import org.ocera.orte.Manager;
import android.app.Activity;
+import android.app.AlertDialog;
+import android.app.Dialog;
import android.content.Context;
+import android.content.pm.ActivityInfo;
import android.hardware.Sensor;
import android.hardware.SensorEvent;
import android.hardware.SensorEventListener;
import android.hardware.SensorManager;
+import android.net.wifi.WifiManager;
+import android.net.wifi.WifiManager.WifiLock;
import android.os.Bundle;
+import android.os.Handler;
+import android.os.Message;
import android.os.PowerManager;
import android.os.PowerManager.WakeLock;
+import android.view.LayoutInflater;
import android.view.Menu;
import android.view.MenuItem;
+import android.view.View;
+import android.view.View.OnClickListener;
+import android.widget.Button;
+import android.widget.EditText;
public class MainActivity extends Activity {
+ private Dialog voltageDialog = null;
+ private AlertDialog aboutDialog = null;
+ static EditText voltage33 = null;
+ static EditText voltage50 = null;
+ static EditText voltage80 = null;
+ static EditText voltageBAT = null;
+ static Handler dialogHandler = new Handler() {
+ @Override
+ public void handleMessage(Message msg) {
+ double[] values = msg.getData().getDoubleArray("voltages");
+ if (values != null) {
+ if (voltage33 != null) {
+ voltage33.setText(Double.toString(values[0]));
+ }
+ if (voltage50 != null) {
+ voltage50.setText(Double.toString(values[1]));
+ }
+ if (voltage80 != null) {
+ voltage80.setText(Double.toString(values[2]));
+ }
+ if (voltageBAT != null) {
+ voltageBAT.setText(Double.toString(values[3]));
+ }
+ }
+ }
+ };
private Manager manager = null;
- private String[] mgrs = {"192.168.1.5","192.168.1.8","10.1.1.1"};
- private MotionSpeedPublish motion_speed = null;
+ private String[] mgrs = {"192.168.1.5","192.168.1.8","192.168.1.29",
+ "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",
+ "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"};
+ private MotionSpeedPublish motion_speed_publ = null;
+ private MotionSpeedSubscribe motion_speed_subs = null;
private HokuyoScanSubscribe hokuyo_scan = null;
+ private PwrVoltageSubscribe pwr_voltage = null;
+ private MagnetCmdPublish magnet_cmd = null;
+ private CraneCmdPublish crane_cmd = null;
private SensorManager mSensorManager = null;
private Sensor mGravity = null;
private SensorEventListener accel = null;
private PowerManager mPowerManager = null;
+ private WifiManager mWifiManager = null;
private WakeLock mWakeLock = null;
+ private WifiLock mWifiLock = null;
private DomainApp appDomain = null;
private HokuyoView hokuyo_view = null;
- private MenuItem speed_item = null;
+ private MenuItem speed_publ_item = null;
+ private MenuItem speed_subs_item = null;
private MenuItem hokuyo_item = null;
static {
super.onResume();
mWakeLock.acquire();
+ mWifiLock.acquire();
}
@Override
protected void onPause() {
super.onPause();
- if (motion_speed != null && !motion_speed.isCancelled()) {
- motion_speed.cancel();
+ if (motion_speed_publ != null && !motion_speed_publ.isCancelled()) {
+ motion_speed_publ.cancel();
mSensorManager.unregisterListener(accel);
- speed_item.setTitle("Start speed");
+ this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
+ speed_publ_item.setTitle("Start motion control");
+ }
+
+ if (motion_speed_subs != null && !motion_speed_subs.isCancelled()) {
+ hokuyo_view.runMotion(false);
+ motion_speed_subs.cancel();
+ hokuyo_view.invalidate();
+ speed_subs_item.setTitle("Start motion monitor");
}
if (hokuyo_scan != null && !hokuyo_scan.isCancelled()) {
hokuyo_view.run(false);
hokuyo_scan.cancel();
hokuyo_view.invalidate();
- hokuyo_item.setTitle("Start hokuyo");
+ hokuyo_item.setTitle("Start LRF");
+ }
+
+ if (pwr_voltage != null && !pwr_voltage.isCancelled()) {
+ if (voltageDialog.isShowing())
+ voltageDialog.dismiss();
+ pwr_voltage.cancel();
}
mWakeLock.release();
+ mWifiLock.release();
}
@Override
protected void onDestroy() {
super.onDestroy();
+ if (crane_cmd != null && !crane_cmd.isCancelled()) {
+ crane_cmd.cancel();
+ }
+
+ if (magnet_cmd != null && !crane_cmd.isCancelled()) {
+ magnet_cmd.cancel();
+ }
+
if (appDomain != null) {
appDomain.destroy();
appDomain = null;
}
}
- @Override
+ @SuppressWarnings("deprecation")
+ @Override
public void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.hokuyo_view);
+ voltageDialog = new Dialog(this,R.style.voltage_dialog);
+ voltageDialog.setCancelable(false);
+ voltageDialog.setContentView(R.layout.status_dialog);
+ Button okButton = (Button)voltageDialog.findViewById(R.id.button1);
+ okButton.setOnClickListener(new OnClickListener() {
+ @Override
+ public void onClick(View arg0) {
+ voltageDialog.dismiss();
+ pwr_voltage.cancel();
+ }
+ });
+ voltage33 = (EditText)voltageDialog.findViewById(R.id.editText1);
+ voltage50 = (EditText)voltageDialog.findViewById(R.id.editText2);
