update
This commit is contained in:
Zhengyu Peng
parent
8bb1993570
commit
fd46deeaaa
@ -7,6 +7,7 @@ import android.os.Bundle
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import android.os.Handler
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import android.os.Looper
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import android.view.*
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import android.widget.Button
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import android.widget.ImageView
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import androidx.appcompat.app.AppCompatActivity
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import androidx.constraintlayout.widget.ConstraintLayout
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@ -67,7 +68,6 @@ enum class TypeOption(
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}
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class ControlActivity : AppCompatActivity() {
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private var pxMargin = 0f
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private var width = 0
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private var height = 0
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private var radius = 0f
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@ -81,6 +81,14 @@ class ControlActivity : AppCompatActivity() {
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private var currentState: String = "standby"
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private lateinit var progressBar: ConstraintLayout
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private var controlImage: ImageView? = null
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private var buttonRotateX: Button? = null
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private var buttonRotateY: Button? = null
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private var buttonRotateZ: Button? = null
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private var buttonClimb: Button? = null
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private var buttonTwist: Button? = null
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@SuppressLint("ClickableViewAccessibility")
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override fun onCreate(savedInstanceState: Bundle?) {
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@ -94,22 +102,29 @@ class ControlActivity : AppCompatActivity() {
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controlWindowInsets(true)
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val controlCircle = findViewById<ImageView>(R.id.control_image)
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controlImage = findViewById<ImageView>(R.id.control_image)
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progressBar = findViewById<ConstraintLayout>(R.id.progressBar)
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val vto: ViewTreeObserver = controlCircle.viewTreeObserver
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buttonRotateX = findViewById(R.id.button_rotatex)
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// buttonRotateX!!.backgroundTintList = applicationContext.getColorStateList(R.color.purple_500)
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buttonRotateY = findViewById(R.id.button_rotatey)
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buttonRotateZ = findViewById(R.id.button_rotatez)
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buttonClimb = findViewById(R.id.button_climb)
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buttonTwist = findViewById(R.id.button_twist)
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val vto: ViewTreeObserver = controlImage!!.viewTreeObserver
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vto.addOnPreDrawListener(object : ViewTreeObserver.OnPreDrawListener {
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override fun onPreDraw(): Boolean {
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controlCircle.viewTreeObserver.removeOnPreDrawListener(this)
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height = controlCircle.measuredHeight
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width = controlCircle.measuredWidth
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controlImage!!.viewTreeObserver.removeOnPreDrawListener(this)
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height = controlImage!!.measuredHeight
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width = controlImage!!.measuredWidth
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radius = width.coerceAtMost(height) / 2f
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println(radius)
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return true
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}
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})
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controlCircle.setOnTouchListener(
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controlImage!!.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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@ -130,6 +145,13 @@ class ControlActivity : AppCompatActivity() {
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println("Standby")
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sendMessageAsync("standby")
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currentState = "standby"
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controlImage!!.setImageResource(R.drawable.ic_control_circle_standby)
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buttonRotateX!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonRotateY!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonRotateZ!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonClimb!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonTwist!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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}
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} else if (length >= radius / 3 && length < 2 * radius / 3) {
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val angle = atan2(coorY, coorX)
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@ -138,26 +160,35 @@ class ControlActivity : AppCompatActivity() {
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println("Move right")
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sendMessageAsync("shiftright")
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currentState = "shiftright"
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controlImage!!.setImageResource(R.drawable.ic_control_circle_right)
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}
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} else if (angle > PI / 4 && angle <= 3 * PI / 4) {
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if (currentState != "backward") {
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println("Move back")
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sendMessageAsync("backward")
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currentState = "backward"
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controlImage!!.setImageResource(R.drawable.ic_control_circle_backward)
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}
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} else if (angle > -3 * PI / 4 && angle < -PI / 4) {
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if (currentState != "forward") {
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println("Move forward")
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sendMessageAsync("forward")
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currentState = "forward"
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controlImage!!.setImageResource(R.drawable.ic_control_circle_forward)
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}
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} else {
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if (currentState != "shiftleft") {
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println("Move left")
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sendMessageAsync("shiftleft")
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currentState = "shiftleft"
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controlImage!!.setImageResource(R.drawable.ic_control_circle_left)
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}
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}
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buttonRotateX!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonRotateY!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonRotateZ!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonClimb!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonTwist!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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} else if (length >= 2 * radius / 3 && length < radius) {
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val angle = atan2(coorY, coorX)
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if (angle > -PI / 4 && angle <= PI / 4) {
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@ -165,58 +196,105 @@ class ControlActivity : AppCompatActivity() {
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println("Turn right")
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sendMessageAsync("rightturn")
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currentState = "rightturn"
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controlImage!!.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 != "fastback") {
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println("Fast back")
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// sendMessageAsync("Fast back")
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currentState = "fastback"
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controlImage!!.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 != "fastforward") {
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println("Fast forward")
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sendMessageAsync("fastforward")
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currentState = "fastforward"
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controlImage!!.setImageResource(R.drawable.ic_control_circle_fastforward)
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}
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} else {
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if (currentState != "leftturn") {
