update

software/android/app/src/main/AndroidManifest.xml

@@ -3,6 +3,7 @@
     package="com.rookiedev.hexapod">
 
     <uses-permission android:name="android.permission.BLUETOOTH_CONNECT" />
+    <uses-permission android:name="android.permission.BLUETOOTH_SCAN" />
     <uses-permission android:name="android.permission.INTERNET" />
 
     <application

software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt

@@ -4,6 +4,7 @@ import android.annotation.SuppressLint
 import android.app.AlertDialog
 import android.bluetooth.BluetoothAdapter
 import android.bluetooth.BluetoothManager
+import android.bluetooth.BluetoothSocket
 import android.content.Context
 import android.content.DialogInterface
 import android.os.Bundle
@@ -18,6 +19,10 @@ import com.rookiedev.hexapod.network.BluetoothService
 import com.rookiedev.hexapod.network.TCPClient
 import com.rookiedev.hexapod.network.TCPClient.*
 import kotlinx.coroutines.*
+import java.io.*
+import java.lang.reflect.InvocationTargetException
+import java.lang.reflect.Method
+import java.util.*
 import kotlin.math.PI
 import kotlin.math.atan2
 import kotlin.math.pow
@@ -76,15 +81,17 @@ class ControlActivity : AppCompatActivity() {
     private var height = 0
     private var radius = 0f
 
-    private var connectInterface:String =  ""
+    private var connectInterface: String = ""
 
     private var mContext: Context? = null
 
-    private var mac:String = ""
+    private var mac: String = ""
-//    private val mBluetoothAdapter: BluetoothAdapter? = null
+
+    //    private val mBluetoothAdapter: BluetoothAdapter? = null
     private var bluetoothManager: BluetoothManager? = null
-    private var deviceAdapter: BluetoothAdapter? = null
+    private var bluetoothAdapter: BluetoothAdapter? = null
-    private val mChatService: BluetoothService? = null
+    private var mChatService: BluetoothService? = null
+    private var mOutStringBuffer: StringBuffer? = null
 
     private var tcpClient: TCPClient? = null
     private var ip: String = ""
@@ -115,13 +122,13 @@ class ControlActivity : AppCompatActivity() {
         bluetoothManager =
             mContext!!.getSystemService(Context.BLUETOOTH_SERVICE) as BluetoothManager
         bluetoothManager
-        deviceAdapter = bluetoothManager!!.adapter
+        bluetoothAdapter = bluetoothManager!!.adapter
 
         connectInterface = myIntent.getStringExtra("interface").toString()
         if (connectInterface == "WiFi") {
             ip = myIntent.getStringExtra("ip").toString()
             port = myIntent.getStringExtra("port").toString().toInt()
-        }else if (connectInterface == "Bluetooth"){
+        } else if (connectInterface == "Bluetooth") {
             mac = myIntent.getStringExtra("mac").toString()
         }
 
@@ -362,11 +369,12 @@ class ControlActivity : AppCompatActivity() {
         }
     }
 
+    @SuppressLint("MissingPermission")
     override fun onResume() {
         super.onResume()
         progressBar.visibility = View.VISIBLE
 
