orte/contrib/Robot_Demo/src/org/ocera/orte/demo/GUI/MainActivity.java

   1 package org.ocera.orte.demo.GUI;
   2
   3 import org.ocera.orte.DomainApp;
   4 import org.ocera.orte.Manager;
   5 //import org.ocera.orte.demo.R;
   6 import org.ocera.orte.demo.Publishers.CraneCmdPublish;
   7 import org.ocera.orte.demo.Publishers.MagnetCmdPublish;
   8 import org.ocera.orte.demo.Publishers.MotionSpeedPublish;
   9 import org.ocera.orte.demo.Subscribers.HokuyoScanSubscribe;
  10 import org.ocera.orte.demo.Subscribers.MotionSpeedSubscribe;
  11 import org.ocera.orte.demo.Subscribers.PwrVoltageSubscribe;
  12
  13 import android.app.Activity;
  14 import android.app.AlertDialog;
  15 import android.content.Context;
  16 import android.content.DialogInterface;
  17 import android.content.DialogInterface.OnDismissListener;
  18 import android.content.SharedPreferences;
  19 import android.content.pm.ActivityInfo;
  20 import android.hardware.Sensor;
  21 import android.hardware.SensorEvent;
  22 import android.hardware.SensorEventListener;
  23 import android.hardware.SensorManager;
  24 import android.net.wifi.WifiInfo;
  25 import android.net.wifi.WifiManager;
  26 import android.net.wifi.WifiManager.WifiLock;
  27 import android.os.AsyncTask;
  28 import android.os.Bundle;
  29 import android.os.Handler;
  30 import android.os.Message;
  31 import android.os.PowerManager;
  32 import android.os.PowerManager.WakeLock;
  33 import android.text.format.Formatter;
  34 import android.view.GestureDetector;
  35 import android.view.LayoutInflater;
  36 import android.view.Menu;
  37 import android.view.MenuItem;
  38 import android.view.MotionEvent;
  39 import android.view.View;
  40 import android.widget.EditText;
  41 import android.widget.TextView;
  42 import android.widget.Toast;
  43
  44 public class MainActivity extends Activity {
  45         private AlertDialog voltageDialog = null;
  46         private AlertDialog aboutDialog = null;
  47         private AlertDialog managersDialog = null;
  48         private EditText managersField = null;
  49         private TextView ownIP = null;
  50         private NetworkInfo wifiInfoTask = null;
  51         static EditText voltage33 = null;
  52         static EditText voltage50 = null;
  53         static EditText voltage80 = null;
  54         static EditText voltageBAT = null;
  55         static Handler dialogHandler = new Handler() {
  56                 @Override
  57                 public void handleMessage(Message msg) {
  58                         double[] values = msg.getData().getDoubleArray("voltages");
  59                         if (values != null) {
  60                                 if (voltage33 != null) {
  61                                         voltage33.setText(Double.toString(values[0]));
  62                                 }
  63                                 if (voltage50 != null) {
  64                                         voltage50.setText(Double.toString(values[1]));
  65                                 }
  66                                 if (voltage80 != null) {
  67                                         voltage80.setText(Double.toString(values[2]));
  68                                 }
  69                                 if (voltageBAT != null) {
  70                                         voltageBAT.setText(Double.toString(values[3]));
  71                                 }
  72                         }
  73                 }
  74     };
  75
  76         private Manager manager = null;
  77     private String mgrs = null;
  78         private MotionSpeedPublish motion_speed_publ = null;
  79         private MotionSpeedSubscribe motion_speed_subs = null;
  80         private HokuyoScanSubscribe hokuyo_scan = null;
  81         private PwrVoltageSubscribe pwr_voltage = null;
  82         private MagnetCmdPublish magnet_cmd = null;
  83         private CraneCmdPublish crane_cmd = null;
  84     private SensorManager mSensorManager = null;
  85     private Sensor mGravity = null;
  86     private SensorEventListener accel = null;
  87     private PowerManager mPowerManager = null;
  88     private WifiManager mWifiManager = null;
  89     private WakeLock mWakeLock = null;
  90     private WakeLock mDimLock = null;
  91     private WifiLock mWifiLock = null;
  92     private DomainApp appDomain = null;
  93     private HokuyoView hokuyo_view = null;
  94     private SharedPreferences prefs = null;
  95     private GestureDetector gDetector = null;
  96
  97     static {
  98         System.loadLibrary("jorte");
  99     }
 100
 101     @Override
