I am trying to control/operate a motor from an android phone in "as close as possible" realtime using the Android SPP Bluetooth socket interface. The motor ought to run in a so called 'dead man' operation mode. So the motor will only turn if a button on the android APP is touched and ought to stop immediately if the touch is released.
I implemented this by continuously sending 'keep turning' telegrams of 20 Bytes about every 20ms to keep the motor turning and to have the motor stop immediately as soon as no more telegrams are received or if a STOP telegram is received.
This seem to work acceptable well on some phone but others continue sending 'keep turning' telegrams even after the MotionEvent.ACTION_UP event has been processed and no more data are being send.
I assume that this is caused by some internal buffers that cache the transmit data and continue sending until the buffer is empty.
Simple questions:
Is there a way to purge the BT stream transmit buffer to stop all data transfer immediately?
Or can I get the fill level of the transmit buffer in which case I would not put anything more than about 2 telegrams into it?
Or is there a way to specify the buffer size when opening the stream?
Searching the net, I was not able to find anything that talks about BT stream buffer size of buffer management.
And Yes, I have implemented read and write functions as threads and I do not have any problems in reading all telegrams, and I do not need to deliver telegrams in real time but I should be able to stop sending 'keep turning' telegrams within about 50 to 100ms.
Any hints are very welcome.
I am sorry that I did not add the code, I thought it may not be necessary as it is straight forward as:
#Override
public boolean onTouch(final View v,MotionEvent event) {
int eventAction = event.getAction();
switch (eventAction) {
case MotionEvent.ACTION_DOWN:
if (v == btnUp || v == btnDown) {
// Start a thread that sends the goUP or DOWN command every 10 ms until
// btnUp released
tvCounter.setText("----");
action_touched = true;
new Thread(new Runnable() {
#Override
public void run() {
int counter = 1;
// Disable heart beat
ServiceRequest.send(EnRequest.REQ_SET_HEARTBEAT,0);
// Send GoUp command plus a wrapping counter byte every nn ms
// until the button is released
while (action_touched) {
try {
setDeadmanMove(v==btnUp,counter);
Thread.sleep(20);
++counter;
}
catch (InterruptedException ex) {
action_touched = false;
}
catch (Exception ex) {
action_touched = false;
}
}
// Send a STOP command
setDeadmanStop();
// Enable heart beat again
ServiceRequest.send(EnRequest.REQ_SET_HEARTBEAT,1);
// We are done
}
}).start();
}
break;
case MotionEvent.ACTION_UP:
// Stop Thread
action_touched = false;
break;
}
return true;
}
The snipped below is part of the communication class that manages the Bluetooth serial communication.
public void btWrite(DeviceRecord message) {
if (runBTreceiver) {
if (message.isValidRecord()) {
try {
lock.lock();
++lockCounter;
mmBufferedOut.write(message.getFullRecord());
mmBufferedOut.flush();
}
catch (IOException e) {
if (GlobalData.isDebugger) Log.i(TAG, "Failed sending " + message + " " + e.getMessage());
ServiceResponse.send(EnEvent.EVT_BT_RECEIVER_ERROR, "Error data send: " + e.getMessage());
resetConnection();
runBTreceiver=false;
}
finally {
--lockCounter;
lock.unlock();
}
}
}
}
The code snipped that allocates and opens the Bluetooth connection
try {
// Set up a pointer to the remote node using it's address.
BluetoothDevice device = myBluetoothAdapter.getRemoteDevice(myBluetoothMacId);
if (device != null)
{
// Two things are needed to make a connection:
// A MAC address, which we got above.
// A Service ID or UUID. In this case we are using the
// UUID for SPP.
try {
myBluetoothSocket = device.createRfcommSocketToServiceRecord(GlobalData.MY_UUID);
}
catch (IOException e) {
sendEventStatus(EnEvent.EVT_BTADAPTER_FAIL,
String.format(GlobalData.rString(R.string.srv_failcrt),BTERROR_CREATE,e.getMessage()));
}
// Establish the connection. This will block until it connects or
// timeout?
