/**
* 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);
}
/**
* Enable controller data streaming with infinite packets
*
* @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
*/
public void enableControllerStreaming(
Robot robot, int divisor, int packetFrames, long sensorMask) {
// Turn off stabilization and turn on back LED
StabilizationCommand.sendCommand(robot, false);
BackLEDOutputCommand.sendCommand(robot, 1.0f);
// Request data streaming
this.setDataStreaming(robot, divisor, packetFrames, sensorMask, 0);
}
@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;
}
@Override
protected void onActivityResult(int requestCode, int resultCode, Intent data) {
super.onActivityResult(requestCode, resultCode, data);
if (requestCode == STARTUP_ACTIVITY && resultCode == RESULT_OK) {
// get the connected robot
final String robot_id = data.getStringExtra(StartupActivity.EXTRA_ROBOT_ID);
Log.d(TAG, "Hi, there robot " + robot_id);
if (robot_id != null && !robot_id.equals("")) {
mRobot = RobotProvider.getDefaultProvider().findRobot(robot_id);
StabilizationCommand.sendCommand(mRobot, false);
FrontLEDOutputCommand.sendCommand(mRobot, 0.5f);
startStreaming();
}
}
// start blinking
// blink(false);
RGBLEDOutputCommand.sendCommand(mRobot, 0, 0, 0);
}