package com.fei435;

import java.io.BufferedInputStream;

import java.util.Arrays;

import android.R.anim;

import android.R.integer;

import android.app.Activity;

import android.content.Context;

import android.content.Intent;

import android.content.SharedPreferences;

import android.graphics.Color;

import android.graphics.drawable.Drawable;

import android.hardware.Sensor;

import android.hardware.SensorEvent;

import android.hardware.SensorEventListener;

import android.hardware.SensorManager;

import android.net.ConnectivityManager;

import android.net.NetworkInfo.State;

import android.net.wifi.WifiInfo;

import android.net.wifi.WifiManager;

import android.opengl.Visibility;

import android.os.Bundle;

import android.os.Handler;

import android.os.Message;

import android.util.Log;

import android.view.KeyEvent;

import android.view.MotionEvent;

import android.view.View;

import android.view.View.OnLongClickListener;

import android.view.Window;

import android.view.WindowManager;

import android.view.View.OnClickListener;

import android.widget.CheckBox;

import android.widget.CompoundButton;

import android.widget.EditText;

import android.widget.ImageButton;

import android.widget.ImageView;

import android.widget.TextView;

import android.widget.Toast;

import android.widget.ToggleButton;

import android.app.Service;

import android.os.Vibrator;

import android.preference.PreferenceManager;

import android.widget.TextView.OnEditorActionListener;

import com.fei435.Constant;

import com.fei435.R;

import com.fei435.WifiCarSettings;

import com.fei435.Constant.CommandArray;

import com.googlecode.javacv.cpp.cvkernels;

public class Main extends Activity implements

com.fei435.SeekBar.OnSeekBarChangeListener,android.widget.SeekBar.OnSeekBarChangeListener //分别是横向和纵向的SeekBar

{

private final int MIN_GEAR_STEP = 5;

private final int MAX_GEAR_VALUE = 180;

private final int INIT_GEAR_VALUE = 50;

private final int MIN_GEAR_STEP_1 = 1;

private final int MAX_GEAR_VALUE_1 = 1000;

private final int INIT_GEAR_VALUE_1 = 506;

private final int MIN_GEAR_STEP_2 = 1;

private final int MAX_GEAR_VALUE_2 = 200;

private final int INIT_GEAR_VALUE_2 = 16;

private final int WARNING_ICON_OFF_DURATION_MSEC = 600;

private final int WARNING_ICON_ON_DURATION_MSEC = 800;

private ImageButton ForWard; //按钮的类，代表一个按钮

private ImageButton BackWard;

private ImageButton TurnLeft;

private ImageButton TurnRight;

private ImageButton TakePicture;

private ImageView mAnimIndicator;

private boolean bAnimationEnabled = true;

private Drawable mWarningIcon;

private TextView mLogText;

private boolean bGravityDetectOn = false;

private Drawable ForWardon;

private Drawable ForWardoff;

private Drawable BackWardon;

private Drawable BackWardoff;

private Drawable TurnLefton;

private Drawable TurnLeftoff;

private Drawable TurnRighton;

private Drawable TurnRightoff;

private Drawable buttonLenon;

private Drawable buttonLenoff;

private com.fei435.SeekBar mSeekBar1;

private com.fei435.SeekBar mSeekBar2; //自己实现的纵向seekbar

private android.widget.SeekBar mSpeedSeekBar1;

private android.widget.SeekBar mSpeedSeekBar2; //系统自带的横向seekbar

private int mSeekBarValue1 = -1;

private int mSeekBarValue2 = -1;

private int mSpeedSeekBarValue1 = -1;

private int mSpeedSeekBarValue2 = -1;

private EditText editTextSpeed1;

private EditText editTextSpeed2;

private ToggleButton gravityDetectToggle;

private CheckBox speedChangeCheckBox;

private ImageButton buttonCus1;

private ImageButton buttonLen;

private boolean bCaptureOn = false;

private boolean mQuitFlag = false;

private boolean bHeartBreakFlag = false;//only for a test by feifei435

private int mHeartBreakCounter = 0; //小车心跳包计数

private int mLastCounter = 0;

private Vibrator mVibrator= null;

private SensorManager mSensorMgr = null;

private Sensor sensor = null;

private int lastCommand = 0x0;

private WiFiCarController mWiFiCarControler = null;//网络连接线程的类

private Context mContext;

MjpegView backgroundView = null;

