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

MobileApp/.idea/misc.xml

       </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">

MobileApp/app/src/main/java/com/example/lfrmobileapp/Communication.java

 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;
     }
+
 }

MobileApp/app/src/main/java/com/example/lfrmobileapp/DataTransferAsyncTask.java

+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;
+    }
+}

MobileApp/app/src/main/java/com/example/lfrmobileapp/ExtendedSocket.java

+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();
+    }
+}

MobileApp/app/src/main/java/com/example/lfrmobileapp/MainActivity.java

 import android.content.Context;
 import android.content.SharedPreferences;
 import android.os.Bundle;
+import android.widget.Toast;
 
 import com.google.android.material.bottomnavigation.BottomNavigationView;
 
 
 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) {
         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);
+    }
+}
 
-}

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

 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;
 
 
 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 =
         //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));
+                    }
                 }
             }
         });

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

 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;
 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;
     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 =
         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");
                 }
             }
         });
     @Override
     public void onDestroyView() {
         super.onDestroyView();
+        // dataTransferAsyncTask.cancel(false);
         binding = null;
     }
 }

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

 package com.example.lfrmobileapp.ui.notifications;
 
-import android.app.Activity;
 import android.content.Context;
 import android.content.SharedPreferences;
 import android.os.Bundle;
 import android.view.View;
 import android.view.ViewGroup;
 import android.widget.Button;
-import android.widget.TextView;
 import android.widget.Toast;
 
 import androidx.annotation.NonNull;
 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 =
             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();
                 }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;
     }
 }

MobileApp/app/src/main/res/layout/fragment_automatik.xml

 
     <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"