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.app.Dialog;
   9 import android.content.Context;
  10 import android.content.pm.ActivityInfo;
  11 import android.hardware.Sensor;
  12 import android.hardware.SensorEvent;
  13 import android.hardware.SensorEventListener;
  14 import android.hardware.SensorManager;
  15 import android.net.wifi.WifiManager;
  16 import android.net.wifi.WifiManager.WifiLock;
  17 import android.os.Bundle;
  18 import android.os.Handler;
  19 import android.os.Message;
  20 import android.os.PowerManager;
  21 import android.os.PowerManager.WakeLock;
  22 import android.view.LayoutInflater;
  23 import android.view.Menu;
  24 import android.view.MenuItem;
  25 import android.view.View;
  26 import android.view.View.OnClickListener;
  27 import android.widget.Button;
  28 import android.widget.EditText;
  29
  30 public class MainActivity extends Activity {
  31         private Dialog voltageDialog = null;
  32         private AlertDialog aboutDialog = null;
  33         static EditText voltage33 = null;
  34         static EditText voltage50 = null;
  35         static EditText voltage80 = null;
  36         static EditText voltageBAT = null;
  37         static Handler dialogHandler = new Handler() {
  38                 @Override
  39                 public void handleMessage(Message msg) {
  40                         double[] values = msg.getData().getDoubleArray("voltages");
  41                         if (values != null) {
  42                                 if (voltage33 != null) {
  43                                         voltage33.setText(Double.toString(values[0]));
  44                                 }
  45                                 if (voltage50 != null) {
  46                                         voltage50.setText(Double.toString(values[1]));
  47                                 }
  48                                 if (voltage80 != null) {
  49                                         voltage80.setText(Double.toString(values[2]));
  50                                 }
  51                                 if (voltageBAT != null) {
  52                                         voltageBAT.setText(Double.toString(values[3]));
  53                                 }
  54                         }
  55                 }
  56     };
  57
  58         private Manager manager = null;
  59     private String[] mgrs = {"192.168.1.5","192.168.1.8","192.168.1.29",
  60                 "10.1.1.1","10.1.1.2","10.1.1.3","10.1.1.4","10.1.1.5","10.1.1.6","10.1.1.7","10.1.1.8","10.1.1.9","10.1.1.10",
  61                 "10.1.1.11","10.1.1.12","10.1.1.13","10.1.1.14","10.1.1.15","10.1.1.16","10.1.1.17","10.1.1.18","10.1.1.19","10.1.1.20"};
  62         private MotionSpeedPublish motion_speed_publ = null;
  63         private MotionSpeedSubscribe motion_speed_subs = null;
  64         private HokuyoScanSubscribe hokuyo_scan = null;
  65         private PwrVoltageSubscribe pwr_voltage = null;
  66         private MagnetCmdPublish magnet_cmd = null;
  67         private CraneCmdPublish crane_cmd = null;
  68     private SensorManager mSensorManager = null;
  69     private Sensor mGravity = null;
  70     private SensorEventListener accel = null;
  71     private PowerManager mPowerManager = null;
  72     private WifiManager mWifiManager = null;
  73     private WakeLock mWakeLock = null;
  74     private WifiLock mWifiLock = null;
  75     private DomainApp appDomain = null;
  76     private HokuyoView hokuyo_view = null;
  77     private MenuItem speed_publ_item = null;
  78     private MenuItem speed_subs_item = null;
  79     private MenuItem hokuyo_item = null;
  80
  81     static {
  82         System.loadLibrary("jorte");
  83     }
  84
  85     @Override
  86     protected void onResume() {
  87         super.onResume();
  88
  89         mWakeLock.acquire();
  90         mWifiLock.acquire();
  91     }
  92
  93     @Override
  94     protected void onPause() {
  95         super.onPause();
  96
  97         if (motion_speed_publ != null && !motion_speed_publ.isCancelled()) {
  98                 motion_speed_publ.cancel();
  99             mSensorManager.unregisterListener(accel);
 100             this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
 101                 speed_publ_item.setTitle("Start motion control");
 102         }
 103
 104         if (motion_speed_subs != null && !motion_speed_subs.isCancelled()) {
 105                 hokuyo_view.runMotion(false);
 106                 motion_speed_subs.cancel();
 107                 hokuyo_view.invalidate();
 108                 speed_subs_item.setTitle("Start motion monitor");
