public class MainActivity extends Activity {private BluetoothService mBluetoothService; //自定义蓝牙服务类private BluetoothAdapter mBluetoothAdapter;private String mConnectedDeviceName = null; //连接设备的名称//默认是1,因为程序启动时首先会连接一个蓝牙private int current_pos = 1;//hanlder消息标识 message.whatpublic static final int MESSAGE_STATE_CHANGE = 1; // 状态改变public static final int MESSAGE_READ = 2;          // 读取数据public static final int MESSAGE_WRITE = 3;         // 给硬件传数据，暂不需要，看具体需求public static final int MESSAGE_DEVICE_NAME = 4;  // 设备名字public static final int MESSAGE_TOAST = 5;         // Toast//传感器 ,这里默认同时需要和三个硬件连接，分别设置id 1,2,3进行区分，demo中实际只用到 MAGIKARE_SENSOR_DOWN = 1//可以根据情况自行添加删除public static final int MAGIKARE_SENSOR_UP = 2;public static final int MAGIKARE_SENSOR_DOWN = 1;public static final int MAGIKARE_SENSOR_CENTER = 3;public static float[] m_receive_data_up;                    //传感器的数据public static float[] m_receive_data_down;                  //传感器的数据 ,demo中我们只需要这一个，因为只有一个硬件设备，public static float[] m_receive_data_center;                //传感器的数据
@Overrideprotected void onCreate(Bundle savedInstanceState) {super.onCreate(savedInstanceState);setContentView(R.layout.activity_main);//获取蓝牙适配器mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();// 1、判断设备是否支持蓝牙功能if (mBluetoothAdapter == null) {//设备不支持蓝牙功能Toast.makeText(this, "当前设备不支持蓝牙功能！", Toast.LENGTH_SHORT).show();return;}// 2、打开设备的蓝牙功能if (!mBluetoothAdapter.isEnabled()) {boolean enable = mBluetoothAdapter.enable(); //返回值表示 是否成功打开了蓝牙设备if (enable) {Toast.makeText(this, "打开蓝牙功能成功！", Toast.LENGTH_SHORT).show();} else {Toast.makeText(this, "打开蓝牙功能失败，请到'系统设置'中手动开启蓝牙功能！", Toast.LENGTH_SHORT).show();return;}}// 3、创建自定义蓝牙服务对象if (mBluetoothService == null) {mBluetoothService = new BluetoothService(MainActivity.this, mHandler);}if (mBluetoothService != null) {//根据MAC地址远程获取一个蓝牙设备，这里固定了，实际开发中，需要动态设置参数（MAC地址）BluetoothDevice sensor_down = mBluetoothAdapter.getRemoteDevice("20:16:06:15:78:76");if (sensor_down != null) {//成功获取到远程蓝牙设备（传感器），这里默认只连接MAGIKARE_SENSOR_DOWN = 1这个设备
                mBluetoothService.connect(sensor_down, MAGIKARE_SENSOR_DOWN);}}}private Handler mHandler = new Handler(new Handler.Callback() {@Overridepublic boolean handleMessage(Message msg) {switch (msg.what){case MESSAGE_READ:try {String str=msg.getData().getString("index");int index=Integer.valueOf(str);switch (index){//获取到蓝牙传输过来的数据case MAGIKARE_SENSOR_UP:m_receive_data_up=msg.getData().getFloatArray("Data");break;//实际只用到这个case ，因为demo只连接了一个硬件设备case MAGIKARE_SENSOR_DOWN:m_receive_data_down=msg.getData().getFloatArray("Data");break;case MAGIKARE_SENSOR_CENTER:m_receive_data_center=msg.getData().getFloatArray("Data");break;}} catch (Exception e) {// TODO: handle exception
                    }break;case MESSAGE_STATE_CHANGE:
//                    连接状态switch (msg.arg1) {case BluetoothService.STATE_CONNECTED:break;case BluetoothService.STATE_CONNECTING:break;case BluetoothService.STATE_LISTEN:break;case BluetoothService.STATE_NONE:break;}break;case MESSAGE_DEVICE_NAME:mConnectedDeviceName = msg.getData().getString("device_name");Log.i("bluetooth","成功连接到:"+mConnectedDeviceName);Toast.makeText(getApplicationContext(),"成功连接到设备" + mConnectedDeviceName,Toast.LENGTH_SHORT).show();break;case MESSAGE_TOAST:int index=msg.getData().getInt("device_id");Toast.makeText(getApplicationContext(),msg.getData().getString("toast"), Toast.LENGTH_SHORT).show();//当失去设备或者不能连接设备时，重新连接Log.d("Magikare","当失去设备或者不能连接设备时，重新连接");　　　　　　　　　　　　//重新连接硬件设备if(mBluetoothService!