import android.widget.TextView;
public class MainActivity extends Activity {
-
- Button start = null;
- Button stop = null;
- Button start_pub = null;
- Button stop_pub = null;
- TextView textview = null;
- Manager 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 Button start_mgr = null;
+ private Button stop_mgr = null;
+ private Button start_pub = null;
+ private Button stop_pub = null;
+ private TextView textview = null;
+
+ private Manager manager = null;
+ private AsyncTask<Void, Short, Void> publisher = null;
+
+ private SensorManager mSensorManager = null;
+ private Sensor mGravity = null;
+ private SensorEventListener accel = null;
+ private float accelData[] = new float[2];
private Object lock = new Object();
- static
- {
- System.loadLibrary("jorte");
+ private PowerManager mPowerManager = null;
+ private WakeLock mWakeLock = null;
+
+ static {
+ System.loadLibrary("jorte");
}
- private class HandleAccelerometer extends AsyncTask<Void, Short, Void> implements SensorEventListener {
-
+ private class ComputeOnBackground extends AsyncTask<Void, Short, Void> {
+
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 short[] calculateSpeed(float[] mAccel) {
+ short[] speed = new short[2];
- @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();
+ v = (double)mAccel[1]/mGravity.getMaximumRange();
+ omega = (double)mAccel[0]/mGravity.getMaximumRange();
lenght = Math.sqrt(Math.pow(v,2) + Math.pow(omega,2));
- /* if lenght si more than 1 is used unit circle */
+ /* if length is more than 1 is used unit circle */
if (lenght >= 1) {
/* computing new speed and omega */
- angle = Math.atan2(mAccelY, mAccelX);
+ angle = Math.atan2(mAccel[1], mAccel[0]);
v = Math.sin(angle);
omega = Math.cos(angle);
}
omega *= 2;
-
- right = (short)(-((v + r*omega))*VMAX);
- left = (short)(-(v - r*omega)*VMAX);
+
+ speed[0] = (short)(-((v + r*omega))*VMAX);
+ speed[1] = (short)(-(v - r*omega)*VMAX);
- publishProgress(right, left);
+ return speed;
+ }
+
+ @Override
+ protected Void doInBackground(Void... arg0) {
+ NtpTime persistence = new NtpTime(3);
+ int strength = 100;
+ 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(!isCancelled())
+ {
+ synchronized(lock) {
+ short speed[] = calculateSpeed(accelData);
+
+ hellomsg.left = speed[0];
+ hellomsg.right = speed[1];
+ pub.send(hellomsg);
+ publishProgress(speed[0],speed[1]);
+ }
+ JOrte.sleepMs(100);
+ }
+
+ pub = null;
+ System.gc();
+ appDomain = null;
+ System.gc();
+
+ return null;
}
@Override
protected void onProgressUpdate(Short... input) {
- synchronized(lock) {
- mRight = input[0];
- mLeft = input[1];
- textview.setText("Values: left = " + input[1] + ", right = " + input[0]);
- }
+ textview.setText("Values: left = " + input[0] + ", right = " + input[1]);
+ }
+ }
+
+ 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) {
+ synchronized(lock) {
+ accelData[0] = event.values[0];
+ accelData[1] = event.values[1];
+ }
+ }
}
}
@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 (publisher != null) {
+ publisher.cancel(false);
+ publisher = null;
+ }
+
+ if (accel != null) {
+ mSensorManager.unregisterListener(accel);
+ accel = null;
+ }
+
+ manager = null;
mWakeLock.release();
+
+ System.gc();
}
@Override
textview = (TextView)findViewById(R.id.textView1);
- start = (Button)findViewById(R.id.button1);
- stop = (Button)findViewById(R.id.button2);
- stop.setEnabled(false);
+ start_mgr = (Button)findViewById(R.id.button1);
+ stop_mgr = (Button)findViewById(R.id.button2);
+ stop_mgr.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
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);
- start.setOnClickListener(new View.OnClickListener() {
+ start_mgr.setOnClickListener(new View.OnClickListener() {
String[] mgrs = {"192.168.1.5","192.168.1.8"};
@Override
public void onClick(View v) {
- start.setEnabled(false);
- stop.setEnabled(true);
- manager = new Manager(mgrs);
-
+ start_mgr.setEnabled(false);
+ stop_mgr.setEnabled(true);
start_pub.setEnabled(true);
+
+ manager = new Manager(mgrs);
}
});
- stop.setOnClickListener(new View.OnClickListener() {
+ stop_mgr.setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View v) {
- start.setEnabled(true);
- stop.setEnabled(false);
+ start_mgr.setEnabled(true);
+ stop_mgr.setEnabled(false);
start_pub.setEnabled(false);
stop_pub.setEnabled(false);
+
manager = null;
System.gc();
}
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();
+
+ accel = new HandleAccelerometer();
+ mSensorManager.registerListener(accel, mGravity, SensorManager.SENSOR_DELAY_UI);
+ publisher = new ComputeOnBackground().execute();
}
});
public void onClick(View v) {
start_pub.setEnabled(true);
stop_pub.setEnabled(false);
- tContinue = false;
+
+ publisher.cancel(false);
+ mSensorManager.unregisterListener(accel);
+ publisher = null;
+ accel = null;
+ System.gc();
}
});
-
-
}
}
\ No newline at end of file
projects / orte.git / commitdiff