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 MagnetCmdPublish magnet_cmd = null;
  60         private CraneCmdPublish crane_cmd = null;
  61     private SensorManager mSensorManager = null;
  62     private Sensor mGravity = null;
  63     private SensorEventListener accel = null;
  64     private PowerManager mPowerManager = null;
  65     private WakeLock mWakeLock = null;
  66     private DomainApp appDomain = null;
  67     private HokuyoView hokuyo_view = null;
  68     private MenuItem speed_publ_item = null;
  69     private MenuItem speed_subs_item = null;
  70     private MenuItem hokuyo_item = null;
  71
  72     static {
  73         System.loadLibrary("jorte");
  74     }
  75
  76     @Override
  77     protected void onResume() {
  78         super.onResume();
  79
  80         mWakeLock.acquire();
  81     }
  82
  83     @Override
  84     protected void onPause() {
  85         super.onPause();
  86
  87         if (motion_speed_publ != null && !motion_speed_publ.isCancelled()) {
  88                 motion_speed_publ.cancel();
  89             mSensorManager.unregisterListener(accel);
  90             this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
  91                 speed_publ_item.setTitle("Start motion control");
  92         }
  93
  94         if (motion_speed_subs != null && !motion_speed_subs.isCancelled()) {
  95                 hokuyo_view.runMotion(false);
  96                 motion_speed_subs.cancel();
  97                 hokuyo_view.invalidate();
  98                 speed_subs_item.setTitle("Start motion monitor");
  99         }
 100
 101         if (hokuyo_scan != null && !hokuyo_scan.isCancelled()) {
 102                         hokuyo_view.run(false);
 103                         hokuyo_scan.cancel();
 104                         hokuyo_view.invalidate();
 105                         hokuyo_item.setTitle("Start LRF");
 106         }
 107
 108         if (pwr_voltage != null && !pwr_voltage.isCancelled()) {
 109                 if (voltageDialog.isShowing())
 110                         voltageDialog.dismiss();
 111                         pwr_voltage.cancel();
 112         }
 113
 114         mWakeLock.release();
 115     }
 116
 117     @Override
 118     protected void onDestroy() {
 119         super.onDestroy();
 120
 121         if (crane_cmd != null && !crane_cmd.isCancelled()) {
 122                 crane_cmd.cancel();
 123         }
 124
 125         if (magnet_cmd != null && !crane_cmd.isCancelled()) {
 126                 magnet_cmd.cancel();
 127         }
 128
 129         if (appDomain != null) {
 130                 appDomain.destroy();
 131                 appDomain = null;
 132         }
 133
 134         if (manager != null) {
 135                 manager.destroy();
 136                 manager = null;
 137         }
 138     }
 139
 140         @Override
 141     public void onCreate(Bundle savedInstanceState) {
 142         super.onCreate(savedInstanceState);
 143         setContentView(R.layout.hokuyo_view);
 144
 145         voltageDialog = new Dialog(this,R.style.voltage_dialog);
 146         voltageDialog.setCancelable(false);
 147                 voltageDialog.setContentView(R.layout.status_dialog);
 148                 Button okButton = (Button)voltageDialog.findViewById(R.id.button1);
 149                 okButton.setOnClickListener(new OnClickListener() {
 150                         @Override
 151                         public void onClick(View arg0) {
 152                                 voltageDialog.dismiss();
 153                                 pwr_voltage.cancel();
 154                         }
 155                 });
 156                 voltage33 = (EditText)voltageDialog.findViewById(R.id.editText1);
 157                 voltage50 = (EditText)voltageDialog.findViewById(R.id.editText2);
 158                 voltage80 = (EditText)voltageDialog.findViewById(R.id.editText3);
 159                 voltageBAT = (EditText)voltageDialog.findViewById(R.id.editText4);
 160
 161         mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
 162         mGravity = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
 163
 164         mPowerManager = (PowerManager) getSystemService(Context.POWER_SERVICE);
 165         mWakeLock = mPowerManager.newWakeLock(PowerManager.SCREEN_BRIGHT_WAKE_LOCK, getClass().getName());
 166
 167         hokuyo_view = (HokuyoView) findViewById(R.id.hokuyo_view);
 168
 169         manager = new Manager(mgrs);
 170
 171         appDomain = new DomainApp();
 172         magnet_cmd = new MagnetCmdPublish(appDomain);
 173         magnet_cmd.start();
 174         crane_cmd = new CraneCmdPublish(appDomain);
 175         crane_cmd.start();
 176     }
 177
 178         @Override
 179         public boolean onCreateOptionsMenu(Menu menu) {
 180                 getMenuInflater().inflate(R.menu.activity_main, menu);
 181
 182                 return true;
