4APP蓝牙通讯协议 格式：10Hz, 以ASCII字符串发送，英文逗号分隔，\r\n结束。 表5数据通讯协议 序号 数据定义 数据类型 备注 1 帧序号 unsigned int 每一帧数据+1，单独计数 2 系统状态 unsigned char 分别为 0 1 2 3 4 5 10，见表2 3 寻北进度 unsigned char 1~100 4 航向角 float 0~360° 5 俯仰角 float -90°~90° 6 横滚角 float -180°~180° 7 实时更新数据 float 帧序号进行除以10取余计算，见表3以里面的要求在andriod studio中写一个类

以下是在Android Studio中编写的一个类，用于发送和接收4APP蓝牙通讯协议格式的数据：

import android.bluetooth.BluetoothAdapter;
import android.bluetooth.BluetoothDevice;
import android.bluetooth.BluetoothSocket;
import android.os.Handler;
import android.os.Message;
import android.util.Log;
import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.util.UUID;

public class BluetoothConnectionService {
    private static final String TAG = "BluetoothConnectionServ";
    private static final UUID MY_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");
    private final BluetoothAdapter mBluetoothAdapter;
    private ConnectThread mConnectThread;
    private ConnectedThread mConnectedThread;
    private Handler mHandler;
    private int mState;

    private static final int STATE_NONE = 0;
    private static final int STATE_CONNECTING = 1;
    private static final int STATE_CONNECTED = 2;

    public BluetoothConnectionService(Handler handler) {
        mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
        mState = STATE_NONE;
        mHandler = handler;
    }

    private synchronized void setState(int state) {
        Log.d(TAG, "setState() " + mState + " -> " + state);
        mState = state;
        mHandler.obtainMessage(MainActivity.MESSAGE_STATE_CHANGE, state, -1).sendToTarget();
    }

    public synchronized int getState() {
        return mState;
    }

    public synchronized void connect(BluetoothDevice device) {
        Log.d(TAG, "connect to: " + device);
        if (mState == STATE_CONNECTING) {
            if (mConnectThread != null) {
                mConnectThread.cancel();
                mConnectThread = null;
            }
        }
        if (mConnectedThread != null) {
            mConnectedThread.cancel();
            mConnectedThread = null;
        }
        mConnectThread = new ConnectThread(device);
        mConnectThread.start();
        setState(STATE_CONNECTING);
    }

    public synchronized void connected(BluetoothSocket socket, BluetoothDevice device) {
        Log.d(TAG, "connected");
        if (mConnectThread != null) {
            mConnectThread.cancel();
            mConnectThread = null;
        }
        if (mConnectedThread != null) {
            mConnectedThread.cancel();
            mConnectedThread = null;
        }
        mConnectedThread = new ConnectedThread(socket);
        mConnectedThread.start();
        Message msg = mHandler.obtainMessage(MainActivity.MESSAGE_DEVICE_NAME);
        msg.obj = device.getName();
        mHandler.sendMessage(msg);
        setState(STATE_CONNECTED);
    }

    public synchronized void stop() {
        Log.d(TAG, "stop");
        if (mConnectThread != null) {
            mConnectThread.cancel();
            mConnectThread = null;
        }
        if (mConnectedThread != null) {
            mConnectedThread.cancel();
            mConnectedThread = null;
        }
        setState(STATE_NONE);
    }

    public void write(String message) {
        ConnectedThread r;
        synchronized (this) {
            if (mState != STATE_CONNECTED) return;
            r = mConnectedThread;
        }
        byte[] msgBuffer = (message + "\r\n").getBytes();
        r.write(msgBuffer);
    }

    private void connectionFailed() {
        Message msg = mHandler.obtainMessage(MainActivity.MESSAGE_TOAST);
        msg.obj = "Unable to connect device";
        mHandler.sendMessage(msg);
        BluetoothConnectionService.this.start();
    }

    private void connectionLost() {
        Message msg = mHandler.obtainMessage(MainActivity.MESSAGE_TOAST);
        msg.obj = "Device connection was lost";
        mHandler.sendMessage(msg);
        BluetoothConnectionService.this.start();
    }

    private class ConnectThread extends Thread {
        private final BluetoothSocket mmSocket;
        private final BluetoothDevice mmDevice;

        public ConnectThread(BluetoothDevice device) {
            mmDevice = device;
            BluetoothSocket tmp = null;
            try {
                tmp = device.createRfcommSocketToServiceRecord(MY_UUID);
            } catch (IOException e) {
                Log.e(TAG, "create() failed", e);
            }
            mmSocket = tmp;
        }

        public void run() {
            Log.i(TAG, "BEGIN mConnectThread");
            setName("ConnectThread");
            mBluetoothAdapter.cancelDiscovery();
            try {
                mmSocket.connect();
            } catch (IOException e) {
                connectionFailed();
                try {
                    mmSocket.close();
                } catch (IOException e2) {
                    Log.e(TAG, "unable to close() socket during connection failure", e2);
                }
                BluetoothConnectionService.this.start();
                return;
            }
            synchronized (BluetoothConnectionService.this) {
                mConnectThread = null;
            }
            connected(mmSocket, mmDevice);
        }

        public void cancel() {
            try {
                mmSocket.close();
            } catch (IOException e) {
                Log.e(TAG, "close() of connect socket failed", e);
            }
        }
    }

    private class ConnectedThread extends Thread {
        private final BluetoothSocket mmSocket;
        private final InputStream mmInStream;
        private final OutputStream mmOutStream;

        public ConnectedThread(BluetoothSocket socket) {
            Log.d(TAG, "create ConnectedThread");
            mmSocket = socket;
            InputStream tmpIn = null;
            OutputStream tmpOut = null;
            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[1024];
            int bytes;
            while (true) {
                try {
                    bytes = mmInStream.read(buffer);
                    String readMessage = new String(buffer, 0, bytes);
                    mHandler.obtainMessage(MainActivity.MESSAGE_READ, bytes, -1, readMessage).sendToTarget();
                } catch (IOException e) {
                    Log.e(TAG, "disconnected", e);
                    connectionLost();
                    break;
                }
            }
        }

        public void write(byte[] buffer) {
            try {
                mmOutStream.write(buffer);
                mHandler.obtainMessage(MainActivity.MESSAGE_WRITE, -1, -1, buffer).sendToTarget();
            } catch (IOException e) {
                Log.e(TAG, "Exception during write", e);
            }
        }

        public void cancel() {
            try {
                mmSocket.close();
            } catch (IOException e) {
                Log.e(TAG, "close() of connect socket failed", e);
            }
        }
    }
}

这个类中包含了一个ConnectThread和一个ConnectedThread。ConnectThread用于在蓝牙设备上建立连接，而ConnectedThread用于处理连接后的输入和输出流。根据4APP蓝牙通讯协议的格式，我们可以在ConnectedThread的write()方法中将要发送的字符串转换为字节数组，然后将它们写入到输出流中。接收到的数据可以在ConnectedThread的run()方法中使用mmInStream读取，并将读取的字节转换为字符串后发送到主线程中进行处理。