Subversion Repositories Code-Repo

package IEEERobotics.IOIOAI.VT;

import java.text.DecimalFormat;

import com.androidplot.Plot.BorderStyle;

import com.androidplot.xy.BoundaryMode;

import com.androidplot.xy.LineAndPointFormatter;

import com.androidplot.xy.StepFormatter;

import com.androidplot.xy.XYPlot;

import com.androidplot.xy.XYStepMode;

import android.content.Context;

import android.content.SharedPreferences;

import android.graphics.Color;

import android.os.Handler;

import android.preference.PreferenceManager;

import android.view.View;

import android.view.ViewGroup;

import android.widget.LinearLayout;

import android.widget.ScrollView;

import android.widget.TextView;

import android.widget.TableRow.LayoutParams;

import ioio.lib.api.IOIO;

import ioio.lib.api.exception.ConnectionLostException;

public class DebugCode {

	private IOIORoboticsActivity _parent;

	private IOIO _ioio;

	private Context _appContext;

	private View _view;

	private SharedPreferences _sharedPrefs;

	private Handler _handler = new Handler();

	private Boolean _connected = false;

	// Input classes to be implemented

	private InputInterface _lineFollowIn;

	private InputInterface _voltageIn;

	private InputInterface _waveformIn;

	private InputInterface _capacitanceIn;

	private InputInterface _temperatureIn;

	// Updater thread

	private Thread _pollingThread;

	// Labels

	private TextView _lineFollowLabel;

	private TextView _voltageLabel;

	private TextView _waveformLabel;

	private TextView _capacitanceLabel;

	private TextView _temperatureLabel;

	// Plots

	private XYPlot _lineFollowPlot;

	private XYPlot _voltagePlot;

	private XYPlot _waveformPlot;

	private XYPlot _capacitancePlot;

	private XYPlot _temperaturePlot;

	// Data for each plot

	private GenericXYSeries _lineFollowData;

	private GenericXYSeries _voltageData;

	private GenericXYSeries _waveformData;

	private GenericXYSeries _capacitanceData;

	private GenericXYSeries _temperatureData;

	// Constant values

	private static int _graphHeight = 80;	// Height in dp

	private static int _textSize = 15;		// TextSize for the labels

	private static int _graphLength;

	private static int _updateSleepPeriod;

	/** Class initializer */

	public DebugCode(IOIORoboticsActivity parent) {

		_parent = parent;

		_appContext = IOIORoboticsActivity.context_;

		// Get values from shared preferences

		_sharedPrefs = PreferenceManager.getDefaultSharedPreferences(_appContext);

		_graphLength = Integer.parseInt(_sharedPrefs.getString("pref_GraphLength", "100"));

		// Create the overall view with the labels and plots

		createView();

	}

	/** Starting poing for executing Debug code */

	public void Run() {

		_updateSleepPeriod = Integer.parseInt(_sharedPrefs.getString("pref_UpdateInterval", "100"));

		// Initialize the input classes

		initializeInputs();

		// Create the updater thread

		setupPollingThread();

		_parent.logMessage("Updater thread started");

		_pollingThread.start();

	}

	/** Initialize input classes */

	private void initializeInputs() {

		_parent.logMessage("Initializing inputs");

		_ioio = IOIORoboticsActivity.IOIOInstance_;

		// Initialize each input class (opens pins)

		try {

			_lineFollowIn = new InputLineFollower();

			_lineFollowIn.initialize(_ioio);

			_voltageIn = new InputVoltage();

			_voltageIn.initialize(_ioio);

			_waveformIn = new InputWaveform();

			_waveformIn.initialize(_ioio);

			_capacitanceIn = new InputCapacitance();

			_capacitanceIn.initialize(_ioio);

			_temperatureIn = new InputTemperature();

			_temperatureIn.initialize(_ioio);

			_connected = true;

		} catch (ConnectionLostException e) {

		}

		if (_connected) {

			// Update the status labels for each graphs

			_lineFollowLabel.setText("Pin #" + _lineFollowIn.getPinDescription());

			_voltageLabel.setText("Pin #" + _voltageIn.getPinDescription());

			_waveformLabel.setText("Pin #" + _waveformIn.getPinDescription());

			_capacitanceLabel.setText("Pin #" + _capacitanceIn.getPinDescription());

			_temperatureLabel.setText("Pin #" + _temperatureIn.getPinDescription());

		}

	}

	/** Sets up the updater thread to poll for data */

	private void setupPollingThread() {

		// Create a new thread to poll for new data at set interval

		_pollingThread = new Thread(new Runnable() {

			// Output decimal format

			DecimalFormat df = new DecimalFormat("#.####");

			@Override

			public void run() {

				try {

					while (true) {

						// Run until the interrupt signal is sent to the thread

						if (Thread.currentThread().isInterrupted()) {

							break;