=null){switch (index) {case MAGIKARE_SENSOR_DOWN:　　　　　　　　　　　　　　　　　　　　//根据你的硬件的MAC地址写参数，每一个硬件设备都有一个MAC地址，此方法是根据MAC地址得到蓝牙设备BluetoothDevice sensor_down = mBluetoothAdapter.getRemoteDevice("20:16:06:15:78:76");if (sensor_down != null)mBluetoothService.connect(sensor_down, MAGIKARE_SENSOR_DOWN);break;case MAGIKARE_SENSOR_UP:BluetoothDevice sensor_up = mBluetoothAdapter.getRemoteDevice("");  //参数写你这个设备的MAC码if (sensor_up != null)mBluetoothService.connect(sensor_up, MAGIKARE_SENSOR_UP);break;case MAGIKARE_SENSOR_CENTER:BluetoothDevice center = mBluetoothAdapter.getRemoteDevice("");    //参数写你这个设备的MAC码if (center != null)mBluetoothService.connect(center, MAGIKARE_SENSOR_CENTER);break;}}break;}return false;}});public synchronized void onResume() {super.onResume();if (mBluetoothService != null) {if (mBluetoothService.getState() == BluetoothService.STATE_NONE) {mBluetoothService.start();}}}@Overridepublic void onDestroy() {super.onDestroy();if (mBluetoothService != null) mBluetoothService.stop();}　　　　// 硬件通过蓝牙传输的byte类型已经转换为float类型，并且通过handler传输到 m_receive_data_down[]数组中，一下操作是获取这个数据，根据个人情况使用//获取角度public float[] GetAngle(int index){float[] angles=new float[3];if(m_receive_data_up==null||m_receive_data_down==null){return angles;}switch (index){case  MAGIKARE_SENSOR_DOWN:angles[0]=m_receive_data_down[6];angles[1]=m_receive_data_down[7];angles[2]=m_receive_data_down[8];break;case MAGIKARE_SENSOR_UP:angles[0]=m_receive_data_up[6];angles[1]=m_receive_data_up[7];angles[2]=m_receive_data_up[8];Log.d("安卓 Up 角度",angles[0]+","+angles[1]+","+angles[2]);break;}return angles;}//获取角速度public static float[] GetAngleSpeed(int index){float [] anglespeed=new float[3];if(m_receive_data_down==null){return anglespeed;}switch (index){case MAGIKARE_SENSOR_DOWN:anglespeed[0]=m_receive_data_down[3];anglespeed[1]=m_receive_data_down[4];anglespeed[2]=m_receive_data_down[5];break;case MAGIKARE_SENSOR_UP:anglespeed[0]=m_receive_data_up[3];anglespeed[1]=m_receive_data_up[4];anglespeed[2]=m_receive_data_up[5];break;}return  anglespeed;}public float[] GetQuaternion(int index){float[] quaternion=new float[4];if(m_receive_data_down==null){return quaternion;}switch (index){case  MAGIKARE_SENSOR_DOWN:quaternion[0]=m_receive_data_down[23];quaternion[1]=m_receive_data_down[24];quaternion[2]=m_receive_data_down[25];quaternion[3]=m_receive_data_down[26];Log.i("saveinfo","m_receive_data_down23"+m_receive_data_down[23]);Log.i("saveinfo","m_receive_data_down24"+m_receive_data_down[24]);Log.i("saveinfo","m_receive_data_down25"+m_receive_data_down[25]);Log.i("saveinfo","m_receive_data_down26"+m_receive_data_down[26]);break;case MAGIKARE_SENSOR_UP:quaternion[0]=m_receive_data_up[23];quaternion[1]=m_receive_data_up[24];quaternion[2]=m_receive_data_up[25];quaternion[3]=m_receive_data_up[26];break;case MAGIKARE_SENSOR_CENTER:quaternion[0]=m_receive_data_center[23];quaternion[1]=m_receive_data_center[24];quaternion[2]=m_receive_data_center[25];quaternion[3]=m_receive_data_center[26];}return  quaternion;}}

