orte/contrib/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.DialogInterface.OnDismissListener;
  11 import android.content.SharedPreferences;
  12 import android.content.pm.ActivityInfo;
  13 import android.hardware.Sensor;
  14 import android.hardware.SensorEvent;
  15 import android.hardware.SensorEventListener;
  16 import android.hardware.SensorManager;
  17 import android.net.wifi.WifiInfo;
  18 import android.net.wifi.WifiManager;
  19 import android.net.wifi.WifiManager.WifiLock;
  20 import android.os.AsyncTask;
  21 import android.os.Bundle;
  22 import android.os.Handler;
  23 import android.os.Message;
  24 import android.os.PowerManager;
  25 import android.os.PowerManager.WakeLock;
  26 import android.text.format.Formatter;
  27 import android.view.GestureDetector;
  28 import android.view.LayoutInflater;
  29 import android.view.Menu;
  30 import android.view.MenuItem;
  31 import android.view.MotionEvent;
  32 import android.view.View;
  33 import android.widget.EditText;
  34 import android.widget.TextView;
  35
  36 public class MainActivity extends Activity {
  37         private AlertDialog voltageDialog = null;
  38         private AlertDialog aboutDialog = null;
  39         private AlertDialog managersDialog = null;
  40         private EditText managersField = null;
  41         private TextView ownIP = null;
  42         private NetworkInfo wifiInfoTask = null;
  43         static EditText voltage33 = null;
  44         static EditText voltage50 = null;
  45         static EditText voltage80 = null;
  46         static EditText voltageBAT = null;
  47         static Handler dialogHandler = new Handler() {
  48                 @Override
  49                 public void handleMessage(Message msg) {
  50                         double[] values = msg.getData().getDoubleArray("voltages");
  51                         if (values != null) {
  52                                 if (voltage33 != null) {
  53                                         voltage33.setText(Double.toString(values[0]));
  54                                 }
  55                                 if (voltage50 != null) {
  56                                         voltage50.setText(Double.toString(values[1]));
  57                                 }
  58                                 if (voltage80 != null) {
  59                                         voltage80.setText(Double.toString(values[2]));
  60                                 }
  61                                 if (voltageBAT != null) {
  62                                         voltageBAT.setText(Double.toString(values[3]));
  63                                 }
  64                         }
  65                 }
  66     };
  67
  68         private Manager manager = null;
  69     private String mgrs = null;
  70         private MotionSpeedPublish motion_speed_publ = null;
  71         private MotionSpeedSubscribe motion_speed_subs = null;
  72         private HokuyoScanSubscribe hokuyo_scan = null;
  73         private PwrVoltageSubscribe pwr_voltage = null;
  74         private MagnetCmdPublish magnet_cmd = null;
  75         private CraneCmdPublish crane_cmd = null;
  76     private SensorManager mSensorManager = null;
  77     private Sensor mGravity = null;
  78     private SensorEventListener accel = null;
  79     private PowerManager mPowerManager = null;
  80     private WifiManager mWifiManager = null;
  81     private WakeLock mWakeLock = null;
  82     private WakeLock mDimLock = null;
  83     private WifiLock mWifiLock = null;
  84     private DomainApp appDomain = null;
  85     private HokuyoView hokuyo_view = null;
  86     private SharedPreferences prefs = null;
  87     private GestureDetector gDetector = null;
  88
  89     static {
  90         System.loadLibrary("jorte");
  91     }
  92
  93     @Override
  94     protected void onPause() {
  95         super.onPause();
  96
  97         if (motion_speed_publ != null && !motion_speed_publ.isCancelled()) {
  98                 motion_speed_publ.cancel();
  99             mSensorManager.unregisterListener(accel);
 100             this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
 101             mDimLock.release();
 102             mWifiLock.release();
 103         }
 104
 105         if (motion_speed_subs != null && !motion_speed_subs.isCancelled()) {
 106                 hokuyo_view.runMotion(false);
 107                 motion_speed_subs.cancel();
 108                 hokuyo_view.invalidate();
 109             mWakeLock.release();
 110             mWifiLock.release();
 111         }
 112
 113         if (hokuyo_scan != null && !hokuyo_scan.isCancelled()) {
 114                         hokuyo_view.run(false);
 115                         hokuyo_scan.cancel();
 116                         hokuyo_view.invalidate();
 117                 mWakeLock.release();
 118                 mWifiLock.release();
 119         }
 120     }
 121
 122     @Override
 123     protected void onDestroy() {
 124         super.onDestroy();
 125
 126         if (pwr_voltage != null && !pwr_voltage.isCancelled()) {
 127                 if (voltageDialog.isShowing())
 128                         voltageDialog.dismiss();
 129         }
 130
 131         if (crane_cmd != null && !crane_cmd.isCancelled()) {
