yasarba71520/Line-Following-Robot
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Merge branch 'master' of https://git.efi.th-nuernberg.de/gitea/yasarba71520/Line-Following-Robot

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This commit is contained in:
Tim Zeuner 2023-02-07 21:21:03 +01:00
commit 366b3db8f9
9 changed files with 291 additions and 69 deletions
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2
MobileApp/.idea/misc.xml generated
View File

@ -25,7 +25,7 @@
</map>
</option>
</component>
<component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="1.8" project-jdk-type="JavaSDK">
<component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="11" project-jdk-type="JavaSDK">
<output url="file://$PROJECT_DIR$/build/classes" />
</component>
<component name="ProjectType">

37
MobileApp/app/src/main/java/com/example/lfrmobileapp/Communication.java
View File

@ -11,53 +11,40 @@ import java.util.Iterator;
import java.util.Objects;
public class Communication {
public boolean sendData(String data, String ip, int port) {
try {
Socket socket = new Socket(ip, port);
DataOutputStream DOS = new DataOutputStream(socket.getOutputStream());
DOS.writeUTF(data);
socket.close();
} catch (Exception e) {
e.printStackTrace();
return true; //ToDo: change to false to test connection - currently always true is delivered
}
return true;
}
public String telegram(int[] wheels, int strenght){
String tel = "";
tel += "0;"; //Manuel mode
String tel = "aa";
tel += "0"; //Manuel mode
for(int i = 0; i < wheels.length; i++){
if(wheels[i] == 1){
tel += Float.toString(((float)strenght)/100) + ";";
tel += ";" + Float.toString(((float)strenght)/100) ;
}else if(wheels[i] == -1)
tel += Float.toString(((float)-strenght)/100) + ";";
tel += ";" + Float.toString(((float)-strenght)/100);
else{
tel += "0.00;";
tel += ";0.00";
}
}
Log.v("TAG", tel + "\n");
tel += "zz";
return tel;
}
public String telegram(boolean startStop, ArrayList<String> list){
String tel = "";
tel += "1;"; //Autonomous mode
tel += "1"; //Autonomous mode
if(startStop){
tel += "1;";
tel += ";1";
}else{
tel += "0;";
tel += ";0";
}
for (String i : list) {
if(i.equals("Links")){
tel += "0;";
tel += ";0";
}else if (i.equals("Rechts")){
tel += "1;";
tel += ";1";
}
}
Log.v("TAG", tel + "\n");
return tel;
}
}

49
MobileApp/app/src/main/java/com/example/lfrmobileapp/DataTransferAsyncTask.java Normal file
View File

@ -0,0 +1,49 @@
package com.example.lfrmobileapp;
import android.os.AsyncTask;
import android.util.Log;
import java.io.DataOutputStream;
import java.io.IOException;
import java.io.OutputStream;
import java.net.Socket;
import java.util.concurrent.BlockingQueue;
import java.util.concurrent.LinkedBlockingQueue;
import java.util.concurrent.TimeUnit;
public class DataTransferAsyncTask extends AsyncTask<Void, Void, Void> {
private static final double sendRatePerSecond = 4.0;
private boolean connected;
private final ExtendedSocket socket;
private BlockingQueue<String> blockingQueue;
public DataTransferAsyncTask(ExtendedSocket socket) {
this.socket = socket;
this.connected = true;
this.blockingQueue = new LinkedBlockingQueue<>();
}
public void writeTelegram(String telegram) {
// Schau mal hier bei Fehler
blockingQueue.offer(telegram);
}
@Override
protected Void doInBackground(Void... params) {
while(!isCancelled() && connected) {
try {
synchronized (socket) {
String message = blockingQueue.poll((long) (1000.0/sendRatePerSecond), TimeUnit.MILLISECONDS);
if(message != null){
Log.v("TAG", message + "\n");
socket.sendMessage(message);
}
}
} catch (Exception e) {
e.printStackTrace();
connected = false;
}
}
return null;
}
}

