# BtRobot.py

from raspibrick import *
from btpycom import *

def onStateChanged(state, msg):
    if state == "LISTENING":
        display.showText("LI")
    elif state == "CONNECTED":
        display.showText("conn")
    elif state == "MESSAGE":
        go(msg)
        display.showText("go")
        
def go(msg):
    if msg == "FORWARD":
        gear.forward()
    elif msg == "BACKWARD":
        gear.backward()
    elif msg == "RIGHT":
        gear.rightArc(0.1)
    elif msg == "LEFT":
        gear.leftArc(0.1)
    elif msg == "STOP":
        gear.stop()

robot = Robot()
gear = Gear()
display = Display()
serviceName = "BTRobot"
server = BTServer(serviceName, stateChanged = onStateChanged)
while not isEscapeHit():
    Tools.delay(100)
server.terminate()
robot.exit()

# BtRobotControl.py

from entrydialog import *
from btcom import *

def showDialog():
    global dlg, buttons
    buttons = [ButtonEntry("Left"), ButtonEntry("Forward"), ButtonEntry("Stop"),
               ButtonEntry("Backward"), ButtonEntry("Right")]
    pane = EntryPane(buttons[0], buttons[1], buttons[2], buttons[3], buttons[4])
    dlg = EntryDialog(pane)
    dlg.setTitle("Remote Control")
    dlg.show()

showDialog()
commands = ["LEFT", "FORWARD", "STOP", "BACKWARD", "RIGHT"]

def onStateChanged(state, msg):
    pass
       
serviceName = "BTRobot"
client = BTClient(stateChanged = onStateChanged)
dlg.setTitle("Searching for rover. Please wait...")
serverInfo = client.findService(serviceName, 30)
#serverInfo = ('B8:27:EB:B3:E7:A6', 1)
if serverInfo == None:
    dlg.setTitle("Robot not found")
else:
    if client.connect(serverInfo, 20):
        dlg.setTitle("Connected to " + serverInfo[0])
        while not dlg.isDisposed():
            for n in range(len(buttons)):
                if buttons[n].isTouched():
                    client.sendMessage(commands[n])
        client.disconnect()  

// RobotControl.java

package robotcontrol.app;

import ch.aplu.android.*;
import android.graphics.Color;
import android.bluetooth.*;
import ch.aplu.android.bluetooth.*;
import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;


public class RobotControl extends GameGrid
  implements GGPushButtonListener
{
  private GGPushButton forward;
  private GGPushButton backward;
  private GGPushButton left;
  private GGPushButton right;
  private GGPushButton stop;
  private GGTextField tf;
  private BluetoothClient bc;
  private DataInputStream dis;
  private DataOutputStream dos;

  public RobotControl()
  {
    super(21, 21, 0);
    setScreenOrientation(PORTRAIT);
  }

  public void main()
  {
    String serverName = askName();
    getBg().clear(Color.BLUE);
    new GGTextField("RobotControl",
      new Location(0, 1), true).show();
    addButtons();
    tf = new GGTextField("Trying to connect...", new Location(4, 19), true);
    tf.show();
      
    // Search device   
    BluetoothDevice serverDevice = searchDevice(serverName);
    if (serverDevice != null)
    {
      bc = new BluetoothClient(serverDevice);
      boolean rc = bc.connect();
      if (!rc)
      {
         tf.hide();
         tf = new GGTextField("Connection failed", new Location(4, 19), true);
         tf.show();
         return;
      }
      tf.hide();
      tf = new GGTextField("Connection established", new Location(3, 19), true);
      tf.show();
      dis = new DataInputStream(bc.getInputStream());
      dos = new DataOutputStream(bc.getOutputStream());
      enableButtons();
  }  
  }
  
  private String askName()
  {
    GGPreferences prefs = new GGPreferences(this);
    String oldName = prefs.retrieveString("BluetoothName");
    String newName = null;
    while (newName == null || newName.equals(""))
    {
      newName = GGInputDialog.show(this, "RobotControl", 
        "Enter Bluetooth Name",
        oldName == null ? "raspberrypi" : oldName);
    }
    prefs.storeString("BluetoothName", newName);
    return newName;
  }  

  private void addButtons()
  {
    forward = new GGPushButton("forward");   
    addActor(forward, new Location(10, 5));
    backward = new GGPushButton("backward");
    addActor(backward, new Location(10, 15));
    left = new GGPushButton("left");
    addActor(left, new Location(3, 10));
    right = new GGPushButton("right");
    addActor(right, new Location(17, 10));
    stop = new GGPushButton("stop");
    addActor(stop, new Location(10, 10));
  }

  private void enableButtons()
  {
    forward.addPushButtonListener(this);
    backward.addPushButtonListener(this);
    left.addPushButtonListener(this);
    right.addPushButtonListener(this);
    stop.addPushButtonListener(this);
  }

  public void onPause()
  {
    super.onPause();
  }
  
   public void buttonPressed(GGPushButton button)
  {
    if (button == forward)
      sendMessage("FORWARD");
    if (button == backward)
      sendMessage("BACKWARD");
    if (button == left)
      sendMessage("LEFT");
    if (button == right)
      sendMessage("RIGHT");
    if (button == stop)
      sendMessage("STOP");
  }

  public void buttonReleased(GGPushButton button)
  {
  }

  public void buttonClicked(GGPushButton button)
  {
  }
  
  public void buttonRepeated(GGPushButton button)
  {   
  }
  
  private void sendMessage(String msg)
  {
    try
    {
     dos.writeBytes(msg + "\0");
     dos.flush();
    }
    catch (IOException ex)
    {
      tf.hide();
      tf = new GGTextField("Connection lost", new Location(3, 19), true);
      tf.show();
    }
  }  

  private BluetoothDevice searchDevice(String btName)
  {
    BluetoothAdapter adapter =
      BluetoothDiscovery.getBluetoothAdapter(this);
    if (adapter == null)
      return null;

    if (!adapter.isEnabled())
    {
      requestBluetoothEnable();
      if (!adapter.isEnabled())
        return null;
    }
    BluetoothDiscovery bd = new BluetoothDiscovery(this);
    BluetoothDevice device = bd.getPairedDevice(btName);
    return device;
  }
}