orte/Robot_Demo/src/org/ocera/orte/demo/MainActivity.java

   1 package org.ocera.orte.demo;
   2
   3 import org.ocera.orte.DomainApp;
   4 import org.ocera.orte.Manager;
   5
   6 import android.app.Activity;
   7 import android.app.AlertDialog;
   8 import android.content.Context;
   9 import android.content.DialogInterface;
  10 import android.content.SharedPreferences;
  11 import android.content.pm.ActivityInfo;
  12 import android.hardware.Sensor;
  13 import android.hardware.SensorEvent;
  14 import android.hardware.SensorEventListener;
  15 import android.hardware.SensorManager;
  16 import android.net.wifi.WifiInfo;
  17 import android.net.wifi.WifiManager;
  18 import android.net.wifi.WifiManager.WifiLock;
  19 import android.os.AsyncTask;
  20 import android.os.Bundle;
  21 import android.os.Handler;
  22 import android.os.Message;
  23 import android.os.PowerManager;
  24 import android.os.PowerManager.WakeLock;
  25 import android.text.format.Formatter;
  26 import android.view.LayoutInflater;
  27 import android.view.Menu;
  28 import android.view.MenuItem;
  29 import android.view.View;
  30 import android.widget.EditText;
  31 import android.widget.TextView;
  32
  33 public class MainActivity extends Activity {
  34         private AlertDialog voltageDialog = null;
  35         private AlertDialog aboutDialog = null;
  36         private AlertDialog managersDialog = null;
  37         private EditText managersField = null;
  38         private TextView ownIP = null;
  39         static EditText voltage33 = null;
  40         static EditText voltage50 = null;
  41         static EditText voltage80 = null;
  42         static EditText voltageBAT = null;
  43         static Handler dialogHandler = new Handler() {
  44                 @Override
  45                 public void handleMessage(Message msg) {
  46                         double[] values = msg.getData().getDoubleArray("voltages");
  47                         if (values != null) {
  48                                 if (voltage33 != null) {
  49                                         voltage33.setText(Double.toString(values[0]));
  50                                 }
  51                                 if (voltage50 != null) {
  52                                         voltage50.setText(Double.toString(values[1]));
  53                                 }
  54                                 if (voltage80 != null) {
  55                                         voltage80.setText(Double.toString(values[2]));
  56                                 }
  57                                 if (voltageBAT != null) {
  58                                         voltageBAT.setText(Double.toString(values[3]));
  59                                 }
  60                         }
  61                 }
  62     };
  63
  64         private Manager manager = null;
  65     private String mgrs = null;
  66         private MotionSpeedPublish motion_speed_publ = null;
  67         private MotionSpeedSubscribe motion_speed_subs = null;
  68         private HokuyoScanSubscribe hokuyo_scan = null;
  69         private PwrVoltageSubscribe pwr_voltage = null;
  70         private MagnetCmdPublish magnet_cmd = null;
  71         private CraneCmdPublish crane_cmd = null;
  72     private SensorManager mSensorManager = null;
  73     private Sensor mGravity = null;
  74     private SensorEventListener accel = null;
  75     private PowerManager mPowerManager = null;
  76     private WifiManager mWifiManager = null;
  77     private WakeLock mWakeLock = null;
  78     private WifiLock mWifiLock = null;
  79     private DomainApp appDomain = null;
  80     private HokuyoView hokuyo_view = null;
  81     private MenuItem speed_publ_item = null;
  82     private MenuItem speed_subs_item = null;
  83     private MenuItem hokuyo_item = null;
  84     private SharedPreferences prefs = null;
  85
  86     static {
  87         System.loadLibrary("jorte");
  88     }
  89
  90     @Override
  91     protected void onPause() {
  92         super.onPause();
  93
  94         if (motion_speed_publ != null && !motion_speed_publ.isCancelled()) {
  95                 motion_speed_publ.cancel();
  96             mSensorManager.unregisterListener(accel);
  97             this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
  98                 speed_publ_item.setChecked(false);
  99             mWakeLock.release();
 100             mWifiLock.release();
 101         }
 102
 103         if (motion_speed_subs != null && !motion_speed_subs.isCancelled()) {
 104                 hokuyo_view.runMotion(false);