25
MobileApp/app/src/main/java/com/example/lfrmobileapp/ExtendedSocket.java Normal file
View File

@ -0,0 +1,25 @@
package com.example.lfrmobileapp;
import java.io.DataOutputStream;
import java.io.IOException;
import java.net.Socket;
public class ExtendedSocket {
private final Socket socket;
public ExtendedSocket(Socket socket) {
this.socket = socket;
}
public void sendMessage(String message) throws IOException {
synchronized (socket){
DataOutputStream outputStream = new DataOutputStream(socket.getOutputStream());
outputStream.writeBytes(message);
outputStream.flush();
}
}
public void closeSocket() throws IOException {
this.socket.close();
}
}

53
MobileApp/app/src/main/java/com/example/lfrmobileapp/MainActivity.java
View File

@ -3,6 +3,7 @@ package com.example.lfrmobileapp;
import android.content.Context;
import android.content.SharedPreferences;
import android.os.Bundle;
import android.widget.Toast;
import com.google.android.material.bottomnavigation.BottomNavigationView;
@ -14,11 +15,21 @@ import androidx.navigation.ui.NavigationUI;
import com.example.lfrmobileapp.databinding.ActivityMainBinding;
import java.io.DataOutputStream;
import java.io.IOException;
import java.net.InetSocketAddress;
import java.net.Socket;
import java.util.concurrent.ExecutionException;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.concurrent.Future;
public class MainActivity extends AppCompatActivity {
private ActivityMainBinding binding;
private ExtendedSocket socket;
private DataTransferAsyncTask dataTransferAsyncTask;
public Boolean connected = false;
@Override
protected void onCreate(Bundle savedInstanceState) {
@ -38,5 +49,43 @@ public class MainActivity extends AppCompatActivity {
NavigationUI.setupWithNavController(binding.navView, navController);
}
public boolean connectToWifi(String ipAddress, int port){
ExecutorService executor = Executors.newSingleThreadExecutor();
Future<Boolean> future = executor.submit(() -> {
Socket tempSocket = new Socket();
tempSocket.connect(new InetSocketAddress(ipAddress, port), 1000);
try {
socket = new ExtendedSocket(tempSocket);
socket.sendMessage("Verbindung aufbauen");
} catch (Exception e) {
socket.closeSocket();
return false;
}
return true;
});
try {
connected = future.get();
} catch (InterruptedException e) {
System.err.println("InterruptedException: " + e.getMessage());
} catch (ExecutionException e) {
System.err.println("ExecutionException: " + e.getCause().getMessage());
}
executor.shutdown();
if(connected){
dataTransferAsyncTask = new DataTransferAsyncTask(socket);
dataTransferAsyncTask.execute();
return true;
}else{
return false;
}
}
public void sendTelegram(String telegram)
{
this.dataTransferAsyncTask.writeTelegram(telegram);
}
}
}

31
MobileApp/app/src/main/java/com/example/lfrmobileapp/ui/dashboard/DashboardFragment.java
View File

@ -18,6 +18,8 @@ import androidx.fragment.app.Fragment;
import androidx.lifecycle.ViewModelProvider;
import com.example.lfrmobileapp.Communication;
import com.example.lfrmobileapp.DataTransferAsyncTask;
import com.example.lfrmobileapp.MainActivity;
import com.example.lfrmobileapp.R;
import com.example.lfrmobileapp.databinding.FragmentAutomatikBinding;
@ -27,20 +29,22 @@ import java.util.Arrays;
import kotlin.collections.UArraySortingKt;
// Autonomous Mode
public class DashboardFragment extends Fragment {
String ipKey = "ipkey";
String portKey = "portkey";
String ipAddress = "192.168.0.1";
int port = 8000;
Communication com = new Communication();
private FragmentAutomatikBinding binding;
MainActivity mainActivity;
//Keys for Shared Preferences
String listKey = "listkey";
@Override
public void onAttach(Context context) {
super.onAttach(context);
mainActivity = (MainActivity) context;
}
public View onCreateView(@NonNull LayoutInflater inflater,
ViewGroup container, Bundle savedInstanceState) {
DashboardViewModel dashboardViewModel =
@ -59,17 +63,16 @@ public class DashboardFragment extends Fragment {
//Get Arraylist from Shared Preferences String
ArrayList<String> autoList = stringToArraylist(sharedPref.getString(listKey, ""));
ipAddress = sharedPref.getString(ipKey, "");
port = sharedPref.getInt(portKey, -1);
binding.startAutomatic.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
@Override
public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
if(isChecked){
com.sendData(com.telegram(true, autoList), ipAddress, port);
}else{
com.sendData(com.telegram(false, autoList), ipAddress, port);
if (mainActivity.connected){
if(isChecked){
mainActivity.sendTelegram(com.telegram(true, autoList));
}else{
mainActivity.sendTelegram(com.telegram(false, autoList));
}
}
}
});

