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