package com.artandgj.carandroid;
 
import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.net.ServerSocket;
import java.net.Socket;
import java.net.UnknownHostException;
 
import android.app.Activity;
import android.os.Bundle;
import android.os.Handler;
import android.os.Looper;
import android.os.Message;
import android.util.Log;
import android.view.View;
import android.widget.Button;
 
public class CarAndroidActivity extends Activity {
 
	private static final String TAG = "ThreadMessaging";
	public Handler mMainHandler, mChildHandler;
	public long servo_dir = 200;
    	public long servo_v = 100;
 
    @Override
    public void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.main);
        Button btn_start = (Button)findViewById(R.id.start);
    	Button btn_stop = (Button)findViewById(R.id.stop);
        final Thread soundthread = new Thread(new SoundThread());
 
        btn_start.setOnClickListener(new View.OnClickListener(){
            public void onClick(View v){
            	soundthread.start();
            	new ChildThread().start();
            }
        });
        btn_stop.setOnClickListener(new View.OnClickListener(){
           	public void onClick(View v){
           		mChildHandler.getLooper().quit();
           		soundthread.destroy();
           	}
        });
    }
 
    class ChildThread extends Thread {
        public void run() {
 
        	ServerSocket serverSocket = null;
            Socket socket = null;
            DataInputStream dataInputStream = null;
            DataOutputStream dataOutputStream = null;
            String temp = null;
 
            try {
             serverSocket = new ServerSocket(8887);
             System.out.println("Listening :8887");
            } catch (IOException e) {
             // TODO Auto-generated catch block
             e.printStackTrace();
            }
 
            while(true){
            	try {
            		socket = serverSocket.accept();
            		dataInputStream = new DataInputStream(socket.getInputStream());
            		//dataOutputStream = new DataOutputStream(socket.getOutputStream());
            		System.out.println("ip: " + socket.getInetAddress());
            		// System.out.println("message: " + dataInputStream.readUTF());
            		while(true){
            			dataInputStream = new DataInputStream(socket.getInputStream());
        				temp = dataInputStream.readUTF().toString();
        				String str[]= temp.split("/");
        				servo_dir = new Long(str[0]);
        				servo_v = new Long(str[1]);
        				Log.i(TAG, servo_v + " - " + servo_dir);
            		}
            		//dataOutputStream.writeUTF("Hello!");
            	} catch (IOException e) {
            		// TODO Auto-generated catch block
            		e.printStackTrace();
            	}
            	finally{
            		if( socket!= null){
            			try {
            				socket.close();
            				System.out.println("Fermeture");
            			} catch (IOException e) {
            				// TODO Auto-generated catch block
            				e.printStackTrace();
            			}
            		}
            		if( dataInputStream!= null){
            			try {
            				dataInputStream.close();
            			} catch (IOException e) {
            				// TODO Auto-generated catch block
            				e.printStackTrace();
            			}
            		}
 
            		if( dataOutputStream!= null){
            			try {
            				dataOutputStream.close();
            			} catch (IOException e) {
            				// TODO Auto-generated catch block
            				e.printStackTrace();
            			}
            		}
            	}
            }
        }
    }
 
    public class SoundThread implements Runnable {
 
    //Communication avec l'Arduino par la sortie sonore
 
    	AndroidAudioDevice device = new AndroidAudioDevice();
 
        @Override
        public void run() {
        	final float frequency = 20;
            float increment = (float)(2*Math.PI) * frequency / 44100; // angular increment for each sample
            float angle = 0;
            float samples[] = new float[1024];
 
            int tour = 0;
            //int fois = 100;
            boolean continu = true;
 
            angle = 0;
    		for( int i = 0; i < samples.length; i++ ){
                samples[i] = (float)Math.sin( angle );
                angle += increment;
            }
 
    		long startTime = System.currentTimeMillis();
    		long estimatedTime = System.currentTimeMillis() - startTime;
 
    		Looper.prepare();
    		mChildHandler = new Handler() {
                public void handleMessage(Message msg) {
                	servo_dir = Long.parseLong((String) msg.obj);
                }
            };
 
            while(continu){
            	if(tour == 0){
            		estimatedTime = System.currentTimeMillis() - startTime;
            		if(estimatedTime > servo_dir){
	            		device.SetStereo(1);
	                    device.writeSamples(samples);
	                    startTime = System.currentTimeMillis();
	                    tour = 1;
	                    Log.i(TAG, "Tac");
            		}
            	}else{
            		estimatedTime = System.currentTimeMillis() - startTime;
            		if(estimatedTime > servo_v){
	            		device.SetStereo(0);
	                    device.writeSamples(samples);
	                    startTime = System.currentTimeMillis();
	                    tour = 0;
            		}
            	}
            }
            Looper.loop();
        }
    }
 
