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.app.Dialog;
   9 import android.content.Context;
  10 import android.content.DialogInterface;
  11 import android.content.pm.ActivityInfo;
  12 import android.hardware.Sensor;
  13 import android.hardware.SensorEvent;
  14 import android.hardware.SensorEventListener;
  15 import android.hardware.SensorManager;
  16 import android.net.wifi.WifiManager;
  17 import android.net.wifi.WifiManager.WifiLock;
  18 import android.os.Bundle;
  19 import android.os.Handler;
  20 import android.os.Message;
  21 import android.os.PowerManager;
  22 import android.os.PowerManager.WakeLock;
  23 import android.view.LayoutInflater;
  24 import android.view.Menu;
  25 import android.view.MenuItem;
  26 import android.view.View;
  27 import android.view.View.OnClickListener;
  28 import android.widget.Button;
  29 import android.widget.EditText;
  30
  31 public class MainActivity extends Activity {
  32         private Dialog voltageDialog = null;
  33         private AlertDialog aboutDialog = null;
  34         static EditText voltage33 = null;
  35         static EditText voltage50 = null;
  36         static EditText voltage80 = null;
  37         static EditText voltageBAT = null;
  38         static Handler dialogHandler = new Handler() {
  39                 @Override
  40                 public void handleMessage(Message msg) {
  41                         double[] values = msg.getData().getDoubleArray("voltages");
  42                         if (values != null) {
  43                                 if (voltage33 != null) {
  44                                         voltage33.setText(Double.toString(values[0]));
  45                                 }
  46                                 if (voltage50 != null) {
  47                                         voltage50.setText(Double.toString(values[1]));
  48                                 }
  49                                 if (voltage80 != null) {
  50                                         voltage80.setText(Double.toString(values[2]));
  51                                 }
  52                                 if (voltageBAT != null) {
  53                                         voltageBAT.setText(Double.toString(values[3]));
  54                                 }
  55                         }
  56                 }
  57     };
  58
  59         private Manager manager = null;
  60     private String[] mgrs = {"192.168.1.5","192.168.1.8","192.168.1.29",
  61                 "10.1.1.1","10.1.1.2","10.1.1.3","10.1.1.4","10.1.1.5","10.1.1.6","10.1.1.7","10.1.1.8","10.1.1.9","10.1.1.10",
  62                 "10.1.1.11","10.1.1.12","10.1.1.13","10.1.1.14","10.1.1.15","10.1.1.16","10.1.1.17","10.1.1.18","10.1.1.19","10.1.1.20"};
  63         private MotionSpeedPublish motion_speed_publ = null;
  64         private MotionSpeedSubscribe motion_speed_subs = null;
  65         private HokuyoScanSubscribe hokuyo_scan = null;
  66         private PwrVoltageSubscribe pwr_voltage = null;
  67         private MagnetCmdPublish magnet_cmd = null;
  68         private CraneCmdPublish crane_cmd = null;
  69     private SensorManager mSensorManager = null;
  70     private Sensor mGravity = null;
  71     private SensorEventListener accel = null;
  72     private PowerManager mPowerManager = null;
  73     private WifiManager mWifiManager = null;
  74     private WakeLock mWakeLock = null;
  75     private WifiLock mWifiLock = null;
  76     private DomainApp appDomain = null;
  77     private HokuyoView hokuyo_view = null;
  78     private MenuItem speed_publ_item = null;
  79     private MenuItem speed_subs_item = null;
  80     private MenuItem hokuyo_item = null;
  81
  82     static {
  83         System.loadLibrary("jorte");
  84     }
  85
  86     @Override
  87     protected void onResume() {
  88         super.onResume();
  89
  90         mWakeLock.acquire();
  91         mWifiLock.acquire();
  92     }
  93
  94     @Override
  95     protected void onPause() {
  96         super.onPause();
  97
  98         if (motion_speed_publ != null && !motion_speed_publ.isCancelled()) {
  99                 motion_speed_publ.cancel();
 100             mSensorManager.unregisterListener(accel);
 101             this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
 102                 speed_publ_item.setTitle("Start motion control");
 103         }
 104
 105         if (motion_speed_subs != null && !motion_speed_subs.isCancelled()) {
 106                 hokuyo_view.runMotion(false);
 107                 motion_speed_subs.cancel();
 108                 hokuyo_view.invalidate();
 109                 speed_subs_item.setTitle("Start motion monitor");
