├── app ├── .gitignore ├── src │ ├── main │ │ ├── assets │ │ │ └── www.zip │ │ ├── res │ │ │ └── values │ │ │ │ └── strings.xml │ │ ├── AndroidManifest.xml │ │ └── java │ │ │ └── com │ │ │ └── sysolve │ │ │ └── androidthings │ │ │ ├── utils │ │ │ ├── Unzip.java │ │ │ ├── HttpServer.java │ │ │ └── BoardSpec.java │ │ │ ├── contrib │ │ │ └── driver │ │ │ │ └── ws2812b │ │ │ │ ├── ColorToBitPatternConverter.java │ │ │ │ ├── ColorChannelSequence.java │ │ │ │ ├── Ws2812b.java │ │ │ │ └── TwelveBitIntToBitPatternMapper.java │ │ │ └── cameracar │ │ │ ├── DoorbellCamera.java │ │ │ └── MainActivity.java │ ├── test │ │ └── java │ │ │ └── com │ │ │ └── sysolve │ │ │ └── androidthings │ │ │ └── cameracar │ │ │ └── ExampleUnitTest.java │ └── androidTest │ │ └── java │ │ └── com │ │ └── sysolve │ │ └── androidthings │ │ └── cameracar │ │ └── ExampleInstrumentedTest.java ├── proguard-rules.pro └── build.gradle ├── settings.gradle ├── photos ├── car_v0.1.jpg └── car_v0.1_control.png ├── gradle └── wrapper │ ├── gradle-wrapper.jar │ └── gradle-wrapper.properties ├── .idea ├── vcs.xml ├── modules.xml ├── runConfigurations.xml └── misc.xml ├── gradle.properties ├── README.md ├── .gitignore ├── gradlew.bat ├── gradlew └── LICENSE /app/.gitignore: -------------------------------------------------------------------------------- 1 | /build 2 | -------------------------------------------------------------------------------- /settings.gradle: -------------------------------------------------------------------------------- 1 | include ':app' 2 | -------------------------------------------------------------------------------- /photos/car_v0.1.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sysolve/androidthings-cameraCar/HEAD/photos/car_v0.1.jpg -------------------------------------------------------------------------------- /app/src/main/assets/www.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sysolve/androidthings-cameraCar/HEAD/app/src/main/assets/www.zip -------------------------------------------------------------------------------- /app/src/main/res/values/strings.xml: -------------------------------------------------------------------------------- 1 | 2 | CameraCar 3 | 4 | -------------------------------------------------------------------------------- /photos/car_v0.1_control.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sysolve/androidthings-cameraCar/HEAD/photos/car_v0.1_control.png -------------------------------------------------------------------------------- /gradle/wrapper/gradle-wrapper.jar: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sysolve/androidthings-cameraCar/HEAD/gradle/wrapper/gradle-wrapper.jar -------------------------------------------------------------------------------- /.idea/vcs.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /gradle/wrapper/gradle-wrapper.properties: -------------------------------------------------------------------------------- 1 | #Sat Jan 27 16:43:14 CST 2018 2 | distributionBase=GRADLE_USER_HOME 3 | distributionPath=wrapper/dists 4 | zipStoreBase=GRADLE_USER_HOME 5 | zipStorePath=wrapper/dists 6 | distributionUrl=http\://services.gradle.org/distributions/gradle-4.1-all.zip 7 | -------------------------------------------------------------------------------- /.idea/modules.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /app/src/test/java/com/sysolve/androidthings/cameracar/ExampleUnitTest.java: -------------------------------------------------------------------------------- 1 | package com.sysolve.androidthings.cameracar; 2 | 3 | import org.junit.Test; 4 | 5 | import static org.junit.Assert.*; 6 | 7 | /** 8 | * Example local unit test, which will execute on the development machine (host). 9 | * 10 | * @see Testing documentation 11 | */ 12 | public class ExampleUnitTest { 13 | @Test 14 | public void addition_isCorrect() throws Exception { 15 | assertEquals(4, 2 + 2); 16 | } 17 | } -------------------------------------------------------------------------------- /.idea/runConfigurations.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 11 | 12 | -------------------------------------------------------------------------------- /gradle.properties: -------------------------------------------------------------------------------- 1 | # Project-wide Gradle settings. 2 | 3 | # IDE (e.g. Android Studio) users: 4 | # Gradle settings configured through the IDE *will override* 5 | # any settings specified in this file. 6 | 7 | # For more details on how to configure your build environment visit 8 | # http://www.gradle.org/docs/current/userguide/build_environment.html 9 | 10 | # Specifies the JVM arguments used for the daemon process. 11 | # The setting is particularly useful for tweaking memory settings. 12 | org.gradle.jvmargs=-Xmx1536m 13 | 14 | # When configured, Gradle will run in incubating parallel mode. 15 | # This option should only be used with decoupled projects. More details, visit 16 | # http://www.gradle.org/docs/current/userguide/multi_project_builds.html#sec:decoupled_projects 17 | # org.gradle.parallel=true 18 | -------------------------------------------------------------------------------- /app/proguard-rules.pro: -------------------------------------------------------------------------------- 1 | # Add project specific ProGuard rules here. 2 | # You can control the set of applied configuration files using the 3 | # proguardFiles setting in build.gradle. 4 | # 5 | # For more details, see 6 | # http://developer.android.com/guide/developing/tools/proguard.html 7 | 8 | # If your project uses WebView with JS, uncomment the following 9 | # and specify the fully qualified class name to the JavaScript interface 10 | # class: 11 | #-keepclassmembers class fqcn.of.javascript.interface.for.webview { 12 | # public *; 13 | #} 14 | 15 | # Uncomment this to preserve the line number information for 16 | # debugging stack traces. 17 | #-keepattributes SourceFile,LineNumberTable 18 | 19 | # If you keep the line number information, uncomment this to 20 | # hide the original source file name. 21 | #-renamesourcefileattribute SourceFile 22 | -------------------------------------------------------------------------------- /app/src/androidTest/java/com/sysolve/androidthings/cameracar/ExampleInstrumentedTest.java: -------------------------------------------------------------------------------- 1 | package com.sysolve.androidthings.cameracar; 2 | 3 | import android.content.Context; 4 | import android.support.test.InstrumentationRegistry; 5 | import android.support.test.runner.AndroidJUnit4; 6 | 7 | import org.junit.Test; 8 | import org.junit.runner.RunWith; 9 | 10 | import static org.junit.Assert.*; 11 | 12 | /** 13 | * Instrumented test, which will execute on an Android device. 14 | * 15 | * @see Testing documentation 16 | */ 17 | @RunWith(AndroidJUnit4.class) 18 | public class ExampleInstrumentedTest { 19 | @Test 20 | public void useAppContext() throws Exception { 21 | // Context of the app under test. 22 | Context appContext = InstrumentationRegistry.getTargetContext(); 23 | 24 | assertEquals("com.sysolve.androidthings.cameracar", appContext.getPackageName()); 25 | } 26 | } 27 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # androidthings-cameraCar 2 | An Android Things RobotCar with Camera 3 | 4 | Android Things智能小车 5 | ----- 6 | 7 | 目前是0.1版本，这已经是一个可以运动、可以调速、可以遥控、可以避免碰撞的简单但功能完整的小车了。 8 | 9 | **基于Android Things开发，使用树莓派3B或NXP Pico开发板均可搭建。** 10 | 11 | ![小车0.1版实物图](https://github.com/sysolve/androidthings-cameraCar/blob/master/photos/car_v0.1.jpg) 12 | 13 | 实现了超声波距离检测，当前方距离小于100mm时停车。 