AndroidSensorMessage.java

Go to the documentation of this file.

/*
 * Copyright (C) 2011 Google Inc.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */

package org.ros.android.androidSensorMessage;

import android.os.Bundle;
import android.view.Menu;
import android.view.MenuItem;
import android.view.SurfaceView;
//add
import android.view.MotionEvent;
import android.view.View;
import android.view.View.OnTouchListener;

import org.ros.android.MasterChooser;
import org.ros.android.RosActivity;
import org.ros.android.view.RosTextView;
import org.ros.node.NodeMainExecutor;
import android.content.ServiceConnection;

import java.net.URI;
import java.net.URISyntaxException;
import java.util.ArrayList;

import android.app.AlertDialog;
import android.content.ClipData.Item;
import android.content.DialogInterface;
import android.content.Intent;
import android.widget.LinearLayout;
import android.widget.Button;
import android.util.Log;
import android.content.ComponentName;
import android.os.IBinder;
import android.content.Context;
import android.view.View;
import android.widget.TextView;
import android.widget.CheckBox;

//add ribbon_menu
import com.darvds.ribbonmenu.RibbonMenuView;
import com.darvds.ribbonmenu.iRibbonMenuCallback;

public class AndroidSensorMessage extends RosActivity implements
                iRibbonMenuCallback, OnTouchListener {

        private URI masterUri;
        private Intent intent;
        private AndroidSensorMessageService androidSensorMessageService;
        private int currentSensor = 0;
        private int multiTouchAction = 0;
        private float previousY;
        private float previousDistanceY;
        private int[] availableSensor;
        private int[] publishedSensor;
        private int[] selectedSensor;

        private Button menuButton;
        private Button setButton;

        private RibbonMenuView ribbonMenuView;
        private AndroidSensorMessageView androidSensorMessageView;
        private SurfaceView surfaceView;

        private LinearLayout linearLayout;

        // Button
        Button baseButton;
        Button xButton;
        Button yButton;
        Button zButton;

        // Label
        TextView textViewX;
        TextView textViewY;
        TextView textViewZ;
        TextView textViewSensorName;

        ServiceConnection serviceConnection = new ServiceConnection() {

                public void onServiceConnected(ComponentName name, IBinder service) {
                        androidSensorMessageService = ((AndroidSensorMessageService.MyBinder) service)
                                        .getService();
                        startService(intent);
                        availableSensor = new int[13];
                        publishedSensor = new int[13];
                        selectedSensor = new int[13];

                        menuButton = (Button) findViewById(R.id.menuButton);
                        setButton = (Button) findViewById(R.id.setButton);
                        xButton = (Button) findViewById(R.id.viewXButton);
                        yButton = (Button) findViewById(R.id.viewYButton);
                        zButton = (Button) findViewById(R.id.viewZButton);
                        baseButton = (Button) findViewById(R.id.viewBaseButton);

                        textViewX = (TextView) findViewById(R.id.sensorX);
                        textViewY = (TextView) findViewById(R.id.sensorY);
                        textViewZ = (TextView) findViewById(R.id.sensorZ);
                        textViewSensorName = (TextView) findViewById(R.id.sensorName);

                        for (int i = 0; i < 13; i++) {
                                availableSensor[i] = androidSensorMessageService.getSensor(i);
                                publishedSensor[i] = -1;
                                selectedSensor[i] = -1;
                        }

                        androidSensorMessageService.setNode(publishedSensor,
                                        androidSensorMessageView, textViewX, textViewY, textViewZ);
                        /* k-okada
                        ribbonMenuView.setItemIcon(R.drawable.noncheck, R.drawable.check);
                        */
                        for (int i = 0; i < 13; i++) {
                                if (availableSensor[i] != -1) {
                                        /* k-okada
                                        selectedSensor[i] = ribbonMenuView.addItem(
                                                        androidSensorMessageService.getSensorName(i),
                                                        publishedSensor[i]);
                                        */
                                }
                        }

                        menuButton.setOnClickListener(new View.OnClickListener() {
                                @Override
                                public void onClick(View v) {
                                        ribbonMenuView.toggleMenu();
                                }
                        });

                        setButton.setOnClickListener(new View.OnClickListener() {
                                @Override
                                public void onClick(View v) {
                                        androidSensorMessageService.changeSensor(currentSensor);
                                        ribbonMenuView.setMenuItems(R.menu.ribbon_menu);
                                        /* k-okada
                                        ribbonMenuView.clearButtonId();
                                        */
                                        publishedSensor[currentSensor] *= -1;
                                        if (publishedSensor[currentSensor] == -1) {
                                                setButton.setText("ON");
                                        } else {
                                                setButton.setText("OFF");
                                        }
                                        for (int i = 0; i < 13; i++) {
                                                if (availableSensor[i] != -1) {
                                                  /* k-okada
                                                        ribbonMenuView.addItem(androidSensorMessageService
                                                                        .getSensorName(i), publishedSensor[i]);
                                                  */
                                                }
                                        }
                                }
                        });

                        xButton.setOnClickListener(new View.OnClickListener() {
                                @Override
                                public void onClick(View v) {
                                        androidSensorMessageView.viewChange(1);
                                }
                        });

                        yButton.setOnClickListener(new View.OnClickListener() {
                                @Override
                                public void onClick(View v) {
                                        androidSensorMessageView.viewChange(2);
                                }
                        });