Handler mHandler = new Handler() {

public void handleMessage(Message msg)

{

//Log.i("Handle", "handle internal Message, id=" + msg.what);

switch (msg.what) {

case Constant.MSG_ID_ERR_RECEIVE:

Log.i("socket", "MSG_ID_ERR_RECEIVE");

break;

case Constant.MSG_ID_CON_READ:

byte[] command = (byte[])msg.obj;

//Log.i("mLogText","handle response from router: " + command.toString() );

handleCallback(command);

break;

case Constant.MSG_ID_ERR_INIT_READ:

mLogText.setText("连接到WiFiCar失败!");

Log.i("mLogText","连接到WiFiCar失败!");

break;

case Constant.MSG_ID_CON_SUCCESS:

mLogText.setText("成功连接到WiFiCar!");

Log.i("mLogText","成功连接到WiFiCar!");

//连接成功，延时2秒发送速度设置指令

Message msgChangeSpeed1 = new Message();

msgChangeSpeed1.what = Constant.MSG_ID_SET_SPEED;

msgChangeSpeed1.obj = Constant.COMM_SPEED_VALUE_1;

Message msgChangeSpeed2 = new Message();

msgChangeSpeed2.what = Constant.MSG_ID_SET_SPEED;

msgChangeSpeed2.obj = Constant.COMM_SPEED_VALUE_2;

mHandler.sendMessageDelayed(msgChangeSpeed1, 2000);

mHandler.sendMessageDelayed(msgChangeSpeed2, 2500);

break;

case Constant.MSG_ID_SET_SPEED:

mWiFiCarControler.sendCommand((byte[])msg.obj);

break;

case Constant.MSG_ID_SET_UI_INFO: //别的类给mLogText显示消息

String str = (String)msg.obj;

mLogText.setText(str);

// Message msgStartCheck = new Message();

// msgStartCheck.what = MSG_ID_START_CHECK;

// mHandler.sendMessageDelayed(msgStartCheck, 3000);

Message msgHB1 = new Message();

msgHB1.what = Constant.MSG_ID_HEART_BREAK_RECEIVE;//启动心跳包检测循环

//mHandler.sendMessage(msgHB1);

Message msgHB2 = new Message();

msgHB2.what = Constant.MSG_ID_HEART_BREAK_SEND;//启动心跳包循环发送

//mHandler.sendMessage(msgHB2);

break;

case Constant.MSG_ID_ERR_CONN:

mLogText.setText("连接WiFiCar控制地址失败!");

Log.i("mLogText","连接WiFiCar控制地址失败!");

break;

case Constant.MSG_ID_CLEAR_QUIT_FLAG:

mQuitFlag = false;

break;

case Constant.MSG_ID_START_CHECK:

mLogText.setText("开始进行自检，请稍等。。。。!!");

Log.i("mLogText","开始进行自检，请稍等。。。。!!");

//TODO:bReaddyToSendCmd应该放在哪里？

//bReaddyToSendCmd = true;

mWiFiCarControler.selfcheck();

break;

case Constant.MSG_ID_HEART_BREAK_RECEIVE:

if (mHeartBreakCounter == 0) {

bHeartBreakFlag = false;

} else if (mHeartBreakCounter > 0) {

bHeartBreakFlag = true;

} else {

mLogText.setText("心跳包出现异常，已经忽略...");

Log.i("heart","心跳包出现异常，已经忽略...");

}

Log.i("heart", "handle MSG_ID_HEART_BREAK_RECEIVE :flag=" + bHeartBreakFlag);

if (mLastCounter == 0 && mHeartBreakCounter > 0) {

startIconAnimation();

}

mLastCounter = mHeartBreakCounter;

mHeartBreakCounter = 0;

Message msgHB = new Message();

msgHB.what = Constant.MSG_ID_HEART_BREAK_RECEIVE;//启动心跳包检测循环

mHandler.sendMessageDelayed(msgHB, Constant.HEART_BREAK_CHECK_INTERVAL);

break;

case Constant.MSG_ID_HEART_BREAK_SEND:

Message msgSB = new Message();

msgSB.what = Constant.MSG_ID_HEART_BREAK_SEND;//循环向路由器发送心跳包

Log.i("heart", "handle MSG_ID_HEART_BREAK_SEND");

mWiFiCarControler.sendCommand(Constant.COMM_HEART_BREAK);

mHandler.sendMessageDelayed (msgSB, Constant.HEART_BREAK_SEND_INTERVAL);

break;

default :

break;

