Ejemplo n.º 1
0
  private Log() {
    mMicrologLogger = LoggerFactory.getLogger();

    /*
     * Only write prints to logcat if this is a
     * debug build
     */
    if (WakeMeSki.DEBUG) {
      mMicrologLogger.addAppender(new LogCatAppender());
    }
  }
Ejemplo n.º 2
0
/**
 * Android activity to display the debug screen to modify server parameters using a GUI
 *
 * @author pkv
 * @author kshaurya
 */
public class AirboatControlActivity extends Activity {
  private static final com.google.code.microlog4android.Logger logger = LoggerFactory.getLogger();
  private static final String logTag = AirboatControlActivity.class.getName();

  // Update rates for PID, velocity and status
  public static final long VEL_UPDATE_MS = 400;
  public static final long PID_UPDATE_MS = 1000;

  // Ranges for thrust and rudder signals
  public static final double THRUST_MIN = 0.0;
  public static final double THRUST_MAX = 10.0;
  public static final double RUDDER_MIN = -10.0;
  public static final double RUDDER_MAX = 10.0;

  // Contains a reference to the airboat service, or null if service is not running
  private AirboatService _airboatService = null;

  // Indicates if we have a valid reference to the airboat service.
  private boolean _isBound = false;

  // Stores current velocity values
  private Twist _velocities = new Twist();

  // Timing functions to regularly update GUI
  private Handler _velHandler = null;
  private Runnable _velCallback = null;

  private Handler _pidHandler = null;
  private Runnable _pidCallback = null;
  private AsyncTaskFactory<Void, Void, double[][]> _updatePid = null;

  // Create a factory interface that generates the necessary TimerTasks
  interface AsyncTaskFactory<A, B, C> {
    public AsyncTask<A, B, C> instance();
  }

  // Converts from progress bar value to linear scaling between min and max
  private double fromProgressToRange(int progress, double min, double max) {
    return (min + (max - min) * (progress) / 100.0);
  }

  /** Sets PID gains if the thrust text boxes are edited */
  private class PidKeyListener implements OnEditorActionListener {
    private final int _axis;
    private final EditText _pText, _iText, _dText;

    public PidKeyListener(int axis, EditText pText, EditText iText, EditText dText) {
      _axis = axis;
      _pText = pText;
      _iText = iText;
      _dText = dText;
    }

    public boolean onEditorAction(TextView v, int actionId, KeyEvent event) {

      // Ignore key presses other than "Done"
      if (actionId != EditorInfo.IME_ACTION_DONE) return false;

      // Don't do anything if we can't get access to the controller
      if ((_airboatService == null) || (_airboatService.getServer() == null)) return false;

      // Set the PID gains using the values from the text boxes
      try {
        double kp = Double.parseDouble(_pText.getText().toString());
        double ki = Double.parseDouble(_iText.getText().toString());
        double kd = Double.parseDouble(_dText.getText().toString());
        _airboatService.getServer().setPID(_axis, new double[] {kp, ki, kd});
      } catch (NumberFormatException ex) {
        Log.w(logTag, "Failed to parse gain.", ex);
      }

      return false;
    }
  }

  /** Called when the activity is first created. */
  @Override
  public void onCreate(Bundle savedInstanceState) {

    // Create the "control" layout from the included XML file
    super.onCreate(savedInstanceState);
    setContentView(R.layout.control);

    // Get references to all the GUI elements
    final CheckBox connectedBox = (CheckBox) findViewById(R.id.AutonomousBox);
    final CheckBox autonomousBox = (CheckBox) findViewById(R.id.AutonomousBox);

    final TextView rudderValue = (TextView) findViewById(R.id.RudderValue);
    final SeekBar rudderSlider = (SeekBar) findViewById(R.id.RudderSlider);
    final EditText rudderPGain = (EditText) findViewById(R.id.RudderPGain);
    final EditText rudderIGain = (EditText) findViewById(R.id.RudderIGain);
    final EditText rudderDGain = (EditText) findViewById(R.id.RudderDGain);

    final TextView thrustValue = (TextView) findViewById(R.id.ThrustValue);
    final SeekBar thrustSlider = (SeekBar) findViewById(R.id.ThrustSlider);
    final EditText thrustPGain = (EditText) findViewById(R.id.ThrustPGain);
    final EditText thrustIGain = (EditText) findViewById(R.id.ThrustIGain);
    final EditText thrustDGain = (EditText) findViewById(R.id.ThrustDGain);