 105                 motion_speed_subs.cancel();
 106                 hokuyo_view.invalidate();
 107                 speed_subs_item.setChecked(false);
 108             mWakeLock.release();
 109             mWifiLock.release();
 110         }
 111
 112         if (hokuyo_scan != null && !hokuyo_scan.isCancelled()) {
 113                         hokuyo_view.run(false);
 114                         hokuyo_scan.cancel();
 115                         hokuyo_view.invalidate();
 116                         hokuyo_item.setChecked(false);
 117                 mWakeLock.release();
 118                 mWifiLock.release();
 119         }
 120
 121         if (pwr_voltage != null && !pwr_voltage.isCancelled()) {
 122                 if (voltageDialog.isShowing())
 123                         voltageDialog.dismiss();
 124                         pwr_voltage.cancel();
 125                 mWakeLock.release();
 126                 mWifiLock.release();
 127         }
 128     }
 129
 130     @Override
 131     protected void onDestroy() {
 132         super.onDestroy();
 133
 134         if (crane_cmd != null && !crane_cmd.isCancelled()) {
 135                 crane_cmd.cancel();
 136         }
 137
 138         if (magnet_cmd != null && !crane_cmd.isCancelled()) {
 139                 magnet_cmd.cancel();
 140         }
 141
 142         if (appDomain != null) {
 143                 appDomain.destroy();
 144                 appDomain = null;
 145         }
 146
 147         if (manager != null) {
 148                 manager.destroy();
 149                 manager = null;
 150         }
 151     }
 152
 153         @SuppressWarnings("deprecation")
 154         @Override
 155     public void onCreate(Bundle savedInstanceState) {
 156         super.onCreate(savedInstanceState);
 157         setContentView(R.layout.hokuyo_view);
 158
 159         mPowerManager = (PowerManager) getSystemService(Context.POWER_SERVICE);
 160         mWakeLock = mPowerManager.newWakeLock(
 161                         PowerManager.SCREEN_BRIGHT_WAKE_LOCK
 162                         | PowerManager.ACQUIRE_CAUSES_WAKEUP
 163                         | PowerManager.ON_AFTER_RELEASE,
 164                         getClass().getName());
 165
 166         mWifiManager = (WifiManager) getSystemService(Context.WIFI_SERVICE);
 167         mWifiLock = mWifiManager.createWifiLock(WifiManager.WIFI_MODE_FULL_HIGH_PERF, getClass().getName());
 168
 169         prefs = getSharedPreferences("prefs", 0);
 170         mgrs = prefs.getString("managers", "10.1.1.1");
 171
 172                 AlertDialog.Builder voltageBuilder = new AlertDialog.Builder(this);
 173                 LayoutInflater inflater = getLayoutInflater();
 174                 View voltageView = inflater.inflate(R.layout.status_dialog, null);
 175                 voltageBuilder.setCancelable(false);
 176                 voltageBuilder.setView(voltageView);
 177                 voltageBuilder.setPositiveButton("OK", new DialogInterface.OnClickListener() {
 178                         @Override
 179                         public void onClick(DialogInterface dialog, int which) {
 180                                 voltageDialog.dismiss();
 181                                 pwr_voltage.cancel();
 182                                 mWakeLock.release();
 183                                 mWifiLock.release();
 184                         }
 185                 });
 186                 voltageBuilder.setTitle("Voltages");
 187                 voltageDialog = voltageBuilder.create();
 188                 voltage33 = (EditText)voltageView.findViewById(R.id.editText1);
 189                 voltage50 = (EditText)voltageView.findViewById(R.id.editText2);
 190                 voltage80 = (EditText)voltageView.findViewById(R.id.editText3);
 191                 voltageBAT = (EditText)voltageView.findViewById(R.id.editText4);
 192
 193                 AlertDialog.Builder builder = new AlertDialog.Builder(this);
 194                 View aboutView = inflater.inflate(R.layout.about_dialog, null);
 195                 builder.setView(aboutView);
 196                 builder.setPositiveButton("OK", null);
 197                 aboutDialog = builder.create();
 198
 199                 AlertDialog.Builder managersBuilder = new AlertDialog.Builder(this);
 200                 View managersView = inflater.inflate(R.layout.managers_view, null);
 201                 ownIP = (TextView)managersView.findViewById(R.id.ownIP);
 202                 managersField = (EditText)managersView.findViewById(R.id.managers);
 203                 managersField.setText(mgrs);
