demokit/app/src/com/google/DemoKit/DemoKitActivity.java - device/google/accessory/demokit - Git at Google

 /*
  * Copyright (C) 2011 The Android Open Source Project
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
  *      http://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */

 package com.google.DemoKit;

 import android.app.Activity;
 import android.app.PendingIntent;
 import android.content.BroadcastReceiver;
 import android.content.Context;
 import android.content.Intent;
 import android.content.IntentFilter;
 import android.os.Bundle;
 import android.os.Handler;
 import android.os.Message;
 import android.os.ParcelFileDescriptor;
 import android.util.Log;

 import android.widget.ImageView;
 import android.widget.TextView;
 import android.widget.SeekBar;
 import android.widget.ToggleButton;
 import android.widget.CompoundButton;
 import android.graphics.drawable.Drawable;

 import com.android.future.usb.UsbAccessory;
 import com.android.future.usb.UsbManager;

 import java.io.FileDescriptor;
 import java.io.FileInputStream;
 import java.io.FileOutputStream;
 import java.io.IOException;


 public class DemoKitActivity extends Activity implements Runnable, SeekBar.OnSeekBarChangeListener, CompoundButton.OnCheckedChangeListener {
     private static final String TAG = "DemoKit";

     private static final String ACTION_USB_PERMISSION =
             "com.google.DemoKit.action.USB_PERMISSION";

     private UsbManager mUsbManager;
     private PendingIntent mPermissionIntent;
     private boolean mPermissionRequestPending;

     UsbAccessory mAccessory;
     ParcelFileDescriptor mFileDescriptor;
     FileInputStream mInputStream;
     FileOutputStream mOutputStream;

     ImageView mButton1Image;
     ImageView mButton2Image;
     ImageView mButton3Image;

     SeekBar mLed1Red;
     SeekBar mLed1Green;
     SeekBar mLed1Blue;
     SeekBar mLed2Red;
     SeekBar mLed2Green;
     SeekBar mLed2Blue;
     SeekBar mLed3Red;
     SeekBar mLed3Green;
     SeekBar mLed3Blue;

     ToggleButton mRelay1Button;
     ToggleButton mRelay2Button;

     TextView mTemperature;
     TextView mLight;

     SeekBar mServo1;
     SeekBar mServo2;
     SeekBar mServo3;

     TextView mJoyX;
     TextView mJoyY;

     ImageView mCap;


     Drawable mSwitchOff;
     Drawable mSwitchOn;

     private static final int MESSAGE_SWITCH = 1;
     private static final int MESSAGE_TEMPERATURE = 2;
     private static final int MESSAGE_LIGHT = 3;
     private static final int MESSAGE_JOY = 4;

     private class SwitchMsg {
         private byte sw;
         private byte state;
         public SwitchMsg(byte sw, byte state) {
             this.sw = sw;
             this.state = state;
         }

         public byte getSw() {
             return sw;
         }

         public byte getState() {
             return state;
         }
     }

     private class TemperatureMsg {
         private int temperature;

         public TemperatureMsg(int temperature) {
             this.temperature = temperature;
         }

         public int getTemperature() {
             return temperature;
         }
     }

     private class LightMsg {
         private int light;

         public LightMsg(int light) {
             this.light = light;
         }

         public int getLight() {
             return light;
         }
     }

     private class JoyMsg {
         private int x;
         private int y;

         public JoyMsg(int x, int y) {
             this.x = x;
             this.y = y;
         }

         public int getX() {
             return x;
         }

         public int getY() {
             return y;
         }
     }

    private final BroadcastReceiver mUsbReceiver = new BroadcastReceiver() {
         @Override
         public void onReceive(Context context, Intent intent) {
             String action = intent.getAction();
             if (ACTION_USB_PERMISSION.equals(action)) {
                 synchronized (this) {
                     UsbAccessory accessory = UsbManager.getAccessory(intent);
                     if (intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, false)) {
                         openAccessory(accessory);
                     } else {
                         Log.d(TAG, "permission denied for accessory " + accessory);
                     }
                     mPermissionRequestPending = false;
                 }
             } else if (UsbManager.ACTION_USB_ACCESSORY_DETACHED.equals(action)) {
                 UsbAccessory accessory = UsbManager.getAccessory(intent);
                 if (accessory != null && accessory.equals(mAccessory)) {
                     closeAccessory();
                 }
             }
         }
     };

