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| import android.app.Activity;
import android.bluetooth.BluetoothAdapter;
import android.bluetooth.BluetoothDevice;
import android.bluetooth.BluetoothSocket;
import android.content.Intent;
import android.content.pm.ActivityInfo;
import android.content.pm.PackageManager;
import android.hardware.Sensor;
import android.hardware.SensorEvent;
import android.hardware.SensorEventListener;
import android.hardware.SensorManager;
import android.os.Bundle;
import android.view.View;
import android.widget.AdapterView;
import android.widget.ArrayAdapter;
import android.widget.FrameLayout;
import android.widget.ListView;
import android.widget.TextView;
import android.widget.Toast;
import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.util.ArrayList;
import java.util.Set;
import java.util.Timer;
import java.util.TimerTask;
import java.util.UUID;
import static android.R.layout.*;
import androidx.appcompat.app.AppCompatActivity;
public class MainActivity extends AppCompatActivity {
private static final int REQUEST_ENABLE_BT = 1;
BluetoothAdapter bluetoothAdapter;
ArrayList<String> pairedDeviceArrayList;
ListView listViewPairedDevice;
FrameLayout ButPanel;
ArrayAdapter<String> pairedDeviceAdapter;
private UUID myUUID;
ThreadConnectBTdevice myThreadConnectBTdevice;
ThreadConnected myThreadConnected;
private StringBuilder sb = new StringBuilder();
public TextView textInfo, d10;
TextView tvText;
TextView tvText1;
TextView tvText2;
TextView tvText3;
SensorManager sensorManager;
Sensor sensorAccel;
Sensor sensorLinAccel;
Sensor sensorGravity;
StringBuilder sb1 = new StringBuilder();
StringBuilder sb2 = new StringBuilder();
StringBuilder sb3 = new StringBuilder();
StringBuilder sb4 = new StringBuilder();
Timer timer;
private float xy_angle;
private float xz_angle;
private int x;
private int y;
public int direction = 100;
byte output = 22; //пример
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_PORTRAIT);
final String UUID_STRING_WELL_KNOWN_SPP = "00001101-0000-1000-8000-00805F9B34FB";
textInfo = (TextView)findViewById(R.id.textInfo);
d10 = (TextView)findViewById(R.id.d10);
listViewPairedDevice = (ListView)findViewById(R.id.pairedlist);
ButPanel = (FrameLayout) findViewById(R.id.ButPanel);
if (!getPackageManager().hasSystemFeature(PackageManager.FEATURE_BLUETOOTH)){
Toast.makeText(this, "BLUETOOTH NOT support", Toast.LENGTH_LONG).show();
finish();
return;
}
myUUID = UUID.fromString(UUID_STRING_WELL_KNOWN_SPP);
bluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
if (bluetoothAdapter == null) {
Toast.makeText(this, "Bluetooth is not supported on this hardware platform", Toast.LENGTH_LONG).show();
finish();
return;
}
String stInfo = bluetoothAdapter.getName() + " " + bluetoothAdapter.getAddress(); //норм
textInfo.setText(String.format("Это устройство: %s", stInfo));
tvText = (TextView) findViewById(R.id.tvText);
tvText1 = (TextView) findViewById(R.id.tvText1);
tvText2 = (TextView) findViewById(R.id.tvText2);
tvText3 = (TextView) findViewById(R.id.tvText3);
sensorManager = (SensorManager) getSystemService(SENSOR_SERVICE);
sensorAccel = sensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
sensorLinAccel = sensorManager.getDefaultSensor(Sensor.TYPE_LINEAR_ACCELERATION);
sensorGravity = sensorManager.getDefaultSensor(Sensor.TYPE_GRAVITY);
} // END onCreate
@Override
protected void onResume() {
super.onResume();
sensorManager.registerListener(listener, sensorAccel, SensorManager.SENSOR_DELAY_NORMAL);
sensorManager.registerListener(listener, sensorLinAccel, SensorManager.SENSOR_DELAY_NORMAL);
sensorManager.registerListener(listener, sensorGravity, SensorManager.SENSOR_DELAY_NORMAL);
timer = new Timer();
TimerTask task = new TimerTask() {
@Override
public void run() {
runOnUiThread(new Runnable() {
@Override