 132                 crane_cmd.cancel();
 133         }
 134
 135         if (magnet_cmd != null && !crane_cmd.isCancelled()) {
 136                 magnet_cmd.cancel();
 137         }
 138
 139         if (appDomain != null) {
 140                 appDomain.destroy();
 141                 appDomain = null;
 142         }
 143
 144         if (manager != null) {
 145                 manager.destroy();
 146                 manager = null;
 147         }
 148     }
 149
 150         @Override
 151     public void onCreate(Bundle savedInstanceState) {
 152         super.onCreate(savedInstanceState);
 153         setContentView(R.layout.hokuyo_view);
 154
 155         mPowerManager = (PowerManager) getSystemService(Context.POWER_SERVICE);
 156         mWakeLock = mPowerManager.newWakeLock(
 157                         PowerManager.SCREEN_BRIGHT_WAKE_LOCK,
 158                         getClass().getName() + " Bright");
 159         mDimLock = mPowerManager.newWakeLock(
 160                         PowerManager.SCREEN_DIM_WAKE_LOCK,
 161                         getClass().getName() + " Dim");
 162
 163         mWifiManager = (WifiManager) getSystemService(Context.WIFI_SERVICE);
 164         mWifiLock = mWifiManager.createWifiLock(
 165                         android.os.Build.VERSION.SDK_INT >= 12
 166                         ? WifiManager.WIFI_MODE_FULL_HIGH_PERF
 167                         : WifiManager.WIFI_MODE_FULL, getClass().getName());
 168
 169         prefs = getSharedPreferences("prefs", 0);
 170         mgrs = prefs.getString("managers", "10.1.1.1");
 171
 172                 AlertDialog.Builder voltageBuilder = new AlertDialog.Builder(this);
 173                 LayoutInflater inflater = getLayoutInflater();
 174                 View voltageView = inflater.inflate(R.layout.status_dialog, null);
 175                 voltageBuilder.setView(voltageView);
 176                 voltageBuilder.setPositiveButton("OK",null);
 177                 voltageBuilder.setTitle("Voltages");
 178                 voltageDialog = voltageBuilder.create();
 179                 voltageDialog.setOnDismissListener(new OnDismissListener(){
 180                         @Override
 181                         public void onDismiss(DialogInterface arg0) {
 182                                 voltageDialog.dismiss();
 183                                 pwr_voltage.cancel();
 184                                 mDimLock.release();
 185                         }
 186                 });
 187                 voltage33 = (EditText)voltageView.findViewById(R.id.editText1);
 188                 voltage50 = (EditText)voltageView.findViewById(R.id.editText2);
 189                 voltage80 = (EditText)voltageView.findViewById(R.id.editText3);
 190                 voltageBAT = (EditText)voltageView.findViewById(R.id.editText4);
 191
 192                 AlertDialog.Builder builder = new AlertDialog.Builder(this);
 193                 View aboutView = inflater.inflate(R.layout.about_dialog, null);
 194                 builder.setView(aboutView);
 195                 builder.setPositiveButton("OK", null);
 196                 aboutDialog = builder.create();
 197
 198                 AlertDialog.Builder managersBuilder = new AlertDialog.Builder(this);
 199                 View managersView = inflater.inflate(R.layout.managers_view, null);
 200                 ownIP = (TextView)managersView.findViewById(R.id.ownIP);
 201                 managersField = (EditText)managersView.findViewById(R.id.managers);
 202                 managersField.setText(mgrs);
 203
 204                 managersBuilder.setView(managersView);
 205                 managersBuilder.setPositiveButton("OK", new DialogInterface.OnClickListener() {
 206                         @Override
 207                         public void onClick(DialogInterface dialog, int which) {
 208                                 SharedPreferences.Editor editor = prefs.edit();
 209                                 mgrs = managersField.getText().toString();
 210                                 editor.putString("managers", mgrs);
 211                                 editor.commit();
 212
 213                                 if (manager != null)
 214                                         manager.destroy();
 215                                 manager = new Manager(mgrs);
 216
 217                                 managersDialog.dismiss();
 218                         }
 219                 });
 220                 managersBuilder.setNeutralButton("Cancel", null);
 221                 managersBuilder.setTitle("Set fellow managers");
 222                 managersDialog = managersBuilder.create();
 223                 managersDialog.setOnDismissListener(new OnDismissListener() {
 224                         @Override
 225                         public void onDismiss(DialogInterface arg0) {
 226                                 managersField.setText(mgrs);
 227                                 wifiInfoTask.cancel(false);
 228                         }
 229                 });
 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         gDetector = new GestureDetector(hokuyo_view.getContext(), new HokuyoGestures());
 236         hokuyo_view.setOnTouchListener(new View.OnTouchListener() {
 237                         @Override