 110         }
 111
 112         if (hokuyo_scan != null && !hokuyo_scan.isCancelled()) {
 113                         hokuyo_view.run(false);
 114                         hokuyo_scan.cancel();
 115                         hokuyo_view.invalidate();
 116                         hokuyo_item.setTitle("Start LRF");
 117         }
 118
 119         if (pwr_voltage != null && !pwr_voltage.isCancelled()) {
 120                 if (voltageDialog.isShowing())
 121                         voltageDialog.dismiss();
 122                         pwr_voltage.cancel();
 123         }
 124
 125         mWakeLock.release();
 126         mWifiLock.release();
 127     }
 128
 129     @Override
 130     protected void onDestroy() {
 131         super.onDestroy();
 132
 133         if (crane_cmd != null && !crane_cmd.isCancelled()) {
 134                 crane_cmd.cancel();
 135         }
 136
 137         if (magnet_cmd != null && !crane_cmd.isCancelled()) {
 138                 magnet_cmd.cancel();
 139         }
 140
 141         if (appDomain != null) {
 142                 appDomain.destroy();
 143                 appDomain = null;
 144         }
 145
 146         if (manager != null) {
 147                 manager.destroy();
 148                 manager = null;
 149         }
 150     }
 151
 152         @SuppressWarnings("deprecation")
 153         @Override
 154     public void onCreate(Bundle savedInstanceState) {
 155         super.onCreate(savedInstanceState);
 156         setContentView(R.layout.hokuyo_view);
 157
 158                 AlertDialog.Builder voltageBuilder = new AlertDialog.Builder(this);
 159                 LayoutInflater inflater = getLayoutInflater();
 160                 View voltageView = inflater.inflate(R.layout.status_dialog, null);
 161                 voltageBuilder.setCancelable(false);
 162                 voltageBuilder.setView(voltageView);
 163                 voltageBuilder.setPositiveButton("OK", new DialogInterface.OnClickListener() {
 164                         @Override
 165                         public void onClick(DialogInterface dialog, int which) {
 166                                 voltageDialog.dismiss();
 167                                 pwr_voltage.cancel();
 168                         }
 169                 });
 170                 voltageBuilder.setTitle("Voltages");
 171                 voltageDialog = voltageBuilder.create();
 172                 voltage33 = (EditText)voltageView.findViewById(R.id.editText1);
 173                 voltage50 = (EditText)voltageView.findViewById(R.id.editText2);
 174                 voltage80 = (EditText)voltageView.findViewById(R.id.editText3);
 175                 voltageBAT = (EditText)voltageView.findViewById(R.id.editText4);
 176
 177                 AlertDialog.Builder builder = new AlertDialog.Builder(this);
 178                 View aboutView = inflater.inflate(R.layout.about_dialog, null);
 179                 builder.setView(aboutView);
 180                 builder.setPositiveButton("OK", null);
 181                 aboutDialog = builder.create();
 182
 183         mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
 184         mGravity = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
 185
 186         mPowerManager = (PowerManager) getSystemService(Context.POWER_SERVICE);
 187         mWakeLock = mPowerManager.newWakeLock(
 188                         PowerManager.SCREEN_BRIGHT_WAKE_LOCK
 189                         | PowerManager.ACQUIRE_CAUSES_WAKEUP
 190                         | PowerManager.ON_AFTER_RELEASE,
 191                         getClass().getName());
 192
 193         mWifiManager = (WifiManager) getSystemService(Context.WIFI_SERVICE);
 194         mWifiLock = mWifiManager.createWifiLock(WifiManager.WIFI_MODE_FULL_HIGH_PERF, getClass().getName());
 195
 196         hokuyo_view = (HokuyoView) findViewById(R.id.hokuyo_view);
 197
 198         manager = new Manager(mgrs);
 199
 200         appDomain = new DomainApp();
 201         magnet_cmd = new MagnetCmdPublish(appDomain);
 202         magnet_cmd.start();
 203         crane_cmd = new CraneCmdPublish(appDomain);
 204         crane_cmd.start();
 205     }
 206
 207         @Override
 208         public boolean onCreateOptionsMenu(Menu menu) {
 209                 getMenuInflater().inflate(R.menu.activity_main, menu);
 210
 211                 return true;
 212         }
 213
 214         @Override
 215         public boolean onOptionsItemSelected (MenuItem item) {
 216                 System.out.println(item.getTitle());
 217
 218                 if(item.getTitle().equals("Start motion control")) {
 219                         accel = new HandleAccelerometer();