     /** Called when the activity is first created. */
     @Override
     public void onCreate(Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);

         mUsbManager = UsbManager.getInstance(this);
         mPermissionIntent = PendingIntent.getBroadcast(this, 0, new Intent(ACTION_USB_PERMISSION), 0);
         IntentFilter filter = new IntentFilter(ACTION_USB_PERMISSION);
         filter.addAction(UsbManager.ACTION_USB_ACCESSORY_DETACHED);
         registerReceiver(mUsbReceiver, filter);

         if (getLastNonConfigurationInstance() != null) {
             mAccessory = (UsbAccessory) getLastNonConfigurationInstance();
             openAccessory(mAccessory);
         }

         setContentView(R.layout.main);

         mButton1Image = (ImageView)findViewById(R.id.button1Image);
         mButton2Image = (ImageView)findViewById(R.id.button2Image);
         mButton3Image = (ImageView)findViewById(R.id.button3Image);

         mLed1Red = (SeekBar)findViewById(R.id.led1Red);
         mLed1Red.setOnSeekBarChangeListener(this);
         mLed1Green = (SeekBar)findViewById(R.id.led1Green);
         mLed1Green.setOnSeekBarChangeListener(this);
         mLed1Blue = (SeekBar)findViewById(R.id.led1Blue);
         mLed1Blue.setOnSeekBarChangeListener(this);

         mLed2Red = (SeekBar)findViewById(R.id.led2Red);
         mLed2Red.setOnSeekBarChangeListener(this);
         mLed2Green = (SeekBar)findViewById(R.id.led2Green);
         mLed2Green.setOnSeekBarChangeListener(this);
         mLed2Blue = (SeekBar)findViewById(R.id.led2Blue);
         mLed2Blue.setOnSeekBarChangeListener(this);

         mLed3Red = (SeekBar)findViewById(R.id.led3Red);
         mLed3Red.setOnSeekBarChangeListener(this);
         mLed3Green = (SeekBar)findViewById(R.id.led3Green);
         mLed3Green.setOnSeekBarChangeListener(this);
         mLed3Blue = (SeekBar)findViewById(R.id.led3Blue);
         mLed3Blue.setOnSeekBarChangeListener(this);

         mRelay1Button = (ToggleButton)findViewById(R.id.relay1Button);
         mRelay1Button.setOnCheckedChangeListener(this);
         mRelay2Button = (ToggleButton)findViewById(R.id.relay2Button);
         mRelay2Button.setOnCheckedChangeListener(this);

         mTemperature = (TextView)findViewById(R.id.temperature);
         mLight = (TextView)findViewById(R.id.light);

         mServo1 = (SeekBar)findViewById(R.id.servo1);
         mServo1.setOnSeekBarChangeListener(this);
         mServo2 = (SeekBar)findViewById(R.id.servo2);
         mServo2.setOnSeekBarChangeListener(this);
         mServo3 = (SeekBar)findViewById(R.id.servo3);
         mServo3.setOnSeekBarChangeListener(this);

         mJoyX = (TextView)findViewById(R.id.joyX);
         mJoyY = (TextView)findViewById(R.id.joyY);

         mCap = (ImageView)findViewById(R.id.cap);

         mSwitchOff = getResources().getDrawable(R.drawable.droid_off);
         mSwitchOn = getResources().getDrawable(R.drawable.droid_on);

         enableControls(false);
     }

     @Override
 	public Object onRetainNonConfigurationInstance() {
 		if (mAccessory != null) {
 			return mAccessory;
 		} else {
 			return super.onRetainNonConfigurationInstance();
 		}
 	}

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

         Intent intent = getIntent();
         Log.d(TAG, "intent: " + intent);
         if (mInputStream != null && mOutputStream != null) {
             return;
         }

         UsbAccessory[] accessories = mUsbManager.getAccessoryList();
         UsbAccessory accessory = (accessories == null ? null : accessories[0]);
         if (accessory != null) {
             if (mUsbManager.hasPermission(accessory)) {
                 openAccessory(accessory);
             } else {
                 synchronized (mUsbReceiver) {
                     if (!mPermissionRequestPending) {
                         mUsbManager.requestPermission(accessory, mPermissionIntent);
                         mPermissionRequestPending = true;
                     }
                 }
             }
         } else {
             Log.d(TAG, "mAccessory is null");
         }
     }

