orte/Robot_Demo/src/org/ocera/orte/demo/MainActivity.java

   1 package org.ocera.orte.demo;
   2
   3 import org.ocera.orte.DomainApp;
   4 import org.ocera.orte.Manager;
   5
   6 import android.app.Activity;
   7 import android.app.AlertDialog;
   8 import android.content.Context;
   9 import android.content.DialogInterface;
  10 import android.content.SharedPreferences;
  11 import android.content.pm.ActivityInfo;
  12 import android.hardware.Sensor;
  13 import android.hardware.SensorEvent;
  14 import android.hardware.SensorEventListener;
  15 import android.hardware.SensorManager;
  16 import android.net.wifi.WifiInfo;
  17 import android.net.wifi.WifiManager;
  18 import android.net.wifi.WifiManager.WifiLock;
  19 import android.os.AsyncTask;
  20 import android.os.Bundle;
  21 import android.os.Handler;
  22 import android.os.Message;
  23 import android.os.PowerManager;
  24 import android.os.PowerManager.WakeLock;
  25 import android.text.format.Formatter;
  26 import android.view.LayoutInflater;
  27 import android.view.Menu;
  28 import android.view.MenuItem;
  29 import android.view.View;
  30 import android.widget.EditText;
  31 import android.widget.TextView;
  32
  33 public class MainActivity extends Activity {
  34         private AlertDialog voltageDialog = null;
  35         private AlertDialog aboutDialog = null;
  36         private AlertDialog managersDialog = null;
  37         private EditText managersField = null;
  38         private TextView ownIP = null;
  39         static EditText voltage33 = null;
  40         static EditText voltage50 = null;
  41         static EditText voltage80 = null;
  42         static EditText voltageBAT = null;
  43         static Handler dialogHandler = new Handler() {
  44                 @Override
  45                 public void handleMessage(Message msg) {
  46                         double[] values = msg.getData().getDoubleArray("voltages");
  47                         if (values != null) {
  48                                 if (voltage33 != null) {
  49                                         voltage33.setText(Double.toString(values[0]));
  50                                 }
  51                                 if (voltage50 != null) {
  52                                         voltage50.setText(Double.toString(values[1]));
  53                                 }
  54                                 if (voltage80 != null) {
  55                                         voltage80.setText(Double.toString(values[2]));
  56                                 }
  57                                 if (voltageBAT != null) {
  58                                         voltageBAT.setText(Double.toString(values[3]));
  59                                 }
  60                         }
  61                 }
  62     };
  63
  64         private Manager manager = null;
  65     private String mgrs = null;
  66         private MotionSpeedPublish motion_speed_publ = null;
  67         private MotionSpeedSubscribe motion_speed_subs = null;
  68         private HokuyoScanSubscribe hokuyo_scan = null;
  69         private PwrVoltageSubscribe pwr_voltage = null;
  70         private MagnetCmdPublish magnet_cmd = null;
  71         private CraneCmdPublish crane_cmd = null;
  72     private SensorManager mSensorManager = null;
  73     private Sensor mGravity = null;
  74     private SensorEventListener accel = null;
  75     private PowerManager mPowerManager = null;
  76     private WifiManager mWifiManager = null;
  77     private WakeLock mWakeLock = null;
  78     private WifiLock mWifiLock = null;
  79     private DomainApp appDomain = null;
  80     private HokuyoView hokuyo_view = null;
  81     private MenuItem speed_publ_item = null;
  82     private MenuItem speed_subs_item = null;
  83     private MenuItem hokuyo_item = null;
  84     private SharedPreferences prefs = null;
  85
  86     static {
  87         System.loadLibrary("jorte");
  88     }
  89
  90     @Override
  91     protected void onResume() {
  92         super.onResume();
  93
  94         mWakeLock.acquire();
  95         mWifiLock.acquire();
  96     }
  97
  98     @Override
  99     protected void onPause() {
 100         super.onPause();
 101
 102         if (motion_speed_publ != null && !motion_speed_publ.isCancelled()) {
 103                 motion_speed_publ.cancel();
 104             mSensorManager.unregisterListener(accel);
 105             this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
 106                 speed_publ_item.setChecked(false);
 107         }
 108
 109         if (motion_speed_subs != null && !motion_speed_subs.isCancelled()) {
 110                 hokuyo_view.runMotion(false);
 111                 motion_speed_subs.cancel();
 112                 hokuyo_view.invalidate();
 113                 speed_subs_item.setChecked(false);
 114         }
 115
 116         if (hokuyo_scan != null && !hokuyo_scan.isCancelled()) {
 117                         hokuyo_view.run(false);
 118                         hokuyo_scan.cancel();
 119                         hokuyo_view.invalidate();
 120                         hokuyo_item.setChecked(false);
 121         }
 122
 123         if (pwr_voltage != null && !pwr_voltage.isCancelled()) {
 124                 if (voltageDialog.isShowing())
 125                         voltageDialog.dismiss();
 126                         pwr_voltage.cancel();
 127         }
 128
 129         mWakeLock.release();
 130         mWifiLock.release();
 131     }
 132
 133     @Override
 134     protected void onDestroy() {
 135         super.onDestroy();
 136
 137         if (crane_cmd != null && !crane_cmd.isCancelled()) {
 138                 crane_cmd.cancel();
 139         }
 140
 141         if (magnet_cmd != null && !crane_cmd.isCancelled()) {
