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.Dialog;
   8 import android.content.Context;
   9 import android.content.pm.ActivityInfo;
  10 import android.hardware.Sensor;
  11 import android.hardware.SensorEvent;
  12 import android.hardware.SensorEventListener;
  13 import android.hardware.SensorManager;
  14 import android.os.Bundle;
  15 import android.os.Handler;
  16 import android.os.Message;
  17 import android.os.PowerManager;
  18 import android.os.PowerManager.WakeLock;
  19 import android.view.Menu;
  20 import android.view.MenuItem;
  21 import android.view.View;
  22 import android.view.View.OnClickListener;
  23 import android.widget.Button;
  24 import android.widget.EditText;
  25
  26 public class MainActivity extends Activity {
  27         private Dialog voltageDialog = null;
  28         static EditText voltage33 = null;
  29         static EditText voltage50 = null;
  30         static EditText voltage80 = null;
  31         static EditText voltageBAT = null;
  32         static Handler dialogHandler = new Handler() {
  33                 @Override
  34                 public void handleMessage(Message msg) {
  35                         double[] values = msg.getData().getDoubleArray("voltages");
  36                         if (values != null) {
  37                                 if (voltage33 != null) {
  38                                         voltage33.setText(Double.toString(values[0]));
  39                                 }
  40                                 if (voltage50 != null) {
  41                                         voltage50.setText(Double.toString(values[1]));
  42                                 }
  43                                 if (voltage80 != null) {
  44                                         voltage80.setText(Double.toString(values[2]));
  45                                 }
  46                                 if (voltageBAT != null) {
  47                                         voltageBAT.setText(Double.toString(values[3]));
  48                                 }
  49                         }
  50                 }
  51     };
  52
  53         private Manager manager = null;
  54     private String[] mgrs = {"192.168.1.5","192.168.1.8","192.168.1.29","10.1.1.1"};
  55         private MotionSpeedPublish motion_speed_publ = null;
  56         private MotionSpeedSubscribe motion_speed_subs = null;
  57         private HokuyoScanSubscribe hokuyo_scan = null;
  58         private PwrVoltageSubscribe pwr_voltage = null;
  59     private SensorManager mSensorManager = null;
  60     private Sensor mGravity = null;
  61     private SensorEventListener accel = null;
  62     private PowerManager mPowerManager = null;
  63     private WakeLock mWakeLock = null;
  64     private DomainApp appDomain = null;
  65     private HokuyoView hokuyo_view = null;
  66     private MenuItem speed_publ_item = null;
  67     private MenuItem speed_subs_item = null;
  68     private MenuItem hokuyo_item = null;
  69
  70     static {
  71         System.loadLibrary("jorte");
  72     }
  73
  74     @Override
  75     protected void onResume() {
  76         super.onResume();
  77
  78         mWakeLock.acquire();
  79     }
  80
  81     @Override
  82     protected void onPause() {
  83         super.onPause();
  84
  85         if (motion_speed_publ != null && !motion_speed_publ.isCancelled()) {
  86                 motion_speed_publ.cancel();
  87             mSensorManager.unregisterListener(accel);
  88             this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
  89                 speed_publ_item.setTitle("Start motion control");
  90         }
  91
  92         if (motion_speed_subs != null && !motion_speed_subs.isCancelled()) {
  93                 hokuyo_view.runMotion(false);
  94                 motion_speed_subs.cancel();
  95                 hokuyo_view.invalidate();
  96                 speed_subs_item.setTitle("Start motion monitor");
  97         }
  98
  99         if (hokuyo_scan != null && !hokuyo_scan.isCancelled()) {
 100                         hokuyo_view.run(false);
 101                         hokuyo_scan.cancel();
 102                         hokuyo_view.invalidate();
 103                         hokuyo_item.setTitle("Start LRF");
 104         }
 105
 106         if (pwr_voltage != null && !pwr_voltage.isCancelled()) {
 107                 if (voltageDialog.isShowing())
 108                         voltageDialog.dismiss();
 109                         pwr_voltage.cancel();
 110         }
 111
 112         mWakeLock.release();
 113     }
 114
 115     @Override
 116     protected void onDestroy() {
 117         super.onDestroy();
 118
 119         if (appDomain != null) {
 120                 appDomain.destroy();
 121                 appDomain = null;
 122         }
 123
 124         if (manager != null) {
 125                 manager.destroy();
 126                 manager = null;
 127         }
 128     }
 129
 130         @Override
 131     public void onCreate(Bundle savedInstanceState) {
 132         super.onCreate(savedInstanceState);
 133         setContentView(R.layout.hokuyo_view);
 134
 135         voltageDialog = new Dialog(this,R.style.voltage_dialog);
 136         voltageDialog.setCancelable(false);
 137                 voltageDialog.setContentView(R.layout.status_dialog);
 138                 Button okButton = (Button)voltageDialog.findViewById(R.id.button1);
 139                 okButton.setOnClickListener(new OnClickListener() {
 140                         @Override
 141                         public void onClick(View arg0) {
 142                                 voltageDialog.dismiss();