     @Override
     public void onPause() {
         super.onPause();
         closeAccessory();
     }

     @Override
     public void onDestroy() {
         unregisterReceiver(mUsbReceiver);
        super.onDestroy();
     }

     private void openAccessory(UsbAccessory accessory) {
         Log.d(TAG, "openAccessory: " + accessory);
         mFileDescriptor = mUsbManager.openAccessory(accessory);
         if (mFileDescriptor != null) {
             mAccessory = accessory;
             FileDescriptor fd = mFileDescriptor.getFileDescriptor();
             mInputStream = new FileInputStream(fd);
             mOutputStream = new FileOutputStream(fd);
             Thread thread = new Thread(null, this, "AccessoryChat");
             thread.start();
             Log.d(TAG, "openAccessory succeeded");
             enableControls(true);
         } else {
             Log.d(TAG, "openAccessory fail");
         }
     }

     private void closeAccessory() {
         enableControls(false);

         mButton1Image.setImageDrawable(mSwitchOff);
         mButton2Image.setImageDrawable(mSwitchOff);
         mButton3Image.setImageDrawable(mSwitchOff);
         mCap.setImageDrawable(mSwitchOff);
         mLed1Red.setProgress(0);
         mLed1Green.setProgress(0);
         mLed1Blue.setProgress(0);
         mLed2Red.setProgress(0);
         mLed2Green.setProgress(0);
         mLed2Blue.setProgress(0);
         mLed3Red.setProgress(0);
         mLed3Green.setProgress(0);
         mLed3Blue.setProgress(0);
         mServo1.setProgress(0);
         mServo2.setProgress(0);
         mServo3.setProgress(0);
         mTemperature.setText("");
         mLight.setText("");
         mJoyX.setText("");
         mJoyY.setText("");
         mRelay1Button.setChecked(false);
         mRelay2Button.setChecked(false);

         try {
             if (mFileDescriptor != null) {
                 mFileDescriptor.close();
             }
         } catch (IOException e) {
         } finally {
             mFileDescriptor = null;
             mAccessory = null;
         }
     }

     private void enableControls(boolean enable) {
         mLed1Red.setEnabled(enable);
         mLed1Green.setEnabled(enable);
         mLed1Blue.setEnabled(enable);
         mLed2Red.setEnabled(enable);
         mLed2Green.setEnabled(enable);
         mLed2Blue.setEnabled(enable);
         mLed3Red.setEnabled(enable);
         mLed3Green.setEnabled(enable);
         mLed3Blue.setEnabled(enable);
         mServo1.setEnabled(enable);
         mServo2.setEnabled(enable);
         mServo3.setEnabled(enable);
         mRelay1Button.setEnabled(enable);
         mRelay2Button.setEnabled(enable);
     }

     private int composeInt(byte hi, byte lo) {
         int val = (int)hi & 0xff;
         val *= 256;
         val += (int)lo & 0xff;
         return val;
     }

     public void run() {
         int ret = 0;
         byte[] buffer = new byte[16384];
         int i;

         while (ret >= 0) {
             try {
                 ret = mInputStream.read(buffer);
             } catch (IOException e) {
                 break;
             }

             Log.d(TAG, "got bytes " + ret);
             i = 0;
             while (i < ret) {
                 int len = ret - i;

                 switch (buffer[i]) {
                 case 0x1:
                     if (len >= 3) {
                         Message m = Message.obtain(mHandler, MESSAGE_SWITCH);
                         m.obj = new SwitchMsg(buffer[i+1], buffer[i+2]);
                         mHandler.sendMessage(m);
                     }
                     i += 3;
                     break;

                 case 0x4:
                     if (len >= 3) {
                         Message m = Message.obtain(mHandler, MESSAGE_TEMPERATURE);
                         m.obj = new TemperatureMsg(composeInt(buffer[i+1], buffer[i+2]));
                         mHandler.sendMessage(m);
                     }
                     i += 3;
                     break;

                 case 0x5:
                     if (len >= 3) {
                         Message m = Message.obtain(mHandler, MESSAGE_LIGHT);
                         m.obj = new LightMsg(composeInt(buffer[i+1], buffer[i+2]));
                         mHandler.sendMessage(m);
                     }
                     i += 3;
                     break;

                 case 0x6:
                     if (len >= 3) {
                         Message m = Message.obtain(mHandler, MESSAGE_JOY);
                         m.obj = new JoyMsg(buffer[i+1], buffer[i+2]);
                         mHandler.sendMessage(m);
                     }
                     i += 3;
                     break;

                 default:
                     Log.d(TAG, "unknown msg: " + buffer[i]);
                     i = len;
                     break;
                 }
             }

