Spideruino

package com.pj.hiro.hiro_control;

import android.bluetooth.BluetoothAdapter;
import android.bluetooth.BluetoothDevice;
import android.bluetooth.BluetoothSocket;
import android.content.Intent;
import android.content.pm.ActivityInfo;
import android.os.Bundle;
import android.os.Handler;
import android.widget.Button;
import android.widget.EditText;
import android.widget.LinearLayout;
import android.widget.RelativeLayout;
import android.widget.TextView;
import android.support.design.widget.FloatingActionButton;
import android.support.design.widget.Snackbar;
import android.support.v7.app.AppCompatActivity;
import android.support.v7.widget.Toolbar;
import android.view.View;
import android.view.Menu;
import android.view.MenuItem;
import android.widget.Toast;

import com.zerokol.views.JoystickView;

import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.util.Set;
import java.util.UUID;


public class MainActivity extends AppCompatActivity {

    //BT
    private final String DEVICE_ADDRESS="Your BT module Mac Adress";
    private final UUID PORT_UUID = UUID.fromString("00001101-0000-1000-8000-00805f9b34fb");//Serial Port Service ID
    private BluetoothDevice device;
    private BluetoothSocket socket;
    private OutputStream outputStream;
    private InputStream inputStream;
    Button startButton, sendButton,clearButton,stopButton;
    TextView textView;
    EditText editText;
    LinearLayout joystickLayout;
    RelativeLayout bluetoothLayout;
    boolean deviceConnected=false;
    Thread thread;
    FloatingActionButton fab;
    byte buffer[];
    int bufferPosition;
    boolean stopThread;
    //___

    private TextView angleTextView;
    private TextView powerTextView;
    private TextView directionTextView;
    // Importing also other views
    private JoystickView joystick;

    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);
        startButton = (Button) findViewById(R.id.buttonStart);
        sendButton = (Button) findViewById(R.id.buttonSend);
        clearButton = (Button) findViewById(R.id.buttonClear);
        stopButton = (Button) findViewById(R.id.buttonStop);
        editText = (EditText) findViewById(R.id.editText);
        textView = (TextView) findViewById(R.id.textView);
        bluetoothLayout = (RelativeLayout) findViewById(R.id.BluetoothLayout);
        joystickLayout = (LinearLayout) findViewById(R.id.JoyStickLayout);
        fab = (FloatingActionButton) findViewById(R.id.hider);
        setUiEnabled(false);



        // Set window fullscreen and remove title bar, and force landscape orientation
        setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_LANDSCAPE);




        angleTextView = (TextView) findViewById(R.id.angleTextView);
        powerTextView = (TextView) findViewById(R.id.powerTextView);
        directionTextView = (TextView) findViewById(R.id.directionTextView);
        //Referencing also other views
        joystick = (JoystickView) findViewById(R.id.joystickView);

        joystick.setOnJoystickMoveListener(new JoystickView.OnJoystickMoveListener() {

            @Override
            public void onValueChanged(int angle, int power, int direction) {
                // TODO Auto-generated method stub
                angleTextView.setText(" " + String.valueOf(angle) + "°");
                powerTextView.setText(" " + String.valueOf(power) + "%");
                if(outputStream != null) {
                    try {
                        outputStream.write((String.valueOf(direction) + "/" + String.valueOf(Math.round(power * 2.5)) + "%").getBytes());
                    } catch (IOException e) {
                        e.printStackTrace();
                    }
                }
                switch (direction) {
                    case JoystickView.FRONT:
                        directionTextView.setText("front_lab" + " " + direction);
                        break;
                    case JoystickView.FRONT_RIGHT:
                        directionTextView.setText("front_right_lab" + " " + direction);
                        break;
                    case JoystickView.RIGHT:
                        directionTextView.setText("right_lab" + " " + direction);
                        break;
                    case JoystickView.RIGHT_BOTTOM:
                        directionTextView.setText("right_bottom_lab" + " " + direction);
                        break;
                    case JoystickView.BOTTOM:
                        directionTextView.setText("bottom_lab" + " " + direction);
                        break;
                    case JoystickView.BOTTOM_LEFT:
                        directionTextView.setText("bottom_left_lab" + " " + direction);
                        break;
                    case JoystickView.LEFT:
                        directionTextView.setText("left_lab" + " " + direction);
                        break;
                    case JoystickView.LEFT_FRONT:
                        directionTextView.setText("left_front_lab" + " " + direction);
                        break;
                    default:
                        directionTextView.setText("center_lab" + " " + direction);
                }

                int polaR = 0;
                int polaL = 0;
                int thrustR = 0;
                int thrustL = 0;

            }
        }, JoystickView.DEFAULT_LOOP_INTERVAL);

        fab.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View view) {
                if(bluetoothLayout.getVisibility()==View.GONE){
                    bluetoothLayout.setVisibility(View.VISIBLE);
                }
                else{
                    bluetoothLayout.setVisibility(View.GONE);
                }
            }
        });

        joystickLayout.setVisibility(View.GONE);


