Java 尝试连接Sphereo时出错

如果有人能识别出这段代码中的错误，程序本身的逻辑就没有实现，它应该只与Sphereo连接，那么就不会发生错误。 有人知道如何解决这个问题吗

先谢谢你

public class MainActivitySimon extends Activity 
{
    private SpheroConnectionView mSpheroConnectionView;
    private Sphero mRobot = null;

    private void updateSpheroPosition(double x, double y)
    {
    }

    @Override
    protected void onCreate(Bundle savedInstanceState) 
    {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main_activity_simon);

        mSpheroConnectionView = (SpheroConnectionView)     findViewById(R.id.sphero_connection_view);
        mSpheroConnectionView.addConnectionListener(new ConnectionListener() 
        {

            @Override
            public void onConnected(Robot robot) 
            {
                //SpheroConnectionView is made invisible on connect by default
                mRobot = (Sphero) robot;
            }

            @Override
            public void onConnectionFailed(Robot sphero) 
            {
                // let the SpheroConnectionView handle or hide it and do something here
            }

            @Override
            public void onDisconnected(Robot sphero) 
            {
                mSpheroConnectionView.startDiscovery();
            }
        });
    }

    @Override
    protected void onResume()
    {
        super.onResume();
        mSpheroConnectionView.startDiscovery();
    } 
    @Override
    protected void onPause() 
    {
        super.onPause();
        RobotProvider.getDefaultProvider().disconnectControlledRobots();
    }
    @Override
    public boolean onCreateOptionsMenu(Menu menu)
    {
        getMenuInflater().inflate(R.menu.activity_main_activity_simon, menu);
        return true;
    }
}

<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
    xmlns:tools="http://schemas.android.com/tools"
    android:id="@+id/R"
    android:layout_width="match_parent"
    android:layout_height="match_parent"
    android:background="#262625"
    android:paddingBottom="5dp"
    tools:context=".MainActivitySimon" >

<Button
    android:id="@+id/Green"
    android:layout_width="140.0dip"
    android:layout_height="160.0dip"
    android:layout_alignRight="@+id/Red"
    android:layout_alignTop="@+id/Yellow"
    android:background="@drawable/customgreen"/>

<Button
    android:id="@+id/Yellow"
    android:layout_width="140.0dip"
    android:layout_height="160.0dip"
    android:layout_alignLeft="@+id/Blue"
    android:layout_below="@+id/Blue"
    android:background="@drawable/customyellow"
    android:layout_marginTop = "3dp" />


<TextView
    android:id="@+id/Scorebox"
    android:layout_width="wrap_content"
    android:layout_height="wrap_content"
    android:layout_alignRight="@+id/Yellow"
    android:layout_below="@+id/Yellow"
    android:layout_marginTop="8dp"
    android:text="Current Score: "
    android:textAppearance="?android:attr/textAppearanceMedium"
    android:textColor="#cccccc"
    android:textColorLink="#262625" />

<TextView
    android:id="@+id/info"
    android:layout_width="wrap_content"
    android:layout_height="wrap_content"
    android:layout_alignBottom="@+id/Scorebox"
    android:layout_alignLeft="@+id/Green"
    android:textAppearance="?android:attr/textAppearanceMedium"
    android:textColor="#cccccc" />

<Button
    android:id="@+id/Red"
    android:layout_width="140.0dip"
    android:layout_height="160.0dip"
    android:layout_above="@+id/Simon"
    android:layout_toLeftOf="@+id/Simon"
    android:layout_marginRight = "-50dip"
    android:layout_marginBottom = "-30dip"
    android:background="@drawable/custombuttons" />

        <Button
            android:id="@+id/Blue"
            android:layout_width="140.0dip"
            android:layout_height="160.0dip"
            android:layout_alignBaseline="@+id/Red"
            android:layout_alignBottom="@+id/Red"
            android:layout_toRightOf="@+id/Simon"
            android:layout_marginLeft = "-50dip"
            android:background="@drawable/customblue" />

        <Button
            android:id="@+id/Simon"
            android:layout_width="100.0dip"
            android:layout_height="70.0dip"
            android:layout_centerHorizontal="true"
            android:layout_centerVertical="true"
            android:background="@drawable/customsimon"
            android:onClick="Simonsays" />

      <orbotix.view.connection.SpheroConnectionView
            android:id="@+id/sphero_connection_view"
            android:layout_width="fill_parent"
            android:layout_height="fill_parent"
            android:background="#D0000000"/>