14 | 15 | 可以通过Wifi连接，内置了使用NanoHTTPD实现的服务器。打开手机或电脑浏览器，可以实现遥控。 16 | 17 | ![小车0.1版实物图](https://github.com/sysolve/androidthings-cameraCar/blob/master/photos/car_v0.1_control.png) 18 | 19 | 车上安装了一个触摸按钮，作为急停功能，按下时车轮电机会立即停转。 20 | 21 | 智能小车项目规划 22 | ---- 23 | 24 | 1. 通过PWM实现车轮调速 **[已实现]** 25 | 2. 实现前进、后退、左转、右转等基本运动 **[已实现]** 26 | 3. 实现急停功能，用户可通过急停按钮停止小车 **[已实现]** 27 | 4. 超声波距离检测，离障碍物过近时自动停车 **[已实现]** 28 | 5. HTTP服务器，可通过手机/电脑遥控 **[已实现]** 29 | 6. 优化小车结构件，做一款高颜值的小车 30 | 7. 优化程序结构 31 | 8. 优化HTTP控制界面，通过WebSocket控制以达到更快的控制响应效果 32 | 9. 实现微信小程序控制 33 | 10. 加入摄像头实现拍照功能 34 | 11. 加入AI功能，对照片进行分析识别 35 | 12. 加入云台可调整摄像头角度 36 | 13. 加入蓝牙连接功能 37 | 38 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # Built application files 2 | *.apk 3 | *.ap_ 4 | 5 | # Files for the ART/Dalvik VM 6 | *.dex 7 | 8 | # Java class files 9 | *.class 10 | 11 | # Generated files 12 | bin/ 13 | gen/ 14 | out/ 15 | 16 | # Gradle files 17 | .gradle/ 18 | build/ 19 | 20 | # Local configuration file (sdk path, etc) 21 | local.properties 22 | 23 | # Proguard folder generated by Eclipse 24 | proguard/ 25 | 26 | # Log Files 27 | *.log 28 | 29 | # Android Studio Navigation editor temp files 30 | .navigation/ 31 | 32 | # Android Studio captures folder 33 | captures/ 34 | 35 | # Intellij 36 | *.iml 37 | .idea/workspace.xml 38 | .idea/tasks.xml 39 | .idea/gradle.xml 40 | .idea/dictionaries 41 | .idea/libraries 42 | 43 | # Keystore files 44 | *.jks 45 | 46 | # External native build folder generated in Android Studio 2.2 and later 47 | .externalNativeBuild 48 | 49 | # Google Services (e.g. APIs or Firebase) 50 | google-services.json 51 | 52 | # Freeline 53 | freeline.py 54 | freeline/ 55 | freeline_project_description.json 56 | -------------------------------------------------------------------------------- /app/build.gradle: -------------------------------------------------------------------------------- 1 | apply plugin: 'com.android.application' 2 | 3 | android { 4 | compileSdkVersion 26 5 | defaultConfig { 6 | applicationId "com.sysolve.androidthings.cameracar" 7 | minSdkVersion 24 8 | targetSdkVersion 26 9 | versionCode 1 10 | versionName "1.0" 11 | testInstrumentationRunner "android.support.test.runner.AndroidJUnitRunner" 12 | } 13 | buildTypes { 14 | release { 15 | minifyEnabled false 16 | proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.pro' 17 | } 18 | } 19 | } 20 | 21 | dependencies { 22 | implementation fileTree(dir: 'libs', include: ['*.jar']) 23 | implementation 'com.android.support:support-v4:26.1.0' 24 | testImplementation 'junit:junit:4.12' 25 | androidTestImplementation 'com.android.support.test:runner:1.0.1' 26 | androidTestImplementation 'com.android.support.test.espresso:espresso-core:3.0.1' 27 | compileOnly 'com.google.android.things:androidthings:1.0' 28 | 29 | implementation 'org.nanohttpd:nanohttpd:2.3.1' 30 | implementation 'org.nanohttpd:nanohttpd-webserver:2.3.1' 31 | 32 | } 33 | -------------------------------------------------------------------------------- /app/src/main/AndroidManifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /app/src/main/java/com/sysolve/androidthings/utils/Unzip.java: -------------------------------------------------------------------------------- 1 | package com.sysolve.androidthings.utils; 2 | 3 | import android.util.Log; 4 | 5 | import java.io.BufferedInputStream; 6 | import java.io.BufferedOutputStream; 7 | import java.io.File; 8 | import java.io.FileOutputStream; 9 | import java.io.InputStream; 10 | import java.util.zip.ZipEntry; 11 | import java.util.zip.ZipInputStream; 12 | 13 | /** 14 | * Created by 13311 on 2018-04-21. 15 | */ 16 | 17 | public class Unzip { 18 | 19 | public static void unzip(InputStream zip, String targetDir) { 20 | int BUFFER = 4096; //这里缓冲区我们使用4KB， 21 | String strEntry; //保存每个zip的条目名称 22 | 23 | try { 24 | BufferedOutputStream dest = null; //缓冲输出流 25 | InputStream fis = zip; 26 | ZipInputStream zis = new ZipInputStream(new BufferedInputStream(fis)); 27 | ZipEntry entry; //每个zip条目的实例 28 | 29 | while ((entry = zis.getNextEntry()) != null) { 30 | 31 | try { 32 | Log.i("Unzip: ","="+ entry); 33 | int count; 34 | byte data[] = new byte[BUFFER]; 35 | strEntry = entry.getName(); 36 | 37 | File entryFile = new File(targetDir + strEntry); 38 | if (entry.isDirectory()) { 39 | if (!entryFile.exists()) { 40 | entryFile.mkdirs(); 41 | } 42 | } else { 43 | FileOutputStream fos = new FileOutputStream(entryFile); 44 | dest = new BufferedOutputStream(fos, BUFFER); 45 | while ((count = zis.read(data, 0, BUFFER)) != -1) { 46 | dest.write(data, 0, count); 47 | } 48 | dest.flush(); 49 | dest.close(); 50 | } 51 | } catch (Exception ex) { 52 | Log.e("Unzip", ex.getMessage(), ex); 53 | } 54 | } 55 | zis.close(); 56 | } catch (Exception e) { 57 | Log.e("Unzip", e.getMessage(), e); 58 | } 59 | } 60 | } 61 | -------------------------------------------------------------------------------- /.idea/misc.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 16 | 26 | 27 | 28 | 29 | 30 | 31 | 33 | 34 | 35 | 36 | 37 | Android API 25 Platform 38 | 39 | 44 | 45 | 46 | 47 | 48 | 49 | -------------------------------------------------------------------------------- /gradlew.bat: -------------------------------------------------------------------------------- 1 | @if "%DEBUG%" == "" @echo off 2 | @rem ########################################################################## 3 | @rem 4 | @rem Gradle startup script for Windows 5 | @rem 6 | @rem ########################################################################## 7 | 8 | @rem Set local scope for the variables with windows NT shell 9 | if "%OS%"=="Windows_NT" setlocal 10 | 11 | @rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. 12 | set DEFAULT_JVM_OPTS= 13 | 14 | set DIRNAME=%~dp0 15 | if "%DIRNAME%" == "" set DIRNAME=. 16 | set APP_BASE_NAME=%~n0 17 | set APP_HOME=%DIRNAME% 18 | 19 | @rem Find java.exe 20 | if defined JAVA_HOME goto findJavaFromJavaHome 21 | 22 | set JAVA_EXE=java.exe 23 | %JAVA_EXE% -version >NUL 2>&1 24 | if "%ERRORLEVEL%" == "0" goto init 25 | 26 | echo. 27 | echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 28 | echo. 29 | echo Please set the JAVA_HOME variable in your environment to match the 30 | echo location of your Java installation. 31 | 32 | goto fail 33 | 34 | :findJavaFromJavaHome 35 | set JAVA_HOME=%JAVA_HOME:"=% 36 | set JAVA_EXE=%JAVA_HOME%/bin/java.exe 37 | 38 | if exist "%JAVA_EXE%" goto init 39 | 40 | echo. 41 | echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 42 | echo. 43 | echo Please set the JAVA_HOME variable in your environment to match the 44 | echo location of your Java installation. 45 | 46 | goto fail 47 | 48 | :init 49 | @rem Get command-line arguments, handling Windowz variants 50 | 51 | if not "%OS%" == "Windows_NT" goto win9xME_args 52 | if "%@eval[2+2]" == "4" goto 4NT_args 53 | 54 | :win9xME_args 55 | @rem Slurp the command line arguments. 