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 import org.ocera.orte.types.DomainProp;
   6 import org.ocera.orte.types.ORTEConstant;
   7
   8 import android.app.Activity;
   9 import android.content.Context;
  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.PowerManager;
  16 import android.os.PowerManager.WakeLock;
  17 import android.view.Menu;
  18 import android.view.MenuItem;
  19
  20 public class MainActivity extends Activity {
  21
  22         private Manager manager = null;
  23     private String[] mgrs = {"192.168.1.5","192.168.1.8"};
  24         private MotionSpeedPublish motion_speed = null;
  25         private HokuyoScanSubscribe hokuyo_scan = null;
  26     private SensorManager mSensorManager = null;
  27     private Sensor mGravity = null;
  28     private SensorEventListener accel = null;
  29     private PowerManager mPowerManager = null;
  30     private WakeLock mWakeLock = null;
  31     private DomainApp appDomain = null;
  32     private HokuyoView hokuyo_view = null;
  33     private MenuItem speed_item = null;
  34     private MenuItem hokuyo_item = null;
  35
  36     static {
  37         System.loadLibrary("jorte");
  38     }
  39
  40     @Override
  41     protected void onResume() {
  42         super.onResume();
  43
  44         mWakeLock.acquire();
  45     }
  46
  47     @Override
  48     protected void onPause() {
  49         super.onPause();
  50
  51         if (motion_speed != null && !motion_speed.isCancelled()) {
  52                 motion_speed.cancel();
  53             mSensorManager.unregisterListener(accel);
  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_item.setTitle("Start hokuyo");
  61         }
  62
  63         mWakeLock.release();
  64     }
  65
  66     @Override
  67     protected void onDestroy() {
  68         super.onDestroy();
  69
  70         if (appDomain != null) {
  71                 appDomain.destroy();
  72                 appDomain = null;
  73         }
  74
  75         if (manager != null) {
  76                 manager.destroy();
  77                 manager = null;
  78         }
  79     }
  80
  81     @Override
  82     public void onCreate(Bundle savedInstanceState) {
  83         super.onCreate(savedInstanceState);
  84         setContentView(R.layout.hokuyo_view);
  85
  86         mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
  87         mGravity = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
  88
  89         mPowerManager = (PowerManager) getSystemService(Context.POWER_SERVICE);
  90         mWakeLock = mPowerManager.newWakeLock(PowerManager.SCREEN_BRIGHT_WAKE_LOCK, getClass().getName());
  91
  92         hokuyo_view = (HokuyoView) findViewById(R.id.hokuyo_view);
  93
  94         manager = new Manager(mgrs);
  95
  96         MyEvents events = new MyEvents();
  97         appDomain = new DomainApp(ORTEConstant.ORTE_DEFAULT_DOMAIN,
  98                                                           DomainProp.defaultPropsCreate(),
  99                                                           events,
 100                                                           false);
 101     }
 102
 103         @Override
 104         public boolean onCreateOptionsMenu(Menu menu) {
 105                 getMenuInflater().inflate(R.menu.activity_main, menu);
 106
 107                 return true;
 108         }
 109
 110         @Override
 111         public boolean onOptionsItemSelected (MenuItem item) {
 112                 System.out.println(item.getTitle());
 113
 114                 if(item.getTitle().equals("Start speed")) {
 115                         accel = new HandleAccelerometer();
 116                         mSensorManager.registerListener(accel, mGravity, SensorManager.SENSOR_DELAY_UI);
 117                         if (motion_speed == null)
 118                                 motion_speed = new MotionSpeedPublish(mGravity.getMaximumRange(),appDomain);
 119                         motion_speed.start();
 120                         speed_item = item;
 121                         item.setTitle("Stop speed");
 122                 }
 123                 else if (item.getTitle().equals("Stop speed")) {
 124                         mSensorManager.unregisterListener(accel);
 125                         motion_speed.cancel();
 126                         item.setTitle("Start speed");
 127                 }
 128                 else if (item.getTitle().equals("Start hokuyo")) {
 129                         if (hokuyo_scan == null)
 130                                 hokuyo_scan = new HokuyoScanSubscribe(appDomain, hokuyo_view);
 131                         hokuyo_scan.start();
 132                         hokuyo_view.run(true);
 133                         hokuyo_item = item;
 134                         item.setTitle("Stop hokuyo");
 135                 }
 136                 else if (item.getTitle().equals("Stop hokuyo")) {
 137                         hokuyo_view.run(false);
 138                         hokuyo_scan.cancel();
 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 }