         }
         Log.d(TAG, "thread out");
     }

     Handler mHandler = new Handler() {
             @Override
             public void handleMessage(Message msg) {
                 switch (msg.what) {
                 case MESSAGE_SWITCH:
                     SwitchMsg o = (SwitchMsg)msg.obj;
                     if (o.getSw() == 0)
                         mButton1Image.setImageDrawable(o.getState() != 0 ? mSwitchOn : mSwitchOff);
                     else if (o.getSw() == 1)
                         mButton2Image.setImageDrawable(o.getState() != 0 ? mSwitchOn : mSwitchOff);
                     else if (o.getSw() == 2)
                         mButton3Image.setImageDrawable(o.getState() != 0 ? mSwitchOn : mSwitchOff);
                     else if (o.getSw() == 3)
                         mCap.setImageDrawable(o.getState() != 0 ? mSwitchOn : mSwitchOff);
                     break;

                 case MESSAGE_TEMPERATURE:
                     TemperatureMsg t = (TemperatureMsg)msg.obj;
                     mTemperature.setText(String.format("%04x", t.getTemperature()));
                     break;

                 case MESSAGE_LIGHT:
                     LightMsg l = (LightMsg)msg.obj;
                     mLight.setText(String.format("%04x", l.getLight()));
                     break;

                 case MESSAGE_JOY:
                     JoyMsg j = (JoyMsg)msg.obj;
                     mJoyX.setText(String.format("%d", j.getX()));
                     mJoyY.setText(String.format("%d", j.getY()));
                     break;

                 }
             }
         };

     public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
         byte[] buffer = new byte[3];
         if (progress > 255)
             progress = 255;

         buffer[0] = 0x2;
         buffer[1] = -1;
         buffer[2] = (byte) progress;

         if (seekBar == mLed1Red)
             buffer[1] = 0x0;
         else if (seekBar == mLed1Green)
             buffer[1] = 0x1;
         else if (seekBar == mLed1Blue)
             buffer[1] = 0x2;
         else if (seekBar == mLed2Red)
             buffer[1] = 0x3;
         else if (seekBar == mLed2Green)
             buffer[1] = 0x4;
         else if (seekBar == mLed2Blue)
             buffer[1] = 0x5;
         else if (seekBar == mLed3Red)
             buffer[1] = 0x6;
         else if (seekBar == mLed3Green)
             buffer[1] = 0x7;
         else if (seekBar == mLed3Blue)
             buffer[1] = 0x8;
         else if (seekBar == mServo1)
             buffer[1] = 0x10;
         else if (seekBar == mServo2)
             buffer[1] = 0x11;
         else if (seekBar == mServo3)
             buffer[1] = 0x12;

         if (mOutputStream != null && buffer[1] != -1) {
             try {
                 mOutputStream.write(buffer);
             } catch (IOException e) {
                 Log.e(TAG, "write failed", e);
             }
         }

     }

     public void onStartTrackingTouch(SeekBar seekBar) {
     }

     public void onStopTrackingTouch(SeekBar seekBar) {
     }

     public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
         byte[] buffer = new byte[3];
         buffer[0] = 0x3;
         buffer[1] = -1;
         buffer[2] = isChecked ? (byte)0x1 : (byte)0x0;

         if (buttonView == mRelay1Button)
             buffer[1] = 0;
         else if (buttonView == mRelay2Button)
             buffer[1] = 1;

