WallyHackenslacker/NxtAR-cam
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Finished connecting with the robot via Bluetooth

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Wally Hackenslacker
2013-11-22 11:13:08 -04:30
parent 9b84214f8d
commit 99a17242cf
8 changed files with 274 additions and 72 deletions
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74
src/ve/ucv/ciens/ccg/nxtcam/network/BTCommunicator.java
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@@ -4,10 +4,9 @@ import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.util.Set;
import java.util.UUID;
import ve.ucv.ciens.ccg.nxtcam.MainActivity;
import ve.ucv.ciens.ccg.nxtcam.utils.Logger;
import ve.ucv.ciens.ccg.nxtcam.utils.ProjectConstants;
import android.bluetooth.BluetoothAdapter;
import android.bluetooth.BluetoothDevice;
import android.bluetooth.BluetoothSocket;
@@ -22,17 +21,14 @@ import android.util.Log;
*/
public class BTCommunicator{
private static final String TAG = "NXT_TEST_BTCOMM";
private final String CLASS_NAME = MainActivity.class.getSimpleName();
private static final UUID SERIAL_PORT_SERVICE_CLASS_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");
private static final String OUI_LEGO = "00:16:53";
private final String CLASS_NAME = BTCommunicator.class.getSimpleName();
private boolean connected;
private BluetoothAdapter bt_adapter = null;
private BluetoothSocket bt_socket = null;
private OutputStream nxt_out_stream = null;
private InputStream nxt_in_stream = null;
private BluetoothAdapter btAdapter = null;
private BluetoothSocket btSocket = null;
private OutputStream nxtOutputStream = null;
private InputStream nxtInputStream = null;
private static class SingletonHolder{
public static final BTCommunicator INSTANCE = new BTCommunicator();
}
@@ -51,10 +47,10 @@ public class BTCommunicator{
*/
private BTCommunicator(){
connected = false;
bt_adapter = BluetoothAdapter.getDefaultAdapter();
bt_socket = null;
nxt_in_stream = null;
nxt_out_stream = null;
btAdapter = BluetoothAdapter.getDefaultAdapter();
btSocket = null;
nxtInputStream = null;
nxtOutputStream = null;
}
/**
@@ -63,7 +59,7 @@ public class BTCommunicator{
* @return true if the default Bluetooth adapter exists, otherwise false.
*/
public boolean isBTSupported(){
return bt_adapter != null;
return btAdapter != null;
}
/**
@@ -81,7 +77,7 @@ public class BTCommunicator{
* @see android.bluetooth.BluetoothAdapter
*/
public boolean isBTEnabled(){
return bt_adapter.isEnabled();
return btAdapter.isEnabled();
}
/**
@@ -90,7 +86,7 @@ public class BTCommunicator{
* @see android.bluetooth.BluetoothAdapter
*/
public void disableBT(){
bt_adapter.disable();
btAdapter.disable();
}
/**
@@ -99,7 +95,7 @@ public class BTCommunicator{
* @return A set containing all devices paired to this device.
*/
public Set<BluetoothDevice> getPairedDevices(){
return bt_adapter.getBondedDevices();
return btAdapter.getBondedDevices();
}
/**
@@ -108,42 +104,42 @@ public class BTCommunicator{
* Verifies if the target device is a valid NXT robot by checking agains Lego's OUI.
* Also creates the socket and the streams associated with the connection
*
* @param mac_address The mac address of the target device.
* @param macAddress The mac address of the target device.
* @return true if the connection was established succesfully, otherwise false.
* @throws IOException
*/
public boolean establishConnection(String mac_address) throws IOException{
if (!bt_adapter.isEnabled()){
public boolean establishConnection(String macAddress) throws IOException{
if (!btAdapter.isEnabled()){
return false;
}
if(connected){
return false;
}
if(bt_adapter.isEnabled()){
if(mac_address == "NONE"){
if(btAdapter.isEnabled()){
if(macAddress == "NONE"){
return false;
}else{
if(mac_address.substring(0, 8).compareTo(OUI_LEGO) != 0){
Logger.log_d(TAG, CLASS_NAME + ".establishConnection() :: Not a Lego MAC. Prefix : " + mac_address.substring(0, 8) + " :: OUI : " + OUI_LEGO);
if(macAddress.substring(0, 8).compareTo(ProjectConstants.OUI_LEGO) != 0){
Logger.log_d(TAG, CLASS_NAME + ".establishConnection() :: Not a Lego MAC. Prefix : " + macAddress.substring(0, 8) + " :: OUI : " + ProjectConstants.OUI_LEGO);
return false;
}else{
try{
Logger.log_d(TAG, CLASS_NAME + ".establishConnection() :: Getting device with mac address: " + mac_address);
Logger.log_d(TAG, CLASS_NAME + ".establishConnection() :: Getting device with mac address: " + macAddress);
BluetoothDevice nxtDevice = null;
nxtDevice = bt_adapter.getRemoteDevice(mac_address);
nxtDevice = btAdapter.getRemoteDevice(macAddress);
if (nxtDevice == null) {
Logger.log_e(TAG, CLASS_NAME + ".establishConnection() :: No device found.");
throw new IOException();
}
Logger.log_d(TAG, CLASS_NAME + ".establishConnection() :: Opening socket.");
bt_socket = nxtDevice.createRfcommSocketToServiceRecord(SERIAL_PORT_SERVICE_CLASS_UUID);
btSocket = nxtDevice.createRfcommSocketToServiceRecord(ProjectConstants.SERIAL_PORT_SERVICE_CLASS_UUID);
Logger.log_d(TAG, CLASS_NAME + ".establishConnection() :: Connecting.");
bt_socket.connect();
btSocket.connect();
Logger.log_d(TAG, CLASS_NAME + ".establishConnection() :: Opening IO streams.");
nxt_in_stream = bt_socket.getInputStream();
nxt_out_stream = bt_socket.getOutputStream();
nxtInputStream = btSocket.getInputStream();
nxtOutputStream = btSocket.getOutputStream();
Logger.log_d(TAG, CLASS_NAME + ".establishConnection() :: Connection established.");
connected = true;
@@ -171,12 +167,12 @@ public class BTCommunicator{
*/
public boolean stopConnection() throws IOException{
try{
if(bt_socket != null){
if(btSocket != null){
Logger.log_d(TAG, CLASS_NAME + ".stopConnection() :: Closing connection.");
bt_socket.close();
bt_socket = null;
nxt_in_stream = null;
nxt_out_stream = null;
btSocket.close();
btSocket = null;
nxtInputStream = null;
nxtOutputStream = null;
connected = false;
Logger.log_d(TAG, CLASS_NAME + ".stopConnection() :: Connection closed.");
return true;
@@ -198,7 +194,7 @@ public class BTCommunicator{
public synchronized void writeMessage(byte[] message) throws IOException{
if(connected){
try{
nxt_out_stream.write(message);
nxtOutputStream.write(message);
}catch(IOException e){
Logger.log_e(TAG, CLASS_NAME + ".writeMessage()");
Logger.log_e(TAG, Log.getStackTraceString(e));
@@ -220,7 +216,7 @@ public class BTCommunicator{
for(int i = 0; i < message.length; ++i){
message[i] = 0x00;
}
nxt_in_stream.read(message, 0, bytes);
nxtInputStream.read(message, 0, bytes);
return message;
}catch(IOException e){
Logger.log_e(TAG, CLASS_NAME + ".readMessage()");