeriod = connectionPeriod;
driverStationPacket = new DriverStationPacket();
robotPacket = new RobotPacket();
packetManager = new PacketManager(driverStationPacket, robotPacket);
controlDatabase.setControlListener(controlListener);
modeSwitch.setModeChangeListener(
new ModeSwitch.ModeChangeListener() {
@Override
public void onTeleopEnabled() {
enableButton.setEnabled(false);
driverStationPacket.setMode(DriverStationPacket.Mode.TELEOPERATED);
}
@Override
public void onAutoEnabled() {
enableButton.setEnabled(false);
driverStationPacket.setMode(DriverStationPacket.Mode.AUTONOMOUS);
}
});
enableButton.addEnableListener(
new EnableButton.EnableListener() {
@Override
public void onEnabled() {
driverStationPacket.setEnabled(true);
}
@Override
public void onDisabled() {
driverStationPacket.setEnabled(false);
}
});
packetManager.setConnectionListener(
new PacketManager.ConnectionListener() {
@Override
public void onConnect() {
new Handler(context.getMainLooper())
.post(
new Runnable() {
@Override
public void run() {
connectionIndicator.setConnected(true);
Toast.makeText(context, "Connection Established", Toast.LENGTH_SHORT)
.show();
}
});
}
@Override
public void onConnectionLost() {
new Handler(context.getMainLooper())
.post(
new Runnable() {
@Override
public void run() {
connectionIndicator.setConnected(false);
Toast.makeText(context, "Connection Lost", Toast.LENGTH_SHORT).show();
enableButton.setEnabled(false);
}
});
}
@Override
public void onConnectionFailed() {
new Handler(context.getMainLooper())
.post(
new Runnable() {
@Override
public void run() {
Toast.makeText(context, "Connection Failed", Toast.LENGTH_SHORT).show();
enableButton.setEnabled(false);
}
});
}
});
}
