update

software/android/app/build.gradle

@@ -32,7 +32,7 @@ android {
 }
 
 dependencies {
-
+    implementation 'org.jetbrains.kotlinx:kotlinx-coroutines-core:1.6.0'
     implementation 'androidx.core:core-ktx:1.7.0'
     implementation 'androidx.appcompat:appcompat:1.4.1'
     implementation 'com.google.android.material:material:1.5.0'

software/android/app/src/main/AndroidManifest.xml

@@ -1,6 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
     package="com.rookiedev.hexapod">
+    <uses-permission android:name="android.permission.INTERNET" />
 
     <application
         android:allowBackup="true"

software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt

@@ -7,11 +7,15 @@ import android.util.TypedValue
 import android.view.*
 import android.widget.ImageView
 import androidx.appcompat.app.AppCompatActivity
-import java.lang.Math.min
+import com.rookiedev.hexapod.network.TCPClient
+import com.rookiedev.hexapod.network.TCPClient.OnConnectEstablished
+import com.rookiedev.hexapod.network.TCPClient.OnMessageReceived
+import java.util.concurrent.locks.ReentrantLock
+import kotlin.math.PI
+import kotlin.math.atan2
 import kotlin.math.pow
 import kotlin.math.sqrt
-import kotlin.math.atan2
+import kotlinx.coroutines.*
-import kotlin.math.PI
 
 
 /**
@@ -67,6 +71,14 @@ class ControlActivity : AppCompatActivity() {
     private var height = 0
     private var radius = 0f
 
+    private var tcpClient: TCPClient? = null
+
+    private val scope = CoroutineScope(Job() + Dispatchers.IO)
+
+//    private val lock = ReentrantLock()
+//    private val waitLock = lock.newCondition()
+
+
     @SuppressLint("ClickableViewAccessibility")
     override fun onCreate(savedInstanceState: Bundle?) {
         super.onCreate(savedInstanceState)
@@ -114,29 +126,77 @@ class ControlActivity : AppCompatActivity() {
                     val length = sqrt(coorX.pow(2) + coorY.pow(2))
                     if (length < radius / 3) {
                         println("Standby")
+
+                        sendMessageAsync("Standby")
                     } else if (length >= radius / 3 && length < 2 * radius / 3) {
                         var angle = atan2(coorY, coorX)
-                        if (angle>-PI/4 && angle<=PI/4)
+                        if (angle > -PI / 4 && angle <= PI / 4) {
-                        {
                             println("Move right")
-                        } else if ( angle>PI/4 && angle<=3*PI/4){
+
+                            runBlocking { // this: CoroutineScope
+                                launch { // launch a new coroutine and continue
+                                    tcpClient?.sendMessage("Move right")
+                                }
+                            }
+                        } else if (angle > PI / 4 && angle <= 3 * PI / 4) {
                             println("Move back")
-                        } else if ( angle>-3*PI/4 && angle<-PI/4){
+
+                            runBlocking { // this: CoroutineScope
+                                launch { // launch a new coroutine and continue
+                                    tcpClient?.sendMessage("Move back")
+                                }
+                            }
+                        } else if (angle > -3 * PI / 4 && angle < -PI / 4) {
                             println("Move forward")
+
+                            runBlocking { // this: CoroutineScope
+                                launch { // launch a new coroutine and continue
+                                    tcpClient?.sendMessage("Move forward")
+                                }
+                            }
                         } else {
                             println("Move left")
+
+                            runBlocking { // this: CoroutineScope
+                                launch { // launch a new coroutine and continue
+                                    tcpClient?.sendMessage("Move left")
+                                }
+                            }
                         }
                     } else if (length >= 2 * radius / 3 && length < radius) {
                         var angle = atan2(coorY, coorX)
-                        if (angle>-PI/4 && angle<=PI/4)
+                        if (angle > -PI / 4 && angle <= PI / 4) {
-                        {
                             println("Turn right")
-                        } else if ( angle>PI/4 && angle<=3*PI/4){
+
+                            runBlocking { // this: CoroutineScope
+                                launch { // launch a new coroutine and continue
+                                    tcpClient?.sendMessage("Turn right")
+                                }
+                            }
+                        } else if (angle > PI / 4 && angle <= 3 * PI / 4) {
                             println("Fast back")
-                        } else if ( angle>-3*PI/4 && angle<-PI/4){
+
+                            runBlocking { // this: CoroutineScope
+                                launch { // launch a new coroutine and continue
+                                    tcpClient?.sendMessage("Fast back")
+                                }
+                            }
+                        } else if (angle > -3 * PI / 4 && angle < -PI / 4) {
                             println("Fast forward")
+
+                            runBlocking { // this: CoroutineScope
+                                launch { // launch a new coroutine and continue
+                                    tcpClient?.sendMessage("Fast forward")
+                                }
+                            }
                         } else {
                             println("Turn left")
+
+                            runBlocking { // this: CoroutineScope
+                                launch { // launch a new coroutine and continue
+                                    tcpClient?.sendMessage("Turn left")
+                                }
+                            }
                         }
                     }
 //                    val width = view.width
@@ -149,6 +209,21 @@ class ControlActivity : AppCompatActivity() {
                 }
             }
         )
+        this.tcpClient = TCPClient(this, "192.168.1.202", 1234, object : OnMessageReceived {
+            override fun messageReceived(message: String?) {
+                if (message == null) {
+//                    alertDialog(DISCONNECTED)
+                    println("no message")
+                }
+            }
+        }, object : OnConnectEstablished {
+            override fun onConnected() {
+//                udpClient.start()
+                println("connected")
+            }
+        }
+        )
+        this.tcpClient!!.start()
     }
 
