Released version.

vladd11 · Apr 9, 2022 · 3dd04d1 · 3dd04d1
1 parent d09a7a0
commit 3dd04d1
Show file tree

Hide file tree

Showing 13 changed files with 191 additions and 204 deletions.
diff --git a/app/build.gradle b/app/build.gradle
@@ -7,8 +7,8 @@ android {
 
     defaultConfig {
         applicationId "com.vladd11.app.robot"
-        minSdk 28
-        targetSdk 31
+        minSdk 27
+        targetSdk 27
         versionCode 1
         versionName "1.0"
 
@@ -42,6 +42,7 @@ dependencies {
     implementation 'androidx.appcompat:appcompat:1.3.1'
     implementation 'com.google.android.material:material:1.4.0'
     implementation 'androidx.constraintlayout:constraintlayout:2.1.1'
+    implementation project(path: ':libusbcamera')
     testImplementation 'junit:junit:4.+'
     androidTestImplementation 'androidx.test.ext:junit:1.1.3'
     androidTestImplementation 'androidx.test.espresso:espresso-core:3.4.0'
@@ -54,4 +55,6 @@ dependencies {
     // RxJava is also required.
     implementation 'io.reactivex.rxjava2:rxjava:2.1.12'
     implementation 'io.reactivex.rxjava2:rxandroid:2.0.2'
+
+    //implementation 'com.github.vladd11:AndroidUSBCamera:7db7cc7e0e'
 }
diff --git a/app/src/main/AndroidManifest.xml b/app/src/main/AndroidManifest.xml
@@ -4,11 +4,14 @@
 
     <uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION" />
     <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
+    <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
     <uses-permission android:name="android.permission.CAMERA" />
+    <uses-permission android:name="android.permission.RECORD_AUDIO" />
     <uses-permission android:name="android.permission.WAKE_LOCK" />
     <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
     <uses-permission android:name="android.permission.INTERNET" />
     <uses-feature android:name="android.hardware.camera" />
+    <uses-feature android:name="android.hardware.usb.host"/>
 
     <application
         android:networkSecurityConfig="@xml/net"

diff --git a/app/src/main/java/com/vladd11/app/robot/ConnectionManager.java b/app/src/main/java/com/vladd11/app/robot/ConnectionManager.java
@@ -1,6 +1,7 @@
 package com.vladd11.app.robot;
 
 
+import android.hardware.camera2.CameraAccessException;
 import android.location.Location;
 import android.util.Log;
 
@@ -72,7 +73,11 @@ public void getLocationPoints(Location current, OnLocationPointsAvailableListene
     public void onMessage(@NonNull WebSocket webSocket, @NonNull String text) {
         if (text.equals("img")) {
             frameTime = System.currentTimeMillis();
-            onFrameRequest.call(buffer -> webSocket.send(ByteString.of(buffer)));
+            try {
+                onFrameRequest.call(buffer -> webSocket.send(ByteString.of(buffer)));
+            } catch (CameraAccessException | InterruptedException e) {
+                e.printStackTrace();
+            }
         } else if (text.startsWith("route")) {
             final List<List<Double>> rawCoordinates = gson.fromJson(
                     text.replace("route ", ""),
@@ -105,11 +110,11 @@ public interface OnLocationPointsAvailableListener {
     }
 
     public interface OnImageRequestReceivedListener {
-        void call(ImageReceivedListener listener);
+        void call(ImageReceivedListener listener) throws CameraAccessException, InterruptedException;
     }
 
     public interface ImageReceivedListener {
-        void received(ByteBuffer buffer) throws InterruptedException;
+        void received(byte[] buffer) throws InterruptedException;
     }
 
     public interface OnConnectedListener {

diff --git a/app/src/main/java/com/vladd11/app/robot/MainActivity.java b/app/src/main/java/com/vladd11/app/robot/MainActivity.java
@@ -9,6 +9,7 @@
 import android.hardware.usb.UsbManager;
 import android.location.Location;
 import android.os.Bundle;
+import android.os.Environment;
 import android.os.Looper;
 import android.util.Log;
 import android.view.View;
@@ -48,9 +49,22 @@ public class MainActivity extends AppCompatActivity implements PathFinder.PathFi
     private TextView actionTextView;
     private TextView headingTextView;
     private TextView bearingTextView;
+    private TextView diffTextView;
 
     private SimpleBluetoothDeviceInterface deviceInterface;
 