 238                         public boolean onTouch(View v, MotionEvent event) {
 239                                 return gDetector.onTouchEvent(event);
 240                         }
 241
 242         });
 243
 244         manager = new Manager(mgrs);
 245
 246         appDomain = new DomainApp();
 247         magnet_cmd = new MagnetCmdPublish(appDomain);
 248         magnet_cmd.start();
 249         crane_cmd = new CraneCmdPublish(appDomain);
 250         crane_cmd.start();
 251     }
 252
 253         @Override
 254         public boolean onCreateOptionsMenu(Menu menu) {
 255                 getMenuInflater().inflate(R.menu.activity_main, menu);
 256
 257                 return true;
 258         }
 259
 260         @Override
 261         public boolean onOptionsItemSelected (MenuItem item) {
 262                 if (item.getTitle().equals("Crane: up")) {
 263                         crane_cmd.send(0x190);
 264                         item.setTitle("Crane: down");
 265                 }
 266                 else if (item.getTitle().equals("Crane: down")) {
 267                         crane_cmd.send(0x100);
 268                         item.setTitle("Crane: up");
 269                 }
 270                 else if (item.getTitle().equals("Magnet")) {
 271                         if (!item.isChecked()) {
 272                                 magnet_cmd.send(1);
 273                                 item.setChecked(true);
 274                         }
 275                         else {
 276                                 magnet_cmd.send(0);
 277                                 item.setChecked(false);
 278                         }
 279                 }
 280                 else if (item.getTitle().equals("Voltage monitor")) {
 281                         mDimLock.acquire();
 282                         if (pwr_voltage == null)
 283                                 pwr_voltage = new PwrVoltageSubscribe(appDomain, dialogHandler);
 284                         pwr_voltage.start();
 285                         voltageDialog.show();
 286                 }
 287                 else if (item.getTitle().equals("Fellow managers")) {
 288                         wifiInfoTask = new NetworkInfo();
 289
 290                         managersDialog.show();
 291                         wifiInfoTask.execute();
 292                 }
 293                 else if (item.getTitle().equals("About")) {
 294                         aboutDialog.show();
 295                 }
 296                 else if (item.getTitle().equals("Exit")) {
 297                         finish();
 298                 }
 299
 300                 return true;
 301         }
 302
 303     private class HandleAccelerometer implements SensorEventListener {
 304
 305         @Override
 306         public void onAccuracyChanged(Sensor sensor, int accuracy) {}
 307
 308         @Override
 309         public void onSensorChanged(SensorEvent event) {
 310                  if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
 311                          if (motion_speed_publ != null)
 312                                  motion_speed_publ.setSpeed(event.values[0], event.values[1]);
 313                  }
 314         }
 315     }
 316
 317 //    hokuyo_view.setOnTouchListener(new View.OnTouchListener() {
 318     private class HokuyoGestures extends GestureDetector.SimpleOnGestureListener {
 319
 320                 @Override
 321                 public boolean onSingleTapConfirmed(MotionEvent event) {
 322                         // urceni orientace HokuyoView a poctu pixelu, ktere zabira hokuyo
 323                         double norm = (double)hokuyo_view.getWidth()/(2*HokuyoView.COSINUS);
 324                         boolean isVertical = true;
 325                         if (norm > hokuyo_view.getHeight()) {
 326                                 norm = HokuyoView.COSINUS*hokuyo_view.getHeight()*2;
 327                                 norm = (hokuyo_view.getWidth() - norm)/2;
 328                                 isVertical = false;
 329                         }
 330                         else
 331                                 norm = hokuyo_view.getHeight() - norm;
 332
 333                         // urceni poctu pixelu, ktere zabira ctverec monitoru rychlosti
 334                         double normSpeed = ((double)(isVertical ? hokuyo_view.getWidth() : hokuyo_view.getHeight())) * 0.375;
 335
 336                         if (event.getYPrecision()*event.getY() < normSpeed &&
 337                                         event.getXPrecision()*event.getX() < normSpeed) {
 338                                 if(!hokuyo_view.isRunningMotion()) {
 339                                         mWakeLock.acquire();
 340                                         mWifiLock.acquire();
 341                                         if (motion_speed_subs == null)
 342                                                 motion_speed_subs = new MotionSpeedSubscribe(appDomain, hokuyo_view);
 343                                         motion_speed_subs.start();
 344                                         hokuyo_view.runMotion(true);
 345                                         hokuyo_view.invalidate();
 346                                 }
 347                                 else {
 348                                         hokuyo_view.runMotion(false);