 109         }
 110
 111         if (hokuyo_scan != null && !hokuyo_scan.isCancelled()) {
 112                         hokuyo_view.run(false);
 113                         hokuyo_scan.cancel();
 114                         hokuyo_view.invalidate();
 115                         hokuyo_item.setTitle("Start LRF");
 116         }
 117
 118         if (pwr_voltage != null && !pwr_voltage.isCancelled()) {
 119                 if (voltageDialog.isShowing())
 120                         voltageDialog.dismiss();
 121                         pwr_voltage.cancel();
 122         }
 123
 124         mWakeLock.release();
 125         mWifiLock.release();
 126     }
 127
 128     @Override
 129     protected void onDestroy() {
 130         super.onDestroy();
 131
 132         if (crane_cmd != null && !crane_cmd.isCancelled()) {
 133                 crane_cmd.cancel();
 134         }
 135
 136         if (magnet_cmd != null && !crane_cmd.isCancelled()) {
 137                 magnet_cmd.cancel();
 138         }
 139
 140         if (appDomain != null) {
 141                 appDomain.destroy();
 142                 appDomain = null;
 143         }
 144
 145         if (manager != null) {
 146                 manager.destroy();
 147                 manager = null;
 148         }
 149     }
 150
 151         @SuppressWarnings("deprecation")
 152         @Override
 153     public void onCreate(Bundle savedInstanceState) {
 154         super.onCreate(savedInstanceState);
 155         setContentView(R.layout.hokuyo_view);
 156
 157         voltageDialog = new Dialog(this,R.style.voltage_dialog);
 158         voltageDialog.setCancelable(false);
 159                 voltageDialog.setContentView(R.layout.status_dialog);
 160                 Button okButton = (Button)voltageDialog.findViewById(R.id.button1);
 161                 okButton.setOnClickListener(new OnClickListener() {
 162                         @Override
 163                         public void onClick(View arg0) {
 164                                 voltageDialog.dismiss();
 165                                 pwr_voltage.cancel();
 166                         }
 167                 });
 168                 voltage33 = (EditText)voltageDialog.findViewById(R.id.editText1);
 169                 voltage50 = (EditText)voltageDialog.findViewById(R.id.editText2);
 170                 voltage80 = (EditText)voltageDialog.findViewById(R.id.editText3);
 171                 voltageBAT = (EditText)voltageDialog.findViewById(R.id.editText4);
 172
 173                 AlertDialog.Builder builder = new AlertDialog.Builder(this);
 174                 LayoutInflater inflater = getLayoutInflater();
 175                 View aboutView = inflater.inflate(R.layout.about_dialog, null);
 176                 builder.setView(aboutView);
 177                 builder.setPositiveButton("OK", null);
 178                 aboutDialog = builder.create();
 179
 180         mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
 181         mGravity = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
 182
 183         mPowerManager = (PowerManager) getSystemService(Context.POWER_SERVICE);
 184         mWakeLock = mPowerManager.newWakeLock(
 185                         PowerManager.SCREEN_BRIGHT_WAKE_LOCK
 186                         | PowerManager.ACQUIRE_CAUSES_WAKEUP
 187                         | PowerManager.ON_AFTER_RELEASE,
 188                         getClass().getName());
 189
 190         mWifiManager = (WifiManager) getSystemService(Context.WIFI_SERVICE);
 191         mWifiLock = mWifiManager.createWifiLock(WifiManager.WIFI_MODE_FULL_HIGH_PERF, getClass().getName());
 192
 193         hokuyo_view = (HokuyoView) findViewById(R.id.hokuyo_view);
 194
 195         manager = new Manager(mgrs);
 196
 197         appDomain = new DomainApp();
 198         magnet_cmd = new MagnetCmdPublish(appDomain);
 199         magnet_cmd.start();
 200         crane_cmd = new CraneCmdPublish(appDomain);
 201         crane_cmd.start();
 202     }
 203
 204         @Override
 205         public boolean onCreateOptionsMenu(Menu menu) {
 206                 getMenuInflater().inflate(R.menu.activity_main, menu);
 207
 208                 return true;
 209         }
 210
 211         @Override
 212         public boolean onOptionsItemSelected (MenuItem item) {
 213                 System.out.println(item.getTitle());
 214
 215                 if(item.getTitle().equals("Start motion control")) {
 216                         accel = new HandleAccelerometer();
 217                         mSensorManager.registerListener(accel, mGravity, SensorManager.SENSOR_DELAY_GAME);