 220                         mSensorManager.registerListener(accel, mGravity, SensorManager.SENSOR_DELAY_GAME);
 221                         if (motion_speed_publ == null)
 222                                 motion_speed_publ = new MotionSpeedPublish(mGravity.getMaximumRange(),appDomain);
 223                         motion_speed_publ.start();
 224                         speed_publ_item = item;
 225                         this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_PORTRAIT);
 226                         item.setTitle("Stop motion control");
 227                 }
 228                 else if (item.getTitle().equals("Stop motion control")) {
 229                         mSensorManager.unregisterListener(accel);
 230                         motion_speed_publ.cancel();
 231                         this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
 232                         item.setTitle("Start motion control");
 233                 }
 234                 else if (item.getTitle().equals("Start motion monitor")) {
 235                         if (motion_speed_subs == null)
 236                                 motion_speed_subs = new MotionSpeedSubscribe(appDomain, hokuyo_view);
 237                         motion_speed_subs.start();
 238                         hokuyo_view.runMotion(true);
 239                         hokuyo_view.invalidate();
 240                         speed_subs_item = item;
 241                         item.setTitle("Stop motion monitor");
 242                 }
 243                 else if (item.getTitle().equals("Stop motion monitor")) {
 244                         hokuyo_view.runMotion(false);
 245                         motion_speed_subs.cancel();
 246                         hokuyo_view.invalidate();
 247                         item.setTitle("Start motion monitor");
 248                 }
 249                 else if (item.getTitle().equals("Start LRF")) {
 250                         if (hokuyo_scan == null)
 251                                 hokuyo_scan = new HokuyoScanSubscribe(appDomain, hokuyo_view);
 252                         hokuyo_scan.start();
 253                         hokuyo_view.run(true);
 254                         hokuyo_view.invalidate();
 255                         hokuyo_item = item;
 256                         item.setTitle("Stop LRF");
 257                 }
 258                 else if (item.getTitle().equals("Stop LRF")) {
 259                         hokuyo_view.run(false);
 260                         hokuyo_scan.cancel();
 261                         hokuyo_view.invalidate();
 262                         item.setTitle("Start LRF");
 263                 }
 264                 else if (item.getTitle().equals("Crane up")) {
 265                         crane_cmd.send(0x100);
 266                         item.setTitle("Crane down");
 267                 }
 268                 else if (item.getTitle().equals("Crane down")) {
 269                         crane_cmd.send(0x190);
 270                         item.setTitle("Crane up");
 271                 }
 272                 else if (item.getTitle().equals("Magnet on")) {
 273                         magnet_cmd.send(1);
 274                         item.setTitle("Magnet off");
 275                 }
 276                 else if (item.getTitle().equals("Magnet off")) {
 277                         magnet_cmd.send(0);
 278                         item.setTitle("Magnet on");
 279                 }
 280                 else if (item.getTitle().equals("Voltage monitor")) {
 281                         if (pwr_voltage == null)
 282                                 pwr_voltage = new PwrVoltageSubscribe(appDomain, dialogHandler);
 283                         pwr_voltage.start();
 284                         voltageDialog.show();
 285                 }
 286                 else if (item.getTitle().equals("About")) {
 287                         aboutDialog.show();
 288                 }
 289                 else if (item.getTitle().equals("Exit")) {
 290                         finish();
 291                 }
 292
 293                 return true;
 294         }
 295
 296     private class HandleAccelerometer implements SensorEventListener {
 297
 298         @Override
 299         public void onAccuracyChanged(Sensor sensor, int accuracy) {}
 300
 301         @Override
 302         public void onSensorChanged(SensorEvent event) {
 303                  if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
 304                          if (motion_speed_publ != null)
 305                                  motion_speed_publ.setSpeed(event.values[0], event.values[1]);
 306                  }
 307         }
 308     }
 309 }