package fr.umlv.nxtpilot.bluetooth;
import java.io.BufferedReader;
import java.io.IOException;
import java.io.InputStream;
import java.io.InputStreamReader;
import java.io.OutputStream;
import java.util.Timer;
import java.util.TimerTask;
import java.util.UUID;
import android.app.Service;
import android.bluetooth.BluetoothAdapter;
import android.bluetooth.BluetoothDevice;
import android.bluetooth.BluetoothSocket;
import android.content.Intent;
import android.os.Binder;
import android.os.Bundle;
import android.os.Handler;
import android.os.IBinder;
import android.os.Message;
import android.util.Log;
import fr.umlv.nxtpilot.core.MenuActivity;
/**
* The Service is used to connect to a NXT Robot. It handles a bluetooth connection to a NXT Bot.
* The Service can be bound from an Activity to be used.
*/
public class BluetoothCommService extends Service {
private static final String TAG = "ConServ";
private static final UUID MY_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");
public static final int IGNORE_MESSAGES=0;
public static final int NOTIFY_MESSAGES=1;
public static final int STATE_CONNECTING = 1;
public static final int STATE_NONE = 0;
public static final int STATE_CONNECTED = 2;
private final LocalBinder b = new LocalBinder();
private int mState;
private ConnectThread mConnectThread;
private ConnectedThread mConnectedThread;
private BluetoothAdapter mAdapter;
private Handler mHandler;
//private BluetoothSocket mSocket;
//private BluetoothDevice mDevice;
private boolean initialized;
@Override
public IBinder onBind(Intent arg0) {
Log.d(TAG, "BIND");
return b;
}
@Override
public boolean onUnbind(Intent intent) {
Log.d(TAG, "UNBIND");
return true;
}
/**
* Initialize the Service with the given Handler
* @param hand the handler given by an activity
*/
public void initialize(Handler hand)
{
mHandler=hand;
if(!initialized)
{
mAdapter = BluetoothAdapter.getDefaultAdapter();
mState = STATE_NONE;
}
}
/**
* Create a bluetooth connection to a bluetooth device.
* It will start a thread which will start the connection to the device.
* The return from this method doesn't mean that the connection is done or have failed.
* @param device the device to be connected
*/
public void connect(BluetoothDevice device) {
Log.d(TAG, "connect to: " + device);
// Cancel any thread attempting to make a connection
if (mState == STATE_CONNECTING) {
if (mConnectThread != null) {mConnectThread.cancel(); mConnectThread = null;}
}
// Cancel any thread currently running a connection
if (mConnectedThread != null) {mConnectedThread.cancel(); mConnectedThread = null;}
// Start the thread to connect with the given device
mConnectThread = new ConnectThread(device);
mConnectThread.start();
setState(STATE_CONNECTING);
}
/**
* This Method is called when the connection is done(ie the ConnectThread gone well) .
* It will launch a new Thread which will handle the reading from the socket.
* @param socket the socket to the bluetooth device.
* @param device The bluetooth device which is connected
*/
private synchronized void connected(BluetoothSocket socket, BluetoothDevice device) {
Log.d(TAG, "connected");
// Cancel the thread that completed the connection
if (mConnectThread != null) {mConnectThread.cancel(); mConnectThread = null;}
// Cancel any thread currently running a connection
if (mConnectedThread != null) {mConnectedThread.cancel(); mConnectedThread = null;}
// Start the thread to manage the connection and perform transmissions
mConnectedThread = new ConnectedThread(socket);
mConnectedThread.start();
// Send the name of the connected device back to the UI Activity
Message msg = mHandler.obtainMessage(MenuActivity.MESSAGE_DEVICE_NAME);
Bundle bundle = new Bundle();
bundle.putString(MenuActivity.DEVICE_NAME, device.getName());
msg.setData(bundle);
mHandler.sendMessage(msg);
setState(STATE_CONNECTED);
}
/**
* Stop all threads.
*/
public synchronized void cancel() {
Log.d(TAG, "stop");
if (mConnectThread != null) {mConnectThread.cancel(); mConnectThread = null;}
if (mConnectedThread != null) {mConnectedThread.cancel(); mConnectedThread = null;}
setState(STATE_NONE);
}
/**
* Set's the state of the connection.
* The handlers used to communicate with activities are informed that the state changed
* @param state the new connection state
*/
private synchronized void setState(int state) {
Log.d(TAG, "setState() " + mState + " -> " + state);
mState = state;
// Give the new state to the Handler so the UI Activity can update
mHandler.obtainMessage(MenuActivity.MESSAGE_STATE_CHANGE, state, -1).sendToTarget();
}
/**
* This class is a thread wich will create the connection to the given device.
*/
private class ConnectThread extends Thread {
private final BluetoothSocket mmSocket;
private final BluetoothDevice mmDevice;
/**
* Constructor of the ConnectThread
* @param device The device wich will be connected
*/
public ConnectThread(BluetoothDevice device) {
mmDevice = device;
BluetoothSocket tmp = null;
// Get a BluetoothSocket for a connection with the
// given BluetoothDevice
try {
tmp = device.createRfcommSocketToServiceRecord(MY_UUID);
} catch (IOException e) {
Log.e(TAG, "create() failed", e);
}
mmSocket = tmp;
}
/**
* The main content that will do the connection
*/
@Override
public void run() {
Log.i(TAG, "BEGIN mConnectThread");
setName("ConnectThread");
// Always cancel discovery because it will slow down a connection
mAdapter.cancelDiscovery();
// Make a connection to the BluetoothSocket
try {
// This is a blocking call and will only return on a
// successful connection or an exception
mmSocket.connect();
} catch (IOException e) {
connectionFailed();
// Close the socket
try {
mmSocket.close();
} catch (IOException e2) {
Log.e(TAG, "unable to close() socket during connection failure", e2);
}
// Start the service over to restart listening mode
// BluetoothCommService.this.start();
return;
}
// Reset the ConnectThread because we're done
synchronized (BluetoothCommService.this) {
mConnectThread = null;
}
// Start the connected thread
connected(mmSocket, mmDevice);
}
/**
* Cancel the connection
*/
public void cancel() {
try {
mmSocket.close();
} catch (IOException e) {
Log.e(TAG, "close() of connect socket failed", e);
}
}
}
/**
* This thread is used when the connection is done. It will handle the read/write on the socket.
