package org.ocera.orte.demo;
-import java.io.BufferedInputStream;
-import java.io.BufferedOutputStream;
-import java.io.File;
-import java.io.FileOutputStream;
-import java.io.IOException;
-
import org.ocera.orte.DomainApp;
-import org.ocera.orte.JOrte;
-import org.ocera.orte.Publication;
-import org.ocera.orte.R;
-import org.ocera.orte.types.DomainProp;
-import org.ocera.orte.types.NtpTime;
-import org.ocera.orte.types.ORTEConstant;
-import org.ocera.orte.types.PublProp;
+import org.ocera.orte.Manager;
import android.app.Activity;
+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.os.AsyncTask;
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;
+import android.view.MenuItem;
import android.view.View;
+import android.view.View.OnClickListener;
import android.widget.Button;
-import android.widget.TextView;
+import android.widget.EditText;
public class MainActivity extends Activity {
-
- Button start = null;
- Button stop = null;
- Button start_pub = null;
- Button stop_pub = null;
- TextView textview = null;
- Process manager = null;
- Thread publisher = null;
- boolean tContinue = true;
-
- private SensorManager mSensorManager;
- private PowerManager mPowerManager;
- private WakeLock mWakeLock;
- private Sensor mGravity;
-
- private AsyncTask<Void, Short, Void> accel;
-
- private short mLeft;
- private short mRight;
-
- private Object lock = new Object();
-
- static
- {
- System.loadLibrary("jorte");
- }
-
- private class HandleAccelerometer extends AsyncTask<Void, Short, Void> implements SensorEventListener {
-
- public static final int VMAX = 16000;
- //private int count = 0;
-
- @Override
- protected Void doInBackground(Void... params) {
- return null;
- }
-
- @Override
- public void onAccuracyChanged(Sensor sensor, int accuracy) {
- }
-
+ 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 onSensorChanged(SensorEvent event) {
- if (event.sensor.getType() != Sensor.TYPE_ACCELEROMETER)
- return;
-
- //if (count > 1) {
- calculateSpeed(event.values[0],event.values[1]);
- //count = 0;
- //}
- //else
- //count++;
- }
-
- private void calculateSpeed(float mAccelX, float mAccelY) {
- short right = 0;
- short left = 0;
-
- double r=0.15;
- double angle = 0, lenght, v, omega;
-
- v = (double)mAccelY/mGravity.getMaximumRange();
- omega = (double)mAccelX/mGravity.getMaximumRange();
- lenght = Math.sqrt(Math.pow(v,2) + Math.pow(omega,2));
- /* if lenght si more than 1 is used unit circle */
- if (lenght >= 1) {
- /* computing new speed and omega */
- angle = Math.atan2(mAccelY, mAccelX);
- v = Math.sin(angle);
- omega = Math.cos(angle);
- }
- omega *= 2;
-
- right = (short)(-((v + r*omega))*VMAX);
- left = (short)(-(v - r*omega)*VMAX);
-
- publishProgress(right, left);
- }
-
- @Override
- protected void onProgressUpdate(Short... input) {
- synchronized(lock) {
- mRight = input[0];
- mLeft = input[1];
- textview.setText("Values: left = " + input[1] + ", right = " + input[0]);
- }
- }
- }
-
- public void copyManager() {
- BufferedInputStream bis = null;
- BufferedOutputStream bos = null;
-
- String path = getFilesDir().getAbsolutePath() + "/ortemanager";
-
- if (!new File(path).exists()) {
- try {
- bis = new BufferedInputStream(getAssets().open("ortemanager"));
- bos = new BufferedOutputStream(new FileOutputStream(path));
-
- int delka;
- byte[] buffer = new byte[4096];
-
- while((delka = bis.read(buffer, 0, 4096)) > 0) {
- bos.write(buffer, 0, delka);
+ 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]));
}
-
- bos.flush();
- bos.close();
- bis.close();
-
- Runtime.getRuntime().exec("chmod 744 " + path);
- } catch (IOException e) {
- e.printStackTrace();
}
}
- }
+ };
+ 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 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 WakeLock mWakeLock = null;
+ private DomainApp appDomain = null;
+ private HokuyoView hokuyo_view = null;
+ private MenuItem speed_publ_item = null;
+ private MenuItem speed_subs_item = null;
+ private MenuItem hokuyo_item = null;
+
+ static {
+ System.loadLibrary("jorte");
+ }
+
@Override
protected void onResume() {
super.onResume();
- accel = new HandleAccelerometer().execute();
- mSensorManager.registerListener((SensorEventListener)accel, mGravity, SensorManager.SENSOR_DELAY_UI);
-
mWakeLock.acquire();
}
protected void onPause() {
super.onPause();
- mSensorManager.unregisterListener((SensorEventListener)accel);
- accel.cancel(true);
- accel = null;
+ if (motion_speed_publ != null && !motion_speed_publ.isCancelled()) {
+ motion_speed_publ.cancel();
+ mSensorManager.unregisterListener(accel);
+ 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 LRF");
+ }
+
+ if (pwr_voltage != null && !pwr_voltage.isCancelled()) {
+ if (voltageDialog.isShowing())
+ voltageDialog.dismiss();
+ pwr_voltage.cancel();
+ }
mWakeLock.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;
+ }
+
+ if (manager != null) {
+ manager.destroy();
+ manager = null;
+ }
+ }
+
+ @Override
