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