Jlechman motorControl.java

package com.led.GUI;

import android.support.v7.app.ActionBarActivity;
import android.os.Bundle;
import android.view.Menu;
import android.view.MenuItem;

import android.bluetooth.BluetoothSocket;
import android.content.Intent;
import android.view.View;
import android.widget.Button;
import android.widget.SeekBar;
import android.widget.TextView;
import android.widget.Toast;
import android.app.ProgressDialog;
import android.bluetooth.BluetoothAdapter;
import android.bluetooth.BluetoothDevice;
import android.os.AsyncTask;

import java.io.IOException;
import java.util.UUID;


public class motorControl extends ActionBarActivity {
    //GUI instance variables for action listeners
    Button stopButton;
    SeekBar lMotor, rMotor;
    TextView lText, rText;
    private ProgressDialog progress;
    //bluetooth instance variables
    BluetoothAdapter myBluetooth = null;
    BluetoothSocket btSocket = null;
    private boolean isBtConnected = false;
    String address = null;
    //SPP UUID. Unique identifier "key" for bluetooth connection.
    static final UUID myUUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");

    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);

        Intent newint = getIntent();
        address = newint.getStringExtra(DeviceList.EXTRA_ADDRESS); //receive the address of the bluetooth device

        //android app view of the motorontrol
        setContentView(R.layout.activity_motor_control);

        //initialize the GUI objects (basically link them to the objects in the xml files)
        lMotor = (SeekBar) findViewById(R.id.lmotorcontrol);
        rMotor = (SeekBar) findViewById(R.id.rmotorcontrol);
        stopButton = (Button) findViewById(R.id.stop_button);
        lText = (TextView) findViewById(R.id.lTextOutput);
        rText = (TextView) findViewById(R.id.rTextOutput);

        new ConnectBT().execute(); //Call the class to connect BT

        //action listener for "STOP" button
        stopButton.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v)     //on button press, change speed to 10 (stop movement)
            {
                changeSpeed('l', 10);
                lText.setText("Power: " + "10" + "/" + "20");
                lMotor.setProgress(50);

                changeSpeed('r', 10);
                rText.setText("Power: " + "10" + "/" + "20");
                rMotor.setProgress(50);
            }
        });
        //action listener for left motor control slider
        lText.setText("Power: " + lMotor.getProgress() / 5 + "/" + lMotor.getMax() / 5);
        lMotor.setOnSeekBarChangeListener(new SeekBar.OnSeekBarChangeListener() {
            int lProgress = 0;

            @Override
            public void onProgressChanged(SeekBar seekBar, int progressValue, boolean fromUser) {
                lProgress = progressValue / 5;
                changeSpeed('l', lProgress);  //change speed based on slider/seekbar value l = left motor, r = right motor
                //lText.setText("Power: " + lProgress + "/" + seekBar.getMax() / 5);
                //Toast.makeText(getApplicationContext(), "Seekbar progress changing", Toast.LENGTH_SHORT).show();
            }

            @Override
            public void onStartTrackingTouch(SeekBar seekBar) {
                //debug line
                //Toast.makeText(getApplicationContext(), "Started tracking seekbar", Toast.LENGTH_SHORT).show();
            }

            @Override
            public void onStopTrackingTouch(SeekBar seekBar) {
                //debug line
                //Toast.makeText(getApplicationContext(), "Stopped tracking seekbar", Toast.LENGTH_SHORT).show();
            }
        });

        //action listener for right motor control
        rText.setText("Power: " + rMotor.getProgress() / 5 + "/" + rMotor.getMax() / 5);
        rMotor.setOnSeekBarChangeListener(new SeekBar.OnSeekBarChangeListener() {

            int rProgress = 0;

            @Override
            public void onProgressChanged(SeekBar seekBar, int progressValue, boolean fromUser) {
                rProgress = progressValue / 5;
                changeSpeed('r', rProgress);   //change speed based on slider/seekbar value l = left motor, r = right motor
                //rText.setText("Power: " + rProgress + "/" + seekBar.getMax() / 5);
                //debug line
                //msg("Seekbar progress changing");
            }

            @Override
            public void onStartTrackingTouch(SeekBar seekBar) {
                //debug line
                //msg("Started tracking seekbar");
            }

            @Override
            public void onStopTrackingTouch(SeekBar seekBar) {
                //debug line
                //msg("Stopped tracking seekbar");
            }
        });
    }


        private void changeSpeed(char motor, int sliderValue)       //send bluetooth signals to change motor speed.
        {
            if (motor == 'r')
            {
                String state; //decide what the bluetooth state will be from the right slider value
                switch(sliderValue) {
                    case (0):
                        state = "u";
                        break;
                    case (1):
                        state = "v";
                        break;
                    case (2):
                        state = "w";
                        break;
                    case (3):
                        state = "x";
                        break;
                    case (4):
                        state = "y";
                        break;
                    case (5):
                        state = "z";
                        break;
                    case (6):
                        state = "1";
                        break;
                    case (7):
                        state = "2";
                        break;
                    case (8):
                        state = "3";
                        break;
                    case (9):
                        state = "4"; //no movement 0 velocity
                        break;
                    case (10):
                        state = "5";
                        break;
                    case (11):
                        state = "6";
                        break;
                    case (12):
                        state = "7";
                        break;
                    case (13):
                        state = "8";
                        break;
                    case (14):
                        state = "9";
                        break;
                    case (15):
                        state = "A";
                        break;
                    case (16):
                        state = "B";
                        break;
                    case (17):
                        state = "C";
                        break;
                    case (18):
                        state = "D";
                        break;
                    case (19):
                        state = "E";
                        break;
                    case(20):   //need to fix
                        state = "E";
                        break;
                    default:
                        state = "Null";
                        break;
                }
                rText.setText("Slider: " + sliderValue + " State: " + state);   //update the textView with the status of the slider
                //msg("power : " + sliderValue + "    "  + "state:" + state);
                //debug line
                //Toast.makeText(getApplicationContext(), "Speed r = "+ msg, Toast.LENGTH_SHORT).show();

