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