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Update ControlActivity.kt

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This commit is contained in:
Zhengyu Peng
2022-02-23 13:09:19 -05:00
parent 312af3e8f2
commit 7033e4bdf3
1 changed files with 69 additions and 56 deletions
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125
software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt
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@@ -69,6 +69,31 @@ enum class TypeOption(
}
class ControlActivity : AppCompatActivity() {
companion object {
private const val CMD_STANDBY = "standby:"
private const val CMD_LAYDOWN = "laydown:"
private const val CMD_FORWARD = "forward:"
private const val CMD_BACKWARD = "backward:"
private const val CMD_FASTFORWARD = "fastforward:"
private const val CMD_FASTBACKWARD = "fastbackward:"
private const val CMD_SHIFTLEFT = "shiftleft:"
private const val CMD_SHIFTRIGHT = "shiftright:"
private const val CMD_TURNLEFT = "turnleft:"
private const val CMD_TURNRIGHT = "turnright:"
private const val CMD_CLIMBFORWARD = "climbforward:"
private const val CMD_CLIMBBACKWARD = "climbbackward:"
private const val CMD_ROTATEX = "rotatex:"
private const val CMD_ROTATEY = "rotatey:"
private const val CMD_ROTATEZ = "rotatez:"
private const val CMD_TWIST = "twist:"
}
private var width = 0
private var height = 0
private var radius = 0f
@@ -84,10 +109,9 @@ class ControlActivity : AppCompatActivity() {
private var btClient: BluetoothClient? = null
private var mac: String = ""
private val scope = CoroutineScope(Job() + Dispatchers.IO)
private var currentState: String = "standby"
private var currentState: String = CMD_STANDBY
private lateinit var progressBar: ConstraintLayout
private var controlImage: ImageView? = null
@@ -122,7 +146,6 @@ class ControlActivity : AppCompatActivity() {
progressBar = findViewById<ConstraintLayout>(R.id.progressBar)
buttonRotateX = findViewById(R.id.button_rotatex)
// buttonRotateX!!.backgroundTintList = applicationContext.getColorStateList(R.color.purple_500)
buttonRotateY = findViewById(R.id.button_rotatey)
buttonRotateZ = findViewById(R.id.button_rotatez)
buttonClimb = findViewById(R.id.button_climb)
@@ -135,7 +158,6 @@ class ControlActivity : AppCompatActivity() {
height = controlImage!!.measuredHeight
width = controlImage!!.measuredWidth
radius = width.coerceAtMost(height) / 2f
println(radius)
return true
}
})
@@ -157,10 +179,9 @@ class ControlActivity : AppCompatActivity() {
val length = sqrt(coorX.pow(2) + coorY.pow(2))
if (length < radius / 3) {
if (currentState != "standby") {
println("Standby")
sendMessageAsync("standby")
currentState = "standby"
if (currentState != CMD_STANDBY) {
sendMessageAsync(CMD_STANDBY)
currentState = CMD_STANDBY
controlImage!!.setImageResource(R.drawable.ic_control_circle_standby)
buttonRotateX!!.backgroundTintList =
@@ -177,31 +198,27 @@ class ControlActivity : AppCompatActivity() {
} else if (length >= radius / 3 && length < 2 * radius / 3) {
val angle = atan2(coorY, coorX)
if (angle > -PI / 4 && angle <= PI / 4) {
if (currentState != "shiftright") {
println("Move right")
sendMessageAsync("shiftright")
currentState = "shiftright"
if (currentState != CMD_SHIFTRIGHT) {
sendMessageAsync(CMD_SHIFTRIGHT)
currentState = CMD_SHIFTRIGHT
controlImage!!.setImageResource(R.drawable.ic_control_circle_right)
}
} else if (angle > PI / 4 && angle <= 3 * PI / 4) {
if (currentState != "backward") {
println("Move back")
sendMessageAsync("backward")
currentState = "backward"
if (currentState != CMD_BACKWARD) {
sendMessageAsync(CMD_BACKWARD)
currentState = CMD_BACKWARD
controlImage!!.setImageResource(R.drawable.ic_control_circle_backward)
}
} else if (angle > -3 * PI / 4 && angle < -PI / 4) {
if (currentState != "forward") {
println("Move forward")
sendMessageAsync("forward")
currentState = "forward"
if (currentState != CMD_FORWARD) {
sendMessageAsync(CMD_FORWARD)
currentState = CMD_FORWARD
controlImage!!.setImageResource(R.drawable.ic_control_circle_forward)
}
} else {
if (currentState != "shiftleft") {
println("Move left")
sendMessageAsync("shiftleft")
