/**
* Creates a new object for communication to the NXT robot via bluetooth and fetches the
* corresponding handler.
*/
private void createBTCommunicator() {
// interestingly BT adapter needs to be obtained by the UI thread - so we pass it in in the
// constructor
myBTCommunicator =
new BTCommunicator(this, myHandler, BluetoothAdapter.getDefaultAdapter(), getResources());
btcHandler = myBTCommunicator.getHandler();
}
/**
* 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();
}
/** Enables/disables the menu items */
@Override
public boolean onPrepareOptionsMenu(Menu menu) {
boolean displayMenu;
displayMenu = super.onPrepareOptionsMenu(menu);
if (displayMenu) {
boolean startEnabled = false;
if (myBTCommunicator != null) startEnabled = myBTCommunicator.isConnected();
menu.findItem(MENU_START_SW).setEnabled(startEnabled);
}
return displayMenu;
}
@Override
public void handleMessage(Message myMessage) {
switch (myMessage.getData().getInt("message")) {
case BTCommunicator.DISPLAY_TOAST:
showToast(myMessage.getData().getString("toastText"), Toast.LENGTH_SHORT);
break;
case BTCommunicator.STATE_CONNECTED:
connected = true;
programList = new ArrayList<String>();
connectingProgressDialog.dismiss();
updateButtonsAndMenu();
sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.GET_FIRMWARE_VERSION, 0, 0);
break;
case BTCommunicator.MOTOR_STATE:
if (myBTCommunicator != null) {
byte[] motorMessage = myBTCommunicator.getReturnMessage();
int position =
byteToInt(motorMessage[21])
+ (byteToInt(motorMessage[22]) << 8)
+ (byteToInt(motorMessage[23]) << 16)
+ (byteToInt(motorMessage[24]) << 24);
showToast(
getResources().getString(R.string.current_position) + position,
Toast.LENGTH_SHORT);
}
break;
case BTCommunicator.STATE_CONNECTERROR_PAIRING:
connectingProgressDialog.dismiss();
destroyBTCommunicator();
break;
case BTCommunicator.STATE_CONNECTERROR:
connectingProgressDialog.dismiss();
case BTCommunicator.STATE_RECEIVEERROR:
case BTCommunicator.STATE_SENDERROR:
destroyBTCommunicator();
if (btErrorPending == false) {
btErrorPending = true;
// inform the user of the error with an AlertDialog
AlertDialog.Builder builder = new AlertDialog.Builder(thisActivity);
builder
.setTitle(getResources().getString(R.string.bt_error_dialog_title))
.setMessage(getResources().getString(R.string.bt_error_dialog_message))
.setCancelable(false)
.setPositiveButton(
"OK",
new DialogInterface.OnClickListener() {
@Override
public void onClick(DialogInterface dialog, int id) {
btErrorPending = false;
dialog.cancel();
selectNXT();
}
});
builder.create().show();
}
break;
case BTCommunicator.FIRMWARE_VERSION:
if (myBTCommunicator != null) {
byte[] firmwareMessage = myBTCommunicator.getReturnMessage();
// check if we know the firmware
boolean isLejosMindDroid = true;
for (int pos = 0; pos < 4; pos++) {
if (firmwareMessage[pos + 3] != LCPMessage.FIRMWARE_VERSION_LEJOSMINDDROID[pos]) {
isLejosMindDroid = false;
break;
}
}
if (isLejosMindDroid) {
mRobotType = R.id.robot_type_lejos;
setUpByType();
}
// afterwards we search for all files on the robot
sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.FIND_FILES, 0, 0);
}
break;
case BTCommunicator.FIND_FILES:
if (myBTCommunicator != null) {
byte[] fileMessage = myBTCommunicator.getReturnMessage();
String fileName = new String(fileMessage, 4, 20);
fileName = fileName.replaceAll("\0", "");
if (mRobotType == R.id.robot_type_lejos
|| fileName.endsWith(".nxj")
|| fileName.endsWith(".rxe")) {
programList.add(fileName);
}
// find next entry with appropriate handle,
// limit number of programs (in case of error (endless loop))
if (programList.size() <= MAX_PROGRAMS)
sendBTCmessage(
BTCommunicator.NO_DELAY,
BTCommunicator.FIND_FILES,
1,
byteToInt(fileMessage[3]));
}
break;
case BTCommunicator.PROGRAM_NAME:
if (myBTCommunicator != null) {
byte[] returnMessage = myBTCommunicator.getReturnMessage();
startRXEprogram(returnMessage[2]);
}
break;
case BTCommunicator.SAY_TEXT:
if (myBTCommunicator != null) {
byte[] textMessage = myBTCommunicator.getReturnMessage();
// evaluate control byte
byte controlByte = textMessage[2];
// BIT7: Language
if ((controlByte & 0x80) == 0x00) mTts.setLanguage(Locale.US);
else mTts.setLanguage(Locale.getDefault());
// BIT6: Pitch
if ((controlByte & 0x40) == 0x00) mTts.setPitch(1.0f);
else mTts.setPitch(0.75f);
// BIT0-3: Speech Rate
switch (controlByte & 0x0f) {
case 0x01:
mTts.setSpeechRate(1.5f);
break;
case 0x02:
mTts.setSpeechRate(0.75f);
break;
default:
mTts.setSpeechRate(1.0f);
break;
}
String ttsText = new String(textMessage, 3, 19);
ttsText = ttsText.replaceAll("\0", "");
showToast(ttsText, Toast.LENGTH_SHORT);
mTts.speak(ttsText, TextToSpeech.QUEUE_FLUSH, null);
}
break;
case BTCommunicator.VIBRATE_PHONE:
if (myBTCommunicator != null) {
byte[] vibrateMessage = myBTCommunicator.getReturnMessage();
Vibrator myVibrator = (Vibrator) getSystemService(Context.VIBRATOR_SERVICE);
myVibrator.vibrate(vibrateMessage[2] * 10);
}
break;
}
}