@Override
public void handleMessage(Message myMessage) {
int message;
switch (message = myMessage.getData().getInt("message")) {
case MOTOR_A:
case MOTOR_B:
case MOTOR_C:
changeMotorSpeed(message, myMessage.getData().getInt("value1"));
break;
case MOTOR_B_ACTION:
rotateTo(MOTOR_B, myMessage.getData().getInt("value1"));
break;
case MOTOR_RESET:
reset(myMessage.getData().getInt("value1"));
break;
case START_PROGRAM:
startProgram(myMessage.getData().getString("name"));
break;
case STOP_PROGRAM:
stopProgram();
break;
case GET_PROGRAM_NAME:
getProgramName();
break;
case DO_BEEP:
doBeep(myMessage.getData().getInt("value1"), myMessage.getData().getInt("value2"));
break;
case DO_ACTION:
doAction(myMessage.getData().getInt("value1"));
break;
case READ_MOTOR_STATE:
readMotorState(myMessage.getData().getInt("value1"));
break;
case GET_FIRMWARE_VERSION:
getFirmwareVersion();
break;
case FIND_FILES:
findFiles(
myMessage.getData().getInt("value1") == 0, myMessage.getData().getInt("value2"));
break;
case DISCONNECT:
// send stop messages before closing
changeMotorSpeed(MOTOR_A, 0);
changeMotorSpeed(MOTOR_B, 0);
changeMotorSpeed(MOTOR_C, 0);
waitSomeTime(500);
try {
destroyNXTconnection();
} catch (IOException e) {
}
break;
}
}
/**
* Creates and starts the a thread for communication via bluetooth to the NXT robot.
*
* @param mac_address The MAC address of the NXT robot.
*/
private void startBTCommunicator(String mac_address) {
connected = false;
connectingProgressDialog =
ProgressDialog.show(
this, "", getResources().getString(R.string.connecting_please_wait), true);
if (myBTCommunicator != null) {
try {
myBTCommunicator.destroyNXTconnection();
} catch (IOException e) {
}
}
createBTCommunicator();
myBTCommunicator.setMACAddress(mac_address);
myBTCommunicator.start();
updateButtonsAndMenu();
}