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update

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This commit is contained in:
Zhengyu Peng 2022-02-14 11:42:02 -05:00
parent 1a9279e152
commit 5c2d042211
2 changed files with 96 additions and 4 deletions
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98
software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt
View File

@ -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.
@ -53,12 +62,95 @@ 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.

2
software/android/app/src/main/res/layout/activity_control.xml
View File

@ -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"