Android 藍芽連結NXT 控制馬達

The purpose of this thesis to research how to build a bluetooth connection between Android and LEGO-Mindstorm-NXT.

一開始用意不是做這個,是在做玩超音波的時候,

突然想到著不是跟台大研發的倒車雷達一樣嗎?

然後看著超音波偵測器想那跟手機結合那不是很好玩

又讓我想到RGB光源偵測器如果跟手機結合,那麼偵測器偵測到顏色把資料傳到手機,

手機在去呼叫聲音檔案例如:紅色叫聲 聲音檔案或者用手機的無線上網在另外傳送資料

所以才發著一篇 ~
(著一篇的Android 連結跟傳輸我並沒有寫分開有點令人詬病~所以請多多包涵)

==> 連結跟傳輸以分開(主程式碼已修改)

1.NXT 控制器左上角會顯示藍芽是否也連結的符號 (<:未連結       <>:已連結 ) 

 Note the screen in the upper-right corner of the picture ,
 symbol mean ( <:Not To Connect bluetooth   <>:To Connect bluetooth )

程式的介面(program interface):

 影片(Video):
 

開發環境: Windows 7 32Bit
使用:Eclipse + Android SDK + Java SDK

記得到AndroidManifest.xml寫入准許加入藍芽權限: 

you need to add the BLUETOOTH permission to your application

<uses-permission android:name=”android.permission.BLUETOOTH”/>
<uses-permission android:name=”android.permission.BLUETOOTH_ADMIN”/>

封包的格式: 下面的圖片是馬達封包的格式

要看比教詳細的介紹請看
 http://www.mindstorms.rwth-aachen.de/trac/wiki/MotorControl
到Message format:開頭你會看到連結埠

然後參考馬達跟超音波的範例:
 http://cellbots.googlecode.com/svn-history/r15/trunk/android/Mindstorms_NXT/src/com/googlecode/cellbots/nxt/NxtConnectionService.java
你會看到
public int setMotor(String srcApp, int motor, int power) {  =>馬達
 public int setUltraSonicSensor(String srcApp, int port) { =>超音波

介面得程式碼:

<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
    android:layout_width="fill_parent"
    android:layout_height="fill_parent"
    android:orientation="vertical" >

    <TextView
        android:layout_width="fill_parent"
        android:layout_height="wrap_content"
        android:text="@string/hello" />

    <TextView
        android:id="@+id/textView1"
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:text="TextView" />

    <Button
        android:id="@+id/button1"
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:text="開起藍芽裝置" />

    <Button
        android:id="@+id/button2"
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:text="搜尋藍芽裝置" />

    <Button
        android:id="@+id/button4"
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:text="連接藍芽裝置" />




    <Button
        android:id="@+id/button3"
        android:layout_width="146dp"
        android:layout_height="wrap_content"
        android:text="更新藍芽搜尋" />

    <Spinner
        android:id="@+id/spinner1"
        android:layout_width="match_parent"
        android:layout_height="wrap_content" />

    <Spinner
        android:id="@+id/spinner2"
        android:layout_width="match_parent"
        android:layout_height="wrap_content" />

    <Button
        android:id="@+id/button5"
        android:layout_width="190dp"
        android:layout_height="wrap_content"
        android:text="馬達A" />

</LinearLayout>
然後主程式碼:
package com.test;

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

import android.app.Activity;
import android.bluetooth.BluetoothAdapter;
import android.bluetooth.BluetoothDevice;
import android.bluetooth.BluetoothSocket;
import android.content.BroadcastReceiver;
import android.content.Context;
import android.content.Intent;
import android.content.IntentFilter;
import android.os.Bundle;
import android.provider.ContactsContract.CommonDataKinds.Im;
import android.util.Log;
import android.view.View;
import android.widget.ArrayAdapter;
import android.widget.Button;
import android.widget.Spinner;
import android.widget.TextView;

public class MenuActivityActivity extends Activity {
   
    public static final String TAG = "test";
    private static final int REQUEST_ENABLE_BT = 2;
    public static final String MyUUID = "00001101-0000-1000-8000-00805F9B34FB";
    private ConnectThread mConnectThread;
    private ConnectedThread mConnectedThread;
    private TextView text_View1 ;
   
