Java tutorial
/************************************************************************************* * Copyright (C) 2012-2014 Kristian Lauszus, TKJ Electronics. All rights reserved. * * This software may be distributed and modified under the terms of the GNU * General Public License version 2 (GPL2) as published by the Free Software * Foundation and appearing in the file GPL2.TXT included in the packaging of * this file. Please note that GPL2 Section 2[b] requires that all works based * on this software must also be made publicly available under the terms of * the GPL2 ("Copyleft"). * * Contact information * ------------------- * * Kristian Lauszus, TKJ Electronics * Web : http://www.tkjelectronics.com * e-mail : kristianl@tkjelectronics.com * ************************************************************************************/ package com.edutech.eBalanbot; import android.annotation.TargetApi; import android.app.Activity; import android.bluetooth.BluetoothAdapter; import android.bluetooth.BluetoothDevice; import android.bluetooth.BluetoothManager; import android.content.Context; import android.content.Intent; import android.content.SharedPreferences; import android.content.SharedPreferences.Editor; import android.content.pm.ActivityInfo; import android.content.pm.PackageManager; import android.content.pm.PackageManager.NameNotFoundException; import android.content.res.Configuration; import android.content.res.Resources; import android.hardware.SensorManager; import android.net.Uri; import android.os.Build; import android.os.Bundle; import android.os.Handler; import android.os.Message; import android.preference.PreferenceManager; import android.support.v4.app.FragmentTransaction; import android.support.v4.view.ViewPager; import android.util.Log; import android.view.inputmethod.InputMethodManager; import android.widget.Toast; import com.actionbarsherlock.app.ActionBar; import com.actionbarsherlock.app.SherlockFragmentActivity; import com.actionbarsherlock.view.Menu; import com.actionbarsherlock.view.MenuItem; import com.edutech.eBalanbot.BuildConfig; import com.edutech.eBalanbot.R; import com.viewpagerindicator.UnderlinePageIndicator; public class eBalanbotActivity extends SherlockFragmentActivity implements ActionBar.TabListener { private static final String TAG = "YiBalanbot"; public static final boolean D = BuildConfig.DEBUG; // This is automatically set when building public static Activity activity; public static Context context; private static Toast mToast; // Message types sent from the BluetoothChatService Handler public static final int MESSAGE_STATE_CHANGE = 1; public static final int MESSAGE_READ = 2; public static final int MESSAGE_DEVICE_NAME = 3; public static final int MESSAGE_DISCONNECTED = 4; public static final int MESSAGE_RETRY = 5; // Key names received from the BluetoothChatService Handler public static final String DEVICE_NAME = "device_name"; public static final String TOAST = "toast"; // Intent request codes private static final int REQUEST_CONNECT_DEVICE = 1; private static final int REQUEST_ENABLE_BT = 2; // Local Bluetooth adapter private BluetoothAdapter mBluetoothAdapter = null; private BluetoothHandler mBluetoothHandler = null; // Member object for the chat services public static BluetoothChatService mChatService = null; public static SensorFusion mSensorFusion = null; BluetoothDevice btDevice; // The BluetoothDevice object boolean btSecure; // If it's a new device we will pair with the device public static boolean stopRetrying; private UnderlinePageIndicator mUnderlinePageIndicator; public static int currentTabSelected; public static String accValue = ""; public static String gyroValue = ""; public static String kalmanValue = ""; public static boolean newIMUValues; public static String Qangle = ""; public static String Qbias = ""; public static String Rmeasure = ""; public static boolean newKalmanValues; public static String pValue = ""; public static String