</RelativeLayout>

    07-19 12:03:50.354: E/AndroidRuntime(23914): FATAL EXCEPTION: Thread-9923
    07-19 12:03:50.354: E/AndroidRuntime(23914): Process: com.hprc.simongame, PID: 23914
    07-19 12:03:50.354: E/AndroidRuntime(23914): java.lang.UnsatisfiedLinkError:       Couldn't load achievement_manager from loader dalvik.system.PathClassLoader[DexPathList[[zip   file "/data/app/com.hprc.simongame-1.apk"],nativeLibraryDirectories=[/data/app- lib/com.hprc.simongame-1, /vendor/lib, /system/lib]]]: findLibrary returned null
    07-19 12:03:50.354: E/AndroidRuntime(23914):    at  java.lang.Runtime.loadLibrary(Runtime.java:358)
    07-19 12:03:50.354: E/AndroidRuntime(23914):    at java.lang.System.loadLibrary(System.java:526)
    07-19 12:03:50.354: E/AndroidRuntime(23914):    at orbotix.achievement.AchievementManager.<clinit>(AchievementManager.java:110)
    07-19 12:03:50.354: E/AndroidRuntime(23914):    at orbotix.robot.internal.DeviceConnection$DeviceSession$1$1.handleMessage(DeviceConnection.java:765)
    07-19 12:03:50.354: E/AndroidRuntime(23914):    at android.os.Handler.dispatchMessage(Handler.java:102)
    07-19 12:03:50.354: E/AndroidRuntime(23914):    at android.os.Looper.loop(Looper.java:136)
    07-19 12:03:50.354: E/AndroidRuntime(23914):    at orbotix.robot.internal.DeviceConnection$DeviceSession$1.run(DeviceConnection.java:787)
    07-19 12:03:50.354: E/AndroidRuntime(23914):    at java.lang.Thread.run(Thread.java:841)
    07-19 12:03:50.876: E/ActivityThread(23914): Activity com.hprc.simongame.MainActivitySimon has leaked IntentReceiver orbotix.robot.base.RobotProvider$1@41ff37d8 that was originally registered here. Are you missing a call to unregisterReceiver()?
    07-19 12:03:50.876: E/ActivityThread(23914): android.app.IntentReceiverLeaked: Activity com.hprc.simongame.MainActivitySimon has leaked IntentReceiver orbotix.robot.base.RobotProvider$1@41ff37d8 that was originally registered here. Are you missing a call to unregisterReceiver()?
    07-19 12:03:50.876: E/ActivityThread(23914):    at android.app.LoadedApk$ReceiverDispatcher.<init>(LoadedApk.java:805)
    07-19 12:03:50.876: E/ActivityThread(23914):    at android.app.LoadedApk.getReceiverDispatcher(LoadedApk.java:606)
    07-19 12:03:50.876: E/ActivityThread(23914):    at android.app.ContextImpl.registerReceiverInternal(ContextImpl.java:1559)
    07-19 12:03:50.876: E/ActivityThread(23914):    at android.app.ContextImpl.registerReceiver(ContextImpl.java:1539)
    07-19 12:03:50.876: E/ActivityThread(23914):    at android.app.ContextImpl.registerReceiver(ContextImpl.java:1533)
    07-19 12:03:50.876: E/ActivityThread(23914):    at android.content.ContextWrapper.registerReceiver(ContextWrapper.java:467)
    07-19 12:03:50.876: E/ActivityThread(23914):    at orbotix.robot.base.RobotProvider.setBroadcastContext(RobotProvider.java:209)
    07-19 12:03:50.876: E/ActivityThread(23914):    at orbotix.robot.base.RobotProvider.startDiscovery(RobotProvider.java:236)
    07-19 12:03:50.876: E/ActivityThread(23914):    at orbotix.view.connection.SpheroConnectionView.setupConnectionView(SpheroConnectionView.java:254)