 
@@ -166,5 +241,26 @@ class ControlActivity : AppCompatActivity() {
             insetsController.show(type)
         }
     }
+
+
+
+    fun sendMessageAsync(message: String) {
+        // Starts a new coroutine within the scope
+        scope.launch {
+            // New coroutine that can call suspend functions
+//            suspend fun sendMessage(message: String) =                 // Dispatchers.Main
+                withContext(Dispatchers.IO) {              // Dispatchers.IO (main-safety block)
+                    tcpClient?.sendMessage(message)
+                    /* perform network IO here */          // Dispatchers.IO (main-safety block)
+                }
+        }
+    }
+
+//    suspend fun sendMessage(message: String) =                 // Dispatchers.Main
+//        withContext(Dispatchers.IO) {              // Dispatchers.IO (main-safety block)
+//            tcpClient?.sendMessage(message)
+//            /* perform network IO here */          // Dispatchers.IO (main-safety block)
+//        }                                          // Dispatchers.Main
 }
 
+

software/android/app/src/main/java/com/rookiedev/hexapod/network/TCPClient.kt

@@ -0,0 +1,118 @@
+package com.rookiedev.hexapod.network
+
+import com.rookiedev.hexapod.ControlActivity
+import android.util.Log
+import java.io.*
+import java.net.InetAddress
+import java.net.InetSocketAddress
+import java.net.Socket
+import java.net.UnknownHostException
+import java.util.concurrent.locks.ReentrantLock
+
+
+class TCPClient(
+    c: ControlActivity,
+    ip: String?,
+    port: Int,
+    messagelistener: OnMessageReceived?,
+    onconnected: OnConnectEstablished?
+) :
+    Thread() {
+    private val controller: ControlActivity = c
+    private var TCPSocket:Socket? = null
+    private var SERVERIP: InetAddress? = null
+    private val SERVERPORT: Int
+    private var serverAddr: InetSocketAddress? = null
+    private var TCPOut: PrintWriter? = null
+    private var TCPIn: BufferedReader? = null
+    private var TCPMessage: String? = null
+    private var mMessageListener: OnMessageReceived? = null
+    private var onConnected: OnConnectEstablished? = null
+    private var isConnected = false
+    private var pause = false // if the thread is paused by system
+    private var isNewData = false
+    private var newMessage:String? = null
+    override fun run() {
+        try {
+            this.TCPSocket = Socket()
+            this.TCPSocket!!.soTimeout = 3000
+            this.TCPSocket!!.connect(serverAddr, 3000) // connecting socket and set timeout in 3s
+            onConnected!!.onConnected()
+            TCPOut = PrintWriter(
+                    BufferedWriter(OutputStreamWriter(this.TCPSocket!!.getOutputStream())),
+                    true
+                )
+//            sendMessage("test")
+            isConnected = true
+            while(isConnected)
+            {
+//                if (isNewData)
+//                {
+//                    if (TCPOut != null && !TCPOut!!.checkError()) {
+//                        TCPOut!!.println(newMessage)
+//                        TCPOut!!.flush()
+//                    }
+//                    isNewData = false
+//                }else{
+//                    sleep(100)
+//                }
+                sleep(1000)
+            }
+        } catch (e: Exception) {
+//            controller.cancelProgressDialog(java.lang.ModuleLayer.Controller.SERVERALERT)
+            println("unable to connect")
+        }
+    }
+
+//    private fun keepAlive() {
+//        sendMessage(Constants.requestMessage(Constants.REQUEST_ISALIVE))
+//        try {
+//            TCPMessage = TCPIn!!.readLine()
+//            mMessageListener!!.messageReceived(TCPMessage)
+//        } catch (e: IOException) {
+//            controller.alertDialog(java.lang.ModuleLayer.Controller.DISCONNECTED)
+//        }
+//    }
+
+    /**
+     * Sends the message entered by client to the server
+     *
+     * @param message text entered by client
+     */
+    fun sendMessage(message: String?) {
+//        newMessage = message
+//        isNewData = true
+        if (TCPOut != null && !TCPOut!!.checkError()) {
+            TCPOut!!.println(message)
+            TCPOut!!.flush()
+        }
+    }
+
+//    fun stopClient() {
+//        sendMessage(Constants.requestMessage(Constants.REQUEST_DISCONNECT))
+//        pause = true
+//        isConnected = false
+//    }
+
+    interface OnMessageReceived {
+        fun messageReceived(message: String?)
+    }
+
+    interface OnConnectEstablished {
+        fun onConnected()
+    }
+
+    init {
+        SERVERPORT = port
+        mMessageListener = messagelistener
+        onConnected = onconnected
+        try {
+            SERVERIP = InetAddress.getByName(ip)
+            serverAddr = InetSocketAddress(SERVERIP, SERVERPORT)
+        } catch (e: UnknownHostException) {
+            // TODO Auto-generated catch block
+            e.printStackTrace()
+        }
+        pause = false
+    }
+}