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FreeRoamFragment.java
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FreeRoamFragment.java
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package org.openbot.robot;
import static org.openbot.utils.Enums.ControlMode;
import static org.openbot.utils.Enums.DriveMode;
import static org.openbot.utils.Enums.SpeedMode;
import android.annotation.SuppressLint;
import android.content.res.ColorStateList;
import android.os.Bundle;
import android.view.LayoutInflater;
import android.view.View;
import android.view.ViewGroup;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import androidx.navigation.Navigation;
import com.github.anastr.speedviewlib.components.Section;
import com.google.android.material.internal.ViewUtils;
import java.util.Locale;
import org.jetbrains.annotations.NotNull;
import org.openbot.R;
import org.openbot.common.ControlsFragment;
import org.openbot.databinding.FragmentFreeRoamBinding;
import org.openbot.env.PhoneController;
import org.openbot.utils.Constants;
import org.openbot.utils.Enums;
import org.openbot.utils.PermissionUtils;
import timber.log.Timber;
public class FreeRoamFragment extends ControlsFragment {
private FragmentFreeRoamBinding binding;
private PhoneController phoneController;
@Override
public View onCreateView(
@NotNull LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
binding = FragmentFreeRoamBinding.inflate(inflater, container, false);
return binding.getRoot();
}
@SuppressLint("RestrictedApi")
@Override
public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceState) {
super.onViewCreated(view, savedInstanceState);
phoneController = PhoneController.getInstance(requireContext());
binding.voltageInfo.setText(getString(R.string.voltageInfo, "--.-"));
binding.controllerContainer.speedInfo.setText(getString(R.string.speedInfo, "---,---"));
binding.sonarInfo.setText(getString(R.string.distanceInfo, "---"));
setSpeedMode(SpeedMode.getByID(preferencesManager.getSpeedMode()));
setControlMode(ControlMode.getByID(preferencesManager.getControlMode()));
setDriveMode(DriveMode.getByID(preferencesManager.getDriveMode()));
binding.controllerContainer.controlMode.setOnClickListener(
v -> {
ControlMode controlMode = ControlMode.getByID(preferencesManager.getControlMode());
if (controlMode != null) setControlMode(Enums.switchControlMode(controlMode));
});
binding.controllerContainer.driveMode.setOnClickListener(
v -> setDriveMode(Enums.switchDriveMode(vehicle.getDriveMode())));
binding.controllerContainer.speedMode.setOnClickListener(
v ->
setSpeedMode(
Enums.toggleSpeed(
Enums.Direction.CYCLIC.getValue(),
SpeedMode.getByID(preferencesManager.getSpeedMode()))));
binding.speed.getSections().clear();
binding.speed.addSections(
new Section(
0f,
0.7f,
getResources().getColor(R.color.green),
ViewUtils.dpToPx(requireContext(), 24)),
new Section(
0.7f,
0.8f,
getResources().getColor(R.color.yellow),
ViewUtils.dpToPx(requireContext(), 24)),
new Section(
0.8f,
1.0f,
getResources().getColor(R.color.red),
ViewUtils.dpToPx(requireContext(), 24)));
mViewModel
.getUsbStatus()
.observe(getViewLifecycleOwner(), status -> binding.usbToggle.setChecked(status));
binding.usbToggle.setChecked(vehicle.isUsbConnected());
binding.usbToggle.setOnClickListener(
v -> {
binding.usbToggle.setChecked(vehicle.isUsbConnected());
Navigation.findNavController(requireView()).navigate(R.id.open_settings_fragment);
});
}
@Override
protected void processUSBData(String data) {
binding.controllerContainer.speedInfo.setText(
getString(
R.string.speedInfo,
String.format(
Locale.US, "%3.0f,%3.0f", vehicle.getLeftWheelRpm(), vehicle.getRightWheelRpm())));
binding.voltageInfo.setText(
getString(
R.string.voltageInfo, String.format(Locale.US, "%2.1f", vehicle.getBatteryVoltage())));
binding.battery.setProgress(vehicle.getBatteryPercentage());
if (vehicle.getBatteryPercentage() < 15) {
binding.battery.setProgressTintList(
ColorStateList.valueOf(getResources().getColor(R.color.red)));
binding.battery.setProgressBackgroundTintList(
ColorStateList.valueOf(getResources().getColor(R.color.red)));
} else {
binding.battery.setProgressTintList(
ColorStateList.valueOf(getResources().getColor(R.color.green)));
binding.battery.setProgressBackgroundTintList(
ColorStateList.valueOf(getResources().getColor(R.color.green)));
}
binding.sonar.setProgress((int) (vehicle.getSonarReading() / 3));
if (vehicle.getSonarReading() / 3 < 15) {
binding.sonar.setProgressTintList(
ColorStateList.valueOf(getResources().getColor(R.color.red)));
} else if (vehicle.getSonarReading() / 3 < 45) {
