ROBOT_DEMO: add check boxes to menu items and make the managers dialog alive

diff --git a/orte/Robot_Demo/res/menu/activity_main.xml b/orte/Robot_Demo/res/menu/activity_main.xml
index b1438bc9d924349f0f704a499b11453cc5f1ef93..0c53199576c77913328c54c6a71d650398fafeb8 100644 (file)
--- a/orte/Robot_Demo/res/menu/activity_main.xml
+++ b/orte/Robot_Demo/res/menu/activity_main.xml
@@ -1,19 +1,22 @@
 <menu xmlns:android="http://schemas.android.com/apk/res/android" >
     <item android:id="@+id/speed"
-        android:title="Start motion control"
+        android:title="Motion control"
         android:showAsAction="never"
+        android:checkable="true"
         android:orderInCategory="1">
     </item>
 
     <item android:id="@+id/speed_mon"
-        android:title="Start motion monitor"
+        android:title="Speed monitor"
         android:showAsAction="never"
+        android:checkable="true"
         android:orderInCategory="2">
     </item>
 
     <item android:id="@+id/hokuyo"
-        android:title="Start LRF"
+        android:title="Hokuyo"
         android:showAsAction="never"
+        android:checkable="true"
         android:orderInCategory="3">
     </item>
     

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 845ae1124211932e3f3685d1edca9be99a60aca8..1bc400a80f44df1493229eb73c356f8837456840 100644 (file)
--- a/orte/Robot_Demo/src/org/ocera/orte/demo/MainActivity.java
+++ b/orte/Robot_Demo/src/org/ocera/orte/demo/MainActivity.java
@@ -16,6 +16,7 @@ import android.hardware.SensorManager;
 import android.net.wifi.WifiInfo;
 import android.net.wifi.WifiManager;
 import android.net.wifi.WifiManager.WifiLock;
+import android.os.AsyncTask;
 import android.os.Bundle;
 import android.os.Handler;
 import android.os.Message;
@@ -34,6 +35,7 @@ public class MainActivity extends Activity {
        private AlertDialog aboutDialog = null;
        private AlertDialog managersDialog = null;
        private EditText managersField = null;
+       private TextView ownIP = null;
        static EditText voltage33 = null;
        static EditText voltage50 = null;
        static EditText voltage80 = null;
@@ -101,21 +103,21 @@ public class MainActivity extends Activity {
                motion_speed_publ.cancel();
             mSensorManager.unregisterListener(accel);
             this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
-               speed_publ_item.setTitle("Start motion control");
+               speed_publ_item.setChecked(false);
         }
         
         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");
+               speed_subs_item.setChecked(false);
         }
 
         if (hokuyo_scan != null && !hokuyo_scan.isCancelled()) {
                        hokuyo_view.run(false);
                        hokuyo_scan.cancel();
                        hokuyo_view.invalidate();
-                       hokuyo_item.setTitle("Start LRF");
+                       hokuyo_item.setChecked(false);
         }
 
         if (pwr_voltage != null && !pwr_voltage.isCancelled()) {
@@ -166,9 +168,6 @@ public class MainActivity extends Activity {
 
         mWifiManager = (WifiManager) getSystemService(Context.WIFI_SERVICE);
         mWifiLock = mWifiManager.createWifiLock(WifiManager.WIFI_MODE_FULL_HIGH_PERF, getClass().getName());
-        WifiInfo wifiInfo = mWifiManager.getConnectionInfo();
-        int ip = wifiInfo.getIpAddress();
-        String ipAddress = Formatter.formatIpAddress(ip);
         
         prefs = getSharedPreferences("prefs", 0);
         mgrs = prefs.getString("managers", "10.1.1.1");
@@ -200,10 +199,11 @@ public class MainActivity extends Activity {
                
                AlertDialog.Builder managersBuilder = new AlertDialog.Builder(this);
                View managersView = inflater.inflate(R.layout.managers_view, null);
-               TextView ownIP = (TextView)managersView.findViewById(R.id.ownIP);
-               ownIP.setText("\nOwn IP Address: " + ipAddress);
+               ownIP = (TextView)managersView.findViewById(R.id.ownIP);
                managersField = (EditText)managersView.findViewById(R.id.managers);
                managersField.setText(mgrs);
+               
+               NetworkInfo wifiInfoTask = new NetworkInfo();
                managersBuilder.setCancelable(false);
                managersBuilder.setView(managersView);
                managersBuilder.setPositiveButton("OK", new DialogInterface.OnClickListener() {
@@ -234,6 +234,7 @@ public class MainActivity extends Activity {
         hokuyo_view = (HokuyoView) findViewById(R.id.hokuyo_view);
         
         managersDialog.show();
+               wifiInfoTask.execute();
     }
     
        @Override
@@ -245,53 +246,57 @@ public class MainActivity extends Activity {
        
        @Override
        public boolean onOptionsItemSelected (MenuItem item) {
-               System.out.println(item.getTitle());
-               
-               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(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");
+               if(item.getTitle().equals("Motion control")) {
+                       if (!item.isChecked()) {
+                               accel = new HandleAccelerometer();
+                               mSensorManager.registerListener(accel, mGravity, SensorManager.SENSOR_DELAY_GAME);
+                               if (motion_speed_publ == null)
+                                       motion_speed_publ = new MotionSpeedPublish(appDomain);
+                               motion_speed_publ.start();
+                               speed_publ_item = item;
+                               this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_PORTRAIT);
+                               item.setChecked(true);
+                       }
+                       else {
+                               mSensorManager.unregisterListener(accel);
+                               motion_speed_publ.cancel();
+                               this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
+                               item.setChecked(false);
+                       }
                }
-               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("Speed monitor")) {
+                       if(!item.isChecked()) {
+                               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.setChecked(true);
+                       }
+                       else {
+                               hokuyo_view.runMotion(false);
+                               motion_speed_subs.cancel();
+                               hokuyo_view.invalidate();
+                               item.setChecked(false);                         
+                       }
                }
-               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("Hokuyo")) {
+                       if (!item.isChecked()) {
+                               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.setChecked(true);
+                       }
+                       else {
+                               hokuyo_view.run(false);
+                               hokuyo_scan.cancel();
+                               hokuyo_view.invalidate();
+                               item.setChecked(false);
+                       }
                }
                else if (item.getTitle().equals("Crane up")) {
                        crane_cmd.send(0x100);
@@ -338,4 +343,33 @@ public class MainActivity extends Activity {
                 }
        }
     }
+    
+    private class NetworkInfo extends AsyncTask<Void, String, Void> {
+       @Override
+       protected Void doInBackground(Void... arg0) {
+               while (managersDialog.isShowing()) {
+                       WifiInfo wifiInfo = mWifiManager.getConnectionInfo();
+                       int ip = wifiInfo.getIpAddress();
+                       String ipAddress = Formatter.formatIpAddress(ip);
+                       String ssid = wifiInfo.getSSID();
+       
+                       publishProgress("\nOwn IP Address: " + ipAddress + "\nNetwork SSID: " + ssid);
+                       
+                       try {
+                                       Thread.sleep(1000);
+                               } catch (InterruptedException e) {
+                                       e.printStackTrace();
+                               }
+               }
+               
+               return null;
+       }
+
+       @Override
+       protected void onProgressUpdate(String... values) {
+               super.onProgressUpdate(values);
+               
+               ownIP.setText(values[0]);
+       }
+    }
 }