 142                 magnet_cmd.cancel();
 143         }
 144
 145         if (appDomain != null) {
 146                 appDomain.destroy();
 147                 appDomain = null;
 148         }
 149
 150         if (manager != null) {
 151                 manager.destroy();
 152                 manager = null;
 153         }
 154     }
 155
 156         @SuppressWarnings("deprecation")
 157         @Override
 158     public void onCreate(Bundle savedInstanceState) {
 159         super.onCreate(savedInstanceState);
 160         setContentView(R.layout.hokuyo_view);
 161
 162         mPowerManager = (PowerManager) getSystemService(Context.POWER_SERVICE);
 163         mWakeLock = mPowerManager.newWakeLock(
 164                         PowerManager.SCREEN_BRIGHT_WAKE_LOCK
 165                         | PowerManager.ACQUIRE_CAUSES_WAKEUP
 166                         | PowerManager.ON_AFTER_RELEASE,
 167                         getClass().getName());
 168
 169         mWifiManager = (WifiManager) getSystemService(Context.WIFI_SERVICE);
 170         mWifiLock = mWifiManager.createWifiLock(WifiManager.WIFI_MODE_FULL_HIGH_PERF, getClass().getName());
 171
 172         prefs = getSharedPreferences("prefs", 0);
 173         mgrs = prefs.getString("managers", "10.1.1.1");
 174
 175                 AlertDialog.Builder voltageBuilder = new AlertDialog.Builder(this);
 176                 LayoutInflater inflater = getLayoutInflater();
 177                 View voltageView = inflater.inflate(R.layout.status_dialog, null);
 178                 voltageBuilder.setCancelable(false);
 179                 voltageBuilder.setView(voltageView);
 180                 voltageBuilder.setPositiveButton("OK", new DialogInterface.OnClickListener() {
 181                         @Override
 182                         public void onClick(DialogInterface dialog, int which) {
 183                                 voltageDialog.dismiss();
 184                                 pwr_voltage.cancel();
 185                         }
 186                 });
 187                 voltageBuilder.setTitle("Voltages");
 188                 voltageDialog = voltageBuilder.create();
 189                 voltage33 = (EditText)voltageView.findViewById(R.id.editText1);
 190                 voltage50 = (EditText)voltageView.findViewById(R.id.editText2);
 191                 voltage80 = (EditText)voltageView.findViewById(R.id.editText3);
 192                 voltageBAT = (EditText)voltageView.findViewById(R.id.editText4);
 193
 194                 AlertDialog.Builder builder = new AlertDialog.Builder(this);
 195                 View aboutView = inflater.inflate(R.layout.about_dialog, null);
 196                 builder.setView(aboutView);
 197                 builder.setPositiveButton("OK", null);
 198                 aboutDialog = builder.create();
 199
 200                 AlertDialog.Builder managersBuilder = new AlertDialog.Builder(this);
 201                 View managersView = inflater.inflate(R.layout.managers_view, null);
 202                 ownIP = (TextView)managersView.findViewById(R.id.ownIP);
 203                 managersField = (EditText)managersView.findViewById(R.id.managers);
 204                 managersField.setText(mgrs);
 205
 206                 NetworkInfo wifiInfoTask = new NetworkInfo();
 207                 managersBuilder.setCancelable(false);
 208                 managersBuilder.setView(managersView);
 209                 managersBuilder.setPositiveButton("OK", new DialogInterface.OnClickListener() {
 210                         @Override
 211                         public void onClick(DialogInterface dialog, int which) {
 212                                 SharedPreferences.Editor editor = prefs.edit();
 213                                 mgrs = managersField.getText().toString();
 214                                 System.out.println(mgrs);
 215                                 editor.putString("managers", mgrs);
 216                                 editor.commit();
 217
 218                         manager = new Manager(mgrs);
 219
 220                         appDomain = new DomainApp();
 221                         magnet_cmd = new MagnetCmdPublish(appDomain);
 222                         magnet_cmd.start();
 223                         crane_cmd = new CraneCmdPublish(appDomain);
 224                         crane_cmd.start();
 225                                 managersDialog.dismiss();
 226                         }
 227                 });
 228                 managersBuilder.setTitle("Set fellow managers");
 229                 managersDialog = managersBuilder.create();
 230
 231         mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
 232         mGravity = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
 233
 234         hokuyo_view = (HokuyoView) findViewById(R.id.hokuyo_view);
 235
 236         managersDialog.show();
 237                 wifiInfoTask.execute();
 238     }
 239
 240         @Override
 241         public boolean onCreateOptionsMenu(Menu menu) {
 242                 getMenuInflater().inflate(R.menu.activity_main, menu);
 243
 244                 return true;
 245         }
 246
 247         @Override
 248         public boolean onOptionsItemSelected (MenuItem item) {
 249                 if(item.getTitle().equals("Motion control")) {
 250                         if (!item.isChecked()) {
 251                                 accel = new HandleAccelerometer();
 252                                 mSensorManager.registerListener(accel, mGravity, SensorManager.SENSOR_DELAY_GAME);
 253                                 if (motion_speed_publ == null)
 254                                         motion_speed_publ = new MotionSpeedPublish(appDomain);
 255                                 motion_speed_publ.start();
