private void decideDirection(ArrayList<String> matches) {
int position = -1;
for (String phrase : matches) {
position = commands.indexOf(phrase.toLowerCase());
if (position != -1) {
break;
}
}
if (position != -1) {
Utilities.setDirectionImage(commands.get(position).toUpperCase(), ivDirection, bt);
textToSpeech.speak(
"EXECUTING COMMAND " + commands.get(position).toUpperCase(),
TextToSpeech.QUEUE_FLUSH,
null);
((TextView) findViewById(R.id.tvResults)).setText(commands.get(position).toUpperCase());
command = commands.get(position).toUpperCase();
} else {
Utilities.setDirectionImage("STOP", ivDirection, bt);
textToSpeech.speak("NO COMMAND DETECTED STOPPING", TextToSpeech.QUEUE_FLUSH, null);
((TextView) findViewById(R.id.tvResults)).setText("STOP");
command = "STOP";
}
}
public void clearRouteClicked(View view) {
mMap.clear();
tvDistance.setText("---m");
if (running) running = Utilities.playStopButtonHandler(route, running, ivPlayStop, this);
route.clearRoute();
Utilities.setDirectionImage("STOP", ivDirection, bt);
}
@Override
public boolean handleMessage(Message msg) {
switch (msg.what) {
case Bluetooth.MESSAGE_STATE_CHANGE:
Log.d(TAG, "MESSAGE_STATE_CHANGE: " + msg.arg1);
break;
case Bluetooth.MESSAGE_WRITE:
Log.d(TAG, "MESSAGE_WRITE ");
break;
case Bluetooth.MESSAGE_READ:
byte[] readBuf = (byte[]) msg.obj;
String strIncom = new String(readBuf, 0, msg.arg1);
sb.append(strIncom);
int endOfLineIndex = sb.indexOf("\r\n"); // determine the end-of-line
if (endOfLineIndex > 0) { // if end-of-line,
String sbprint = sb.substring(0, endOfLineIndex); // extract string
sb.delete(0, sb.length()); // and clear
Log.d("READ_FROM_ARDUINO", sbprint + "");
try {
distanceToObstacle =
Utilities.normalizeReadingsFromDistanceSensor(
Integer.parseInt(sbprint), distanceToObstacle);
Log.d("READ_FROM_ARDUINO_NORM", distanceToObstacle + "");
tvDistance.setText(distanceToObstacle + "cm");
if (distanceToObstacle < 40 && !(command.equals("STOP"))) {
Utilities.setDirectionImage("STOP", ivDirection, bt);
textToSpeech.speak(
"YOU ARE ABOUT TO HIT AN OBSTACLE STOPPING",
TextToSpeech.QUEUE_FLUSH,
null);
((TextView) findViewById(R.id.tvResults)).setText("STOP");
command = "STOP";
}
// distanceToObstacle = Integer.parseInt(sbprint);
} catch (Exception e) {
e.printStackTrace();
Log.e(TAG, "handleMessage: CRASH CONVERSION");
}
}
break;
case Bluetooth.MESSAGE_DEVICE_NAME:
Log.d(TAG, "MESSAGE_DEVICE_NAME " + msg);
break;
case Bluetooth.MESSAGE_TOAST:
Log.d(TAG, "MESSAGE_TOAST " + msg);
break;
}
return false;
}
@Override
public void onBackPressed() {
super.onBackPressed();
Utilities.setDirectionImage("STOP", ivDirection, bt);
bt.stop();
}
@Override
public void onMapReady(GoogleMap googleMap) {
mMap = googleMap;
mMap.setMapType(Utilities.getMapType(this));
mMap.getUiSettings().setZoomControlsEnabled(true);
mMap.setOnMapClickListener(this);
}
public void onDestroy() {
super.onDestroy();
Utilities.setDirectionImage("STOP", ivDirection, bt);
bt.stop();
recognizer.cancel();
recognizer.shutdown();
}
public void showMyLocationClicked(View view) {
robotMarker =
MapUtilities.placeRobotMarkerOnMap(
robotMarker,
mMap,
Utilities.convertLocationToLatLng(robotLocation),
true,
getResources(),
getApplicationContext());
}
@Override
public void onSensorChanged(SensorEvent event) {
if (robotLocation != null && (!route.isEmpty()) && running && textToSpeech != null) {
// Legacy compass sensor code
// compassBearingDegrees = Utilities.correctCompassBearing(Math.round(event.values[0]),
// robotLocation);
float azimuth = 0;
azimuth = Utilities.landscapeModeCompassCalibration(event);
compassBearingDegrees = Utilities.correctCompassBearing(azimuth, robotLocation);
currentDegree =
Utilities.compassAnimationHandler(ivCompass, compassBearingDegrees, currentDegree);
currentDegreeNorth =
Utilities.compassNorthIconHandler(
ivCompassNorth, compassBearingDegrees, currentDegreeNorth);
}
}
@Override
public void onLocationChanged(Location location) {
robotLocation = location;
robotMarker =
MapUtilities.placeRobotMarkerOnMap(
robotMarker,
mMap,
Utilities.convertLocationToLatLng(robotLocation),
false,
getResources(),
getApplicationContext());
}
@Override
public void onMapClick(LatLng latLng) {
route.addPoint(new Point(latLng, "Point " + route.getPointsNumber(), false));
MapUtilities.drawPathOnMap(mMap, route, getResources());
robotMarker =
MapUtilities.placeRobotMarkerOnMap(
robotMarker,
mMap,
Utilities.convertLocationToLatLng(robotLocation),
true,
getResources(),
getApplicationContext());
}
@Override
