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