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.Bundle;
  20 import android.os.Handler;
  21 import android.os.Message;
  22 import android.os.PowerManager;
  23 import android.os.PowerManager.WakeLock;
  24 import android.text.format.Formatter;
  25 import android.view.LayoutInflater;
  26 import android.view.Menu;
  27 import android.view.MenuItem;
  28 import android.view.View;
  29 import android.widget.EditText;
  30 import android.widget.TextView;
  31
  32 public class MainActivity extends Activity {
  33         private AlertDialog voltageDialog = null;
  34         private AlertDialog aboutDialog = null;
  35         private AlertDialog managersDialog = null;
  36         private EditText managersField = null;
  37         static EditText voltage33 = null;
  38         static EditText voltage50 = null;
  39         static EditText voltage80 = null;
  40         static EditText voltageBAT = null;
  41         static Handler dialogHandler = new Handler() {
  42                 @Override
  43                 public void handleMessage(Message msg) {
  44                         double[] values = msg.getData().getDoubleArray("voltages");
  45                         if (values != null) {
  46                                 if (voltage33 != null) {
  47                                         voltage33.setText(Double.toString(values[0]));
  48                                 }
  49                                 if (voltage50 != null) {
  50                                         voltage50.setText(Double.toString(values[1]));
  51                                 }
  52                                 if (voltage80 != null) {
  53                                         voltage80.setText(Double.toString(values[2]));
  54                                 }
  55                                 if (voltageBAT != null) {
  56                                         voltageBAT.setText(Double.toString(values[3]));
  57                                 }
  58                         }
  59                 }
  60     };
  61
  62         private Manager manager = null;
  63     private String mgrs = null;
  64         private MotionSpeedPublish motion_speed_publ = null;
  65         private MotionSpeedSubscribe motion_speed_subs = null;
  66         private HokuyoScanSubscribe hokuyo_scan = null;
  67         private PwrVoltageSubscribe pwr_voltage = null;
  68         private MagnetCmdPublish magnet_cmd = null;
  69         private CraneCmdPublish crane_cmd = null;
  70     private SensorManager mSensorManager = null;
  71     private Sensor mGravity = null;
  72     private SensorEventListener accel = null;
  73     private PowerManager mPowerManager = null;
  74     private WifiManager mWifiManager = null;
  75     private WakeLock mWakeLock = null;
  76     private WifiLock mWifiLock = null;
  77     private DomainApp appDomain = null;
  78     private HokuyoView hokuyo_view = null;
  79     private MenuItem speed_publ_item = null;
  80     private MenuItem speed_subs_item = null;
  81     private MenuItem hokuyo_item = null;
  82     private SharedPreferences prefs = null;
  83
  84     static {
  85         System.loadLibrary("jorte");
  86     }
  87
  88     @Override
  89     protected void onResume() {
  90         super.onResume();
  91
  92         mWakeLock.acquire();
  93         mWifiLock.acquire();
  94     }
  95
  96     @Override
  97     protected void onPause() {
  98         super.onPause();
  99
 100         if (motion_speed_publ != null && !motion_speed_publ.isCancelled()) {
 101                 motion_speed_publ.cancel();
 102             mSensorManager.unregisterListener(accel);
 103             this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
 104                 speed_publ_item.setTitle("Start motion control");
 105         }
 106
 107         if (motion_speed_subs != null && !motion_speed_subs.isCancelled()) {
 108                 hokuyo_view.runMotion(false);
 109                 motion_speed_subs.cancel();
 110                 hokuyo_view.invalidate();
 111                 speed_subs_item.setTitle("Start motion monitor");
 112         }
 113
 114         if (hokuyo_scan != null && !hokuyo_scan.isCancelled()) {
 115                         hokuyo_view.run(false);
 116                         hokuyo_scan.cancel();
 117                         hokuyo_view.invalidate();
 118                         hokuyo_item.setTitle("Start LRF");