try {
if (! myBluetoothSocket.isConnected()) {
myBluetoothSocket.connect();
}
}
catch (IOException e) {
try {
Log.e("","trying fallback...");
myBluetoothSocket =(BluetoothSocket) device.getClass().getMethod("createRfcommSocket", new Class[] {int.class}).invoke(device,1);
myBluetoothSocket.connect();
}
catch (IOException e2) {
sendEventStatus(EnEvent.EVT_BTADAPTER_FAIL,e2.getMessage());
}
}
}
else {
sendEventStatus(EnEvent.EVT_BTADAPTER_FAIL,
String.format(GlobalData.rString(R.string.srv_failcrt),BTERROR_DEVICE,"getRemoteDevice failed"));
}
}
catch (Exception e) {
sendEventStatus(EnEvent.EVT_BTADAPTER_FAIL, e.getMessage());
return;
}
InputStream tmpIn = null;
OutputStream tmpOut = null;
mmSocket = socket;
// Get the input and output streams, using temp objects because
// member streams are final
try {
tmpIn = socket.getInputStream();
tmpOut = socket.getOutputStream();
}
catch (IOException e) {
ServiceResponse.send(EnEvent.EVT_ERROR, GlobalData.rString(R.string.srv_failcst) + e.getMessage());
resetConnection();
runBTreceiver=false;
}
mmInStream = tmpIn;
// mmOutStream = tmpOut;
mmBufferedOut = new BufferedOutputStream(tmpOut,80);
// Initial request
btWrite(new DeviceRecord(0, 4));
I have never discovered any problems sending and receiving data via this code. All records are sent and received properly. Only problem was that I am unable to purge the transmit buffer at the moment the operate button was released.
To overcome this problem, I have changed the protocol in such a way, that only a single 'keep turning' telegram is send at a time, the next telegram will be send after a response from the other end (sort of handshaking), the program then continue to run this ping/pong until the button is released.
This method works quite well as the transmit buffer will never hold more than one telegram at a time.
the mentioned problem is solved though but I still have no clue of whether it would be possible to purge a transmit buffer
Related
I have created an application to Android and Microsoft Hololens, where it is possible to send some GPS-data with bluetooth from an Android-phone to a Hololens (with Bluetooth LE Advertiser) and that works allright. But when I am trying to send other data from Hololens to Android, I have a problem that Android-phone can't discover Hololens, although these devices are paired. Is it even possible to send data from Hololens with bluetooth, or is there only something wrong in my code? Does Bluetooth LE Advertising support two-way data transfering?
I am guessing you have a BluetoothConnected thread in your android app with an InputStream (mine is mmInStream). Try using this as your 'run' function in the thread:
public void run() {
System.out.println("BT THREAD RUNNING");
mmBuffer = new byte[1024];
int numBytes; // bytes returned from read()
InputStreamReader mmInStreamReader = new InputStreamReader(mmInStream);
BufferedReader mmReader = new BufferedReader(mmInStreamReader);
// Keep listening to the InputStream until an exception occurs.
while (true) {
try {
// Read from the InputStream.
Thread.sleep(100);
String s = mmReader.readLine();
Thread.sleep(100);
//Static class that handles the response
BluetoothCommunications.responseHandler(s);
} catch (IOException e) {
System.out.println("Input stream was disconnected" + e);
main.disconnected();
break;
} catch (Exception e) {
System.out.println(e.getMessage());
}
}
}
I'm working on a simple vehicle project, made with Arduino Uno and controlled by an Android App.
My matter is to send continuous stream from the app to my bluetooth module (HC-06) on Arduino.
I did it with onTouch events and a new thread called from my main activity, but something is obviously wrong because the app seems to send each command as i want it to do, but the Arduino waits until the finger is off the button and receives all data (from action.down to action.up) at a time.
To understand :
I update a small string like this "1255090" each time a command button is action.down or action_move, convert it to bytes and send it via bluetooth.
If i briefly click on the button, Arduino will receive the correct string "1255090", but if i maintain my finger on the button, Arduino waits for the string, and when i release the button, Arduino receives for example "125509012540901253090125209012510901252090" (depending on how long i clicked).