         if (buffer[1] != -1) {
             try {
                 mOutputStream.write(buffer);
             } catch (IOException e) {
                 Log.e(TAG, "write failed", e);
             }
         }
     }
 }
	/*
	* Copyright (C) 2011 The Android Open Source Project
	*
	* Licensed under the Apache License, Version 2.0 (the "License");
	* you may not use this file except in compliance with the License.
	* You may obtain a copy of the License at
	*
	* http://www.apache.org/licenses/LICENSE-2.0
	*
	* Unless required by applicable law or agreed to in writing, software
	* distributed under the License is distributed on an "AS IS" BASIS,
	* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	* See the License for the specific language governing permissions and
	* limitations under the License.
	*/

	package com.google.DemoKit;

	import android.app.Activity;
	import android.app.PendingIntent;
	import android.content.BroadcastReceiver;
	import android.content.Context;
	import android.content.Intent;
	import android.content.IntentFilter;
	import android.os.Bundle;
	import android.os.Handler;
	import android.os.Message;
	import android.os.ParcelFileDescriptor;
	import android.util.Log;

	import android.widget.ImageView;
	import android.widget.TextView;
	import android.widget.SeekBar;
	import android.widget.ToggleButton;
	import android.widget.CompoundButton;
	import android.graphics.drawable.Drawable;

	import com.android.future.usb.UsbAccessory;
	import com.android.future.usb.UsbManager;

	import java.io.FileDescriptor;
	import java.io.FileInputStream;
	import java.io.FileOutputStream;
	import java.io.IOException;


	public class DemoKitActivity extends Activity implements Runnable, SeekBar.OnSeekBarChangeListener, CompoundButton.OnCheckedChangeListener {
	private static final String TAG = "DemoKit";

	private static final String ACTION_USB_PERMISSION =
	"com.google.DemoKit.action.USB_PERMISSION";

	private UsbManager mUsbManager;
	private PendingIntent mPermissionIntent;
	private boolean mPermissionRequestPending;

	UsbAccessory mAccessory;
	ParcelFileDescriptor mFileDescriptor;
	FileInputStream mInputStream;
	FileOutputStream mOutputStream;

	ImageView mButton1Image;
	ImageView mButton2Image;
	ImageView mButton3Image;

	SeekBar mLed1Red;
	SeekBar mLed1Green;
	SeekBar mLed1Blue;
	SeekBar mLed2Red;
	SeekBar mLed2Green;
	SeekBar mLed2Blue;
	SeekBar mLed3Red;
	SeekBar mLed3Green;
	SeekBar mLed3Blue;

	ToggleButton mRelay1Button;
	ToggleButton mRelay2Button;

	TextView mTemperature;
	TextView mLight;

	SeekBar mServo1;
	SeekBar mServo2;
	SeekBar mServo3;

	TextView mJoyX;
	TextView mJoyY;

	ImageView mCap;


	Drawable mSwitchOff;
	Drawable mSwitchOn;

	private static final int MESSAGE_SWITCH = 1;
	private static final int MESSAGE_TEMPERATURE = 2;
	private static final int MESSAGE_LIGHT = 3;
	private static final int MESSAGE_JOY = 4;

	private class SwitchMsg {
	private byte sw;
	private byte state;
	public SwitchMsg(byte sw, byte state) {
	this.sw = sw;
	this.state = state;
	}

	public byte getSw() {
	return sw;
	}

	public byte getState() {
	return state;
	}
	}

	private class TemperatureMsg {
	private int temperature;

	public TemperatureMsg(int temperature) {
	this.temperature = temperature;
	}

	public int getTemperature() {
	return temperature;
	}
	}

	private class LightMsg {
	private int light;

	public LightMsg(int light) {
	this.light = light;
	}

	public int getLight() {
	return light;
	}
	}

	private class JoyMsg {
	private int x;
	private int y;

	public JoyMsg(int x, int y) {
	this.x = x;
	this.y = y;
	}

	public int getX() {
	return x;
	}

	public int getY() {
	return y;
	}
	}

	private final BroadcastReceiver mUsbReceiver = new BroadcastReceiver() {
	@Override
	public void onReceive(Context context, Intent intent) {
	String action = intent.getAction();
	if (ACTION_USB_PERMISSION.equals(action)) {
	synchronized (this) {
	UsbAccessory accessory = UsbManager.getAccessory(intent);
	if (intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, false)) {
	openAccessory(accessory);
	} else {
	Log.d(TAG, "permission denied for accessory " + accessory);
	}
	mPermissionRequestPending = false;
	}
	} else if (UsbManager.ACTION_USB_ACCESSORY_DETACHED.equals(action)) {
	UsbAccessory accessory = UsbManager.getAccessory(intent);
	if (accessory != null && accessory.equals(mAccessory)) {
	closeAccessory();
	}
	}
	}
	};