                if (btSocket!=null) //attempt to send a bluetooth signal, if this catches an error, it will tell the user.
                {
                    try
                    {
                        btSocket.getOutputStream().write(String.valueOf(state).getBytes());
                        //Toast.makeText(getApplicationContext(), "state r = "+ state, Toast.LENGTH_SHORT).show();
                    }
                    catch (IOException e)
                    {
                        //tell user there has been an error
                        msg("Error sending rmotor bt message");
                    }
                }
            } else if (motor == 'l') {                  //same thing for the left motor
                String state; //decide what the bluetooth state will be from the LEFT slider value
                switch (sliderValue) {
                    case (0):
                        state = "a";
                        break;
                    case (1):
                        state = "b";
                        break;
                    case (2):
                        state = "c";
                        break;
                    case (3):
                        state = "d";
                        break;
                    case (4):
                        state = "e";
                        break;
                    case (5):
                        state = "f";
                        break;
                    case (6):
                        state = "g";
                        break;
                    case (7):
                        state = "h";
                        break;
                    case (8):
                        state = "i";
                        break;
                    case (9):
                        state = "j"; //no movement 0 velocity
                        break;
                    case (10):
                        state = "k";
                        break;
                    case (11):
                        state = "l";
                        break;
                    case (12):
                        state = "m";
                        break;
                    case (13):
                        state = "n";
                        break;
                    case (14):
                        state = "o";
                        break;
                    case (15):
                        state = "p";
                        break;
                    case (16):
                        state = "q";
                        break;
                    case (17):
                        state = "r";
                        break;
                    case (18):
                        state = "s";
                        break;
                    case (19):
                        state = "t";
                        break;
                    case (20):   //need to fix
                        state = "t";
                        break;
                    default:
                        state = "Null";
                        break;
                }
                lText.setText("Slider: " + sliderValue + " State: " + state);   //update the user
                //msg("power : " + sliderValue + "    "  + "state:" + state);
                //debug line
                //Toast.makeText(getApplicationContext(), "Speed r = "+ msg, Toast.LENGTH_SHORT).show();

                if (btSocket != null) { //attempt to send thebluetooth signal, if it fails, notify the user on the display
                    try {
                        btSocket.getOutputStream().write(String.valueOf(state).getBytes());
                        //Toast.makeText(getApplicationContext(), "state r = "+ state, Toast.LENGTH_SHORT).show();
                    } catch (IOException e) {
                        //debug error
                        msg("Error sending rmotor bt message"); //notify user
                    }
                }
            }
        }


    private void Disconnect()   //if the btSocket is busy try closing the connection we have open
    {
        if (btSocket!=null) //If  btSocket is unavilable
        {
            try
            {
                btSocket.close(); //close
            }
            catch (IOException e)
            { msg("Error");}
        }
        finish(); //return to the first layout DeviceList.xml

    }


    // fast way to call Toast for debug messages
    private void msg(String s)
    {
        Toast.makeText(getApplicationContext(),s,Toast.LENGTH_LONG).show();
    }

    @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_motor_control, 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);
    }

    private class ConnectBT extends AsyncTask<Void, Void, Void>  // Bluetooth connection
    {
        private boolean ConnectSuccess = true; //store connection success status
        @Override
        protected void onPreExecute       (){
            progress = ProgressDialog.show(motorControl.this, "Connecting...", "Please wait!!!");  //show a progress/status popup, mostly unessicary but nice to have
        }

        @Override
        protected Void doInBackground(Void... devices) //while the progress dialog is in the foreground the connection is dealth with in the app background
        {
            try
            {
                if (btSocket == null || !isBtConnected) //check if already connected
                {
                 myBluetooth = BluetoothAdapter.getDefaultAdapter();//get the phone's bluetooth device
                 BluetoothDevice dispositivo = myBluetooth.getRemoteDevice(address);//connects to the external device's address if it is avilable
                 btSocket = dispositivo.createInsecureRfcommSocketToServiceRecord(myUUID);//create a 'connection'
                 BluetoothAdapter.getDefaultAdapter().cancelDiscovery();
                 btSocket.connect();//start said connection
                }
            }
            catch (IOException e)
            {
                ConnectSuccess = false;//Connection has failed.
            }
            return null;
        }
        @Override
        protected void onPostExecute(Void result) //check to see if the connection was successful
        {
            super.onPostExecute(result);

            if (!ConnectSuccess)    //failed
            {
                msg("Connection Failed. Try again.");   //notify user
                finish();
            }
            else
            {
                msg("Connected!");      //notify user
                isBtConnected = true;
            }
            progress.dismiss();
        }
    }
}