}

super.handleMessage(msg);

}

};

@Override

public void onCreate(Bundle savedInstanceState) { //每个android App一启动都会调用的函数

super.onCreate(savedInstanceState);

Log.i("SurfaceStatus","onCreate");

mContext = this;

//TODO:以后可以把mHandler、mLogText都加入mContext中

mWiFiCarControler = new WiFiCarController(mHandler, mLogText, mContext);

mVibrator = (Vibrator)this.getSystemService(Service.VIBRATOR_SERVICE);

mSensorMgr = (SensorManager)this.getSystemService(SENSOR_SERVICE); //初始化感应器

sensor = mSensorMgr.getDefaultSensor(Sensor.TYPE_ACCELEROMETER); //实例化一个重力感应sensor

initSettings();

this.requestWindowFeature(Window.FEATURE_NO_TITLE);//隐去标题（应用的名字必须要写在setContentView之前，否则会有异常）

this.getWindow().setFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN,

WindowManager.LayoutParams.FLAG_FULLSCREEN);

setContentView(R.layout.main);

ForWard= (ImageButton)findViewById(R.id.btnForward);

TurnLeft= (ImageButton)findViewById(R.id.btnLeft);

TurnRight=(ImageButton)findViewById(R.id.btnRight);

BackWard= (ImageButton)findViewById(R.id.btnBack);

gravityDetectToggle = (ToggleButton)findViewById(R.id.gravityToggleButton);

speedChangeCheckBox = (CheckBox)findViewById(R.id.speedChangeCheckbox);

buttonCus1= (ImageButton)findViewById(R.id.ButtonCus1);

buttonCus1.setOnClickListener(buttonCus1ClickListener);

//buttonCus1.setOnLongClickListener(buttonCus1ClickListener2);

buttonLen= (ImageButton)findViewById(R.id.btnLen);

buttonLen.setOnClickListener(buttonLenClickListener);

buttonLen.setLongClickable(true);

TakePicture = (ImageButton)findViewById(R.id.ButtonTakePic);

TakePicture.setOnClickListener(buttonTakePicClickListener);

mAnimIndicator = (ImageView)findViewById(R.id.btnIndicator);

mWarningIcon = getResources().getDrawable(R.drawable.sym_indicator1);

ForWardon = getResources().getDrawable(R.drawable.sym_forward_1);

ForWardoff = getResources().getDrawable(R.drawable.sym_forward);

TurnLefton = getResources().getDrawable(R.drawable.sym_left_1);

TurnLeftoff = getResources().getDrawable(R.drawable.sym_left);

TurnRighton = getResources().getDrawable(R.drawable.sym_right_1);

TurnRightoff = getResources().getDrawable(R.drawable.sym_right);

BackWardon = getResources().getDrawable(R.drawable.sym_backward_1);

BackWardoff = getResources().getDrawable(R.drawable.sym_backward);

buttonLenon = getResources().getDrawable(R.drawable.sym_light);

buttonLenoff = getResources().getDrawable(R.drawable.sym_light_off);

//显示视频及按钮的view,即MjpegView

backgroundView = (MjpegView)findViewById(R.id.mySurfaceView1);

backgroundView.setHandler(mHandler);

mLogText = (TextView)findViewById(R.id.logTextView);

if (null != mLogText) {

mLogText.setBackgroundColor(Color.argb(0, 0, 0, 0));//0~255透明度值 255不透明

mLogText.setTextColor(Color.argb(255, 255, 255, 255));

mLogText.setTextSize(10);

}

mSeekBar1 = (com.fei435.SeekBar)findViewById(R.id.gear1);

mSeekBar1.setMax(MAX_GEAR_VALUE);

mSeekBar1.setProgress(INIT_GEAR_VALUE);

mSeekBar1.setOnSeekBarChangeListener(this);

mSeekBar2 = (com.fei435.SeekBar)findViewById(R.id.gear2);

mSeekBar2.setMax(MAX_GEAR_VALUE);

mSeekBar2.setProgress(INIT_GEAR_VALUE);

mSeekBar2.setOnSeekBarChangeListener(this);

mSpeedSeekBar1 = (android.widget.SeekBar)findViewById(R.id.seekBarSpeed1);

mSpeedSeekBar1.setMax(MAX_GEAR_VALUE_1);