-        if (connectInterface=="WiFi") {
+        if (connectInterface == "WiFi") {
             this.tcpClient = TCPClient(ip, port, object : OnMessageReceived {
                 override fun messageReceived(message: String?) {
                     if (message == null) {
@@ -392,8 +400,83 @@ class ControlActivity : AppCompatActivity() {
             }
             )
             this.tcpClient!!.start()
-        }else if(connectInterface=="Bluetooth"){
+        } else if (connectInterface == "Bluetooth") {
             println("Bluetooth")
+            if (bluetoothAdapter!!.isEnabled) {
+
+                val SERIAL_UUID: UUID =
+                    UUID.fromString("00001101-0000-1000-8000-00805F9B34FB") //UUID for serial connection
+
+                var device =
+                    bluetoothAdapter!!.getRemoteDevice(mac) //get remote device by mac, we assume these two devices are already paired
+//
+//                // Get a BluetoothSocket to connect with the given BluetoothDevice
+                var socket: BluetoothSocket? = null
+                var out: PrintWriter? = null
+//                try {
+//                    socket = device.createRfcommSocketToServiceRecord(SERIAL_UUID)
+//                } catch (e: IOException) {
+//                }
+//
+
+                val secure = false
+                val port = 10
+                try {
+                    if (secure) {
+                        if (port == 0) {
+                            socket = device.createRfcommSocketToServiceRecord(SERIAL_UUID)
+                        } else {
+                            val createRfcommSocket: Method = device.javaClass.getMethod(
+                                "createRfcommSocket", *arrayOf<Class<*>?>(
+                                    Int::class.javaPrimitiveType
+                                )
+                            )
+                            socket = createRfcommSocket.invoke(device, port) as BluetoothSocket
+                        }
+                    } else {
+                        if (port == 0) {
+                            socket = device.createInsecureRfcommSocketToServiceRecord(
+                                SERIAL_UUID
+                            )
+                        } else {
+                            val createInsecureRfcommSocket: Method =
+                                device.javaClass.getMethod(
+                                    "createInsecureRfcommSocket", *arrayOf<Class<*>?>(
+                                        Int::class.javaPrimitiveType
+                                    )
+                                )
+                            socket = createInsecureRfcommSocket.invoke(
+                                device,
+                                port
+                            ) as BluetoothSocket
+                        }
+                    }
+                } catch (e: IOException) {
+                    println(e)
+//                    Log.e(TAG, "Socket Type: " + mSocketType.toString() + "create() failed", e)
+                } catch (e: NoSuchMethodException) {
+                    println(e)
+//                    Log.e(TAG, "Socket Type: " + mSocketType.toString() + "create() failed", e)
+                } catch (e: InvocationTargetException) {
+                    println(e)
+//                    Log.e(TAG, "Socket Type: " + mSocketType.toString() + "create() failed", e)
+                } catch (e: IllegalAccessException) {
+                    println(e)
+//                    Log.e(TAG, "Socket Type: " + mSocketType.toString() + "create() failed", e)
+                }
+                try {
+                    println("attempt to connect")
+                    socket!!.connect()
+                    out = PrintWriter(
+                        BufferedWriter(OutputStreamWriter(socket.outputStream)),
+                        true
+                    )
+                    out.println("testest")
+                    //now you can use out to send output via out.write
+                } catch (e: IOException) {
+                    println(e)
+                }
+            }
         }
 
         currentState = "standby"

software/android/app/src/main/java/com/rookiedev/hexapod/MainActivity.kt

@@ -25,6 +25,7 @@ import com.google.android.material.textfield.TextInputLayout
 class MainActivity : AppCompatActivity() {
     companion object {
         private const val BLUETOOTH_PERMISSION_CODE = 100
+        private const val BLUETOOTH_SCAN_CODE = 101
     }
 
     private val REQUEST_CONNECT_DEVICE_SECURE = 1
@@ -94,6 +95,7 @@ class MainActivity : AppCompatActivity() {
 
         selectedDevice.setOnClickListener {
             checkPermission("android.permission.BLUETOOTH_CONNECT", BLUETOOTH_PERMISSION_CODE)
+            checkPermission("android.permission.BLUETOOTH_SCAN", BLUETOOTH_SCAN_CODE)
             val serverIntent = Intent(this, DeviceListActivity::class.java)
             resultLauncher.launch(serverIntent)
 //            startActivityForResult(serverIntent, REQUEST_CONNECT_DEVICE_INSECURE)

software/android/app/src/main/java/com/rookiedev/hexapod/network/BluetoothService.kt

@@ -17,12 +17,12 @@ import java.util.*
  * incoming connections, a thread for connecting with a device, and a
  * thread for performing data transmissions when connected.
  */
-class BluetoothService(context: Context?, handler: Handler) {
+class BluetoothService(context: Context?) {
     // Member fields
     private var bluetoothManager: BluetoothManager? = null
     private var mContext: Context? = null
 //    private val mAdapter: BluetoothAdapter
-    private val mHandler: Handler
+//    private val mHandler: Handler
     private var mSecureAcceptThread: AcceptThread? = null
     private var mInsecureAcceptThread: AcceptThread? = null
     private var mConnectThread: ConnectThread? = null
@@ -46,7 +46,7 @@ class BluetoothService(context: Context?, handler: Handler) {
         mNewState = mState
 