	/** Called when the activity is first created. */
	@Override
	public void onCreate(Bundle savedInstanceState) {
	super.onCreate(savedInstanceState);

	mUsbManager = UsbManager.getInstance(this);
	mPermissionIntent = PendingIntent.getBroadcast(this, 0, new Intent(ACTION_USB_PERMISSION), 0);
	IntentFilter filter = new IntentFilter(ACTION_USB_PERMISSION);
	filter.addAction(UsbManager.ACTION_USB_ACCESSORY_DETACHED);
	registerReceiver(mUsbReceiver, filter);

	if (getLastNonConfigurationInstance() != null) {
	mAccessory = (UsbAccessory) getLastNonConfigurationInstance();
	openAccessory(mAccessory);
	}

	setContentView(R.layout.main);

	mButton1Image = (ImageView)findViewById(R.id.button1Image);
	mButton2Image = (ImageView)findViewById(R.id.button2Image);
	mButton3Image = (ImageView)findViewById(R.id.button3Image);

	mLed1Red = (SeekBar)findViewById(R.id.led1Red);
	mLed1Red.setOnSeekBarChangeListener(this);
	mLed1Green = (SeekBar)findViewById(R.id.led1Green);
	mLed1Green.setOnSeekBarChangeListener(this);
	mLed1Blue = (SeekBar)findViewById(R.id.led1Blue);
	mLed1Blue.setOnSeekBarChangeListener(this);

	mLed2Red = (SeekBar)findViewById(R.id.led2Red);
	mLed2Red.setOnSeekBarChangeListener(this);
	mLed2Green = (SeekBar)findViewById(R.id.led2Green);
	mLed2Green.setOnSeekBarChangeListener(this);
	mLed2Blue = (SeekBar)findViewById(R.id.led2Blue);
	mLed2Blue.setOnSeekBarChangeListener(this);

	mLed3Red = (SeekBar)findViewById(R.id.led3Red);
	mLed3Red.setOnSeekBarChangeListener(this);
	mLed3Green = (SeekBar)findViewById(R.id.led3Green);
	mLed3Green.setOnSeekBarChangeListener(this);
	mLed3Blue = (SeekBar)findViewById(R.id.led3Blue);
	mLed3Blue.setOnSeekBarChangeListener(this);

	mRelay1Button = (ToggleButton)findViewById(R.id.relay1Button);
	mRelay1Button.setOnCheckedChangeListener(this);
	mRelay2Button = (ToggleButton)findViewById(R.id.relay2Button);
	mRelay2Button.setOnCheckedChangeListener(this);

	mTemperature = (TextView)findViewById(R.id.temperature);
	mLight = (TextView)findViewById(R.id.light);

	mServo1 = (SeekBar)findViewById(R.id.servo1);
	mServo1.setOnSeekBarChangeListener(this);
	mServo2 = (SeekBar)findViewById(R.id.servo2);
	mServo2.setOnSeekBarChangeListener(this);
	mServo3 = (SeekBar)findViewById(R.id.servo3);
	mServo3.setOnSeekBarChangeListener(this);

	mJoyX = (TextView)findViewById(R.id.joyX);
	mJoyY = (TextView)findViewById(R.id.joyY);

	mCap = (ImageView)findViewById(R.id.cap);

	mSwitchOff = getResources().getDrawable(R.drawable.droid_off);
	mSwitchOn = getResources().getDrawable(R.drawable.droid_on);

	enableControls(false);
	}

	@Override
	public Object onRetainNonConfigurationInstance() {
	if (mAccessory != null) {
	return mAccessory;
	} else {
	return super.onRetainNonConfigurationInstance();
	}
	}

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

	Intent intent = getIntent();
	Log.d(TAG, "intent: " + intent);
	if (mInputStream != null && mOutputStream != null) {
	return;
	}