Android activity (partial)
drive.setOnTouchListener(new View.OnTouchListener() {
public boolean onTouch(View v, MotionEvent m) {
if (m.getAction() != MotionEvent.ACTION_UP) {
accelerer(); // inscreases the speed
str_flux(); // constructs the string
byte[] bytes = new byte[0];
try { bytes = flux.getBytes("UTF-8"); } catch (UnsupportedEncodingException e) { e.printStackTrace(); }
sendReceiveBT.write(bytes); // calls the thread's method
} else{ralentir();}
return true;
}
});
Thread
package com.*.vehicle.util;
import android.bluetooth.BluetoothSocket;
import android.util.Log;
import java.io.IOException;
import java.io.OutputStream;
public class SendReceiveBytes implements Runnable {
private BluetoothSocket btSocket;
private OutputStream btOutputStream = null;
String TAG = "SendReceiveBytes";
public SendReceiveBytes(BluetoothSocket socket) {
btSocket = socket;
try { btOutputStream = btSocket.getOutputStream(); } catch (IOException streamError) { Log.e(TAG, "Error when getting input or output Stream"); }
}
public void run() {
byte[] buffer = new byte[1024];
int bytes;
}
public void write(byte[] bytes) {
try {
btOutputStream.write(bytes); // Send the bytes to Arduino
btOutputStream.flush(); // don't know if it really does something...
Log.e(TAG, "SUCCESS !");
}
catch (IOException e) {
Log.e(TAG, "Error when writing to btOutputStream");
}
}
}
Arduino loop
void loop() {
s = Serial.readString(); // 1255090
if (s!=""){
Serial.println(s);
bt_direction = s.substring(0,1).toInt();
bt_speed = s.substring(1,4).toInt();
bt_angle = s.substring(4,7).toInt();
s = "";
} else{
if (bt_speed>0){
for(int i=bt_speed;i>=0;i--){bt_speed--;}
}
else{ bt_speed = 0; }
}
if (bt_direction==1){bt_dir = true;} else{bt_dir = false;}
if (bt_speed==0){stop_motor();} else{dc_motor(bt_speed, bt_dir);}
Serial.println(bt_direction);
servo_turn(bt_angle);
}
If I am getting you correctly, you can easily handle it using multiple states.
For example,
State1: 123456: is for tap,
State2: 123457: is for press & hold,
State3: 123458: is for release,
And so on.
And in you ui detect whether user is tapping or press and hold.
If press and hold , instruct arduino to do something until receives release.
In this way you can even handle the situation without continuously sending bit, And as per my understanding you don't need this.
Correct me if I am wrong.
Thanks !!!
I'm working on an application which should be quite the same as Bluehood, an application which is on the google market .
So now I'm working on Bluetooth . The fact is, I want to transfer strings (JSON) between two devices . I've seen lots of posts on stackoverflow and some examples on the internet but it's not so clear for me .
I know that I've to use createInsecureRfcommSocketToServiceRecord for sending informations and listenUsingInsecureRfcommWithServiceRecord for receiving them , but I'm searching some simple tutorial to explain how it works and how to transfer data between two devices .
Thank in advance for your explanations...
It's hard to know if I am answering this effectively, as you say you have searched the web and I find one of the most useful tutorials at android com on Bluetooth. I have supplied parts of the code, not the full thread classes, but the bones to give you an idea of how temp sockets are used until sockets are found and made final, for the duration of the connection, and how threads manage each stage of the connection process.
listenUsingRfcommWithServiceRecord(NAME, MY_UUID); is used to create a server socket. It listens for a connection. It acts like a server. This is on the device that is acting as a server or listening for incoming connections.
This is done is a separate thread.
public AcceptThread() {
BluetoothServerSocket tmp = null;
// Create a new listening server socket
try {
tmp = mAdapter.listenUsingRfcommWithServiceRecord(NAME, MY_UUID);
} catch (IOException e) {
}
mmServerSocket = tmp;
}
public void run() {
BluetoothSocket socket = null;
// Listen to the server socket if we're not connected
while (mState != STATE_CONNECTED) {
try {
// This is a blocking call and will only return on a
// successful connection or an exception
socket = mmServerSocket.accept();
} catch (IOException e) {
break;
}
// If a connection was accepted
if (socket != null) {
synchronized (BluetoothConnection.this) {
switch (mState) {
case STATE_LISTEN:
case STATE_CONNECTING:
// Situation normal. Start the connected thread.
connected(socket, socket.getRemoteDevice());
break;
case STATE_NONE:
case STATE_CONNECTED:
// Either not ready or already connected. Terminate new socket.
try {
socket.close();
} catch (IOException e) {
}
break;
}
}
}
}
}
There is a separate thread to act as a client, seeking a connection. It goes looking for a connection. This is on the device that seeks the connection with the server device. (These can be interchangeable).