    // If the PID values for thrust are changed, send them to the server
    PidKeyListener thrustPidListener = new PidKeyListener(0, thrustPGain, thrustIGain, thrustDGain);
    thrustPGain.setOnEditorActionListener(thrustPidListener);
    thrustIGain.setOnEditorActionListener(thrustPidListener);
    thrustDGain.setOnEditorActionListener(thrustPidListener);

    // If the PID values for rudder are changed, send them to the server
    PidKeyListener rudderPidListener = new PidKeyListener(5, rudderPGain, rudderIGain, rudderDGain);
    rudderPGain.setOnEditorActionListener(rudderPidListener);
    rudderIGain.setOnEditorActionListener(rudderPidListener);
    rudderDGain.setOnEditorActionListener(rudderPidListener);

    // If the Autonomous check box is pressed, send a command to change its state
    autonomousBox.setOnClickListener(
        new OnClickListener() {
          public void onClick(View v) {
            // Don't do anything if we can't get access to the controller
            if ((_airboatService == null) || (_airboatService.getServer() == null)) return;

            // Stop navigation
            _airboatService.getServer().stopWaypoint();
          }
        });

    // When the thrust slider is moved, send a command to change it
    rudderSlider.setOnSeekBarChangeListener(
        new OnSeekBarChangeListener() {

          public void onStopTrackingTouch(SeekBar seekBar) {}

          public void onStartTrackingTouch(SeekBar seekBar) {}

          public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
            // Don't do anything if we can't get access to the controller
            if ((_airboatService == null) || (_airboatService.getServer() == null)) return;

            // Ignore our own update events
            if (!fromUser) return;

            // Send a new velocity command
            Twist twist = _airboatService.getServer().getVelocity().twist.twist;
            twist.angular.z =
                fromProgressToRange(rudderSlider.getProgress(), RUDDER_MIN, RUDDER_MAX);
            _airboatService.getServer().setVelocity(twist);
          }
        });

    // When the thrust slider is moved, send a command to change it
    thrustSlider.setOnSeekBarChangeListener(
        new OnSeekBarChangeListener() {

          public void onStopTrackingTouch(SeekBar seekBar) {}

          public void onStartTrackingTouch(SeekBar seekBar) {}

          public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
            // Don't do anything if we can't get access to the controller
            if ((_airboatService == null) || (_airboatService.getServer() == null)) return;

            // Ignore our own update events
            if (!fromUser) return;

            // Send a new velocity command
            Twist twist = _airboatService.getServer().getVelocity().twist.twist;
            twist.linear.x =
                fromProgressToRange(thrustSlider.getProgress(), THRUST_MIN, THRUST_MAX);
            _airboatService.getServer().setVelocity(twist);
          }
        });

    // Schedule a regular update of the velocity and status functions
    _velHandler = new Handler();
    _velCallback =
        new Runnable() {
          // Initialize a formatter to display velocity strings in a reasonable format
          DecimalFormat velFormatter = new DecimalFormat("####.###");

          public void run() {

            // Don't do anything if we can't get access to the controller
            if ((_airboatService == null) || (_airboatService.getServer() == null)) return;

            // Update the autonomous and connected values
            connectedBox.setChecked(_airboatService.getServer().isConnected());
            autonomousBox.setChecked(
                _airboatService.getServer().getWaypointStatus() == WaypointState.GOING);

            // Update the velocities
            _velocities = _airboatService.getServer().getVelocity().twist.twist;

            thrustValue.setText(velFormatter.format(_velocities.linear.x) + " m/s");
            thrustValue.invalidate();

            rudderValue.setText(velFormatter.format(_velocities.angular.z) + " rad/s");
            rudderValue.invalidate();