* The connection is closed after 60 seconds of inactivity
*
*/
private class ConnectedThread extends Thread {
private final BluetoothSocket mmSocket;
private final OutputStream mmOutStream;
private BufferedReader mmBufReader;
private long timeout=60000;
private long lastDate;
private Timer t = new Timer();
private TimerTask tt = new TimerTask() {
@Override
public void run() {
Log.d(TAG, "Test date : last = "+(lastDate+timeout)+" current = "+System.currentTimeMillis());
if(lastDate+timeout<System.currentTimeMillis())
{
connectionLost();
ConnectedThread.this.cancel();
}
}
};
public ConnectedThread(BluetoothSocket socket) {
Log.d(TAG, "create ConnectedThread");
mmSocket = socket;
InputStream tmpIn = null;
OutputStream tmpOut = null;
lastDate=System.currentTimeMillis();
// Get the BluetoothSocket input and output streams
try {
tmpIn = socket.getInputStream();
tmpOut = socket.getOutputStream();
} catch (IOException e) {
Log.e(TAG, "temp sockets not created", e);
}
mmOutStream = tmpOut;
mmBufReader=new BufferedReader(new InputStreamReader(tmpIn));
}
/**
* Will initialize the Timer wich check the timeout of the connection.
* After the initialization, an infinite loop of reading is launched.
* If a message come from the NXT, the Activitie's handler is noticed, and the message is sent to it.
*/
public void run() {
Log.i(TAG, "BEGIN mConnectedThread");
//start of timeout check
t.schedule(tt, 0, 2000);
// Keep listening to the InputStream while connected
while (true) {
try {
// Read from the InputStream
//bytes = mmInStream.read(buffer);
String s=mmBufReader.readLine();
// Send the obtained bytes to the UI Activity
mHandler.obtainMessage(MenuActivity.MESSAGE_FROM_NXT, s.length(), -1, s).sendToTarget();
Log.i(TAG, "Something was read : "+s);
} catch (IOException e) {
Log.e(TAG, "disconnected", e);
connectionLost();
break;
}
//Whatever the exception happening, the loop should'nt be stopped, the show must go on :)
catch (Exception e) {
Log.e(TAG, "disconnected", e);
connectionLost();
cancel();
break;
}
}
}
/**
* Write to the connected OutStream (The NXT) and update the lastDate (for the connection timeout).
* @param buffer The bytes to write
*/
public void write(byte[] buffer) {
try {
lastDate=System.currentTimeMillis();
mmOutStream.write(buffer);
// Share the sent message back to the UI Activity
mHandler.obtainMessage(MenuActivity.MESSAGE_WRITE, -1, -1, buffer)
.sendToTarget();
} catch (IOException e) {
Log.e(TAG, "Exception during write", e);
connectionLost();
this.cancel();
}
}
/**
*
* Closes the connection
*/
public void cancel() {
try {
mmSocket.close();
} catch (IOException e) {
Log.e(TAG, "close() of connect socket failed", e);
}
catch(Exception e)
{
//Nothing to say, silent close
}
}
}
/**
* Create a localbinder for the activities using the bluetooth service.
*
*/
public class LocalBinder extends Binder {
public BluetoothCommService getService() {
return BluetoothCommService.this;
}
}
/**
* Indicate that the connection failed and notify the UI Activity.
*/
private void connectionFailed() {
setState(STATE_NONE);
// Send a failure message back to the Activity
Message msg = mHandler.obtainMessage(MenuActivity.MESSAGE_TOAST);
Bundle bundle = new Bundle();
bundle.putString(MenuActivity.TOAST, "Unable to connect device");
msg.setData(bundle);
mHandler.sendMessage(msg);
}
/**
* Indicate that the connection was lost and notify the UI Activity.
*/
private void connectionLost() {
setState(STATE_NONE);
// Send a failure message back to the Activity
Message msg = mHandler.obtainMessage(MenuActivity.MESSAGE_TOAST);
Bundle bundle = new Bundle();
bundle.putString(MenuActivity.TOAST, "Device connection was lost");
msg.setData(bundle);
mHandler.sendMessage(msg);
}
public void write(byte[] b)
{
// Create temporary object
ConnectedThread r;
// Synchronize a copy of the ConnectedThread
synchronized (this) {
if (mState != STATE_CONNECTED) return;
r = mConnectedThread;
}
// Perform the write unsynchronized
r.write(b);
}
/**
* The Service is started as STICKY
*/
@Override
public int onStartCommand(Intent intent, int flags, int startId) {
return START_STICKY;
}
/**
* This method is used to modify the new handler wich will be used to communicate with activities.
* @param mHandler2 the new handler
*/
public void setHandler(Handler mHandler2) {
this.mHandler=mHandler2;
}
/**
* On destroy, the connection is closed
*/
@Override
public void onDestroy() {
super.onDestroy();
cancel();
}
}