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) {
}
mmSocket = tmp;
}
public void run() {
// 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) {
// Close the socket
try {
mmSocket.close();
} catch (IOException e2) {
}
connectionFailed();
return;
}
You then need a thread to manage the actual connection. When the client meets the server. Also in a separate thread.
public ConnectedThread(BluetoothSocket socket) {
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) {
}
mmInStream = tmpIn;
mmOutStream = tmpOut;
}
public void run() {
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);
// Send the obtained bytes to the UI Activity
mHandler.obtainMessage(MESSAGE_READ, bytes, -1, buffer).sendToTarget();
} catch (IOException e) {
connectionLost();
// Start the service over to restart listening mode
BluetoothConnection.this.start();
break;
}
}
}
Within this thread you also have your code to manage writing data through this connection.
There are samples supplied through android.com.
I also found this tutorial good, as a simple background into bluetooth discovery and connection, although it doesn't give you all you need to read and write data.
In terms of reading and writing the data, the following snippet is an example of a way to handle reading data and parsing it to something usable. Calling the handler from within the connection thread. In this case I am appending the data to a textView, but you can do whatever you want with it, it shows how to put it into a String. (which is what you are looking for).
private final Handler mHandler = new Handler() {
#Override
public void handleMessage(Message msg) {
switch (msg.what) {
case MESSAGE_READ:
byte[] readBuf = (byte[]) msg.obj;
// construct a string from the valid bytes in the buffer
String readMessage = new String(readBuf, 0, msg.arg1);
textView1.append("\nMessage " + messageCount + ": " + readMessage);
....
Likewise there is some code to write messages - this is in the connected thread class. However, I grab this information using an OnClick event with the button to send. Grab the text from the EditText and send it to a function to parse the String to bytes.
where message is a String and mChatService is calling the write method from the Connected thread.
Converting the string to a byte array, so it can be sent.
// Get the message bytes and tell the BTManager to write
byte[] send = message.getBytes();
mChatService.write(send);
Write method from connected thread:
public void write(byte[] buffer) {
try {
mmOutStream.write(buffer);
// Share the sent message back to the UI Activity
mHandler.obtainMessage(MESSAGE_WRITE, -1, -1, buffer).sendToTarget();
} catch (IOException e) {
}
}
It is worth noting that the states of the devices must be monitored (you can have a look a the tutorial for that).
It is also important to keep the background threads away from the UI. So that is where the skill comes in (and a handler) to transfer data to and from the UI to the socket connection.
I'm developing a UDP responder to handle basic SSDP commands. The purpose of this piece of code is to do auto discovery, so when the server sends a multicast to a specific group all other subscribed devices should send back a UDP packet announcing its presence to the host and port of who sent the multicast. My android device receives and sends the packet just fine but because it takes too long to get back the SocketAddress object from getSocketAddress() method the server times out, closes the listening port and never gets a packet back from the android device.
Here's my code:
public void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.main);
MulticastSocket ms = null;
byte[] packBuf = new byte[128];
try {
ms = new MulticastSocket(32410);
ms.joinGroup(InetAddress.getByName("239.255.255.250"));
} catch (IOException e3) {
// TODO Auto-generated catch block
e3.printStackTrace();
}
while (true)
{
DatagramPacket receivedPack = new DatagramPacket(packBuf, packBuf.length);
try {
ms.receive(receivedPack);
Log.d(TAG, "Received data");
} catch (IOException e3) {
// TODO Auto-generated catch block
e3.printStackTrace();
}
String responseStr = "HTTP/1.0 200 OK\n" +
"Content-Type: app\n" +
"Resource-Identifier: 945e7dd5913ab45f1db4f271a1620b9471fb7d4d\n" +
"Name: Test App\n" +
"Port: 8888\n" +
"Updated-At: 1319511680\n" +
"Version: 0.9.3.4-29679ad\n" +
"Content-Length: 23\n\n" +
"<message>test</message>";
byte[] response = responseStr.getBytes();
DatagramSocket sendSocket = null;
try {
sendSocket = new DatagramSocket();
} catch (IOException e2) {
// TODO Auto-generated catch block
Log.e(TAG,"Erro",e2);
}
DatagramPacket outPack;
try {
outPack = new DatagramPacket(response, responseStr.length(), receivedPack.getSocketAddress());
sendSocket.send(outPack);
} catch (UnknownHostException e1) {
Log.e(TAG,"Erro",e1);
}
catch (IOException e) {
Log.e(TAG,"Erro",e);
}
catch (Exception e)
{
Log.e(TAG,"Erro",e);
}
}
}
Any ideas?
