/**
* Create a bluetooth connection with SerialPortServiceClass_UUID
*
* @see <a href= "http://lejos.sourceforge.net/forum/viewtopic.php?t=1991&highlight=android" /> On
* error the method either sends a message to it's owner or creates an exception in the case
* of no message handler.
*/
public void createNXTconnection() throws IOException {
try {
BluetoothSocket nxtBTSocketTemporary;
BluetoothDevice nxtDevice = null;
nxtDevice = btAdapter.getRemoteDevice(mMACaddress);
if (nxtDevice == null) {
if (uiHandler == null) throw new IOException();
else {
sendToast(mResources.getString(R.string.no_paired_nxt));
sendState(STATE_CONNECTERROR);
return;
}
}
nxtBTSocketTemporary =
nxtDevice.createRfcommSocketToServiceRecord(SERIAL_PORT_SERVICE_CLASS_UUID);
try {
nxtBTSocketTemporary.connect();
} catch (IOException e) {
if (myOwner.isPairing()) {
if (uiHandler != null) {
sendToast(mResources.getString(R.string.pairing_message));
sendState(STATE_CONNECTERROR_PAIRING);
} else throw e;
return;
}
// try another method for connection, this should work on the HTC desire, credits to Michael
// Biermann
try {
Method mMethod =
nxtDevice.getClass().getMethod("createRfcommSocket", new Class[] {int.class});
nxtBTSocketTemporary = (BluetoothSocket) mMethod.invoke(nxtDevice, Integer.valueOf(1));
nxtBTSocketTemporary.connect();
} catch (Exception e1) {
if (uiHandler == null) throw new IOException();
else sendState(STATE_CONNECTERROR);
return;
}
}
nxtBTsocket = nxtBTSocketTemporary;
nxtInputStream = nxtBTsocket.getInputStream();
nxtOutputStream = nxtBTsocket.getOutputStream();
connected = true;
} catch (IOException e) {
if (uiHandler == null) throw e;
else {
if (myOwner.isPairing()) sendToast(mResources.getString(R.string.pairing_message));
sendState(STATE_CONNECTERROR);
return;
}
}
// everything was OK
if (uiHandler != null) sendState(STATE_CONNECTED);
}
/**
* Sends a message on the opened OutputStream. In case of an error the state is sent to the
* handler.
*
* @param message, the message as a byte array
*/
private void sendMessageAndState(byte[] message) {
if (nxtOutputStream == null) return;
try {
sendMessage(message);
} catch (IOException e) {
sendState(STATE_SENDERROR);
}
}
/**
* Creates the connection, waits for incoming messages and dispatches them. The thread will be
* terminated on closing of the connection.
*/
@Override
public void run() {
try {
createNXTconnection();
} catch (IOException e) {
}
while (connected) {
try {
returnMessage = receiveMessage();
if ((returnMessage.length >= 2)
&& ((returnMessage[0] == LCPMessage.REPLY_COMMAND)
|| (returnMessage[0] == LCPMessage.DIRECT_COMMAND_NOREPLY)))
dispatchMessage(returnMessage);
} catch (IOException e) {
// don't inform the user when connection is already closed
if (connected) sendState(STATE_RECEIVEERROR);
return;
}
}
}
private void dispatchMessage(byte[] message) {
switch (message[1]) {
case LCPMessage.GET_OUTPUT_STATE:
if (message.length >= 25) sendState(MOTOR_STATE);
break;
case LCPMessage.GET_FIRMWARE_VERSION:
if (message.length >= 7) sendState(FIRMWARE_VERSION);
break;
case LCPMessage.FIND_FIRST:
case LCPMessage.FIND_NEXT:
if (message.length >= 28) {
// Success
if (message[2] == 0) sendState(FIND_FILES);
}
break;
case LCPMessage.GET_CURRENT_PROGRAM_NAME:
if (message.length >= 23) {
sendState(PROGRAM_NAME);
}
break;
case LCPMessage.SAY_TEXT:
if (message.length == 22) {
sendState(SAY_TEXT);
}
case LCPMessage.VIBRATE_PHONE:
if (message.length == 3) {
sendState(VIBRATE_PHONE);
}
}
}