56 | set CMD_LINE_ARGS= 57 | set _SKIP=2 58 | 59 | :win9xME_args_slurp 60 | if "x%~1" == "x" goto execute 61 | 62 | set CMD_LINE_ARGS=%* 63 | goto execute 64 | 65 | :4NT_args 66 | @rem Get arguments from the 4NT Shell from JP Software 67 | set CMD_LINE_ARGS=%$ 68 | 69 | :execute 70 | @rem Setup the command line 71 | 72 | set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar 73 | 74 | @rem Execute Gradle 75 | "%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS% 76 | 77 | :end 78 | @rem End local scope for the variables with windows NT shell 79 | if "%ERRORLEVEL%"=="0" goto mainEnd 80 | 81 | :fail 82 | rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of 83 | rem the _cmd.exe /c_ return code! 84 | if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 85 | exit /b 1 86 | 87 | :mainEnd 88 | if "%OS%"=="Windows_NT" endlocal 89 | 90 | :omega 91 | -------------------------------------------------------------------------------- /app/src/main/java/com/sysolve/androidthings/contrib/driver/ws2812b/ColorToBitPatternConverter.java: -------------------------------------------------------------------------------- 1 | package com.sysolve.androidthings.contrib.driver.ws2812b; 2 | 3 | 4 | import android.support.annotation.ColorInt; 5 | import android.support.annotation.NonNull; 6 | import android.support.annotation.Size; 7 | import android.support.annotation.VisibleForTesting; 8 | 9 | class ColorToBitPatternConverter { 10 | private static final int MAX_NUMBER_OF_SUPPORTED_LEDS = 512; 11 | private static final int FIRST_TWELVE_BIT_BIT_MASK = 0x00FFF000; 12 | private static final int SECOND_TWELVE_BIT_BIT_MASK = 0x00000FFF; 13 | 14 | private final TwelveBitIntToBitPatternMapper mTwelveBitIntToBitPatternMapper; 15 | private ColorChannelSequence.Sequencer colorChannelSequencer; 16 | 17 | ColorToBitPatternConverter(@ColorChannelSequence.Sequence int colorChannelSequence) { 18 | this(colorChannelSequence, new TwelveBitIntToBitPatternMapper()); 19 | } 20 | 21 | @VisibleForTesting 22 | ColorToBitPatternConverter(@ColorChannelSequence.Sequence int colorChannelSequence, @NonNull TwelveBitIntToBitPatternMapper twelveBitIntToBitPatternMapper) { 23 | colorChannelSequencer = ColorChannelSequence.createSequencer(colorChannelSequence); 24 | mTwelveBitIntToBitPatternMapper = twelveBitIntToBitPatternMapper; 25 | } 26 | 27 | /** 28 | * Converts the passed color array to a correlating byte array of bit patterns. These resulting 29 | * bit patterns are readable by a WS2812B LED strip if they are sent by a SPI device with the 30 | * right frequency. 31 | * 32 | * @param colors An array of color integers {@link ColorInt} 33 | * @return Returns a byte array of correlating bit patterns 34 | */ 35 | byte[] convertToBitPattern(@ColorInt @NonNull @Size(max = MAX_NUMBER_OF_SUPPORTED_LEDS) int[] colors) { 36 | if (colors.length > MAX_NUMBER_OF_SUPPORTED_LEDS) { 37 | throw new IllegalArgumentException("Only " + MAX_NUMBER_OF_SUPPORTED_LEDS + " LEDs are supported. A Greater Number (" + colors.length + ") will result in SPI errors!"); 38 | } 39 | 40 | byte[] bitPatterns = new byte[colors.length * 8]; 41 | 42 | int i = 0; 43 | for (int color : colors) { 44 | color = colorChannelSequencer.rearrangeColorChannels(color); 45 | int firstValue = (color & FIRST_TWELVE_BIT_BIT_MASK) >> 12; 46 | int secondValue = color & SECOND_TWELVE_BIT_BIT_MASK; 47 | 48 | System.arraycopy(mTwelveBitIntToBitPatternMapper.getBitPattern(firstValue), 0, bitPatterns, i, 4); 49 | i += 4; 50 | System.arraycopy(mTwelveBitIntToBitPatternMapper.getBitPattern(secondValue), 0, bitPatterns, i, 4); 51 | i += 4; 52 | } 53 | return bitPatterns; 54 | } 55 | } 56 | -------------------------------------------------------------------------------- /app/src/main/java/com/sysolve/androidthings/contrib/driver/ws2812b/ColorChannelSequence.java: -------------------------------------------------------------------------------- 1 | package com.sysolve.androidthings.contrib.driver.ws2812b; 2 | 3 | 4 | import android.support.annotation.ColorInt; 5 | import android.support.annotation.IntDef; 6 | import android.support.annotation.NonNull; 7 | 8 | import java.lang.annotation.Retention; 9 | import java.util.Arrays; 10 | 11 | import static java.lang.annotation.RetentionPolicy.SOURCE; 12 | 13 | @SuppressWarnings("WeakerAccess") 14 | public class ColorChannelSequence { 15 | public static final int RGB = 1; 16 | public static final int RBG = 2; 17 | public static final int GRB = 3; 18 | public static final int GBR = 4; 19 | public static final int BRG = 5; 20 | public static final int BGR = 6; 21 | @Sequence 22 | private static final int[] ALL_SEQUENCES = {RGB, RBG, GRB, GBR, BRG, BGR}; 23 | 24 | @Retention(SOURCE) 25 | @IntDef({RGB, RBG, GRB, GBR, BRG, BGR}) 26 | @SuppressWarnings("WeakerAccess") 27 | public @interface Sequence {} 28 | 29 | interface Sequencer 30 | { 31 | int rearrangeColorChannels(@ColorInt int color); 32 | } 33 | 34 | @NonNull 35 | static Sequencer createSequencer(@Sequence int colorChannelSequence) 36 | { 37 | switch (colorChannelSequence) { 38 | case BGR: 39 | return new Sequencer() { 40 | @Override 41 | public int rearrangeColorChannels(int color) { 42 | return ((color & 0xff0000) >> 16) | (color & 0xff00) | ((color & 0xff) << 16); 43 | } 44 | }; 45 | case BRG: 46 | return new Sequencer() { 47 | @Override 48 | public int rearrangeColorChannels(int color) { 49 | return ((color & 0xff0000) >> 8) | ((color & 0xff00) >> 8) | ((color & 0xff) << 16); 50 | } 51 | }; 52 | case GBR: 53 | return new Sequencer() { 54 | @Override 55 | public int rearrangeColorChannels(int color) { 56 | return ((color & 0xff0000) >> 16) | ((color & 0xff00) << 8) | ((color & 0xff) << 8); 57 | } 58 | }; 59 | case GRB: 60 | return new Sequencer() { 61 | @Override 62 | public int rearrangeColorChannels(int color) { 63 | return ((color & 0xff0000) >> 8) | ((color & 0xff00) << 8) | (color & 0xff); 64 | } 65 | }; 66 | case RBG: 67 | return new Sequencer() { 68 | @Override 69 | public int rearrangeColorChannels(int color) { 70 | return (color & 0xff0000) | ((color & 0xff00) >> 8) | ((color & 0xff) << 8); 71 | } 72 | }; 73 | case RGB: 74 | return new Sequencer() { 75 | @Override 76 | public int rearrangeColorChannels(int color) { 77 | return color; 78 | } 79 | }; 80 | default: 81 | throw new IllegalArgumentException("Invalid color channel sequence: " + colorChannelSequence + ". Supported color channel sequences are: " + Arrays.toString(ColorChannelSequence.ALL_SEQUENCES)); 82 | } 83 | } 84 | 85 | } 86 | -------------------------------------------------------------------------------- /app/src/main/java/com/sysolve/androidthings/contrib/driver/ws2812b/Ws2812b.java: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 2016 Google Inc. 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * http://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | 17 | package com.sysolve.androidthings.contrib.driver.ws2812b; 18 | 19 | import android.support.annotation.ColorInt; 20 | import android.support.annotation.NonNull; 21 | import android.support.annotation.VisibleForTesting; 22 | 23 | import com.google.android.things.pio.PeripheralManager; 24 | import com.google.android.things.pio.SpiDevice; 25 | 26 | import java.io.IOException; 27 | 28 | /** 29 | * Device driver for WS2812B LEDs using SPI. 30 | * 31 | * For more information on SPI, see: 32 | * https://en.wikipedia.org/wiki/Serial_Peripheral_Interface_Bus 33 | * For information on the WS2812B protocol, see: 34 | * https://wp.josh.com/2014/05/13/ws2812-neopixels-are-not-so-finicky-once-you-get-to-know-them/ 35 | * https://cpldcpu.com/2014/01/14/light_ws2812-library-v2-0-part-i-understanding-the-ws2812/ 36 | */ 37 | 38 | @SuppressWarnings({"unused", "WeakerAccess"}) 39 | public class Ws2812b implements AutoCloseable { 40 | private static final String TAG = "Ws2812b"; 41 | 42 | @NonNull 43 | private final ColorToBitPatternConverter mColorToBitPatternConverter; 44 | private SpiDevice mDevice = null; 45 | 46 | /** 47 | * Create a new WS2812B driver. 