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",
  55                 "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",
  56                 "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"};
  57         private MotionSpeedPublish motion_speed_publ = null;
  58         private MotionSpeedSubscribe motion_speed_subs = null;
  59         private HokuyoScanSubscribe hokuyo_scan = null;
  60         private PwrVoltageSubscribe pwr_voltage = null;
  61         private MagnetCmdPublish magnet_cmd = null;
  62         private CraneCmdPublish crane_cmd = null;
  63     private SensorManager mSensorManager = null;
  64     private Sensor mGravity = null;
  65     private SensorEventListener accel = null;
  66     private PowerManager mPowerManager = null;
  67     private WakeLock mWakeLock = null;
  68     private DomainApp appDomain = null;
  69     private HokuyoView hokuyo_view = null;
  70     private MenuItem speed_publ_item = null;
  71     private MenuItem speed_subs_item = null;
  72     private MenuItem hokuyo_item = null;
  73
  74     static {
  75         System.loadLibrary("jorte");
  76     }
  77
  78     @Override
  79     protected void onResume() {
  80         super.onResume();
  81
  82         mWakeLock.acquire();
  83     }
  84
  85     @Override
  86     protected void onPause() {
  87         super.onPause();
  88
  89         if (motion_speed_publ != null && !motion_speed_publ.isCancelled()) {
  90                 motion_speed_publ.cancel();
  91             mSensorManager.unregisterListener(accel);
  92             this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
  93                 speed_publ_item.setTitle("Start motion control");
  94         }
  95
  96         if (motion_speed_subs != null && !motion_speed_subs.isCancelled()) {
  97                 hokuyo_view.runMotion(false);
  98                 motion_speed_subs.cancel();
  99                 hokuyo_view.invalidate();
 100                 speed_subs_item.setTitle("Start motion monitor");
 101         }
 102
 103         if (hokuyo_scan != null && !hokuyo_scan.isCancelled()) {
 104                         hokuyo_view.run(false);
 105                         hokuyo_scan.cancel();
 106                         hokuyo_view.invalidate();
 107                         hokuyo_item.setTitle("Start LRF");
 108         }
 109
 110         if (pwr_voltage != null && !pwr_voltage.isCancelled()) {
 111                 if (voltageDialog.isShowing())
 112                         voltageDialog.dismiss();
 113                         pwr_voltage.cancel();
 114         }
 115
 116         mWakeLock.release();
 117     }
 118
 119     @Override
 120     protected void onDestroy() {
 121         super.onDestroy();
 122
 123         if (crane_cmd != null && !crane_cmd.isCancelled()) {
 124                 crane_cmd.cancel();
 125         }
 126
 127         if (magnet_cmd != null && !crane_cmd.isCancelled()) {
 128                 magnet_cmd.cancel();
 129         }
 130
 131         if (appDomain != null) {
 132                 appDomain.destroy();
 133                 appDomain = null;
 134         }
 135
 136         if (manager != null) {
 137                 manager.destroy();
 138                 manager = null;
 139         }
 140     }
 141
 142         @Override
 143     public void onCreate(Bundle savedInstanceState) {
 144         super.onCreate(savedInstanceState);
 145         setContentView(R.layout.hokuyo_view);
 146
 147         voltageDialog = new Dialog(this,R.style.voltage_dialog);
 148         voltageDialog.setCancelable(false);
 149                 voltageDialog.setContentView(R.layout.status_dialog);
 150                 Button okButton = (Button)voltageDialog.findViewById(R.id.button1);
 151                 okButton.setOnClickListener(new OnClickListener() {
 152                         @Override
 153                         public void onClick(View arg0) {
 154                                 voltageDialog.dismiss();
 155                                 pwr_voltage.cancel();
 156                         }
 157                 });
 158                 voltage33 = (EditText)voltageDialog.findViewById(R.id.editText1);
 159                 voltage50 = (EditText)voltageDialog.findViewById(R.id.editText2);
 160                 voltage80 = (EditText)voltageDialog.findViewById(R.id.editText3);
 161                 voltageBAT = (EditText)voltageDialog.findViewById(R.id.editText4);
 162
 163         mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
 164         mGravity = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
 165
 166         mPowerManager = (PowerManager) getSystemService(Context.POWER_SERVICE);
 167         mWakeLock = mPowerManager.newWakeLock(PowerManager.SCREEN_BRIGHT_WAKE_LOCK, getClass().getName());
 168
 169         hokuyo_view = (HokuyoView) findViewById(R.id.hokuyo_view);
 170
 171         manager = new Manager(mgrs);
 172
 173         appDomain = new DomainApp();
 174         magnet_cmd = new MagnetCmdPublish(appDomain);
 175         magnet_cmd.start();
 176         crane_cmd = new CraneCmdPublish(appDomain);
