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update control logic

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master
Zhengyu Peng 2 years ago
parent fede08da90
commit a46914e3a0
1 changed files with 189 additions and 143 deletions
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332
software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt
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@ -96,6 +96,9 @@ class ControlActivity : AppCompatActivity() {
private const val CMD_ROTATEZ = "rotatez:"
private const val CMD_TWIST = "twist:"
private const val CTRL_LEFT = 1
private const val CTRL_RIGHT = 0
}
private var rightWidth = 0
@ -124,6 +127,8 @@ class ControlActivity : AppCompatActivity() {
private var rightControlImage: ImageView? = null
private var leftControlImage: ImageView? = null
private var controlImg = CTRL_RIGHT
@SuppressLint("ClickableViewAccessibility")
override fun onCreate(savedInstanceState: Bundle?) {
super.onCreate(savedInstanceState)
@ -163,7 +168,7 @@ class ControlActivity : AppCompatActivity() {
override fun onPreDraw(): Boolean {
leftControlImage!!.viewTreeObserver.removeOnPreDrawListener(this)
leftHeight = leftControlImage!!.measuredHeight
leftWidth = 2*leftHeight/3
leftWidth = 2 * leftHeight / 3
return true
}
})
@ -171,107 +176,127 @@ class ControlActivity : AppCompatActivity() {
rightControlImage!!.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 - rightWidth / 2
val coorY = touchY - rightHeight / 2
val length = sqrt(coorX.pow(2) + coorY.pow(2))
if (length < rightRadius / 4) {
if (currentState != CMD_STANDBY) {
sendMessageAsync(CMD_STANDBY)
currentState = CMD_STANDBY
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_standby)
leftControlImage!!.setImageResource(R.drawable.ic_control_left)
}
} else if (length >= rightRadius / 4 && length < 2 * rightRadius / 3) {
val angle = atan2(coorY, coorX)
if (angle > -7 * PI / 8 && angle < -5 * PI / 8) {
if (currentState != CMD_WALK_L45) {
sendMessageAsync(CMD_WALK_L45)
currentState = CMD_WALK_L45
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l45)
}
} else if (angle > -5 * PI / 8 && angle < -3 * PI / 8) {
if (currentState != CMD_WALK_0) {
sendMessageAsync(CMD_WALK_0)
currentState = CMD_WALK_0
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_0)
}
} else if (angle > -3 * PI / 8 && angle <= -PI / 8) {
if (currentState != CMD_WALK_R45) {
sendMessageAsync(CMD_WALK_R45)
currentState = CMD_WALK_R45
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_r45)
}
} else if (angle > -PI / 8 && angle <= PI / 8) {
if (currentState != CMD_WALK_R90) {
sendMessageAsync(CMD_WALK_R90)
currentState = CMD_WALK_R90
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_r90)
}
} else if (angle > PI / 8 && angle <= 3 * PI / 8) {
if (currentState != CMD_WALK_R135) {
sendMessageAsync(CMD_WALK_R135)
currentState = CMD_WALK_R135
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_r135)
}
} else if (angle > 3 * PI / 8 && angle <= 5 * PI / 8) {
if (currentState != CMD_WALK_180) {
sendMessageAsync(CMD_WALK_180)
currentState = CMD_WALK_180
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_180)
}
} else if (angle > 5 * PI / 8 && angle <= 7 * PI / 8) {
if (currentState != CMD_WALK_L135) {
sendMessageAsync(CMD_WALK_L135)
currentState = CMD_WALK_L135
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l135)
when (motionEvent.action) {
MotionEvent.ACTION_MOVE, MotionEvent.ACTION_DOWN -> {
if (motionEvent.action == MotionEvent.ACTION_DOWN) {
controlImg = CTRL_RIGHT
}
} else {
if (currentState != CMD_WALK_L90) {
sendMessageAsync(CMD_WALK_L90)
currentState = CMD_WALK_L90
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l90)
