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.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.LayoutInflater;
  28 import android.view.Menu;
  29 import android.view.MenuItem;
  30 import android.view.View;
  31 import android.widget.EditText;
  32 import android.widget.TextView;
  33
  34 public class MainActivity extends Activity {
  35         private AlertDialog voltageDialog = null;
  36         private AlertDialog aboutDialog = null;
  37         private AlertDialog managersDialog = null;
  38         private EditText managersField = null;
  39         private TextView ownIP = null;
  40         private NetworkInfo wifiInfoTask = null;
  41         static EditText voltage33 = null;
  42         static EditText voltage50 = null;
  43         static EditText voltage80 = null;
  44         static EditText voltageBAT = null;
  45         static Handler dialogHandler = new Handler() {
  46                 @Override
  47                 public void handleMessage(Message msg) {
  48                         double[] values = msg.getData().getDoubleArray("voltages");
  49                         if (values != null) {
  50                                 if (voltage33 != null) {
  51                                         voltage33.setText(Double.toString(values[0]));
  52                                 }
  53                                 if (voltage50 != null) {
  54                                         voltage50.setText(Double.toString(values[1]));
  55                                 }
  56                                 if (voltage80 != null) {
  57                                         voltage80.setText(Double.toString(values[2]));
  58                                 }
  59                                 if (voltageBAT != null) {
  60                                         voltageBAT.setText(Double.toString(values[3]));
  61                                 }
  62                         }
  63                 }
  64     };
  65
  66         private Manager manager = null;
  67     private String mgrs = null;
  68         private MotionSpeedPublish motion_speed_publ = null;
  69         private MotionSpeedSubscribe motion_speed_subs = null;
  70         private HokuyoScanSubscribe hokuyo_scan = null;
  71         private PwrVoltageSubscribe pwr_voltage = null;
  72         private MagnetCmdPublish magnet_cmd = null;
  73         private CraneCmdPublish crane_cmd = null;
  74     private SensorManager mSensorManager = null;
  75     private Sensor mGravity = null;
  76     private SensorEventListener accel = null;
  77     private PowerManager mPowerManager = null;
  78     private WifiManager mWifiManager = null;
  79     private WakeLock mWakeLock = null;
  80     private WifiLock mWifiLock = null;
  81     private DomainApp appDomain = null;
  82     private HokuyoView hokuyo_view = null;
  83     private MenuItem speed_publ_item = null;
  84     private MenuItem speed_subs_item = null;
  85     private MenuItem hokuyo_item = null;
  86     private SharedPreferences prefs = null;
  87
  88     static {
  89         System.loadLibrary("jorte");
  90     }
  91
  92     @Override
  93     protected void onPause() {
  94         super.onPause();
  95
  96         if (motion_speed_publ != null && !motion_speed_publ.isCancelled()) {
  97                 motion_speed_publ.cancel();
  98             mSensorManager.unregisterListener(accel);
  99             this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
 100                 speed_publ_item.setChecked(false);
 101             mWakeLock.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                 speed_subs_item.setChecked(false);
 110             mWakeLock.release();
 111             mWifiLock.release();
 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.setChecked(false);
 119                 mWakeLock.release();
 120                 mWifiLock.release();
 121         }
 122
 123         if (pwr_voltage != null && !pwr_voltage.isCancelled()) {
 124                 if (voltageDialog.isShowing())
 125                         voltageDialog.dismiss();
 126                         pwr_voltage.cancel();
 127                 mWakeLock.release();
 128                 mWifiLock.release();
 129         }
 130     }
 131
 132     @Override
 133     protected void onDestroy() {
 134         super.onDestroy();
 135
 136         if (crane_cmd != null && !crane_cmd.isCancelled()) {
 137                 crane_cmd.cancel();
 138         }
 139
 140         if (magnet_cmd != null && !crane_cmd.isCancelled()) {
 141                 magnet_cmd.cancel();
 142         }
 143
 144         if (appDomain != null) {
 145                 appDomain.destroy();
 146                 appDomain = null;
 147         }
 148
 149         if (manager != null) {
 150                 manager.destroy();
 151                 manager = null;
 152         }
 153     }
 154
 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                         getClass().getName());
 165
 166         mWifiManager = (WifiManager) getSystemService(Context.WIFI_SERVICE);
 167         mWifiLock = mWifiManager.createWifiLock(WifiManager.WIFI_MODE_FULL_HIGH_PERF, 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                                 mWakeLock.release();
 185                                 mWifiLock.release();
 186                         }
 187                 });
