orte/Robot_Demo/src/org/ocera/orte/demo/MainActivity.java

   1 package org.ocera.orte.demo;
   2
   3 import java.io.BufferedInputStream;
   4 import java.io.BufferedOutputStream;
   5 import java.io.File;
   6 import java.io.FileOutputStream;
   7 import java.io.IOException;
   8
   9 import org.ocera.orte.DomainApp;
  10 import org.ocera.orte.JOrte;
  11 import org.ocera.orte.Publication;
  12 import org.ocera.orte.R;
  13 import org.ocera.orte.types.DomainProp;
  14 import org.ocera.orte.types.NtpTime;
  15 import org.ocera.orte.types.ORTEConstant;
  16 import org.ocera.orte.types.PublProp;
  17
  18 import android.app.Activity;
  19 import android.content.Context;
  20 import android.hardware.Sensor;
  21 import android.hardware.SensorEvent;
  22 import android.hardware.SensorEventListener;
  23 import android.hardware.SensorManager;
  24 import android.os.AsyncTask;
  25 import android.os.Bundle;
  26 import android.os.PowerManager;
  27 import android.os.PowerManager.WakeLock;
  28 import android.view.View;
  29 import android.widget.Button;
  30 import android.widget.TextView;
  31
  32 public class MainActivity extends Activity {
  33
  34         Button start = null;
  35         Button stop = null;
  36         Button start_pub = null;
  37         Button stop_pub = null;
  38         TextView textview = null;
  39         Process manager = null;
  40         Thread publisher = null;
  41         boolean tContinue = true;
  42
  43     private SensorManager mSensorManager;
  44     private PowerManager mPowerManager;
  45     private WakeLock mWakeLock;
  46     private Sensor mGravity;
  47
  48     private AsyncTask<Void, Short, Void> accel;
  49
  50     private short mLeft;
  51     private short mRight;
  52
  53     private Object lock = new Object();
  54
  55      static
  56     {
  57       System.loadLibrary("jorte");
  58     }
  59
  60     private class HandleAccelerometer extends AsyncTask<Void, Short, Void> implements SensorEventListener {
  61
  62         public static final int VMAX = 16000;
  63         //private int count = 0;
  64
  65                 @Override
  66                 protected Void doInBackground(Void... params) {
  67                         return null;
  68                 }
  69
  70                 @Override
  71                 public void onAccuracyChanged(Sensor sensor, int accuracy) {
  72                 }
  73
  74                 @Override
  75                 public void onSensorChanged(SensorEvent event) {
  76                          if (event.sensor.getType() != Sensor.TYPE_ACCELEROMETER)
  77                      return;
  78
  79                          //if (count > 1) {
  80                                  calculateSpeed(event.values[0],event.values[1]);
  81                                  //count = 0;
  82                          //}
  83                          //else
  84                                  //count++;
  85                 }
  86
  87                 private void calculateSpeed(float mAccelX, float mAccelY) {
  88                 short right = 0;
  89                 short left = 0;
  90
  91                         double r=0.15;
  92                         double angle = 0, lenght, v, omega;
  93
  94                         v = (double)mAccelY/mGravity.getMaximumRange();
  95                         omega = (double)mAccelX/mGravity.getMaximumRange();
  96                         lenght = Math.sqrt(Math.pow(v,2) + Math.pow(omega,2));
  97                         /* if lenght si more than 1 is used unit circle */
  98                         if (lenght >= 1) {
  99                                 /* computing new speed and omega */
 100                                 angle = Math.atan2(mAccelY, mAccelX);
 101                                 v = Math.sin(angle);
 102                                 omega = Math.cos(angle);
 103                         }
 104                         omega *= 2;
 105
 106                         right = (short)(-((v + r*omega))*VMAX);
 107                         left = (short)(-(v - r*omega)*VMAX);
 108
 109                         publishProgress(right, left);
 110                 }
 111
 112                 @Override
 113                 protected void onProgressUpdate(Short... input) {
 114                         synchronized(lock) {
 115                                 mRight = input[0];
 116                                 mLeft = input[1];
 117                                 textview.setText("Values: left = " + input[1] + ", right = " + input[0]);
 118                         }
 119                 }
 120         }
 121
 122         public void copyManager() {
 123                 BufferedInputStream bis = null;
 124                 BufferedOutputStream bos = null;
 125
 126                 String path = getFilesDir().getAbsolutePath() + "/ortemanager";
 127
 128                 if (!new File(path).exists()) {
 129                         try {
 130                                 bis = new BufferedInputStream(getAssets().open("ortemanager"));
 131                                 bos = new BufferedOutputStream(new FileOutputStream(path));
 132
 133                                 int delka;
 134                                 byte[] buffer = new byte[4096];
 135
 136                                 while((delka = bis.read(buffer, 0, 4096)) > 0) {
 137                                         bos.write(buffer, 0, delka);
 138                                 }
 139
 140                                 bos.flush();
 141                                 bos.close();
 142                                 bis.close();
 143
 144                                 Runtime.getRuntime().exec("chmod 744 " + path);
 145                         } catch (IOException e) {
 146                                 e.printStackTrace();
 147                         }
 148                 }
 149         }
 150
 151     @Override
 152     protected void onResume() {
 153         super.onResume();
 154
 155         accel = new HandleAccelerometer().execute();
 156         mSensorManager.registerListener((SensorEventListener)accel, mGravity, SensorManager.SENSOR_DELAY_UI);
 157
 158         mWakeLock.acquire();
 159     }