binding.sonar.setProgressTintList(
ColorStateList.valueOf(getResources().getColor(R.color.yellow)));
} else {
binding.sonar.setProgressTintList(
ColorStateList.valueOf(getResources().getColor(R.color.green)));
}
binding.sonarInfo.setText(
getString(
R.string.distanceInfo, String.format(Locale.US, "%3.0f", vehicle.getSonarReading())));
}
private void toggleIndicator(int value) {
binding.indicatorRight.clearAnimation();
binding.indicatorLeft.clearAnimation();
binding.indicatorRight.setVisibility(View.INVISIBLE);
binding.indicatorLeft.setVisibility(View.INVISIBLE);
if (value == Enums.VehicleIndicator.RIGHT.getValue()) {
binding.indicatorRight.startAnimation(startAnimation);
binding.indicatorRight.setVisibility(View.VISIBLE);
} else if (value == Enums.VehicleIndicator.LEFT.getValue()) {
binding.indicatorLeft.startAnimation(startAnimation);
binding.indicatorLeft.setVisibility(View.VISIBLE);
}
}
protected void handleDriveCommand() {
float left = vehicle.getLeftSpeed();
float right = vehicle.getRightSpeed();
binding.controllerContainer.controlInfo.setText(
String.format(Locale.US, "%.0f,%.0f", left, right));
binding.speed.speedPercentTo(vehicle.getSpeedPercent());
binding.steering.setRotation(vehicle.getRotation());
binding.driveGear.setText(vehicle.getDriveGear());
}
private void setSpeedMode(SpeedMode speedMode) {
if (speedMode != null) {
switch (speedMode) {
case SLOW:
binding.controllerContainer.speedMode.setImageResource(R.drawable.ic_speed_low);
break;
case NORMAL:
binding.controllerContainer.speedMode.setImageResource(R.drawable.ic_speed_medium);
break;
case FAST:
binding.controllerContainer.speedMode.setImageResource(R.drawable.ic_speed_high);
break;
}
Timber.d("Updating controlSpeed: %s", speedMode);
preferencesManager.setSpeedMode(speedMode.getValue());
vehicle.setSpeedMultiplier(speedMode.getValue());
}
}
private void setControlMode(ControlMode controlMode) {
if (controlMode != null) {
switch (controlMode) {
case GAMEPAD:
binding.controllerContainer.controlMode.setImageResource(R.drawable.ic_controller);
disconnectPhoneController();
break;
case PHONE:
binding.controllerContainer.controlMode.setImageResource(R.drawable.ic_phone);
if (!PermissionUtils.hasControllerPermissions(requireActivity()))
requestPermissionLauncher.launch(Constants.PERMISSIONS_CONTROLLER);
else connectPhoneController();
break;
}
Timber.d("Updating controlMode: %s", controlMode);
preferencesManager.setControlMode(controlMode.getValue());
}
}
protected void setDriveMode(DriveMode driveMode) {
if (driveMode != null) {
switch (driveMode) {
case DUAL:
binding.controllerContainer.driveMode.setImageResource(R.drawable.ic_dual);
break;
case GAME:
binding.controllerContainer.driveMode.setImageResource(R.drawable.ic_game);
break;
case JOYSTICK:
binding.controllerContainer.driveMode.setImageResource(R.drawable.ic_joystick);
break;
}
Timber.d("Updating driveMode: %s", driveMode);
vehicle.setDriveMode(driveMode);
preferencesManager.setDriveMode(driveMode.getValue());
}
}
private void connectPhoneController() {
phoneController.connect(requireContext());
DriveMode oldDriveMode = currentDriveMode;
// Currently only dual drive mode supported
setDriveMode(DriveMode.DUAL);
binding.controllerContainer.driveMode.setAlpha(0.5f);
binding.controllerContainer.driveMode.setEnabled(false);
preferencesManager.setDriveMode(oldDriveMode.getValue());
}
private void disconnectPhoneController() {
phoneController.disconnect();
setDriveMode(DriveMode.getByID(preferencesManager.getDriveMode()));
binding.controllerContainer.driveMode.setEnabled(true);
binding.controllerContainer.driveMode.setAlpha(1.0f);
}
@Override
protected void processControllerKeyData(String commandType) {
switch (commandType) {
case Constants.CMD_DRIVE:
handleDriveCommand();
break;
case Constants.CMD_INDICATOR_LEFT:
toggleIndicator(Enums.VehicleIndicator.LEFT.getValue());
break;
case Constants.CMD_INDICATOR_RIGHT:
toggleIndicator(Enums.VehicleIndicator.RIGHT.getValue());
break;
case Constants.CMD_INDICATOR_STOP:
toggleIndicator(Enums.VehicleIndicator.STOP.getValue());
break;
case Constants.CMD_DRIVE_MODE:
setDriveMode(Enums.switchDriveMode(vehicle.getDriveMode()));
break;
case Constants.CMD_DISCONNECTED:
handleDriveCommand();
setControlMode(ControlMode.GAMEPAD);
break;
case Constants.CMD_SPEED_DOWN:
setSpeedMode(
Enums.toggleSpeed(
Enums.Direction.DOWN.getValue(),
Enums.SpeedMode.getByID(preferencesManager.getSpeedMode())));
break;
case Constants.CMD_SPEED_UP:
setSpeedMode(
Enums.toggleSpeed(
Enums.Direction.UP.getValue(),
Enums.SpeedMode.getByID(preferencesManager.getSpeedMode())));
break;
}
}
}