    }

    public void setUiEnabled(boolean bool)
    {
        startButton.setEnabled(!bool);
        sendButton.setEnabled(bool);
        stopButton.setEnabled(bool);
        textView.setEnabled(bool);

    }

    public boolean BTinit()
    {
        boolean found=false;
        BluetoothAdapter bluetoothAdapter=BluetoothAdapter.getDefaultAdapter();
        if (bluetoothAdapter == null) {
            Toast.makeText(getApplicationContext(),"Device doesnt Support Bluetooth",Toast.LENGTH_SHORT).show();
        }
        if(!bluetoothAdapter.isEnabled())
        {
            Intent enableAdapter = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
            startActivityForResult(enableAdapter, 0);
            try {
                Thread.sleep(1000);
            } catch (InterruptedException e) {
                e.printStackTrace();
            }
        }
        Set<BluetoothDevice> bondedDevices = bluetoothAdapter.getBondedDevices();
        if(bondedDevices.isEmpty())
        {
            Toast.makeText(getApplicationContext(),"Please Pair the Device first",Toast.LENGTH_SHORT).show();
        }
        else
        {
            for (BluetoothDevice iterator : bondedDevices)
            {
                if(iterator.getAddress().equals(DEVICE_ADDRESS))
                {
                    device=iterator;
                    found=true;
                    break;
                }
            }
        }
        return found;
    }

    public boolean BTconnect()
    {
        boolean connected=true;
        try {
            socket = device.createRfcommSocketToServiceRecord(PORT_UUID);
            socket.connect();
        } catch (IOException e) {
            e.printStackTrace();
            connected=false;
        }
        if(connected)
        {
            try {
                outputStream=socket.getOutputStream();
            } catch (IOException e) {
                e.printStackTrace();
            }
            try {
                inputStream=socket.getInputStream();
            } catch (IOException e) {
                e.printStackTrace();
            }

        }


        return connected;
    }

    public void onClickStart(View view) {
        if(BTinit())
        {
            if(BTconnect())
            {
                setUiEnabled(true);
                deviceConnected=true;
                beginListenForData();
                textView.append("\nConnection Opened!\n");
                if(joystickLayout.getVisibility()==View.GONE){
                    joystickLayout.setVisibility(View.VISIBLE);
                }
            }

        }
    }

    void beginListenForData()
    {
        final Handler handler = new Handler();
        stopThread = false;
        buffer = new byte[1024];
        Thread thread  = new Thread(new Runnable()
        {
            public void run()
            {
                while(!Thread.currentThread().isInterrupted() && !stopThread)
                {
                    try
                    {
                        int byteCount = inputStream.available();
                        if(byteCount > 0)
                        {
                            byte[] rawBytes = new byte[byteCount];
                            inputStream.read(rawBytes);
                            final String string=new String(rawBytes,"UTF-8");
                            handler.post(new Runnable() {
                                public void run()
                                {
                                    textView.append(string);
                                    Toast.makeText(getApplicationContext(), "Reçu" + string, Toast.LENGTH_SHORT).show();
                                }
                            });

                        }
                    }
                    catch (IOException ex)
                    {
                        stopThread = true;
                    }
                }
            }
        });

        thread.start();
    }

    public void onClickSend(View view) {
        String string = editText.getText().toString() + "?";
        try {
            outputStream.write(string.getBytes());
        } catch (IOException e) {
            e.printStackTrace();
        }
        textView.append("\nSent Data:"+string+"\n");

    }

    public void onClickStop(View view) throws IOException {
        stopThread = true;
        outputStream.close();
        inputStream.close();
        socket.close();
        setUiEnabled(false);
        deviceConnected=false;
        textView.append("\nConnection Closed!\n");
        if(joystickLayout.getVisibility()==View.VISIBLE){
            joystickLayout.setVisibility(View.GONE);
        }
    }

    public void onClickClear(View view) {
        textView.setText("");
    }

    @Override
    public boolean onCreateOptionsMenu(Menu menu) {
        // Inflate the menu; this adds items to the action bar if it is present.
        getMenuInflater().inflate(R.menu.menu_main, menu);
        return true;
    }

    @Override
    public boolean onOptionsItemSelected(MenuItem item) {
        // Handle action bar item clicks here. The action bar will
        // automatically handle clicks on the Home/Up button, so long
        // as you specify a parent activity in AndroidManifest.xml.
        int id = item.getItemId();

        //noinspection SimplifiableIfStatement
        if (id == R.id.action_settings) {
            return true;
        }

        return super.onOptionsItemSelected(item);
    }

    /**
     * A native method that is implemented by the 'native-lib' native library,
     * which is packaged with this application.
     */
    public native String stringFromJNI();

    // Used to load the 'native-lib' library on application startup.
    static {
        System.loadLibrary("native-lib");
    }
}