mSpeedSeekBar1.setProgress(INIT_GEAR_VALUE_1);

mSpeedSeekBar1.setOnSeekBarChangeListener(this);

editTextSpeed1 = (EditText)findViewById(R.id.editTextSpeed1);

editTextSpeed1.setText(INIT_GEAR_VALUE_1+"");

mSpeedSeekBar2 = (android.widget.SeekBar)findViewById(R.id.seekBarSpeed2);

mSpeedSeekBar2.setMax(MAX_GEAR_VALUE_2);

mSpeedSeekBar2.setProgress(INIT_GEAR_VALUE_2);

mSpeedSeekBar2.setOnSeekBarChangeListener(this);

editTextSpeed2 = (EditText)findViewById(R.id.editTextSpeed2);

editTextSpeed2.setText(INIT_GEAR_VALUE_2+"");

buttonLen.setKeepScreenOn(true);

ForWard.setOnTouchListener( new View.OnTouchListener(){

public boolean onTouch(View v, MotionEvent event) {

int action = event.getAction();

switch(action)

{

case MotionEvent.ACTION_DOWN:

mVibrator.vibrate(100);

mWiFiCarControler.sendCommand(Constant.COMM_FORWARD); //发送前进命令

ForWard.setImageDrawable(ForWardon);

ForWard.invalidateDrawable(ForWardon);

break;

case MotionEvent.ACTION_UP:

mWiFiCarControler.sendCommand(Constant.COMM_STOP);

ForWard.setImageDrawable(ForWardoff);

ForWard.invalidateDrawable(ForWardoff);

break;

}

return false;

}

});

BackWard.setOnTouchListener(new View.OnTouchListener()

{

public boolean onTouch(View v, MotionEvent event) {

int action = event.getAction();

switch(action)

{

case MotionEvent.ACTION_DOWN:

mVibrator.vibrate(100);

mWiFiCarControler.sendCommand(Constant.COMM_BACKWARD); //发送后退命令

BackWard.setImageDrawable(BackWardon);

BackWard.invalidateDrawable(BackWardon);

break;

case MotionEvent.ACTION_UP:

mWiFiCarControler.sendCommand(Constant.COMM_STOP);

BackWard.setImageDrawable(BackWardoff);

BackWard.invalidateDrawable(BackWardoff);

break;

}

return false;

}

});

TurnRight.setOnTouchListener(new View.OnTouchListener()

{

public boolean onTouch(View v, MotionEvent event) {

int action = event.getAction();

switch(action)

{

case MotionEvent.ACTION_DOWN:

mVibrator.vibrate(100);

mWiFiCarControler.sendCommand(Constant.COMM_RIGHT);

TurnRight.setImageDrawable(TurnRighton);

TurnRight.invalidateDrawable(TurnRighton);

break;

case MotionEvent.ACTION_UP:

mWiFiCarControler.sendCommand(Constant.COMM_STOP);

TurnRight.setImageDrawable(TurnRightoff);

TurnRight.invalidateDrawable(TurnRightoff);

break;

}

return false;

}

});

TurnLeft.setOnTouchListener(new View.OnTouchListener()

{

public boolean onTouch(View v, MotionEvent event) {

int action = event.getAction();

switch(action)

{

case MotionEvent.ACTION_DOWN:

mVibrator.vibrate(100);

mWiFiCarControler.sendCommand(Constant.COMM_LEFT);

TurnLeft.setImageDrawable(TurnLefton);

TurnLeft.invalidateDrawable(TurnLefton);

break;

case MotionEvent.ACTION_UP:

mWiFiCarControler.sendCommand(Constant.COMM_STOP);

TurnLeft.setImageDrawable(TurnLeftoff);

TurnLeft.invalidateDrawable(TurnLeftoff);

break;

}

return false;

}

});

SensorEventListener lsn = new SensorEventListener(){

public void onSensorChanged (SensorEvent e){

if(bGravityDetectOn){

float x = e.values[SensorManager.DATA_X];

float y = e.values[SensorManager.DATA_Y];

float z = e.values[SensorManager.DATA_Z];

if (x < 2)

{

//不要一直重复发送命令造成单片机负担

if(lastCommand != Constant.COMM_FORWARD[2]){

mWiFiCarControler.sendCommand(Constant.COMM_FORWARD); //发送前进命令//前进

}

lastCommand = Constant.COMM_FORWARD[2];

}

else if (x > 7)

