Update ControlActivity.kt
This commit is contained in:
Zhengyu Peng
parent
2a924b870e
commit
46fbc8cd2d
@ -8,7 +8,6 @@ import android.os.Bundle
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import android.os.Handler
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import android.os.Looper
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import android.view.*
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import android.widget.Button
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import android.widget.ImageView
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import androidx.appcompat.app.AppCompatActivity
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import androidx.constraintlayout.widget.ConstraintLayout
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@ -99,9 +98,13 @@ class ControlActivity : AppCompatActivity() {
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private const val CMD_TWIST = "twist:"
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}
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private var width = 0
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private var height = 0
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private var radius = 0f
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private var rightWidth = 0
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private var rightHeight = 0
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private var rightRadius = 0f
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private var leftWidth = 0
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private var leftHeight = 0
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private var connectInterface: String = ""
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@ -119,14 +122,8 @@ class ControlActivity : AppCompatActivity() {
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private var currentState: String = CMD_STANDBY
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private lateinit var progressBar: ConstraintLayout
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private var controlImage: ImageView? = null
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private var buttonRotateX: Button? = null
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private var buttonRotateY: Button? = null
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private var buttonRotateZ: Button? = null
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private var buttonClimb: Button? = null
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private var buttonTwist: Button? = null
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private var rightControlImage: ImageView? = null
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private var leftControlImage: ImageView? = null
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@SuppressLint("ClickableViewAccessibility")
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override fun onCreate(savedInstanceState: Bundle?) {
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@ -147,27 +144,32 @@ class ControlActivity : AppCompatActivity() {
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controlWindowInsets(true)
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controlImage = findViewById<ImageView>(R.id.right_control_image)
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progressBar = findViewById<ConstraintLayout>(R.id.progressBar)
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rightControlImage = findViewById(R.id.right_control_image)
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leftControlImage = findViewById(R.id.left_control_image)
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progressBar = findViewById(R.id.progressBar)
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buttonRotateX = findViewById(R.id.button_rotatex)
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buttonRotateY = findViewById(R.id.button_rotatey)
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buttonRotateZ = findViewById(R.id.button_rotatez)
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buttonClimb = findViewById(R.id.button_climb)
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buttonTwist = findViewById(R.id.button_twist)
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val vto: ViewTreeObserver = controlImage!!.viewTreeObserver
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vto.addOnPreDrawListener(object : ViewTreeObserver.OnPreDrawListener {
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val rightVto: ViewTreeObserver = rightControlImage!!.viewTreeObserver
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rightVto.addOnPreDrawListener(object : ViewTreeObserver.OnPreDrawListener {
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override fun onPreDraw(): Boolean {
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controlImage!!.viewTreeObserver.removeOnPreDrawListener(this)
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height = controlImage!!.measuredHeight
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width = controlImage!!.measuredWidth
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radius = width.coerceAtMost(height) / 2f
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rightControlImage!!.viewTreeObserver.removeOnPreDrawListener(this)
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rightHeight = rightControlImage!!.measuredHeight
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rightWidth = rightControlImage!!.measuredWidth
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rightRadius = rightWidth.coerceAtMost(rightHeight) / 2f
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return true
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}
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})
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controlImage!!.setOnTouchListener(
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val leftVto: ViewTreeObserver = leftControlImage!!.viewTreeObserver
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leftVto.addOnPreDrawListener(object : ViewTreeObserver.OnPreDrawListener {
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override fun onPreDraw(): Boolean {
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leftControlImage!!.viewTreeObserver.removeOnPreDrawListener(this)
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leftHeight = leftControlImage!!.measuredHeight
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leftWidth = 2*leftHeight/3
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return true
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}
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})
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rightControlImage!!.setOnTouchListener(
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object : View.OnTouchListener {
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override fun onTouch(view: View, motionEvent: MotionEvent): Boolean {
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val touchX = motionEvent.x
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@ -179,220 +181,162 @@ class ControlActivity : AppCompatActivity() {
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return false
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}
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val coorX = touchX - width / 2
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val coorY = touchY - height / 2
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val coorX = touchX - rightWidth / 2
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val coorY = touchY - rightHeight / 2
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val length = sqrt(coorX.pow(2) + coorY.pow(2))
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if (length < radius / 3) {
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if (length < rightRadius / 3) {
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if (currentState != CMD_STANDBY) {
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sendMessageAsync(CMD_STANDBY)
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currentState = CMD_STANDBY
