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hexapod
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update

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master
Zhengyu Peng 2 years ago
parent 8bb1993570
commit fd46deeaaa
3 changed files with 120 additions and 39 deletions
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146
software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt
Unescape Escape View File

@ -7,6 +7,7 @@ import android.os.Bundle
import android.os.Handler
import android.os.Looper
import android.view.*
import android.widget.Button
import android.widget.ImageView
import androidx.appcompat.app.AppCompatActivity
import androidx.constraintlayout.widget.ConstraintLayout
@ -67,7 +68,6 @@ enum class TypeOption(
}
class ControlActivity : AppCompatActivity() {
private var pxMargin = 0f
private var width = 0
private var height = 0
private var radius = 0f
@ -81,6 +81,14 @@ class ControlActivity : AppCompatActivity() {
private var currentState: String = "standby"
private lateinit var progressBar: ConstraintLayout
private var controlImage: ImageView? = null
private var buttonRotateX: Button? = null
private var buttonRotateY: Button? = null
private var buttonRotateZ: Button? = null
private var buttonClimb: Button? = null
private var buttonTwist: Button? = null
@SuppressLint("ClickableViewAccessibility")
override fun onCreate(savedInstanceState: Bundle?) {
@ -94,22 +102,29 @@ class ControlActivity : AppCompatActivity() {
controlWindowInsets(true)
val controlCircle = findViewById<ImageView>(R.id.control_image)
controlImage = findViewById<ImageView>(R.id.control_image)
progressBar = findViewById<ConstraintLayout>(R.id.progressBar)
val vto: ViewTreeObserver = controlCircle.viewTreeObserver
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)
buttonTwist = findViewById(R.id.button_twist)
val vto: ViewTreeObserver = controlImage!!.viewTreeObserver
vto.addOnPreDrawListener(object : ViewTreeObserver.OnPreDrawListener {
override fun onPreDraw(): Boolean {
controlCircle.viewTreeObserver.removeOnPreDrawListener(this)
height = controlCircle.measuredHeight
width = controlCircle.measuredWidth
controlImage!!.viewTreeObserver.removeOnPreDrawListener(this)
height = controlImage!!.measuredHeight
width = controlImage!!.measuredWidth
radius = width.coerceAtMost(height) / 2f
println(radius)
return true
}
})
controlCircle.setOnTouchListener(
controlImage!!.setOnTouchListener(
object : View.OnTouchListener {
override fun onTouch(view: View, motionEvent: MotionEvent): Boolean {
val touchX = motionEvent.x
@ -130,6 +145,13 @@ class ControlActivity : AppCompatActivity() {
println("Standby")
sendMessageAsync("standby")
currentState = "standby"
controlImage!!.setImageResource(R.drawable.ic_control_circle_standby)
buttonRotateX!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonRotateY!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonRotateZ!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonClimb!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonTwist!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
}
} else if (length >= radius / 3 && length < 2 * radius / 3) {
val angle = atan2(coorY, coorX)
@ -138,26 +160,35 @@ class ControlActivity : AppCompatActivity() {
println("Move right")
sendMessageAsync("shiftright")
currentState = "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"
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"
controlImage!!.setImageResource(R.drawable.ic_control_circle_forward)
}
} else {
if (currentState != "shiftleft") {
println("Move left")
sendMessageAsync("shiftleft")
currentState = "shiftleft"
controlImage!!.setImageResource(R.drawable.ic_control_circle_left)
}
}
buttonRotateX!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonRotateY!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonRotateZ!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonClimb!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonTwist!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
} else if (length >= 2 * radius / 3 && length < radius) {
val angle = atan2(coorY, coorX)
if (angle > -PI / 4 && angle <= PI / 4) {
@ -165,58 +196,105 @@ class ControlActivity : AppCompatActivity() {
println("Turn right")
sendMessageAsync("rightturn")
currentState = "rightturn"
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"
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"
controlImage!!.setImageResource(R.drawable.ic_control_circle_fastforward)
}
} else {
if (currentState != "leftturn") {
println("Turn left")
sendMessageAsync("leftturn")
currentState = "leftturn"
controlImage!!.setImageResource(R.drawable.ic_control_circle_turnleft)
}
}
buttonRotateX!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonRotateY!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonRotateZ!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonClimb!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonTwist!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
}
return true
}
}
)
// this.tcpClient = TCPClient(this, ip, port, object : OnMessageReceived {
// override fun messageReceived(message: String?) {
// if (message == null) {
//// alertDialog(DISCONNECTED)
// println("no message")
// }
// }
// }, object : OnConnectEstablished {
// override fun onConnected() {
//// udpClient.start()
// println("connected")
// Handler(Looper.getMainLooper()).post {
// progressBar.visibility = View.GONE
// }
// }
// }, object : OnDisconnected{
// override fun onDisconnected() {
// Handler(Looper.getMainLooper()).post {
// progressBar.visibility = View.GONE
// alertDialog(0)
// }
// }
// }
// )
// this.tcpClient!!.start()
// alertDialog(0)
buttonRotateX!!.setOnClickListener{
if (currentState != "rotatex"){
sendMessageAsync("rotatex")
currentState = "rotatex"
controlImage!!.setImageResource(R.drawable.ic_control_circle)
buttonRotateX!!.backgroundTintList = applicationContext.getColorStateList(R.color.purple_500)
buttonRotateY!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonRotateZ!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonClimb!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonTwist!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
}
}
buttonRotateY!!.setOnClickListener{
if (currentState != "rotatey"){
sendMessageAsync("rotatey")
currentState = "rotatey"
controlImage!!.setImageResource(R.drawable.ic_control_circle)
buttonRotateX!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonRotateY!!.backgroundTintList = applicationContext.getColorStateList(R.color.purple_500)
buttonRotateZ!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonClimb!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonTwist!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
}
}
buttonRotateZ!!.setOnClickListener{
if (currentState != "rotatez"){
sendMessageAsync("rotatez")
currentState = "rotatez"
controlImage!!.setImageResource(R.drawable.ic_control_circle)
buttonRotateX!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonRotateY!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonRotateZ!!.backgroundTintList = applicationContext.getColorStateList(R.color.purple_500)
buttonClimb!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonTwist!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
}
}
buttonClimb!!.setOnClickListener{
if (currentState != "climb"){
sendMessageAsync("climb")
currentState = "climb"
controlImage!!.setImageResource(R.drawable.ic_control_circle)
buttonRotateX!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonRotateY!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonRotateZ!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonClimb!!.backgroundTintList = applicationContext.getColorStateList(R.color.purple_500)
buttonTwist!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
}
}
buttonTwist!!.setOnClickListener{
if (currentState != "twist"){
sendMessageAsync("twist")
currentState = "twist"
controlImage!!.setImageResource(R.drawable.ic_control_circle)
buttonRotateX!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonRotateY!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonRotateZ!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonClimb!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
buttonTwist!!.backgroundTintList = applicationContext.getColorStateList(R.color.purple_500)
}
}
}
override fun onResume() {

