Quadruped_Robot_Main2chatActivity

Quadruped_Robot_Main2chatActivity.java

import android.app.ProgressDialog;
import android.bluetooth.BluetoothAdapter;
import android.bluetooth.BluetoothDevice;
import android.bluetooth.BluetoothSocket;
import android.content.Intent;
import android.os.AsyncTask;
import android.os.Handler;
import android.support.v7.app.AppCompatActivity;
import android.os.Bundle;
import android.util.Log;
import android.view.View;
import android.widget.EditText;
import android.widget.ListView;
import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.util.UUID;
import ai.api.AIServiceContext;
import ai.api.AIServiceContextBuilder;
import ai.api.android.AIConfiguration;
import ai.api.android.AIDataService;
import ai.api.model.AIRequest;
import ai.api.model.AIResponse;

public class Main2chatActivity extends AppCompatActivity {
    private EditText editText;
    private MessageAdapter messageAdapter;
    private static final String TAG = Main2chatActivity.class.getSimpleName();
    private ProgressDialog progress;
    private ListView messagesView;
    private AIRequest aiRequest;
    private AIDataService aiDataService;
    private AIServiceContext customAIServiceContext;
   OutputStream mmOutputStream;
   InputStream mmInputStream;
    private String uuid = UUID.randomUUID().toString();
    String address = null;
    BluetoothAdapter myBluetooth = null;
   BluetoothDevice mmDevice;
    BluetoothSocket btSocket = null;
   BluetoothSocket mmSocket = null;
    private boolean isBtConnected = false;
   int readBufferPosition;
    int counter;
    Thread workerThread;
    byte[] readBuffer;
    volatile boolean stopWorker;
    //SPP UUID Look for it
    static final UUID myUUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");
    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main2chat);
        editText = (EditText) findViewById(R.id.editText);
        Intent newint = getIntent();
        address = newint.getStringExtra(bluetoothActivity.EXTRA_ADDRESS); //receive the address of the       bluetooth device
        new ConnectBT().execute();
        messageAdapter = new MessageAdapter(this);
        messagesView = (ListView) findViewById(R.id.messages_view);
        messagesView.setAdapter(messageAdapter);
    }
    public void sendMessage(View view) {
        String message = editText.getText().toString();
        if (message.length() > 0) {
            final Message message1 = new Message(message,true);
            messageAdapter.add(message1);
            editText.getText().clear();
               //Dialogflow configuration
              // Unique key is obtained from dialogflow settings 
            final AIConfiguration config = new AIConfiguration("<<key>>",
                    AIConfiguration.SupportedLanguages.English,
                    AIConfiguration.RecognitionEngine.System);
            aiDataService = new AIDataService(this, config);
            customAIServiceContext = AIServiceContextBuilder.buildFromSessionId(uuid);// helps to create new session whenever app restarts
            aiRequest = new AIRequest();
            aiRequest.setQuery(message);
// Dialogflow request
            RequestTask requestTask = new RequestTask(Main2chatActivity.this, aiDataService, customAIServiceContext);
            requestTask.execute(aiRequest);// background task
        }
    }
// Dialogflow response
    public void callback(AIResponse aiResponse) {
        if (aiResponse != null) {
            // process aiResponse here
            String botReply = aiResponse.getResult().getFulfillment().getSpeech();
            Log.d(TAG, "Bot Reply: " + botReply.contains("Hello!"));
            char first='z';
            //response: Hello
            if(botReply.contains("Hello!"))// wave hello
            {
                first='h';                
            }
          //response: Hm. I will check and tell you
            else if(botReply.contains("check")) //navigation check
            {
                first='c';
            }
          //response: haha. No, it is not possible.
            else if(botReply.contains("possible")) //fly
            {
                first='p';
            }
            if (btSocket!=null && first!='z')
            {
                try
                {
                    btSocket.getOutputStream().write(String.valueOf(first).getBytes());
                    if(first=='c')
                    openBT();// receive message from arduino
                }
                catch (IOException e)
                {
                    Log.d("","Error");
                }
            }
            final Message message1 = new Message(botReply,false);
            messageAdapter.add(message1);