						}

						if (_connected) {

							// Read in values from input classes

							double ret = _lineFollowIn.getValue();

							updateLineFollowText(_lineFollowIn.getPinDescription() + "   Current Value: " + df.format(ret));

							_lineFollowData.addDataToList(ret);

							ret = _voltageIn.getValue();

							updateVoltageText(_voltageIn.getPinDescription() + "   Current Value: " + df.format(ret));

							_voltageData.addDataToList(ret);

							ret = _waveformIn.getValue();

							updateWaveformText(_waveformIn.getPinDescription() + "   Current Value: " + df.format(ret));

							_waveformData.addDataToList(ret);

							ret = _capacitanceIn.getValue();

							updateCapacitanceText(_capacitanceIn.getPinDescription() + "   Current Value: " + df.format(ret));

							_capacitanceData.addDataToList(ret);

							ret = _temperatureIn.getValue();

							updateTemperatureText(_temperatureIn.getPinDescription() + "   Current Value: " + df.format(ret));

							_temperatureData.addDataToList(ret);

							// Redraw graph and sleep for set period of time

							redrawGraphs();

						}

						Thread.sleep(_updateSleepPeriod);

					}

				} catch (Exception e) {

					stopPollingThread();

				}

			}

		});

	}

	/** Sends an interrupt signal to the thread and notifies input classes to close pins */

	public void stopPollingThread() {

		if (_pollingThread.isAlive()) {

			_parent.logMessage("Stopping updater thread");

			_pollingThread.interrupt();

		}

		if (_connected) {

			_lineFollowIn.closePins();

			_voltageIn.closePins();

			_waveformIn.closePins();

			_capacitanceIn.closePins();

			_temperatureIn.closePins();

		}

		_connected = false;

	}

	/** Create the view containing the text labels and plots */

	private void createView() {

		_lineFollowLabel = new TextView(_appContext);

		_lineFollowLabel.setText("Line Follow Plot Label");

		_lineFollowLabel.setTextSize(_textSize);

		_lineFollowPlot = new XYPlot(_appContext, "LineFollowPlot");

		_lineFollowPlot.setLayoutParams(new LayoutParams(LayoutParams.MATCH_PARENT, _graphHeight));

		_lineFollowData = new GenericXYSeries("Line Follow", _graphLength);

		setPlotDetails(_lineFollowPlot, _lineFollowData, 3.3, true);

		_voltageLabel = new TextView(_appContext);

		_voltageLabel.setText("Voltage Plot Label");

		_voltageLabel.setTextSize(_textSize);

		_voltagePlot = new XYPlot(_appContext, "VoltagePlot");

		_voltagePlot.setLayoutParams(new LayoutParams(LayoutParams.MATCH_PARENT, _graphHeight));

		_voltageData = new GenericXYSeries("Voltage Data", _graphLength);

		setPlotDetails(_voltagePlot, _voltageData, 3.3, false);

		_waveformLabel = new TextView(_appContext);

		_waveformLabel.setText("Waveform Plot Label");

		_waveformLabel.setTextSize(_textSize);

		_waveformPlot = new XYPlot(_appContext, "WaveformPlot");

		_waveformPlot.setLayoutParams(new LayoutParams(LayoutParams.MATCH_PARENT, _graphHeight));

		_waveformData = new GenericXYSeries("Waveform Data", _graphLength);

		setPlotDetails(_waveformPlot, _waveformData, 3.3, false);

		_capacitanceLabel = new TextView(_appContext);

		_capacitanceLabel.setText("Capacitance Plot Label");

		_capacitanceLabel.setTextSize(_textSize);

		_capacitancePlot = new XYPlot(_appContext, "CapacitancePlot");

		_capacitancePlot.setLayoutParams(new LayoutParams(LayoutParams.MATCH_PARENT, _graphHeight));

		_capacitanceData = new GenericXYSeries("Capacitance Data", _graphLength);

		setPlotDetails(_capacitancePlot, _capacitanceData, 3.3, false);

		_temperatureLabel = new TextView(_appContext);

		_temperatureLabel.setText("Temperature Plot Label");

		_temperatureLabel.setTextSize(_textSize);

		_temperaturePlot = new XYPlot(_appContext, "TemperaturePlot");

		_temperaturePlot.setLayoutParams(new LayoutParams(LayoutParams.MATCH_PARENT, _graphHeight));

		_temperatureData = new GenericXYSeries("Temperature Data", _graphLength);

		setPlotDetails(_temperaturePlot, _temperatureData, 3.3, false);