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controlImage!!.setImageResource(R.drawable.ic_control_circle_standby)
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rightControlImage!!.setImageResource(R.drawable.ic_control_circle_standby)
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buttonRotateX!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonRotateY!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonRotateZ!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonClimb!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonTwist!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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leftControlImage!!.setImageResource(R.drawable.ic_control_left)
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}
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} else if (length >= radius / 3 && length < 2 * radius / 3) {
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} else if (length >= rightRadius / 3 && length < 2 * rightRadius / 3) {
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val angle = atan2(coorY, coorX)
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if (angle > -7 * PI / 8 && angle < -5 * PI / 8) {
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if (currentState != CMD_WALK_L45) {
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sendMessageAsync(CMD_WALK_L45)
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currentState = CMD_WALK_L45
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controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l45)
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rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l45)
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}
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}else if (angle > -5 * PI / 8 && angle < -3 * PI / 8) {
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} else if (angle > -5 * PI / 8 && angle < -3 * PI / 8) {
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if (currentState != CMD_WALK_0) {
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sendMessageAsync(CMD_WALK_0)
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currentState = CMD_WALK_0
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controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_0)
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rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_0)
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}
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} else if (angle > -3 * PI / 8 && angle <= -PI / 8) {
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if (currentState != CMD_WALK_R45) {
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sendMessageAsync(CMD_WALK_R45)
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currentState = CMD_WALK_R45
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controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_r45)
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rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_r45)
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}
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} else if (angle > -PI / 8 && angle <= PI / 8) {
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if (currentState != CMD_WALK_R90) {
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sendMessageAsync(CMD_WALK_R90)
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currentState = CMD_WALK_R90
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controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_r90)
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rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_r90)
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}
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} else if (angle > PI / 8 && angle <= 3 * PI / 8) {
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if (currentState != CMD_WALK_R135) {
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sendMessageAsync(CMD_WALK_R135)
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currentState = CMD_WALK_R135
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controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_r135)
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rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_r135)
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}
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} else if (angle > 3 *PI / 8 && angle <= 5 * PI / 8) {
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} else if (angle > 3 * PI / 8 && angle <= 5 * PI / 8) {
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if (currentState != CMD_WALK_180) {
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sendMessageAsync(CMD_WALK_180)
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currentState = CMD_WALK_180
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controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_180)
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rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_180)
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}
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} else if (angle > 5 *PI / 8 && angle <= 7 * PI / 8) {
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} else if (angle > 5 * PI / 8 && angle <= 7 * PI / 8) {
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if (currentState != CMD_WALK_L135) {
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sendMessageAsync(CMD_WALK_L135)
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currentState = CMD_WALK_L135
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controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l135)
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rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l135)
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}
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} else {
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if (currentState != CMD_WALK_L90) {
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sendMessageAsync(CMD_WALK_L90)
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currentState = CMD_WALK_L90
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controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l90)
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rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l90)
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}
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}
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buttonRotateX!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonRotateY!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonRotateZ!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonClimb!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonTwist!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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} else if (length >= 2 * radius / 3 && length < radius) {
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leftControlImage!!.setImageResource(R.drawable.ic_control_left)
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} else if (length >= 2 * rightRadius / 3 && length < rightRadius) {
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val angle = atan2(coorY, coorX)
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if (angle > -PI / 4 && angle <= PI / 4) {
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if (currentState != CMD_TURNRIGHT) {
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sendMessageAsync(CMD_TURNRIGHT)
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currentState = CMD_TURNRIGHT
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controlImage!!.setImageResource(R.drawable.ic_control_circle_turnright)
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rightControlImage!!.setImageResource(R.drawable.ic_control_circle_turnright)
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}
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} else if (angle > PI / 4 && angle <= 3 * PI / 4) {
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if (currentState != CMD_FASTBACKWARD) {
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sendMessageAsync(CMD_FASTBACKWARD)