48 | * 49 | * @param spiBusPort Name of the SPI bus 50 | */ 51 | public Ws2812b(String spiBusPort) throws IOException { 52 | this(spiBusPort, new ColorToBitPatternConverter(ColorChannelSequence.GRB)); 53 | } 54 | 55 | /** 56 | * Create a new WS2812B driver. 57 | * 58 | * @param spiBusPort Name of the SPI bus 59 | * @param colorChannelSequence The {@link ColorChannelSequence.Sequence} indicates the red/green/blue byte order for the LED strip. 60 | * @throws IOException if the initialization of the SpiDevice fails 61 | * 62 | */ 63 | public Ws2812b(String spiBusPort, @ColorChannelSequence.Sequence int colorChannelSequence) throws IOException { 64 | this (spiBusPort, new ColorToBitPatternConverter(colorChannelSequence)); 65 | } 66 | 67 | private Ws2812b(String spiBusPort, @NonNull ColorToBitPatternConverter colorToBitPatternConverter) throws IOException { 68 | mColorToBitPatternConverter = colorToBitPatternConverter; 69 | mDevice = PeripheralManager.getInstance().openSpiDevice(spiBusPort); 70 | try { 71 | initSpiDevice(mDevice); 72 | } catch (IOException|RuntimeException e) { 73 | try { 74 | close(); 75 | } catch (IOException|RuntimeException ignored) { 76 | } 77 | throw e; 78 | } 79 | } 80 | 81 | @VisibleForTesting 82 | /*package*/ Ws2812b(SpiDevice device, @NonNull ColorToBitPatternConverter colorToBitPatternConverter) throws IOException { 83 | mColorToBitPatternConverter = colorToBitPatternConverter; 84 | mDevice = device; 85 | initSpiDevice(mDevice); 86 | } 87 | 88 | private void initSpiDevice(SpiDevice device) throws IOException { 89 | 90 | double durationOfOneBitInNs = 417.0; 91 | double durationOfOneBitInS = durationOfOneBitInNs * Math.pow(10, -9); 92 | int frequencyInHz = (int) Math.round(1.0 / durationOfOneBitInS); 93 | 94 | device.setFrequency(frequencyInHz); 95 | device.setBitsPerWord(8); 96 | device.setDelay(0); 97 | } 98 | 99 | /** 100 | * Transforms the passed color array and writes it to the SPI connected WS2812b LED strip. 101 | * @param colors An array of 24 bit RGB color integers {@link ColorInt} 102 | * @throws IOException if writing to the SPI device fails 103 | */ 104 | public void write(@NonNull @ColorInt int[] colors) throws IOException { 105 | if (mDevice == null) { 106 | throw new IllegalStateException("SPI device not opened"); 107 | } 108 | 109 | byte[] convertedColors = mColorToBitPatternConverter.convertToBitPattern(colors); 110 | mDevice.write(convertedColors, convertedColors.length); 111 | } 112 | 113 | /** 114 | * Releases the SPI interface and related resources. 115 | * @throws IOException if the SpiDevice is already closed 116 | */ 117 | @Override 118 | public void close() throws IOException { 119 | if (mDevice != null) { 120 | try { 121 | mDevice.close(); 122 | } finally { 123 | mDevice = null; 124 | } 125 | } 126 | } 127 | } 128 | -------------------------------------------------------------------------------- /gradlew: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | 3 | ############################################################################## 4 | ## 5 | ## Gradle start up script for UN*X 6 | ## 7 | ############################################################################## 8 | 9 | # Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. 10 | DEFAULT_JVM_OPTS="" 11 | 12 | APP_NAME="Gradle" 13 | APP_BASE_NAME=`basename "$0"` 14 | 15 | # Use the maximum available, or set MAX_FD != -1 to use that value. 16 | MAX_FD="maximum" 17 | 18 | warn ( ) { 19 | echo "$*" 20 | } 21 | 22 | die ( ) { 23 | echo 24 | echo "$*" 25 | echo 26 | exit 1 27 | } 28 | 29 | # OS specific support (must be 'true' or 'false'). 30 | cygwin=false 31 | msys=false 32 | darwin=false 33 | case "`uname`" in 34 | CYGWIN* ) 35 | cygwin=true 36 | ;; 37 | Darwin* ) 38 | darwin=true 39 | ;; 40 | MINGW* ) 41 | msys=true 42 | ;; 43 | esac 44 | 45 | # Attempt to set APP_HOME 46 | # Resolve links: $0 may be a link 47 | PRG="$0" 48 | # Need this for relative symlinks. 49 | while [ -h "$PRG" ] ; do 50 | ls=`ls -ld "$PRG"` 51 | link=`expr "$ls" : '.*-> $.*$$'` 52 | if expr "$link" : '/.*' > /dev/null; then 53 | PRG="$link" 54 | else 55 | PRG=`dirname "$PRG"`"/$link" 56 | fi 57 | done 58 | SAVED="`pwd`" 59 | cd "`dirname \"$PRG\"`/" >/dev/null 60 | APP_HOME="`pwd -P`" 61 | cd "$SAVED" >/dev/null 62 | 63 | CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar 64 | 65 | # Determine the Java command to use to start the JVM. 66 | if [ -n "$JAVA_HOME" ] ; then 67 | if [ -x "$JAVA_HOME/jre/sh/java" ] ; then 68 | # IBM's JDK on AIX uses strange locations for the executables 69 | JAVACMD="$JAVA_HOME/jre/sh/java" 70 | else 71 | JAVACMD="$JAVA_HOME/bin/java" 72 | fi 73 | if [ ! -x "$JAVACMD" ] ; then 74 | die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME 75 | 76 | Please set the JAVA_HOME variable in your environment to match the 77 | location of your Java installation." 78 | fi 79 | else 80 | JAVACMD="java" 81 | which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 82 | 83 | Please set the JAVA_HOME variable in your environment to match the 84 | location of your Java installation." 85 | fi 86 | 87 | # Increase the maximum file descriptors if we can. 88 | if [ "$cygwin" = "false" -a "$darwin" = "false" ] ; then 89 | MAX_FD_LIMIT=`ulimit -H -n` 90 | if [ $? -eq 0 ] ; then 91 | if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then 92 | MAX_FD="$MAX_FD_LIMIT" 93 | fi 94 | ulimit -n $MAX_FD 95 | if [ $? -ne 0 ] ; then 96 | warn "Could not set maximum file descriptor limit: $MAX_FD" 97 | fi 98 | else 99 | warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT" 100 | fi 101 | fi 102 | 103 | # For Darwin, add options to specify how the application appears in the dock 104 | if $darwin; then 105 | GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\"" 106 | fi 107 | 108 | # For Cygwin, switch paths to Windows format before running java 109 | if $cygwin ; then 110 | APP_HOME=`cygpath --path --mixed "$APP_HOME"` 111 | CLASSPATH=`cygpath --path --mixed "$CLASSPATH"` 112 | JAVACMD=`cygpath --unix "$JAVACMD"` 113 | 114 | # We build the pattern for arguments to be converted via cygpath 115 | ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` 116 | SEP="" 117 | for dir in $ROOTDIRSRAW ; do 118 | ROOTDIRS="$ROOTDIRS$SEP$dir" 119 | SEP="|" 120 | done 121 | OURCYGPATTERN="(^($ROOTDIRS))" 122 | # Add a user-defined pattern to the cygpath arguments 123 | if [ "$GRADLE_CYGPATTERN" != "" ] ; then 124 | OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)" 125 | fi 126 | # Now convert the arguments - kludge to limit ourselves to /bin/sh 127 | i=0 128 | for arg in "$@" ; do 129 | CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -` 130 | CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option 131 | 132 | if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition 133 | eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"` 134 | else 135 | eval `echo args$i`="\"$arg\"" 136 | fi 137 | i=$((i+1)) 138 | done 139 | case $i in 140 | (0) set -- ;; 141 | (1) set -- "$args0" ;; 142 | (2) set -- "$args0" "$args1" ;; 143 | (3) set -- "$args0" "$args1" "$args2" ;; 144 | (4) set -- "$args0" "$args1" "$args2" "$args3" ;; 145 | (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; 146 | (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; 147 | (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; 148 | (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; 149 | (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; 150 | esac 151 | fi 152 | 153 | # Split up the JVM_OPTS And GRADLE_OPTS values into an array, following