+ voltage80 = (EditText)voltageDialog.findViewById(R.id.editText3);
+ voltageBAT = (EditText)voltageDialog.findViewById(R.id.editText4);
+
+ AlertDialog.Builder builder = new AlertDialog.Builder(this);
+ LayoutInflater inflater = getLayoutInflater();
+ View aboutView = inflater.inflate(R.layout.about_dialog, null);
+ builder.setView(aboutView);
+ builder.setPositiveButton("OK", null);
+ aboutDialog = builder.create();
+
mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
mGravity = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
mPowerManager = (PowerManager) getSystemService(Context.POWER_SERVICE);
- mWakeLock = mPowerManager.newWakeLock(PowerManager.SCREEN_BRIGHT_WAKE_LOCK, getClass().getName());
+ mWakeLock = mPowerManager.newWakeLock(
+ PowerManager.SCREEN_BRIGHT_WAKE_LOCK
+ | PowerManager.ACQUIRE_CAUSES_WAKEUP
+ | PowerManager.ON_AFTER_RELEASE,
+ getClass().getName());
+
+ mWifiManager = (WifiManager) getSystemService(Context.WIFI_SERVICE);
+ mWifiLock = mWifiManager.createWifiLock(WifiManager.WIFI_MODE_FULL_HIGH_PERF, getClass().getName());
hokuyo_view = (HokuyoView) findViewById(R.id.hokuyo_view);
manager = new Manager(mgrs);
appDomain = new DomainApp();
+ magnet_cmd = new MagnetCmdPublish(appDomain);
+ magnet_cmd.start();
+ crane_cmd = new CraneCmdPublish(appDomain);
+ crane_cmd.start();
}
@Override
public boolean onOptionsItemSelected (MenuItem item) {
System.out.println(item.getTitle());
- if(item.getTitle().equals("Start speed")) {
+ if(item.getTitle().equals("Start motion control")) {
accel = new HandleAccelerometer();
- mSensorManager.registerListener(accel, mGravity, SensorManager.SENSOR_DELAY_UI);
- if (motion_speed == null)
- motion_speed = new MotionSpeedPublish(mGravity.getMaximumRange(),appDomain);
- motion_speed.start();
- speed_item = item;
- item.setTitle("Stop speed");
+ mSensorManager.registerListener(accel, mGravity, SensorManager.SENSOR_DELAY_GAME);
+ if (motion_speed_publ == null)
+ motion_speed_publ = new MotionSpeedPublish(mGravity.getMaximumRange(),appDomain);
+ motion_speed_publ.start();
+ speed_publ_item = item;
+ this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_PORTRAIT);
+ item.setTitle("Stop motion control");
}
- else if (item.getTitle().equals("Stop speed")) {
+ else if (item.getTitle().equals("Stop motion control")) {
mSensorManager.unregisterListener(accel);
- motion_speed.cancel();
- item.setTitle("Start speed");
+ motion_speed_publ.cancel();
+ this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
+ item.setTitle("Start motion control");
+ }
+ else if (item.getTitle().equals("Start motion monitor")) {
+ if (motion_speed_subs == null)
+ motion_speed_subs = new MotionSpeedSubscribe(appDomain, hokuyo_view);
+ motion_speed_subs.start();
+ hokuyo_view.runMotion(true);
+ hokuyo_view.invalidate();
+ speed_subs_item = item;
+ item.setTitle("Stop motion monitor");
}
- else if (item.getTitle().equals("Start hokuyo")) {
+ else if (item.getTitle().equals("Stop motion monitor")) {
+ hokuyo_view.runMotion(false);
+ motion_speed_subs.cancel();
+ hokuyo_view.invalidate();
+ item.setTitle("Start motion monitor");
+ }
+ else if (item.getTitle().equals("Start LRF")) {
if (hokuyo_scan == null)
hokuyo_scan = new HokuyoScanSubscribe(appDomain, hokuyo_view);
hokuyo_scan.start();
hokuyo_view.run(true);
+ hokuyo_view.invalidate();
hokuyo_item = item;
- item.setTitle("Stop hokuyo");
+ item.setTitle("Stop LRF");
}
- else if (item.getTitle().equals("Stop hokuyo")) {
+ else if (item.getTitle().equals("Stop LRF")) {
hokuyo_view.run(false);
hokuyo_scan.cancel();
hokuyo_view.invalidate();
- item.setTitle("Start hokuyo");
+ item.setTitle("Start LRF");
}
- else if (item.getTitle().equals("Lift up")) {
-
+ else if (item.getTitle().equals("Crane up")) {
+ crane_cmd.send(0x100);
+ item.setTitle("Crane down");
}
- else if (item.getTitle().equals("Lift down")) {
-
+ else if (item.getTitle().equals("Crane down")) {
+ crane_cmd.send(0x190);
+ item.setTitle("Crane up");
}
else if (item.getTitle().equals("Magnet on")) {
-
+ magnet_cmd.send(1);
+ item.setTitle("Magnet off");
}
else if (item.getTitle().equals("Magnet off")) {
-
+ magnet_cmd.send(0);
+ item.setTitle("Magnet on");
+ }
+ else if (item.getTitle().equals("Voltage monitor")) {
+ if (pwr_voltage == null)
+ pwr_voltage = new PwrVoltageSubscribe(appDomain, dialogHandler);
+ pwr_voltage.start();
+ voltageDialog.show();
+ }
+ else if (item.getTitle().equals("About")) {
+ aboutDialog.show();
}
else if (item.getTitle().equals("Exit")) {
finish();
@Override
public void onSensorChanged(SensorEvent event) {
if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
- if (motion_speed != null)
- motion_speed.setSpeed(event.values[0], event.values[1]);
+ if (motion_speed_publ != null)
+ motion_speed_publ.setSpeed(event.values[0], event.values[1]);
}
}
}
projects / orte.git / blobdiff