iValue = ""; public static String dValue = ""; public static String targetAngleValue = ""; public static boolean newPIDValues; public static boolean backToSpot; public static int maxAngle = 8; // Eight is the default value public static int maxTurning = 20; // Twenty is the default value public static String appVersion; public static String firmwareVersion; public static String eepromVersion; public static String mcu; public static boolean newInfo; public static String batteryLevel; public static double runtime; public static boolean newStatus; public static boolean pairingWithDevice; public static boolean buttonState; public static boolean joystickReleased; public final static String getPIDValues = "GP;"; public final static String getSettings = "GS;"; public final static String getInfo = "GI;"; public final static String getKalman = "GK;"; public final static String setPValue = "SP,"; public final static String setIValue = "SI,"; public final static String setDValue = "SD,"; public final static String setKalman = "SK,"; public final static String setTargetAngle = "ST,"; public final static String setMaxAngle = "SA,"; public final static String setMaxTurning = "SU,"; public final static String setBackToSpot = "SB,"; public final static String imuBegin = "IB;"; public final static String imuStop = "IS;"; public final static String statusBegin = "RB;"; public final static String statusStop = "RS;"; public final static String sendStop = "CS;"; public final static String sendIMUValues = "CM,"; public final static String sendJoystickValues = "CJ,"; public final static String sendPairWithWii = "CPW;"; public final static String sendPairWithPS4 = "CPP;"; public final static String restoreDefaultValues = "CR;"; public final static String responsePIDValues = "P"; public final static String responseKalmanValues = "K"; public final static String responseSettings = "S"; public final static String responseInfo = "I"; public final static String responseIMU = "V"; public final static String responseStatus = "R"; public final static String responsePairConfirmation = "PC"; public final static int responsePIDValuesLength = 5; public final static int responseKalmanValuesLength = 4; public final static int responseSettingsLength = 4; public final static int responseInfoLength = 4; public final static int responseIMULength = 4; public final static int responseStatusLength = 3; public final static int responsePairConfirmationLength = 1; @Override @TargetApi(Build.VERSION_CODES.JELLY_BEAN_MR2) protected void onCreate(Bundle savedInstanceState) { super.onCreate(savedInstanceState); activity = this; context = getApplicationContext(); if (!getResources().getBoolean(R.bool.isTablet)) setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_PORTRAIT); // Set portrait mode only - for small screens like phones else { if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.JELLY_BEAN_MR2) setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_FULL_USER); // Full screen rotation else setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_FULL_SENSOR); // Full screen rotation new Handler().postDelayed(new Runnable() { // Hack to hide keyboard when the layout it rotated @Override public void run() { InputMethodManager imm = (InputMethodManager) getSystemService(Context.INPUT_METHOD_SERVICE); // Hide the keyboard - this is needed when the device is rotated imm.hideSoftInputFromWindow(getWindow().getDecorView().getApplicationWindowToken(), 0); } }, 1000); } setContentView(R.layout.activity_main); // Get local Bluetooth adapter if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.JELLY_BEAN_MR2) mBluetoothAdapter = ((BluetoothManager) getSystemService(Context.BLUETOOTH_SERVICE)).getAdapter(); else mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter(); // If the adapter is null, then Bluetooth is not supported if (mBluetoothAdapter == null) { showToast("Bluetooth is not available", Toast.LENGTH_LONG); finish(); return; } // get