public class BluetoothService {　　private static final UUID MY_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");private Context context;//蓝牙适配器private BluetoothAdapter mAdapter;private Handler mHandler;//当前传感器设备的个数，即要开启的线程个数，用于设置线程数组的大小//这里默认为1，因为我们目前只需要和一个传感器连接， 比如：你要连接两个硬件设备，那就设置值为2，这样就会开启两个线程，分别去执行想要操作public static final int  SENSEOR_NUM=1;private AcceptThread mAcceptThread;// 请求连接的监听进程private ConnectThread mConnectThread;// 连接一个设备的进程public ConnectedThread[] mConnectedThread=new ConnectedThread[SENSEOR_NUM];// 已经连接之后的管理进程private int mState;// 当前状态// 指明连接状态的常量public static final int STATE_NONE = 0;         //没有连接public static final int STATE_LISTEN = 1;       //等待连接public static final int STATE_CONNECTING = 2;  //正在连接public static final int STATE_CONNECTED = 3;   //已经连接public BluetoothService(Context context, Handler mHandler) {this.context = context;this.mHandler = mHandler;mAdapter = BluetoothAdapter.getDefaultAdapter();//获取蓝牙适配器mState = STATE_NONE ; //当前连接状态：未连接
    }// 参数 index 是 硬件设备的id ，随便设的，目的在于当 同时连接多个硬件设备的时候，根据此id进行区分public synchronized void connect(BluetoothDevice device, int index) {//连接一个蓝牙时，将该设备 的蓝牙连接线程关闭，如果有的话//demo  就只有一个硬件设备，默认该设备id 取值index=1;if (mConnectedThread[index-1] != null) {mConnectedThread[index-1].cancel();mConnectedThread[index-1]=null;}mConnectThread=new ConnectThread(device,index);mConnectThread.start();setState(STATE_CONNECTING);}private class ConnectThread extends Thread{private final BluetoothSocket mmSocket;private final BluetoothDevice mmDevice;private int index;public ConnectThread(BluetoothDevice device,int index) {mmDevice = device;this.index=index;BluetoothSocket tmp = null;try {tmp = device.createRfcommSocketToServiceRecord(MY_UUID);// Get a BluetoothSocket for a connection with the given BluetoothDevice
            }catch (IOException e) {}mmSocket = tmp;}public void run() {setName("ConnectThread");//当连接成功，取消蓝牙适配器搜索蓝牙设备的操作，因为搜索操作非常耗时mAdapter.cancelDiscovery();// Always cancel discovery because it will slow down a connectiontry {mmSocket.connect();// This is a blocking call and will only return on a successful connection or an exception
            }catch (IOException e) {connectionFailed(this.index);try {mmSocket.close();} catch (IOException e2) {}BluetoothService.this.start();// 引用来说明要调用的是外部类的方法 runreturn;}synchronized (BluetoothService.this) {// Reset the ConnectThread because we're donemConnectThread = null;}connected(mmSocket, mmDevice,index);// Start the connected thread
        }public void cancel() {try {mmSocket.close();} catch (IOException e) {}}}class ConnectedThread extends Thread{private BluetoothSocket mmSocket;private InputStream mmInStream;private OutputStream mmOutStream;private int index;private Queue<Byte> queueBuffer = new LinkedList<Byte>();private byte[] packBuffer = new byte[11];//构造方法public ConnectedThread(BluetoothSocket socket,int index) {mmSocket = socket;InputStream tmpIn = null;OutputStream tmpOut = null;this.index=index;// Get the BluetoothSocket input and output streamstry {tmpIn = socket.getInputStream();tmpOut = socket.getOutputStream();} catch (IOException e) {}mmInStream = tmpIn;mmOutStream = tmpOut;}// 数组大小看你的数据需求，这里存的是你处理蓝牙传输来的字节数据之后实际要用到的数据private float [] fData=new float[31];@Overridepublic void run() {byte[] tempInputBuffer = new byte[1024];int acceptedLen = 0; //记录每次读取数据的数据长度byte sHead;long lLastTime = System.currentTimeMillis(); //获取开始时间while(true){try {acceptedLen = mmInStream.read(tempInputBuffer);//返回接收的长度//从缓冲区中读取数据for (int i = 0; i < acceptedLen; i++) {queueBuffer.add(tempInputBuffer[i]);}// 这里需要按个人硬件数据的情况自行修改了// 如果你的硬件蓝牙传输 一个包有11个字节，那queueBuffer.size()>=11// 如果你的硬件蓝牙传输 一个包有21个字节，那queueBuffer.size()>=21while (queueBuffer.size()>=11){//返回队首并删除，判断队首是不是0x55，如果不是，说明不是一个包的数据，跳过，//注意这里的0x55是你的包的首字节 if (queueBuffer.poll()!