@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_second);
// Init
Toolbar toolbar = (Toolbar) findViewById(R.id.toolbar);
setSupportActionBar(toolbar);
getSupportActionBar().setDisplayHomeAsUpEnabled(true);
mButton = (FloatingActionButton) findViewById(R.id.startFab);
mSeekbar = (SeekBar) findViewById(R.id.mySeekBar);
myMap = (ImageMap) findViewById(R.id.mMap);
myMap.setOnTouchListener(this);
fromSpin = (Spinner) findViewById(R.id.spinnerFrom);
toSpin = (Spinner) findViewById(R.id.spinnerTo);
// Step Sensor
sensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
stepSensor = sensorManager.getDefaultSensor(Sensor.TYPE_STEP_COUNTER);
sensorManager.registerListener(this, stepSensor, SensorManager.SENSOR_DELAY_FASTEST);
readGraph();
mButton.setOnClickListener(
new View.OnClickListener() {
@Override
public void onClick(View v) {
if (!started) {
RobotControl.getInstance().setHeading();
mSeekbar.setEnabled(false);
/** GRAPH CALCULATION Begin * */
RobotControl rc = RobotControl.getInstance();
mGraph.setNewOrigin(rc.getX(), rc.getY());
final String from = fromSpin.getSelectedItem().toString();
final String to = toSpin.getSelectedItem().toString();
mNodes = mGraph.getShortestPath(from, to);
Log.d("SUPER LOG", mNodes.toString());
rc.driveAlong(
mNodes,
new Runnable() {
@Override
public void run() {
Toast.makeText(getApplicationContext(), "Success!", Toast.LENGTH_SHORT)
.show();
fromSpin.setPrompt(to);
mSeekbar.setEnabled(true);
}
});
// GRAPH PART END
started = true;
}
}
});
mSeekbar.setOnSeekBarChangeListener(
new SeekBar.OnSeekBarChangeListener() {
@Override
public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
RobotControl.getInstance().rotateTo((float) progress);
}
@Override
public void onStartTrackingTouch(SeekBar seekBar) {}
@Override
public void onStopTrackingTouch(SeekBar seekBar) {}
});
}
