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Update ControlActivity.kt

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master
Zhengyu Peng 3 years ago
parent 2a924b870e
commit 46fbc8cd2d
1 changed files with 132 additions and 198 deletions
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330
software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt
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@ -8,7 +8,6 @@ import android.os.Bundle
import android.os.Handler import android.os.Handler
import android.os.Looper import android.os.Looper
import android.view.* import android.view.*
import android.widget.Button
import android.widget.ImageView import android.widget.ImageView
import androidx.appcompat.app.AppCompatActivity import androidx.appcompat.app.AppCompatActivity
import androidx.constraintlayout.widget.ConstraintLayout import androidx.constraintlayout.widget.ConstraintLayout
@ -99,9 +98,13 @@ class ControlActivity : AppCompatActivity() {
private const val CMD_TWIST = "twist:" private const val CMD_TWIST = "twist:"
} }
private var width = 0
private var height = 0 private var rightWidth = 0
private var radius = 0f private var rightHeight = 0
private var rightRadius = 0f
private var leftWidth = 0
private var leftHeight = 0
private var connectInterface: String = "" private var connectInterface: String = ""
@ -119,14 +122,8 @@ class ControlActivity : AppCompatActivity() {
private var currentState: String = CMD_STANDBY private var currentState: String = CMD_STANDBY
private lateinit var progressBar: ConstraintLayout private lateinit var progressBar: ConstraintLayout
private var controlImage: ImageView? = null private var rightControlImage: ImageView? = null
private var leftControlImage: ImageView? = null
private var buttonRotateX: Button? = null
private var buttonRotateY: Button? = null
private var buttonRotateZ: Button? = null
private var buttonClimb: Button? = null
private var buttonTwist: Button? = null
@SuppressLint("ClickableViewAccessibility") @SuppressLint("ClickableViewAccessibility")
override fun onCreate(savedInstanceState: Bundle?) { override fun onCreate(savedInstanceState: Bundle?) {
@ -147,27 +144,32 @@ class ControlActivity : AppCompatActivity() {
controlWindowInsets(true) controlWindowInsets(true)
controlImage = findViewById<ImageView>(R.id.right_control_image) rightControlImage = findViewById(R.id.right_control_image)
progressBar = findViewById<ConstraintLayout>(R.id.progressBar) leftControlImage = findViewById(R.id.left_control_image)
progressBar = findViewById(R.id.progressBar)
buttonRotateX = findViewById(R.id.button_rotatex) val rightVto: ViewTreeObserver = rightControlImage!!.viewTreeObserver
buttonRotateY = findViewById(R.id.button_rotatey) rightVto.addOnPreDrawListener(object : ViewTreeObserver.OnPreDrawListener {
buttonRotateZ = findViewById(R.id.button_rotatez) override fun onPreDraw(): Boolean {
buttonClimb = findViewById(R.id.button_climb) rightControlImage!!.viewTreeObserver.removeOnPreDrawListener(this)
buttonTwist = findViewById(R.id.button_twist) rightHeight = rightControlImage!!.measuredHeight
rightWidth = rightControlImage!!.measuredWidth
rightRadius = rightWidth.coerceAtMost(rightHeight) / 2f
return true
}
})
val vto: ViewTreeObserver = controlImage!!.viewTreeObserver val leftVto: ViewTreeObserver = leftControlImage!!.viewTreeObserver
vto.addOnPreDrawListener(object : ViewTreeObserver.OnPreDrawListener { leftVto.addOnPreDrawListener(object : ViewTreeObserver.OnPreDrawListener {
override fun onPreDraw(): Boolean { override fun onPreDraw(): Boolean {
controlImage!!.viewTreeObserver.removeOnPreDrawListener(this) leftControlImage!!.viewTreeObserver.removeOnPreDrawListener(this)