sensorManager and initialize sensor listeners SensorManager mSensorManager = (SensorManager) getSystemService(SENSOR_SERVICE); mSensorFusion = new SensorFusion(getApplicationContext(), mSensorManager); // Set up the action bar. final ActionBar actionBar = getSupportActionBar(); actionBar.setNavigationMode(ActionBar.NAVIGATION_MODE_TABS); actionBar.setDisplayHomeAsUpEnabled(true); // Create the adapter that will return a fragment for each of the primary sections of the app. ViewPagerAdapter mViewPagerAdapter = new ViewPagerAdapter(getApplicationContext(), getSupportFragmentManager()); // Set up the ViewPager with the adapter. CustomViewPager mViewPager = (CustomViewPager) findViewById(R.id.pager); mViewPager.setAdapter(mViewPagerAdapter); if (getResources().getBoolean(R.bool.isTablet)) mViewPager.setOffscreenPageLimit(2); // Since two fragments is selected in landscape mode, this is used to smooth things out // Bind the underline indicator to the adapter mUnderlinePageIndicator = (UnderlinePageIndicator) findViewById(R.id.indicator); mUnderlinePageIndicator.setViewPager(mViewPager); mUnderlinePageIndicator.setFades(false); // When swiping between different sections, select the corresponding // tab. We can also use ActionBar.Tab#select() to do this if we have // a reference to the Tab. mUnderlinePageIndicator.setOnPageChangeListener(new ViewPager.SimpleOnPageChangeListener() { @Override public void onPageSelected(int position) { if (D) Log.d(TAG, "ViewPager position: " + position); if (position < actionBar.getTabCount()) // Needed for when in landscape mode actionBar.setSelectedNavigationItem(position); else mUnderlinePageIndicator.setCurrentItem(position - 1); } }); int count = mViewPagerAdapter.getCount(); Resources mResources = getResources(); boolean landscape = false; if (mResources.getBoolean(R.bool.isTablet) && mResources.getConfiguration().orientation == Configuration.ORIENTATION_LANDSCAPE) { landscape = true; count -= 1; // There is one less tab when in landscape mode } for (int i = 0; i < count; i++) { // For each of the sections in the app, add a tab to the action bar String text; if (landscape && i == count - 1) text = mViewPagerAdapter.getPageTitle(i) + " & " + mViewPagerAdapter.getPageTitle(i + 1); // Last tab in landscape mode have two titles in one tab else text = mViewPagerAdapter.getPageTitle(i).toString(); // Create a tab with text corresponding to the page title defined by // the adapter. Also specify this Activity object, which implements // the TabListener interface, as the callback (listener) for when // this tab is selected. actionBar.addTab(actionBar.newTab().setText(text).setTabListener(this)); } try { PackageManager mPackageManager = getPackageManager(); if (mPackageManager != null) eBalanbotActivity.appVersion = mPackageManager.getPackageInfo(getPackageName(), 0).versionName; // Read the app version name } catch (NameNotFoundException e) { e.printStackTrace(); } } @Override public void onStart() { super.onStart(); if (D) Log.d(TAG, "++ ON START ++"); // If BT is not on, request that it be enabled. // setupChat() will then be called during onActivityResult if (!mBluetoothAdapter.isEnabled()) { if (D) Log.d(TAG, "Request enable BT"); Intent enableIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE); startActivityForResult(enableIntent, REQUEST_ENABLE_BT); } else setupBTService(); // Otherwise, setup the chat session SharedPreferences preferences = PreferenceManager.getDefaultSharedPreferences(this); // Create SharedPreferences instance String filterCoefficient = preferences.getString("filterCoefficient", null); // Read the stored value for filter coefficient if (filterCoefficient != null) { mSensorFusion.filter_coefficient = Float.parseFloat(filterCoefficient); mSensorFusion.tempFilter_coefficient = mSensorFusion.filter_coefficient; } // Read the previous back to spot value backToSpot = preferences.getBoolean("backToSpot", true); // Back to