{

if(lastCommand != Constant.COMM_FORWARD[2]){

mWiFiCarControler.sendCommand(Constant.COMM_BACKWARD); //发送后退命令//后退

}

lastCommand = Constant.COMM_BACKWARD[2];

}

else if (y < -1)

{

if(lastCommand != Constant.COMM_LEFT[2]){

mWiFiCarControler.sendCommand(Constant.COMM_LEFT); //发送后退命令//左

}

lastCommand = Constant.COMM_LEFT[2];

}

else if (y > 1)

{

if(lastCommand != Constant.COMM_RIGHT[2]){

mWiFiCarControler.sendCommand(Constant.COMM_RIGHT); //发送后退命令//右

}

lastCommand = Constant.COMM_RIGHT[2];

}

else

{

if(lastCommand != Constant.COMM_STOP[2]){

mWiFiCarControler.sendCommand(Constant.COMM_STOP); //发送后退命令//停

}

lastCommand = Constant.COMM_STOP[2];

}

}

}

public void onAccuracyChanged (Sensor s, int accuracy){

}

};

mSensorMgr.registerListener (lsn, sensor, SensorManager.SENSOR_DELAY_GAME);

gravityDetectToggle.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {

public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {

if (isChecked) {

bGravityDetectOn = true;

}else {

bGravityDetectOn = false;

}

}

}

);

speedChangeCheckBox.setOnCheckedChangeListener (new CompoundButton.OnCheckedChangeListener()

{

public void onCheckedChanged (CompoundButton buttonView, boolean isChecked)

{

if (isChecked){

//editText1.setText(buttonView.getText() + "选中");

mSpeedSeekBar1.setVisibility(View.VISIBLE);

mSpeedSeekBar2.setVisibility(View.VISIBLE);

editTextSpeed1.setVisibility(View.VISIBLE);

editTextSpeed2.setVisibility(View.VISIBLE);

}

else{

//editText1.setText(buttonView.getText() + "取消选中");

mSpeedSeekBar1.setVisibility(View.INVISIBLE);

mSpeedSeekBar2.setVisibility(View.INVISIBLE);

editTextSpeed1.setVisibility(View.INVISIBLE);

editTextSpeed2.setVisibility(View.INVISIBLE);

}

}

});

editTextSpeed1.setOnEditorActionListener(new OnEditorActionListener() {

@Override

public boolean onEditorAction(TextView v, int actionId, KeyEvent event) {

String str = editTextSpeed1.getText().toString();

int value = Integer.parseInt(str);

mSpeedSeekBar1.setProgress(value);

Message msg = new Message();

msg.what = Constant.MSG_ID_SET_SPEED;

//拆分并转换一个int为两个byte 十六进制

Constant.COMM_SPEED_VALUE_1[2] = (byte)(value >> 8);

Constant.COMM_SPEED_VALUE_1[3] = (byte)(value);

Log.i("speed", "set speed(十进制):"+value);

msg.obj = Constant.COMM_SPEED_VALUE_1;

mHandler.sendMessage(msg);

return false;

}

});

editTextSpeed2.setOnEditorActionListener(new OnEditorActionListener() {

@Override

public boolean onEditorAction(TextView v, int actionId, KeyEvent event) {

String str = editTextSpeed2.getText().toString();

int value = Integer.parseInt(str);

mSpeedSeekBar2.setProgress(value);

Message msg = new Message();

msg.what = Constant.MSG_ID_SET_SPEED;

//拆分并转换一个int为两个byte 十六进制

Constant.COMM_SPEED_VALUE_2[2] = (byte)(value >> 8);

Constant.COMM_SPEED_VALUE_2[3] = (byte)(value);

Log.i("speed", "set speed(十进制):"+value);

msg.obj = Constant.COMM_SPEED_VALUE_2;

mHandler.sendMessage(msg);

return false;

}

});

//connect

//connectToRouter(m4test); //连接路由器 这里不用再连接了 在onResume中连接

//245368746(小白热爱的QQ)

}

private OnClickListener buttonLenClickListener = new OnClickListener() {

public void onClick(View arg0) {

mVibrator.vibrate(100);

if (bCaptureOn) {

bCaptureOn = false;

//sendCommand(COMM_LEN_OFF);

Log.i("ScreenCapture", "button turn off capture clicked");

backgroundView.toggleVideoCapture();

buttonLen.setImageDrawable(buttonLenoff);

buttonLen.invalidateDrawable(buttonLenon);

