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.content.pm.ActivityInfo;
   9 import android.hardware.Sensor;
  10 import android.hardware.SensorEvent;
  11 import android.hardware.SensorEventListener;
  12 import android.hardware.SensorManager;
  13 import android.os.Bundle;
  14 import android.os.PowerManager;
  15 import android.os.PowerManager.WakeLock;
  16 import android.view.Menu;
  17 import android.view.MenuItem;
  18
  19 public class MainActivity extends Activity {
  20
  21         private Manager manager = null;
  22     private String[] mgrs = {"192.168.1.5","192.168.1.8","192.168.1.29","10.1.1.1"};
  23         private MotionSpeedPublish motion_speed_publ = null;
  24         private MotionSpeedSubscribe motion_speed_subs = null;
  25         private HokuyoScanSubscribe hokuyo_scan = null;
  26     private SensorManager mSensorManager = null;
  27     private Sensor mGravity = null;
  28     private SensorEventListener accel = null;
  29     private PowerManager mPowerManager = null;
  30     private WakeLock mWakeLock = null;
  31     private DomainApp appDomain = null;
  32     private HokuyoView hokuyo_view = null;
  33     private MenuItem speed_publ_item = null;
  34     private MenuItem speed_subs_item = null;
  35     private MenuItem hokuyo_item = null;
  36
  37     static {
  38         System.loadLibrary("jorte");
  39     }
  40
  41     @Override
  42     protected void onResume() {
  43         super.onResume();
  44
  45         mWakeLock.acquire();
  46     }
  47
  48     @Override
  49     protected void onPause() {
  50         super.onPause();
  51
  52         if (motion_speed_publ != null && !motion_speed_publ.isCancelled()) {
  53                 motion_speed_publ.cancel();
  54             mSensorManager.unregisterListener(accel);
  55             this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
  56                 speed_publ_item.setTitle("Start motion control");
  57         }
  58
  59         if (motion_speed_subs != null && !motion_speed_subs.isCancelled()) {
  60                 hokuyo_view.runMotion(false);
  61                 motion_speed_subs.cancel();
  62                 hokuyo_view.invalidate();
  63                 speed_subs_item.setTitle("Start motion monitor");
  64         }
  65
  66         if (hokuyo_scan != null && !hokuyo_scan.isCancelled()) {
  67                         hokuyo_view.run(false);
  68                         hokuyo_scan.cancel();
  69                         hokuyo_view.invalidate();
  70                         hokuyo_item.setTitle("Start LRF");
  71         }
  72
  73         mWakeLock.release();
  74     }
  75
  76     @Override
  77     protected void onDestroy() {
  78         super.onDestroy();
  79
  80         if (appDomain != null) {
  81                 appDomain.destroy();
  82                 appDomain = null;
  83         }
  84
  85         if (manager != null) {
  86                 manager.destroy();
  87                 manager = null;
  88         }
  89     }
  90
  91         @Override
  92     public void onCreate(Bundle savedInstanceState) {
  93         super.onCreate(savedInstanceState);
  94         setContentView(R.layout.hokuyo_view);
  95
  96         mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
  97         mGravity = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
  98
  99         mPowerManager = (PowerManager) getSystemService(Context.POWER_SERVICE);
 100         mWakeLock = mPowerManager.newWakeLock(PowerManager.SCREEN_BRIGHT_WAKE_LOCK, getClass().getName());
 101
 102         hokuyo_view = (HokuyoView) findViewById(R.id.hokuyo_view);
 103
 104         manager = new Manager(mgrs);
 105
 106         appDomain = new DomainApp();
 107     }
 108
 109         @Override
 110         public boolean onCreateOptionsMenu(Menu menu) {
 111                 getMenuInflater().inflate(R.menu.activity_main, menu);
 112
 113                 return true;
 114         }
 115
 116         @Override
 117         public boolean onOptionsItemSelected (MenuItem item) {
 118                 System.out.println(item.getTitle());
 119
 120                 if(item.getTitle().equals("Start motion control")) {
 121                         accel = new HandleAccelerometer();
 122                         mSensorManager.registerListener(accel, mGravity, SensorManager.SENSOR_DELAY_GAME);
 123                         if (motion_speed_publ == null)
 124                                 motion_speed_publ = new MotionSpeedPublish(mGravity.getMaximumRange(),appDomain);
 125                         motion_speed_publ.start();
 126                         speed_publ_item = item;
 127                         this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_PORTRAIT);
 128                         item.setTitle("Stop motion control");
 129                 }
 130                 else if (item.getTitle().equals("Stop motion control")) {
 131                         mSensorManager.unregisterListener(accel);
 132                         motion_speed_publ.cancel();
 133                         this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
 134                         item.setTitle("Start motion control");
 135                 }
 136                 else if (item.getTitle().equals("Start motion monitor")) {
 137                         if (motion_speed_subs == null)
 138                                 motion_speed_subs = new MotionSpeedSubscribe(appDomain, hokuyo_view);
 139                         motion_speed_subs.start();
 140                         hokuyo_view.runMotion(true);
 141                         hokuyo_view.invalidate();
 142                         speed_subs_item = item;
 143                         item.setTitle("Stop motion monitor");
 144                 }
 145                 else if (item.getTitle().equals("Stop motion monitor")) {
 146                         hokuyo_view.runMotion(false);
 147                         motion_speed_subs.cancel();
 148                         hokuyo_view.invalidate();
 149                         item.setTitle("Start motion monitor");
 150                 }
 151                 else if (item.getTitle().equals("Start LRF")) {
 152                         if (hokuyo_scan == null)
 153                                 hokuyo_scan = new HokuyoScanSubscribe(appDomain, hokuyo_view);
 154                         hokuyo_scan.start();
 155                         hokuyo_view.run(true);
 156                         hokuyo_view.invalidate();
 157                         hokuyo_item = item;
 158                         item.setTitle("Stop LRF");
 159                 }
 160                 else if (item.getTitle().equals("Stop LRF")) {
 161                         hokuyo_view.run(false);
 162                         hokuyo_scan.cancel();
 163                         hokuyo_view.invalidate();
 164                         item.setTitle("Start LRF");
 165                 }
 166                 else if (item.getTitle().equals("Lift up")) {
 167
 168                 }
 169                 else if (item.getTitle().equals("Lift down")) {
 170
 171                 }
 172                 else if (item.getTitle().equals("Magnet on")) {
 173
 174                 }
 175                 else if (item.getTitle().equals("Magnet off")) {
 176
 177                 }
 178                 else if (item.getTitle().equals("Exit")) {
 179                         finish();
 180                 }
 181
 182                 return true;
 183         }
 184
 185     private class HandleAccelerometer implements SensorEventListener {
 186
 187         @Override
 188         public void onAccuracyChanged(Sensor sensor, int accuracy) {}
 189
 190         @Override
 191         public void onSensorChanged(SensorEvent event) {
 192                  if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
 193                          if (motion_speed_publ != null)
 194                                  motion_speed_publ.setSpeed(event.values[0], event.values[1]);
 195                  }
 196         }
 197     }
 198 }