Added all remaining gists.

2023-06-21 21:40:51 -04:00
parent 22ff5bfa25
commit b0ca706a25
26 changed files with 892 additions and 0 deletions
--- a/Handler.java/Handler.java
+++ b/Handler.java/Handler.java
@@ -0,0 +1,181 @@
+
+/**
+ * Receive messages from the BTCommunicator
+ */
+final Handler myHandler = new Handler() {
+	@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_4;
+					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_4 || 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;
+
+			/* NUEVO */
+		case BTCommunicator.UPDATE_SENSOR:
+			/*String msg2str = "";
+			Log.d("MINDDroidCV.java", "UPDATE SENSORS HANDLER");*/
+			if(myBTCommunicator != null) {
+				byte[] sensor_message = myBTCommunicator.getReturnMessage();
+				if(sensor_message[3] == 0){
+					// Sensor de luz.
+					lightSensor = (sensor_message[9] << 8) + sensor_message[8];
+					/*for(int i = 0; i < sensor_message.length; ++i)
+						msg2str += String.format("%02x ", sensor_message[i]);
+					msg2str = String.format("%s :: VALUE %d", msg2str, lightSensor);*/
+				}else if(sensor_message[3] == 1){
+					// Sensor de tacto.
+					touchSensor = (sensor_message[11] << 8) + sensor_message[10];
+					/*for(int i = 0; i < sensor_message.length; ++i)
+						msg2str += String.format("%02x", sensor_message[i]);
+					msg2str = String.format("%s :: VALUE %d", msg2str, touchSensor);*/
+				}
+			}
+			/*Log.d("MINDDroidCV.java", msg2str);*/
+
+			break;
+			/* NUEVO */
+		}
+	}
+};