    BluetoothAdapter mBluetoothAdapter;
    ArrayAdapter<String> bondedDevices;
    ArrayAdapter<String> foundedDevices;
   
    Button turnOnButton, showPairedDevicesButton, scanForDevicesButton,connectButton,RunMotorA;
    TextView text;    
    @Override
    public void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.main);
        //=============== main.xml Set up =======================
        text_View1 = (TextView) findViewById(R.id.textView1);
        text = (TextView) findViewById(R.id.textView1);
        turnOnButton = (Button) findViewById(R.id.button1);
        showPairedDevicesButton = (Button) findViewById(R.id.button2);
        scanForDevicesButton = (Button) findViewById(R.id.button3);
        connectButton = (Button) findViewById(R.id.button4);
        RunMotorA = (Button) findViewById(R.id.button5);
       
        mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
        if (mBluetoothAdapter != null) {text.setText("BlueTooth adapter found");}
       
        turnOnButton.setOnClickListener(new View.OnClickListener()  {
            public void onClick(View v) {
                turnOnBluetooth();
            }
        });

        showPairedDevicesButton.setOnClickListener(new View.OnClickListener()  {
            public void onClick(View v) {
                showPairedDevices();
            }
        });
       
        scanForDevicesButton.setOnClickListener(new View.OnClickListener()  {
            public void onClick(View v) {
                scanForDevices();
            }
        });
       
        connectButton.setOnClickListener(new View.OnClickListener()  {
            public void onClick(View v) {
                connectToDevice();
            }
        });
        RunMotorA.setOnClickListener(new View.OnClickListener()  {
            public void onClick(View v) {
                   int motor=0;    // NXT Port = 0:A Port , 1:B Port ,2:Port .....  

                   int power=50;

                   byte[] setCmd = new byte[13];

                        setCmd[0] = (byte) 0x80;

                        setCmd[1] = (byte) 0x04;

                        setCmd[2] = (byte) motor;

                        setCmd[3] = (byte) power;

                        setCmd[4] = (byte) 0x01;

                        setCmd[5] = (byte) 0x01;

                        setCmd[6] = (byte) 0x00;

                        setCmd[7] = (byte) 0x20;

                        setCmd[8] = (byte) 0x00;

                        setCmd[9] = (byte) 0x00;

                        setCmd[10] = (byte) 0x00;

                        setCmd[11] = (byte) 0x00;

                        setCmd[12] = (byte) 0x00;

                        long t2=0;            

                        while(1000>t2)

                        {

                            mConnectedThread.write(setCmd);

                            t2++;

                        }

            }
        });
        bondedDevices =  new ArrayAdapter<String>(this, android.R.layout.simple_spinner_item);
        foundedDevices =  new ArrayAdapter<String>(this, android.R.layout.simple_spinner_item);
    }
   
    public void turnOnBluetooth(){
        if (!mBluetoothAdapter.isEnabled()) {
            Intent enableBtIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
            startActivityForResult(enableBtIntent, REQUEST_ENABLE_BT);
        }
    }
   
    public void showPairedDevices(){
        Set<BluetoothDevice> pairedDevices = mBluetoothAdapter.getBondedDevices();
        // If there are paired devices
        if (pairedDevices.size() > 0) {
            // Loop through paired devices
            for (BluetoothDevice device : pairedDevices) {
                // Add the name and address to an array adapter to show in a ListView
                bondedDevices.add(device.getName() + "\n" + device.getAddress());
                Log.d("debug",device.getName() + "\n" + device.getAddress() );
            }
        }
        Spinner s1 = (Spinner) findViewById(R.id.spinner1);
        bondedDevices.setDropDownViewResource(android.R.layout.simple_spinner_dropdown_item);
        s1.setAdapter(bondedDevices);
        s1.showContextMenu();
    }
   