 119         }
 120
 121         if (pwr_voltage != null && !pwr_voltage.isCancelled()) {
 122                 if (voltageDialog.isShowing())
 123                         voltageDialog.dismiss();
 124                         pwr_voltage.cancel();
 125         }
 126
 127         mWakeLock.release();
 128         mWifiLock.release();
 129     }
 130
 131     @Override
 132     protected void onDestroy() {
 133         super.onDestroy();
 134
 135         if (crane_cmd != null && !crane_cmd.isCancelled()) {
 136                 crane_cmd.cancel();
 137         }
 138
 139         if (magnet_cmd != null && !crane_cmd.isCancelled()) {
 140                 magnet_cmd.cancel();
 141         }
 142
 143         if (appDomain != null) {
 144                 appDomain.destroy();
 145                 appDomain = null;
 146         }
 147
 148         if (manager != null) {
 149                 manager.destroy();
 150                 manager = null;
 151         }
 152     }
 153
 154         @SuppressWarnings("deprecation")
 155         @Override
 156     public void onCreate(Bundle savedInstanceState) {
 157         super.onCreate(savedInstanceState);
 158         setContentView(R.layout.hokuyo_view);
 159
 160         mPowerManager = (PowerManager) getSystemService(Context.POWER_SERVICE);
 161         mWakeLock = mPowerManager.newWakeLock(
 162                         PowerManager.SCREEN_BRIGHT_WAKE_LOCK
 163                         | PowerManager.ACQUIRE_CAUSES_WAKEUP
 164                         | PowerManager.ON_AFTER_RELEASE,
 165                         getClass().getName());
 166
 167         mWifiManager = (WifiManager) getSystemService(Context.WIFI_SERVICE);
 168         mWifiLock = mWifiManager.createWifiLock(WifiManager.WIFI_MODE_FULL_HIGH_PERF, getClass().getName());
 169         WifiInfo wifiInfo = mWifiManager.getConnectionInfo();
 170         int ip = wifiInfo.getIpAddress();
 171         String ipAddress = Formatter.formatIpAddress(ip);
 172
 173         prefs = getSharedPreferences("prefs", 0);
 174         mgrs = prefs.getString("managers", "10.1.1.1");
 175
 176                 AlertDialog.Builder voltageBuilder = new AlertDialog.Builder(this);
 177                 LayoutInflater inflater = getLayoutInflater();
 178                 View voltageView = inflater.inflate(R.layout.status_dialog, null);
 179                 voltageBuilder.setCancelable(false);
 180                 voltageBuilder.setView(voltageView);
 181                 voltageBuilder.setPositiveButton("OK", new DialogInterface.OnClickListener() {
 182                         @Override
 183                         public void onClick(DialogInterface dialog, int which) {
 184                                 voltageDialog.dismiss();
 185                                 pwr_voltage.cancel();
 186                         }
 187                 });
 188                 voltageBuilder.setTitle("Voltages");
 189                 voltageDialog = voltageBuilder.create();
 190                 voltage33 = (EditText)voltageView.findViewById(R.id.editText1);
 191                 voltage50 = (EditText)voltageView.findViewById(R.id.editText2);
 192                 voltage80 = (EditText)voltageView.findViewById(R.id.editText3);
 193                 voltageBAT = (EditText)voltageView.findViewById(R.id.editText4);
 194
 195                 AlertDialog.Builder builder = new AlertDialog.Builder(this);
 196                 View aboutView = inflater.inflate(R.layout.about_dialog, null);
 197                 builder.setView(aboutView);
 198                 builder.setPositiveButton("OK", null);
 199                 aboutDialog = builder.create();
 200
 201                 AlertDialog.Builder managersBuilder = new AlertDialog.Builder(this);
 202                 View managersView = inflater.inflate(R.layout.managers_view, null);
 203                 TextView ownIP = (TextView)managersView.findViewById(R.id.ownIP);
 204                 ownIP.setText("\nOwn IP Address: " + ipAddress);
 205                 managersField = (EditText)managersView.findViewById(R.id.managers);
 206                 managersField.setText(mgrs);
 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     }
 238
 239         @Override
 240         public boolean onCreateOptionsMenu(Menu menu) {
 241                 getMenuInflater().inflate(R.menu.activity_main, menu);
 242
 243                 return true;
 244         }
 245
 246         @Override