height = controlImage!!.measuredHeight leftHeight = leftControlImage!!.measuredHeight
width = controlImage!!.measuredWidth leftWidth = 2*leftHeight/3
radius = width.coerceAtMost(height) / 2f
return true return true
} }
}) })
controlImage!!.setOnTouchListener( rightControlImage!!.setOnTouchListener(
object : View.OnTouchListener { object : View.OnTouchListener {
override fun onTouch(view: View, motionEvent: MotionEvent): Boolean { override fun onTouch(view: View, motionEvent: MotionEvent): Boolean {
val touchX = motionEvent.x val touchX = motionEvent.x
@ -179,220 +181,162 @@ class ControlActivity : AppCompatActivity() {
return false return false
} }
val coorX = touchX - width / 2 val coorX = touchX - rightWidth / 2
val coorY = touchY - height / 2 val coorY = touchY - rightHeight / 2
val length = sqrt(coorX.pow(2) + coorY.pow(2)) val length = sqrt(coorX.pow(2) + coorY.pow(2))
if (length < radius / 3) { if (length < rightRadius / 3) {
if (currentState != CMD_STANDBY) { if (currentState != CMD_STANDBY) {
sendMessageAsync(CMD_STANDBY) sendMessageAsync(CMD_STANDBY)
currentState = CMD_STANDBY currentState = CMD_STANDBY
controlImage!!.setImageResource(R.drawable.ic_control_circle_standby) rightControlImage!!.setImageResource(R.drawable.ic_control_circle_standby)
buttonRotateX!!.backgroundTintList = leftControlImage!!.setImageResource(R.drawable.ic_control_left)
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)
} }
} else if (length >= radius / 3 && length < 2 * radius / 3) { } else if (length >= rightRadius / 3 && length < 2 * rightRadius / 3) {
val angle = atan2(coorY, coorX) val angle = atan2(coorY, coorX)
if (angle > -7 * PI / 8 && angle < -5 * PI / 8) { if (angle > -7 * PI / 8 && angle < -5 * PI / 8) {
if (currentState != CMD_WALK_L45) { if (currentState != CMD_WALK_L45) {
sendMessageAsync(CMD_WALK_L45) sendMessageAsync(CMD_WALK_L45)
currentState = CMD_WALK_L45 currentState = CMD_WALK_L45
controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l45) rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l45)
} }
}else if (angle > -5 * PI / 8 && angle < -3 * PI / 8) { } else if (angle > -5 * PI / 8 && angle < -3 * PI / 8) {
if (currentState != CMD_WALK_0) { if (currentState != CMD_WALK_0) {
sendMessageAsync(CMD_WALK_0) sendMessageAsync(CMD_WALK_0)
currentState = CMD_WALK_0 currentState = CMD_WALK_0
controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_0) rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_0)
} }
} else if (angle > -3 * PI / 8 && angle <= -PI / 8) { } else if (angle > -3 * PI / 8 && angle <= -PI / 8) {
if (currentState != CMD_WALK_R45) { if (currentState != CMD_WALK_R45) {
sendMessageAsync(CMD_WALK_R45) sendMessageAsync(CMD_WALK_R45)
currentState = CMD_WALK_R45 currentState = CMD_WALK_R45
controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_r45) rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_r45)
} }
} else if (angle > -PI / 8 && angle <= PI / 8) { } else if (angle > -PI / 8 && angle <= PI / 8) {
if (currentState != CMD_WALK_R90) { if (currentState != CMD_WALK_R90) {
sendMessageAsync(CMD_WALK_R90) sendMessageAsync(CMD_WALK_R90)
currentState = CMD_WALK_R90 currentState = CMD_WALK_R90
controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_r90) rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_r90)
} }
} else if (angle > PI / 8 && angle <= 3 * PI / 8) { } else if (angle > PI / 8 && angle <= 3 * PI / 8) {
if (currentState != CMD_WALK_R135) { if (currentState != CMD_WALK_R135) {
sendMessageAsync(CMD_WALK_R135) sendMessageAsync(CMD_WALK_R135)
currentState = CMD_WALK_R135 currentState = CMD_WALK_R135
controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_r135) rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_r135)