if (controlImg == CTRL_RIGHT) {
val touchX = motionEvent.x
val touchY = motionEvent.y
if (touchX < 0) {
return false
}
if (touchY < 0) {
return false
}
val coorX = touchX - rightWidth / 2
val coorY = touchY - rightHeight / 2
val length = sqrt(coorX.pow(2) + coorY.pow(2))
if (length < rightRadius / 4) {
if (currentState != CMD_STANDBY) {
sendMessageAsync(CMD_STANDBY)
currentState = CMD_STANDBY
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_standby)
leftControlImage!!.setImageResource(R.drawable.ic_control_left)
}
} else if (length >= rightRadius / 4 && length < 2 * rightRadius / 3) {
val angle = atan2(coorY, coorX)
if (angle > -7 * PI / 8 && angle < -5 * PI / 8) {
if (currentState != CMD_WALK_L45) {
sendMessageAsync(CMD_WALK_L45)
currentState = CMD_WALK_L45
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l45)
}
} else if (angle > -5 * PI / 8 && angle < -3 * PI / 8) {
if (currentState != CMD_WALK_0) {
sendMessageAsync(CMD_WALK_0)
currentState = CMD_WALK_0
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_0)
}
} else if (angle > -3 * PI / 8 && angle <= -PI / 8) {
if (currentState != CMD_WALK_R45) {
sendMessageAsync(CMD_WALK_R45)
currentState = CMD_WALK_R45
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_r45)
}
} else if (angle > -PI / 8 && angle <= PI / 8) {
if (currentState != CMD_WALK_R90) {
sendMessageAsync(CMD_WALK_R90)
currentState = CMD_WALK_R90
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_r90)
}
} else if (angle > PI / 8 && angle <= 3 * PI / 8) {
if (currentState != CMD_WALK_R135) {
sendMessageAsync(CMD_WALK_R135)
currentState = CMD_WALK_R135
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_r135)
}
} else if (angle > 3 * PI / 8 && angle <= 5 * PI / 8) {
if (currentState != CMD_WALK_180) {
sendMessageAsync(CMD_WALK_180)
currentState = CMD_WALK_180
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_180)
}
} else if (angle > 5 * PI / 8 && angle <= 7 * PI / 8) {
if (currentState != CMD_WALK_L135) {
sendMessageAsync(CMD_WALK_L135)
currentState = CMD_WALK_L135
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l135)
}
} else {
if (currentState != CMD_WALK_L90) {
sendMessageAsync(CMD_WALK_L90)
currentState = CMD_WALK_L90
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l90)
}
}
leftControlImage!!.setImageResource(R.drawable.ic_control_left)
} else if (length >= 2 * rightRadius / 3 && length < rightRadius) {
val angle = atan2(coorY, coorX)
if (angle > -PI / 4 && angle <= PI / 4) {
if (currentState != CMD_TURNRIGHT) {
sendMessageAsync(CMD_TURNRIGHT)
currentState = CMD_TURNRIGHT
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_turnright)
}
} else if (angle > PI / 4 && angle <= 3 * PI / 4) {
if (currentState != CMD_FASTBACKWARD) {
sendMessageAsync(CMD_FASTBACKWARD)
currentState = CMD_FASTBACKWARD
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_fastbackward)
}
} else if (angle > -3 * PI / 4 && angle < -PI / 4) {
if (currentState != CMD_FASTFORWARD) {
sendMessageAsync(CMD_FASTFORWARD)
currentState = CMD_FASTFORWARD
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_fastforward)
}
} else {
if (currentState != CMD_TURNLEFT) {
sendMessageAsync(CMD_TURNLEFT)
currentState = CMD_TURNLEFT
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_turnleft)
}
}
leftControlImage!!.setImageResource(R.drawable.ic_control_left)
}
}
}
leftControlImage!!.setImageResource(R.drawable.ic_control_left)
} else if (length >= 2 * rightRadius / 3 && length < rightRadius) {
val angle = atan2(coorY, coorX)
if (angle > -PI / 4 && angle <= PI / 4) {
if (currentState != CMD_TURNRIGHT) {
sendMessageAsync(CMD_TURNRIGHT)
currentState = CMD_TURNRIGHT