=0x55)continue;// 进入到这里，说明得到一个包的数据了，然后就要根据个人硬件的数据情况，将byte类型的数据转换为float类型的数据sHead = queueBuffer.poll(); //返回队首并删除　　　　　　　　　　　　　　　　　　　　　　// 现在得到的就是你数据部分了，如果有9位字节代表数据，j<9 ，如果有19位字节代表数据，j<19　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　//将字节数组存到packBuffer[]数据中，用于byte-->float数据的转换 for (int j = 0; j < 9; j++) {packBuffer[j] = queueBuffer.poll();}switch (sHead) {//case 0x52://角速度fData[3] = ((((short) packBuffer[1]) << 8) | ((short) packBuffer[0] & 0xff)) /  2000;fData[4] = ((((short) packBuffer[3]) << 8) | ((short) packBuffer[2] & 0xff)) /  200;fData[5] = ((((short) packBuffer[5]) << 8) | ((short) packBuffer[4] & 0xff)) /  200;fData[17] = ((((short) packBuffer[7]) << 8) | ((short) packBuffer[6] & 0xff)) / 100.0f;break;case 0x53://角度fData[6] = ((((short) packBuffer[1]) << 8) | ((short) packBuffer[0] & 0xff)) /  180;fData[7] = ((((short) packBuffer[3]) << 8) | ((short) packBuffer[2] & 0xff)) /  180;fData[8] = ((((short) packBuffer[5]) << 8) | ((short) packBuffer[4] & 0xff)) /  180;fData[17] = ((((short) packBuffer[7]) << 8) | ((short) packBuffer[6] & 0xff)) / 100.0f;break;case 0x59://四元数fData[23] = ((((short) packBuffer[1]) << 8) | ((short) packBuffer[0] & 0xff)) / 327.0f;fData[24] = ((((short) packBuffer[3]) << 8) | ((short) packBuffer[2] & 0xff)) /327.0f;fData[25] = ((((short) packBuffer[5]) << 8) | ((short) packBuffer[4] & 0xff)) /327.0f;fData[26] = ((((short) packBuffer[7]) << 8) | ((short) packBuffer[6] & 0xff)) /327.0f;break;}}long lTimeNow = System.currentTimeMillis(); // 获取收据转换之后的时间// 如果数据处理后的时间  与 接收到数据的时间 的时间差>80 则发送消息传输数据，// 这个时间需要看你硬件一秒钟发送的包的个数if (lTimeNow - lLastTime > 80) {lLastTime = lTimeNow;Message msg = mHandler.obtainMessage(MainActivity.MESSAGE_READ);Bundle bundle = new Bundle();bundle.putString("index",String.valueOf(this.index));bundle.putFloatArray("Data", fData);msg.setData(bundle);mHandler.sendMessage(msg);}} catch (IOException e) {connectionLost(this.index);e.printStackTrace();}}}public void cancel() {try {mmSocket.close();} catch (IOException e) {}}}//连接失败private void connectionFailed(int index) {setState(STATE_LISTEN);// Send a failure message back to the ActivityMessage msg = mHandler.obtainMessage(MainActivity.MESSAGE_TOAST);Bundle bundle = new Bundle();bundle.putString("toast", "未能连接设备"+index);bundle.putInt("device_id",index);msg.setData(bundle);mHandler.sendMessage(msg);}// 连接丢失private void connectionLost(int index) {setState(STATE_LISTEN);Message msg = mHandler.obtainMessage(MainActivity.MESSAGE_TOAST);Bundle bundle = new Bundle();bundle.putString("toast", "设备丢失"+index);bundle.putInt("device_id",index);msg.setData(bundle);mHandler.sendMessage(msg);}//用于 蓝牙连接的Activity onResume()方法public synchronized void start() {// Cancel any thread attempting to make a connectionif (mConnectThread != null) {mConnectThread.cancel();mConnectThread = null;}if (mAcceptThread == null) {mAcceptThread = new AcceptThread();mAcceptThread.start();}setState(STATE_LISTEN);}public synchronized void connected(BluetoothSocket socket,BluetoothDevice device,int index) {Log.d("MAGIKARE","连接到线程"+index);// Cancel the thread that completed the connectionif (mConnectThread != null) {mConnectThread.cancel();mConnectThread = null;}// Cancel the accept thread because we only want to connect to one deviceif (mAcceptThread != null) {mAcceptThread.cancel();mAcceptThread = null;}// Start the thread to manage the connection and perform transmissionsmConnectedThread[index-1] = new ConnectedThread(socket,index);mConnectedThread[index-1].start();// Send the name of the connected