            // Reschedule the next iteration of this update
            _velHandler.postDelayed(_velCallback, VEL_UPDATE_MS);
          }
        };

    // Schedule a regular update of the PID functions
    _pidHandler = new Handler();
    _pidCallback =
        new Runnable() {
          public void run() {
            _updatePid.instance().execute((Void) null);
          }
        };
    _updatePid =
        new AsyncTaskFactory<Void, Void, double[][]>() {
          public AsyncTask<Void, Void, double[][]> instance() {
            return new AsyncTask<Void, Void, double[][]>() {
              @Override
              protected double[][] doInBackground(Void... params) {

                // Don't do anything if we can't get access to the controller
                if ((_airboatService == null) || (_airboatService.getServer() == null))
                  return new double[][] {{0.0, 0.0, 0.0}, {0.0, 0.0, 0.0}};

                // Update the PID gains
                double[] pidThrust = _airboatService.getServer().getPID(0);
                double[] pidRudder = _airboatService.getServer().getPID(5);

                return new double[][] {pidThrust, pidRudder};
              }

              @Override
              protected void onPostExecute(double[][] result) {
                if (!thrustPGain.hasFocus()) {
                  thrustPGain.setText(Double.toString(result[0][0]));
                  thrustPGain.invalidate();
                }
                if (!thrustIGain.hasFocus()) {
                  thrustIGain.setText(Double.toString(result[0][1]));
                  thrustIGain.invalidate();
                }
                if (!thrustDGain.hasFocus()) {
                  thrustDGain.setText(Double.toString(result[0][2]));
                  thrustDGain.invalidate();
                }

                if (!rudderPGain.hasFocus()) {
                  rudderPGain.setText(Double.toString(result[1][0]));
                  rudderPGain.invalidate();
                }
                if (!rudderIGain.hasFocus()) {
                  rudderIGain.setText(Double.toString(result[1][1]));
                  rudderIGain.invalidate();
                }
                if (!rudderDGain.hasFocus()) {
                  rudderDGain.setText(Double.toString(result[1][2]));
                  rudderDGain.invalidate();
                }

                logger.info("PID: " + "0 " + Arrays.toString(result[0]));
                logger.info("PID: " + "5 " + Arrays.toString(result[1]));

                // Reschedule the next iteration of this update
                _pidHandler.postDelayed(_pidCallback, PID_UPDATE_MS);
              }
            };
          }
        };
  }

  /** Listener that handles changes in connections to the airboat service */
  private ServiceConnection _connection =
      new ServiceConnection() {
        public void onServiceConnected(ComponentName className, IBinder service) {
          // This is called when the connection with the service has been
          // established, giving us the service object we can use to
          // interact with the service.
          _airboatService = ((AirboatService.AirboatBinder) service).getService();
        }

        public void onServiceDisconnected(ComponentName className) {
          // This is called when the connection with the service has been
          // unexpectedly disconnected -- that is, its process crashed.
          _airboatService = null;
        }
      };

  void doBindService() {
    // Establish a connection with the service.  We use an explicit
    // class name because we want a specific service implementation.
    if (!_isBound) {
      bindService(new Intent(this, AirboatService.class), _connection, Context.BIND_AUTO_CREATE);
      _isBound = true;
    }
  }

  void doUnbindService() {
    // Detach our existing connection.
    if (_isBound) {
      unbindService(_connection);
      _isBound = false;
    }
  }

  @Override
  protected void onStart() {
    super.onStart();
    doBindService();

    _velHandler.removeCallbacks(_velCallback);
    _velHandler.post(_velCallback);

    _pidHandler.removeCallbacks(_pidCallback);
    _pidHandler.post(_pidCallback);
  }

  @Override
  protected void onStop() {
    super.onStop();
    doUnbindService();