 102     protected void onPause() {
 103         super.onPause();
 104
 105         if (motion_speed_publ != null && !motion_speed_publ.isCancelled()) {
 106                 motion_speed_publ.cancel();
 107             mSensorManager.unregisterListener(accel);
 108             this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
 109             mDimLock.release();
 110             mWifiLock.release();
 111         }
 112
 113         if (motion_speed_subs != null && !motion_speed_subs.isCancelled()) {
 114                 hokuyo_view.runMotion(false);
 115                 motion_speed_subs.cancel();
 116                 hokuyo_view.invalidate();
 117             mWakeLock.release();
 118             //mWifiLock.release();
 119         }
 120
 121         if (hokuyo_scan != null && !hokuyo_scan.isCancelled()) {
 122                         hokuyo_view.run(false);
 123                         hokuyo_scan.cancel();
 124                         hokuyo_view.invalidate();
 125                 mWakeLock.release();
 126                 //mWifiLock.release();
 127         }
 128     }
 129
 130     @Override
 131     protected void onDestroy() {
 132         super.onDestroy();
 133
 134         if (pwr_voltage != null && !pwr_voltage.isCancelled()) {
 135                 if (voltageDialog.isShowing())
 136                         voltageDialog.dismiss();
 137         }
 138
 139         if (crane_cmd != null && !crane_cmd.isCancelled()) {
 140                 crane_cmd.cancel();
 141         }
 142
 143         if (magnet_cmd != null && !crane_cmd.isCancelled()) {
 144                 magnet_cmd.cancel();
 145         }
 146
 147         if (appDomain != null) {
 148                 appDomain.destroy();
 149                 appDomain = null;
 150         }
 151
 152         if (manager != null) {
 153                 manager.destroy();
 154                 manager = null;
 155         }
 156     }
 157
 158         @Override
 159     public void onCreate(Bundle savedInstanceState) {
 160         super.onCreate(savedInstanceState);
 161         setContentView(R.layout.hokuyo_view);
 162
 163         mPowerManager = (PowerManager) getSystemService(Context.POWER_SERVICE);
 164         mWakeLock = mPowerManager.newWakeLock(
 165                         PowerManager.SCREEN_BRIGHT_WAKE_LOCK,
 166                         getClass().getName() + " Bright");
 167         mDimLock = mPowerManager.newWakeLock(
 168                         PowerManager.SCREEN_DIM_WAKE_LOCK,
 169                         getClass().getName() + " Dim");
 170
 171         mWifiManager = (WifiManager) getSystemService(Context.WIFI_SERVICE);
 172         mWifiLock = mWifiManager.createWifiLock(
 173                         android.os.Build.VERSION.SDK_INT >= 12
 174                         ? WifiManager.WIFI_MODE_FULL_HIGH_PERF
 175                         : WifiManager.WIFI_MODE_FULL, getClass().getName());
 176
 177         prefs = getSharedPreferences("prefs", 0);
 178         mgrs = prefs.getString("managers", "10.1.1.1");
 179
 180                 AlertDialog.Builder voltageBuilder = new AlertDialog.Builder(this);
 181                 LayoutInflater inflater = getLayoutInflater();
 182                 View voltageView = inflater.inflate(R.layout.status_dialog, null);
 183                 voltageBuilder.setView(voltageView);
 184                 voltageBuilder.setPositiveButton("OK",null);
 185                 voltageBuilder.setTitle("Voltages");
 186                 voltageDialog = voltageBuilder.create();
 187                 voltageDialog.setOnDismissListener(new OnDismissListener(){
 188                         @Override
 189                         public void onDismiss(DialogInterface arg0) {
 190                                 voltageDialog.dismiss();
 191                                 pwr_voltage.cancel();
 192                                 mDimLock.release();
 193                         }
 194                 });
 195                 voltage33 = (EditText)voltageView.findViewById(R.id.editText1);
 196                 voltage50 = (EditText)voltageView.findViewById(R.id.editText2);
 197                 voltage80 = (EditText)voltageView.findViewById(R.id.editText3);
 198                 voltageBAT = (EditText)voltageView.findViewById(R.id.editText4);
 199
 200                 AlertDialog.Builder builder = new AlertDialog.Builder(this);
 201                 View aboutView = inflater.inflate(R.layout.about_dialog, null);
 202                 builder.setView(aboutView);
 203                 builder.setPositiveButton("OK", null);
 204                 aboutDialog = builder.create();