public void run() {
showInfo();
}
});
}
};
timer.schedule(task, 0, 20);
}
@Override
protected void onPause() {
super.onPause();
sensorManager.unregisterListener(listener);
timer.cancel();
}
String format(float values[]) {
return String.format("%1$.1f\t\t%2$.1f\t\t%3$.1f", values[0], values[1],
values[2]);
}
float[] valuesAccel = new float[3];
float[] valuesAccelMotion = new float[3];
float[] valuesAccelGravity = new float[3];
float[] valuesLinAccel = new float[3];
float[] valuesGravity = new float[3];
SensorEventListener listener = new SensorEventListener() {
@Override
public void onAccuracyChanged(Sensor sensor, int accuracy) {
}
@Override
public void onSensorChanged(SensorEvent event) {
switch (event.sensor.getType()) {
case Sensor.TYPE_ACCELEROMETER:
for (int i = 0; i < 3; i++) {
valuesAccel[i] = event.values[i];
valuesAccelGravity[i] = (float) (0.1 * event.values[i] + 0.9 * valuesAccelGravity[i]);
valuesAccelMotion[i] = event.values[i]
- valuesAccelGravity[i];
}
break;
case Sensor.TYPE_LINEAR_ACCELERATION:
for (int i = 0; i < 3; i++) {
valuesLinAccel[i] = event.values[i];
}
break;
case Sensor.TYPE_GRAVITY:
for (int i = 0; i < 3; i++) {
valuesGravity[i] = event.values[i];
}
break;
}
xy_angle = event.values[0]*10; //Плоскость XY
xz_angle = event.values[1]*10; //Плоскость XZ
x=-(int) xy_angle*1;
y=-(int) xz_angle*1;
if(y>-40&&y<-20){
direction=100;// скорость вперед ноль, никуда не едем, смотрим есть ли повороты
if (x>10){//скорость вправо от 10 до 30 диапазон 20 единиц
direction=(byte)(x+30);
if (direction>60){direction=60;}
}
if(x<-10){
direction=(byte)(-x+50);
if (direction>80){direction=80;}
}
}
else {
if (y > -20) {// едем вперед, диапазон -20: 20 итого 40 единиц
direction = (byte) (y / 2 + 10);
if (direction > 20) {
direction = 20;
}
}
if (y < -40) {// едем назад, диапазон -40: -80 итого 40 единиц
direction = (byte) (-y - 20);
if (direction > 40) {
direction = 40;
}
}
}
}
};
void showInfo() {
sb1.setLength(0);
sb1.append("Accelerometer: " + format(valuesAccel))
// .append("\n\nAccel motion: " + format(valuesAccelMotion))
// .append("\nAccel gravity : " + format(valuesAccelGravity))
// .append("\n\nLin accel : " + format(valuesLinAccel))
// .append("\nGravity : " + format(valuesGravity))
;
tvText.setText(sb1);
sb2.setLength(0);
sb2.append(xy_angle + " " + xz_angle);
tvText1.setText(sb2);
sb3.setLength(0);
sb3.append(xy_angle + " " + xz_angle);
tvText2.setText(sb3);
sb4.setLength(0);
sb4.append(direction);
tvText3.setText(sb4);
}
@Override
protected void onStart() { // Запрос на включение Bluetooth
super.onStart();
if (!bluetoothAdapter.isEnabled()) {
Intent enableIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
startActivityForResult(enableIntent, REQUEST_ENABLE_BT); //норм
}
setup();
}
private void setup() { // Создание списка сопряжённых Bluetooth-устройств
Set<BluetoothDevice> pairedDevices = bluetoothAdapter.getBondedDevices(); //норм
if (pairedDevices.size() > 0) { // Если есть сопряжённые устройства
pairedDeviceArrayList = new ArrayList<>();
for (BluetoothDevice device : pairedDevices) { // Добавляем сопряжённые устройства - Имя + MAC-адресс
pairedDeviceArrayList.add(device.getName() + "\n" + device.getAddress()); //норм
}
pairedDeviceAdapter = new ArrayAdapter<>(this, simple_list_item_1, pairedDeviceArrayList);
listViewPairedDevice.setAdapter(pairedDeviceAdapter);
listViewPairedDevice.setOnItemClickListener(new AdapterView.OnItemClickListener() { // Клик по нужному устройству
@Override
public void onItemClick(AdapterView<?> parent, View view, int position, long id) {
listViewPairedDevice.setVisibility(View.GONE); // После клика скрываем список
String itemValue = (String) listViewPairedDevice.getItemAtPosition(position);
String MAC = itemValue.substring(itemValue.length() - 17); // Вычленяем MAC-адрес
BluetoothDevice device2 = bluetoothAdapter.getRemoteDevice(MAC);
