public class MainActivity extends Activity implements ServiceConnection {
    private final String LOG_TAG = "quaternion";
    private final String MW_MAC_ADDRESS = "C6:EE:8B:E0:4B:24";

    private BtleService.LocalBinder serviceBinder;
    private MetaWearBoard board;
    private SensorFusionBosch sensorFusion;
    private Logging logging;

    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);

        // Bind the service when the activity is created
        getApplicationContext().bindService(new Intent(this, BtleService.class),
                this, Context.BIND_AUTO_CREATE);

        findViewById(R.id.start).setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
                Log.i(LOG_TAG, "start");
                logging.start(false);
                sensorFusion.quaternion().start();
                sensorFusion.start();
            }
        });

        findViewById(R.id.stop).setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
                Log.i(LOG_TAG, "stop");
                sensorFusion.stop();
                sensorFusion.quaternion().stop();
                logging.stop();

                logging.downloadAsync().continueWith(new Continuation<Void, Void>() {
                    @Override
                    public Void then(Task<Void> task) throws Exception {
                        if (task.isFaulted()) {
                            Log.i(LOG_TAG, "Download failed");
                        } else {
                            Log.i(LOG_TAG, "Download complete");
                        }
                        return null;
                    }
                });
            }
        });

        findViewById(R.id.reset).setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
                board.tearDown();
            }
        });
    }

    @Override
    public void onDestroy() {
        super.onDestroy();

        // Unbind the service when the activity is destroyed
        getApplicationContext().unbindService(this);
    }

    @Override
    public void onServiceConnected(ComponentName name, IBinder service) {
        // Typecast the binder to the service's LocalBinder class
        serviceBinder = (BtleService.LocalBinder) service;

        Log.i(LOG_TAG, "Service connected");

        retrieveBoard(MW_MAC_ADDRESS);
    }

    @Override
    public void onServiceDisconnected(ComponentName name) {

    }

    public void retrieveBoard(String macAddr) {
        final BluetoothManager btManager=
                (BluetoothManager) getSystemService(Context.BLUETOOTH_SERVICE);
        final BluetoothDevice remoteDevice=
                btManager.getAdapter().getRemoteDevice(macAddr);

        // Create a MetaWear board object for the Bluetooth Device
        board = serviceBinder.getMetaWearBoard(remoteDevice);
        board.connectAsync().onSuccessTask(new Continuation<Void, Task<Route>>() {
            @Override
            public Task<Route> then(Task<Void> task) throws Exception {

                Log.i(LOG_TAG, "Board connected");

                logging = board.getModule(Logging.class);
                sensorFusion = board.getModule(SensorFusionBosch.class);
                sensorFusion.configure()
                        .mode(Mode.IMU_PLUS)
                        .accRange(AccRange.AR_16G)
                        .gyroRange(GyroRange.GR_2000DPS)
                        .commit();

                return sensorFusion.quaternion().addRouteAsync(new RouteBuilder() {
                    @Override
                    public void configure(RouteComponent source) {
                        source.log(new Subscriber() {
                                    @Override
                                    public void apply(Data data, Object... env) {
                                        Log.i(LOG_TAG, data.formattedTimestamp() + ": " + data.value(Quaternion.class).toString());
                                    }
                                });
                    }
                });
            }
        }).continueWith(new Continuation<Route, Void>() {

            @Override
            public Void then(Task<Route> task) throws Exception {
                if (task.isFaulted()) {
                    Log.w(LOG_TAG, "Failed to configure app", task.getError());
                } else {
                    Log.i(LOG_TAG, "App configured");
                }
                return null;
            }
        });
    }
}