1 package org.ocera.orte.demo;
3 import java.util.concurrent.locks.ReentrantLock;
4 import java.util.concurrent.locks.ReentrantReadWriteLock;
5 import java.util.concurrent.locks.ReentrantReadWriteLock.ReadLock;
6 import java.util.concurrent.locks.ReentrantReadWriteLock.WriteLock;
8 import android.content.Context;
9 import android.graphics.Canvas;
10 import android.graphics.Color;
11 import android.graphics.Paint;
12 import android.graphics.Path;
13 import android.graphics.Paint.Style;
14 import android.util.AttributeSet;
15 import android.view.View;
17 public class HokuyoView extends View {
19 public static final double HOKUYO_START_ANGLE = 239.77/2;
20 public static final int HOKUYO_SPLIT_DIVISION = 1024;
21 public static final int HOKUYO_ORIENTATION = 1;
22 public static final double HOKUYO_RANGE_ANGLE_LEFT = 70.0;
23 public static final double HOKUYO_RANGE_ANGLE_RIGHT = 70.0;
24 public static final int HOKUYO_INDEX_LOWER = HOKUYO_DEG_TO_INDEX(HOKUYO_RANGE_ANGLE_LEFT);
25 public static final int HOKUYO_INDEX_UPPER = HOKUYO_DEG_TO_INDEX(-HOKUYO_RANGE_ANGLE_RIGHT);
26 public static final double COSINUS = Math.cos((90-HOKUYO_RANGE_ANGLE_LEFT)/180.0*Math.PI);
28 private int[] data = new int[681];
29 private double[] speedCo = new double[2];
30 private Paint paint = new Paint();
31 private Path path = new Path();
33 private boolean isRunning = false;
34 private boolean isMonitoring = false;
35 private boolean hasBeenDrawn = true;
37 private final ReentrantLock lock = new ReentrantLock();
38 private final ReentrantLock lockMotion = new ReentrantLock();
39 private final ReentrantReadWriteLock controlRrwl = new ReentrantReadWriteLock(true);
40 private final ReadLock rcLock = controlRrwl.readLock();
41 private final WriteLock wcLock = controlRrwl.writeLock();
43 public HokuyoView(Context context, AttributeSet attrs) {
44 super(context, attrs);
46 paint.setStyle(Style.STROKE);
47 paint.setStrokeWidth(3);
48 paint.setColor(Color.BLACK);
49 paint.setAntiAlias(false);
53 protected void onDraw(Canvas canvas) {
59 double norm = (double)getWidth()/(2*COSINUS);
60 if (norm > getHeight())
62 paint.setStyle(Style.STROKE);
63 paint.setStrokeWidth(3);
64 paint.setColor(Color.BLACK);
65 canvas.drawLine((int)(getWidth()*0.95),
66 (int)(getHeight()*0.97),
67 (int)(getWidth()*0.95-norm/4),
68 (int)(getHeight()*0.97),
70 paint.setStrokeWidth(2);
71 canvas.drawText("1 m", (int)(getWidth()*0.95-norm/8), (int)(getHeight()*0.97-10), paint);
72 paint.setStrokeWidth(3);
73 paint.setStyle(Style.FILL);
74 paint.setColor(Color.argb(40, 62, 62, 171));
77 path.moveTo(getWidth()/2, getHeight());
78 for(int i = HOKUYO_INDEX_LOWER+1; i <= HOKUYO_INDEX_UPPER; i++) {
81 data[i] = (int)(((double)data[i]/4000)*norm);
84 int x = (int)(getWidth()/2) - (int)(data[i] * Math.sin(HOKUYO_INDEX_TO_RAD(i)));
85 int y = getHeight() - (int)(data[i] * Math.cos(HOKUYO_INDEX_TO_RAD(i)));
99 canvas.drawPath(path, paint);
100 paint.setStyle(Style.STROKE);
101 paint.setColor(Color.BLACK);
102 canvas.drawPath(path, paint);
108 if (getHeight() < getWidth())
109 norm = getHeight()*0.125;
111 norm = getWidth()*0.125;
112 paint.setStyle(Style.STROKE);
113 paint.setStrokeWidth(1);
114 paint.setColor(Color.BLACK);
115 canvas.drawLine((int)(10),
120 canvas.drawLine((int)(10+norm*1.5),
125 paint.setStrokeWidth(4);
126 paint.setColor(Color.BLUE);
127 canvas.drawLine((int)(10+norm*1.5),
129 (int)(speedCo[0]*norm+10+norm*1.5),
130 (int)(speedCo[1]*norm+10+norm*1.5),
141 private void calculateCoordinates(short[] speed) {
143 double temp[] = new double[2];
145 temp[0] = (double)speed[0]/16000;
146 temp[1] = (double)speed[1]/16000;
148 y = (temp[0]+temp[1])/2;
149 x = (temp[0]-y)/0.30;
155 public void run(boolean run) {
164 public void runMotion(boolean run) {
173 public void setData(int[] data) {
174 if (lock.tryLock()) {
176 this.data = data.clone();
177 hasBeenDrawn = false;
186 public void setDataMotion(short[] speed) {
187 if (lockMotion.tryLock()) {
189 short[] speedCl = speed.clone();
190 calculateCoordinates(speedCl);
199 public static double HOKUYO_INDEX_TO_DEG(int index) {
200 return ((HOKUYO_START_ANGLE-index*360.0/HOKUYO_SPLIT_DIVISION) * HOKUYO_ORIENTATION);
203 public static double HOKUYO_INDEX_TO_RAD(int index) {
204 return (HOKUYO_INDEX_TO_DEG(index)/180.0*Math.PI);
207 public static int HOKUYO_DEG_TO_INDEX(double d) {
208 return (int)((HOKUYO_START_ANGLE-(d)/HOKUYO_ORIENTATION)/(360.0/HOKUYO_SPLIT_DIVISION));