the shell quoting and substitution rules 154 | function splitJvmOpts() { 155 | JVM_OPTS=("$@") 156 | } 157 | eval splitJvmOpts $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS 158 | JVM_OPTS[${#JVM_OPTS[*]}]="-Dorg.gradle.appname=$APP_BASE_NAME" 159 | 160 | exec "$JAVACMD" "${JVM_OPTS[@]}" -classpath "$CLASSPATH" org.gradle.wrapper.GradleWrapperMain "$@" 161 | -------------------------------------------------------------------------------- /app/src/main/java/com/sysolve/androidthings/contrib/driver/ws2812b/TwelveBitIntToBitPatternMapper.java: -------------------------------------------------------------------------------- 1 | package com.sysolve.androidthings.contrib.driver.ws2812b; 2 | 3 | 4 | import android.support.annotation.IntRange; 5 | import android.support.annotation.NonNull; 6 | import android.support.annotation.Size; 7 | import android.support.annotation.VisibleForTesting; 8 | import android.util.SparseArray; 9 | 10 | import java.util.ArrayList; 11 | import java.util.Arrays; 12 | import java.util.Iterator; 13 | import java.util.List; 14 | 15 | /** 16 | * Creates a storage which maps any possible 12 bit sized integer to bit patterns. If a sequence of 17 | * these bit patterns is sent to a WS2812b LED strip using SPI, the outcoming high and low voltage 18 | * pulses are recognized as the original 12 bit integers.
19 | * Converting algorithm:
20 | * - 1 src bit is converted to a 3 bit long bit pattern
21 | * - The 9th bit in a sequence of bit pattern is a pause bit and must be removed. The pause bit is 22 | * automatically transmitted between every byte
23 | * - This results in the fact that 3 source bits are converted to 1 destination byte
24 | * 25 | * => 3 src bits = 8 bit (1 dst byte)
26 | * => 12 src bits = 32 bit (4 dst bytes)
27 | */ 28 | class TwelveBitIntToBitPatternMapper { 29 | private static final int BIGGEST_12_BIT_NUMBER = 0B1111_1111_1111; 30 | private static final List BIT_PATTERN_FOR_ZERO_BIT = Arrays.asList(true, false, false); 31 | private static final List BIT_PATTERN_FOR_ONE_BIT = Arrays.asList(true, true, false); 32 | private static final int ONE_BYTE_BIT_MASKS[] = new int[]{ 0B10000000, 33 | 0B01000000, 34 | 0B00100000, 35 | 0B00010000, 36 | 0B00001000, 37 | 0B00000100, 38 | 0B00000010, 39 | 0B00000001}; 40 | @NonNull 41 | private final SparseArray mSparseArray; 42 | 43 | TwelveBitIntToBitPatternMapper() { 44 | this(new SparseArray(BIGGEST_12_BIT_NUMBER)); 45 | } 46 | 47 | @VisibleForTesting 48 | TwelveBitIntToBitPatternMapper(@NonNull final SparseArray sparseArray) { 49 | mSparseArray = sparseArray; 50 | fillBitPatternStorage(); 51 | } 52 | 53 | /** 54 | * Returns for each possible 12 bit integer a corresponding sequence of bit pattern as byte array. 55 | * Throws an {@link IllegalArgumentException} if the integer is using more than 12 bit. 56 | * 57 | * @param twelveBitValue Any 12 bit integer (from 0 to 4095) 58 | * @return The corresponding bit pattern as 4 byte sized array 59 | */ 60 | @NonNull 61 | @Size(value = 4) 62 | byte[] getBitPattern(@IntRange(from = 0, to = BIGGEST_12_BIT_NUMBER) int twelveBitValue) { 63 | byte[] bitPatternByteArray = mSparseArray.get(twelveBitValue); 64 | if (bitPatternByteArray == null) 65 | { 66 | throw new IllegalArgumentException("Only values from 0 to " + BIGGEST_12_BIT_NUMBER + " are allowed. The passed input value was: " + twelveBitValue); 67 | } 68 | return bitPatternByteArray; 69 | } 70 | 71 | private void fillBitPatternStorage() { 72 | for (int i = 0; i <= BIGGEST_12_BIT_NUMBER; i++) { 73 | mSparseArray.append(i, calculateBitPatternByteArray(i)); 74 | } 75 | } 76 | 77 | @Size(value = 4) 78 | private byte[] calculateBitPatternByteArray(@IntRange(from = 0, to = BIGGEST_12_BIT_NUMBER) int twelveBitNumber) { 79 | List bitPatterns = new ArrayList<>(); 80 | int highest12BitBitMask = 1 << 11; 81 | for (int i = 0; i < 12; i++) { 82 | if ((twelveBitNumber & highest12BitBitMask) == highest12BitBitMask){ 83 | bitPatterns.addAll(BIT_PATTERN_FOR_ONE_BIT); 84 | } 85 | else{ 86 | bitPatterns.addAll(BIT_PATTERN_FOR_ZERO_BIT); 87 | } 88 | twelveBitNumber = twelveBitNumber << 1; 89 | } 90 | bitPatterns = removePauseBits(bitPatterns); 91 | return convertBitPatternsToByteArray(bitPatterns); 92 | } 93 | 94 | private List removePauseBits(List bitPatterns) { 95 | Iterator iterator = bitPatterns.iterator(); 96 | int i = 0; 97 | while (iterator.hasNext()) { 98 | iterator.next(); 99 | if (i == 8) 100 | { 101 | iterator.remove(); 102 | i = 0; 103 | continue; 104 | } 105 | i++; 106 | } 107 | return bitPatterns; 108 | } 109 | 110 | @Size(value = 4) 111 | private byte[] convertBitPatternsToByteArray(List bitPatterns) { 112 | 113 | if (bitPatterns.size() != 32) 114 | { 115 | throw new IllegalArgumentException("Undefined bit pattern size: Expected size is 32. Passed size: " + bitPatterns.size()); 116 | } 117 | byte[] bitPatternsAsByteArray = new byte[4]; 118 | bitPatternsAsByteArray [0] = convertBitPatternsToByte(bitPatterns.subList(0, 8)); 119 | bitPatternsAsByteArray [1] = convertBitPatternsToByte(bitPatterns.subList(8, 16)); 120 | bitPatternsAsByteArray [2] = convertBitPatternsToByte(bitPatterns.subList(16, 24)); 121 | bitPatternsAsByteArray [3] = convertBitPatternsToByte(bitPatterns.subList(24, 32)); 122 | return bitPatternsAsByteArray; 123 | } 124 | 125 | private byte convertBitPatternsToByte(List bitPatterns) { 126 | int bitPatternByte = 0; 127 | for (int i = 0; i < 8; i++) { 128 | if (bitPatterns.get(i)) 129 | { 130 | bitPatternByte |= ONE_BYTE_BIT_MASKS[i]; 131 | } 132 | } 133 | return (byte) bitPatternByte; 134 | } 135 | } 136 | -------------------------------------------------------------------------------- /app/src/main/java/com/sysolve/androidthings/utils/HttpServer.java: -------------------------------------------------------------------------------- 1 | package com.sysolve.androidthings.utils; 2 | 3 | import android.graphics.Color; 4 | import android.os.Environment; 5 | import android.util.Log; 6 | 7 | import com.sysolve.androidthings.cameracar.MainActivity; 8 | 9 | import java.io.File; 10 | import java.util.Map; 11 | 12 | import fi.iki.elonen.NanoHTTPD; 13 | import fi.iki.elonen.SimpleWebServer; 14 | 15 | /** 16 | * Created by 13311 on 2018-01-27. 17 | */ 18 | 19 | public class HttpServer extends SimpleWebServer { 20 | 21 | public static String wwwRoot = Environment.getExternalStorageDirectory() + "/cameracar-www/"; 22 | 23 | MainActivity main; 24 | 25 | public HttpServer(MainActivity main) { 26 | super(null, 8080, new File(wwwRoot), false, "*"); 27 | 28 | try { 29 | this.main = main; 30 | start(NanoHTTPD.SOCKET_READ_TIMEOUT, true); 31 | Log.i("HTTPD", "\nRunning! Point your browsers to http://localhost:8080/ \n"); 32 | } catch (Exception e) { 33 | Log.e("HTTPD", e.getMessage(), e); 34 | } 35 | } 36 | 37 | @Override 38 | protected NanoHTTPD.Response addCORSHeaders(Map queryHeaders, NanoHTTPD.Response 39 | resp, String cors) { 40 | //resp = super.addCORSHeaders(queryHeaders, resp, cors); 41 | 42 | resp.addHeader("Cache-Control", "no-cache, no-store, must-revalidate"); 43 | resp.addHeader("Pragma", "no-cache"); 44 | resp.addHeader("Expires", "0"); 45 | 46 | return resp; 47 | } 48 | 49 | @Override 50 | public NanoHTTPD.Response serve(NanoHTTPD.IHTTPSession session) { 51 | //Log.i("HTTPD", session.getUri()); 52 | if (session.getUri().startsWith("/action/")) { 53 | String msg = ""; 54 | Map parms = session.getParms(); 55 | String cmd = parms.get("cmd"); 56 | if (cmd == null) { 57 | msg = ""; 58 | 59 | msg += "

