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Driver (#47)
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* rename http listener for clarity

* refactor RC driver into its own class

* refactor web driver into its own class

* refactor tensorflow pic taker into its own class

* refactor photo-taking classes

* fix up HTTPRequestListener in mobile app
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@zugaldia
zugaldia committed Aug 29, 2017
1 parent c00da6f commit ab3a2cd
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Showing 10 changed files with 377 additions and 262 deletions.
4 changes: 2 additions & 2 deletions mobile/app/src/main/java/com/zugaldia/robocar/mobile/debug/DebugActivity.java
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Expand Up @@ -22,8 +22,8 @@
import com.zugaldia.robocar.mobile.R;
import com.zugaldia.robocar.mobile.controller.IntentRouter;
import com.zugaldia.robocar.software.controller.nes30.Nes30Manager;
import com.zugaldia.robocar.software.webserver.HTTPRequestListener;
import com.zugaldia.robocar.software.webserver.LocalWebServer;
import com.zugaldia.robocar.software.webserver.RequestListener;
import com.zugaldia.robocar.software.webserver.RobocarClient;
import com.zugaldia.robocar.software.webserver.models.RobocarMove;
import com.zugaldia.robocar.software.webserver.models.RobocarResponse;
Expand All @@ -40,7 +40,7 @@
import timber.log.Timber;

public class DebugActivity extends AppCompatActivity
implements NavigationView.OnNavigationItemSelectedListener, RequestListener {
implements NavigationView.OnNavigationItemSelectedListener, HTTPRequestListener {

@BindView(R.id.button_left)
Button buttonLeft;
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247 changes: 55 additions & 192 deletions robocar/app/src/main/java/com/zugaldia/robocar/app/MainActivity.java
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Expand Up @@ -5,58 +5,38 @@
import android.support.v7.app.AppCompatActivity;
import android.view.KeyEvent;

import com.zugaldia.robocar.hardware.adafruit2348.AdafruitDcMotor;
import com.zugaldia.robocar.app.autonomous.CameraDriver;
import com.zugaldia.robocar.app.autonomous.TensorFlowTrainer;
import com.zugaldia.robocar.app.manual.RCDriver;
import com.zugaldia.robocar.app.manual.LocalhostDriver;
import com.zugaldia.robocar.hardware.adafruit2348.AdafruitMotorHat;
import com.zugaldia.robocar.software.camera.CameraOperator;
import com.zugaldia.robocar.software.camera.CameraOperatorListener;
import com.zugaldia.robocar.software.camera.SpeedOwner;
import com.zugaldia.robocar.software.controller.nes30.Nes30Connection;
import com.zugaldia.robocar.software.controller.nes30.Nes30Listener;
import com.zugaldia.robocar.software.controller.nes30.Nes30Manager;
import com.zugaldia.robocar.software.webserver.LocalWebServer;
import com.zugaldia.robocar.software.webserver.RequestListener;
import com.zugaldia.robocar.software.webserver.HTTPRequestListener;
import com.zugaldia.robocar.software.webserver.models.RobocarMove;
import com.zugaldia.robocar.software.webserver.models.RobocarResponse;
import com.zugaldia.robocar.software.webserver.models.RobocarSpeed;
import com.zugaldia.robocar.software.webserver.models.RobocarStatus;

import java.io.IOException;
import java.util.Timer;
import java.util.TimerTask;

import fi.iki.elonen.NanoHTTPD;
import timber.log.Timber;

public class MainActivity extends AppCompatActivity
implements Nes30Listener, RequestListener, SpeedOwner, CameraOperatorListener {

// Set the speed, from 0 (off) to 255 (max speed)
private static final int MOTOR_SPEED = 255;
private static final int MOTOR_SPEED_SLOW = 95;
public class MainActivity extends AppCompatActivity implements Nes30Listener, HTTPRequestListener {

private Nes30Manager nes30Manager;
private Nes30Connection nes30Connection;
private boolean isMoving = false;

private AdafruitMotorHat motorHat;
private AdafruitDcMotor motorFrontLeft;
private AdafruitDcMotor motorFrontRight;
private AdafruitDcMotor motorBackLeft;
private AdafruitDcMotor motorBackRight;

//TODO: refactoring: make these into a class, maybe call it ButtonPressStates
private boolean isUpPressed = false;
private boolean isDownPressed = false;
private boolean isLeftPressed = false;
private boolean isRightPressed = false;
private boolean isUpOrDownPressed = false;
private boolean allButtonsReleased = true;

private CameraOperator cameraOperator;
private Timer timer;
private int cameraMode;
private static final int CAMERA_MODE_ONE = 1;
private static final int CAMERA_MODE_MULTIPLE = 2;

private RCDriver rcDriver;
private LocalhostDriver localhostDriver;

private CameraDriver cameraDriver;
private TensorFlowTrainer tensorFlowTrainer;