public void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
- setContentView(R.layout.activity_main);
+ setContentView(R.layout.hokuyo_view);
- textview = (TextView)findViewById(R.id.textView1);
-
- start = (Button)findViewById(R.id.button1);
- stop = (Button)findViewById(R.id.button2);
- stop.setEnabled(false);
- start_pub = (Button)findViewById(R.id.button3);
- start_pub.setEnabled(false);
- stop_pub = (Button)findViewById(R.id.button4);
- stop_pub.setEnabled(false);
-
- // Get an instance of the SensorManager
+ 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);
-
- // Get an instance of the PowerManager
- mPowerManager = (PowerManager) getSystemService(Context.POWER_SERVICE);
+ mGravity = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
- // Create a bright wake lock
+ mPowerManager = (PowerManager) getSystemService(Context.POWER_SERVICE);
mWakeLock = mPowerManager.newWakeLock(PowerManager.SCREEN_BRIGHT_WAKE_LOCK, getClass().getName());
-
- mGravity = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
- copyManager();
+ hokuyo_view = (HokuyoView) findViewById(R.id.hokuyo_view);
+
+ manager = new Manager(mgrs);
- start.setOnClickListener(new View.OnClickListener() {
- String[] orte = {getFilesDir().getAbsolutePath() + "/ortemanager","-p 192.168.1.5:192.168.1.8"};
-
- @Override
- public void onClick(View v) {
- start.setEnabled(false);
- stop.setEnabled(true);
- try {
- manager = Runtime.getRuntime().exec(orte);
- } catch (IOException e) {
- e.printStackTrace();
- }
- start_pub.setEnabled(true);
- }
- });
+ appDomain = new DomainApp();
+ magnet_cmd = new MagnetCmdPublish(appDomain);
+ magnet_cmd.start();
+ crane_cmd = new CraneCmdPublish(appDomain);
+ crane_cmd.start();
+ }
+
+ @Override
+ public boolean onCreateOptionsMenu(Menu menu) {
+ getMenuInflater().inflate(R.menu.activity_main, menu);
- stop.setOnClickListener(new View.OnClickListener() {
-
- @Override
- public void onClick(View v) {
- start.setEnabled(true);
- stop.setEnabled(false);
- start_pub.setEnabled(false);
- stop_pub.setEnabled(false);
- manager.destroy();
- }
- });
-
- start_pub.setOnClickListener(new View.OnClickListener() {
-
- @Override
- public void onClick(View v) {
- start_pub.setEnabled(false);
- stop_pub.setEnabled(true);
- tContinue = true;
-
- publisher = new Thread(new Runnable() {
-
- @Override
- public void run() {
- NtpTime persistence = new NtpTime(3);
- int strength = 1;
- MyEvents events = new MyEvents();
-
- DomainApp appDomain = new DomainApp(ORTEConstant.ORTE_DEFAULT_DOMAIN,
- DomainProp.defaultPropsCreate(),
- events,
- false);
-
- HelloMsg hellomsg = new HelloMsg(appDomain,"motion_speed");
-
- PublProp publProp = new PublProp(hellomsg.getTopic(),
- "motion_speed",
- persistence,
- strength);
-
- Publication pub = appDomain.createPublication(publProp,
- hellomsg);
-
- while(tContinue)
- {
- synchronized(lock) {
- hellomsg.left = mLeft;
- hellomsg.right = mRight;
- }
- pub.send(hellomsg);
- System.out.println("<< data to send: " + hellomsg);
- JOrte.sleepMs(100);
- System.out.println(" ");
- }
-
- pub = null;
- System.gc();
- appDomain = null;
- System.gc();
- }
- });
- publisher.start();
- }
- });
+ return true;
+ }
+
+ @Override
+ public boolean onOptionsItemSelected (MenuItem item) {
+ System.out.println(item.getTitle());
- stop_pub.setOnClickListener(new View.OnClickListener() {
-
- @Override
- public void onClick(View v) {
- start_pub.setEnabled(true);
- stop_pub.setEnabled(false);
- tContinue = false;
- }
- });
+ if(item.getTitle().equals("Start motion control")) {
+ accel = new HandleAccelerometer();
+ 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 motion control")) {
+ mSensorManager.unregisterListener(accel);
+ 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("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 LRF");
+ }
+ else if (item.getTitle().equals("Stop LRF")) {
+ hokuyo_view.run(false);
+ hokuyo_scan.cancel();
+ hokuyo_view.invalidate();
+ item.setTitle("Start LRF");
+ }
+ else if (item.getTitle().equals("Lift up")) {
+ crane_cmd.send((short)0x100);
+ item.setTitle("Lift down");
+ }
+ else if (item.getTitle().equals("Lift down")) {
+ crane_cmd.send((short)0x190);
+ item.setTitle("Lift up");
+ }
+ else if (item.getTitle().equals("Magnet on")) {
+ magnet_cmd.send((short)1);
+ item.setTitle("Magnet off");
+ }
+ else if (item.getTitle().equals("Magnet off")) {
+ magnet_cmd.send((short)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("Exit")) {
+ finish();
+ }
+ return true;
+ }
+
+ private class HandleAccelerometer implements SensorEventListener {
+
+ @Override
+ public void onAccuracyChanged(Sensor sensor, int accuracy) {}
+ @Override
+ public void onSensorChanged(SensorEvent event) {
+ if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
+ if (motion_speed_publ != null)
+ motion_speed_publ.setSpeed(event.values[0], event.values[1]);
+ }
+ }
}
-}
\ No newline at end of file
+}
projects / orte.git / blobdiff