	UsbAccessory[] accessories = mUsbManager.getAccessoryList();
	UsbAccessory accessory = (accessories == null ? null : accessories[0]);
	if (accessory != null) {
	if (mUsbManager.hasPermission(accessory)) {
	openAccessory(accessory);
	} else {
	synchronized (mUsbReceiver) {
	if (!mPermissionRequestPending) {
	mUsbManager.requestPermission(accessory, mPermissionIntent);
	mPermissionRequestPending = true;
	}
	}
	}
	} else {
	Log.d(TAG, "mAccessory is null");
	}
	}

	@Override
	public void onPause() {
	super.onPause();
	closeAccessory();
	}

	@Override
	public void onDestroy() {
	unregisterReceiver(mUsbReceiver);
	super.onDestroy();
	}

	private void openAccessory(UsbAccessory accessory) {
	Log.d(TAG, "openAccessory: " + accessory);
	mFileDescriptor = mUsbManager.openAccessory(accessory);
	if (mFileDescriptor != null) {
	mAccessory = accessory;
	FileDescriptor fd = mFileDescriptor.getFileDescriptor();
	mInputStream = new FileInputStream(fd);
	mOutputStream = new FileOutputStream(fd);
	Thread thread = new Thread(null, this, "AccessoryChat");
	thread.start();
	Log.d(TAG, "openAccessory succeeded");
	enableControls(true);
	} else {
	Log.d(TAG, "openAccessory fail");
	}
	}

	private void closeAccessory() {
	enableControls(false);

	mButton1Image.setImageDrawable(mSwitchOff);
	mButton2Image.setImageDrawable(mSwitchOff);
	mButton3Image.setImageDrawable(mSwitchOff);
	mCap.setImageDrawable(mSwitchOff);
	mLed1Red.setProgress(0);
	mLed1Green.setProgress(0);
	mLed1Blue.setProgress(0);
	mLed2Red.setProgress(0);
	mLed2Green.setProgress(0);
	mLed2Blue.setProgress(0);
	mLed3Red.setProgress(0);
	mLed3Green.setProgress(0);
	mLed3Blue.setProgress(0);
	mServo1.setProgress(0);
	mServo2.setProgress(0);
	mServo3.setProgress(0);
	mTemperature.setText("");
	mLight.setText("");
	mJoyX.setText("");
	mJoyY.setText("");
	mRelay1Button.setChecked(false);
	mRelay2Button.setChecked(false);

	try {
	if (mFileDescriptor != null) {
	mFileDescriptor.close();
	}
	} catch (IOException e) {
	} finally {
	mFileDescriptor = null;
	mAccessory = null;
	}
	}

	private void enableControls(boolean enable) {
	mLed1Red.setEnabled(enable);
	mLed1Green.setEnabled(enable);
	mLed1Blue.setEnabled(enable);
	mLed2Red.setEnabled(enable);
	mLed2Green.setEnabled(enable);
	mLed2Blue.setEnabled(enable);
	mLed3Red.setEnabled(enable);
	mLed3Green.setEnabled(enable);
	mLed3Blue.setEnabled(enable);
	mServo1.setEnabled(enable);
	mServo2.setEnabled(enable);
	mServo3.setEnabled(enable);
	mRelay1Button.setEnabled(enable);
	mRelay2Button.setEnabled(enable);
	}

	private int composeInt(byte hi, byte lo) {
	int val = (int)hi & 0xff;
	val *= 256;
	val += (int)lo & 0xff;
	return val;
	}

	public void run() {
	int ret = 0;
	byte[] buffer = new byte[16384];
	int i;

	while (ret >= 0) {
	try {
	ret = mInputStream.read(buffer);
	} catch (IOException e) {
	break;
	}

	Log.d(TAG, "got bytes " + ret);
	i = 0;
	while (i < ret) {
	int len = ret - i;

	switch (buffer[i]) {
	case 0x1:
	if (len >= 3) {
	Message m = Message.obtain(mHandler, MESSAGE_SWITCH);
	m.obj = new SwitchMsg(buffer[i+1], buffer[i+2]);
	mHandler.sendMessage(m);
	}
	i += 3;
	break;

	case 0x4:
	if (len >= 3) {
	Message m = Message.obtain(mHandler, MESSAGE_TEMPERATURE);
	m.obj = new TemperatureMsg(composeInt(buffer[i+1], buffer[i+2]));
	mHandler.sendMessage(m);
	}
	i += 3;
	break;

