From 04519d38752a9c8e71b80c1239b619f9014b2489 Mon Sep 17 00:00:00 2001
From: Zhengyu Peng <rookiepeng@users.noreply.github.com>
Date: Mon, 14 Feb 2022 11:42:02 -0500
Subject: [PATCH] update

---
 .../com/rookiedev/hexapod/ControlActivity.kt  | 98 ++++++++++++++++++-
 .../src/main/res/layout/activity_control.xml  |  2 +-
 2 files changed, 96 insertions(+), 4 deletions(-)

diff --git a/software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt b/software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt
index be55792..51da71e 100644
--- a/software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt
+++ b/software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt
@@ -1,9 +1,18 @@
 package com.rookiedev.hexapod
 
-import androidx.appcompat.app.AppCompatActivity
+import android.annotation.SuppressLint
+import android.content.res.Resources
 import android.os.Bundle
-import android.view.WindowInsets
-import android.view.WindowInsetsController
+import android.util.TypedValue
+import android.view.*
+import android.widget.ImageView
+import androidx.appcompat.app.AppCompatActivity
+import java.lang.Math.min
+import kotlin.math.pow
+import kotlin.math.sqrt
+import kotlin.math.atan2
+import kotlin.math.PI
+
 
 /**
  * Behaviors of immersive mode.
@@ -53,13 +62,96 @@ enum class TypeOption(
 }
 
 class ControlActivity : AppCompatActivity() {
+    private var pxMargin = 0f
+    private var width = 0
+    private var height = 0
+    private var radius = 0f
+
+    @SuppressLint("ClickableViewAccessibility")
     override fun onCreate(savedInstanceState: Bundle?) {
         super.onCreate(savedInstanceState)
         setContentView(R.layout.activity_control)
 
         controlWindowInsets(true)
+
+        val controlCircle = findViewById<ImageView>(R.id.control_image)
+
+        val dip = 32f
+        val r: Resources = resources
+        this.pxMargin = TypedValue.applyDimension(
+            TypedValue.COMPLEX_UNIT_DIP,
+            dip,
+            r.displayMetrics
+        )
+
+        val vto: ViewTreeObserver = controlCircle.viewTreeObserver
+        vto.addOnPreDrawListener(object : ViewTreeObserver.OnPreDrawListener {
+            override fun onPreDraw(): Boolean {
+                controlCircle.viewTreeObserver.removeOnPreDrawListener(this)
+                height = controlCircle.measuredHeight
+                width = controlCircle.measuredWidth
+                radius = width.coerceAtMost(height) / 2f
+                println(radius)
+                return true
+            }
+        })
+
+        controlCircle.setOnTouchListener(
+            object : View.OnTouchListener {
+                override fun onTouch(view: View, motionEvent: MotionEvent): Boolean {
+                    val touchX = motionEvent.x
+                    val touchY = motionEvent.y
+                    if (touchX < 0) {
+                        return false
+                    }
+                    if (touchY < 0) {
+                        return false
+                    }
+
+                    val coorX = touchX - width / 2
+                    val coorY = touchY - height / 2
+
+                    val length = sqrt(coorX.pow(2) + coorY.pow(2))
+                    if (length < radius / 3) {
+                        println("Standby")
+                    } else if (length >= radius / 3 && length < 2 * radius / 3) {
+                        var angle = atan2(coorY, coorX)
+                        if (angle>-PI/4 && angle<=PI/4)
+                        {
+                            println("Move right")
+                        } else if ( angle>PI/4 && angle<=3*PI/4){
+                            println("Move back")
+                        } else if ( angle>-3*PI/4 && angle<-PI/4){
+                            println("Move forward")
+                        } else {
+                            println("Move left")
+                        }
+                    } else if (length >= 2 * radius / 3 && length < radius) {
+                        var angle = atan2(coorY, coorX)
+                        if (angle>-PI/4 && angle<=PI/4)
+                        {
+                            println("Turn right")
+                        } else if ( angle>PI/4 && angle<=3*PI/4){
+                            println("Fast back")
+                        } else if ( angle>-3*PI/4 && angle<-PI/4){
+                            println("Fast forward")
+                        } else {
+                            println("Turn left")
+                        }
+                    }
+//                    val width = view.width
+//                    val height = view.height
+//                    println(width.toString().plus(":").plus(height.toString()))
+//                    println(touchX.toString().plus(":").plus(touchY.toString()))
+//                    println(coorX.toString().plus(":").plus(coorY.toString()))
+//                    println(radius)
+                    return true
+                }
+            }
+        )
     }
 
+
     private fun controlWindowInsets(hide: Boolean) {
         // WindowInsetsController can hide or show specified system bars.
         val insetsController = window.decorView.windowInsetsController ?: return
diff --git a/software/android/app/src/main/res/layout/activity_control.xml b/software/android/app/src/main/res/layout/activity_control.xml
index db9fe41..6a5aa45 100644
--- a/software/android/app/src/main/res/layout/activity_control.xml
+++ b/software/android/app/src/main/res/layout/activity_control.xml
@@ -78,7 +78,7 @@
         android:layout_weight="1">
 
         <ImageView
-            android:id="@+id/imageView"
+            android:id="@+id/control_image"
             android:layout_width="match_parent"
             android:layout_height="match_parent"
             android:layout_marginStart="32dp"