 205
 206                 AlertDialog.Builder managersBuilder = new AlertDialog.Builder(this);
 207                 View managersView = inflater.inflate(R.layout.managers_view, null);
 208                 ownIP = (TextView)managersView.findViewById(R.id.ownIP);
 209                 managersField = (EditText)managersView.findViewById(R.id.managers);
 210                 managersField.setText(mgrs);
 211
 212                 managersBuilder.setView(managersView);
 213                 managersBuilder.setPositiveButton("OK", new DialogInterface.OnClickListener() {
 214                         @Override
 215                         public void onClick(DialogInterface dialog, int which) {
 216                                 SharedPreferences.Editor editor = prefs.edit();
 217                                 mgrs = managersField.getText().toString();
 218                                 editor.putString("managers", mgrs);
 219                                 editor.commit();
 220
 221                                 if (manager != null)
 222                                         manager.destroy();
 223                                 manager = new Manager(mgrs);
 224
 225                                 managersDialog.dismiss();
 226                         }
 227                 });
 228                 managersBuilder.setNeutralButton("Cancel", null);
 229                 managersBuilder.setTitle("Set fellow managers");
 230                 managersDialog = managersBuilder.create();
 231                 managersDialog.setOnDismissListener(new OnDismissListener() {
 232                         @Override
 233                         public void onDismiss(DialogInterface arg0) {
 234                                 managersField.setText(mgrs);
 235                                 wifiInfoTask.cancel(false);
 236                         }
 237                 });
 238
 239         mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
 240         mGravity = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
 241
 242         hokuyo_view = (HokuyoView) findViewById(R.id.hokuyo_view);
 243         gDetector = new GestureDetector(hokuyo_view.getContext(), new HokuyoGestures());
 244         hokuyo_view.setOnTouchListener(new View.OnTouchListener() {
 245                         @Override
 246                         public boolean onTouch(View v, MotionEvent event) {
 247                                 return gDetector.onTouchEvent(event);
 248                         }
 249
 250         });
 251
 252         manager = new Manager(mgrs);
 253
 254         appDomain = new DomainApp();
 255         magnet_cmd = new MagnetCmdPublish(appDomain);
 256         magnet_cmd.start();
 257         crane_cmd = new CraneCmdPublish(appDomain);
 258         crane_cmd.start();
 259     }
 260
 261         @Override
 262         public boolean onCreateOptionsMenu(Menu menu) {
 263                 getMenuInflater().inflate(R.menu.activity_main, menu);
 264
 265                 return true;
 266         }
 267
 268         @Override
 269         public boolean onOptionsItemSelected (MenuItem item) {
 270                 if (item.getTitle().equals("Crane: up")) {
 271                         crane_cmd.send(0x190);
 272                         item.setTitle("Crane: down");
 273                 }
 274                 else if (item.getTitle().equals("Crane: down")) {
 275                         crane_cmd.send(0x100);
 276                         item.setTitle("Crane: up");
 277                 }
 278                 else if (item.getTitle().equals("Magnet")) {
 279                         if (!item.isChecked()) {
 280                                 magnet_cmd.send(1);
 281                                 item.setChecked(true);
 282                         }
 283                         else {
 284                                 magnet_cmd.send(0);
 285                                 item.setChecked(false);
 286                         }
 287                 }
 288                 else if (item.getTitle().equals("Voltage monitor")) {
 289                         mDimLock.acquire();
 290                         if (pwr_voltage == null)
 291                                 pwr_voltage = new PwrVoltageSubscribe(appDomain, dialogHandler);
 292                         pwr_voltage.start();
 293                         voltageDialog.show();
 294                 }
 295                 else if (item.getTitle().equals("Fellow managers")) {
 296                         wifiInfoTask = new NetworkInfo();
 297
 298                         managersDialog.show();