} else {

bCaptureOn = true;

//sendCommand(COMM_LEN_ON);

Log.i("ScreenCapture", "button turn on capture clicked");

backgroundView.toggleVideoCapture();

buttonLen.setImageDrawable(buttonLenon);

buttonLen.invalidateDrawable(buttonLenon);

}

}

};

private OnClickListener buttonTakePicClickListener = new OnClickListener() {

public void onClick(View arg0) {

mVibrator.vibrate(100);

if (null != backgroundView) {

backgroundView.saveBitmap();

}

}

};

private OnClickListener buttonCus1ClickListener = new OnClickListener() {

public void onClick(View arg0) {

mVibrator.vibrate(100);

Log.i("settingclick","buttonCus1ClickListener");

mWiFiCarControler.disconnFromRouter();

Intent setIntent = new Intent();

setIntent.setClass(mContext, WifiCarSettings.class);

startActivity(setIntent);

}

};

/* private OnLongClickListener buttonCus1ClickListener2 = new OnLongClickListener() {

public boolean onLongClick(View arg0) {

Log.i("settingclick","buttonCus1ClickListener2");

mThreadFlag = false;

try {

if (null != mThreadClient)

mThreadClient.join(); // wait for second to finish

} catch (InterruptedException e) {

Log.i("mLogText","关闭路由器监听进程失败。。。" + e.getMessage());

}

return false;

}

};*/

private void inspectParam(){

Log.i("inspect", "CAMERA_VIDEO_URL"+Constant.CAMERA_VIDEO_URL);

Log.i("inspect", "ROUTER_CONTROL_URL"+Constant.ROUTER_CONTROL_URL);

Log.i("inspect", "ROUTER_CONTROL_PORT"+Constant.ROUTER_CONTROL_PORT);

Log.i("inspect", "m4test"+Constant.m4test);

}

private void initSettings () {

SharedPreferences settings = PreferenceManager.getDefaultSharedPreferences(this);

//DEFAULT_VALUE_CAMERA_URL,DEFAULT_VALUE_CAMERA_URL_TEST都是获取失败后默认的地址

Constant.CAMERA_VIDEO_URL = settings.getString(Constant.PREF_KEY_CAMERA_URL, Constant.DEFAULT_VALUE_CAMERA_URL);

Constant.CAMERA_VIDEO_URL_TEST = settings.getString(Constant.PREF_KEY_CAMERA_URL_TEST, Constant.DEFAULT_VALUE_CAMERA_URL_TEST);

// if (!settings.contains(Constant.PREF_KEY_CAMERA_URL)) {

// settings.edit().putString(Constant.PREF_KEY_CAMERA_URL, Constant.DEFAULT_VALUE_CAMERA_URL);

// }

// if(!settings.contains(Constant.PREF_KEY_CAMERA_URL_TEST)){

// settings.edit().putString(Constant.PREF_KEY_CAMERA_URL_TEST, Constant.DEFAULT_VALUE_CAMERA_URL_TEST);

// }

//DEFAULT_VALUE_ROUTER_URL是获取sharedPreference失败后的默认地址

String RouterUrl = settings.getString(Constant.PREF_KEY_ROUTER_URL, Constant.DEFAULT_VALUE_ROUTER_URL);

int index = RouterUrl.indexOf(":");

String routerIP = "";

String routerPort = "";

int port = 0;

if (index > 0) {

routerIP = RouterUrl.substring(0, index);

routerPort = RouterUrl.substring(index+1, RouterUrl.length() );

port = Integer.parseInt(routerPort);

}

Constant.ROUTER_CONTROL_URL = routerIP;

Constant.ROUTER_CONTROL_PORT = port;

// if (!settings.contains(Constant.PREF_KEY_ROUTER_URL)) {

// settings.edit().putString(Constant.PREF_KEY_ROUTER_URL, Constant.DEFAULT_VALUE_ROUTER_URL);

// }

RouterUrl = settings.getString(Constant.PREF_KEY_ROUTER_URL_TEST, Constant.DEFAULT_VALUE_ROUTER_URL_TEST);

index = RouterUrl.indexOf(":");

if (index > 0) {

routerIP = RouterUrl.substring(0, index);

routerPort = RouterUrl.substring(index+1, RouterUrl.length() );

port = Integer.parseInt(routerPort);

}

Constant.ROUTER_CONTROL_URL_TEST = routerIP;