 218                         if (motion_speed_publ == null)
 219                                 motion_speed_publ = new MotionSpeedPublish(mGravity.getMaximumRange(),appDomain);
 220                         motion_speed_publ.start();
 221                         speed_publ_item = item;
 222                         this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_PORTRAIT);
 223                         item.setTitle("Stop motion control");
 224                 }
 225                 else if (item.getTitle().equals("Stop motion control")) {
 226                         mSensorManager.unregisterListener(accel);
 227                         motion_speed_publ.cancel();
 228                         this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_SENSOR);
 229                         item.setTitle("Start motion control");
 230                 }
 231                 else if (item.getTitle().equals("Start motion monitor")) {
 232                         if (motion_speed_subs == null)
 233                                 motion_speed_subs = new MotionSpeedSubscribe(appDomain, hokuyo_view);
 234                         motion_speed_subs.start();
 235                         hokuyo_view.runMotion(true);
 236                         hokuyo_view.invalidate();
 237                         speed_subs_item = item;
 238                         item.setTitle("Stop motion monitor");
 239                 }
 240                 else if (item.getTitle().equals("Stop motion monitor")) {
 241                         hokuyo_view.runMotion(false);
 242                         motion_speed_subs.cancel();
 243                         hokuyo_view.invalidate();
 244                         item.setTitle("Start motion monitor");
 245                 }
 246                 else if (item.getTitle().equals("Start LRF")) {
 247                         if (hokuyo_scan == null)
 248                                 hokuyo_scan = new HokuyoScanSubscribe(appDomain, hokuyo_view);
 249                         hokuyo_scan.start();
 250                         hokuyo_view.run(true);
 251                         hokuyo_view.invalidate();
 252                         hokuyo_item = item;
 253                         item.setTitle("Stop LRF");
 254                 }
 255                 else if (item.getTitle().equals("Stop LRF")) {
 256                         hokuyo_view.run(false);
 257                         hokuyo_scan.cancel();
 258                         hokuyo_view.invalidate();
 259                         item.setTitle("Start LRF");
 260                 }
 261                 else if (item.getTitle().equals("Crane up")) {
 262                         crane_cmd.send(0x100);
 263                         item.setTitle("Crane down");
 264                 }
 265                 else if (item.getTitle().equals("Crane down")) {
 266                         crane_cmd.send(0x190);
 267                         item.setTitle("Crane up");
 268                 }
 269                 else if (item.getTitle().equals("Magnet on")) {
 270                         magnet_cmd.send(1);
 271                         item.setTitle("Magnet off");
 272                 }
 273                 else if (item.getTitle().equals("Magnet off")) {
 274                         magnet_cmd.send(0);
 275                         item.setTitle("Magnet on");
 276                 }
 277                 else if (item.getTitle().equals("Voltage monitor")) {
 278                         if (pwr_voltage == null)
 279                                 pwr_voltage = new PwrVoltageSubscribe(appDomain, dialogHandler);
 280                         pwr_voltage.start();
 281                         voltageDialog.show();
 282                 }
 283                 else if (item.getTitle().equals("About")) {
 284                         aboutDialog.show();
 285                 }
 286                 else if (item.getTitle().equals("Exit")) {
 287                         finish();
 288                 }
 289
 290                 return true;
 291         }
 292
 293     private class HandleAccelerometer implements SensorEventListener {
 294
 295         @Override
 296         public void onAccuracyChanged(Sensor sensor, int accuracy) {}
 297
 298         @Override
 299         public void onSensorChanged(SensorEvent event) {
 300                  if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
 301                          if (motion_speed_publ != null)
 302                                  motion_speed_publ.setSpeed(event.values[0], event.values[1]);
 303                  }
 304         }
 305     }
 306 }