95
MobileApp/app/src/main/java/com/example/lfrmobileapp/ui/home/HomeFragment.java
View File

@ -1,9 +1,12 @@
package com.example.lfrmobileapp.ui.home;
import android.annotation.SuppressLint;
import android.content.Context;
import android.content.SharedPreferences;
import android.os.Bundle;
import android.util.Log;
import android.view.LayoutInflater;
import android.view.MotionEvent;
import android.view.View;
import android.view.ViewGroup;
import android.widget.Button;
@ -15,6 +18,8 @@ import androidx.fragment.app.Fragment;
import androidx.lifecycle.ViewModelProvider;
import com.example.lfrmobileapp.Communication;
import com.example.lfrmobileapp.DataTransferAsyncTask;
import com.example.lfrmobileapp.MainActivity;
import com.example.lfrmobileapp.R;
import com.example.lfrmobileapp.databinding.FragmentManuellBinding;
import com.example.lfrmobileapp.ui.notifications.NotificationsFragment;
@ -31,10 +36,20 @@ public class HomeFragment extends Fragment {
String ipAddress = "192.168.0.1";
int port = 8000;
MainActivity mainActivity;
Communication com = new Communication();
long lastOnMoveCall = System.currentTimeMillis();
private FragmentManuellBinding binding;
@Override
public void onAttach(Context context) {
super.onAttach(context);
mainActivity = (MainActivity) context;
}
public View onCreateView(@NonNull LayoutInflater inflater,
ViewGroup container, Bundle savedInstanceState) {
HomeViewModel homeViewModel =
@ -54,54 +69,99 @@ public class HomeFragment extends Fragment {
final TextView textView = binding.textHome;
homeViewModel.getText().observe(getViewLifecycleOwner(), textView::setText);
binding.rotateLeft.setOnClickListener(new View.OnClickListener(){
binding.rotateLeft.setOnTouchListener(new View.OnTouchListener(){
@SuppressLint("ClickableViewAccessibility")
@Override
public void onClick(View v){
com.sendData(com.telegram(new int[]{-1, 1, -1, 1}, 100), ipAddress, port);
};
public boolean onTouch(View v, MotionEvent event) {
boolean send = false;
if (System.currentTimeMillis() - lastOnMoveCall > 250){
send = true;
lastOnMoveCall = System.currentTimeMillis();
}
if (send && mainActivity.connected) {
if (event.getAction() == MotionEvent.ACTION_UP) {
binding.rotateLeft.performClick();
mainActivity.sendTelegram(com.telegram(new int[]{0, 0, 0, 0}, 0));
return true;
} else {
mainActivity.sendTelegram(com.telegram(new int[]{-1, 1, -1, 1}, 100));
}
}
return false;
}
});
binding.rotateRight.setOnClickListener(new View.OnClickListener(){
binding.rotateRight.setOnTouchListener(new View.OnTouchListener(){
@SuppressLint("ClickableViewAccessibility")
@Override
public void onClick(View v){
com.sendData(com.telegram(new int[]{1, -1, 1, -1}, 100), ipAddress, port);
};
public boolean onTouch(View v, MotionEvent event) {
boolean send = false;
if (System.currentTimeMillis() - lastOnMoveCall > 250){
send = true;
lastOnMoveCall = System.currentTimeMillis();
}
if (send && mainActivity.connected){
if(event.getAction() == MotionEvent.ACTION_UP){
binding.rotateRight.performClick();
mainActivity.sendTelegram(com.telegram(new int[]{0, 0, 0, 0}, 0));