}

package com.artandgj.carandroid;
 
import android.media.AudioFormat;
import android.media.AudioManager;
import android.media.AudioTrack;
 
public class AndroidAudioDevice{
   AudioTrack track;
   short[] buffer = new short[1024];
 
   public AndroidAudioDevice(){
      int minSize =AudioTrack.getMinBufferSize( 44100, AudioFormat.CHANNEL_CONFIGURATION_STEREO, AudioFormat.ENCODING_PCM_16BIT);
      track = new AudioTrack( AudioManager.STREAM_MUSIC, 44100,
                                        AudioFormat.CHANNEL_CONFIGURATION_STEREO, AudioFormat.ENCODING_PCM_16BIT,
                                        minSize, AudioTrack.MODE_STREAM);
      track.play();
   }	   
 
   public void writeSamples(float[] samples)
   {
      fillBuffer( samples );
      track.write( buffer, 0, samples.length );
   }
 
   private void fillBuffer( float[] samples )
   {
      if( buffer.length < samples.length )
         buffer = new short[samples.length];
 
      for( int i = 0; i < samples.length; i++ )
         buffer[i] = (short)(samples[i] * Short.MAX_VALUE);;
   }
 
   public void SetStereo(int son){
	   if(son == 0){
		   track.setStereoVolume(0, 1);
	   }else{
		   track.setStereoVolume(1, 0);
	   }
   }
}

#include <Servo.h> 
 
const int analogR = A5;
const int analogL = A4;
const int analogOutPin = 9;
 
int valeursR[10];
int totalR = 0;
int etatR = 0;
 
int valeursL[10];
int totalL = 0;
int etatL = 0;
 
int pETAT = 0;
int ETAT = 0;
 
unsigned long time;
unsigned long vtime;
 
int sensorValueR = 0;
int sensorValueL = 0;
 
Servo SVitesse;
Servo SDirection;
 
void setup() {
  Serial.begin(9600);
  time = micros();
  SDirection.attach(10);
  SVitesse.attach(11);
 
  SVitesse.write(90);
  SDirection.write(80);
}
 
void loop() {
  /*Serial.print(0xff, BYTE); // Sync byte
  Serial.print((sensorValue >>  & 0xff, BYTE);
  Serial.print(sensorValue & 0xff, BYTE);*/
 
  sensorValueR = analogRead(analogR)*15;
  sensorValueL = analogRead(analogL)*15;  
 
  for (int i=0; i <= 8; i++){
    valeursR[i] = valeursR[i+1];
    valeursL[i] = valeursL[i+1];
  }
 
  if(sensorValueR > 40){
    valeursR[9] = 1;
  }else{
    valeursR[9] = 0;
  }
 
  if(sensorValueL > 40){
    valeursL[9] = 1;
  }else{
    valeursL[9] = 0;
  }
 
  totalR = 0;
  for (int i=0; i <= 9; i++){
    totalR += valeursR[i];
  }
 
  totalL = 0;
  for (int i=0; i <= 9; i++){
    totalL += valeursL[i];
  }
 
  pETAT = ETAT;
 
  if(totalR == 0){
    if(etatR == 1){
      etatR = 0;
    }
  }else if(totalR == 10){
    if(etatR == 0){
      etatR = 1;
      ETAT = 0;
      check();
    }
  }
 
  if(totalL == 0){
    if(etatL == 1){
      etatL = 0;
    }
  }else if(totalL == 10){
    if(etatL == 0){
      etatL = 1;
      ETAT = 1;
      check();
    }
  }     
 
  delayMicroseconds(1);
}
 
void check(){
  if(pETAT != ETAT){
    if(pETAT == 0){
      vtime = micros() - time;
      vtime = map(vtime, 60000, 300000, 0, 20);
 
      if(vtime < 5){
        SDirection.write(110);
      }else if(vtime > 5 && vtime < 8){
        //SDirection.write(100);
      }else if(vtime > 8 && vtime < 13){
        SDirection.write(90);
      }else if(vtime > 13 && vtime < 18){
        //SDirection.write(80);
      }else if(vtime > 17){
        SDirection.write(70);
      }else{
        SDirection.write(80);
      }
 
      time = micros();
    }else{
      //Vitesse
      vtime = micros() - time;
      vtime = map(vtime, 60000, 300000, 0, 20);
 
      if(vtime < 5){
        SVitesse.write(70);
      }else if(vtime > 5 && vtime < 8){
        //SVitesse.write(80);
      }else if(vtime > 8 && vtime < 13){
        SVitesse.write(90);
      }else if(vtime > 13 && vtime < 18){
        //SVitesse.write(100);
      }else if(vtime > 17){
        SVitesse.write(110);
      }else{
        SVitesse.write(90);
      }
 
      time = micros();
    }
  }
}