		// Create the main layout and add each subview to it

		LinearLayout layout = new LinearLayout(_appContext);

		layout.setOrientation(LinearLayout.VERTICAL);

		layout.setLayoutParams(new LayoutParams(LayoutParams.FILL_PARENT, LayoutParams.FILL_PARENT));

		layout.addView(_lineFollowLabel);

		layout.addView(_lineFollowPlot);

		addDivider(layout);

		layout.addView(_voltageLabel);

		layout.addView(_voltagePlot);

		addDivider(layout);

		layout.addView(_waveformLabel);

		layout.addView(_waveformPlot);

		addDivider(layout);

		layout.addView(_capacitanceLabel);

		layout.addView(_capacitancePlot);

		addDivider(layout);

		layout.addView(_temperatureLabel);

		layout.addView(_temperaturePlot);

		ScrollView scroller = new ScrollView(_appContext);

    	scroller.setLayoutParams(new LayoutParams(LayoutParams.FILL_PARENT, LayoutParams.FILL_PARENT));

    	scroller.addView(layout);

		_view = scroller;

	}

	/** Adds a divider to the specified layout */

	private void addDivider(View layout) {

		View ruler = new View(_appContext);

		ruler.setLayoutParams(new ViewGroup.LayoutParams( ViewGroup.LayoutParams.FILL_PARENT, 2));

		ruler.setBackgroundColor(Color.rgb(50, 50, 50));

		((LinearLayout)layout).addView(ruler);

	}

	/** Associates the graph with the data and set how the graph looks */

	private void setPlotDetails(XYPlot plot, GenericXYSeries data, double range, boolean useStep) {

		// Associate data with plot

		if (!useStep)

			plot.addSeries(data, new LineAndPointFormatter(Color.rgb(0, 0, 200), Color.rgb(0, 0, 100),Color.rgb(150, 150, 190)));

		else {

			StepFormatter stepFormatter = new StepFormatter(Color.rgb(0, 0, 0), Color.rgb(150, 190, 150));

			stepFormatter.getLinePaint().setStrokeWidth(1);

			plot.addSeries(data, stepFormatter);

		}

		// Set boundary and ticks

		plot.setRangeBoundaries(0, range, BoundaryMode.FIXED);

		plot.setDomainBoundaries(0, _graphLength, BoundaryMode.FIXED);

		plot.setDomainStepValue(5);

		plot.setRangeStep(XYStepMode.SUBDIVIDE, 4);

		plot.setTicksPerRangeLabel(3);

		// Remove labels and legend

		plot.getLegendWidget().setVisible(false);

		plot.getDomainLabelWidget().setVisible(false);

		plot.getRangeLabelWidget().setVisible(false);

		plot.getTitleWidget().setVisible(false);

		// Remove extra margin space

		plot.getGraphWidget().setMargins(0, 10, 10, 0);

		plot.getGraphWidget().setRangeLabelWidth(30);

		plot.getGraphWidget().setDomainLabelWidth(15);

		plot.getGraphWidget().setMarginLeft(-5);

		plot.getGraphWidget().setMarginRight(25);

		plot.setPlotMargins(0, -10, 0, -5);

		plot.setPlotPadding(0, 0, 0, 0);

		// Background color for the plot and divider line colors

		plot.getGraphWidget().getGridBackgroundPaint().setColor(Color.BLACK);

		plot.getGraphWidget().getGridLinePaint().setColor(Color.GRAY);

		plot.getGraphWidget().getDomainOriginLinePaint().setColor(Color.WHITE);

        plot.getGraphWidget().getRangeOriginLinePaint().setColor(Color.WHITE);

        // Background for the widget (not the plot itself)

		plot.getGraphWidget().setBackgroundPaint(null);

		plot.setBackgroundPaint(null);

		plot.setBorderPaint(null);

		plot.setBorderStyle(BorderStyle.SQUARE, null, null);

		plot.disableAllMarkup();

	}

	private void updateLineFollowText(final String message) {

		_handler.post(new Runnable() {

			@Override

			public void run() {

				_lineFollowLabel.setText(message);

			}

		});

	}

	private void updateVoltageText(final String message) {

		_handler.post(new Runnable() {

			@Override

			public void run() {

				_voltageLabel.setText(message);

			}

		});

	}

	private void updateWaveformText(final String message) {

		_handler.post(new Runnable() {

			@Override

			public void run() {

				_waveformLabel.setText(message);

			}

		});

	}

	private void updateCapacitanceText(final String message) {

		_handler.post(new Runnable() {

			@Override

			public void run() {

				_capacitanceLabel.setText(message);

			}

		});

	}

	private void updateTemperatureText(final String message) {

		_handler.post(new Runnable() {

			@Override

			public void run() {

				_temperatureLabel.setText(message);

			}

		});

	}

	/** Redraws the graphs */

	private void redrawGraphs() {

		_handler.post(new Runnable() {

			@Override

			public void run() {

				_lineFollowPlot.redraw();

				_voltagePlot.redraw();

				_waveformPlot.redraw();

				_capacitancePlot.redraw();

				_temperaturePlot.redraw();

			}

		});

	}

	public View getView() {

		return _view;

	}

}