    _velHandler.removeCallbacks(_velCallback);
    _pidHandler.removeCallbacks(_pidCallback);
  }
}
Ejemplo n.º 3
0
public class ChatMessageViewAdapter extends BaseAdapter {
  private Logger LOGGER = LoggerFactory.getLogger(ChatMessageViewAdapter.class);

  public static interface IMsgViewType {
    int IMVT_COM_MSG = 0;
    int IMVT_TO_MSG = 1;
  }

  private List<ChatMsgEntity> chatLists;

  private Context ctx;

  private LayoutInflater mInflater;
  private MediaPlayer mMediaPlayer = new MediaPlayer();

  public ChatMessageViewAdapter(Context context, List<ChatMsgEntity> chatLists) {
    ctx = context;
    this.chatLists = chatLists;
    mInflater = LayoutInflater.from(context);
  }

  public int getCount() {
    return chatLists.size();
  }

  public Object getItem(int position) {
    return chatLists.get(position);
  }

  public long getItemId(int position) {
    return position;
  }

  public int getItemViewType(int position) {
    ChatMsgEntity entity = chatLists.get(position);

    if (entity.getMsgType()) {
      return IMsgViewType.IMVT_COM_MSG;
    } else {
      return IMsgViewType.IMVT_TO_MSG;
    }
  }

  public int getViewTypeCount() {
    return 2;
  }

  public View getView(int position, View convertView, ViewGroup parent) {

    final ChatMsgEntity entity = chatLists.get(position);
    boolean isComMsg = entity.getMsgType();

    ViewHolder viewHolder = null;
    if (convertView == null) {
      if (isComMsg) {
        convertView = mInflater.inflate(R.layout.chatting_item_msg_text_left, null);
      } else {
        convertView = mInflater.inflate(R.layout.chatting_item_msg_text_right, null);
      }

      viewHolder = new ViewHolder();
      viewHolder.tvSendTime = (TextView) convertView.findViewById(R.id.tv_sendtime);
      viewHolder.tvUserName = (TextView) convertView.findViewById(R.id.tv_username);
      viewHolder.tvContent = (TextView) convertView.findViewById(R.id.tv_chatcontent);
      viewHolder.tvTime = (TextView) convertView.findViewById(R.id.tv_time);
      viewHolder.isComMsg = isComMsg;

      convertView.setTag(viewHolder);
    } else {
      viewHolder = (ViewHolder) convertView.getTag();
    }

    viewHolder.tvSendTime.setText(entity.getDate());

    if (entity.getText().contains(".amr")) {
      viewHolder.tvContent.setText("");
      viewHolder.tvContent.setCompoundDrawablesWithIntrinsicBounds(
          0, 0, R.drawable.chatto_voice_playing, 0);
      viewHolder.tvTime.setText(entity.getTime());
    } else {
      viewHolder.tvContent.setText(entity.getText());
      viewHolder.tvContent.setCompoundDrawablesWithIntrinsicBounds(0, 0, 0, 0);
      viewHolder.tvTime.setText("");
    }
    viewHolder.tvContent.setOnClickListener(
        new OnClickListener() {

          public void onClick(View v) {
            if (entity.getText().contains(".amr")) {
              playMusic(
                  android.os.Environment.getExternalStorageDirectory() + "/" + entity.getText());
            }
          }
        });
    viewHolder.tvUserName.setText(entity.getName());

    return convertView;
  }

  static class ViewHolder {
    public TextView tvSendTime;
    public TextView tvUserName;
    public TextView tvContent;
    public TextView tvTime;
    public boolean isComMsg = true;
  }

  /**
   * @Description
   *
   * @param name
   */
  private void playMusic(String name) {
    try {
      if (mMediaPlayer.isPlaying()) {
        mMediaPlayer.stop();
      }
      mMediaPlayer.reset();
      mMediaPlayer.setDataSource(name);
      mMediaPlayer.prepare();
      mMediaPlayer.start();
      mMediaPlayer.setOnCompletionListener(
          new OnCompletionListener() {
            public void onCompletion(MediaPlayer mp) {}
          });

    } catch (Exception e) {
      LOGGER.error("播放出错", e);
    }
  }
}