        } else {
            Log.d(TAG, "Bot Reply: Null");

        }
    }
    private class ConnectBT extends AsyncTask<Void, Void, Void>  // UI thread
    {
        private boolean ConnectSuccess = true; 

        @Override
        protected void onPreExecute()
        {
            progress = ProgressDialog.show(Main2chatActivity.this, "Connecting...", "Please wait!!!");  //show a progress dialog
        }

        @Override
        protected Void doInBackground(Void... devices) //while the progress dialog is shown, the connection is done in background
        {
            try
            {
                if (btSocket == null || !isBtConnected)
                {
                    myBluetooth = BluetoothAdapter.getDefaultAdapter();//get the mobile bluetooth device
                    BluetoothDevice dispositivo = myBluetooth.getRemoteDevice(address);//connects to the device's address and checks if it's available
                    btSocket = dispositivo.createInsecureRfcommSocketToServiceRecord(myUUID);//create a RFCOMM (SPP) connection
                    BluetoothAdapter.getDefaultAdapter().cancelDiscovery();
                    btSocket.connect();//start connection
                }
            }
            catch (IOException e)
            {
                ConnectSuccess = false;//if the try failed, you can check the exception here
            }
            return null;
        }
        @Override
        protected void onPostExecute(Void result) //after the doInBackground, it checks if everything went fine
        {
            super.onPostExecute(result);

            if (!ConnectSuccess)
            {
                Log.d("error","Connection Failed. Is it a SPP Bluetooth? Try again");
                finish();
            }
            else
            {
                Log.d("Success","Connected.");
                isBtConnected = true;
            }
            progress.dismiss();
        }
    }

//function to listen data 
void openBT() throws IOException
{
   /* UUID uuid = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB"); //Standard SerialPortService ID
    mmSocket = mmDevice.createRfcommSocketToServiceRecord(uuid);
    mmSocket.connect();*/
    mmOutputStream = btSocket.getOutputStream();
    mmInputStream = btSocket.getInputStream();
    beginListenForData();
}
    //function to read input from arduino
    void beginListenForData()
    {
        final Handler handler = new Handler();
        final byte delimiter = 10; //This is the ASCII code for a newline character

        stopWorker = false;
        readBufferPosition = 0;
        readBuffer = new byte[1024];
        workerThread = new Thread(new Runnable()
        {
            public void run()
            {
                while(!Thread.currentThread().isInterrupted() && !stopWorker)
                {
                    try
                    {
                        int bytesAvailable = mmInputStream.available();
                        if(bytesAvailable > 0)
                        {
                            byte[] packetBytes = new byte[bytesAvailable];
                            mmInputStream.read(packetBytes);
                            for(int i=0;i<bytesAvailable;i++)
                            {
                                byte b = packetBytes[i];
                                if(b == delimiter)
                                {
                                    byte[] encodedBytes = new byte[readBufferPosition];
                                    System.arraycopy(readBuffer, 0, encodedBytes, 0, encodedBytes.length);
                                    final String data = new String(encodedBytes, "US-ASCII");
                                    readBufferPosition = 0;

                                    handler.post(new Runnable()
                                    {
                                        public void run()
                                        {
                                            final Message message1 = new Message("Some object is there at a distance of "+data.toString()+" cms from my point. So i can't move\uD83D\uDE1F",false);
                                            messageAdapter.add(message1);
                                            Log.d("Value",data);
                                        }
                                    });
                                }
                                else
                                {
                                    readBuffer[readBufferPosition++] = b;
                                }
                            }
                        }
                    }
                    catch (IOException ex)
                    {
                        stopWorker = true;
                    }
                }
            }
        });

        workerThread.start();
    }
}