    07-19 12:03:50.876: E/ActivityThread(23914):    at orbotix.view.connection.SpheroConnectionView.startDiscovery(SpheroConnectionView.java:247)
    07-19 12:03:50.876: E/ActivityThread(23914):    at orbotix.view.connection.SpheroConnectionView.<init>(SpheroConnectionView.java:215)
    07-19 12:03:50.876: E/ActivityThread(23914):    at java.lang.reflect.Constructor.constructNative(Native Method)
    07-19 12:03:50.876: E/ActivityThread(23914):    at java.lang.reflect.Constructor.newInstance(Constructor.java:423)
    07-19 12:03:50.876: E/ActivityThread(23914):    at android.view.LayoutInflater.createView(LayoutInflater.java:594)
    07-19 12:03:50.876: E/ActivityThread(23914):    at android.view.LayoutInflater.createViewFromTag(LayoutInflater.java:696)
    07-19 12:03:50.876: E/ActivityThread(23914):    at android.view.LayoutInflater.rInflate(LayoutInflater.java:755)
    07-19 12:03:50.876: E/ActivityThread(23914):    at android.view.LayoutInflater.inflate(LayoutInflater.java:492)
    07-19 12:03:50.876: E/ActivityThread(23914):    at android.view.LayoutInflater.inflate(LayoutInflater.java:397)
    07-19 12:03:50.876: E/ActivityThread(23914):    at android.view.LayoutInflater.inflate(LayoutInflater.java:353)
    07-19 12:03:50.876: E/ActivityThread(23914):    at com.android.internal.policy.impl.PhoneWindow.setContentView(PhoneWindow.java:290)
    07-19 12:03:50.876: E/ActivityThread(23914):    at android.app.Activity.setContentView(Activity.java:1937)
    07-19 12:03:50.876: E/ActivityThread(23914):    at com.hprc.simongame.MainActivitySimon.onCreate(MainActivitySimon.java:81)
    07-19 12:03:50.876: E/ActivityThread(23914):    at android.app.Activity.performCreate(Activity.java:5248)
    07-19 12:03:50.876: E/ActivityThread(23914):    at android.app.Instrumentation.callActivityOnCreate(Instrumentation.java:1110)
    07-19 12:03:50.876: E/ActivityThread(23914):    at android.app.ActivityThread.performLaunchActivity(ActivityThread.java:2162)
    07-19 12:03:50.876: E/ActivityThread(23914):    at android.app.ActivityThread.handleLaunchActivity(ActivityThread.java:2257)
    07-19 12:03:50.876: E/ActivityThread(23914):    at android.app.ActivityThread.access$800(ActivityThread.java:139)
    07-19 12:03:50.876: E/ActivityThread(23914):    at android.app.ActivityThread$H.handleMessage(ActivityThread.java:1210)
    07-19 12:03:50.876: E/ActivityThread(23914):    at android.os.Handler.dispatchMessage(Handler.java:102)
    07-19 12:03:50.876: E/ActivityThread(23914):    at android.os.Looper.loop(Looper.java:136)
    07-19 12:03:50.876: E/ActivityThread(23914):    at android.app.ActivityThread.main(ActivityThread.java:5086)
    07-19 12:03:50.876: E/ActivityThread(23914):    at java.lang.reflect.Method.invokeNative(Native Method)
    07-19 12:03:50.876: E/ActivityThread(23914):    at java.lang.reflect.Method.invoke(Method.java:515)
    07-19 12:03:50.876: E/ActivityThread(23914):    at com.android.internal.os.ZygoteInit$MethodAndArgsCaller.run(ZygoteInit.java:785)
    07-19 12:03:50.876: E/ActivityThread(23914):    at com.android.internal.os.ZygoteInit.main(ZygoteInit.java:601)
    07-19 12:03:50.876: E/ActivityThread(23914):    at dalvik.system.NativeStart.main(Native Method)

