/// <summary>
/// Creates new record and Bluetooth manager classes before attempting to connect to the IMU device.
/// If an instance of the Bluetooth manager is already in effect, will make a call to dispose of it first.
/// </summary>
/// <returns> Whether the connection attempt to the IMU device was successful.</returns>
public bool connect()
{
if (bt_manager != null)
{
dispose_previous_connection();
}
records = new Records(IMU_number);
bt_manager = new BTManager(this, MAC_address, debug_connection_reports, conn_info_set);
return(bt_manager.connect());
}
/// <summary>
/// Performs safe termination of the Bluetooth manager's underlying data stream thread, disposes of
/// the associated 32Feet Bluetooth client and then the Bluetooth manager itself.
/// </summary>
public void dispose_previous_connection()
{
if (bt_manager.get_data != null && bt_manager.safe_to_terminate)
{
bt_manager.get_data.Abort();
}
if (bt_manager.client != null)
{
bt_manager.client.Close();
}
bt_manager = null;
}
/// <summary>
/// Closes the Bluetooth connection by terminating the associated thread, sending a stop command to the IMU device
/// and closing the underlying Bluetooth connection.
/// </summary>
public void close()
{
if (bt_manager != null && bt_manager.client != null)
{
bt_manager.send_data("M0dg");
bt_manager.stream_open = false;
if (bt_manager.get_data != null)
{
/*
* while (!bt_manager.safe_to_terminate)
* {
* System.Diagnostics.Debug.WriteLine(IMU_number + "--" + "waiting");
* }
*/
//bt_manager.get_data.Abort();
}
bt_manager.client.Close();
bt_manager = null;
}
}