currentState = "shiftleft"
if (currentState != CMD_SHIFTLEFT) {
sendMessageAsync(CMD_SHIFTLEFT)
currentState = CMD_SHIFTLEFT
controlImage!!.setImageResource(R.drawable.ic_control_circle_left)
}
}
@@ -218,31 +235,27 @@ class ControlActivity : AppCompatActivity() {
} else if (length >= 2 * radius / 3 && length < radius) {
val angle = atan2(coorY, coorX)
if (angle > -PI / 4 && angle <= PI / 4) {
if (currentState != "rightturn") {
println("Turn right")
sendMessageAsync("rightturn")
currentState = "rightturn"
if (currentState != CMD_TURNRIGHT) {
sendMessageAsync(CMD_TURNRIGHT)
currentState = CMD_TURNRIGHT
controlImage!!.setImageResource(R.drawable.ic_control_circle_turnright)
}
} else if (angle > PI / 4 && angle <= 3 * PI / 4) {
if (currentState != "fastback") {
println("Fast back")
// sendMessageAsync("Fast back")
currentState = "fastback"
if (currentState != CMD_FASTBACKWARD) {
sendMessageAsync(CMD_FASTBACKWARD)
currentState = CMD_FASTBACKWARD
controlImage!!.setImageResource(R.drawable.ic_control_circle_fastbackward)
}
} else if (angle > -3 * PI / 4 && angle < -PI / 4) {
if (currentState != "fastforward") {
println("Fast forward")
sendMessageAsync("fastforward")
currentState = "fastforward"
if (currentState != CMD_FASTFORWARD) {
sendMessageAsync(CMD_FASTFORWARD)
currentState = CMD_FASTFORWARD
controlImage!!.setImageResource(R.drawable.ic_control_circle_fastforward)
}
} else {
if (currentState != "leftturn") {
println("Turn left")
sendMessageAsync("leftturn")
currentState = "leftturn"
if (currentState != CMD_TURNLEFT) {
sendMessageAsync(CMD_TURNLEFT)
currentState = CMD_TURNLEFT
controlImage!!.setImageResource(R.drawable.ic_control_circle_turnleft)
}
}
@@ -263,9 +276,9 @@ class ControlActivity : AppCompatActivity() {
)
buttonRotateX!!.setOnClickListener {
if (currentState != "rotatex") {
sendMessageAsync("rotatex")
currentState = "rotatex"
if (currentState != CMD_ROTATEX) {
sendMessageAsync(CMD_ROTATEX)
currentState = CMD_ROTATEX
controlImage!!.setImageResource(R.drawable.ic_control_circle)
buttonRotateX!!.backgroundTintList =
applicationContext.getColorStateList(R.color.purple_500)
@@ -281,9 +294,9 @@ class ControlActivity : AppCompatActivity() {
}
buttonRotateY!!.setOnClickListener {
if (currentState != "rotatey") {
sendMessageAsync("rotatey")
currentState = "rotatey"
if (currentState != CMD_ROTATEY) {
sendMessageAsync(CMD_ROTATEY)
currentState = CMD_ROTATEY
controlImage!!.setImageResource(R.drawable.ic_control_circle)
buttonRotateX!!.backgroundTintList =
applicationContext.getColorStateList(R.color.grey_500)
@@ -299,9 +312,9 @@ class ControlActivity : AppCompatActivity() {
}
buttonRotateZ!!.setOnClickListener {
if (currentState != "rotatez") {
sendMessageAsync("rotatez")
currentState = "rotatez"
if (currentState != CMD_ROTATEZ) {
sendMessageAsync(CMD_ROTATEZ)
currentState = CMD_ROTATEZ
controlImage!!.setImageResource(R.drawable.ic_control_circle)
buttonRotateX!!.backgroundTintList =
applicationContext.getColorStateList(R.color.grey_500)
@@ -317,9 +330,9 @@ class ControlActivity : AppCompatActivity() {
}
buttonClimb!!.setOnClickListener {
if (currentState != "climb") {
sendMessageAsync("climb")
currentState = "climb"
if (currentState != CMD_CLIMBFORWARD) {
sendMessageAsync(CMD_CLIMBFORWARD)
currentState = CMD_CLIMBFORWARD
controlImage!!.setImageResource(R.drawable.ic_control_circle)
buttonRotateX!!.backgroundTintList =
applicationContext.getColorStateList(R.color.grey_500)
@@ -335,9 +348,9 @@ class ControlActivity : AppCompatActivity() {
}
buttonTwist!!.setOnClickListener {
if (currentState != "twist") {
sendMessageAsync("twist")
currentState = "twist"
if (currentState != CMD_TWIST) {
sendMessageAsync(CMD_TWIST)
currentState = CMD_TWIST
controlImage!!.setImageResource(R.drawable.ic_control_circle)
buttonRotateX!!.backgroundTintList =
applicationContext.getColorStateList(R.color.grey_500)
@@ -414,7 +427,7 @@ class ControlActivity : AppCompatActivity() {
}
currentState = "standby"
currentState = CMD_STANDBY
controlImage!!.setImageResource(R.drawable.ic_control_circle_standby)
buttonRotateX!!.backgroundTintList =