 // Create a BroadcastReceiver for ACTION_FOUND
    private final BroadcastReceiver mReceiver = new BroadcastReceiver() {
        public void onReceive(Context context, Intent intent) {
            String action = intent.getAction();
            // When discovery finds a device
            if (BluetoothDevice.ACTION_FOUND.equals(action)) {
                // Get the BluetoothDevice object from the Intent
                BluetoothDevice device = intent.getParcelableExtra(BluetoothDevice.EXTRA_DEVICE);
                // Add the name and address to an array adapter to show in a ListView
                foundedDevices.add(device.getName() + "\n" + device.getAddress());
                refreshNewDevices();
            }
        }
    };

    public void refreshNewDevices(){
        Spinner s2 = (Spinner) findViewById(R.id.spinner2);
        foundedDevices.setDropDownViewResource(android.R.layout.simple_spinner_dropdown_item);
        s2.setAdapter(foundedDevices);
        s2.showContextMenu();
    }
   
    public void scanForDevices(){
        // Register the BroadcastReceiver
        IntentFilter filter = new IntentFilter(BluetoothDevice.ACTION_FOUND);
        registerReceiver(mReceiver, filter); // Don't forget to unregister during onDestroy
        mBluetoothAdapter.startDiscovery();
    }

    public synchronized void connectToDevice(){
        Set<BluetoothDevice> pairedDevices = mBluetoothAdapter.getBondedDevices();
        BluetoothDevice stvorka = null;
        int t=0; // Device Count
        if (pairedDevices.size() > 0) {
            // Loop through paired devices
            for (BluetoothDevice device : pairedDevices) {
              //  if(device.getName().equals("stvorka"))
              //  stvorka = mBluetoothAdapter.getRemoteDevice(device.getAddress());
                  mConnectThread = new ConnectThread(device);
                  mConnectThread.start();
                  text_View1.setText(device.getAddress()+""+ t);
                  t++;     
            }
        }
        //  Start the thread to connect with the given device
        //  mConnectThread = new ConnectThread(stvorka);
        //  mConnectThread.start();
        //  text_View1.setText(stvorka.getName());
    }
   
    @Override
    protected void onActivityResult(int requestCode, int resultCode, Intent data) {
        if(requestCode == REQUEST_ENABLE_BT){
                if(resultCode == Activity.RESULT_OK){
                        text.setText("Bluetooth enabled");
                }else if (resultCode == Activity.RESULT_CANCELED){
                        text.setText("Bluetooth not enabled");
                }
        }
    }
   
    /**
     * Start the ConnectedThread to begin managing a Bluetooth connection
     * @param socket  The BluetoothSocket on which the connection was made
     * @param device  The BluetoothDevice that has been connected
     */
    public synchronized void connected(BluetoothSocket socket, BluetoothDevice device) {
        // 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;}
        Log.d(TAG,"starting connecting to device");
        mConnectedThread = new ConnectedThread(socket);
        mConnectedThread.start();
    }

    public void move() {
        byte[] data = { 0x0c, 0x00, (byte) 0x80, 0x04, 0x02, 0x32, 0x07, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00 };
        int motor = 0;
        if (motor == 0) {
            data[4] = 0x02;
        } else {
            data[4] = 0x01;
        }
        data[5] = 0x20;
        if(mConnectedThread != null)
                mConnectedThread.write(data);
        else
                Log.d(TAG,"mConnectedThread is NULL");
    }
   