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currentState = CMD_FASTBACKWARD
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controlImage!!.setImageResource(R.drawable.ic_control_circle_fastbackward)
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rightControlImage!!.setImageResource(R.drawable.ic_control_circle_fastbackward)
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}
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} else if (angle > -3 * PI / 4 && angle < -PI / 4) {
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if (currentState != CMD_FASTFORWARD) {
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sendMessageAsync(CMD_FASTFORWARD)
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currentState = CMD_FASTFORWARD
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controlImage!!.setImageResource(R.drawable.ic_control_circle_fastforward)
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rightControlImage!!.setImageResource(R.drawable.ic_control_circle_fastforward)
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}
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} else {
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if (currentState != CMD_TURNLEFT) {
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sendMessageAsync(CMD_TURNLEFT)
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currentState = CMD_TURNLEFT
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controlImage!!.setImageResource(R.drawable.ic_control_circle_turnleft)
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rightControlImage!!.setImageResource(R.drawable.ic_control_circle_turnleft)
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}
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}
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buttonRotateX!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonRotateY!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonRotateZ!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonClimb!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonTwist!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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leftControlImage!!.setImageResource(R.drawable.ic_control_left)
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}
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return true
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}
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}
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)
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buttonRotateX!!.setOnClickListener {
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if (currentState != CMD_ROTATEX) {
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sendMessageAsync(CMD_ROTATEX)
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currentState = CMD_ROTATEX
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controlImage!!.setImageResource(R.drawable.ic_control_circle)
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buttonRotateX!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.purple_500)
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buttonRotateY!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonRotateZ!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonClimb!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonTwist!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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}
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}
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leftControlImage!!.setOnTouchListener(
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object : View.OnTouchListener {
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override fun onTouch(view: View, motionEvent: MotionEvent): Boolean {
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val touchX = motionEvent.x
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val touchY = motionEvent.y
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if (touchX < 0 || touchX > leftWidth) {
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return false
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}
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if (touchY < 0 || touchY > leftHeight) {
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return false
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}
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buttonRotateY!!.setOnClickListener {
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if (currentState != CMD_ROTATEY) {
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sendMessageAsync(CMD_ROTATEY)
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currentState = CMD_ROTATEY
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controlImage!!.setImageResource(R.drawable.ic_control_circle)
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buttonRotateX!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonRotateY!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.purple_500)
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buttonRotateZ!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonClimb!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonTwist!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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if (touchX < leftWidth/2){
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if(touchY< leftHeight/3){
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if (currentState != CMD_ROTATEY) {
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sendMessageAsync(CMD_ROTATEY)
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currentState = CMD_ROTATEY
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leftControlImage!!.setImageResource(R.drawable.ic_control_left_rotatey)
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}
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} else if( touchY >= leftHeight/3 && touchY < 2*leftHeight/3) {
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if (currentState != CMD_ROTATEX) {
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sendMessageAsync(CMD_ROTATEX)
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currentState = CMD_ROTATEX
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leftControlImage!!.setImageResource(R.drawable.ic_control_left_rotatex)
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}
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} else {
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if (currentState != CMD_ROTATEZ) {
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sendMessageAsync(CMD_ROTATEZ)
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currentState = CMD_ROTATEZ
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leftControlImage!!.setImageResource(R.drawable.ic_control_left_rotatez)
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}
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}
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} else {
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if(touchY< leftHeight/3){
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if (currentState != CMD_CLIMBFORWARD) {
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sendMessageAsync(CMD_CLIMBFORWARD)
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currentState = CMD_CLIMBFORWARD
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leftControlImage!!.setImageResource(R.drawable.ic_control_left_climb_forward)
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}
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} else if( touchY >= leftHeight/3 && touchY < 2*leftHeight/3) {
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if (currentState != CMD_TWIST) {
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sendMessageAsync(CMD_TWIST)
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currentState = CMD_TWIST
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leftControlImage!!.setImageResource(R.drawable.ic_control_left_twist)
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}
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} else {
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if (currentState != CMD_CLIMBBACKWARD) {