10
software/android/app/src/main/java/com/rookiedev/hexapod/MainActivity.kt
Unescape Escape View File

@ -37,11 +37,11 @@ class MainActivity : AppCompatActivity() {
override fun onTextChanged(s: CharSequence, start: Int, before: Int, count: Int) {}
override fun beforeTextChanged(s: CharSequence, start: Int, count: Int, after: Int) {}
override fun afterTextChanged(s: Editable) {
if (isNumericAddress(s.toString())) {
Toast.makeText(this@MainActivity, "Correct", Toast.LENGTH_SHORT).show()
} else {
Toast.makeText(this@MainActivity, "Wrong", Toast.LENGTH_SHORT).show()
}
// if (isNumericAddress(s.toString())) {
// Toast.makeText(this@MainActivity, "Correct", Toast.LENGTH_SHORT).show()
// } else {
// Toast.makeText(this@MainActivity, "Wrong", Toast.LENGTH_SHORT).show()
// }
}
})
}

3
software/android/app/src/main/java/com/rookiedev/hexapod/network/TCPClient.kt
Unescape Escape View File

@ -46,6 +46,9 @@ class TCPClient(
} catch (e: SocketTimeoutException) {
println(e)
onDisconnected!!.onDisconnected()
} catch (e: ConnectException) {
println(e)
onDisconnected!!.onDisconnected()
}
}

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