 247         public boolean onOptionsItemSelected (MenuItem item) {
 248                 System.out.println(item.getTitle());
 249
 250                 if(item.getTitle().equals("Start motion control")) {
 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.setTitle("Stop motion control");
 259                 }
 260                 else if (item.getTitle().equals("Stop motion control")) {
 261                         mSensorManager.unregisterListener(accel);
 262                         motion_speed_publ.cancel();
 263                         this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
 264                         item.setTitle("Start motion control");
 265                 }
 266                 else if (item.getTitle().equals("Start motion monitor")) {
 267                         if (motion_speed_subs == null)
 268                                 motion_speed_subs = new MotionSpeedSubscribe(appDomain, hokuyo_view);
 269                         motion_speed_subs.start();
 270                         hokuyo_view.runMotion(true);
 271                         hokuyo_view.invalidate();
 272                         speed_subs_item = item;
 273                         item.setTitle("Stop motion monitor");
 274                 }
 275                 else if (item.getTitle().equals("Stop motion monitor")) {
 276                         hokuyo_view.runMotion(false);
 277                         motion_speed_subs.cancel();
 278                         hokuyo_view.invalidate();
 279                         item.setTitle("Start motion monitor");
 280                 }
 281                 else if (item.getTitle().equals("Start LRF")) {
 282                         if (hokuyo_scan == null)
 283                                 hokuyo_scan = new HokuyoScanSubscribe(appDomain, hokuyo_view);
 284                         hokuyo_scan.start();
 285                         hokuyo_view.run(true);
 286                         hokuyo_view.invalidate();
 287                         hokuyo_item = item;
 288                         item.setTitle("Stop LRF");
 289                 }
 290                 else if (item.getTitle().equals("Stop LRF")) {
 291                         hokuyo_view.run(false);
 292                         hokuyo_scan.cancel();
 293                         hokuyo_view.invalidate();
 294                         item.setTitle("Start LRF");
 295                 }
 296                 else if (item.getTitle().equals("Crane up")) {
 297                         crane_cmd.send(0x100);
 298                         item.setTitle("Crane down");
 299                 }
 300                 else if (item.getTitle().equals("Crane down")) {
 301                         crane_cmd.send(0x190);
 302                         item.setTitle("Crane up");
 303                 }
 304                 else if (item.getTitle().equals("Magnet on")) {
 305                         magnet_cmd.send(1);
 306                         item.setTitle("Magnet off");
 307                 }
 308                 else if (item.getTitle().equals("Magnet off")) {
 309                         magnet_cmd.send(0);
 310                         item.setTitle("Magnet on");
 311                 }
 312                 else if (item.getTitle().equals("Voltage monitor")) {
 313                         if (pwr_voltage == null)
 314                                 pwr_voltage = new PwrVoltageSubscribe(appDomain, dialogHandler);
 315                         pwr_voltage.start();
 316                         voltageDialog.show();
 317                 }
 318                 else if (item.getTitle().equals("About")) {
 319                         aboutDialog.show();
 320                 }
 321                 else if (item.getTitle().equals("Exit")) {
 322                         finish();
 323                 }
 324
 325                 return true;
 326         }
 327
 328     private class HandleAccelerometer implements SensorEventListener {
 329
 330         @Override
 331         public void onAccuracyChanged(Sensor sensor, int accuracy) {}
 332
 333         @Override
 334         public void onSensorChanged(SensorEvent event) {
 335                  if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
 336                          if (motion_speed_publ != null)
 337                                  motion_speed_publ.setSpeed(event.values[0], event.values[1]);
 338                  }
 339         }
 340     }
 341 }