 299                         wifiInfoTask.execute();
 300                 }
 301                 else if (item.getTitle().equals("About")) {
 302                         aboutDialog.show();
 303                 }
 304                 else if (item.getTitle().equals("Exit")) {
 305                         finish();
 306                 }
 307
 308                 return true;
 309         }
 310
 311     private class HandleAccelerometer implements SensorEventListener {
 312
 313         @Override
 314         public void onAccuracyChanged(Sensor sensor, int accuracy) {}
 315
 316         @Override
 317         public void onSensorChanged(SensorEvent event) {
 318                  if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
 319                          if (motion_speed_publ != null)
 320                                  motion_speed_publ.setSpeed(event.values[0], event.values[1]);
 321                  }
 322         }
 323     }
 324
 325 //    hokuyo_view.setOnTouchListener(new View.OnTouchListener() {
 326     private class HokuyoGestures extends GestureDetector.SimpleOnGestureListener {
 327
 328                 @Override
 329                 public boolean onSingleTapConfirmed(MotionEvent event) {
 330                         // urceni orientace HokuyoView a poctu pixelu, ktere zabira hokuyo
 331                         double norm = (double)hokuyo_view.getWidth()/(2*HokuyoView.COSINUS);
 332                         boolean isVertical = true;
 333                         if (norm > hokuyo_view.getHeight()) {
 334                                 norm = HokuyoView.COSINUS*hokuyo_view.getHeight()*2;
 335                                 norm = (hokuyo_view.getWidth() - norm)/2;
 336                                 isVertical = false;
 337                         }
 338                         else
 339                                 norm = hokuyo_view.getHeight() - norm;
 340
 341                         // urceni poctu pixelu, ktere zabira ctverec monitoru rychlosti
 342                         double normSpeed = ((double)(isVertical ? hokuyo_view.getWidth() : hokuyo_view.getHeight())) * 0.375;
 343
 344                         if (event.getYPrecision()*event.getY() < normSpeed &&
 345                                         event.getXPrecision()*event.getX() < normSpeed) {
 346                                 if(!hokuyo_view.isRunningMotion()) {
 347                                         mWakeLock.acquire();
 348                                         //mWifiLock.acquire();
 349                                         if (motion_speed_subs == null)
 350                                                 motion_speed_subs = new MotionSpeedSubscribe(appDomain, hokuyo_view);
 351                                         motion_speed_subs.start();
 352                                         hokuyo_view.runMotion(true);
 353                                         hokuyo_view.invalidate();
 354                                         Toast.makeText(getApplicationContext(), "Speed Monitor: ON", Toast.LENGTH_SHORT).show();
 355                                 }
 356                                 else {
 357                                         hokuyo_view.runMotion(false);
 358                                         motion_speed_subs.cancel();
 359                                         hokuyo_view.invalidate();
 360                                         mWakeLock.release();
 361                                         //mWifiLock.release();
 362                                         Toast.makeText(getApplicationContext(), "Speed Monitor: OFF", Toast.LENGTH_SHORT).show();
 363                                 }
 364                                 return true;
 365                         }
 366
 367                         if ((isVertical && event.getYPrecision()*event.getY() > norm) ||
 368                                         (!isVertical && event.getXPrecision()*event.getX() > norm &&
 369                                                         event.getXPrecision()*event.getX() < hokuyo_view.getWidth() - norm)) {
 370                                 if (!hokuyo_view.isRunning()) {
 371                                         mWakeLock.acquire();
 372                                         //mWifiLock.acquire();
 373                                         hokuyo_view.setData(new int[681]);
 374                                         if (hokuyo_scan == null)
 375                                                 hokuyo_scan = new HokuyoScanSubscribe(appDomain, hokuyo_view);