Constant.ROUTER_CONTROL_PORT_TEST = port;

// if(!settings.contains(Constant.PREF_KEY_ROUTER_URL_TEST)){

// settings.edit().putString(Constant.PREF_KEY_ROUTER_URL_TEST, Constant.DEFAULT_VALUE_ROUTER_URL_TEST);

// }

Constant.m4test = settings.getBoolean(Constant.PREF_KEY_TEST_MODE_ENABLED, false);

// if(!settings.contains(Constant.PREF_KEY_TEST_MODE_ENABLED)){

// settings.edit().putBoolean(Constant.PREF_KEY_TEST_MODE_ENABLED, false);

// }

initLenControl(Constant.PREF_KEY_LEN_ON, Constant.DEFAULT_VALUE_LEN_ON);

initLenControl(Constant.PREF_KEY_LEN_OFF, Constant.DEFAULT_VALUE_LEN_OFF);

//inspectParam();

}

void initLenControl (String prefKey, String defaultValue) {

SharedPreferences settings = PreferenceManager.getDefaultSharedPreferences(this);

String comm = settings.getString(prefKey, defaultValue);

CommandArray cmd = new CommandArray(comm);

if (cmd.isValid() ) {

if (Constant.PREF_KEY_LEN_ON.equalsIgnoreCase(prefKey)) {

Constant.COMM_LEN_ON[1] = cmd.mCmd1;

Constant.COMM_LEN_ON[2] = cmd.mCmd2;

Constant.COMM_LEN_ON[3] = cmd.mCmd3;

} else if (Constant.PREF_KEY_LEN_OFF.equalsIgnoreCase(prefKey)) {

Constant.COMM_LEN_OFF[1] = cmd.mCmd1;

Constant.COMM_LEN_OFF[2] = cmd.mCmd2;

Constant.COMM_LEN_OFF[3] = cmd.mCmd3;

} else {

Log.i("Main", "unknow prefKey:" + prefKey);

}

} else {

Log.i("Main", "error format of command:" + comm);

}

}

private void handleCallback(byte[] command) {

if (null == command || command.length != Constant.COMMAND_LENGTH) {

return;

}

byte cmd1 = command[1];

byte cmd2 = command[2];

//byte cmd3 = command[3];

if (command[0] != Constant.COMMAND_PERFIX || command[Constant.COMMAND_LENGTH-1] != Constant.COMMAND_PERFIX) {

return;

}

if (cmd1 != 0xEE) {

Log.i("Socket", "unknow command from router, ignore it! cmd1=" + cmd1);

return;

}

switch (cmd2) {

case (byte)0xE1:

Log.i("heart","收到小车心跳包 ！");

handleHeartBreak();

break;

// case (byte)0xE2:

// handleHeartBreak();

// break;

default:

break;

}

}

private boolean isIconAnimationEnabled () {

//return bAnimationEnabled && bHeartBreakFlag;

return bAnimationEnabled;

}

private boolean mIconAnimationState = false;

/** Icon animation handler for flashing warning alerts. */

private final Handler mAnimationHandler = new Handler() {

@Override

public void handleMessage(Message msg) {

if (mIconAnimationState) {

mAnimIndicator.setAlpha(255);

if (isIconAnimationEnabled()) {

mAnimationHandler.sendEmptyMessageDelayed(0, WARNING_ICON_ON_DURATION_MSEC);

}

} else {

mAnimIndicator.setAlpha(0);

if (isIconAnimationEnabled()) {

mAnimationHandler.sendEmptyMessageDelayed(0, WARNING_ICON_OFF_DURATION_MSEC);

}

}

mIconAnimationState = !mIconAnimationState;

mAnimIndicator.invalidateDrawable(mWarningIcon);

}

};

private void startIconAnimation() {

Log.i("Animation", "startIconAnimation handler : " + mAnimationHandler);

if (mAnimIndicator != null) {

mAnimIndicator.setImageDrawable(mWarningIcon);

}

if (isIconAnimationEnabled())

mAnimationHandler.sendEmptyMessageDelayed(0, WARNING_ICON_ON_DURATION_MSEC);

}

private void handleHeartBreak() {

Log.i("heart", "handleHeartBreak");

mHeartBreakCounter++;

bHeartBreakFlag = true;

}

private void stopIconAnimation() {

mAnimationHandler.removeMessages(0);

