private Log() {
mMicrologLogger = LoggerFactory.getLogger();
/*
* Only write prints to logcat if this is a
* debug build
*/
if (WakeMeSki.DEBUG) {
mMicrologLogger.addAppender(new LogCatAppender());
}
}
/**
* 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);
}
}
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);
}
}
}