} }
} else if (angle > 3 *PI / 8 && angle <= 5 * PI / 8) { } else if (angle > 3 * PI / 8 && angle <= 5 * PI / 8) {
if (currentState != CMD_WALK_180) { if (currentState != CMD_WALK_180) {
sendMessageAsync(CMD_WALK_180) sendMessageAsync(CMD_WALK_180)
currentState = CMD_WALK_180 currentState = CMD_WALK_180
controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_180) rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_180)
} }
} else if (angle > 5 *PI / 8 && angle <= 7 * PI / 8) { } else if (angle > 5 * PI / 8 && angle <= 7 * PI / 8) {
if (currentState != CMD_WALK_L135) { if (currentState != CMD_WALK_L135) {
sendMessageAsync(CMD_WALK_L135) sendMessageAsync(CMD_WALK_L135)
currentState = CMD_WALK_L135 currentState = CMD_WALK_L135
controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l135) rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l135)
} }
} else { } else {
if (currentState != CMD_WALK_L90) { if (currentState != CMD_WALK_L90) {
sendMessageAsync(CMD_WALK_L90) sendMessageAsync(CMD_WALK_L90)
currentState = CMD_WALK_L90 currentState = CMD_WALK_L90
controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l90) rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l90)
} }
} }
buttonRotateX!!.backgroundTintList = leftControlImage!!.setImageResource(R.drawable.ic_control_left)
applicationContext.getColorStateList(R.color.grey_700) } else if (length >= 2 * rightRadius / 3 && length < rightRadius) {
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)
} else if (length >= 2 * radius / 3 && length < radius) {
val angle = atan2(coorY, coorX) val angle = atan2(coorY, coorX)
if (angle > -PI / 4 && angle <= PI / 4) { if (angle > -PI / 4 && angle <= PI / 4) {
if (currentState != CMD_TURNRIGHT) { if (currentState != CMD_TURNRIGHT) {
sendMessageAsync(CMD_TURNRIGHT) sendMessageAsync(CMD_TURNRIGHT)
currentState = CMD_TURNRIGHT currentState = CMD_TURNRIGHT
controlImage!!.setImageResource(R.drawable.ic_control_circle_turnright) rightControlImage!!.setImageResource(R.drawable.ic_control_circle_turnright)
} }
} else if (angle > PI / 4 && angle <= 3 * PI / 4) { } else if (angle > PI / 4 && angle <= 3 * PI / 4) {
if (currentState != CMD_FASTBACKWARD) { if (currentState != CMD_FASTBACKWARD) {
sendMessageAsync(CMD_FASTBACKWARD) sendMessageAsync(CMD_FASTBACKWARD)
currentState = CMD_FASTBACKWARD currentState = CMD_FASTBACKWARD
controlImage!!.setImageResource(R.drawable.ic_control_circle_fastbackward) rightControlImage!!.setImageResource(R.drawable.ic_control_circle_fastbackward)
} }
} else if (angle > -3 * PI / 4 && angle < -PI / 4) { } else if (angle > -3 * PI / 4 && angle < -PI / 4) {
if (currentState != CMD_FASTFORWARD) { if (currentState != CMD_FASTFORWARD) {
sendMessageAsync(CMD_FASTFORWARD) sendMessageAsync(CMD_FASTFORWARD)
currentState = CMD_FASTFORWARD currentState = CMD_FASTFORWARD
controlImage!!.setImageResource(R.drawable.ic_control_circle_fastforward) rightControlImage!!.setImageResource(R.drawable.ic_control_circle_fastforward)
} }
} else { } else {
if (currentState != CMD_TURNLEFT) { if (currentState != CMD_TURNLEFT) {
sendMessageAsync(CMD_TURNLEFT) sendMessageAsync(CMD_TURNLEFT)
currentState = CMD_TURNLEFT currentState = CMD_TURNLEFT
controlImage!!.setImageResource(R.drawable.ic_control_circle_turnleft) rightControlImage!!.setImageResource(R.drawable.ic_control_circle_turnleft)
} }
} }
buttonRotateX!!.backgroundTintList = leftControlImage!!.setImageResource(R.drawable.ic_control_left)
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)
} }
return true return true
} }
} }
) )
buttonRotateX!!.setOnClickListener { leftControlImage!!.setOnTouchListener(
if (currentState != CMD_ROTATEX) { object : View.OnTouchListener {