}

public void onProgressChanged(com.fei435.SeekBar seekBar, int progress, boolean fromUserh) {

if(seekBar == mSeekBar1){

if (Math.abs(progress - mSeekBarValue1) > MIN_GEAR_STEP) {

Log.i("mLogText","change angle: " + progress);

mSeekBarValue1 = progress;

Constant.COMM_GEAR_CONTROL_1[3] = (byte)progress;

mWiFiCarControler.sendCommand(Constant.COMM_GEAR_CONTROL_1);

}

}else if(seekBar == mSeekBar2){

if (Math.abs(progress - mSeekBarValue2) > MIN_GEAR_STEP) {

Log.i("mLogText","change angle: " + progress);

mSeekBarValue2 = progress;

Constant.COMM_GEAR_CONTROL_2[3] = (byte)progress;

mWiFiCarControler.sendCommand(Constant.COMM_GEAR_CONTROL_2);

}

}

}

public void onProgressChanged(android.widget.SeekBar seekBar, int progress, boolean fromUser) {

if(seekBar == mSpeedSeekBar1){

if (Math.abs(progress - mSpeedSeekBarValue1) > MIN_GEAR_STEP_1) {

Log.i("mLogText","change speed: " + progress);

editTextSpeed1.setText(progress+"");

mSpeedSeekBarValue1 = progress;

Message msg = new Message();

msg.what = Constant.MSG_ID_SET_SPEED;

//拆分并转换一个int为两个byte 十六进制

Constant.COMM_SPEED_VALUE_1[2] = (byte)(progress >> 8);

Constant.COMM_SPEED_VALUE_1[3] = (byte)(progress);

Log.i("speed", "set speed(十进制):"+progress);

msg.obj = Constant.COMM_SPEED_VALUE_1;

mHandler.sendMessage(msg);

}

}else if(seekBar == mSpeedSeekBar2){

if (Math.abs(progress - mSpeedSeekBarValue2) > MIN_GEAR_STEP_2) {

Log.i("mLogText","change speed: " + progress);

editTextSpeed2.setText(progress+"");

mSpeedSeekBarValue2 = progress;

Message msg = new Message();

msg.what = Constant.MSG_ID_SET_SPEED;

//拆分并转换一个int为两个byte 十六进制

Constant.COMM_SPEED_VALUE_2[2] = (byte)(progress >> 8);

Constant.COMM_SPEED_VALUE_2[3] = (byte)(progress);

Log.i("speed", "set speed(十进制):"+progress);

msg.obj = Constant.COMM_SPEED_VALUE_2;

mHandler.sendMessage(msg);

}

}

}

public void onStartTrackingTouch(SeekBar seekBar) {

}

public void onStopTrackingTouch(SeekBar seekBar) {

}

public void onDestroy() {

super.onDestroy();

Log.i("SurfaceStatus","onDestroy");

mWiFiCarControler.disconnFromRouter();

stopIconAnimation();

}

protected void onResume() {

super.onResume();

Log.i("SurfaceStatus","onResume");

if(Constant.CURRENT_WIFI_STATE == Constant.WIFI_STATE_CONNECTED){

String cameraUrl = null;

if (Constant.m4test) {

cameraUrl = Constant.CAMERA_VIDEO_URL_TEST;

} else {

cameraUrl = Constant.CAMERA_VIDEO_URL;

}

if (null != cameraUrl && cameraUrl.length() > 4) {

backgroundView.setSource(cameraUrl);//初始化Camera ,并startPlayback()

backgroundView.resumePlayback();

}

}

mWiFiCarControler.connectToRouter();

}

protected void onPause() {

super.onPause();

Log.i("SurfaceStatus", "onPause");

mWiFiCarControler.disconnFromRouter();

}

@Override

public void onBackPressed() {

if (mQuitFlag) {

finish();

} else {

mQuitFlag = true;

Toast.makeText(mContext, "请再次按返回键退出应用", Toast.LENGTH_LONG).show();

Message msg = new Message();

msg.what = Constant.MSG_ID_CLEAR_QUIT_FLAG;

mHandler.sendMessageDelayed(msg, Constant.QUIT_BUTTON_PRESS_INTERVAL);

}

}

public void onStartTrackingTouch(android.widget.SeekBar seekBar) {

// TODO Auto-generated method stub

}

public void onStopTrackingTouch(android.widget.SeekBar seekBar) {

// TODO Auto-generated method stub

}

}