 349                                         motion_speed_subs.cancel();
 350                                         hokuyo_view.invalidate();
 351                                         mWakeLock.release();
 352                                         mWifiLock.release();
 353                                 }
 354                                 return true;
 355                         }
 356
 357                         if ((isVertical && event.getYPrecision()*event.getY() > norm) ||
 358                                         (!isVertical && event.getXPrecision()*event.getX() > norm &&
 359                                                         event.getXPrecision()*event.getX() < hokuyo_view.getWidth() - norm)) {
 360                                 if (!hokuyo_view.isRunning()) {
 361                                         mWakeLock.acquire();
 362                                         mWifiLock.acquire();
 363                                         hokuyo_view.setData(new int[681]);
 364                                         if (hokuyo_scan == null)
 365                                                 hokuyo_scan = new HokuyoScanSubscribe(appDomain, hokuyo_view);
 366                                         hokuyo_scan.start();
 367                                         hokuyo_view.run(true);
 368                                         hokuyo_view.invalidate();
 369                                 }
 370                                 else {
 371                                         hokuyo_view.run(false);
 372                                         hokuyo_scan.cancel();
 373                                         hokuyo_view.invalidate();
 374                                         mWakeLock.release();
 375                                         mWifiLock.release();
 376                                 }
 377                                 return true;
 378                         }
 379
 380                         return false;
 381                 }
 382
 383                 @Override
 384                 public boolean onDown(MotionEvent e) {
 385                         return true;
 386                 }
 387
 388                 @Override
 389                 public void onLongPress(MotionEvent event) {
 390                         // urceni poctu pixelu, ktere zabira ctverec monitoru rychlosti
 391                         double normSpeed = ((double)(hokuyo_view.getHeight() < hokuyo_view.getWidth() ? hokuyo_view.getHeight() : hokuyo_view.getWidth())) * 0.375;
 392
 393                         if (event.getYPrecision()*event.getY() < normSpeed &&
 394                                         event.getXPrecision()*event.getX() < normSpeed) {
 395                                 if (motion_speed_publ == null || motion_speed_publ.isCancelled()) {
 396                                         mDimLock.acquire();
 397                                         mWifiLock.acquire();
 398                                         accel = new HandleAccelerometer();
 399                                         mSensorManager.registerListener(accel, mGravity, SensorManager.SENSOR_DELAY_GAME);
 400                                         if (motion_speed_publ == null)
 401                                                 motion_speed_publ = new MotionSpeedPublish(appDomain);
 402                                         motion_speed_publ.start();
 403                                         setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_PORTRAIT);
 404                                 }
 405                                 else {
 406                                         mSensorManager.unregisterListener(accel);
 407                                         motion_speed_publ.cancel();
 408                                         setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
 409                                         mDimLock.release();
 410                                         mWifiLock.release();
 411                                 }
 412                         }
 413                 }
 414     }
 415
 416     private class NetworkInfo extends AsyncTask<Void, String, Void> {
 417         @Override
 418         protected Void doInBackground(Void... arg0) {
 419                 while (!isCancelled()) {
 420                         WifiInfo wifiInfo = mWifiManager.getConnectionInfo();
 421                         int ip = wifiInfo.getIpAddress();
 422                         String ipAddress = Formatter.formatIpAddress(ip);
 423                         String ssid = wifiInfo.getSSID();
 424
 425                         publishProgress("\nOwn IP Address: " + ipAddress + "\nNetwork SSID: " + ssid);
 426
 427                         try {
 428                                         Thread.sleep(1000);
 429                                 } catch (InterruptedException e) {
 430                                         e.printStackTrace();
 431                                 }
 432                 }
 433
 434                 return null;
 435         }
 436
 437         @Override
 438         protected void onProgressUpdate(String... values) {
 439                 super.onProgressUpdate(values);
 440
 441                 ownIP.setText(values[0]);
 442         }
 443     }
 444 }