From a080d8317fb895987ed498267517f92b5ae1ef73 Mon Sep 17 00:00:00 2001
From: Dominik Grzelak <dominik.grzelak@tu-dresden.de>
Date: Tue, 24 Jul 2018 10:58:43 +0200
Subject: [PATCH] orientation with quaternions can now be transmitted too
---
.../inf/st/sensorsharing/MainActivity.java | 22 +++++++++++++++++++
mobile/src/main/res/layout/activity_main.xml | 12 +++++++++-
mobile/src/main/res/values/strings.xml | 1 +
3 files changed, 34 insertions(+), 1 deletion(-)
diff --git a/mobile/src/main/java/de/tudresden/inf/st/sensorsharing/MainActivity.java b/mobile/src/main/java/de/tudresden/inf/st/sensorsharing/MainActivity.java
index 7cb74e1..6e03261 100644
--- a/mobile/src/main/java/de/tudresden/inf/st/sensorsharing/MainActivity.java
+++ b/mobile/src/main/java/de/tudresden/inf/st/sensorsharing/MainActivity.java
@@ -226,9 +226,11 @@ public class MainActivity extends AppCompatActivity implements
private void setupSendUpdatesCheckbox() {
final CheckBox sendUpdates = findViewById(R.id.checkBox_send_brightness);
final CheckBox sendUpdatesRotation = findViewById(R.id.checkBox_send_rotation_ahrs);
+ final CheckBox sendUpdatesRotationQuat = findViewById(R.id.checkBox_send_rotation_quaternion);
sendMqttUpdates.put(phoneTopics.mqtt_topic_brightness, sendUpdates.isChecked());
sendMqttUpdates.put(phoneTopics.mqtt_topic_rotation_ahrs, sendUpdatesRotation.isChecked());
+ sendMqttUpdates.put(phoneTopics.mqtt_topic_rotation, sendUpdatesRotationQuat.isChecked());
CompoundButton.OnCheckedChangeListener onCheckedChangeListener = new CompoundButton.OnCheckedChangeListener() {
@Override
@@ -240,11 +242,15 @@ public class MainActivity extends AppCompatActivity implements
case R.id.checkBox_send_rotation_ahrs:
sendMqttUpdates.put(phoneTopics.mqtt_topic_rotation_ahrs, sendUpdatesRotation.isChecked());
break;
+ case R.id.checkBox_send_rotation_quaternion:
+ sendMqttUpdates.put(phoneTopics.mqtt_topic_rotation, sendUpdatesRotationQuat.isChecked());
+ break;
}
}
};
sendUpdates.setOnCheckedChangeListener(onCheckedChangeListener);
sendUpdatesRotation.setOnCheckedChangeListener(onCheckedChangeListener);
+ sendUpdatesRotationQuat.setOnCheckedChangeListener(onCheckedChangeListener);
}
private void setName() {
@@ -485,8 +491,10 @@ public class MainActivity extends AppCompatActivity implements
* Whether the data is really published depends on the checkboxes.
*/
private void sendUpdateOfSmartphone() {
+
ObjectMapper mapper = new ObjectMapper();
+ // Brightness data
HashMap<String, Float> dataLight = new HashMap<>();
dataLight.put("brightness", mLightValue);
try {
@@ -496,6 +504,7 @@ public class MainActivity extends AppCompatActivity implements
e.printStackTrace();
}
+ // AHRS data
filter.Update(gyroVectorValues[0], gyroVectorValues[1], gyroVectorValues[2],
accelVectorValues[0], accelVectorValues[1], accelVectorValues[2],
magVectorValues[0], magVectorValues[1], magVectorValues[2]);
@@ -514,6 +523,19 @@ public class MainActivity extends AppCompatActivity implements
} catch (JsonProcessingException e) {
e.printStackTrace();
}
+
+ // Quaternion data
+ HashMap<String, Float> dataQuat = new HashMap<>();
+ dataQuat.put("x", mRotationVectorValues[0]);
+ dataQuat.put("y", mRotationVectorValues[1]);
+ dataQuat.put("z", mRotationVectorValues[2]);
+ //dataQuat.put("w", mRotationVectorValues[3]);
+ try {
+ String s = mapper.writeValueAsString(dataQuat);
+ sendUpdate(phoneTopics.mqtt_topic_rotation, s);
+ } catch (JsonProcessingException e) {
+ e.printStackTrace();
+ }
}
private void sendUpdate(String topic, String newValue) {
diff --git a/mobile/src/main/res/layout/activity_main.xml b/mobile/src/main/res/layout/activity_main.xml
index c1bdc74..e68e0a0 100644
--- a/mobile/src/main/res/layout/activity_main.xml
+++ b/mobile/src/main/res/layout/activity_main.xml
@@ -257,6 +257,16 @@
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toBottomOf="@+id/checkBox_send_brightness" />
+ <CheckBox
+ android:id="@+id/checkBox_send_rotation_quaternion"
+ android:layout_width="wrap_content"
+ android:layout_height="wrap_content"
+ android:layout_marginStart="8dp"
+ android:layout_marginTop="8dp"
+ android:text="@string/send_updates_rotation_quaternion"
+ app:layout_constraintStart_toStartOf="parent"
+ app:layout_constraintTop_toBottomOf="@+id/checkBox_send_rotation_ahrs" />
+
<TextView
android:id="@+id/label_wear_status"
android:layout_width="wrap_content"
@@ -277,7 +287,7 @@
android:textOff="@string/switch_light_on"
android:textOn="@string/switch_light_off"
app:layout_constraintStart_toStartOf="parent"
- app:layout_constraintTop_toBottomOf="@+id/checkBox_send_rotation_ahrs" />
+ app:layout_constraintTop_toBottomOf="@+id/checkBox_send_rotation_quaternion" />
</android.support.constraint.ConstraintLayout>
</ScrollView>
diff --git a/mobile/src/main/res/values/strings.xml b/mobile/src/main/res/values/strings.xml
index c7474e2..14a7d53 100644
--- a/mobile/src/main/res/values/strings.xml
+++ b/mobile/src/main/res/values/strings.xml
@@ -16,4 +16,5 @@
<string name="switch_on">Switch On</string>
<string name="switch_light_on">Switch Light ON</string>
<string name="switch_light_off">Switch Light OFF</string>
+ <string name="send_updates_rotation_quaternion">Send Updates Rotation (Quaternion)</string>
</resources>
--
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