 177         crane_cmd.start();
 178     }
 179
 180         @Override
 181         public boolean onCreateOptionsMenu(Menu menu) {
 182                 getMenuInflater().inflate(R.menu.activity_main, menu);
 183
 184                 return true;
 185         }
 186
 187         @Override
 188         public boolean onOptionsItemSelected (MenuItem item) {
 189                 System.out.println(item.getTitle());
 190
 191                 if(item.getTitle().equals("Start motion control")) {
 192                         accel = new HandleAccelerometer();
 193                         mSensorManager.registerListener(accel, mGravity, SensorManager.SENSOR_DELAY_GAME);
 194                         if (motion_speed_publ == null)
 195                                 motion_speed_publ = new MotionSpeedPublish(mGravity.getMaximumRange(),appDomain);
 196                         motion_speed_publ.start();
 197                         speed_publ_item = item;
 198                         this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_PORTRAIT);
 199                         item.setTitle("Stop motion control");
 200                 }
 201                 else if (item.getTitle().equals("Stop motion control")) {
 202                         mSensorManager.unregisterListener(accel);
 203                         motion_speed_publ.cancel();
 204                         this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
 205                         item.setTitle("Start motion control");
 206                 }
 207                 else if (item.getTitle().equals("Start motion monitor")) {
 208                         if (motion_speed_subs == null)
 209                                 motion_speed_subs = new MotionSpeedSubscribe(appDomain, hokuyo_view);
 210                         motion_speed_subs.start();
 211                         hokuyo_view.runMotion(true);
 212                         hokuyo_view.invalidate();
 213                         speed_subs_item = item;
 214                         item.setTitle("Stop motion monitor");
 215                 }
 216                 else if (item.getTitle().equals("Stop motion monitor")) {
 217                         hokuyo_view.runMotion(false);
 218                         motion_speed_subs.cancel();
 219                         hokuyo_view.invalidate();
 220                         item.setTitle("Start motion monitor");
 221                 }
 222                 else if (item.getTitle().equals("Start LRF")) {
 223                         if (hokuyo_scan == null)
 224                                 hokuyo_scan = new HokuyoScanSubscribe(appDomain, hokuyo_view);
 225                         hokuyo_scan.start();
 226                         hokuyo_view.run(true);
 227                         hokuyo_view.invalidate();
 228                         hokuyo_item = item;
 229                         item.setTitle("Stop LRF");
 230                 }
 231                 else if (item.getTitle().equals("Stop LRF")) {
 232                         hokuyo_view.run(false);
 233                         hokuyo_scan.cancel();
 234                         hokuyo_view.invalidate();
 235                         item.setTitle("Start LRF");
 236                 }
 237                 else if (item.getTitle().equals("Crane up")) {
 238                         crane_cmd.send(0x100);
 239                         item.setTitle("Crane down");
 240                 }
 241                 else if (item.getTitle().equals("Crane down")) {
 242                         crane_cmd.send(0x190);
 243                         item.setTitle("Crane up");
 244                 }
 245                 else if (item.getTitle().equals("Magnet on")) {
 246                         magnet_cmd.send(1);
 247                         item.setTitle("Magnet off");
 248                 }
 249                 else if (item.getTitle().equals("Magnet off")) {
 250                         magnet_cmd.send(0);
 251                         item.setTitle("Magnet on");
 252                 }
 253                 else if (item.getTitle().equals("Voltage monitor")) {
 254                         if (pwr_voltage == null)
 255                                 pwr_voltage = new PwrVoltageSubscribe(appDomain, dialogHandler);
 256                         pwr_voltage.start();
 257                         voltageDialog.show();
 258                 }
 259                 else if (item.getTitle().equals("Exit")) {
 260                         finish();
 261                 }
 262
 263                 return true;
 264         }
 265
 266     private class HandleAccelerometer implements SensorEventListener {
 267
 268         @Override
 269         public void onAccuracyChanged(Sensor sensor, int accuracy) {}
 270
 271         @Override
 272         public void onSensorChanged(SensorEvent event) {
 273                  if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
 274                          if (motion_speed_publ != null)
 275                                  motion_speed_publ.setSpeed(event.values[0], event.values[1]);
 276                  }
 277         }
 278     }
 279 }