import com.google.atap.tangoservice.TangoOutOfDateException; //导入依赖的package包/类
/**
 * Connect to Tango service and connect the camera to the renderer.
 */
private void connectAndStart() {
    // Synchronize against disconnecting while the service is being used in the OpenGL thread or
    // in the UI thread.

    if (!mIsConnected) {
        // Initialize Tango Service as a normal Android Service, since we call
        // mTango.disconnect() in onPause, this will unbind Tango Service, so
        // everytime when onResume get called, we should create a new Tango object.
        mTango = new Tango(FloorplanActivity.this, new Runnable() {
            // Pass in a Runnable to be called from UI thread when Tango is ready,
            // this Runnable will be running on a new thread.
            // When Tango is ready, we can call Tango functions safely here only
            // when there is no UI thread changes involved.
            @Override
            public void run() {
                try {
                    synchronized (FloorplanActivity.this) {
                        TangoSupport.initialize();
                        connectTango();
                        connectRenderer();
                        mIsConnected = true;
                    }
                } catch (TangoOutOfDateException e) {
                    Log.e(TAG, getString(R.string.exception_out_of_date), e);
                }
            }
        });
    }

}
 

import com.google.atap.tangoservice.TangoOutOfDateException; //导入依赖的package包/类
@Override
protected void onResume() {
    super.onResume();
    synchronized (this) {
        if (tangoIsConnected.compareAndSet(false, true)) {
            try {
                connectTango();
                connectRenderer();
            } catch (TangoOutOfDateException e) {
                message(R.string.exception_out_of_date);
            }
        }
    }
}