Hello_Area_Description 任务三：Project Tango采集区域描述数据

public class HelloAreaDescriptionActivity extends Activity implements
SetAdfNameDialog.CallbackListener,
SaveAdfTask.SaveAdfListener { private static final String TAG = HelloAreaDescriptionActivity.class.getSimpleName();
private static final int SECS_TO_MILLISECS = 1000;
private Tango mTango;
private TangoConfig mConfig;
private TextView mUuidTextView;
private TextView mRelocalizationTextView; private Button mSaveAdfButton; private double mPreviousPoseTimeStamp;
private double mTimeToNextUpdate = UPDATE_INTERVAL_MS; private boolean mIsRelocalized;
private boolean mIsLearningMode;
private boolean mIsConstantSpaceRelocalize; // Long-running task to save the ADF.
private SaveAdfTask mSaveAdfTask; private static final double UPDATE_INTERVAL_MS = 100.0; private final Object mSharedLock = new Object(); @Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_area_learning);
Intent intent = getIntent();
mIsLearningMode = intent.getBooleanExtra(StartActivity.USE_AREA_LEARNING, false);
mIsConstantSpaceRelocalize = intent.getBooleanExtra(StartActivity.LOAD_ADF, false);
} @Override
protected void onResume() {
super.onResume(); // Initialize Tango Service as a normal Android Service. Since we call mTango.disconnect()
// in onPause, this will unbind Tango Service, so every time onResume gets called we
// should create a new Tango object.每次resume，都会创建一个Tango对象
mTango = new Tango(HelloAreaDescriptionActivity.this, new Runnable() {
@Override
public void run() {
synchronized (HelloAreaDescriptionActivity.this) {
try {
mConfig = setTangoConfig(
mTango, mIsLearningMode, mIsConstantSpaceRelocalize); //设置Tango配置信息
mTango.connect(mConfig); //连接配置信息
startupTango(); //开始Tango()
} catch (TangoOutOfDateException e) {
Log.e(TAG, getString(R.string.tango_out_of_date_exception), e);
showsToastAndFinishOnUiThread(R.string.tango_out_of_date_exception);
} catch (TangoErrorException e) {
Log.e(TAG, getString(R.string.tango_error), e);
showsToastAndFinishOnUiThread(R.string.tango_error);
} catch (TangoInvalidException e) {
Log.e(TAG, getString(R.string.tango_invalid), e);
showsToastAndFinishOnUiThread(R.string.tango_invalid);
} catch (SecurityException e) {
// Area Learning permissions are required. If they are not available,
// SecurityException is thrown.
Log.e(TAG, getString(R.string.no_permissions), e);
showsToastAndFinishOnUiThread(R.string.no_permissions);
}
} runOnUiThread(new Runnable() {
@Override
public void run() {
synchronized (HelloAreaDescriptionActivity.this) {
setupTextViewsAndButtons(mTango, mIsLearningMode,
mIsConstantSpaceRelocalize);
}
}
});
}
});
} @Override
protected void onPause() {
super.onPause(); // 清除重定位状态；我们不知道我们的设备将会在哪里，因为我们的app将会暂停
mIsRelocalized = false;
synchronized (this) {
try {
mTango.disconnect();
} catch (TangoErrorException e) {
Log.e(TAG, getString(R.string.tango_error), e);
}
}
} /**
* Sets Texts views to display statistics of Poses being received. This also sets the buttons
* used in the UI. Note that this needs to be called after TangoService and Config
* objects are initialized since we use them for the SDK-related stuff like version number,
* etc.
*/
private void setupTextViewsAndButtons(Tango tango, boolean isLearningMode, boolean isLoadAdf) {
mSaveAdfButton = (Button) findViewById(R.id.save_adf_button);
mUuidTextView = (TextView) findViewById(R.id.adf_uuid_textview);
mRelocalizationTextView = (TextView) findViewById(R.id.relocalization_textview); if (isLearningMode) {
// Disable save ADF button until Tango relocalizes to the current ADF.
mSaveAdfButton.setEnabled(false);
} else {
// Hide to save ADF button if leanring mode is off.
mSaveAdfButton.setVisibility(View.GONE);
} if (isLoadAdf) {
ArrayList<String> fullUuidList;
// Returns a list of ADFs with their UUIDs.
fullUuidList = tango.listAreaDescriptions();
if (fullUuidList.size() == 0) {
mUuidTextView.setText(R.string.no_uuid);
} else {
mUuidTextView.setText(getString(R.string.number_of_adfs) + fullUuidList.size()
+ getString(R.string.latest_adf_is)
+ fullUuidList.get(fullUuidList.size() - 1));
}
}
} /**
* Sets up the Tango configuration object. Make sure mTango object is initialized before
* making this call.
*/
private TangoConfig setTangoConfig(Tango tango, boolean isLearningMode, boolean isLoadAdf) {
// Use default configuration for Tango Service.
TangoConfig config = tango.getConfig(TangoConfig.CONFIG_TYPE_DEFAULT);
// Check if learning mode.
if (isLearningMode) {
// Set learning mode to config.
config.putBoolean(TangoConfig.KEY_BOOLEAN_LEARNINGMODE, true); }
// Check for Load ADF/Constant Space relocalization mode.
if (isLoadAdf) {
ArrayList<String> fullUuidList;
// Returns a list of ADFs with their UUIDs.
fullUuidList = tango.listAreaDescriptions();
// Load the latest ADF if ADFs are found.
if (fullUuidList.size() > 0) {
config.putString(TangoConfig.KEY_STRING_AREADESCRIPTION,
fullUuidList.get(fullUuidList.size() - 1));
}
}
return config;
} /**
* Set up the callback listeners for the Tango Service and obtain other parameters required
* after Tango connection.
