我正在尝试通过蓝牙与 Android 手机通信惯性测量单元（加速度计、陀螺仪和磁力计）。具体来说，我使用 MPU9150 作为我的 IMU。我有一个 Python 中的工作代码，可以与 IMU 完美通信。我继续将此代码移植到 Java 用于 Android 部分。我采用了蓝牙聊天示例并根据需要对其进行了修改。现在它“工作”了。
我可以毫无问题地向 IMU 发送数据，并且我可以以某种方式正确接收数据。我得到了正确的数据包，但每次说，第 4 或第 5 个数据包，也许更频繁，也许更少，我得到一个完全不合理的数据包。例如，正确的加速度数据包看起来像 0.002 0.001 0.003 而我得到的不稳定值看起来像 0.002 0.001 -16,371.002
我知道我的移植是有效的，因为我已经测试和调试了处理传入数据的函数。在我看来，问题出在连接部分。当我检查来自 Python 和 Java 的数据时，Java 数据包从它们到达的那一刻起就显示出完全不合理的数据（同样，不是全部）。但是 Python 数据包没有，它们都是正确的！关于可能发生什么的任何想法？
能正常发送数据，也能正常接收一些数据包，真的很奇怪。非常感谢您的帮助。谢谢。
添加代码：Python串口初始化
def __init__(self, port, quat_delegate=None, debug_delegate=None, data_delegate=None):
self.s = serial.Serial(port, 115200)
self.s.setTimeout(0.1)
self.s.setWriteTimeout(0.2)
Android 部分有点长......对此感到抱歉。
//constructor
public BluetoothChatService(Context context, Handler handler){
mAdapter = BluetoothAdapter.getDefaultAdapter();
mState = STATE_NONE;
mHandler = handler;
}
/**
* Start the ConnectThread to initiate a connection to a remote device.
* @param device The BluetoothDevice to connect
* @param secure Socket Security type - Secure (true) , Insecure (false)
*/
public synchronized void connect(BluetoothDevice device, boolean secure){
if (D) Log.d(TAG, "connect to: " + device);
// Cancel any thread attempting to make a connection
if (mState == STATE_CONNECTING){
if (mConnectThread != null){
mConnectThread.cancel();
mConnectThread = null;
}
}
// Cancel any thread currently running a connection
if (mConnectedThread != null){
mConnectedThread.cancel();
mConnectedThread = null;
}
// Start the thread to connect with the given device
mConnectThread = new ConnectThread(device, secure);
mConnectThread.start();
setState(STATE_CONNECTING);
}
/**
* Start the ConnectedThread to begin managing a Bluetooth connection
* @param socket The BluetoothSocket on which the connection was made
* @param device The BluetoothDevice that has been connected
*/
public synchronized void connected(BluetoothSocket socket, BluetoothDevice
device, final String socketType){
if (D) Log.d(TAG, "connected, Socket Type:" + socketType);
// Cancel the thread that completed the connection
if (mConnectThread != null){
mConnectThread.cancel();
mConnectThread = null;
}
// Cancel any thread currently running a connection
if (mConnectedThread != null){
mConnectedThread.cancel();
mConnectedThread = null;
}
// Cancel the accept thread because we only want to connect to one device
if (mSecureAcceptThread != null){
mSecureAcceptThread.cancel();
mSecureAcceptThread = null;
}
if (mInsecureAcceptThread != null){
mInsecureAcceptThread.cancel();
mInsecureAcceptThread = null;
}
// Start the thread to manage the connection and perform transmissions
mConnectedThread = new ConnectedThread(socket, socketType);
mConnectedThread.start();
// Send the name of the connected device back to the UI Activity
Message msg = mHandler.obtainMessage(BluetoothChat.MESSAGE_DEVICE_NAME);
Bundle bundle = new Bundle();
bundle.putString(BluetoothChat.DEVICE_NAME, device.getName());
msg.setData(bundle);
mHandler.sendMessage(msg);
setState(STATE_CONNECTED);
}
/**
* This thread runs while attempting to make an outgoing connection
* with a device. It runs straight through; the connection either
* succeeds or fails.
*/
private class ConnectThread extends Thread{
private final BluetoothSocket mmSocket;
private final BluetoothDevice mmDevice;
private String mSocketType;
public ConnectThread(BluetoothDevice device, boolean secure){
mmDevice = device;
BluetoothSocket tmp = null;
mSocketType = secure ? "Secure" : "Insecure";
// Get a BluetoothSocket for a connection with the
// given BluetoothDevice
try{
if(secure){
tmp = device.createRfcommSocketToServiceRecord(
MY_UUID_SECURE);
}else{
tmp = device.createInsecureRfcommSocketToServiceRecord(
MY_UUID_INSECURE);
}
}catch (IOException e){
Log.e(TAG, "Socket Type: " + mSocketType + "create() failed", e);
}
mmSocket = tmp;
}
public void run(){
Log.i(TAG, "BEGIN mConnectThread SocketType:" + mSocketType);
setName("ConnectThread" + mSocketType);
// Always cancel discovery because it will slow down a connection
mAdapter.cancelDiscovery();
// Make a connection to the BluetoothSocket
try{
// This is a blocking call and will only return on a
// successful connection or an exception
mmSocket.connect();
}catch (IOException e){
// Close the socket
try{
mmSocket.close();
}catch (IOException e2){
Log.e(TAG, "unable to close() " + mSocketType +
" socket during connection failure", e2);
}
connectionFailed();
return;
}
// Reset the ConnectThread because we're done
synchronized(BluetoothChatService.this){
mConnectThread = null;
}
// Start the connected thread
connected(mmSocket, mmDevice, mSocketType);
}
public void cancel(){
try{
mmSocket.close();
}catch (IOException e){
Log.e(TAG, "close() of connect " + mSocketType + " socket failed", e);
}
}
}
/**
* This thread runs during a connection with a remote device.
* It handles all incoming and outgoing transmissions.
*/
private class ConnectedThread extends Thread{
private final BluetoothSocket mmSocket;
private final InputStream mmInStream;
private final OutputStream mmOutStream;
public ConnectedThread(BluetoothSocket socket, String socketType){
Log.d(TAG, "create ConnectedThread: " + socketType);
mmSocket = socket;
InputStream tmpIn = null;
OutputStream tmpOut = null;
// Get the BluetoothSocket input and output streams
try{
tmpIn = socket.getInputStream();
tmpOut = socket.getOutputStream();
}catch (IOException e) {
Log.e(TAG, "temp sockets not created", e);
}
mmInStream = tmpIn;
mmOutStream = tmpOut;
}
public void run() {
Log.i(TAG, "BEGIN mConnectedThread");
byte[] buffer = new byte[23];
//byte[] buffer = new byte[1024]; //orig*
int bytes;
// Keep listening to the InputStream while connected
while (true){
try{
// Read from the InputStream
bytes = mmInStream.read(buffer);
//processing of the data goes here, i guess that's not necessary to include
}
connect 方法启动一个 ConnectThread，它一直运行到连接成功建立或失败为止。建立连接后，该线程停止并且 ConnectedThread 启动。这只是来自 BluetoothChat Android 示例的代码，稍作修改。