spot is true by default // Read the previous max angle maxAngle = preferences.getInt("maxAngle", 8); // Eight is the default value // Read the previous max turning value maxTurning = preferences.getInt("maxTurning", 20); // Twenty is the default value } @Override public void onStop() { super.onStop(); if (D) Log.d(TAG, "-- ON STOP --"); // unregister sensor listeners to prevent the activity from draining the // device's battery. mSensorFusion.unregisterListeners(); // Store the value for FILTER_COEFFICIENT and max angle at shutdown Editor edit = PreferenceManager.getDefaultSharedPreferences(this).edit(); edit.putString("filterCoefficient", Float.toString(mSensorFusion.filter_coefficient)); edit.putBoolean("backToSpot", backToSpot); edit.putInt("maxAngle", maxAngle); edit.putInt("maxTurning", maxTurning); edit.commit(); } @Override public void onBackPressed() { Upload.close(); // Close serial communication if (mChatService != null) { new Handler().postDelayed(new Runnable() { public void run() { mChatService.stop(); // Stop the Bluetooth chat services if the user exits the app } }, 1000); // Wait 1 second before closing the connection, this is needed as onPause() will send stop messages before closing } finish(); // Exits the app } @Override public void onDestroy() { super.onDestroy(); if (D) Log.d(TAG, "--- ON DESTROY ---"); mSensorFusion.unregisterListeners(); } @Override protected void onPause() { super.onPause(); if (D) Log.d(TAG, "- ON PAUSE -"); // Unregister sensor listeners to prevent the activity from draining the device's battery. mSensorFusion.unregisterListeners(); if (mChatService != null) { // Send stop command and stop sending graph data command if (mChatService.getState() == BluetoothChatService.STATE_CONNECTED) mChatService.write(sendStop + imuStop + statusStop); } } @Override public void onResume() { super.onResume(); if (D) Log.d(TAG, "+ ON RESUME +"); // Restore the sensor listeners when user resumes the application. mSensorFusion.initListeners(); } private void setupBTService() { if (mChatService != null) return; if (D) Log.d(TAG, "setupBTService()"); if (mBluetoothHandler == null) mBluetoothHandler = new BluetoothHandler(this); mChatService = new BluetoothChatService(mBluetoothHandler, mBluetoothAdapter); // Initialize the BluetoothChatService to perform Bluetooth connections } @Override public void onTabSelected(ActionBar.Tab tab, FragmentTransaction fragmentTransaction) { if (D) Log.d(TAG, "onTabSelected: " + tab.getPosition()); currentTabSelected = tab.getPosition(); Resources mResources = getResources(); if (mResources.getBoolean(R.bool.isTablet) && mResources.getConfiguration().orientation == Configuration.ORIENTATION_LANDSCAPE && currentTabSelected == ViewPagerAdapter.INFO_FRAGMENT) { // Check if the last tab is selected in landscape mode currentTabSelected -= 1; // If so don't go any further ActionBar bar = getSupportActionBar(); bar.selectTab(bar.getTabAt(currentTabSelected)); } mUnderlinePageIndicator.setCurrentItem(currentTabSelected); // When the given tab is selected, switch to the corresponding page in the ViewPager CustomViewPager.setPagingEnabled(true); if (checkTab(ViewPagerAdapter.GRAPH_FRAGMENT) && mChatService != null) { if (mChatService.getState() == BluetoothChatService.STATE_CONNECTED) { mChatService.write(getKalman); if (GraphFragment.mToggleButton != null) { if (GraphFragment.mToggleButton.isChecked()) mChatService.write(imuBegin); // Request data else mChatService.write(imuStop); // Stop sending data } } } else if (checkTab(ViewPagerAdapter.INFO_FRAGMENT) && mChatService != null) { if (mChatService.getState() == BluetoothChatService.STATE_CONNECTED) { mChatService.write(getInfo); // Update info if (InfoFragment.mToggleButton != null) { if (InfoFragment.mToggleButton.isChecked()) mChatService.write(statusBegin); // Request data else mChatService.write(statusStop); // Stop sending data } } } if (!checkTab(ViewPagerAdapter.GRAPH_FRAGMENT)) { // Needed