thanks in advance,
fbr
The most likely problem is that getSocketAddress() is trying to resolve the DNS name of the IP address, which is timing out either due to it being a multicast address or just general DNS lag.
The InetSocketAddress class has a constructor option needResolved which can control this behavior. Unfortunately, it does not appear that DatagramPacket.getSocketAddress() allows you to specify that you want that set to false.
This is apparently a known issue, with some recent discussion of it here:
Issue 12328: DatagramChannel - cannot receive without a hostname lookup
The thread suggests that this has been fixed in Android 3.0, and offers a couple of workarounds for Android 2.0 which may or may not work.
In your case, you could try creating an InetSocketAddress set to INADDR_ANY and port 0 with needsResolved set to 0, and then pass that in when you create receivedPack. Hopefully receive() will reuse that and remember the setting.
2 things come to mind...
1) What happens when you change:
outPack = new DatagramPacket(response, responseStr.length(), receivedPack.getSocketAddress());
to
outPack = new DatagramPacket(response, responseStr.length(), receivedPack.getAddress(), receivedPack.getPort());
2) I remember having this sort of problem with an embedded Java on a Home Automation system. Our short term solution was to put most of the machine and multicast addresses in the hosts file. Long term we ended up with a local DNS server.
There is a parameter somewhere in the Java Network stack that tells it how long to cache DNS failures in memory. We cranked that number up to, I think, 5 minutes instead of 10 seconds.
I need to have a "stable" connection to a server.
The client tries to connect to the server every 5 (10, N)-seconds.
After having connected successfully the client receives data from the server.
In case of service interruption (server shutdown, for example), go to step #1.
How I test:
I start the server
I start the client (to be sure that client gets data from the server)
I stop the server
I wait for about 200 client attempts to connect to the server.
I restart the server.
The server sends data, but the client doesn't get it.
socket.connect(...) is sucessfull, but
socket.getInputStream().read(byte[]) is not: the Thread blocks on input.read(..).
If I uncomment this line:
//socket.setSoTimeout(500);
then input.read(..) throws a TimeoutException.
But the server receives data from the client.
Where is my wrong?
Thanks.
Part of client code:
private void initSocket() {
try {
if (socket == null || socket.isClosed() == true
|| socket.isConnected() == false) {
socket = new Socket();
// socket.setSoTimeout(500);
InetSocketAddress socketAddress = new InetSocketAddress("192.168.1.3"
, 12344);
notifyDataListener(4);
socket.connect(socketAddress, 500);
notifyDataListener(5);
}
} catch (Throwable t) {
System.err.println(t);
}
}
private void closeSocket() {
try {
if (socket != null && socket.isClosed() == false) {
socket.close();
}
} catch (Throwable t) {
System.err.println(t);
}
}
private byte[] buffer = new byte[1024];
public void run() {
while (isActive) {
try {
notifyDataListener(1);
initSocket();
InputStream input = socket.getInputStream();
int length = input.read(buffer);
if (length < 0) {
throw new EOFException("Was got -1");
}
notifyDataListener(2);
} catch (Throwable t) {
closeSocket();
notifyDataListener(3);
try {
Thread.sleep(100);
} catch (InterruptedException ie) {
}
}
}
}
On J2SE the same code works fine. Connection repairs after many wrong attempts.
It looks like Android has limit slosts of sockets (FileDescriptior?), takes them, but don't release after.
Your likely running out of file descriptors, i'm sure the limit is much lower on android than on a typical desktop configuration but the specific values will vary.
With the way you've coded this, the socket will hang around until its garbage collected, additionally on some platforms, the OS level sockets do not close instantly but hang around for a period of time to clean up any hanging data.
The first thing you should do is move your socket.close() code to finally {} statements which will free the socket immediately rather than waiting for garbage collection.