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_turnright)
}
} else if (angle > PI / 4 && angle <= 3 * PI / 4) {
if (currentState != CMD_FASTBACKWARD) {
sendMessageAsync(CMD_FASTBACKWARD)
currentState = CMD_FASTBACKWARD
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_fastbackward)
}
} else if (angle > -3 * PI / 4 && angle < -PI / 4) {
if (currentState != CMD_FASTFORWARD) {
sendMessageAsync(CMD_FASTFORWARD)
currentState = CMD_FASTFORWARD
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_fastforward)
}
} else {
if (currentState != CMD_TURNLEFT) {
sendMessageAsync(CMD_TURNLEFT)
currentState = CMD_TURNLEFT
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_turnleft)
MotionEvent.ACTION_UP -> {
if (controlImg == CTRL_RIGHT) {
sendMessageAsync(CMD_STANDBY)
currentState = CMD_STANDBY
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_standby)
leftControlImage!!.setImageResource(R.drawable.ic_control_left)
controlImg = CTRL_LEFT
}
}
leftControlImage!!.setImageResource(R.drawable.ic_control_left)
}
return true
}
@ -281,57 +306,77 @@ class ControlActivity : AppCompatActivity() {
leftControlImage!!.setOnTouchListener(
object : View.OnTouchListener {
override fun onTouch(view: View, motionEvent: MotionEvent): Boolean {
val touchX = motionEvent.x
val touchY = motionEvent.y
if (touchX < 0 || touchX > leftWidth) {
return false
}
if (touchY < 0 || touchY > leftHeight) {
return false
}
if (touchX < leftWidth/2){
if(touchY< leftHeight/3){
if (currentState != CMD_ROTATEY) {
sendMessageAsync(CMD_ROTATEY)
currentState = CMD_ROTATEY
leftControlImage!!.setImageResource(R.drawable.ic_control_left_rotatey)
}
} else if( touchY >= leftHeight/3 && touchY < 2*leftHeight/3) {
if (currentState != CMD_ROTATEX) {
sendMessageAsync(CMD_ROTATEX)
currentState = CMD_ROTATEX
leftControlImage!!.setImageResource(R.drawable.ic_control_left_rotatex)
when (motionEvent.action) {
MotionEvent.ACTION_MOVE, MotionEvent.ACTION_DOWN -> {
if (motionEvent.action == MotionEvent.ACTION_DOWN) {
controlImg = CTRL_LEFT
}
} else {
if (currentState != CMD_ROTATEZ) {
sendMessageAsync(CMD_ROTATEZ)
currentState = CMD_ROTATEZ
leftControlImage!!.setImageResource(R.drawable.ic_control_left_rotatez)
if (controlImg == CTRL_LEFT) {
val touchX = motionEvent.x
val touchY = motionEvent.y
if (touchX < 0 || touchX > leftWidth) {
return false
}
if (touchY < 0 || touchY > leftHeight) {
return false
}
if (touchX < leftWidth / 2) {
if (touchY < leftHeight / 3) {
if (currentState != CMD_ROTATEY) {
sendMessageAsync(CMD_ROTATEY)
currentState = CMD_ROTATEY
leftControlImage!!.setImageResource(R.drawable.ic_control_left_rotatey)
}
} else if (touchY >= leftHeight / 3 && touchY < 2 * leftHeight / 3) {
if (currentState != CMD_ROTATEX) {
sendMessageAsync(CMD_ROTATEX)
currentState = CMD_ROTATEX
leftControlImage!!.setImageResource(R.drawable.ic_control_left_rotatex)
}
} else {
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)
}
}
} 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)
MotionEvent.ACTION_UP -> {
if (controlImg == CTRL_LEFT) {
sendMessageAsync(CMD_STANDBY)
currentState = CMD_STANDBY
rightControlImage!!.setImageResource(R.drawable.ic_control_circle_standby)
leftControlImage!!.setImageResource(R.drawable.ic_control_left)
controlImg = CTRL_RIGHT
}
}
}
rightControlImage!!.setImageResource(R.drawable.ic_control_circle)
return true
}
}
@ -458,7 +503,8 @@ class ControlActivity : AppCompatActivity() {
"Unable to connect to the Hexapod."
)
alert.setOnCancelListener { finish() }
alert.setButton(AlertDialog.BUTTON_POSITIVE,
alert.setButton(
AlertDialog.BUTTON_POSITIVE,
"OK"
) { _, _ -> finish() }
}

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