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println("Turn left")
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sendMessageAsync("leftturn")
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currentState = "leftturn"
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controlImage!!.setImageResource(R.drawable.ic_control_circle_turnleft)
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}
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}
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buttonRotateX!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonRotateY!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonRotateZ!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonClimb!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonTwist!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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}
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return true
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}
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}
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)
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// this.tcpClient = TCPClient(this, ip, port, object : OnMessageReceived {
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// override fun messageReceived(message: String?) {
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// if (message == null) {
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//// alertDialog(DISCONNECTED)
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// println("no message")
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// }
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// }
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// }, object : OnConnectEstablished {
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// override fun onConnected() {
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//// udpClient.start()
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// println("connected")
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// Handler(Looper.getMainLooper()).post {
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// progressBar.visibility = View.GONE
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// }
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// }
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// }, object : OnDisconnected{
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// override fun onDisconnected() {
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// Handler(Looper.getMainLooper()).post {
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// progressBar.visibility = View.GONE
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// alertDialog(0)
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// }
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// }
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// }
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// )
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// this.tcpClient!!.start()
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// alertDialog(0)
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buttonRotateX!!.setOnClickListener{
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if (currentState != "rotatex"){
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sendMessageAsync("rotatex")
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currentState = "rotatex"
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controlImage!!.setImageResource(R.drawable.ic_control_circle)
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buttonRotateX!!.backgroundTintList = applicationContext.getColorStateList(R.color.purple_500)
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buttonRotateY!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonRotateZ!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonClimb!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonTwist!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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}
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}
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buttonRotateY!!.setOnClickListener{
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if (currentState != "rotatey"){
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sendMessageAsync("rotatey")
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currentState = "rotatey"
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controlImage!!.setImageResource(R.drawable.ic_control_circle)
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buttonRotateX!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonRotateY!!.backgroundTintList = applicationContext.getColorStateList(R.color.purple_500)
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buttonRotateZ!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonClimb!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonTwist!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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}
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}
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buttonRotateZ!!.setOnClickListener{
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if (currentState != "rotatez"){
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sendMessageAsync("rotatez")
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currentState = "rotatez"
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controlImage!!.setImageResource(R.drawable.ic_control_circle)
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buttonRotateX!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonRotateY!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonRotateZ!!.backgroundTintList = applicationContext.getColorStateList(R.color.purple_500)
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buttonClimb!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonTwist!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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}
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}
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buttonClimb!!.setOnClickListener{
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if (currentState != "climb"){
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sendMessageAsync("climb")
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currentState = "climb"
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controlImage!!.setImageResource(R.drawable.ic_control_circle)
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buttonRotateX!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonRotateY!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonRotateZ!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonClimb!!.backgroundTintList = applicationContext.getColorStateList(R.color.purple_500)
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buttonTwist!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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}
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}
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buttonTwist!!.setOnClickListener{
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if (currentState != "twist"){
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sendMessageAsync("twist")
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currentState = "twist"
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controlImage!!.setImageResource(R.drawable.ic_control_circle)
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buttonRotateX!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonRotateY!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonRotateZ!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonClimb!!.backgroundTintList = applicationContext.getColorStateList(R.color.grey_500)
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buttonTwist!!.backgroundTintList = applicationContext.getColorStateList(R.color.purple_500)
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}
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}
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}
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override fun onResume() {
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@ -37,11 +37,11 @@ class MainActivity : AppCompatActivity() {
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override fun onTextChanged(s: CharSequence, start: Int, before: Int, count: Int) {}
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override fun beforeTextChanged(s: CharSequence, start: Int, count: Int, after: Int) {}
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override fun afterTextChanged(s: Editable) {
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if (isNumericAddress(s.toString())) {
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Toast.makeText(this@MainActivity, "Correct", Toast.LENGTH_SHORT).show()
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} else {
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Toast.makeText(this@MainActivity, "Wrong", Toast.LENGTH_SHORT).show()
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}
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// if (isNumericAddress(s.toString())) {
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// Toast.makeText(this@MainActivity, "Correct", Toast.LENGTH_SHORT).show()
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// } else {
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// Toast.makeText(this@MainActivity, "Wrong", Toast.LENGTH_SHORT).show()
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// }
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}
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})
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}
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@ -46,6 +46,9 @@ class TCPClient(
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} catch (e: SocketTimeoutException) {
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println(e)
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onDisconnected!!.onDisconnected()
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} catch (e: ConnectException) {
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println(e)
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onDisconnected!!.onDisconnected()
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}
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}
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