protected void onPause() {
super.onPause();
if (textToSpeech != null) {
textToSpeech.stop();
textToSpeech.shutdown();
}
Utilities.setDirectionImage("STOP", ivDirection, bt);
bt.stop();
recognizer.cancel();
// finish();
if (speech != null) {
speech.destroy();
}
}
public void addMyLocationToRoute(View view) {
if (!running) {
route.addPoint(
new Point(
new LatLng(robotLocation.getLatitude(), robotLocation.getLongitude()),
"Point " + route.getPointsNumber(),
false));
MapUtilities.drawPathOnMap(mMap, route, getResources());
robotMarker =
MapUtilities.placeRobotMarkerOnMap(
robotMarker,
mMap,
Utilities.convertLocationToLatLng(robotLocation),
true,
getResources(),
getApplicationContext());
}
}
public void playButtonClicked(View view) {
running = Utilities.playStopButtonHandler(route, running, ivPlayStop, this);
}
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_face_recognition);
getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
initializeGraphicComponents();
route = new Route();
SupportMapFragment mapFragment =
(SupportMapFragment) getSupportFragmentManager().findFragmentById(R.id.fragmentMap);
mapFragment.getMapAsync(this);
mLocationRequest = Utilities.createLocationRequest(getResources());
// ATTENTION: This "addApi(AppIndex.API)"was auto-generated to implement the App Indexing API.
// See https://g.co/AppIndexing/AndroidStudio for more information.
if (mGoogleApiClient == null) {
mGoogleApiClient =
new GoogleApiClient.Builder(this)
.addApi(LocationServices.API)
.addConnectionCallbacks(this)
.addOnConnectionFailedListener(this)
.addApi(AppIndex.API)
.build();
}
mSensorManager = (SensorManager) getSystemService(SENSOR_SERVICE);
gSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
mSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);
textToSpeech =
new TextToSpeech(
getApplicationContext(),
new TextToSpeech.OnInitListener() {
@Override
public void onInit(int status) {
if (status != TextToSpeech.ERROR) {
textToSpeech.setLanguage(Locale.ENGLISH);
}
}
});
bt = new Bluetooth(this, mHandler);
connectService();
ivAddToRoute.setOnLongClickListener(this);
openCvCameraView = (CameraBridgeViewBase) findViewById(R.id.jcvFaceDetection);
openCvCameraView.setCvCameraViewListener(this);
/*handler1.postDelayed(*/
runnable =
new Runnable() {
public void run() {
try {
int listSize = facesInASecond.size();
int trues = Collections.frequency(facesInASecond, true);
// int falses = Collections.frequency(facesInASecond, false);
final double faceRatio = ((double) trues / (double) listSize) * (double) 100;
if (faceRatio > 65) {
faceDetected = true;
if (!textToSpeech.isSpeaking())
textToSpeech.speak("Please get out the way", TextToSpeech.QUEUE_FLUSH, null);
} else {
faceDetected = false;
}
runOnUiThread(
new Runnable() // start actions in UI thread
{
@Override
public void run() {
if (faceDetected)
if (!command.equals("STOP")) {
Utilities.setDirectionImage("STOP", ivDirection, bt);
command = "STOP";
}
if (!(faceRatio == Double.NaN))
tvFaceRatio.setText(
"Face ratio: " + String.format("%.02f", faceRatio) + "%");
else tvFaceRatio.setText("Face ratio: " + 0 + "%");
}
});
Log.d("RATIO", "" + faceRatio);
Log.d("face state", " " + faceDetected);
facesInASecond.clear();
} catch (Exception e) {
// Log.e("ERROR", e.printStackTrace() + "");
e.printStackTrace();
}
handler1.postDelayed(this, 1000); // 1 second
}
};
handler1.postDelayed(runnable, 1000);
/// lathos topothetisi den kerdizw kati apo to thread
directionThread =
new Thread(
new Runnable() {
@Override
public void run() {
while (!Thread.interrupted())
try {
Thread.sleep(
Preferences.loadPrefsInt(
"COMMUNICATION_LOOP_REPEAT_TIME", 300, getApplicationContext()));
runOnUiThread(
new Runnable() // start actions in UI thread
{
@Override
public void run() {
if (robotLocation != null
&& (!route.isEmpty())
&& running
&& textToSpeech != null) {
if (!faceDetected)
command =
Utilities.giveDirection(
compassBearingDegrees,
ivDirection,
ivCompass,
route,
robotLocation,
getApplicationContext(),
command,
mMap,
getResources(),
tvDistance,
textToSpeech,
bt,
false);
// END OF PATH REACHED - FINISH PROGRAM
if (command.equals("FINISH")) {
mMap.clear();
tvDistance.setText("---m");
if (running)
running =
Utilities.playStopButtonHandler(
route, running, ivPlayStop, getApplicationContext());
route.clearRoute();
Utilities.setDirectionImage("STOP", ivDirection, bt);
}
}
}
});
} catch (InterruptedException e) {
e.printStackTrace();
Log.e(TAG, "run: Direction Thread interrupted");
break;
}
}
});
directionThread.start();
}