"; 60 | msg += "

"; 61 | msg += "

"; 62 | msg += "

"; 63 | msg += "

"; 64 | msg += "

"; 65 | msg += "

"; 66 | 67 | msg += "

"; 68 | msg += "

"; 69 | msg += "

"; 70 | 71 | msg += "

"; 72 | msg += "

"; 73 | msg += "

"; 74 | msg += "

"; 75 | 76 | msg += "

"; 77 | msg += "

"; 78 | 79 | msg += " $\"\"$ "; 80 | 81 | msg += ""; 82 | msg += ""; 85 | msg += "\n"; 86 | } else { 87 | Log.i("HTTP", "cmd="+cmd); 88 | cmd = cmd.trim().toLowerCase(); 89 | if ("s".equals(cmd)) { 90 | //停止 91 | main.emStop(); 92 | } else if ("f".equals(cmd)) { 93 | //前进 94 | main.goForward(); 95 | } else if ("b".equals(cmd)) { 96 | //后退 97 | main.goBack(); 98 | } else if ("l".equals(cmd)) { 99 | //左转 100 | main.turnLeft(); 101 | } else if ("r".equals(cmd)) { 102 | //右转 103 | main.turnRight(); 104 | } else if ("a".equals(cmd)) { 105 | //加速 106 | main.speedAdd(); 107 | } else if ("d".equals(cmd)) { 108 | //减速 109 | main.speedDecrease(); 110 | } else if ("lt".equals(cmd)) { 111 | //向左偏移 112 | main.leftT(); 113 | } else if ("rt".equals(cmd)) { 114 | //向右偏移 115 | main.rightT(); 116 | } else if ("nt".equals(cmd)) { 117 | //无偏移 118 | main.noT(); 119 | } else if ("cred".equals(cmd)) { 120 | //显示红色 121 | main.color(Color.RED); 122 | } else if ("cyellow".equals(cmd)) { 123 | //显示黄色 124 | main.color(Color.YELLOW); 125 | } else if ("cgreen".equals(cmd)) { 126 | //显示绿色 127 | main.color(Color.GREEN); 128 | } else if ("cblue".equals(cmd)) { 129 | //显示蓝色 130 | main.color(Color.BLUE); 131 | } else if ("cmore".equals(cmd)) { 132 | //显示炫彩 133 | main.moreColor(); 134 | } else if ("cno".equals(cmd)) { 135 | //不显示颜色 136 | main.color(Color.BLACK); 137 | } else if ("son".equals(cmd)) { 138 | //启用超声波 139 | main.superSound(true); 140 | } else if ("soff".equals(cmd)) { 141 | //停用超声波 142 | main.superSound(false); 143 | } else if ("tp".equals(cmd)) { 144 | //拍照 145 | main.takePicture(); 146 | } else if ("tpv".equals(cmd)) { 147 | //拍照 148 | //main.takePicture(); 149 | msg = "{\"tpv\": "+ main.picVersion +"}"; 150 | } 151 | } 152 | 153 | return newFixedLengthResponse(msg); 154 | } else { 155 | return super.serve(session); 156 | } 157 | } 158 | } 159 | -------------------------------------------------------------------------------- /app/src/main/java/com/sysolve/androidthings/utils/BoardSpec.java: -------------------------------------------------------------------------------- 1 | /* 2 | * @author Ray, ray@sysolve.com 3 | * Copyright 2018, Sysolve IoT Open Source 4 | * 5 | * Licensed under the Apache License, Version 2.0 (the "License"); 6 | * you may not use this file except in compliance with the License. 7 | * You may obtain a copy of the License at 8 | * 9 | * http://www.apache.org/licenses/LICENSE-2.0 10 | * 11 | * Unless required by applicable law or agreed to in writing, software 12 | * distributed under the License is distributed on an "AS IS" BASIS, 13 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | * See the License for the specific language governing permissions and 15 | * limitations under the License. 16 | */ 17 | 18 | package com.sysolve.androidthings.utils; 19 | 20 | import android.os.Build; 21 | 22 | /** 23 | * Define pins for different Board Type 24 | */ 25 | public class BoardSpec { 26 | private static final String DEVICE_RPI3 = "rpi3"; 27 | private static final String DEVICE_IMX6UL_PICO = "imx6ul_pico"; 28 | private static final String DEVICE_IMX7D_PICO = "imx7d_pico"; 29 | 30 | public static final int PIN_13 = 0; 31 | public static final int PIN_15 = 1; 32 | public static final int PIN_16 = 2; 33 | public static final int PIN_18 = 3; 34 | public static final int PIN_22 = 4; 35 | public static final int PIN_29 = 5; 36 | public static final int PIN_31 = 6; //for google simplepio/blink application 37 | public static final int PIN_32 = 7; 38 | public static final int PIN_35 = 8; 39 | public static final int PIN_36 = 9; 40 | public static final int PIN_37 = 10; 41 | public static final int PIN_38 = 11; 42 | public static final int PIN_40 = 12; //for google simplepio/button application 43 | 44 | public static BoardSpec getInstance() { 45 | return instance; 46 | } 47 | 48 | public static BoardSpec instance = getBoardSpec(Build.DEVICE); 49 | 50 | public static BoardSpec getBoardSpec(String device) { 51 | switch (device) { 52 | case DEVICE_RPI3: 53 | return createBoardSpecRPI3(); 54 | case DEVICE_IMX6UL_PICO: 55 | return createBoardSpecIMX6UL_PICO(); 56 | case DEVICE_IMX7D_PICO: 57 | return createBoardSpecIMX7D_PICO(); 58 | default: 59 | throw new IllegalStateException("Unknown Build.DEVICE " + Build.DEVICE); 60 | } 61 | } 62 | 63 | private String[] gpios; 64 | private String[] pwms; 65 | private String i2c = null; 66 | private String spi = null; 67 | private String uart = null; 68 | 69 | public String getGpioPin(int i) { 70 | if (gpios==null || i>=gpios.length || gpios[i]==null) { 71 | throw new IllegalArgumentException("GPIO pin not Supported, Device: " + Build.DEVICE); 72 | } else { 73 | return gpios[i]; 74 | } 75 | } 76 | 77 | public String getPwm(int i) { 78 | if (pwms==null || i>=pwms.length || pwms[i]==null) { 79 | throw new IllegalArgumentException("PWM_" +i+ " not Supported, Device: " + Build.DEVICE); 80 | } else { 81 | return pwms[i]; 82 | } 83 | } 84 | 85 | public static String getGoogleSampleButtonGpioPin() { 86 | return BoardSpec.getInstance().getGpioPin(PIN_40); 87 | } 88 | 89 | public static String getGoogleSampleLedGpioPin() { 90 | return BoardSpec.getInstance().getGpioPin(PIN_31); 91 | } 92 | 93 | public static String getPWMPort() { 94 | return BoardSpec.getInstance().getPwm(0); 95 | } 96 | 97 | public static String getGoogleSampleSpeakerPwmPin() { 98 | return BoardSpec.getInstance().getPwm(1); 99 | } 100 | 101 | public static String getI2cBus() { 102 | String s = BoardSpec.getInstance().i2c; 103 | if (s!=null) 104 | return s; 105 | else 106 | throw new IllegalArgumentException("I2C Bus not Supported, Device: " + Build.DEVICE); 107 | } 108 | 109 | public static String getUartName() { 110 | String s = BoardSpec.getInstance().uart; 111 | if (s!=null) 112 | return s; 113 | else 114 | throw new IllegalArgumentException("UART not Supported, Device: " + Build.DEVICE); 115 | } 116 | 117 | public static String getSpiBus() { 118 | String s = BoardSpec.getInstance().spi; 119 | if (s!=null) 120 | return s; 121 | else 122 | throw new IllegalArgumentException("SPI Bus not Supported, Device: " + Build.DEVICE); 123 | } 124 | 125 | 126 | private static BoardSpec createBoardSpecRPI3() { 127 | BoardSpec spec = new BoardSpec(); 128 | spec.i2c = "I2C1"; 129 | spec.spi = "SPI0.0"; 130 | spec.uart = "UART0"; 131 | spec.pwms = new String[] { 132 | "PWM0", 133 | "PWM1" 134 | }; 135 | spec.gpios = new String[] { 136 | "BCM27", // PIN_13, 137 | "BCM22", // PIN_15, 138 | "BCM23", // PIN_16, 139 | "BCM24", // PIN_18, 140 | "BCM25", // PIN_22, 141 | "BCM5", // PIN_29, 142 | "BCM6", // PIN_31, 143 | "BCM12", // PIN_32, 144 | "BCM19", // PIN_35, 145 | "BCM16", // PIN_36, 146 | "BCM26", // PIN_37, 147 | "BCM20", // PIN_38, 148 | "BCM21", // PIN_40 149 | }; 150 | 151 | return spec; 152 | } 153 | 154 | private static BoardSpec createBoardSpecIMX6UL_PICO() { 155 | BoardSpec spec = new BoardSpec(); 156 | spec.i2c = "I2C2"; 157 | spec.spi = "SPI3.0"; 158 | spec.uart = "UART3"; 159 | spec.pwms = new String[] { 160 | "PWM7", 161 | "PWM8" 162 | }; 163 | spec.gpios = new String[] { 164 | "GPIO4_IO23", // PIN_13, 165 | null, // PIN_15, //not support 166 | "GPIO2_IO00", // PIN_16, 167 | "GPIO2_IO01", // PIN_18, 168 | null, // PIN_22, //not support 169 | "GPIO4_IO21", // PIN_29, 170 | "GPIO4_IO22", // PIN_31, 171 | null, // PIN_32, //not support 172 | "GPIO4_IO19", // PIN_35, 173 | "GPIO5_IO02", // PIN_36, 174 | "GPIO1_IO18", // PIN_37, 175 | "GPIO2_IO02", // PIN_38, 176 | "GPIO2_IO03" // PIN_40 177 | }; 178 | return spec; 179 | } 180 | 181 | private static BoardSpec createBoardSpecIMX7D_PICO() { 182 | BoardSpec spec = new BoardSpec(); 183 | spec.i2c = "I2C1"; 184 | spec.spi = "SPI3.1"; 185 | spec.uart = "UART6"; 186 | spec.pwms = new String[] { 187 | "PWM1", 188 | "PWM2" 189 | }; 190 | spec.gpios = new String[] { 191 | "GPIO2_IO03", // PIN_13, 192 | "GPIO1_IO10", // PIN_15, 193 | "GPIO6_IO13", // PIN_16, 194 | "GPIO6_IO12", // PIN_18, 195 | "GPIO5_IO00", // PIN_22, 196 | "GPIO2_IO01", // PIN_29, 197 | "GPIO2_IO02", // PIN_31, 198 | null, // PIN_32, //not support 199 | "GPIO2_IO00", // PIN_35, 200 | "GPIO2_IO07", // PIN_36, 201 | "GPIO2_IO05", // PIN_37, 202 | "GPIO6_IO15", // PIN_38, 203 | "GPIO6_IO14", // PIN_40 204 | }; 205 | return spec; 206 | } 207 | 208 | } 209 | -------------------------------------------------------------------------------- /app/src/main/java/com/sysolve/androidthings/cameracar/DoorbellCamera.java: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 2016, The Android Open Source Project 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * http://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | package com.sysolve.androidthings.cameracar; 17 | 18 | import android.content.Context; 19 | import android.graphics.ImageFormat; 20 | import android.hardware.camera2.CameraAccessException; 21 | import android.hardware.camera2.CameraCaptureSession; 22 | import android.hardware.camera2.CameraCharacteristics; 23 | import android.hardware.camera2.CameraDevice; 24 | import android.hardware.camera2.CameraManager; 25 | import android.hardware.camera2.CaptureRequest; 26 | import android.hardware.camera2.CaptureResult; 27 | import android.hardware.camera2.TotalCaptureResult; 28 | import android.hardware.camera2.params.StreamConfigurationMap; 29 | import android.media.ImageReader; 30 | import android.os.Handler; 31 | import android.util.Log; 32 | import android.util.Size; 33 | 34 | import java.util.Collections; 35 | 36 | import static android.content.Context.CAMERA_SERVICE; 37 | 38 | /** 39 | * Helper class to deal with methods to deal with images from the camera. 