sendMessageAsync(CMD_ROTATEX) override fun onTouch(view: View, motionEvent: MotionEvent): Boolean {
currentState = CMD_ROTATEX val touchX = motionEvent.x
controlImage!!.setImageResource(R.drawable.ic_control_circle) val touchY = motionEvent.y
buttonRotateX!!.backgroundTintList = if (touchX < 0 || touchX > leftWidth) {
applicationContext.getColorStateList(R.color.purple_500) return false
buttonRotateY!!.backgroundTintList = }
applicationContext.getColorStateList(R.color.grey_700) if (touchY < 0 || touchY > leftHeight) {
buttonRotateZ!!.backgroundTintList = return false
applicationContext.getColorStateList(R.color.grey_700) }
buttonClimb!!.backgroundTintList =
applicationContext.getColorStateList(R.color.grey_700)
buttonTwist!!.backgroundTintList =
applicationContext.getColorStateList(R.color.grey_700)
}
}
buttonRotateY!!.setOnClickListener {
if (currentState != CMD_ROTATEY) {
sendMessageAsync(CMD_ROTATEY)
currentState = CMD_ROTATEY
controlImage!!.setImageResource(R.drawable.ic_control_circle)
buttonRotateX!!.backgroundTintList =
applicationContext.getColorStateList(R.color.grey_700)
buttonRotateY!!.backgroundTintList =
applicationContext.getColorStateList(R.color.purple_500)
buttonRotateZ!!.backgroundTintList =
applicationContext.getColorStateList(R.color.grey_700)
buttonClimb!!.backgroundTintList =
applicationContext.getColorStateList(R.color.grey_700)
buttonTwist!!.backgroundTintList =
applicationContext.getColorStateList(R.color.grey_700)
}
}
buttonRotateZ!!.setOnClickListener {
if (currentState != CMD_ROTATEZ) {
sendMessageAsync(CMD_ROTATEZ)
currentState = CMD_ROTATEZ
controlImage!!.setImageResource(R.drawable.ic_control_circle)
buttonRotateX!!.backgroundTintList =
applicationContext.getColorStateList(R.color.grey_700)
buttonRotateY!!.backgroundTintList =
applicationContext.getColorStateList(R.color.grey_700)
buttonRotateZ!!.backgroundTintList =
applicationContext.getColorStateList(R.color.purple_500)
buttonClimb!!.backgroundTintList =
applicationContext.getColorStateList(R.color.grey_700)
buttonTwist!!.backgroundTintList =
applicationContext.getColorStateList(R.color.grey_700)
}
}
buttonClimb!!.setOnClickListener {
if (currentState != CMD_CLIMBFORWARD) {
sendMessageAsync(CMD_CLIMBFORWARD)
currentState = CMD_CLIMBFORWARD
controlImage!!.setImageResource(R.drawable.ic_control_circle)
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.purple_500)
buttonTwist!!.backgroundTintList =
applicationContext.getColorStateList(R.color.grey_700)
}
}
buttonTwist!!.setOnClickListener { if (touchX < leftWidth/2){
if (currentState != CMD_TWIST) { if(touchY< leftHeight/3){
sendMessageAsync(CMD_TWIST) if (currentState != CMD_ROTATEY) {
currentState = CMD_TWIST sendMessageAsync(CMD_ROTATEY)
controlImage!!.setImageResource(R.drawable.ic_control_circle) currentState = CMD_ROTATEY
buttonRotateX!!.backgroundTintList = leftControlImage!!.setImageResource(R.drawable.ic_control_left_rotatey)
applicationContext.getColorStateList(R.color.grey_700) }
buttonRotateY!!.backgroundTintList = } else if( touchY >= leftHeight/3 && touchY < 2*leftHeight/3) {
applicationContext.getColorStateList(R.color.grey_700) if (currentState != CMD_ROTATEX) {
buttonRotateZ!!.backgroundTintList = sendMessageAsync(CMD_ROTATEX)
applicationContext.getColorStateList(R.color.grey_700) currentState = CMD_ROTATEX
buttonClimb!!.backgroundTintList = leftControlImage!!.setImageResource(R.drawable.ic_control_left_rotatex)
applicationContext.getColorStateList(R.color.grey_700) }
buttonTwist!!.backgroundTintList = } else {
applicationContext.getColorStateList(R.color.purple_500) if (currentState != CMD_ROTATEZ) {
sendMessageAsync(CMD_ROTATEZ)
currentState = CMD_ROTATEZ
