@Override
public boolean handleMessage(Message msg) {
switch (msg.what) {
case Bluetooth.MESSAGE_STATE_CHANGE:
Log.d(TAG, "MESSAGE_STATE_CHANGE: " + msg.arg1);
break;
case Bluetooth.MESSAGE_WRITE:
Log.d(TAG, "MESSAGE_WRITE ");
break;
case Bluetooth.MESSAGE_READ:
byte[] readBuf = (byte[]) msg.obj;
String strIncom = new String(readBuf, 0, msg.arg1);
sb.append(strIncom);
int endOfLineIndex = sb.indexOf("\r\n"); // determine the end-of-line
if (endOfLineIndex > 0) { // if end-of-line,
String sbprint = sb.substring(0, endOfLineIndex); // extract string
sb.delete(0, sb.length()); // and clear
Log.d("READ_FROM_ARDUINO", sbprint + "");
try {
distanceToObstacle =
Utilities.normalizeReadingsFromDistanceSensor(
Integer.parseInt(sbprint), distanceToObstacle);
Log.d("READ_FROM_ARDUINO_NORM", distanceToObstacle + "");
tvDistance.setText(distanceToObstacle + "cm");
if (distanceToObstacle < 40 && !(command.equals("STOP"))) {
Utilities.setDirectionImage("STOP", ivDirection, bt);
textToSpeech.speak(
"YOU ARE ABOUT TO HIT AN OBSTACLE STOPPING",
TextToSpeech.QUEUE_FLUSH,
null);
((TextView) findViewById(R.id.tvResults)).setText("STOP");
command = "STOP";
}
// distanceToObstacle = Integer.parseInt(sbprint);
} catch (Exception e) {
e.printStackTrace();
Log.e(TAG, "handleMessage: CRASH CONVERSION");
}
}
break;
case Bluetooth.MESSAGE_DEVICE_NAME:
Log.d(TAG, "MESSAGE_DEVICE_NAME " + msg);
break;
case Bluetooth.MESSAGE_TOAST:
Log.d(TAG, "MESSAGE_TOAST " + msg);
break;
}
return false;
}