return true;
}else{
mainActivity.sendTelegram(com.telegram(new int[]{1, -1, 1, -1}, 100));
}
}
return false;
}
});
JoystickView joystick = (JoystickView) binding.joystick;
joystick.setOnMoveListener(new JoystickView.OnMoveListener() {
@Override
public void onMove(int angle, int strength) {
boolean send = false;
if (System.currentTimeMillis() - lastOnMoveCall > 250){
send = true;
lastOnMoveCall = System.currentTimeMillis();
}
String telegram = "";
homeViewModel.setText(Integer.toString(angle), Integer.toString(strength));
//8 segments of the joystick
if((angle >= 338 || angle < 22) && strength != 0){
joystick.setBackgroundResource(R.mipmap.right);
com.sendData(com.telegram(new int[]{1, -1, -1, 1}, strength), ipAddress, port);
telegram = com.telegram(new int[]{1, -1, -1, 1}, strength);
}else if((angle >= 22 && angle < 67) && strength != 0){
joystick.setBackgroundResource(R.mipmap.right_forward);
com.sendData(com.telegram(new int[]{1, 0, 0, 1}, strength), ipAddress, port);
telegram = com.telegram(new int[]{1, 0, 0, 1}, strength);
}else if((angle >=67 && angle < 112) && strength != 0){
joystick.setBackgroundResource(R.mipmap.forward);
com.sendData(com.telegram(new int[]{1, 1, 1, 1}, strength), ipAddress, port);
telegram = com.telegram(new int[]{1, 1, 1, 1}, strength);
}else if((angle >=112 && angle < 157) && strength != 0){
joystick.setBackgroundResource(R.mipmap.left_forward);
com.sendData(com.telegram(new int[]{0, 1, 1, 0}, strength), ipAddress, port);
telegram = com.telegram(new int[]{0, 1, 1, 0}, strength);
}else if((angle >=157 && angle < 202) && strength != 0){
joystick.setBackgroundResource(R.mipmap.left);
com.sendData(com.telegram(new int[]{-1, 1, 1, -1}, strength), ipAddress, port);
telegram = com.telegram(new int[]{-1, 1, 1, -1}, strength);
}else if((angle >=202 && angle < 247) && strength != 0){
joystick.setBackgroundResource(R.mipmap.left_back);
com.sendData(com.telegram(new int[]{-1, 0, 0, -1}, strength), ipAddress, port);
telegram = com.telegram(new int[]{-1, 0, 0, -1}, strength);
}else if((angle >=247 && angle < 292) && strength != 0){
joystick.setBackgroundResource(R.mipmap.back);
com.sendData(com.telegram(new int[]{-1, -1, -1, -1}, strength), ipAddress, port);
telegram = com.telegram(new int[]{-1, -1, -1, -1}, strength);
}else if((angle >=292 && angle < 337) && strength != 0){
joystick.setBackgroundResource(R.mipmap.right_back);
com.sendData(com.telegram(new int[]{0, -1, -1, 0}, strength), ipAddress, port);
telegram = com.telegram(new int[]{0, -1, -1, 0}, strength);
}
else{
joystick.setBackgroundResource(R.mipmap.blank);
com.sendData(com.telegram(new int[]{0, 0, 0, 0}, strength), ipAddress, port);
telegram = com.telegram(new int[]{0, 0, 0, 0}, strength);
}
if (send && mainActivity.connected)
{
mainActivity.sendTelegram(telegram);
// Log.v("TAG", telegram + "\n");
}
}
});
@ -112,6 +172,7 @@ public class HomeFragment extends Fragment {
@Override
public void onDestroyView() {
super.onDestroyView();
// dataTransferAsyncTask.cancel(false);
binding = null;
}
}

