AndroidSensorMessageView.java

Go to the documentation of this file.

package org.ros.android.androidSensorMessage;

import java.util.ArrayList;

import android.content.Context;
import android.graphics.Canvas;
import android.graphics.Color;
import android.graphics.Paint;
import android.graphics.Typeface;
import android.graphics.Paint.Style;
import android.view.SurfaceHolder;
import android.view.SurfaceView;


public class AndroidSensorMessageView extends SurfaceView implements
                SurfaceHolder.Callback, Runnable {

        private SurfaceHolder holder;
        private Thread thread;
        private Paint paint;
        private Canvas canvas;
        private int width;
        private int viewFlag[];
        private float originalY;
        private float scale;

        private ArrayList<Float> Xarray;
        private ArrayList<Float> Yarray;
        private ArrayList<Float> Zarray;

        public AndroidSensorMessageView(Context context, SurfaceView sv) {
                super(context);
                // initialize
                Xarray = new ArrayList<Float>();
                Yarray = new ArrayList<Float>();
                Zarray = new ArrayList<Float>();
                width = getWidth();
                viewFlag = new int[4];
                originalY = 150;
                scale = 1;
                for (int i = 0; i < 4; i++) {
                        viewFlag[i] = 1;
                }

                paint = new Paint();
                paint.setStyle(Style.FILL);
                paint.setTextSize(32);
                paint.setTypeface(Typeface.create(Typeface.SERIF, Typeface.BOLD_ITALIC));

                holder = sv.getHolder();
                holder.addCallback(this);
                holder.setFixedSize(480, 262);
        }

        public void surfaceCreated(SurfaceHolder holder) {
                thread = new Thread(this);
                thread.start();
        }

        public void surfaceChanged(SurfaceHolder holder, int format, int w, int h) {
                width = w;

        }

        public void surfaceDestroyed(SurfaceHolder holder) {
                thread = null;
        }

        public void run() {
                while (true) {
                        try {
                                int size = Xarray.size();
                                canvas = holder.lockCanvas();
                                canvas.drawColor(Color.WHITE);
                                paint.setColor(Color.BLACK);
                                if (viewFlag[0] == 1) {
                                        canvas.drawLine(0, originalY, width, originalY, paint);
                                }
                                paint.setColor(Color.RED);
                                if (viewFlag[1] == 1) {
                                        for (int i = 0; i < size - 2; i++) {
                                                canvas.drawLine(i, Xarray.get(i)*scale + originalY, i + 1,
                                                                Xarray.get(i + 1)*scale + originalY, paint);
                                        }
                                }
                                if (viewFlag[2] == 1) {
                                        paint.setColor(Color.BLUE);
                                        for (int i = 0; i < size - 2; i++) {
                                                canvas.drawLine(i, Yarray.get(i)*scale + originalY, i + 1,
                                                                Yarray.get(i + 1)*scale + originalY, paint);
                                        }
                                }
                                if (viewFlag[3] == 1) {
                                        paint.setColor(Color.GREEN);
                                        for (int i = 0; i < size - 2; i++) {
                                                canvas.drawLine(i, Zarray.get(i)*scale + originalY, i + 1,
                                                                Zarray.get(i + 1)*scale + originalY, paint);
                                        }
                                }
                                holder.unlockCanvasAndPost(canvas);

                        } catch (Exception e) {

                        }
                }
        }

        public void addValues(float[] values) {
                Xarray.add(values[0]);
                Yarray.add(values[1]);
                Zarray.add(values[2]);
                if (Xarray.size() > width+1) {
                        Xarray.remove(0);
                        Yarray.remove(0);
                        Zarray.remove(0);
                }
        }

        public void viewChange(int flag) {
                viewFlag[flag] *= -1;
        }
        
        public void updateOriginalY(float update){
                originalY += update;
        }
        
        public void updateScale(float scale){
                if(scale > 0){
                this.scale += 0.05f;
                }
                else if(scale < 0){
                        this.scale -= 0.05f;
                }
                if(this.scale <= (float)0.01){
                        this.scale = (float)0.01;
                }
        }
}