leftControlImage!!.setImageResource(R.drawable.ic_control_left_rotatez)
}
}
} else {
if(touchY< leftHeight/3){
if (currentState != CMD_CLIMBFORWARD) {
sendMessageAsync(CMD_CLIMBFORWARD)
currentState = CMD_CLIMBFORWARD
leftControlImage!!.setImageResource(R.drawable.ic_control_left_climb_forward)
}
} else if( touchY >= leftHeight/3 && touchY < 2*leftHeight/3) {
if (currentState != CMD_TWIST) {
sendMessageAsync(CMD_TWIST)
currentState = CMD_TWIST
leftControlImage!!.setImageResource(R.drawable.ic_control_left_twist)
}
} else {
if (currentState != CMD_CLIMBBACKWARD) {
sendMessageAsync(CMD_CLIMBBACKWARD)
currentState = CMD_CLIMBBACKWARD
leftControlImage!!.setImageResource(R.drawable.ic_control_left_climb_backward)
}
}
}
rightControlImage!!.setImageResource(R.drawable.ic_control_circle)
return true
}
} }
} )
} }
@SuppressLint("MissingPermission") @SuppressLint("MissingPermission")
@ -428,48 +372,38 @@ class ControlActivity : AppCompatActivity() {
this.tcpClient!!.start() this.tcpClient!!.start()
} else if (connectInterface == "Bluetooth") { } else if (connectInterface == "Bluetooth") {
println("Bluetooth") println("Bluetooth")
this.btClient = BluetoothClient(mContext, mac, object : BluetoothClient.OnMessageReceived { this.btClient =
override fun messageReceived(message: String?) { BluetoothClient(mContext, mac, object : BluetoothClient.OnMessageReceived {
if (message == null) { override fun messageReceived(message: String?) {
if (message == null) {
// alertDialog(DISCONNECTED) // alertDialog(DISCONNECTED)
println("no message") println("no message")
}
} }
} }, object : BluetoothClient.OnConnectEstablished {
}, object : BluetoothClient.OnConnectEstablished { override fun onConnected() {
override fun onConnected() {
// udpClient.start() // udpClient.start()
println("connected") println("connected")
Handler(Looper.getMainLooper()).post { Handler(Looper.getMainLooper()).post {
progressBar.visibility = View.GONE progressBar.visibility = View.GONE
}
} }
} }, object : BluetoothClient.OnDisconnected {
}, object : BluetoothClient.OnDisconnected { override fun onDisconnected() {
override fun onDisconnected() { Handler(Looper.getMainLooper()).post {
Handler(Looper.getMainLooper()).post { progressBar.visibility = View.GONE
progressBar.visibility = View.GONE alertDialog(0)
alertDialog(0) }
} }
} }
} )
)
this.btClient!!.start() this.btClient!!.start()
} }
currentState = CMD_STANDBY currentState = CMD_STANDBY
controlImage!!.setImageResource(R.drawable.ic_control_circle_standby) rightControlImage!!.setImageResource(R.drawable.ic_control_circle_standby)
leftControlImage!!.setImageResource(R.drawable.ic_control_left)
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)
} }
override fun onPause() { override fun onPause() {
@ -480,7 +414,7 @@ class ControlActivity : AppCompatActivity() {
if (connectInterface == "WiFi") { if (connectInterface == "WiFi") {
tcpClient!!.stopClient() tcpClient!!.stopClient()
tcpClient!!.interrupt() tcpClient!!.interrupt()
}else if (connectInterface == "Bluetooth"){ } else if (connectInterface == "Bluetooth") {
btClient!!.stopClient() btClient!!.stopClient()
btClient!!.interrupt() btClient!!.interrupt()
} }
@ -511,7 +445,7 @@ class ControlActivity : AppCompatActivity() {
withContext(Dispatchers.IO) { // Dispatchers.IO (main-safety block) withContext(Dispatchers.IO) { // Dispatchers.IO (main-safety block)
if (connectInterface == "WiFi") { if (connectInterface == "WiFi") {
tcpClient?.sendMessage(message) tcpClient?.sendMessage(message)
}else if(connectInterface == "Bluetooth"){ } else if (connectInterface == "Bluetooth") {
btClient?.sendMessage(message) btClient?.sendMessage(message)
} }
} }

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