40 | */ 41 | public class DoorbellCamera { 42 | private static final String TAG = DoorbellCamera.class.getSimpleName(); 43 | 44 | private static final int IMAGE_WIDTH = 1280; 45 | private static final int IMAGE_HEIGHT = 720; 46 | private static final int MAX_IMAGES = 1; 47 | 48 | private CameraDevice mCameraDevice; 49 | 50 | private CameraCaptureSession mCaptureSession; 51 | 52 | /** 53 | * An {@link ImageReader} that handles still image capture. 54 | */ 55 | private ImageReader mImageReader; 56 | 57 | // Lazy-loaded singleton, so only one instance of the camera is created. 58 | private DoorbellCamera() { 59 | } 60 | 61 | private static class InstanceHolder { 62 | private static DoorbellCamera mCamera = new DoorbellCamera(); 63 | } 64 | 65 | public static DoorbellCamera getInstance() { 66 | return InstanceHolder.mCamera; 67 | } 68 | 69 | /** 70 | * Initialize the camera device 71 | */ 72 | public void initializeCamera(Context context, 73 | Handler backgroundHandler, 74 | ImageReader.OnImageAvailableListener imageAvailableListener) { 75 | // Discover the camera instance 76 | CameraManager manager = (CameraManager) context.getSystemService(CAMERA_SERVICE); 77 | String[] camIds = {}; 78 | try { 79 | camIds = manager.getCameraIdList(); 80 | } catch (CameraAccessException e) { 81 | Log.d(TAG, "Cam access exception getting IDs", e); 82 | } 83 | if (camIds.length < 1) { 84 | Log.d(TAG, "No cameras found"); 85 | return; 86 | } 87 | String id = camIds[0]; 88 | Log.d(TAG, "Using camera id " + id); 89 | 90 | // Initialize the image processor 91 | mImageReader = ImageReader.newInstance(IMAGE_WIDTH, IMAGE_HEIGHT, 92 | ImageFormat.JPEG, MAX_IMAGES); 93 | mImageReader.setOnImageAvailableListener( 94 | imageAvailableListener, backgroundHandler); 95 | 96 | // Open the camera resource 97 | try { 98 | manager.openCamera(id, mStateCallback, backgroundHandler); 99 | } catch (CameraAccessException cae) { 100 | Log.d(TAG, "Camera access exception", cae); 101 | } 102 | } 103 | 104 | /** 105 | * Callback handling device state changes 106 | */ 107 | private final CameraDevice.StateCallback mStateCallback = new CameraDevice.StateCallback() { 108 | @Override 109 | public void onOpened(CameraDevice cameraDevice) { 110 | Log.d(TAG, "Opened camera."); 111 | mCameraDevice = cameraDevice; 112 | } 113 | 114 | @Override 115 | public void onDisconnected(CameraDevice cameraDevice) { 116 | Log.d(TAG, "Camera disconnected, closing."); 117 | cameraDevice.close(); 118 | } 119 | 120 | @Override 121 | public void onError(CameraDevice cameraDevice, int i) { 122 | Log.d(TAG, "Camera device error, closing."); 123 | cameraDevice.close(); 124 | } 125 | 126 | @Override 127 | public void onClosed(CameraDevice cameraDevice) { 128 | Log.d(TAG, "Closed camera, releasing"); 129 | mCameraDevice = null; 130 | } 131 | }; 132 | 133 | /** 134 | * Begin a still image capture 135 | */ 136 | public void takePicture() { 137 | if (mCameraDevice == null) { 138 | Log.w(TAG, "Cannot capture image. Camera not initialized."); 139 | return; 140 | } 141 | 142 | // Here, we create a CameraCaptureSession for capturing still images. 143 | try { 144 | mCameraDevice.createCaptureSession( 145 | Collections.singletonList(mImageReader.getSurface()), 146 | mSessionCallback, 147 | null); 148 | } catch (CameraAccessException cae) { 149 | Log.d(TAG, "access exception while preparing pic", cae); 150 | } 151 | } 152 | 153 | /** 154 | * Callback handling session state changes 155 | */ 156 | private CameraCaptureSession.StateCallback mSessionCallback = 157 | new CameraCaptureSession.StateCallback() { 158 | @Override 159 | public void onConfigured(CameraCaptureSession cameraCaptureSession) { 160 | // The camera is already closed 161 | if (mCameraDevice == null) { 162 | return; 163 | } 164 | 165 | // When the session is ready, we start capture. 166 | mCaptureSession = cameraCaptureSession; 167 | triggerImageCapture(); 168 | } 169 | 170 | @Override 171 | public void onConfigureFailed(CameraCaptureSession cameraCaptureSession) { 172 | Log.w(TAG, "Failed to configure camera"); 173 | } 174 | }; 175 | 176 | /** 177 | * Execute a new capture request within the active session 178 | */ 179 | private void triggerImageCapture() { 180 | try { 181 | final CaptureRequest.Builder captureBuilder = 182 | mCameraDevice.createCaptureRequest(CameraDevice.TEMPLATE_STILL_CAPTURE); 183 | captureBuilder.addTarget(mImageReader.getSurface()); 184 | captureBuilder.set(CaptureRequest.CONTROL_AE_MODE, CaptureRequest.CONTROL_AE_MODE_ON); 185 | Log.d(TAG, "Session initialized."); 186 | mCaptureSession.capture(captureBuilder.build(), mCaptureCallback, null); 187 | } catch (CameraAccessException cae) { 188 | Log.d(TAG, "camera capture exception"); 189 | } 190 | } 191 | 192 | /** 193 | * Callback handling capture session events 194 | */ 195 | private final CameraCaptureSession.CaptureCallback mCaptureCallback = 196 | new CameraCaptureSession.CaptureCallback() { 197 | 198 | @Override 199 | public void onCaptureProgressed(CameraCaptureSession session, 200 | CaptureRequest request, 201 | CaptureResult partialResult) { 202 | Log.d(TAG, "Partial result"); 203 | } 204 | 205 | @Override 206 | public void onCaptureCompleted(CameraCaptureSession session, 207 | CaptureRequest request, 208 | TotalCaptureResult result) { 209 | if (session != null) { 210 | session.close(); 211 | mCaptureSession = null; 212 | Log.d(TAG, "CaptureSession closed"); 213 | } 214 | } 215 | }; 216 | 217 | 218 | /** 219 | * Close the camera resources 220 | */ 221 | public void shutDown() { 222 | if (mCameraDevice != null) { 223 | mCameraDevice.close(); 224 | } 225 | } 226 | 227 | /** 228 | * Helpful debugging method: Dump all supported camera formats to log. You don't need to run 229 | * this for normal operation, but it's very helpful when porting this code to different 230 | * hardware. 231 | */ 232 | public static void dumpFormatInfo(Context context) { 233 | CameraManager manager = (CameraManager) context.getSystemService(CAMERA_SERVICE); 234 | String[] camIds = {}; 235 | try { 236 | camIds = manager.getCameraIdList(); 237 | } catch (CameraAccessException e) { 238 | Log.d(TAG, "Cam access exception getting IDs"); 239 | } 240 | if (camIds.length < 1) { 241 | Log.d(TAG, "No cameras found"); 242 | } else { 243 | String id = camIds[0]; 244 | Log.d(TAG, "Using camera id " + id); 245 | try { 246 | CameraCharacteristics characteristics = manager.getCameraCharacteristics(id); 247 | StreamConfigurationMap configs = characteristics.get( 248 | CameraCharacteristics.SCALER_STREAM_CONFIGURATION_MAP); 249 | for (int format : configs.getOutputFormats()) { 250 | Log.d(TAG, "Getting sizes for format: " + format); 251 | for (Size s : configs.getOutputSizes(format)) { 252 | Log.d(TAG, "\t" + s.toString()); 253 | } 254 | } 255 | int[] effects = characteristics.get(CameraCharacteristics.CONTROL_AVAILABLE_EFFECTS); 256 | for (int effect : effects) { 257 | Log.d(TAG, "Effect available: " + effect); 258 | } 259 | } catch (CameraAccessException e) { 260 | Log.d(TAG, "Cam access exception getting characteristics."); 261 | } 262 | } 263 | } 264 | } 265 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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2 | 3 | import android.Manifest; 4 | import android.app.Activity; 5 | import android.content.pm.PackageManager; 6 | import android.graphics.Bitmap; 7 | import android.graphics.BitmapFactory; 8 | import android.graphics.Color; 9 | import android.media.Image; 10 | import android.media.ImageReader; 11 | import android.os.Bundle; 12 | import android.os.Handler; 13 | import android.os.HandlerThread; 14 | import android.util.Base64; 15 | import android.util.Log; 16 | import android.view.KeyEvent; 17 | import android.view.View; 18 | import android.widget.ImageView; 19 | 20 | import com.google.android.things.pio.Gpio; 21 | import com.google.android.things.pio.GpioCallback; 22 | import com.google.android.things.pio.PeripheralManager; 23 | import