// I2C Name
public static final String I2C_DEVICE_NAME = "I2C1";
Expand All @@ -68,48 +48,20 @@ protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);

// Controller
nes30Manager = new Nes30Manager(this);

// Motors
motorHat = new AdafruitMotorHat(I2C_DEVICE_NAME, MOTOR_HAT_I2C_ADDRESS, false);
motorFrontLeft = motorHat.getMotor(1);
motorBackLeft = motorHat.getMotor(2);
motorFrontRight = motorHat.getMotor(3);
motorBackRight = motorHat.getMotor(4);

// Local web server
setupWebServer();

// NES30 BT connection
// Remote control (for RCDriver)
setupBluetooth();

// Camera
cameraOperator = new CameraOperator(this, this, this);
}
// Local web server (for LocalhostDriver)
setupWebServer();

@Override
public int[] getSpeeds() {
return new int[] {
motorHat.getMotor(1).getLastSpeed(),
motorHat.getMotor(2).getLastSpeed(),
motorHat.getMotor(3).getLastSpeed(),
motorHat.getMotor(4).getLastSpeed()};
// Manual drivers (always available)
rcDriver = new RCDriver(motorHat);
localhostDriver = new LocalhostDriver(motorHat);
}

private void setMotorSpeedsBasedOnButtonsPressed() {

boolean isLowSpeedOnLeft = isLeftPressed && isUpOrDownPressed;
boolean isLowSpeedOnRight = isRightPressed && isUpOrDownPressed;

int speedLeft = isLowSpeedOnLeft ? MOTOR_SPEED_SLOW : MOTOR_SPEED;
int speedRight = isLowSpeedOnRight ? MOTOR_SPEED_SLOW : MOTOR_SPEED;

motorFrontLeft.setSpeed(speedLeft);
motorBackLeft.setSpeed(speedLeft);
motorFrontRight.setSpeed(speedRight);
motorBackRight.setSpeed(speedRight);
}

private void setupWebServer() {
LocalWebServer localWebServer = new LocalWebServer(this);
Expand All @@ -121,6 +73,7 @@ private void setupWebServer() {
}

private void setupBluetooth() {
nes30Manager = new Nes30Manager(this);
nes30Connection = new Nes30Connection(this, RobocarConstants.NES30_MAC_ADDRESS);
Timber.d("BT status: %b", nes30Connection.isEnabled());
Timber.d("Paired devices: %d", nes30Connection.getPairedDevices().size());
Expand All @@ -136,10 +89,9 @@ private void setupBluetooth() {
@Override
protected void onDestroy() {
super.onDestroy();
release();
rcDriver.release();
motorHat.close();
nes30Connection.cancelDiscovery();
endSession();
}

/*
Expand All @@ -166,129 +118,74 @@ public boolean onKeyMultiple(int keyCode, int count, KeyEvent event) {
return nes30Manager.onKeyMultiple(keyCode, count, event);
}

/*
* Implements Nes30Listener
*/

@Override
public void onKeyPress(@Nes30Manager.ButtonCode int keyCode, boolean isDown) {
updateButtonPressedStates(keyCode, isDown);

if (allButtonsReleased && isMoving) {
isMoving = false;
release();
return;
}
// We start moving the moment the key is pressed
isMoving = true;

setMotorSpeedsBasedOnButtonsPressed();

switch (keyCode) {
case Nes30Manager.BUTTON_UP_CODE:
moveForward();
rcDriver.moveForward(keyCode, isDown);
break;
case Nes30Manager.BUTTON_DOWN_CODE:
moveBackward();
rcDriver.moveBackward(keyCode, isDown);
break;
case Nes30Manager.BUTTON_LEFT_CODE:
if (!isUpOrDownPressed) {
turnLeft();
}
rcDriver.turnLeft(keyCode, isDown);
break;
case Nes30Manager.BUTTON_RIGHT_CODE:
if (!isUpOrDownPressed) {
turnRight();
}
rcDriver.turnRight(keyCode, isDown);
break;
case Nes30Manager.BUTTON_X_CODE:
if (isDown) {
Timber.d("Starting camera session for single pics.");
cameraMode = CAMERA_MODE_ONE;
startSession();
}
break;
case Nes30Manager.BUTTON_Y_CODE:
if (isDown) {
Timber.d("Starting camera session for multiple pics.");
cameraMode = CAMERA_MODE_MULTIPLE;
startSession();
if (tensorFlowTrainer == null) {
tensorFlowTrainer = new TensorFlowTrainer(this, motorHat);
}
tensorFlowTrainer.startSession();
}
break;
case Nes30Manager.BUTTON_A_CODE:
if (isDown) {
Timber.d("Stopping camera session.");
endSession();
tensorFlowTrainer.endSession();
}
break;
case Nes30Manager.BUTTON_KONAMI:
// Do your magic here ;-)
break;
default:
// No action
case Nes30Manager.BUTTON_B_CODE:
Timber.d("Button B pressed.");
break;
}
}