    /**
     * This thread runs while attempting to make an outgoing connection
     * with a device. It runs straight through; the connection either
     * succeeds or fails.
     */
    private class ConnectThread extends Thread {
        private final BluetoothSocket mmSocket;
        private final BluetoothDevice mmDevice;
       
        public ConnectThread(BluetoothDevice device) {
            mmDevice = device;
            BluetoothSocket tmp = null;
           
            try {
                tmp = device.createRfcommSocketToServiceRecord(UUID.fromString(MyUUID));
            } catch (IOException e) {
                Log.d(TAG,"socket creation failed" ,e);
            }
            mmSocket = tmp;
        }
       
        @Override
        public void run() {
            setName("ConnectThread");
            Log.d(TAG,"running connected thread");
            mBluetoothAdapter.cancelDiscovery();
           
            try {
                mmSocket.connect();
                Log.d(TAG, "connection success");
            } catch (IOException e) {
                connectionFailed();
                Log.d(TAG,"connection failed" ,e);
                try {
                    mmSocket.close();
                } catch (IOException e1) {
                    Log.e(TAG,"connection failed" ,e);
                }
                return;
            }
            synchronized (MenuActivityActivity.this) {
                mConnectThread = null;
            }        
            connected(mmSocket, mmDevice);
        }
       
        public void cancel() {
            try {
                mmSocket.close();
            } catch (IOException e) {
                e.printStackTrace();
            }
        }
    }
    /**
     * This thread runs during a connection with a remote device.
     * It handles all incoming and outgoing transmissions.
     */
    private class ConnectedThread extends Thread {
        private final BluetoothSocket mmSocket;
        private final InputStream mmInStream;
        private final OutputStream mmOutStream;
        public ConnectedThread(BluetoothSocket socket) {
            Log.d(TAG, "create ConnectedThread");
            mmSocket = socket;
            InputStream tmpIn = null;
            OutputStream tmpOut = null;
            // Get the BluetoothSocket input and output streams
            try {
                tmpIn = socket.getInputStream();
                tmpOut = socket.getOutputStream();
            } catch (IOException e) {
                Log.d(TAG, "temp sockets not created", e);
            }
            mmInStream = tmpIn;
            mmOutStream = tmpOut;
        }
        public void write(int i) {
            // TODO Auto-generated method stub   
        }
        @Override
        public void run() {
            Log.d(TAG, "run listening");
            byte[] buffer = new byte[1024];
            int bytes;
           
            // Keep listening to the InputStream while connected
            while (true) {
                try {
                    // Read from the InputStream
                    bytes = mmInStream.read(buffer);
                    Log.d(TAG, "listening.."+bytes);
                } catch (Exception e) {
                    Log.d(TAG, "disconnected");
                    connectionLost();
                    break;
                }
            }
        }

        /**
         * Write to the connected OutStream.
         * @param buffer  The bytes to write
         */
        public void write(byte[] buffer) {
            try {
               
                mmOutStream.write(buffer);
                Log.d(TAG, "sending to device"+buffer.toString());
            } catch (IOException e) {
                Log.d(TAG, "Exception during write", e);
            }
        }

        public void cancel() {
            try {
                mmSocket.close();
            } catch (IOException e) {
                Log.d(TAG, "close() of connect socket failed", e);
            }
        }
    }
   
    /**
     * Indicate that the connection was lost and notify the UI Activity.
     */
    private void connectionLost() {
        // Start the service over to restart listening mode
        MenuActivityActivity.this.connectToDevice();
    }
   
    /**
     * Indicate that the connection attempt failed and notify the UI Activity.
     */
    private void connectionFailed() {
        connectionLost();
    }
        @Override
        protected void onStart() {
                super.onStart();
        }
        @Override
        protected void onResume() {
                super.onResume();
        }
        @Override
        protected void onPause() {
                super.onPause();
        }
        @Override
        protected void onStop() {
                super.onStop();
        }
        @Override
        protected void onDestroy() {
                if(mReceiver != null)
                        unregisterReceiver(mReceiver); // Don't forget to unregister during onDestroy
                super.onDestroy();
        }
}