update control logic
This commit is contained in:
Zhengyu Peng
@@ -96,6 +96,9 @@ class ControlActivity : AppCompatActivity() {
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private const val CMD_ROTATEZ = "rotatez:"
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private const val CMD_TWIST = "twist:"
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private const val CTRL_LEFT = 1
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private const val CTRL_RIGHT = 0
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}
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private var rightWidth = 0
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@@ -124,6 +127,8 @@ class ControlActivity : AppCompatActivity() {
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private var rightControlImage: ImageView? = null
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private var leftControlImage: ImageView? = null
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private var controlImg = CTRL_RIGHT
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@SuppressLint("ClickableViewAccessibility")
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override fun onCreate(savedInstanceState: Bundle?) {
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super.onCreate(savedInstanceState)
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@@ -163,7 +168,7 @@ class ControlActivity : AppCompatActivity() {
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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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leftWidth = 2 * leftHeight / 3
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return true
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}
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})
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@@ -171,107 +176,127 @@ class ControlActivity : AppCompatActivity() {
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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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val touchY = motionEvent.y
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if (touchX < 0) {
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return false
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}
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if (touchY < 0) {
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return false
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}
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when (motionEvent.action) {
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MotionEvent.ACTION_MOVE, MotionEvent.ACTION_DOWN -> {
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if (motionEvent.action == MotionEvent.ACTION_DOWN) {
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controlImg = CTRL_RIGHT
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}
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if (controlImg == CTRL_RIGHT) {
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val touchX = motionEvent.x
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val touchY = motionEvent.y
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if (touchX < 0) {
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return false
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}
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if (touchY < 0) {
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return false
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}
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val coorX = touchX - rightWidth / 2
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val coorY = touchY - rightHeight / 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 < rightRadius / 4) {
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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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rightControlImage!!.setImageResource(R.drawable.ic_control_circle_standby)
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val length = sqrt(coorX.pow(2) + coorY.pow(2))
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if (length < rightRadius / 4) {
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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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rightControlImage!!.setImageResource(R.drawable.ic_control_circle_standby)
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leftControlImage!!.setImageResource(R.drawable.ic_control_left)
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}
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} else if (length >= rightRadius / 4 && 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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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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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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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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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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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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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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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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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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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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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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rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l90)
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leftControlImage!!.setImageResource(R.drawable.ic_control_left)
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}
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} else if (length >= rightRadius / 4 && 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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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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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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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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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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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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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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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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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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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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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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rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l90)
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}
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}
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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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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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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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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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rightControlImage!!.setImageResource(R.drawable.ic_control_circle_turnleft)
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}
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}
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leftControlImage!!.setImageResource(R.drawable.ic_control_left)
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}
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}
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}
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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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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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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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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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rightControlImage!!.setImageResource(R.drawable.ic_control_circle_turnleft)
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MotionEvent.ACTION_UP -> {
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if (controlImg == CTRL_RIGHT) {
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sendMessageAsync(CMD_STANDBY)
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currentState = CMD_STANDBY
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rightControlImage!!.setImageResource(R.drawable.ic_control_circle_standby)
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leftControlImage!!.setImageResource(R.drawable.ic_control_left)
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controlImg = CTRL_LEFT
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}
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}
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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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@@ -281,57 +306,77 @@ class ControlActivity : AppCompatActivity() {
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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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when (motionEvent.action) {
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MotionEvent.ACTION_MOVE, MotionEvent.ACTION_DOWN -> {
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if (motionEvent.action == MotionEvent.ACTION_DOWN) {
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controlImg = CTRL_LEFT
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}
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if (controlImg == CTRL_LEFT) {
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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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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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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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}
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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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MotionEvent.ACTION_UP -> {
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if (controlImg == CTRL_LEFT) {
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sendMessageAsync(CMD_STANDBY)
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currentState = CMD_STANDBY
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rightControlImage!!.setImageResource(R.drawable.ic_control_circle_standby)
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leftControlImage!!.setImageResource(R.drawable.ic_control_left)
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controlImg = CTRL_RIGHT
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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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@@ -458,7 +503,8 @@ class ControlActivity : AppCompatActivity() {
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"Unable to connect to the Hexapod."
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)
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alert.setOnCancelListener { finish() }
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alert.setButton(AlertDialog.BUTTON_POSITIVE,
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alert.setButton(
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AlertDialog.BUTTON_POSITIVE,
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"OK"
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) { _, _ -> finish() }
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}
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