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sendMessageAsync(CMD_CLIMBBACKWARD)
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currentState = CMD_CLIMBBACKWARD
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leftControlImage!!.setImageResource(R.drawable.ic_control_left_climb_backward)
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}
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}
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}
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rightControlImage!!.setImageResource(R.drawable.ic_control_circle)
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return true
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}
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}
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}
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buttonRotateZ!!.setOnClickListener {
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if (currentState != CMD_ROTATEZ) {
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sendMessageAsync(CMD_ROTATEZ)
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currentState = CMD_ROTATEZ
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controlImage!!.setImageResource(R.drawable.ic_control_circle)
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buttonRotateX!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonRotateY!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonRotateZ!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.purple_500)
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buttonClimb!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonTwist!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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}
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}
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buttonClimb!!.setOnClickListener {
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if (currentState != CMD_CLIMBFORWARD) {
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sendMessageAsync(CMD_CLIMBFORWARD)
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currentState = CMD_CLIMBFORWARD
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controlImage!!.setImageResource(R.drawable.ic_control_circle)
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buttonRotateX!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonRotateY!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonRotateZ!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonClimb!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.purple_500)
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buttonTwist!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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}
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}
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buttonTwist!!.setOnClickListener {
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if (currentState != CMD_TWIST) {
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sendMessageAsync(CMD_TWIST)
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currentState = CMD_TWIST
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controlImage!!.setImageResource(R.drawable.ic_control_circle)
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buttonRotateX!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonRotateY!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonRotateZ!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonClimb!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.grey_700)
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buttonTwist!!.backgroundTintList =
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applicationContext.getColorStateList(R.color.purple_500)
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}
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}
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)
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}
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@SuppressLint("MissingPermission")
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@ -428,48 +372,38 @@ class ControlActivity : AppCompatActivity() {
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this.tcpClient!!.start()
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} else if (connectInterface == "Bluetooth") {
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println("Bluetooth")
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this.btClient = BluetoothClient(mContext, mac, object : BluetoothClient.OnMessageReceived {
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override fun messageReceived(message: String?) {
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if (message == null) {
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this.btClient =
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BluetoothClient(mContext, mac, object : BluetoothClient.OnMessageReceived {
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override fun messageReceived(message: String?) {
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if (message == null) {
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// alertDialog(DISCONNECTED)
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println("no message")
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println("no message")
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}
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}
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}
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}, object : BluetoothClient.OnConnectEstablished {
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override fun onConnected() {
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}, object : BluetoothClient.OnConnectEstablished {
|
||||
override fun onConnected() {
|
||||
// udpClient.start()
|
||||
println("connected")
|
||||
Handler(Looper.getMainLooper()).post {
|
||||
progressBar.visibility = View.GONE
|
||||
println("connected")
|
||||
Handler(Looper.getMainLooper()).post {
|
||||
progressBar.visibility = View.GONE
|
||||
}
|
||||
}
|
||||
}, object : BluetoothClient.OnDisconnected {
|
||||
override fun onDisconnected() {
|
||||
Handler(Looper.getMainLooper()).post {
|
||||
progressBar.visibility = View.GONE
|
||||
alertDialog(0)
|
||||
}
|
||||
}
|
||||
}
|
||||
}, object : BluetoothClient.OnDisconnected {
|
||||
override fun onDisconnected() {
|
||||
Handler(Looper.getMainLooper()).post {
|
||||
progressBar.visibility = View.GONE
|
||||
alertDialog(0)
|
||||
}
|
||||
}
|
||||
}
|
||||
)
|
||||
)
|
||||
this.btClient!!.start()
|
||||
|
||||
}
|
||||
|
||||
currentState = CMD_STANDBY
|
||||
controlImage!!.setImageResource(R.drawable.ic_control_circle_standby)
|
||||
|
||||
buttonRotateX!!.backgroundTintList =
|
||||
applicationContext.getColorStateList(R.color.grey_700)
|
||||
buttonRotateY!!.backgroundTintList =
|
||||
applicationContext.getColorStateList(R.color.grey_700)
|
||||
buttonRotateZ!!.backgroundTintList =
|
||||
applicationContext.getColorStateList(R.color.grey_700)
|
||||
buttonClimb!!.backgroundTintList =
|
||||
applicationContext.getColorStateList(R.color.grey_700)
|
||||
buttonTwist!!.backgroundTintList =
|
||||
applicationContext.getColorStateList(R.color.grey_700)
|
||||
|
||||
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_standby)
|
||||
leftControlImage!!.setImageResource(R.drawable.ic_control_left)
|
||||
}
|
||||
|
||||
override fun onPause() {
|
||||
@ -480,7 +414,7 @@ class ControlActivity : AppCompatActivity() {
|
||||
if (connectInterface == "WiFi") {
|
||||
tcpClient!!.stopClient()
|
||||
tcpClient!!.interrupt()
|
||||
}else if (connectInterface == "Bluetooth"){
|
||||
} else if (connectInterface == "Bluetooth") {
|
||||
btClient!!.stopClient()
|
||||
btClient!!.interrupt()
|
||||
}
|
||||
@ -511,7 +445,7 @@ class ControlActivity : AppCompatActivity() {
|
||||
withContext(Dispatchers.IO) { // Dispatchers.IO (main-safety block)
|
||||
if (connectInterface == "WiFi") {
|
||||
tcpClient?.sendMessage(message)
|
||||
}else if(connectInterface == "Bluetooth"){
|
||||
} else if (connectInterface == "Bluetooth") {
|
||||
btClient?.sendMessage(message)
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user