 188                 voltage33 = (EditText)voltageView.findViewById(R.id.editText1);
 189                 voltage50 = (EditText)voltageView.findViewById(R.id.editText2);
 190                 voltage80 = (EditText)voltageView.findViewById(R.id.editText3);
 191                 voltageBAT = (EditText)voltageView.findViewById(R.id.editText4);
 192
 193                 AlertDialog.Builder builder = new AlertDialog.Builder(this);
 194                 View aboutView = inflater.inflate(R.layout.about_dialog, null);
 195                 builder.setView(aboutView);
 196                 builder.setPositiveButton("OK", null);
 197                 aboutDialog = builder.create();
 198
 199                 AlertDialog.Builder managersBuilder = new AlertDialog.Builder(this);
 200                 View managersView = inflater.inflate(R.layout.managers_view, null);
 201                 ownIP = (TextView)managersView.findViewById(R.id.ownIP);
 202                 managersField = (EditText)managersView.findViewById(R.id.managers);
 203                 managersField.setText(mgrs);
 204
 205                 managersBuilder.setView(managersView);
 206                 managersBuilder.setPositiveButton("OK", new DialogInterface.OnClickListener() {
 207                         @Override
 208                         public void onClick(DialogInterface dialog, int which) {
 209                                 SharedPreferences.Editor editor = prefs.edit();
 210                                 mgrs = managersField.getText().toString();
 211                                 editor.putString("managers", mgrs);
 212                                 editor.commit();
 213
 214                                 if (manager != null)
 215                                         manager.destroy();
 216                                 manager = new Manager(mgrs);
 217
 218                                 managersDialog.dismiss();
 219                         }
 220                 });
 221                 managersBuilder.setNeutralButton("Cancel", null);
 222                 managersBuilder.setTitle("Set fellow managers");
 223                 managersDialog = managersBuilder.create();
 224                 managersDialog.setOnDismissListener(new OnDismissListener() {
 225                         @Override
 226                         public void onDismiss(DialogInterface arg0) {
 227                                 managersField.setText(mgrs);
 228                                 wifiInfoTask.cancel(false);
 229                         }
 230                 });
 231
 232         mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
 233         mGravity = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
 234
 235         hokuyo_view = (HokuyoView) findViewById(R.id.hokuyo_view);
 236
 237         manager = new Manager(mgrs);
 238
 239         appDomain = new DomainApp();
 240         magnet_cmd = new MagnetCmdPublish(appDomain);
 241         magnet_cmd.start();
 242         crane_cmd = new CraneCmdPublish(appDomain);
 243         crane_cmd.start();
 244     }
 245
 246         @Override
 247         public boolean onCreateOptionsMenu(Menu menu) {
 248                 getMenuInflater().inflate(R.menu.activity_main, menu);
 249
 250                 return true;
 251         }
 252
 253         @Override
 254         public boolean onOptionsItemSelected (MenuItem item) {
 255                 if(item.getTitle().equals("Motion control")) {
 256                         if (!item.isChecked()) {
 257                                 mWakeLock.acquire();
 258                                 mWifiLock.acquire();
 259                                 accel = new HandleAccelerometer();
 260                                 mSensorManager.registerListener(accel, mGravity, SensorManager.SENSOR_DELAY_GAME);
 261                                 if (motion_speed_publ == null)
 262                                         motion_speed_publ = new MotionSpeedPublish(appDomain);
 263                                 motion_speed_publ.start();
 264                                 speed_publ_item = item;
 265                                 this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_PORTRAIT);
 266                                 item.setChecked(true);
 267                         }
 268                         else {
 269                                 mSensorManager.unregisterListener(accel);
 270                                 motion_speed_publ.cancel();
 271                                 this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
 272                                 item.setChecked(false);
 273                                 mWakeLock.release();
 274                                 mWifiLock.release();
 275                         }
 276                 }
 277                 else if (item.getTitle().equals("Speed monitor")) {
 278                         if(!item.isChecked()) {
 279                                 mWakeLock.acquire();
 280                                 mWifiLock.acquire();
 281                                 if (motion_speed_subs == null)
 282                                         motion_speed_subs = new MotionSpeedSubscribe(appDomain, hokuyo_view);
 283                                 motion_speed_subs.start();
 284                                 hokuyo_view.runMotion(true);
 285                                 hokuyo_view.invalidate();
 286                                 speed_subs_item = item;