private void updateButtonPressedStates(@Nes30Manager.ButtonCode int keyCode, boolean isDown) {
switch (keyCode) {
case Nes30Manager.BUTTON_UP_CODE:
isUpPressed = isDown;
case Nes30Manager.BUTTON_L_CODE:
if (cameraDriver == null) {
cameraDriver = new CameraDriver(this, motorHat);
}
cameraDriver.start();
break;
case Nes30Manager.BUTTON_DOWN_CODE:
isDownPressed = isDown;
case Nes30Manager.BUTTON_R_CODE:
if (cameraDriver != null) {
cameraDriver.stop();
}
break;
case Nes30Manager.BUTTON_LEFT_CODE:
isLeftPressed = isDown;
case Nes30Manager.BUTTON_SELECT_CODE:
Timber.d("Select button pressed.");
break;
case Nes30Manager.BUTTON_RIGHT_CODE:
isRightPressed = isDown;
case Nes30Manager.BUTTON_START_CODE:
Timber.d("Start button pressed.");
break;
default:
// No action
case Nes30Manager.BUTTON_KONAMI:
// Do your magic here ;-)
break;
}

isUpOrDownPressed = isUpPressed || isDownPressed;

allButtonsReleased = !(isUpPressed || isDownPressed || isLeftPressed || isRightPressed);
}

private void moveForward() {
Timber.d("Moving forward.");
motorFrontLeft.run(AdafruitMotorHat.FORWARD);
motorFrontRight.run(AdafruitMotorHat.BACKWARD);
motorBackLeft.run(AdafruitMotorHat.BACKWARD);
motorBackRight.run(AdafruitMotorHat.FORWARD);
}

private void moveBackward() {
Timber.d("Moving backward.");
motorFrontLeft.run(AdafruitMotorHat.BACKWARD);
motorFrontRight.run(AdafruitMotorHat.FORWARD);
motorBackLeft.run(AdafruitMotorHat.FORWARD);
motorBackRight.run(AdafruitMotorHat.BACKWARD);
}

private void turnLeft() {
Timber.d("Turning left.");
motorFrontLeft.run(AdafruitMotorHat.BACKWARD);
motorFrontRight.run(AdafruitMotorHat.BACKWARD);
motorBackLeft.run(AdafruitMotorHat.FORWARD);
motorBackRight.run(AdafruitMotorHat.FORWARD);
}

private void turnRight() {
Timber.d("Turning right.");
motorFrontLeft.run(AdafruitMotorHat.FORWARD);
motorFrontRight.run(AdafruitMotorHat.FORWARD);
motorBackLeft.run(AdafruitMotorHat.BACKWARD);
motorBackRight.run(AdafruitMotorHat.BACKWARD);
}

private void release() {
Timber.d("Release.");
motorFrontLeft.run(AdafruitMotorHat.RELEASE);
motorFrontRight.run(AdafruitMotorHat.RELEASE);
motorBackLeft.run(AdafruitMotorHat.RELEASE);
motorBackRight.run(AdafruitMotorHat.RELEASE);
}
/*
* Implement RequestListener (web server)
*/

@Override
public void onRequest(NanoHTTPD.IHTTPSession session) {
Expand All @@ -310,42 +207,8 @@ public RobocarResponse onSpeed(RobocarSpeed speed) {
if (speed == null) {
return new RobocarResponse(400, "Bad Request");
}
RobocarSpeedChanger speedChanger = new RobocarSpeedChanger(
motorFrontLeft, motorFrontRight, motorBackLeft, motorBackRight);
speedChanger.changeSpeed(speed);
return new RobocarResponse(200, "OK");
}

private void startSession() {
if (!cameraOperator.isInSession()) {
cameraOperator.startSession();
} else if (cameraMode == CAMERA_MODE_ONE) {
sessionStarted();
}
}

@Override
public void sessionStarted() {
switch (cameraMode) {
case CAMERA_MODE_ONE:
cameraOperator.takePicture();
break;
case CAMERA_MODE_MULTIPLE:
timer = new Timer("CAMERA_TRAINING");
timer.schedule(new TimerTask() {
@Override
public void run() {
cameraOperator.takePicture();
}
}, 0, 250); // 0 delay, 250 period
break;
}
}

private void endSession() {
if (timer != null) {
timer.cancel();
}
cameraOperator.endSession();
localhostDriver.changeSpeed(speed);
return new RobocarResponse(200, "OK");
}
}

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