手部识别操控机械臂+源代码+文档说明

// Copyright 2021 The MediaPipe Authors. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at // // http://www.apache.org/licenses/LICENSE-2.0 // // Unless required by applicable law or agreed to in writing, software // distributed under the License is distributed on an "AS IS" BASIS, // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. package com.catand.armtorobot; import android.bluetooth.BluetoothAdapter; import android.bluetooth.BluetoothDevice; import android.content.ComponentName; import android.content.Context; import android.content.DialogInterface; import android.content.Intent; import android.content.ServiceConnection; import android.graphics.Bitmap; import android.graphics.Matrix; import android.graphics.drawable.Animatable2; import android.graphics.drawable.AnimatedVectorDrawable; import android.graphics.drawable.Drawable; import android.net.ConnectivityManager; import android.os.Bundle; import android.os.Handler; import android.os.IBinder; import android.os.Message; import android.provider.MediaStore; import android.provider.Settings; import android.util.Log; import android.view.View; import android.widget.Button; import android.widget.FrameLayout; import android.widget.ImageButton; import android.widget.Toast; import androidx.activity.result.ActivityResultLauncher; import androidx.activity.result.contract.ActivityResultContracts; import androidx.appcompat.app.AppCompatActivity; import androidx.exifinterface.media.ExifInterface; import com.catand.armtorobot.commen.Constants; import com.catand.armtorobot.connect.BLEManager; import com.catand.armtorobot.connect.BLEService; import com.catand.armtorobot.model.ByteCommand; import com.catand.armtorobot.model.ServoAction; import com.catand.armtorobot.uitls.BluetoothUtils; import com.catand.armtorobot.uitls.CmdUtil; import com.catand.armtorobot.uitls.LandmarkUtil; import com.catand.armtorobot.uitls.LogUtil; import com.catand.armtorobot.uitls.PermissionHelperBluetooth; import com.catand.armtorobot.widget.NetworkDialog; import com.catand.armtorobot.widget.PromptDialog; import com.catand.armtorobot.widget.SearchDialog; import com.google.firebase.analytics.FirebaseAnalytics; import com.google.mediapipe.formats.proto.LandmarkProto; import com.google.mediapipe.solutioncore.CameraInput; import com.google.mediapipe.solutioncore.SolutionGlSurfaceView; import com.google.mediapipe.solutions.hands.HandLandmark; import com.google.mediapipe.solutions.hands.Hands; import com.google.mediapipe.solutions.hands.HandsOptions; import com.google.mediapipe.solutions.hands.HandsResult; import java.io.IOException; import java.io.InputStream; import java.util.Timer; import java.util.TimerTask; /** * 应用程序的主Activity. */ public class MainActivity extends AppCompatActivity implements SearchDialog.OnDeviceSelectedListener, NetworkDialog.OnRobotSelectedListener { private FirebaseAnalytics mFirebaseAnalytics; private static final String TAG = MainActivity.class.getSimpleName(); private Hands hands; private final int HANDS_NUM = 1; //在 GPU 或 CPU 上运行管道和模型推理. private static final boolean RUN_ON_GPU = true; private enum InputSource { UNKNOWN, IMAGE, CAMERA, } private InputSource inputSource = InputSource.UNKNOWN; // 图像演示 UI 和图像加载器组件. private ActivityResultLauncher<Intent> imageGetter; private HandsResultImageView imageView; // 实时摄像头演示 UI 和摄像头组件. private CameraInput cameraInput; private SolutionGlSurfaceView<HandsResult> glSurfaceView; //蓝牙重试次数 private static final int RETRY_TIMES = 3; //确认退出 private boolean confirm; //蓝牙按钮图像 private ImageButton btStateBtn; //蓝牙适配器 public static BluetoothAdapter mBluetoothAdapter = null; public static BLEManager bleManager; public static BluetoothDevice mBluetoothDevice; private Handler mHandler; /** * 已尝试连接次数 */ private int connectTimes; /** * 蓝牙连接状态 */ public static boolean bluetoothIsConnected; /** * 服务器连接状态 */ public static boolean networkIsConnected; //通用方法 @Override protected void onCreate(Bundle savedInstanceState) { super.onCreate(savedInstanceState); setContentView(R.layout.activity_main); // 初始化 Firebase mFirebaseAnalytics = FirebaseAnalytics.getInstance(this); //初始化按钮点击事件监听器 setupStaticImageDemoUiComponents(); setupLiveDemoUiComponents(); setupBluetoothClick(); setupSetClick(); setupTestClick(); setupNetworkClick(); if (!BluetoothUtils.isSupport(BluetoothAdapter.getDefaultAdapter())) { Toast.makeText(this, "蓝牙不可用", Toast.LENGTH_LONG).show(); finish(); } //创建蓝牙按钮对象 btStateBtn = findViewById(R.id.bluetooth_btn); Intent intent = new Intent(this, BLEService.class); startService(intent); bindService(intent, mConnection, Context.BIND_AUTO_CREATE); BLEManager.getInstance().register(this); mHandler = new Handler(new MsgCallBack()); // Get local Bluetooth adapter mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter(); //重置连接尝试次数 connectTimes = 0; } //当应用恢复前台运行 @Override protected void onResume() { super.onResume(); //相机 //如果目前工作源是摄像头,就重启相机和opengl表面渲染 if (inputSource == InputSource.CAMERA) { cameraInput = new CameraInput(this); cameraInput.setNewFrameListener(textureFrame -> hands.send(textureFrame)); glSurfaceView.post(this::startCamera); glSurfaceView.setVisibility(View.VISIBLE); } //蓝牙 bleManager = BLEManager.getInstance(); bluetoothIsConnected = bleManager.isConnected(); bleManager.setHandler(mHandler); LogUtil.i(TAG, "onResume isConnected= " + bluetoothIsConnected); setState(bluetoothIsConnected); } //当应用进入后台 @Override protected void onPause() { super.onPause(); //如果目前工作源是摄像头,就完全隐藏输出界面并关闭视频流 if (inputSource == InputSource.CAMERA) { glSurfaceView.setVisibility(View.GONE); cameraInput.close(); } } //当Activity被销毁 @Override protected void onDestroy() { LogUtil.i(TAG, "onCreate"); unbindService(mConnection); BLEManager.getInstance().unregister(this); super.onDestroy(); } //当返回键被按下 @Override public void onBackPressed() { if (BLEManager.getInstance().isConnected()) { PromptDialog.create(this, getFragmentManager(), getString(R.string.exit_tips_title), getString(R.string.exit_tips_content), (dialog, which) -> { if (DialogInterface.BUTTON_POSITIVE == which) { BLEManager.getInstance().stop(); MainActivity.super.onBackPressed(); android.os.Process.killProcess(android.os.Process.myPid()); } }); } else { if (!confirm) { confirm = true; Toast.makeText(this, R.string.exit_remind, Toast.LENGTH_SHORT).show(); Timer timer = new Timer(); timer.schedule(new TimerTask() { @Override public void run() { confirm = false; } }, 2000); } else { Intent intent = new Intent(this, BLEService.class); stopService(intent); BLEManager.getInstance().destroy(); super.onBackPressed(); android.os.Process.killProcess(android.os.Process.myPid()); } } } //mediapipe方法 //把原Bitmap等比例无裁剪缩小到适合imageView的大小 private Bitmap downscaleBitmap(Bitmap originalBitmap) { //纵横比 double aspectRatio = (double) originalBitmap.getWidth() / originalBitmap.getHeight(); int width = imageView.getWidth(); int height = imageView.getHeight(); if (((double) imageView.getWidth() / imageView.getHeight()) > aspectRatio) { width =