 287                                 item.setChecked(true);
 288                         }
 289                         else {
 290                                 hokuyo_view.runMotion(false);
 291                                 motion_speed_subs.cancel();
 292                                 hokuyo_view.invalidate();
 293                                 item.setChecked(false);
 294                                 mWakeLock.release();
 295                                 mWifiLock.release();
 296                         }
 297                 }
 298                 else if (item.getTitle().equals("Hokuyo")) {
 299                         if (!item.isChecked()) {
 300                                 mWakeLock.acquire();
 301                                 mWifiLock.acquire();
 302                                 if (hokuyo_scan == null)
 303                                         hokuyo_scan = new HokuyoScanSubscribe(appDomain, hokuyo_view);
 304                                 hokuyo_scan.start();
 305                                 hokuyo_view.run(true);
 306                                 hokuyo_view.invalidate();
 307                                 hokuyo_item = item;
 308                                 item.setChecked(true);
 309                         }
 310                         else {
 311                                 hokuyo_view.run(false);
 312                                 hokuyo_scan.cancel();
 313                                 hokuyo_view.invalidate();
 314                                 item.setChecked(false);
 315                                 mWakeLock.release();
 316                                 mWifiLock.release();
 317                         }
 318                 }
 319                 else if (item.getTitle().equals("Crane: up")) {
 320                         crane_cmd.send(0x190);
 321                         item.setTitle("Crane: down");
 322                 }
 323                 else if (item.getTitle().equals("Crane: down")) {
 324                         crane_cmd.send(0x100);
 325                         item.setTitle("Crane: up");
 326                 }
 327                 else if (item.getTitle().equals("Magnet")) {
 328                         if (!item.isChecked()) {
 329                                 magnet_cmd.send(1);
 330                                 item.setChecked(true);
 331                         }
 332                         else {
 333                                 magnet_cmd.send(0);
 334                                 item.setChecked(false);
 335                         }
 336                 }
 337                 else if (item.getTitle().equals("Voltage monitor")) {
 338                         mWakeLock.acquire();
 339                         mWifiLock.acquire();
 340                         if (pwr_voltage == null)
 341                                 pwr_voltage = new PwrVoltageSubscribe(appDomain, dialogHandler);
 342                         pwr_voltage.start();
 343                         voltageDialog.show();
 344                 }
 345                 else if (item.getTitle().equals("Fellow managers")) {
 346                         wifiInfoTask = new NetworkInfo();
 347
 348                         managersDialog.show();
 349                         wifiInfoTask.execute();
 350                 }
 351                 else if (item.getTitle().equals("About")) {
 352                         aboutDialog.show();
 353                 }
 354                 else if (item.getTitle().equals("Exit")) {
 355                         finish();
 356                 }
 357
 358                 return true;
 359         }
 360
 361     private class HandleAccelerometer implements SensorEventListener {
 362
 363         @Override
 364         public void onAccuracyChanged(Sensor sensor, int accuracy) {}
 365
 366         @Override
 367         public void onSensorChanged(SensorEvent event) {
 368                  if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
 369                          if (motion_speed_publ != null)
 370                                  motion_speed_publ.setSpeed(event.values[0], event.values[1]);
 371                  }
 372         }
 373     }
 374
 375     private class NetworkInfo extends AsyncTask<Void, String, Void> {
 376         @Override
 377         protected Void doInBackground(Void... arg0) {
 378                 while (!isCancelled()) {
 379                         WifiInfo wifiInfo = mWifiManager.getConnectionInfo();
 380                         int ip = wifiInfo.getIpAddress();
 381                         String ipAddress = Formatter.formatIpAddress(ip);
 382                         String ssid = wifiInfo.getSSID();
 383
 384                         publishProgress("\nOwn IP Address: " + ipAddress + "\nNetwork SSID: " + ssid);
 385
 386                         try {
 387                                         Thread.sleep(1000);
 388                                 } catch (InterruptedException e) {
 389                                         e.printStackTrace();
 390                                 }
 391                 }
 392
 393                 return null;
 394         }
 395
 396         @Override
 397         protected void onProgressUpdate(String... values) {
 398                 super.onProgressUpdate(values);
 399
 400                 ownIP.setText(values[0]);
 401         }
 402     }
 403 }