公共类维护活动Simon扩展活动
{
私有SphereConnectionView MSPhhereConnectionView；
私有Sphero mRobot=null；
私有void updateSpherPosition（双x，双y）
{
}
@凌驾
创建时受保护的void（Bundle savedInstanceState）
{
super.onCreate（savedInstanceState）；
setContentView（R.layout.activity\u main\u activity\u simon）；
mSpheroConnectionView=（sphereconnectionview）findViewById（R.id.sphereo\u connection\u视图）；
mSpheroConnectionView.addConnectionListener（新的ConnectionListener（）
{
@凌驾
公共空间未连接（机器人）
{
//默认情况下，SphereConnectionView在connect上不可见
mRobot=（Sphero）机器人；
}
@凌驾
连接失败（Robot sphero）的公共无效
{
//让SphereoConnectionView处理或隐藏它，并在此处执行某些操作
}
@凌驾
公共空间已断开连接（机器人sphero）
{
mSpheroConnectionView.startDiscovery（）；
}
});
}
@凌驾
受保护的void onResume（）
{
super.onResume（）；
mSpheroConnectionView.startDiscovery（）；
} 
@凌驾
受保护的void onPause（）
{
super.onPause（）；
RobotProvider.getDefaultProvider（）.disconnectControlledRobots（）；
}
@凌驾
公共布尔onCreateOptions菜单（菜单）
{
getMenuInflater（）.充气（R.menu.activity\u main\u activity\u simon，menu）；
返回true；
}
}
07-19 12:03:50.354:E/AndroidRuntime（23914）：致命异常：Thread-9923
07-19 12:03:50.354:E/AndroidRuntime（23914）：进程：com.hprc.simongame，PID:23914
07-19 12:03:50.354:E/AndroidRuntime（23914）：java.lang.UnsatifiedLinkError:无法从加载程序dalvik.system.PathClassLoader[DexPathList[[zip文件”/data/app/com.hprc.simongame-1.apk]”，NativeLibrary目录=[/data/app-lib/com.hprc.simongame-1，/vendor/lib，/system/lib]]：findLibrary返回null
07-19 12:03:50.354:E/AndroidRuntime（23914）：在java.lang.Runtime.loadLibrary（Runtime.java:358）上
07-19 12:03:50.354:E/AndroidRuntime（23914）：位于java.lang.System.loadLibrary（System.java:526）
07-19 12:03:50.354:E/AndroidRuntime（23914）：在orbotix.acquisition.AcquisiteManager.（AcquisiteManager.java:110）
07-19 12:03:50.354:E/AndroidRuntime（23914）：在orbotix.robot.internal.DeviceConnection$DeviceSession$1.handleMessage（DeviceConnection.java:765）
07-19 12:03:50.354:E/AndroidRuntime（23914）：在android.os.Handler.dispatchMessage（Handler.java:102）上
07-19 12:03:50.354:E/AndroidRuntime（23914）：在android.os.Looper.loop（Looper.java:136）上
07-19 12:03:50.354:E/AndroidRuntime（23914）：在orbotix.robot.internal.DeviceConnection$DeviceSession$1.run（DeviceConnection.java:787）
07-19 12:03:50.354:E/AndroidRuntime（23914）：在java.lang.Thread.run（Thread.java:841）处
07-19 12:03:50.876:E/ActivityThread（23914）：Activity com.hprc.simongame.main Activity Simon泄漏了IntentReceiver或botix.robot.base.RobotProvider$1@41ff37d8原来是在这里注册的。是否缺少对unregisterReceiver（）的调用？
07-19 12:03:50.876:E/ActivityThread（23914）：android.app.IntentReceiver泄漏：Activity com.hprc.simongame.MainActivitySimon已泄漏IntentReceiver或botix.robot.base.RobotProvider$1@41ff37d8原来是在这里注册的。是否缺少对unregisterReceiver（）的调用？
07-19 12:03:50.876:E/ActivityThread（23914）：在android.app.LoadedApk$ReceiverDispatcher（LoadedApk.java:805）
07-19 12:03:50.876:E/ActivityThread（23914）：在android.app.LoadedApk.getReceiveDispatcher（LoadedApk.java:606）上
07-19 12:03:50.876:E/ActivityThread（23914）：位于android.app.ContextImpl.registerReceiverInternal（ContextImpl.java:1559）
07-19 12:03:50.876:E/ActivityThread（23914）：位于android.app.ContextImpl.registerReceiver（ContextImpl.java:1539）
07-19 12:03:50.876:E/ActivityThread（23914）：位于android.app.ContextImpl.registerReceiver（ContextImpl.java:1533）
07-19 12:03:50.876:E/ActivityThread（23914）：位于android.content.ContextWrapper.registerReceiver（ContextWrapper.java:467）
07-19 12:03:50.876:E/ActivityThread（23914）：位于orbotix.robot.base.RobotProvider.setBroadcastContext（RobotProvider.java:209）
07-19 12:03:50.876:E/ActivityThread（23914）：位于orbotix.robot.base.RobotProvider.startDiscovery（RobotProvider.java:236）
07-19 12:03:50.876:E/ActivityThread（23914）：在orbotix.view.connection.SphereConnectionView.setupConnectionView（SphereConnectionView.java:254）
07-19 12:03:50.876:E/ActivityThread（23914）：在orbotix.view.connection.SphereConnectionView.startDiscovery（SphereConnectionView.java:247）
07-19 12:03:50.876:E/ActivityThread（23914）：在orbotix.view.connection.SphereConnectionView。（SphereConnectionView.java:215）
07-19 12:03:50.876:E/ActivityThread（23914）：位于java.lang.reflect.Constructor.constructNative（本机方法）
07-19 12:03:50.876:E/ActivityThread（23914）：位于java.lang.reflect.Constructor.newInstance（Constructor.java:423）
07-19 12:03:50.876:E/ActivityThread（23914）：在android.view.LayoutInflater.createView（LayoutInflater.java:594）
07-19 12:03:50.876:E/ActivityThread（23914）：在android.view.LayoutInflater.createViewFromTag（LayoutInflater.java:696）
07-19 12:03:50.876:E/ActivityThread（23914）：在android.view.LayoutInflater.rInflate（LayoutInflater.java:755）
07-19 12:03:50.876:E/ActivityThread（23914）：