myThreadConnectBTdevice = new ThreadConnectBTdevice(device2);
myThreadConnectBTdevice.start(); // Запускаем поток для подключения Bluetooth
}
});
}
}
@Override
protected void onDestroy() { // Закрытие приложения
super.onDestroy();
if(myThreadConnectBTdevice!=null) myThreadConnectBTdevice.cancel();
}
@Override
protected void onActivityResult(int requestCode, int resultCode, Intent data) { //норм
if(requestCode == REQUEST_ENABLE_BT){ // Если разрешили включить Bluetooth, тогда void setup()
if(resultCode == Activity.RESULT_OK) {
setup();
}
else { // Если не разрешили, тогда закрываем приложение
Toast.makeText(this, "BlueTooth не включён", Toast.LENGTH_SHORT).show();
finish();
}
}
}
private class ThreadConnectBTdevice extends Thread { // Поток для коннекта с Bluetooth
private BluetoothSocket bluetoothSocket = null;
private ThreadConnectBTdevice(BluetoothDevice device) {
try {
bluetoothSocket = device.createRfcommSocketToServiceRecord(myUUID); //норм
}
catch (IOException e) {
e.printStackTrace();
}
}
@Override
public void run() { // Коннект
boolean success = false;
try {
bluetoothSocket.connect(); //норм
success = true;
}
catch (IOException e) {
e.printStackTrace();
runOnUiThread(new Runnable() {
@Override
public void run() {
Toast.makeText(MainActivity.this, "Нет коннекта, проверьте Bluetooth-устройство с которым хотите соединица!", Toast.LENGTH_LONG).show();
listViewPairedDevice.setVisibility(View.VISIBLE);
}
});
try {
bluetoothSocket.close();
}
catch (IOException e1) {
e1.printStackTrace();
}
}
if(success) { // Если законнектились, тогда открываем панель с кнопками и запускаем поток приёма и отправки данных
runOnUiThread(new Runnable() {
@Override
public void run() {
ButPanel.setVisibility(View.VISIBLE); // открываем панель с кнопками
}
});
myThreadConnected = new ThreadConnected(bluetoothSocket);
myThreadConnected.start(); // запуск потока приёма и отправки данных
}
}
public void cancel() {
Toast.makeText(getApplicationContext(), "Close - BluetoothSocket", Toast.LENGTH_LONG).show();
try {
bluetoothSocket.close();
}
catch (IOException e) {
e.printStackTrace();
}
}
} // END ThreadConnectBTdevice:
private class ThreadConnected extends Thread { // Поток - приём и отправка данных
private final InputStream connectedInputStream;
private final OutputStream connectedOutputStream;
private String sbprint;
public ThreadConnected(BluetoothSocket socket) {
InputStream in = null;
OutputStream out = null;
try {
in = socket.getInputStream();
out = socket.getOutputStream();
}
catch (IOException e) {
e.printStackTrace();
}
connectedInputStream = in;
connectedOutputStream = out;
}
@Override
public void run() { // Приём данных
while (true) {
try {
byte[] buffer = new byte[1];
int bytes = connectedInputStream.read(buffer);
String strIncom = new String(buffer, 0, bytes);
sb.append(strIncom); // собираем символы в строку
int endOfLineIndex = sb.indexOf("\r\n"); // определяем конец строки
if (endOfLineIndex > 0) {
sbprint = sb.substring(0, endOfLineIndex);
sb.delete(0, sb.length());
runOnUiThread(new Runnable() { // Вывод данных
@Override
public void run() {
switch (sbprint) {
case "D10 ON":
d10.setText(sbprint);
break;
case "D10 OFF":
d10.setText(sbprint);
break;
default:
break;
}
}
});
}
} catch (IOException e) {
break;
}
}
}
public void write(int buffer) {
try {
connectedOutputStream.write(buffer);
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
}
/////////////////// Нажатие кнопок /////////////////////
/////////////////////////D10////////////////////////////
public void onClickBut1(View v) {
if(myThreadConnected!=null) {
int bytesToSend = direction;
myThreadConnected.write(bytesToSend );
}
}
public void onClickBut2(View v) {
if(myThreadConnected!=null) {
int bytesToSend = output;
myThreadConnected.write(bytesToSend );
}
}
} // END |
(