 204
 205                 NetworkInfo wifiInfoTask = new NetworkInfo();
 206                 managersBuilder.setCancelable(false);
 207                 managersBuilder.setView(managersView);
 208                 managersBuilder.setPositiveButton("OK", new DialogInterface.OnClickListener() {
 209                         @Override
 210                         public void onClick(DialogInterface dialog, int which) {
 211                                 SharedPreferences.Editor editor = prefs.edit();
 212                                 mgrs = managersField.getText().toString();
 213                                 System.out.println(mgrs);
 214                                 editor.putString("managers", mgrs);
 215                                 editor.commit();
 216
 217                         manager = new Manager(mgrs);
 218
 219                         appDomain = new DomainApp();
 220                         magnet_cmd = new MagnetCmdPublish(appDomain);
 221                         magnet_cmd.start();
 222                         crane_cmd = new CraneCmdPublish(appDomain);
 223                         crane_cmd.start();
 224                                 managersDialog.dismiss();
 225                         }
 226                 });
 227                 managersBuilder.setTitle("Set fellow managers");
 228                 managersDialog = managersBuilder.create();
 229
 230         mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
 231         mGravity = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
 232
 233         hokuyo_view = (HokuyoView) findViewById(R.id.hokuyo_view);
 234
 235         managersDialog.show();
 236                 wifiInfoTask.execute();
 237     }
 238
 239         @Override
 240         public boolean onCreateOptionsMenu(Menu menu) {
 241                 getMenuInflater().inflate(R.menu.activity_main, menu);
 242
 243                 return true;
 244         }
 245
 246         @Override
 247         public boolean onOptionsItemSelected (MenuItem item) {
 248                 if(item.getTitle().equals("Motion control")) {
 249                         if (!item.isChecked()) {
 250                                 mWakeLock.acquire();
 251                                 mWifiLock.acquire();
 252                                 accel = new HandleAccelerometer();
 253                                 mSensorManager.registerListener(accel, mGravity, SensorManager.SENSOR_DELAY_GAME);
 254                                 if (motion_speed_publ == null)
 255                                         motion_speed_publ = new MotionSpeedPublish(appDomain);
 256                                 motion_speed_publ.start();
 257                                 speed_publ_item = item;
 258                                 this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_PORTRAIT);
 259                                 item.setChecked(true);
 260                         }
 261                         else {
 262                                 mSensorManager.unregisterListener(accel);
 263                                 motion_speed_publ.cancel();
 264                                 this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
 265                                 item.setChecked(false);
 266                                 mWakeLock.release();
 267                                 mWifiLock.release();
 268                         }
 269                 }
 270                 else if (item.getTitle().equals("Speed monitor")) {
 271                         if(!item.isChecked()) {
 272                                 mWakeLock.acquire();
 273                                 mWifiLock.acquire();
 274                                 if (motion_speed_subs == null)
 275                                         motion_speed_subs = new MotionSpeedSubscribe(appDomain, hokuyo_view);
 276                                 motion_speed_subs.start();
 277                                 hokuyo_view.runMotion(true);
 278                                 hokuyo_view.invalidate();
 279                                 speed_subs_item = item;
 280                                 item.setChecked(true);
 281                         }
 282                         else {
 283                                 hokuyo_view.runMotion(false);
 284                                 motion_speed_subs.cancel();
 285                                 hokuyo_view.invalidate();
 286                                 item.setChecked(false);
 287                                 mWakeLock.release();