com.google.android.things.pio.Pwm; 24 | import com.google.android.things.pio.UartDevice; 25 | import com.google.android.things.pio.UartDeviceCallback; 26 | import com.sysolve.androidthings.contrib.driver.ws2812b.Ws2812b; 27 | import com.sysolve.androidthings.utils.BoardSpec; 28 | import com.sysolve.androidthings.utils.HttpServer; 29 | import com.sysolve.androidthings.utils.Unzip; 30 | 31 | import java.io.BufferedOutputStream; 32 | import java.io.File; 33 | import java.io.FileOutputStream; 34 | import java.io.IOException; 35 | import java.nio.ByteBuffer; 36 | 37 | import static android.content.ContentValues.TAG; 38 | 39 | public class MainActivity extends Activity { 40 | private static final String TAG = MainActivity.class.getSimpleName(); 41 | 42 | Gpio mButtonGpio = null; 43 | 44 | private Pwm pwmLeft; 45 | private Pwm pwmRight; 46 | 47 | Gpio left0; 48 | Gpio left1; 49 | Gpio right0; 50 | Gpio right1; 51 | Gpio stop; 52 | 53 | private static double PWM_FREQUENCY_HZ = 100000; 54 | 55 | private static final int SPEED_NORMAL = 100; 56 | private static final int SPEED_TURNING_INSIDE = 70; 57 | private static final int SPEED_TURNING_OUTSIDE = 250; 58 | 59 | int buttonPressedTimes = 0; 60 | 61 | private HandlerThread mInputThread; 62 | private Handler mInputHandler; 63 | 64 | Gpio echoDeviceEn; 65 | 66 | private Runnable mTransferUartRunnable = new Runnable() { 67 | @Override 68 | public void run() { 69 | transferUartData(); 70 | } 71 | }; 72 | 73 | 74 | Ws2812b mWs2812b; 75 | 76 | private int mFrame = 0; 77 | private Handler mHandler; 78 | private HandlerThread mPioThread; 79 | 80 | private static final int FRAME_DELAY_MS = 30; // 24fps 81 | 82 | int[] mLedColors = new int[] { 83 | Color.BLUE, Color.BLUE, Color.BLUE, 84 | Color.BLUE, Color.BLUE, Color.BLUE, 85 | Color.BLUE, Color.BLUE, Color.BLUE, 86 | Color.BLUE, //Color.RED, Color.RED, 87 | //Color.RED, Color.RED, Color.RED, 88 | //Color.RED, Color.RED, Color.RED, 89 | //Color.RED, Color.RED, Color.RED, 90 | //Color.RED, Color.GREEN, Color.BLUE, 91 | //Color.RED, Color.GREEN, Color.BLUE, 92 | //Color.RED, Color.GREEN, Color.BLUE 93 | }; 94 | 95 | boolean showMoreColor = false; 96 | 97 | private Runnable mAnimateRunnable = new Runnable() { 98 | final float[] hsv = {1f, 1f, 1f}; 99 | 100 | @Override 101 | public void run() { 102 | if (showMoreColor) { 103 | try { 104 | for (int i = 0; i < mLedColors.length; i++) { // Assigns gradient colors. 105 | int n = (i + mFrame) % (mLedColors.length * 3); 106 | hsv[0] = n * 360.f / (mLedColors.length * 3); 107 | mLedColors[i] = Color.HSVToColor(0, hsv); 108 | } 109 | mWs2812b.write(mLedColors); 110 | mFrame = (mFrame + 1) % (mLedColors.length * 3); 111 | } catch (IOException e) { 112 | Log.e(TAG, "Error while writing to LED strip", e); 113 | } 114 | mHandler.postDelayed(mAnimateRunnable, FRAME_DELAY_MS); 115 | } else { 116 | try { 117 | for (int i = 0; i < mLedColors.length; i++) { // Assigns gradient colors. 118 | mLedColors[i] = color; 119 | } 120 | mWs2812b.write(mLedColors); 121 | } catch (Exception e) { 122 | e.printStackTrace(); 123 | } 124 | 125 | mHandler.postDelayed(mAnimateRunnable, 500); 126 | } 127 | } 128 | }; 129 | 130 | @Override 131 | protected void onCreate(Bundle savedInstanceState) { 132 | super.onCreate(savedInstanceState); 133 | 134 | 135 | try { 136 | mWs2812b = new Ws2812b(BoardSpec.getSpiBus()); 137 | } catch (IOException e) { 138 | // couldn't configure the device... 139 | } 140 | 141 | try { 142 | mWs2812b.write(mLedColors); 143 | } catch (IOException e) { 144 | // error setting LEDs 145 | } 146 | 147 | initCamera(); 148 | 149 | /* 150 | try { 151 | Thread.sleep(500); 152 | } catch (InterruptedException e) { 153 | e.printStackTrace(); 154 | } 155 | int c = mLedColors[0]; 156 | for (int i=0;i10) { 563 | speed = speed - 5; 564 | try { 565 | pwmLeft.setPwmDutyCycle(speed + lrdSpeed); 566 | pwmRight.setPwmDutyCycle(speed - lrdSpeed); 567 | } catch (IOException e) { 568 | e.printStackTrace(); 569 | } 570 | } 571 | } 572 | 573 | public void speedAdd() { 574 | if (speed<100) { 575 | speed = speed + 5; 576 | try { 577 | pwmLeft.setPwmDutyCycle(speed + lrdSpeed); 578 | pwmRight.setPwmDutyCycle(speed - lrdSpeed); 579 | } catch (IOException e) { 580 | e.printStackTrace(); 581 | } 582 | } 583 | } 584 | 585 | private UartDevice echoDevice; 586 | 587 | private void openUart(PeripheralManager service, String name, int baudRate) throws IOException { 588 | echoDevice = service.openUartDevice(name); 589 | // Configure the UART 590 | echoDevice.setBaudrate(baudRate); 591 | echoDevice.setDataSize(8); 592 | echoDevice.setParity(UartDevice.PARITY_NONE); 593 | echoDevice.setStopBits(1); 594 | 595 | Log.i(TAG, "Open UART device"); 596 | 597 | echoDevice.registerUartDeviceCallback(mInputHandler, mCallback); 598 | } 599 | 600 | /** 601 | * Close the UART device connection, if it exists 602 | */ 603 | private void closeUart() throws IOException { 604 | if (echoDevice != null) { 605 | echoDevice.unregisterUartDeviceCallback(mCallback); 606 | try { 607 | echoDevice.close(); 608 | } finally { 609 | echoDevice = null; 610 | } 611 | } 612 | } 613 | 614 | /** 615 | * Callback invoked when UART receives new incoming data. 616 | */ 617 | private UartDeviceCallback mCallback = new UartDeviceCallback() { 618 | @Override 619 | public boolean onUartDeviceDataAvailable(UartDevice uart) { 620 | // Queue up a data transfer 621 | transferUartData(); 622 | //Continue listening for more interrupts 623 | return true; 624 | } 625 | 626 | @Override 627 | public void onUartDeviceError(UartDevice uart, int error) { 628 | Log.w(TAG, uart + ": Error event " + error); 629 | } 630 | }; 631 | 632 | public static int CHUNK_SIZE = 128; 633 | 634 | public boolean echo_prefix; 635 | public int echoHigh; 636 | public int echoLow; 637 | public int echoCRC; 638 | 639 | //private static byte[] prefix = "IoT".getBytes(); 640 | /** 641 | * Loop over the contents of the UART RX buffer, transferring each 642 | * one back to the TX buffer to create a loopback service. 643 | * 644 | * Potentially long-running operation. Call from a worker thread. 645 | */ 646 | private void transferUartData() { 647 | if (echoDevice != null) { 648 | // Loop until there is no more data in the RX buffer. 649 | try { 650 | byte[] buffer = new byte[CHUNK_SIZE]; 651 | int read; 652 | 653 | while ((read = echoDevice.read(buffer, buffer.length)) > 0) { 654 | //mLoopbackDevice.write(prefix, prefix.length); 655 | //mLoopbackDevice.write(buffer, read); 656 | for (int i=0;i0 && distance<100) 662 | emStop(); 663 | Log.i(TAG, "distance="+distance+"mm"); 664 | } else { 665 | Log.i(TAG, "distance CRC Error"); 666 | } 667 | i+=4; 668 | } else { 669 | break; 670 | } 671 | } else { 672 | i++; 673 | } 674 | } 675 | } 676 | } catch (IOException e) { 677 | Log.w(TAG, "Unable to transfer data over UART", e); 678 | } 679 | } 680 | } 681 | 682 | @Override 683 | protected void onDestroy() { 684 | super.onDestroy(); 685 | 686 | // Close the LED strip when finished: 687 | try { 688 | mWs2812b.close(); 689 | } catch (IOException e) { 690 | // error closing LED strip 691 | } 692 | 693 | try { 694 | left0.close(); 695 | left1.close(); 696 | right0.close(); 697 | right1.close(); 698 | echoDeviceEn.close(); 699 | stop.close(); 700 | } catch (IOException e) { 701 | e.printStackTrace(); 702 | } 703 | 704 | try { 705 | pwmLeft.close(); 706 | } catch (IOException e) { 707 | Log.e(TAG, e.getMessage(), e); 708 | } 709 | try { 710 | pwmRight.close(); 711 | } catch (Exception e) { 712 | Log.e(TAG, e.getMessage(), e); 713 | } 714 | 715 | if (mButtonGpio!=null) try { 716 | mButtonGpio.close(); 717 | } catch (IOException e) { 718 | Log.e(TAG, e.getMessage(), e); 719 | } 720 | 721 | // Terminate the worker thread 722 | if (mInputThread != null) { 723 | mInputThread.quitSafely(); 724 | } 725 | 726 | // Attempt to close the UART device 727 | try { 728 | closeUart(); 729 | } catch (IOException e) { 730 | Log.e(TAG, "Error closing UART device:", e); 731 | } 732 | 733 | mCamera.shutDown(); 734 | 735 | mCameraThread.quitSafely(); 736 | } 737 | 738 | int color; 739 | 740 | public void color(int color) { 741 | showMoreColor = false; 742 | this.color = color; 743 | } 744 | 745 | public void moreColor() { 746 | showMoreColor = true; 747 | } 748 | 749 | public void superSound(boolean on) { 750 | try { 751 | if (on) { 752 | echoDeviceEn.setValue(false); 753 | } else { 754 | echoDeviceEn.setValue(true); 755 | } 756 | } catch (Exception e) { 757 | e.printStackTrace(); 758 | } 759 | } 760 | 761 | Handler handler = new Handler(); 762 | 763 | public void takePicture() { 764 | 765 | handler.post(new Runnable() { 766 | @Override 767 | public void run() { 768 | try { 769 | Log.i(TAG, "PhotoCamera take Picture"); 770 | mCamera.takePicture(); 771 | } catch (Exception e) { 772 | e.printStackTrace(); 773 | } 774 | } 775 | }); 776 | } 777 | } 778 | --------------------------------------------------------------------------------