when the user rotates the screen InputMethodManager imm = (InputMethodManager) getSystemService(Context.INPUT_METHOD_SERVICE); // Hide the keyboard imm.hideSoftInputFromWindow(getWindow().getDecorView().getApplicationWindowToken(), 0); } } @Override public void onTabUnselected(ActionBar.Tab tab, FragmentTransaction fragmentTransaction) { if (D) Log.d(TAG, "onTabUnselected: " + tab.getPosition() + " " + currentTabSelected); if ((checkTab(ViewPagerAdapter.IMU_FRAGMENT) || checkTab(ViewPagerAdapter.JOYSTICK_FRAGMENT)) && mChatService != null) { // Send stop command if the user selects another tab if (mChatService.getState() == BluetoothChatService.STATE_CONNECTED) mChatService.write(sendStop); } else if (checkTab(ViewPagerAdapter.GRAPH_FRAGMENT) && mChatService != null) { if (mChatService.getState() == BluetoothChatService.STATE_CONNECTED) mChatService.write(imuStop); } else if (checkTab(ViewPagerAdapter.INFO_FRAGMENT) && mChatService != null) { if (mChatService.getState() == BluetoothChatService.STATE_CONNECTED) mChatService.write(statusStop); } if (checkTab(ViewPagerAdapter.GRAPH_FRAGMENT)) { InputMethodManager imm = (InputMethodManager) getSystemService(Context.INPUT_METHOD_SERVICE); // Hide the keyboard imm.hideSoftInputFromWindow(getWindow().getDecorView().getApplicationWindowToken(), 0); } } @Override public void onTabReselected(ActionBar.Tab tab, FragmentTransaction fragmentTransaction) { } public static boolean checkTab(int tab) { return (currentTabSelected == tab || (context.getResources().getBoolean(R.bool.isTablet) && context.getResources().getConfiguration().orientation == Configuration.ORIENTATION_LANDSCAPE && currentTabSelected == tab - 1)); // Check the tab to the left as well in landscape mode } @Override public boolean onPrepareOptionsMenu(Menu menu) { if (D) Log.d(TAG, "onPrepareOptionsMenu"); MenuItem menuItem = menu.findItem(R.id.menu_connect); // Find item if (mChatService != null && mChatService.getState() == BluetoothChatService.STATE_CONNECTED) menuItem.setIcon(R.drawable.device_access_bluetooth_connected); else menuItem.setIcon(R.drawable.device_access_bluetooth); return true; } @Override public boolean onCreateOptionsMenu(Menu menu) { if (D) Log.d(TAG, "onCreateOptionsMenu"); getSupportMenuInflater().inflate(R.menu.menu, menu); // Inflate the menu return true; } @Override public boolean onOptionsItemSelected(MenuItem item) { switch (item.getItemId()) { case R.id.menu_connect: // Launch the DeviceListActivity to see devices and do scan Intent serverIntent = new Intent(this, DeviceListActivity.class); startActivityForResult(serverIntent, REQUEST_CONNECT_DEVICE); return true; case R.id.menu_settings: // Open up the settings dialog SettingsDialogFragment dialogFragment = new SettingsDialogFragment(); dialogFragment.show(getSupportFragmentManager(), null); return true; case android.R.id.home: Intent browserIntent = new Intent(Intent.ACTION_VIEW, Uri.parse("http://www.educationtek.com")); startActivity(browserIntent); return true; default: return super.onOptionsItemSelected(item); } } public static int getRotation() { return activity.getWindowManager().getDefaultDisplay().getRotation(); } public static void showToast(String message, int duration) { if (duration != Toast.LENGTH_SHORT && duration != Toast.LENGTH_LONG) throw new IllegalArgumentException(); if (mToast != null) mToast.cancel(); // Close the toast if it's already open mToast = Toast.makeText(context, message, duration); mToast.show(); } // The Handler class that gets information back from the BluetoothChatService static class BluetoothHandler extends Handler { private final eBalanbotActivity mEBalanbotActivity; private String mConnectedDeviceName; // Name of the connected device BluetoothHandler(eBalanbotActivity mEBalanbotActivity) { this.mEBalanbotActivity = mEBalanbotActivity; } @Override public void handleMessage(Message msg) { switch (msg.what) { case MESSAGE_STATE_CHANGE: mEBalanbotActivity.supportInvalidateOptionsMenu(); if (D) Log.i(TAG, "MESSAGE_STATE_CHANGE: " + msg.arg1); switch (msg.arg1) { case BluetoothChatService.STATE_CONNECTED: eBalanbotActivity.showToast( mEBalanbotActivity.getString(R.string.connected_to) + " " + mConnectedDeviceName, Toast.LENGTH_SHORT); if (mChatService == null) return; Handler mHandler = new Handler(); mHandler.postDelayed(new Runnable() { public void run() { mChatService.write(getPIDValues + getSettings + getInfo + getKalman); } }, 1000); // Wait 1 second before sending the message if (GraphFragment.mToggleButton != null) { if (GraphFragment.mToggleButton.isChecked() && checkTab(ViewPagerAdapter.GRAPH_FRAGMENT)) { mHandler.postDelayed(new Runnable() { public void run() { mChatService.write(imuBegin); // Request data } }, 1000); // Wait 1 second before sending the message } else { mHandler.postDelayed(new Runnable() { public void run() { mChatService.write(imuStop); // Stop sending data } }, 1000); // Wait 1 second before sending the message } } if (checkTab(ViewPagerAdapter.INFO_FRAGMENT)) { mHandler.postDelayed(new Runnable() { public void run() { mChatService.write(statusBegin); // Request data } }, 1000); // Wait 1 second before sending the message } break; case BluetoothChatService.STATE_CONNECTING: break; } PIDFragment.updateButton(); break; case MESSAGE_READ: if (newPIDValues) { newPIDValues = false; PIDFragment.updateView(); } if (newInfo || newStatus) { newInfo = false; newStatus = false; InfoFragment.updateView(); } if (newIMUValues) { newIMUValues = false; GraphFragment.updateIMUValues(); } if (newKalmanValues) { newKalmanValues = false; GraphFragment.updateKalmanValues(); } if (pairingWithDevice) { pairingWithDevice = false; eBalanbotActivity.showToast("Now enable discovery of your device", Toast.LENGTH_LONG); } break; case MESSAGE_DEVICE_NAME: // Save the connected device's name if (msg.getData() != null) mConnectedDeviceName = msg.getData().getString(DEVICE_NAME); break; case MESSAGE_DISCONNECTED: mEBalanbotActivity.supportInvalidateOptionsMenu(); PIDFragment.updateButton(); if (msg.getData() != null) eBalanbotActivity.showToast(msg.getData().getString(TOAST), Toast.LENGTH_SHORT); break; case MESSAGE_RETRY: if (D) Log.d(TAG, "MESSAGE_RETRY"); mEBalanbotActivity.connectDevice(null, true); break; } } } public void onActivityResult(int requestCode, int resultCode, Intent data) { if (D) Log.d(TAG, "onActivityResult " + resultCode); switch (requestCode) { case REQUEST_CONNECT_DEVICE: // When DeviceListActivity returns with a device to connect to if (resultCode == Activity.RESULT_OK) connectDevice(data, false); break; case REQUEST_ENABLE_BT: // When the request to enable Bluetooth returns if (resultCode == Activity.RESULT_OK) setupBTService(); // Bluetooth is now enabled, so set up a chat session else { // User did not enable Bluetooth or an error occured if (D) Log.d(TAG, "BT not enabled"); showToast(getString(R.string.bt_not_enabled_leaving), Toast.LENGTH_SHORT); finish(); } } } private void connectDevice(Intent data, boolean retry) { if (retry) { if (btDevice != null && !stopRetrying) { mChatService.start(); // This will stop all the running threads mChatService.connect(btDevice, btSecure); // Attempt to connect to the device } } else { // It's a new connection stopRetrying = false; mChatService.newConnection = true; mChatService.start(); // This will stop all the running threads if (data.getExtras() == null) return; String address = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_ADDRESS); // Get the device Bluetooth address btSecure = data.getExtras().getBoolean(DeviceListActivity.EXTRA_NEW_DEVICE); // If it's a new device we will pair with the device btDevice = mBluetoothAdapter.getRemoteDevice(address); // Get the BluetoothDevice object mChatService.nRetries = 0; // Reset retry counter mChatService.connect(btDevice, btSecure); // Attempt to connect to the device showToast(getString(R.string.connecting), Toast.LENGTH_SHORT); } } }