	case 0x5:
	if (len >= 3) {
	Message m = Message.obtain(mHandler, MESSAGE_LIGHT);
	m.obj = new LightMsg(composeInt(buffer[i+1], buffer[i+2]));
	mHandler.sendMessage(m);
	}
	i += 3;
	break;

	case 0x6:
	if (len >= 3) {
	Message m = Message.obtain(mHandler, MESSAGE_JOY);
	m.obj = new JoyMsg(buffer[i+1], buffer[i+2]);
	mHandler.sendMessage(m);
	}
	i += 3;
	break;

	default:
	Log.d(TAG, "unknown msg: " + buffer[i]);
	i = len;
	break;
	}
	}

	}
	Log.d(TAG, "thread out");
	}

	Handler mHandler = new Handler() {
	@Override
	public void handleMessage(Message msg) {
	switch (msg.what) {
	case MESSAGE_SWITCH:
	SwitchMsg o = (SwitchMsg)msg.obj;
	if (o.getSw() == 0)
	mButton1Image.setImageDrawable(o.getState() != 0 ? mSwitchOn : mSwitchOff);
	else if (o.getSw() == 1)
	mButton2Image.setImageDrawable(o.getState() != 0 ? mSwitchOn : mSwitchOff);
	else if (o.getSw() == 2)
	mButton3Image.setImageDrawable(o.getState() != 0 ? mSwitchOn : mSwitchOff);
	else if (o.getSw() == 3)
	mCap.setImageDrawable(o.getState() != 0 ? mSwitchOn : mSwitchOff);
	break;

	case MESSAGE_TEMPERATURE:
	TemperatureMsg t = (TemperatureMsg)msg.obj;
	mTemperature.setText(String.format("%04x", t.getTemperature()));
	break;

	case MESSAGE_LIGHT:
	LightMsg l = (LightMsg)msg.obj;
	mLight.setText(String.format("%04x", l.getLight()));
	break;

	case MESSAGE_JOY:
	JoyMsg j = (JoyMsg)msg.obj;
	mJoyX.setText(String.format("%d", j.getX()));
	mJoyY.setText(String.format("%d", j.getY()));
	break;

	}
	}
	};

	public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
	byte[] buffer = new byte[3];
	if (progress > 255)
	progress = 255;

	buffer[0] = 0x2;
	buffer[1] = -1;
	buffer[2] = (byte) progress;

	if (seekBar == mLed1Red)
	buffer[1] = 0x0;
	else if (seekBar == mLed1Green)
	buffer[1] = 0x1;
	else if (seekBar == mLed1Blue)
	buffer[1] = 0x2;
	else if (seekBar == mLed2Red)
	buffer[1] = 0x3;
	else if (seekBar == mLed2Green)
	buffer[1] = 0x4;
	else if (seekBar == mLed2Blue)
	buffer[1] = 0x5;
	else if (seekBar == mLed3Red)
	buffer[1] = 0x6;
	else if (seekBar == mLed3Green)
	buffer[1] = 0x7;
	else if (seekBar == mLed3Blue)
	buffer[1] = 0x8;
	else if (seekBar == mServo1)
	buffer[1] = 0x10;
	else if (seekBar == mServo2)
	buffer[1] = 0x11;
	else if (seekBar == mServo3)
	buffer[1] = 0x12;

	if (mOutputStream != null && buffer[1] != -1) {
	try {
	mOutputStream.write(buffer);
	} catch (IOException e) {
	Log.e(TAG, "write failed", e);
	}
	}

	}

	public void onStartTrackingTouch(SeekBar seekBar) {
	}

	public void onStopTrackingTouch(SeekBar seekBar) {
	}

	public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
	byte[] buffer = new byte[3];
	buffer[0] = 0x3;
	buffer[1] = -1;
	buffer[2] = isChecked ? (byte)0x1 : (byte)0x0;

	if (buttonView == mRelay1Button)
	buffer[1] = 0;
	else if (buttonView == mRelay2Button)
	buffer[1] = 1;

	if (buffer[1] != -1) {
	try {
	mOutputStream.write(buffer);
	} catch (IOException e) {
	Log.e(TAG, "write failed", e);
	}
	}
	}
	}