 376                                         hokuyo_scan.start();
 377                                         hokuyo_view.run(true);
 378                                         hokuyo_view.invalidate();
 379                                         Toast.makeText(getApplicationContext(), "Hokuyo LRF: ON", Toast.LENGTH_SHORT).show();
 380                                 }
 381                                 else {
 382                                         hokuyo_view.run(false);
 383                                         hokuyo_scan.cancel();
 384                                         hokuyo_view.invalidate();
 385                                         mWakeLock.release();
 386                                         //mWifiLock.release();
 387                                         Toast.makeText(getApplicationContext(), "Hokuyo LRF: OFF", Toast.LENGTH_SHORT).show();
 388                                 }
 389                                 return true;
 390                         }
 391
 392                         return false;
 393                 }
 394
 395                 @Override
 396                 public boolean onDown(MotionEvent e) {
 397                         return true;
 398                 }
 399
 400                 @Override
 401                 public void onLongPress(MotionEvent event) {
 402                         // urceni poctu pixelu, ktere zabira ctverec monitoru rychlosti
 403                         double normSpeed = ((double)(hokuyo_view.getHeight() < hokuyo_view.getWidth() ? hokuyo_view.getHeight() : hokuyo_view.getWidth())) * 0.375;
 404
 405                         if (event.getYPrecision()*event.getY() < normSpeed &&
 406                                         event.getXPrecision()*event.getX() < normSpeed) {
 407                                 if (motion_speed_publ == null || motion_speed_publ.isCancelled()) {
 408                                         mDimLock.acquire();
 409                                         mWifiLock.acquire();
 410                                         accel = new HandleAccelerometer();
 411                                         mSensorManager.registerListener(accel, mGravity, SensorManager.SENSOR_DELAY_GAME);
 412                                         if (motion_speed_publ == null)
 413                                                 motion_speed_publ = new MotionSpeedPublish(appDomain);
 414                                         motion_speed_publ.start();
 415                                         setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_PORTRAIT);
 416                                         Toast.makeText(getApplicationContext(), "Motion Control: ON", Toast.LENGTH_SHORT).show();
 417                                 }
 418                                 else {
 419                                         mSensorManager.unregisterListener(accel);
 420                                         motion_speed_publ.cancel();
 421                                         setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
 422                                         mDimLock.release();
 423                                         mWifiLock.release();
 424                                         Toast.makeText(getApplicationContext(), "Motion Control: OFF", Toast.LENGTH_SHORT).show();
 425                                 }
 426                         }
 427                 }
 428     }
 429
 430     private class NetworkInfo extends AsyncTask<Void, String, Void> {
 431         @Override
 432         protected Void doInBackground(Void... arg0) {
 433                 while (!isCancelled()) {
 434                         WifiInfo wifiInfo = mWifiManager.getConnectionInfo();
 435                         int ip = wifiInfo.getIpAddress();
 436                         String ipAddress = Formatter.formatIpAddress(ip);
 437                         String ssid = wifiInfo.getSSID();
 438
 439                         publishProgress("\nOwn IP Address: " + ipAddress + "\nNetwork SSID: " + ssid);
 440
 441                         try {
 442                                         Thread.sleep(1000);
 443                                 } catch (InterruptedException e) {
 444                                         e.printStackTrace();
 445                                 }
 446                 }
 447
 448                 return null;
 449         }
 450
 451         @Override
 452         protected void onProgressUpdate(String... values) {
 453                 super.onProgressUpdate(values);
 454
 455                 ownIP.setText(values[0]);
 456         }
 457     }
 458 }