+    @Override
+    protected void onStart() {
+        super.onStart();
+        if (controller.mCameraHelper != null) controller.mCameraHelper.registerUSB();
+    }
+
+    @Override
+    protected void onStop() {
+        if (controller.mCameraHelper != null) controller.mCameraHelper.unregisterUSB();
+        super.onStop();
+    }
+
     @SuppressLint("CheckResult")
     @Override
     protected void onCreate(Bundle savedInstanceState) {
@@ -62,6 +76,7 @@ protected void onCreate(Bundle savedInstanceState) {
         actionTextView = findViewById(R.id.currentActionText);
         headingTextView = findViewById(R.id.headingTextView);
         bearingTextView = findViewById(R.id.bearingTextView);
+        diffTextView = findViewById(R.id.diffTextView);
 
         final Compass compass = new Compass();
         pathFinder = new PathFinder(this);
@@ -141,6 +156,7 @@ private void onConnected(BluetoothSerialDevice connectedDevice) {
 
     @Override
     public void whenActionChanged(Action action) {
+
         if (deviceInterface != null) {
             switch (action) {
                 case FORWARD:
@@ -215,23 +231,20 @@ public void whenLocationAccurate() {
         connectionManager.connect(() -> {
             try {
                 connectionManager.getLocationPoints(pathFinder.location, this::followPathOfPoints);
-                connectionManager.receiveImageRequests(listener -> {
-                    try {
-                        controller.send((buffer) -> {
-                            Log.d(TAG, "received");
-                            listener.received(buffer);
-                        });
-                    } catch (CameraAccessException e) {
-                        e.printStackTrace();
-                    }
-                }, (roadPosition, frameTime) -> {
+                connectionManager.receiveImageRequests(listener -> controller.send((buffer) -> {
+                    Log.d(TAG, "received");
+                    listener.received(buffer);
+                }), (roadPosition, frameTime) -> {
                     for (List<Double> cords : roadPosition) {
                         double x = cords.get(0) - 0.5f;
                         //double y = cords.get(1);
 
                         if (x < -0.2f || x > 0.2) {
                             if (pathFinder.isFrameValid(frameTime)) {
-                                pathFinder.setAngleDiff((int) (x * 60));
+                                int diff = (int) (x * 60);
+
+                                diffTextView.setText(String.valueOf(diff));
+                                pathFinder.setAngleDiff(diff);
                             }
                         }
                     }
@@ -244,6 +257,7 @@ public void whenLocationAccurate() {
 
     @Override
     protected void onDestroy() {
+        controller.stop();
         connectionManager.disconnect();
         super.onDestroy();
     }

diff --git a/app/src/main/java/com/vladd11/app/robot/PathFinder.java b/app/src/main/java/com/vladd11/app/robot/PathFinder.java
@@ -40,11 +40,8 @@ public void start() {
             public void run() {
                 if (isLocationAccurate && target != null) {
                     float relativeBearing = location.bearingTo(target) - heading;
-                    if (relativeBearing < 0) {
-                        relativeBearing = 360 + relativeBearing;
-                    }
 
-                    if (!(almostEqual(relativeBearing, 0, 7) || almostEqual(relativeBearing, 360, 7))) {
+                    if (!(almostEqual(relativeBearing, 0, 14))) {
                         if (relativeBearing < 0) listener.whenActionChanged(Action.LEFT);
                         else listener.whenActionChanged(Action.RIGHT);
                     } else listener.whenActionChanged(Action.FORWARD);
@@ -65,7 +62,7 @@ public void onLocationResult(@NonNull LocationResult locationResult) {
         }
 
         if (target != null) {
-            if (location.distanceTo(target) > location.getAccuracy()) {
+            if (location.distanceTo(target) > Math.max(location.getAccuracy(), 5)) {
                 shouldForward = true;
             } else nextPoint();
 
@@ -109,7 +106,7 @@ public int getAngle() {
     }
 
     public void setAngleDiff(int angleDiff) {
-        this.diff = angleDiff;
+        //this.diff = angleDiff;
     }
 
     @Override