device back to the UI ActivityMessage msg = mHandler.obtainMessage(MainActivity.MESSAGE_DEVICE_NAME);Bundle bundle = new Bundle();bundle.putString("device_name", device.getName()+" "+index);msg.setData(bundle);mHandler.sendMessage(msg);setState(STATE_CONNECTED);}private synchronized void setState(int state) {mState = state;// Give the new state to the Handler so the UI Activity can updatemHandler.obtainMessage(MainActivity.MESSAGE_STATE_CHANGE, state, -1).sendToTarget();}private class AcceptThread extends Thread {// The local server socketprivate final BluetoothServerSocket mmServerSocket;//private int index;public AcceptThread() {BluetoothServerSocket tmp = null;// this.index=index;// Create a new listening server sockettry {tmp = mAdapter.listenUsingRfcommWithServiceRecord("BluetoothData", MY_UUID);}catch (IOException e) {}mmServerSocket = tmp;}public void run() {new Thread(new Runnable() {@Overridepublic void run() {}}).start();}public void cancel() {try {if(mmServerSocket!=null) {mmServerSocket.close();}}catch (IOException e) {}}}public synchronized int getState() {return mState;}public synchronized void stop() {if (mConnectedThread != null) {for(int i=0;i<mConnectedThread.length;i++){mConnectedThread[i].cancel();}mConnectedThread = null;}if (mAcceptThread != null) {mAcceptThread.cancel();mAcceptThread = null;}setState(STATE_NONE);}
}

public class MyView extends View {/*http://www.cnblogs.com/aibuli/p/950c34f2bc0d02cbd290dd6a8339d42a.html*///坐标轴原点的位置private int xPoint=60;private int yPoint=260;//刻度长度private int xScale=8;  //8个单位构成一个刻度private int yScale=40;//x与y坐标轴的长度private int xLength=580;private int yLength=480;private int MaxDataSize=xLength/xScale;   //横坐标  最多可绘制的点private List<Float> data=new ArrayList<Float>();   //存放 纵坐标 所描绘的点private String[] yLabel=new String[yLength/yScale];  //Y轴的刻度上显示字的集合private Handler mh=new Handler(){public void handleMessage(android.os.Message msg) {if(msg.what==0){                //判断接受消息类型MyView.this.invalidate();  //刷新View
            }};};public MyView(Context context, AttributeSet attrs) {super(context, attrs);for (int i = 0; i <yLabel.length; i++) {yLabel[i]=(i+1)+"M/s";}new Thread(new Runnable() {@Overridepublic void run() {while(true){     //在线程中不断往集合中增加数据try {Thread.sleep(300);} catch (InterruptedException e) {e.printStackTrace();}if(data.size()>MaxDataSize){  //判断集合的长度是否大于最大绘制长度data.remove(0);  //删除头数据
                    }// 这里得到蓝牙设备得到的数据float[] floats = MainActivity.GetAngleSpeed(1);data.add(floats[0]);mh.sendEmptyMessage(0);   //发送空消息通知刷新
                }}}).start();}@Overrideprotected void onDraw(Canvas canvas) {super.onDraw(canvas);Paint paint=new Paint();paint.setStyle(Paint.Style.STROKE);paint.setAntiAlias(true);paint.setColor(Color.RED);//绘制Y轴canvas.drawLine(xPoint, yPoint-yLength, xPoint, yPoint, paint);//绘制Y轴左右两边的箭头canvas.drawLine(xPoint, yPoint-yLength, xPoint-3,yPoint-yLength+6, paint);canvas.drawLine(xPoint, yPoint-yLength, xPoint+3,yPoint-yLength+6, paint);//Y轴上的刻度与文字for (int i = 0; i * yScale< yLength; i++) {canvas.drawLine(xPoint, yPoint-i*yScale, xPoint+5, yPoint-i*yScale, paint);  //刻度canvas.drawText(yLabel[i], xPoint-50, yPoint-i*yScale, paint);//文字
        }//X轴canvas.drawLine(xPoint, yPoint, xPoint+xLength, yPoint, paint);//如果集合中有数据if(data.size()>1){for (int i = 1; i < data.size(); i++) {  //依次取出数据进行绘制canvas.drawLine(xPoint+(i-1)*xScale, yPoint-data.get(i-1)*yScale, xPoint+i*xScale, yPoint-data.get(i)*yScale, paint);}}}
}