         // Give the new state to the Handler so the UI Activity can update
-        mHandler.obtainMessage(Constants.MESSAGE_STATE_CHANGE, mNewState, -1).sendToTarget()
+//        mHandler.obtainMessage(Constants.MESSAGE_STATE_CHANGE, mNewState, -1).sendToTarget()
     }
 
     /**
@@ -151,11 +151,11 @@ class BluetoothService(context: Context?, handler: Handler) {
         mConnectedThread!!.start()
 
         // Send the name of the connected device back to the UI Activity
-        val msg = mHandler.obtainMessage(Constants.MESSAGE_DEVICE_NAME)
+//        val msg = mHandler.obtainMessage(Constants.MESSAGE_DEVICE_NAME)
         val bundle = Bundle()
         bundle.putString(Constants.DEVICE_NAME, device.name)
-        msg.data = bundle
+//        msg.data = bundle
-        mHandler.sendMessage(msg)
+//        mHandler.sendMessage(msg)
         // Update UI title
         updateUserInterfaceTitle()
     }
@@ -210,11 +210,11 @@ class BluetoothService(context: Context?, handler: Handler) {
      */
     private fun connectionFailed() {
         // Send a failure message back to the Activity
-        val msg = mHandler.obtainMessage(Constants.MESSAGE_TOAST)
+//        val msg = mHandler.obtainMessage(Constants.MESSAGE_TOAST)
         val bundle = Bundle()
         bundle.putString(Constants.TOAST, "Unable to connect device")
-        msg.data = bundle
+//        msg.data = bundle
-        mHandler.sendMessage(msg)
+//        mHandler.sendMessage(msg)
         mState = STATE_NONE
         // Update UI title
         updateUserInterfaceTitle()
@@ -228,11 +228,11 @@ class BluetoothService(context: Context?, handler: Handler) {
      */
     private fun connectionLost() {
         // Send a failure message back to the Activity
-        val msg = mHandler.obtainMessage(Constants.MESSAGE_TOAST)
+//        val msg = mHandler.obtainMessage(Constants.MESSAGE_TOAST)
         val bundle = Bundle()
         bundle.putString(Constants.TOAST, "Device connection was lost")
-        msg.data = bundle
+//        msg.data = bundle
-        mHandler.sendMessage(msg)
+//        mHandler.sendMessage(msg)
         mState = STATE_NONE
         // Update UI title
         updateUserInterfaceTitle()
@@ -434,8 +434,8 @@ class BluetoothService(context: Context?, handler: Handler) {
                     bytes = mmInStream!!.read(buffer)
 
                     // Send the obtained bytes to the UI Activity
-                    mHandler.obtainMessage(Constants.MESSAGE_READ, bytes, -1, buffer)
+//                    mHandler.obtainMessage(Constants.MESSAGE_READ, bytes, -1, buffer)
-                        .sendToTarget()
+//                        .sendToTarget()
                 } catch (e: IOException) {
 //                    Log.e(TAG, "disconnected", e)
                     connectionLost()
@@ -454,8 +454,8 @@ class BluetoothService(context: Context?, handler: Handler) {
                 mmOutStream!!.write(buffer)
 
                 // Share the sent message back to the UI Activity
-                mHandler.obtainMessage(Constants.MESSAGE_WRITE, -1, -1, buffer)
+//                mHandler.obtainMessage(Constants.MESSAGE_WRITE, -1, -1, buffer)
-                    .sendToTarget()
+//                    .sendToTarget()
             } catch (e: IOException) {
 //                Log.e(TAG, "Exception during write", e)
             }
@@ -520,6 +520,6 @@ class BluetoothService(context: Context?, handler: Handler) {
         bluetoothManager!!.adapter
         mState = STATE_NONE
         mNewState = mState
-        mHandler = handler
+//        mHandler = handler
     }
 }