 288                                 mWifiLock.release();
 289                         }
 290                 }
 291                 else if (item.getTitle().equals("Hokuyo")) {
 292                         if (!item.isChecked()) {
 293                                 mWakeLock.acquire();
 294                                 mWifiLock.acquire();
 295                                 if (hokuyo_scan == null)
 296                                         hokuyo_scan = new HokuyoScanSubscribe(appDomain, hokuyo_view);
 297                                 hokuyo_scan.start();
 298                                 hokuyo_view.run(true);
 299                                 hokuyo_view.invalidate();
 300                                 hokuyo_item = item;
 301                                 item.setChecked(true);
 302                         }
 303                         else {
 304                                 hokuyo_view.run(false);
 305                                 hokuyo_scan.cancel();
 306                                 hokuyo_view.invalidate();
 307                                 item.setChecked(false);
 308                                 mWakeLock.release();
 309                                 mWifiLock.release();
 310                         }
 311                 }
 312                 else if (item.getTitle().equals("Crane up")) {
 313                         crane_cmd.send(0x100);
 314                         item.setTitle("Crane down");
 315                 }
 316                 else if (item.getTitle().equals("Crane down")) {
 317                         crane_cmd.send(0x190);
 318                         item.setTitle("Crane up");
 319                 }
 320                 else if (item.getTitle().equals("Magnet on")) {
 321                         magnet_cmd.send(1);
 322                         item.setTitle("Magnet off");
 323                 }
 324                 else if (item.getTitle().equals("Magnet off")) {
 325                         magnet_cmd.send(0);
 326                         item.setTitle("Magnet on");
 327                 }
 328                 else if (item.getTitle().equals("Voltage monitor")) {
 329                         mWakeLock.acquire();
 330                         mWifiLock.acquire();
 331                         if (pwr_voltage == null)
 332                                 pwr_voltage = new PwrVoltageSubscribe(appDomain, dialogHandler);
 333                         pwr_voltage.start();
 334                         voltageDialog.show();
 335                 }
 336                 else if (item.getTitle().equals("About")) {
 337                         aboutDialog.show();
 338                 }
 339                 else if (item.getTitle().equals("Exit")) {
 340                         finish();
 341                 }
 342
 343                 return true;
 344         }
 345
 346     private class HandleAccelerometer implements SensorEventListener {
 347
 348         @Override
 349         public void onAccuracyChanged(Sensor sensor, int accuracy) {}
 350
 351         @Override
 352         public void onSensorChanged(SensorEvent event) {
 353                  if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
 354                          if (motion_speed_publ != null)
 355                                  motion_speed_publ.setSpeed(event.values[0], event.values[1]);
 356                  }
 357         }
 358     }
 359
 360     private class NetworkInfo extends AsyncTask<Void, String, Void> {
 361         @Override
 362         protected Void doInBackground(Void... arg0) {
 363                 while (managersDialog.isShowing()) {
 364                         WifiInfo wifiInfo = mWifiManager.getConnectionInfo();
 365                         int ip = wifiInfo.getIpAddress();
 366                         String ipAddress = Formatter.formatIpAddress(ip);
 367                         String ssid = wifiInfo.getSSID();
 368
 369                         publishProgress("\nOwn IP Address: " + ipAddress + "\nNetwork SSID: " + ssid);
 370
 371                         try {
 372                                         Thread.sleep(1000);
 373                                 } catch (InterruptedException e) {
 374                                         e.printStackTrace();
 375                                 }
 376                 }
 377
 378                 return null;
 379         }
 380
 381         @Override
 382         protected void onProgressUpdate(String... values) {
 383                 super.onProgressUpdate(values);
 384
 385                 ownIP.setText(values[0]);
 386         }
 387     }
 388 }