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.content.Context;
   8 import android.hardware.Sensor;
   9 import android.hardware.SensorEvent;
  10 import android.hardware.SensorEventListener;
  11 import android.hardware.SensorManager;
  12 import android.os.Bundle;
  13 import android.os.PowerManager;
  14 import android.os.PowerManager.WakeLock;
  15 import android.view.Menu;
  16 import android.view.MenuItem;
  17
  18 public class MainActivity extends Activity {
  19
  20         private Manager manager = null;
  21     private String[] mgrs = {"192.168.1.5","192.168.1.8","10.1.1.1","10.1.1.4"};
  22         private MotionSpeedPublish motion_speed = null;
  23         private HokuyoScanSubscribe hokuyo_scan = null;
  24     private SensorManager mSensorManager = null;
  25     private Sensor mGravity = null;
  26     private SensorEventListener accel = null;
  27     private PowerManager mPowerManager = null;
  28     private WakeLock mWakeLock = null;
  29     private DomainApp appDomain = null;
  30     private HokuyoView hokuyo_view = null;
  31     private MenuItem speed_item = null;
  32     private MenuItem hokuyo_item = null;
  33
  34     static {
  35         System.loadLibrary("jorte");
  36     }
  37
  38     @Override
  39     protected void onResume() {
  40         super.onResume();
  41
  42         mWakeLock.acquire();
  43     }
  44
  45     @Override
  46     protected void onPause() {
  47         super.onPause();
  48
  49         if (motion_speed != null && !motion_speed.isCancelled()) {
  50                 motion_speed.cancel();
  51             mSensorManager.unregisterListener(accel);
  52                 speed_item.setTitle("Start speed");
  53         }
  54
  55         if (hokuyo_scan != null && !hokuyo_scan.isCancelled()) {
  56                         hokuyo_view.run(false);
  57                         hokuyo_scan.cancel();
  58                         hokuyo_item.setTitle("Start hokuyo");
  59         }
  60
  61         mWakeLock.release();
  62     }
  63
  64     @Override
  65     protected void onDestroy() {
  66         super.onDestroy();
  67
  68         if (appDomain != null) {
  69                 appDomain.destroy();
  70                 appDomain = null;
  71         }
  72
  73         if (manager != null) {
  74                 manager.destroy();
  75                 manager = null;
  76         }
  77     }
  78
  79     @Override
  80     public void onCreate(Bundle savedInstanceState) {
  81         super.onCreate(savedInstanceState);
  82         setContentView(R.layout.hokuyo_view);
  83
  84         mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
  85         mGravity = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
  86
  87         mPowerManager = (PowerManager) getSystemService(Context.POWER_SERVICE);
  88         mWakeLock = mPowerManager.newWakeLock(PowerManager.SCREEN_BRIGHT_WAKE_LOCK, getClass().getName());
  89
  90         hokuyo_view = (HokuyoView) findViewById(R.id.hokuyo_view);
  91
  92         manager = new Manager(mgrs);
  93
  94         appDomain = new DomainApp();
  95     }
  96
  97         @Override
  98         public boolean onCreateOptionsMenu(Menu menu) {
  99                 getMenuInflater().inflate(R.menu.activity_main, menu);
 100
 101                 return true;
 102         }
 103
 104         @Override
 105         public boolean onOptionsItemSelected (MenuItem item) {
 106                 System.out.println(item.getTitle());
 107
 108                 if(item.getTitle().equals("Start speed")) {
 109                         accel = new HandleAccelerometer();
 110                         mSensorManager.registerListener(accel, mGravity, SensorManager.SENSOR_DELAY_UI);
 111                         if (motion_speed == null)
 112                                 motion_speed = new MotionSpeedPublish(mGravity.getMaximumRange(),appDomain);
 113                         motion_speed.start();
 114                         speed_item = item;
 115                         item.setTitle("Stop speed");
 116                 }
 117                 else if (item.getTitle().equals("Stop speed")) {
 118                         mSensorManager.unregisterListener(accel);
 119                         motion_speed.cancel();
 120                         item.setTitle("Start speed");
 121                 }
 122                 else if (item.getTitle().equals("Start hokuyo")) {
 123                         if (hokuyo_scan == null)
 124                                 hokuyo_scan = new HokuyoScanSubscribe(appDomain, hokuyo_view);
 125                         hokuyo_scan.start();
 126                         hokuyo_view.run(true);
 127                         hokuyo_item = item;
 128                         item.setTitle("Stop hokuyo");
 129                 }
 130                 else if (item.getTitle().equals("Stop hokuyo")) {
 131                         hokuyo_view.run(false);
 132                         hokuyo_scan.cancel();
 133                         item.setTitle("Start hokuyo");
 134                 }
 135                 else if (item.getTitle().equals("Lift up")) {
 136
 137                 }
 138                 else if (item.getTitle().equals("Lift down")) {
 139
 140                 }
 141                 else if (item.getTitle().equals("Magnet on")) {
 142
 143                 }
 144                 else if (item.getTitle().equals("Magnet off")) {
 145
 146                 }
 147                 else if (item.getTitle().equals("Exit")) {
 148                         finish();
 149                 }
 150
 151                 return true;
 152         }
 153
 154     private class HandleAccelerometer implements SensorEventListener {
 155
 156         @Override
 157         public void onAccuracyChanged(Sensor sensor, int accuracy) {}
 158
 159         @Override
 160         public void onSensorChanged(SensorEvent event) {
 161                  if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
 162                          if (motion_speed != null)
 163                                  motion_speed.setSpeed(event.values[0], event.values[1]);
 164                  }
 165         }
 166     }
 167 }