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.content.Context;
   8 import android.content.pm.ActivityInfo;
   9 import android.hardware.Sensor;
  10 import android.hardware.SensorEvent;
  11 import android.hardware.SensorEventListener;
  12 import android.hardware.SensorManager;
  13 import android.os.Bundle;
  14 import android.os.PowerManager;
  15 import android.os.PowerManager.WakeLock;
  16 import android.view.Menu;
  17 import android.view.MenuItem;
  18
  19 public class MainActivity extends Activity {
  20
  21         private Manager manager = null;
  22     private String[] mgrs = {"192.168.1.5","192.168.1.8","10.1.1.1"};
  23         private MotionSpeedPublish motion_speed = null;
  24         private HokuyoScanSubscribe hokuyo_scan = null;
  25     private SensorManager mSensorManager = null;
  26     private Sensor mGravity = null;
  27     private SensorEventListener accel = null;
  28     private PowerManager mPowerManager = null;
  29     private WakeLock mWakeLock = null;
  30     private DomainApp appDomain = null;
  31     private HokuyoView hokuyo_view = null;
  32     private MenuItem speed_item = null;
  33     private MenuItem hokuyo_item = null;
  34
  35     static {
  36         System.loadLibrary("jorte");
  37     }
  38
  39     @Override
  40     protected void onResume() {
  41         super.onResume();
  42
  43         mWakeLock.acquire();
  44     }
  45
  46     @Override
  47     protected void onPause() {
  48         super.onPause();
  49
  50         if (motion_speed != null && !motion_speed.isCancelled()) {
  51                 motion_speed.cancel();
  52             mSensorManager.unregisterListener(accel);
  53             this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
  54                 speed_item.setTitle("Start speed");
  55         }
  56
  57         if (hokuyo_scan != null && !hokuyo_scan.isCancelled()) {
  58                         hokuyo_view.run(false);
  59                         hokuyo_scan.cancel();
  60                         hokuyo_view.invalidate();
  61                         hokuyo_item.setTitle("Start hokuyo");
  62         }
  63
  64         mWakeLock.release();
  65     }
  66
  67     @Override
  68     protected void onDestroy() {
  69         super.onDestroy();
  70
  71         if (appDomain != null) {
  72                 appDomain.destroy();
  73                 appDomain = null;
  74         }
  75
  76         if (manager != null) {
  77                 manager.destroy();
  78                 manager = null;
  79         }
  80     }
  81
  82         @Override
  83     public void onCreate(Bundle savedInstanceState) {
  84         super.onCreate(savedInstanceState);
  85         setContentView(R.layout.hokuyo_view);
  86
  87         mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
  88         mGravity = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
  89
  90         mPowerManager = (PowerManager) getSystemService(Context.POWER_SERVICE);
  91         mWakeLock = mPowerManager.newWakeLock(PowerManager.SCREEN_BRIGHT_WAKE_LOCK, getClass().getName());
  92
  93         hokuyo_view = (HokuyoView) findViewById(R.id.hokuyo_view);
  94
  95         manager = new Manager(mgrs);
  96
  97         appDomain = new DomainApp();
  98     }
  99
 100         @Override
 101         public boolean onCreateOptionsMenu(Menu menu) {
 102                 getMenuInflater().inflate(R.menu.activity_main, menu);
 103
 104                 return true;
 105         }
 106
 107         @Override
 108         public boolean onOptionsItemSelected (MenuItem item) {
 109                 System.out.println(item.getTitle());
 110
 111                 if(item.getTitle().equals("Start speed")) {
 112                         accel = new HandleAccelerometer();
 113                         mSensorManager.registerListener(accel, mGravity, SensorManager.SENSOR_DELAY_GAME);
 114                         if (motion_speed == null)
 115                                 motion_speed = new MotionSpeedPublish(mGravity.getMaximumRange(),appDomain);
 116                         motion_speed.start();
 117                         speed_item = item;
 118                         this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_PORTRAIT);
 119                         item.setTitle("Stop speed");
 120                 }
 121                 else if (item.getTitle().equals("Stop speed")) {
 122                         mSensorManager.unregisterListener(accel);
 123                         motion_speed.cancel();
 124                         this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
 125                         item.setTitle("Start speed");
 126                 }
 127                 else if (item.getTitle().equals("Start hokuyo")) {
 128                         if (hokuyo_scan == null)
 129                                 hokuyo_scan = new HokuyoScanSubscribe(appDomain, hokuyo_view);
 130                         hokuyo_scan.start();
 131                         hokuyo_view.run(true);
 132                         hokuyo_item = item;
 133                         item.setTitle("Stop hokuyo");
 134                 }
 135                 else if (item.getTitle().equals("Stop hokuyo")) {
 136                         hokuyo_view.run(false);
 137                         hokuyo_scan.cancel();
 138                         hokuyo_view.invalidate();
 139                         item.setTitle("Start hokuyo");
 140                 }
 141                 else if (item.getTitle().equals("Lift up")) {
 142
 143                 }
 144                 else if (item.getTitle().equals("Lift down")) {
 145
 146                 }
 147                 else if (item.getTitle().equals("Magnet on")) {
 148
 149                 }
 150                 else if (item.getTitle().equals("Magnet off")) {
 151
 152                 }
 153                 else if (item.getTitle().equals("Exit")) {
 154                         finish();
 155                 }
 156
 157                 return true;
 158         }
 159
 160     private class HandleAccelerometer implements SensorEventListener {
 161
 162         @Override
 163         public void onAccuracyChanged(Sensor sensor, int accuracy) {}
 164
 165         @Override
 166         public void onSensorChanged(SensorEvent event) {
 167                  if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
 168                          if (motion_speed != null)
 169                                  motion_speed.setSpeed(event.values[0], event.values[1]);
 170                  }
 171         }
 172     }
 173 }