*/
private void startupTango() {
// Set Tango listeners for Poses Device wrt Start of Service, Device wrt
// ADF and Start of Service wrt ADF.
ArrayList<TangoCoordinateFramePair> framePairs = new ArrayList<TangoCoordinateFramePair>();
framePairs.add(new TangoCoordinateFramePair(
TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE,
TangoPoseData.COORDINATE_FRAME_DEVICE));
framePairs.add(new TangoCoordinateFramePair(
TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION,
TangoPoseData.COORDINATE_FRAME_DEVICE));
framePairs.add(new TangoCoordinateFramePair(
TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION,
TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE)); mTango.connectListener(framePairs, new OnTangoUpdateListener() { @Override
public void onPoseAvailable(TangoPoseData pose) {
// Make sure to have atomic access to Tango data so that UI loop doesn't interfere
// while Pose call back is updating the data.
synchronized (mSharedLock) {
// Check for Device wrt ADF pose, Device wrt Start of Service pose, Start of
// Service wrt ADF pose (this pose determines if the device is relocalized or
// not).
if (pose.baseFrame == TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION
&& pose.targetFrame == TangoPoseData
.COORDINATE_FRAME_START_OF_SERVICE) {
if (pose.statusCode == TangoPoseData.POSE_VALID) {
mIsRelocalized = true;
} else {
mIsRelocalized = false;
}
}
} final double deltaTime = (pose.timestamp - mPreviousPoseTimeStamp) *
SECS_TO_MILLISECS;
mPreviousPoseTimeStamp = pose.timestamp;
mTimeToNextUpdate -= deltaTime; if (mTimeToNextUpdate < 0.0) {
mTimeToNextUpdate = UPDATE_INTERVAL_MS; runOnUiThread(new Runnable() {
@Override
public void run() {
synchronized (mSharedLock) {
mSaveAdfButton.setEnabled(mIsRelocalized);
mRelocalizationTextView.setText(mIsRelocalized ?
getString(R.string.localized) :
getString(R.string.not_localized));
}
}
});
}
} @Override
public void onXyzIjAvailable(TangoXyzIjData xyzIj) {
// We are not using onXyzIjAvailable for this app.
} @Override
public void onPointCloudAvailable(TangoPointCloudData xyzij) {
// We are not using onPointCloudAvailable for this app.
} @Override
public void onTangoEvent(final TangoEvent event) {
// Ignoring TangoEvents.
} @Override
public void onFrameAvailable(int cameraId) {
// We are not using onFrameAvailable for this application.
}
});
} /**
* Implements SetAdfNameDialog.CallbackListener.
*/
@Override
public void onAdfNameOk(String name, String uuid) {
saveAdf(name);
} /**
* Implements SetAdfNameDialog.CallbackListener.
*/
@Override
public void onAdfNameCancelled() {
// Continue running.
} /**
* The "Save ADF" button has been clicked.
* Defined in {@code activity_area_description.xml}
*/
public void saveAdfClicked(View view) {
showSetAdfNameDialog();
} /**
* Save the current Area Description File.
* Performs saving on a background thread and displays a progress dialog.
*/
private void saveAdf(String adfName) {
mSaveAdfTask = new SaveAdfTask(this, this, mTango, adfName);
mSaveAdfTask.execute();
} /**
* Handles failed save from mSaveAdfTask.
*/
@Override
public void onSaveAdfFailed(String adfName) {
String toastMessage = String.format(
getResources().getString(R.string.save_adf_failed_toast_format),
adfName);
Toast.makeText(this, toastMessage, Toast.LENGTH_LONG).show();
mSaveAdfTask = null;
} /**
* 保存Adf成功处理
*/
@Override
public void onSaveAdfSuccess(String adfName, String adfUuid) {
String toastMessage = String.format(
getResources().getString(R.string.save_adf_success_toast_format),
adfName, adfUuid);
Toast.makeText(this, toastMessage, Toast.LENGTH_LONG).show();
mSaveAdfTask = null;
finish();
} /**
* 显示设置ADF名字的对话框
*/
private void showSetAdfNameDialog() {
Bundle bundle = new Bundle();
bundle.putString(TangoAreaDescriptionMetaData.KEY_NAME, "New ADF");
// ADF保存之后UUID产生
bundle.putString(TangoAreaDescriptionMetaData.KEY_UUID, ""); FragmentManager manager = getFragmentManager();
SetAdfNameDialog setAdfNameDialog = new SetAdfNameDialog();
setAdfNameDialog.setArguments(bundle);
setAdfNameDialog.show(manager, "ADFNameDialog");
} /**
* Display toast on UI thread.在UI线程显示文字
*
* @param resId The resource id of the string resource to use. Can be formatted text. 字符串资源id
*/
private void showsToastAndFinishOnUiThread(final int resId) {
runOnUiThread(new Runnable() {
@Override
public void run() {
Toast.makeText(HelloAreaDescriptionActivity.this,
getString(resId), Toast.LENGTH_LONG).show();
finish();
}
});
}
}