66
MobileApp/app/src/main/java/com/example/lfrmobileapp/ui/notifications/NotificationsFragment.java
View File

@ -1,6 +1,5 @@
package com.example.lfrmobileapp.ui.notifications;
import android.app.Activity;
import android.content.Context;
import android.content.SharedPreferences;
import android.os.Bundle;
@ -8,7 +7,6 @@ import android.view.LayoutInflater;
import android.view.View;
import android.view.ViewGroup;
import android.widget.Button;
import android.widget.TextView;
import android.widget.Toast;
import androidx.annotation.NonNull;
@ -16,24 +14,65 @@ import androidx.fragment.app.Fragment;
import androidx.lifecycle.ViewModelProvider;
import com.example.lfrmobileapp.Communication;
import com.example.lfrmobileapp.R;
import com.example.lfrmobileapp.DataTransferAsyncTask;
import com.example.lfrmobileapp.MainActivity;
import com.example.lfrmobileapp.databinding.FragmentEinstellungenBinding;
import java.io.DataOutputStream;
import java.net.Socket;
/*class NetworkThread extends Thread {
String ip;
int port;
boolean connected;
NetworkThread(String ip, int port) {
this.ip = ip;
this.port = port;
this.connected = false;
}
public void run() {
try {
Socket socket = new Socket(ip, port);
DataOutputStream outputStream = new DataOutputStream(socket.getOutputStream());
outputStream.writeBytes("Verbindung aufbauen");
outputStream.flush();
socket.close();
connected = true;
} catch (Exception e) {
e.printStackTrace();
connected = false;
}
}
}*/
public class NotificationsFragment extends Fragment {
Boolean connected = false;
MainActivity mainActivity;
String ipKey = "ipkey";
String portKey = "portkey";
String connectionFailed = "Verbindung fehlgeschlagen.";
String connectionSuccessful = "Verbindung erfolgreich.";
String ipAddress = "192.168.0.1";
int port = 8000;
String ipAddress = "192.168.4.1";
int port = 8080;
int duration = Toast.LENGTH_LONG;
DataTransferAsyncTask dataTransferAsyncTask;
private FragmentEinstellungenBinding binding;
@Override
public void onAttach(Context context) {
super.onAttach(context);
mainActivity = (MainActivity) context;
}
public View onCreateView(@NonNull LayoutInflater inflater,
ViewGroup container, Bundle savedInstanceState) {
NotificationsViewModel notificationsViewModel =
@ -56,13 +95,21 @@ public class NotificationsFragment extends Fragment {
binding.port.setText("");
}
// dataTransferAsyncTask = new DataTransferAsyncTask(ipAddress, port);
final Button button = binding.connect;
button.setOnClickListener(new View.OnClickListener() {
public void onClick(View v) {
ipAddress = String.valueOf(binding.ipAdress.getText());
port = Integer.parseInt(String.valueOf(binding.port.getText()));
if(com.sendData("", ipAddress, port)){
try {
ipAddress = String.valueOf(binding.ipAdress.getText());
port = Integer.parseInt(String.valueOf(binding.port.getText()));
} catch (Exception e){
System.err.println("Parse Exception: " + e.getMessage());
}
connected = mainActivity.connectToWifi(ipAddress, port);
if(connected){
editor.putString(ipKey, ipAddress);
editor.putInt(portKey, port);
editor.apply();
@ -71,17 +118,18 @@ public class NotificationsFragment extends Fragment {
}else{
Toast toast = Toast.makeText(v.getContext(), connectionFailed, duration);
toast.show();
// dataTransferAsyncTask.cancel(true);
}
}
});
return root;
}
@Override
public void onDestroyView() {
super.onDestroyView();
// dataTransferAsyncTask.cancel(true);
binding = null;
}
}

2
MobileApp/app/src/main/res/layout/fragment_automatik.xml
View File

@ -85,7 +85,7 @@
<ListView
android:id="@+id/automaticList"
android:layout_width="413dp"
android:layout_width="match_parent"
android:layout_height="470dp"
android:layout_marginTop="110dp"
app:layout_constraintEnd_toEndOf="parent"