/**
 * Receive messages from the BTCommunicator
 */
final Handler myHandler = new Handler() {
	@Override
	public void handleMessage(Message myMessage) {
		switch (myMessage.getData().getInt("message")) {
		case BTCommunicator.DISPLAY_TOAST:
			showToast(myMessage.getData().getString("toastText"), Toast.LENGTH_SHORT);
			break;
		case BTCommunicator.STATE_CONNECTED:
			connected = true;
			programList = new ArrayList<String>();
			connectingProgressDialog.dismiss();
			updateButtonsAndMenu();
			sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.GET_FIRMWARE_VERSION, 0, 0);
			break;
		case BTCommunicator.MOTOR_STATE:

			if (myBTCommunicator != null) {
				byte[] motorMessage = myBTCommunicator.getReturnMessage();
				int position = byteToInt(motorMessage[21]) + (byteToInt(motorMessage[22]) << 8) + (byteToInt(motorMessage[23]) << 16)
						+ (byteToInt(motorMessage[24]) << 24);
				showToast(getResources().getString(R.string.current_position) + position, Toast.LENGTH_SHORT);
			}

			break;

		case BTCommunicator.STATE_CONNECTERROR_PAIRING:
			connectingProgressDialog.dismiss();
			destroyBTCommunicator();
			break;

		case BTCommunicator.STATE_CONNECTERROR:
			connectingProgressDialog.dismiss();
		case BTCommunicator.STATE_RECEIVEERROR:
		case BTCommunicator.STATE_SENDERROR:

			destroyBTCommunicator();
			if (btErrorPending == false) {
				btErrorPending = true;
				// inform the user of the error with an AlertDialog
				AlertDialog.Builder builder = new AlertDialog.Builder(thisActivity);
				builder.setTitle(getResources().getString(R.string.bt_error_dialog_title))
				.setMessage(getResources().getString(R.string.bt_error_dialog_message)).setCancelable(false)
				.setPositiveButton("OK", new DialogInterface.OnClickListener() {
					@Override
					public void onClick(DialogInterface dialog, int id) {
						btErrorPending = false;
						dialog.cancel();
						selectNXT();
					}
				});
				builder.create().show();
			}

			break;

		case BTCommunicator.FIRMWARE_VERSION:

			if (myBTCommunicator != null) {
				byte[] firmwareMessage = myBTCommunicator.getReturnMessage();
				// check if we know the firmware
				boolean isLejosMindDroid = true;
				for (int pos=0; pos<4; pos++) {
					if (firmwareMessage[pos + 3] != LCPMessage.FIRMWARE_VERSION_LEJOSMINDDROID[pos]) {
						isLejosMindDroid = false;
						break;
					}
				}
				if (isLejosMindDroid) {
					mRobotType = R.id.robot_type_4;
					setUpByType();
				}
				// afterwards we search for all files on the robot
				sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.FIND_FILES, 0, 0);
			}

			break;

		case BTCommunicator.FIND_FILES:

			if (myBTCommunicator != null) {
				byte[] fileMessage = myBTCommunicator.getReturnMessage();
				String fileName = new String(fileMessage, 4, 20);
				fileName = fileName.replaceAll("\0","");

				if (mRobotType == R.id.robot_type_4 || fileName.endsWith(".nxj") || fileName.endsWith(".rxe")) {
					programList.add(fileName);
				}

				// find next entry with appropriate handle, 
				// limit number of programs (in case of error (endless loop))
				if (programList.size() <= MAX_PROGRAMS)
					sendBTCmessage(BTCommunicator.NO_DELAY, BTCommunicator.FIND_FILES,
							1, byteToInt(fileMessage[3]));
			}

			break;

		case BTCommunicator.PROGRAM_NAME:
			if (myBTCommunicator != null) {
				byte[] returnMessage = myBTCommunicator.getReturnMessage();
				startRXEprogram(returnMessage[2]);
			}

			break;

		case BTCommunicator.SAY_TEXT:
			if (myBTCommunicator != null) {
				byte[] textMessage = myBTCommunicator.getReturnMessage();
				// evaluate control byte 
				byte controlByte = textMessage[2];
				// BIT7: Language
				if ((controlByte & 0x80) == 0x00) 
					mTts.setLanguage(Locale.US);
				else
					mTts.setLanguage(Locale.getDefault());
				// BIT6: Pitch
				if ((controlByte & 0x40) == 0x00)
					mTts.setPitch(1.0f);
				else
					mTts.setPitch(0.75f);
				// BIT0-3: Speech Rate    
				switch (controlByte & 0x0f) {
				case 0x01: 
					mTts.setSpeechRate(1.5f);
					break;
				case 0x02:
					mTts.setSpeechRate(0.75f);
					break;

				default: mTts.setSpeechRate(1.0f);
				break;
				}

				String ttsText = new String(textMessage, 3, 19);
				ttsText = ttsText.replaceAll("\0","");
				showToast(ttsText, Toast.LENGTH_SHORT);
				mTts.speak(ttsText, TextToSpeech.QUEUE_FLUSH, null);
			}

			break;

		case BTCommunicator.VIBRATE_PHONE:
			if (myBTCommunicator != null) {
				byte[] vibrateMessage = myBTCommunicator.getReturnMessage();
				Vibrator myVibrator = (Vibrator) getSystemService(Context.VIBRATOR_SERVICE);
				myVibrator.vibrate(vibrateMessage[2]*10);
			}

			break;

			/* NUEVO */
		case BTCommunicator.UPDATE_SENSOR:
			/*String msg2str = "";
			Log.d("MINDDroidCV.java", "UPDATE SENSORS HANDLER");*/
			if(myBTCommunicator != null) {
				byte[] sensor_message = myBTCommunicator.getReturnMessage();
				if(sensor_message[3] == 0){
					// Sensor de luz.
					lightSensor = (sensor_message[9] << 8) + sensor_message[8];
					/*for(int i = 0; i < sensor_message.length; ++i)
						msg2str += String.format("%02x ", sensor_message[i]);
					msg2str = String.format("%s :: VALUE %d", msg2str, lightSensor);*/
				}else if(sensor_message[3] == 1){
					// Sensor de tacto.
					touchSensor = (sensor_message[11] << 8) + sensor_message[10];
					/*for(int i = 0; i < sensor_message.length; ++i)
						msg2str += String.format("%02x", sensor_message[i]);
					msg2str = String.format("%s :: VALUE %d", msg2str, touchSensor);*/
				}
			}
			/*Log.d("MINDDroidCV.java", msg2str);*/

			break;
			/* NUEVO */
		}
	}
};