                        zButton.setOnClickListener(new View.OnClickListener() {
                                @Override
                                public void onClick(View v) {
                                        androidSensorMessageView.viewChange(3);
                                }
                        });

                        baseButton.setOnClickListener(new View.OnClickListener() {
                                @Override
                                public void onClick(View v) {
                                        androidSensorMessageView.viewChange(0);
                                }
                        });

                        textViewSensorName.setText(androidSensorMessageService
                                        .getSensorName(0));

                }

                @Override
                public void onServiceDisconnected(ComponentName name) {
                        androidSensorMessageService = null;
                }

        };

        public AndroidSensorMessage() {
                super("ROS Sensor Message", "ROS Sensor Message");

        }

        @Override
        public void onCreate(Bundle savedInstanceState) {
                super.onCreate(savedInstanceState);
                linearLayout = new LinearLayout(this);
                setContentView(R.layout.main);

                ribbonMenuView = (RibbonMenuView) findViewById(R.id.ribbonMenuView1);
                ribbonMenuView.setMenuClickCallback(this);
                ribbonMenuView.setMenuItems(R.menu.ribbon_menu);

                surfaceView = (SurfaceView) findViewById(R.id.SV);
                androidSensorMessageView = new AndroidSensorMessageView(this,
                                surfaceView);
                surfaceView.setOnTouchListener(this);
        }

        private LinearLayout.LayoutParams createParam(int width, int height) {
                return new LinearLayout.LayoutParams(width, height);
        }

        @Override
        protected void onResume() {
                super.onResume();
                if (masterUri != null) {

                        intent = new Intent(getBaseContext(),
                                        AndroidSensorMessageService.class);
                        intent.putExtra("masterUri", masterUri.toString());
                        bindService(intent, serviceConnection, Context.BIND_AUTO_CREATE);
                }

        }

        @Override
        protected void onActivityResult(int requestCode, int resultCode, Intent data) {
                if (requestCode == 0 && resultCode == RESULT_OK) {
                        try {
                                masterUri = new URI(data.getStringExtra("ROS_MASTER_URI"));
                        } catch (URISyntaxException e) {
                                throw new RuntimeException(e);
                        }
                }
        }

        @Override
        public boolean onCreateOptionsMenu(Menu menu) {
                menu.add(0, 0, 0, R.string.app_about);
                menu.add(0, 1, 1, R.string.str_exit);
                return super.onCreateOptionsMenu(menu);
        }

        @Override
        public boolean onOptionsItemSelected(MenuItem item) {
                super.onOptionsItemSelected(item);
                switch (item.getItemId()) {
                case 0:
                        openOptionsDialog();
                        break;
                case 1:
                        exitOptionsDialog();
                        break;
                }
                return true;
        }

        private void openOptionsDialog() {
                new AlertDialog.Builder(this)
                                .setTitle(R.string.app_about)
                                .setMessage(R.string.app_about_message)
                                .setPositiveButton(R.string.str_ok,
                                                new DialogInterface.OnClickListener() {
                                                        public void onClick(
                                                                        DialogInterface dialoginterface, int i) {
                                                        }
                                                }).show();
        }

        private void exitOptionsDialog() {
                stopService(new Intent(this, AndroidSensorMessageService.class));
                finish();
        }

        @Override
        protected void onPause() {
                super.onPause();
        }

        @Override
        protected void init(NodeMainExecutor nodeMainExecutor) {

        }

        @Override
        public void RibbonMenuItemClick(int itemId) {
                for (int i = 0; i < 13; i++) {
                        if (itemId == selectedSensor[i]) {
                                currentSensor = i;
                                textViewSensorName.setText(androidSensorMessageService
                                                .getSensorName(i));
                                textViewX.setText("x:");
                                textViewY.setText("y:");
                                textViewZ.setText("z:");
                                if (publishedSensor[i] == -1) {
                                        setButton.setText("ON");
                                } else {
                                        setButton.setText("OFF");
                                }
                                androidSensorMessageService.changeView(currentSensor);
                                break;
                        }
                }
        }

        public boolean onTouch(View v, MotionEvent event) {
                if (event.getPointerCount() == 1) {
                        if (multiTouchAction > 0) {
                                if (event.getAction() == MotionEvent.ACTION_UP) {
                                        multiTouchAction--;
                                }
                        } else {
                                if (event.getAction() == MotionEvent.ACTION_MOVE) {
                                        androidSensorMessageView.updateOriginalY(event.getY()
                                                        - previousY);
                                }
                                previousY = event.getY();
                        }
                } else {
                        int pointerId1 = event.getPointerId(0);
                        int pointerId2 = event.getPointerId(1);

                        int pointerIndex1 = event.findPointerIndex(pointerId1);
                        int pointerIndex2 = event.findPointerIndex(pointerId2);

                        float distanceY = event.getY(pointerIndex2) - event.getY(pointerIndex1);
                        distanceY = (float)Math.sqrt(distanceY * distanceY);
                        if (event.getAction() == MotionEvent.ACTION_MOVE) {
                                androidSensorMessageView.updateScale(distanceY - previousDistanceY);
                        }
                        Log.v("distance","pre:"+previousDistanceY+" now:"+distanceY);
                        previousDistanceY = distanceY;
                        
                        multiTouchAction = 1;

                }

                return true;
        }

}