 256                                 speed_publ_item = item;
 257                                 this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_PORTRAIT);
 258                                 item.setChecked(true);
 259                         }
 260                         else {
 261                                 mSensorManager.unregisterListener(accel);
 262                                 motion_speed_publ.cancel();
 263                                 this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
 264                                 item.setChecked(false);
 265                         }
 266                 }
 267                 else if (item.getTitle().equals("Speed monitor")) {
 268                         if(!item.isChecked()) {
 269                                 if (motion_speed_subs == null)
 270                                         motion_speed_subs = new MotionSpeedSubscribe(appDomain, hokuyo_view);
 271                                 motion_speed_subs.start();
 272                                 hokuyo_view.runMotion(true);
 273                                 hokuyo_view.invalidate();
 274                                 speed_subs_item = item;
 275                                 item.setChecked(true);
 276                         }
 277                         else {
 278                                 hokuyo_view.runMotion(false);
 279                                 motion_speed_subs.cancel();
 280                                 hokuyo_view.invalidate();
 281                                 item.setChecked(false);
 282                         }
 283                 }
 284                 else if (item.getTitle().equals("Hokuyo")) {
 285                         if (!item.isChecked()) {
 286                                 if (hokuyo_scan == null)
 287                                         hokuyo_scan = new HokuyoScanSubscribe(appDomain, hokuyo_view);
 288                                 hokuyo_scan.start();
 289                                 hokuyo_view.run(true);
 290                                 hokuyo_view.invalidate();
 291                                 hokuyo_item = item;
 292                                 item.setChecked(true);
 293                         }
 294                         else {
 295                                 hokuyo_view.run(false);
 296                                 hokuyo_scan.cancel();
 297                                 hokuyo_view.invalidate();
 298                                 item.setChecked(false);
 299                         }
 300                 }
 301                 else if (item.getTitle().equals("Crane up")) {
 302                         crane_cmd.send(0x100);
 303                         item.setTitle("Crane down");
 304                 }
 305                 else if (item.getTitle().equals("Crane down")) {
 306                         crane_cmd.send(0x190);
 307                         item.setTitle("Crane up");
 308                 }
 309                 else if (item.getTitle().equals("Magnet on")) {
 310                         magnet_cmd.send(1);
 311                         item.setTitle("Magnet off");
 312                 }
 313                 else if (item.getTitle().equals("Magnet off")) {
 314                         magnet_cmd.send(0);
 315                         item.setTitle("Magnet on");
 316                 }
 317                 else if (item.getTitle().equals("Voltage monitor")) {
 318                         if (pwr_voltage == null)
 319                                 pwr_voltage = new PwrVoltageSubscribe(appDomain, dialogHandler);
 320                         pwr_voltage.start();
 321                         voltageDialog.show();
 322                 }
 323                 else if (item.getTitle().equals("About")) {
 324                         aboutDialog.show();
 325                 }
 326                 else if (item.getTitle().equals("Exit")) {
 327                         finish();
 328                 }
 329
 330                 return true;
 331         }
 332
 333     private class HandleAccelerometer implements SensorEventListener {
 334
 335         @Override
 336         public void onAccuracyChanged(Sensor sensor, int accuracy) {}
 337
 338         @Override
 339         public void onSensorChanged(SensorEvent event) {
 340                  if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
 341                          if (motion_speed_publ != null)
 342                                  motion_speed_publ.setSpeed(event.values[0], event.values[1]);
 343                  }
 344         }
 345     }
 346
 347     private class NetworkInfo extends AsyncTask<Void, String, Void> {
 348         @Override
 349         protected Void doInBackground(Void... arg0) {
 350                 while (managersDialog.isShowing()) {
 351                         WifiInfo wifiInfo = mWifiManager.getConnectionInfo();
 352                         int ip = wifiInfo.getIpAddress();
 353                         String ipAddress = Formatter.formatIpAddress(ip);
 354                         String ssid = wifiInfo.getSSID();
 355
 356                         publishProgress("\nOwn IP Address: " + ipAddress + "\nNetwork SSID: " + ssid);
 357
 358                         try {
 359                                         Thread.sleep(1000);
 360                                 } catch (InterruptedException e) {
 361                                         e.printStackTrace();
 362                                 }
 363                 }
 364
 365                 return null;
 366         }
 367
 368         @Override
 369         protected void onProgressUpdate(String... values) {
 370                 super.onProgressUpdate(values);
 371
 372                 ownIP.setText(values[0]);
 373         }
 374     }
 375 }