ROBOT_DEMO: implement voltage monitor

[orte.git] / orte / Robot_Demo / src / org / ocera / orte / demo / MainActivity.java

diff --git a/orte/Robot_Demo/src/org/ocera/orte/demo/MainActivity.java b/orte/Robot_Demo/src/org/ocera/orte/demo/MainActivity.java
index 61d4627521d5bcb833437286cc8107f8d32c4aa7..36f38c090670934e15c92c70b89bd1b6a81a7f63 100644 (file)
--- a/orte/Robot_Demo/src/org/ocera/orte/demo/MainActivity.java
+++ b/orte/Robot_Demo/src/org/ocera/orte/demo/MainActivity.java
@@ -12,6 +12,8 @@ import android.hardware.SensorEvent;
 import android.hardware.SensorEventListener;
 import android.hardware.SensorManager;
 import android.os.Bundle;
+import android.os.Handler;
+import android.os.Message;
 import android.os.PowerManager;
 import android.os.PowerManager.WakeLock;
 import android.view.Menu;
@@ -19,15 +21,41 @@ 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;
+       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","192.168.1.29","10.1.1.1"};
        private MotionSpeedPublish motion_speed_publ = null;
        private MotionSpeedSubscribe motion_speed_subs = null;
        private HokuyoScanSubscribe hokuyo_scan = null;
+       private PwrVoltageSubscribe pwr_voltage = null;
     private SensorManager mSensorManager = null;
     private Sensor mGravity = null;
     private SensorEventListener accel = null;
@@ -74,6 +102,12 @@ public class MainActivity extends Activity {
                        hokuyo_view.invalidate();
                        hokuyo_item.setTitle("Start LRF");
         }
+
+        if (pwr_voltage != null && !pwr_voltage.isCancelled()) {
+               if (voltageDialog.isShowing())
+                       voltageDialog.dismiss();
+                       pwr_voltage.cancel();
+        }
         
         mWakeLock.release();
     }
@@ -100,6 +134,20 @@ public class MainActivity extends Activity {
         
         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);
+
         mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
         mGravity = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
         
@@ -183,14 +231,9 @@ public class MainActivity extends Activity {
                        
                }
                else if (item.getTitle().equals("Voltage monitor")) {
-                       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();
-                               }
-                       });
+                       if (pwr_voltage == null)
+                               pwr_voltage = new PwrVoltageSubscribe(appDomain, dialogHandler);
+                       pwr_voltage.start();
                        voltageDialog.show();
                }
                else if (item.getTitle().equals("Exit")) {