update control logic

software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt

@@ -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
             }
         })
@@ -171,6 +176,12 @@ class ControlActivity : AppCompatActivity() {
         rightControlImage!!.setOnTouchListener(
             object : View.OnTouchListener {
                 override fun onTouch(view: View, motionEvent: MotionEvent): Boolean {
+                    when (motionEvent.action) {
+                        MotionEvent.ACTION_MOVE, MotionEvent.ACTION_DOWN -> {
+                            if (motionEvent.action == MotionEvent.ACTION_DOWN) {
+                                controlImg = CTRL_RIGHT
+                            }
+                            if (controlImg == CTRL_RIGHT) {
                                 val touchX = motionEvent.x
                                 val touchY = motionEvent.y
                                 if (touchX < 0) {
@@ -273,6 +284,20 @@ class ControlActivity : AppCompatActivity() {
                                     }
                                     leftControlImage!!.setImageResource(R.drawable.ic_control_left)
                                 }
+                            }
+                        }
+                        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
+                            }
+                        }
+                    }
                     return true
                 }
             }
@@ -281,6 +306,12 @@ class ControlActivity : AppCompatActivity() {
         leftControlImage!!.setOnTouchListener(
             object : View.OnTouchListener {
                 override fun onTouch(view: View, motionEvent: MotionEvent): Boolean {
+                    when (motionEvent.action) {
+                        MotionEvent.ACTION_MOVE, MotionEvent.ACTION_DOWN -> {
+                            if (motionEvent.action == MotionEvent.ACTION_DOWN) {
+                                controlImg = CTRL_LEFT
+                            }
+                            if (controlImg == CTRL_LEFT) {
                                 val touchX = motionEvent.x
                                 val touchY = motionEvent.y
                                 if (touchX < 0 || touchX > leftWidth) {
@@ -290,14 +321,14 @@ class ControlActivity : AppCompatActivity() {
                                     return false
                                 }
 
-                    if (touchX < leftWidth/2){
+                                if (touchX < leftWidth / 2) {
-                        if(touchY< leftHeight/3){
+                                    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) {
+                                    } else if (touchY >= leftHeight / 3 && touchY < 2 * leftHeight / 3) {
                                         if (currentState != CMD_ROTATEX) {
                                             sendMessageAsync(CMD_ROTATEX)
                                             currentState = CMD_ROTATEX
@@ -311,13 +342,13 @@ class ControlActivity : AppCompatActivity() {
                                         }
                                     }
                                 } else {
-                        if(touchY< leftHeight/3){
+                                    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) {
+                                    } else if (touchY >= leftHeight / 3 && touchY < 2 * leftHeight / 3) {
                                         if (currentState != CMD_TWIST) {
                                             sendMessageAsync(CMD_TWIST)
                                             currentState = CMD_TWIST
@@ -332,6 +363,20 @@ class ControlActivity : AppCompatActivity() {
                                     }
                                 }
                                 rightControlImage!!.setImageResource(R.drawable.ic_control_circle)
+                            }
+                        }
+                        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
+                            }
+                        }
+                    }
                     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() }
             }