 183         }
 184
 185         @Override
 186         public boolean onOptionsItemSelected (MenuItem item) {
 187                 System.out.println(item.getTitle());
 188
 189                 if(item.getTitle().equals("Start motion control")) {
 190                         accel = new HandleAccelerometer();
 191                         mSensorManager.registerListener(accel, mGravity, SensorManager.SENSOR_DELAY_GAME);
 192                         if (motion_speed_publ == null)
 193                                 motion_speed_publ = new MotionSpeedPublish(mGravity.getMaximumRange(),appDomain);
 194                         motion_speed_publ.start();
 195                         speed_publ_item = item;
 196                         this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_PORTRAIT);
 197                         item.setTitle("Stop motion control");
 198                 }
 199                 else if (item.getTitle().equals("Stop motion control")) {
 200                         mSensorManager.unregisterListener(accel);
 201                         motion_speed_publ.cancel();
 202                         this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
 203                         item.setTitle("Start motion control");
 204                 }
 205                 else if (item.getTitle().equals("Start motion monitor")) {
 206                         if (motion_speed_subs == null)
 207                                 motion_speed_subs = new MotionSpeedSubscribe(appDomain, hokuyo_view);
 208                         motion_speed_subs.start();
 209                         hokuyo_view.runMotion(true);
 210                         hokuyo_view.invalidate();
 211                         speed_subs_item = item;
 212                         item.setTitle("Stop motion monitor");
 213                 }
 214                 else if (item.getTitle().equals("Stop motion monitor")) {
 215                         hokuyo_view.runMotion(false);
 216                         motion_speed_subs.cancel();
 217                         hokuyo_view.invalidate();
 218                         item.setTitle("Start motion monitor");
 219                 }
 220                 else if (item.getTitle().equals("Start LRF")) {
 221                         if (hokuyo_scan == null)
 222                                 hokuyo_scan = new HokuyoScanSubscribe(appDomain, hokuyo_view);
 223                         hokuyo_scan.start();
 224                         hokuyo_view.run(true);
 225                         hokuyo_view.invalidate();
 226                         hokuyo_item = item;
 227                         item.setTitle("Stop LRF");
 228                 }
 229                 else if (item.getTitle().equals("Stop LRF")) {
 230                         hokuyo_view.run(false);
 231                         hokuyo_scan.cancel();
 232                         hokuyo_view.invalidate();
 233                         item.setTitle("Start LRF");
 234                 }
 235                 else if (item.getTitle().equals("Lift up")) {
 236                         crane_cmd.send((short)0x100);
 237                         item.setTitle("Lift down");
 238                 }
 239                 else if (item.getTitle().equals("Lift down")) {
 240                         crane_cmd.send((short)0x190);
 241                         item.setTitle("Lift up");
 242                 }
 243                 else if (item.getTitle().equals("Magnet on")) {
 244                         magnet_cmd.send((short)1);
 245                         item.setTitle("Magnet off");
 246                 }
 247                 else if (item.getTitle().equals("Magnet off")) {
 248                         magnet_cmd.send((short)0);
 249                         item.setTitle("Magnet on");
 250                 }
 251                 else if (item.getTitle().equals("Voltage monitor")) {
 252                         if (pwr_voltage == null)
 253                                 pwr_voltage = new PwrVoltageSubscribe(appDomain, dialogHandler);
 254                         pwr_voltage.start();
 255                         voltageDialog.show();
 256                 }
 257                 else if (item.getTitle().equals("Exit")) {
 258                         finish();
 259                 }
 260
 261                 return true;
 262         }
 263
 264     private class HandleAccelerometer implements SensorEventListener {
 265
 266         @Override
 267         public void onAccuracyChanged(Sensor sensor, int accuracy) {}
 268
 269         @Override
 270         public void onSensorChanged(SensorEvent event) {
 271                  if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
 272                          if (motion_speed_publ != null)
 273                                  motion_speed_publ.setSpeed(event.values[0], event.values[1]);
 274                  }
 275         }
 276     }
 277 }