 160
 161     @Override
 162     protected void onPause() {
 163         super.onPause();
 164
 165         mSensorManager.unregisterListener((SensorEventListener)accel);
 166         accel.cancel(true);
 167         accel = null;
 168
 169         mWakeLock.release();
 170     }
 171
 172     @Override
 173     public void onCreate(Bundle savedInstanceState) {
 174         super.onCreate(savedInstanceState);
 175         setContentView(R.layout.activity_main);
 176
 177                 textview = (TextView)findViewById(R.id.textView1);
 178
 179                 start = (Button)findViewById(R.id.button1);
 180                 stop = (Button)findViewById(R.id.button2);
 181                 stop.setEnabled(false);
 182                 start_pub = (Button)findViewById(R.id.button3);
 183                 start_pub.setEnabled(false);
 184                 stop_pub = (Button)findViewById(R.id.button4);
 185                 stop_pub.setEnabled(false);
 186
 187         // Get an instance of the SensorManager
 188         mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
 189
 190         // Get an instance of the PowerManager
 191         mPowerManager = (PowerManager) getSystemService(Context.POWER_SERVICE);
 192
 193         // Create a bright wake lock
 194         mWakeLock = mPowerManager.newWakeLock(PowerManager.SCREEN_BRIGHT_WAKE_LOCK, getClass().getName());
 195
 196         mGravity = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
 197
 198         copyManager();
 199
 200                 start.setOnClickListener(new View.OnClickListener() {
 201                     String[] orte = {getFilesDir().getAbsolutePath() + "/ortemanager","-p 192.168.1.5:192.168.1.8"};
 202
 203                     @Override
 204                         public void onClick(View v) {
 205                                 start.setEnabled(false);
 206                                 stop.setEnabled(true);
 207                                 try {
 208                                         manager = Runtime.getRuntime().exec(orte);
 209                                 } catch (IOException e) {
 210                                         e.printStackTrace();
 211                                 }
 212                                 start_pub.setEnabled(true);
 213                         }
 214                 });
 215
 216                 stop.setOnClickListener(new View.OnClickListener() {
 217
 218                         @Override
 219                         public void onClick(View v) {
 220                                 start.setEnabled(true);
 221                                 stop.setEnabled(false);
 222                                 start_pub.setEnabled(false);
 223                                 stop_pub.setEnabled(false);
 224                                 manager.destroy();
 225                         }
 226                 });
 227
 228                 start_pub.setOnClickListener(new View.OnClickListener() {
 229
 230                         @Override
 231                         public void onClick(View v) {
 232                                 start_pub.setEnabled(false);
 233                                 stop_pub.setEnabled(true);
 234                                 tContinue = true;
 235
 236                                 publisher = new Thread(new Runnable() {
 237
 238                                         @Override
 239                                         public void run() {
 240                                             NtpTime persistence = new NtpTime(3);
 241                                             int strength = 1;
 242                                             MyEvents events = new MyEvents();
 243
 244                                             DomainApp appDomain = new DomainApp(ORTEConstant.ORTE_DEFAULT_DOMAIN,
 245                                 DomainProp.defaultPropsCreate(),
 246                                 events,
 247                                 false);
 248
 249                                             HelloMsg hellomsg = new HelloMsg(appDomain,"motion_speed");
 250
 251                                             PublProp publProp = new PublProp(hellomsg.getTopic(),
 252                                          "motion_speed",
 253                                 persistence,
 254                                                                  strength);
 255
 256                                             Publication pub = appDomain.createPublication(publProp,
 257                                 hellomsg);
 258
 259                                             while(tContinue)
 260                                                 {
 261                                               synchronized(lock) {
 262                                                   hellomsg.left = mLeft;
 263                                                   hellomsg.right = mRight;
 264                                               }
 265                                           pub.send(hellomsg);
 266                                           System.out.println("<<  data to send: " + hellomsg);
 267                                           JOrte.sleepMs(100);
 268                                           System.out.println(" ");
 269                                                 }
 270
 271                                             pub = null;
 272                                             System.gc();
 273                                             appDomain = null;
 274                                             System.gc();
 275                                         }
 276                                 });
 277                                 publisher.start();
 278                         }
 279                 });
 280
 281                 stop_pub.setOnClickListener(new View.OnClickListener() {
 282
 283                         @Override
 284                         public void onClick(View v) {
 285                                 start_pub.setEnabled(true);
 286                                 stop_pub.setEnabled(false);
 287                                 tContinue = false;
 288                         }
 289                 });
 290
 291
 292     }
 293 }