 143                                 pwr_voltage.cancel();
 144                         }
 145                 });
 146                 voltage33 = (EditText)voltageDialog.findViewById(R.id.editText1);
 147                 voltage50 = (EditText)voltageDialog.findViewById(R.id.editText2);
 148                 voltage80 = (EditText)voltageDialog.findViewById(R.id.editText3);
 149                 voltageBAT = (EditText)voltageDialog.findViewById(R.id.editText4);
 150
 151         mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
 152         mGravity = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
 153
 154         mPowerManager = (PowerManager) getSystemService(Context.POWER_SERVICE);
 155         mWakeLock = mPowerManager.newWakeLock(PowerManager.SCREEN_BRIGHT_WAKE_LOCK, getClass().getName());
 156
 157         hokuyo_view = (HokuyoView) findViewById(R.id.hokuyo_view);
 158
 159         manager = new Manager(mgrs);
 160
 161         appDomain = new DomainApp();
 162     }
 163
 164         @Override
 165         public boolean onCreateOptionsMenu(Menu menu) {
 166                 getMenuInflater().inflate(R.menu.activity_main, menu);
 167
 168                 return true;
 169         }
 170
 171         @Override
 172         public boolean onOptionsItemSelected (MenuItem item) {
 173                 System.out.println(item.getTitle());
 174
 175                 if(item.getTitle().equals("Start motion control")) {
 176                         accel = new HandleAccelerometer();
 177                         mSensorManager.registerListener(accel, mGravity, SensorManager.SENSOR_DELAY_GAME);
 178                         if (motion_speed_publ == null)
 179                                 motion_speed_publ = new MotionSpeedPublish(mGravity.getMaximumRange(),appDomain);
 180                         motion_speed_publ.start();
 181                         speed_publ_item = item;
 182                         this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_PORTRAIT);
 183                         item.setTitle("Stop motion control");
 184                 }
 185                 else if (item.getTitle().equals("Stop motion control")) {
 186                         mSensorManager.unregisterListener(accel);
 187                         motion_speed_publ.cancel();
 188                         this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
 189                         item.setTitle("Start motion control");
 190                 }
 191                 else if (item.getTitle().equals("Start motion monitor")) {
 192                         if (motion_speed_subs == null)
 193                                 motion_speed_subs = new MotionSpeedSubscribe(appDomain, hokuyo_view);
 194                         motion_speed_subs.start();
 195                         hokuyo_view.runMotion(true);
 196                         hokuyo_view.invalidate();
 197                         speed_subs_item = item;
 198                         item.setTitle("Stop motion monitor");
 199                 }
 200                 else if (item.getTitle().equals("Stop motion monitor")) {
 201                         hokuyo_view.runMotion(false);
 202                         motion_speed_subs.cancel();
 203                         hokuyo_view.invalidate();
 204                         item.setTitle("Start motion monitor");
 205                 }
 206                 else if (item.getTitle().equals("Start LRF")) {
 207                         if (hokuyo_scan == null)
 208                                 hokuyo_scan = new HokuyoScanSubscribe(appDomain, hokuyo_view);
 209                         hokuyo_scan.start();
 210                         hokuyo_view.run(true);
 211                         hokuyo_view.invalidate();
 212                         hokuyo_item = item;
 213                         item.setTitle("Stop LRF");
 214                 }
 215                 else if (item.getTitle().equals("Stop LRF")) {
 216                         hokuyo_view.run(false);
 217                         hokuyo_scan.cancel();
 218                         hokuyo_view.invalidate();
 219                         item.setTitle("Start LRF");
 220                 }
 221                 else if (item.getTitle().equals("Lift up")) {
 222
 223                 }
 224                 else if (item.getTitle().equals("Lift down")) {
 225
 226                 }
 227                 else if (item.getTitle().equals("Magnet on")) {
 228
 229                 }
 230                 else if (item.getTitle().equals("Magnet off")) {
 231
 232                 }
 233                 else if (item.getTitle().equals("Voltage monitor")) {
 234                         if (pwr_voltage == null)
 235                                 pwr_voltage = new PwrVoltageSubscribe(appDomain, dialogHandler);
 236                         pwr_voltage.start();
 237                         voltageDialog.show();
 238                 }
 239                 else if (item.getTitle().equals("Exit")) {
 240                         finish();
 241                 }
 242
 243                 return true;
 244         }
 245
 246     private class HandleAccelerometer implements SensorEventListener {
 247
 248         @Override
 249         public void onAccuracyChanged(Sensor sensor, int accuracy) {}
 250
 251         @Override
 252         public void onSensorChanged(SensorEvent event) {
 253                  if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
 254                          if (motion_speed_publ != null)
 255                                  motion_speed_publ.setSpeed(event.values[0], event.values[1]);
 256                  }
 257         }
 258     }
 259 }