Application Android pour commander robot en WIFI

salut,

je suis en 3ème année de licence à l'unviersité de Rouen.

mon Ter consiste à créer une appli android pour piloter le robot nao h21 en wifi, visualisant sa wecam, et ayant différents boutons! je suis sous android 3.1 tab samsung galaxy tab 8.9, important!

donne bien toutes les permissions dans le manifest :

Code:

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<?xml version="1.0" encoding="utf-8"?>
 
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
	package="com.example"	
	 android:versionCode="1"
	 android:versionName="1.0">
	<uses-permission android:name="android.permission.CAMERA" />
	    	<uses-sdk android:minSdkVersion="12" />			
		<uses-feature android:name="android.permission.Harware"></uses-feature>			
	<application android:icon="@drawable/andro"
	     android:label="@string/app_name">
 
		<activity android:name=".CameraDemo" 
		    android:label="@string/app_name"
		    android:configChanges="orientation">		    
 
			<intent-filter>
				<action android:name="android.intent.action.MAIN" />
				<category android:name="android.intent.category.LAUNCHER" />
			</intent-filter>			
		</activity>
	</application>		
</manifest>

de plus, graphiquement en vues utilise des boutons clickables :

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<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
    android:id="@+id/layout"
    android:layout_width="fill_parent"
    android:layout_height="fill_parent"
    android:background="#3399FF"
    android:orientation="vertical" >
 
    <TextView
        android:layout_width="fill_parent"
        android:layout_height="wrap_content"
        android:text="@string/titre"
        android:textSize="24sp" />
 
    <FrameLayout
        android:id="@+id/preview"
        android:layout_width="481dp"
        android:layout_height="296dp"
        android:layout_gravity="center_horizontal" >
 
    </FrameLayout>
 
    <Button
        android:id="@+id/buttonClick"
        style="@style/styleName"
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:layout_gravity="center"
 
        android:text="@string/action"
        android:textColor="#FFFF00"
        android:textStyle="bold" >
 
    </Button>
 
    <LinearLayout
        android:layout_width="match_parent"
        android:layout_height="wrap_content" >
 
        <Button
            android:id="@+id/button6"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_marginLeft="60dp"
            android:text="@string/sit" />
 
        <Button
            android:id="@+id/button7"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
             android:layout_marginLeft="320dp"
            android:text="@string/stand" />
 
    </LinearLayout>
 
    <Button
        android:id="@+id/button1"
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:text="@string/avance"
         android:layout_gravity="center" />
 
    <LinearLayout
        android:layout_width="match_parent"
        android:layout_height="83dp" >
 
        <Button
            android:id="@+id/button3"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_marginLeft="60dp"
            android:text="@string/gauche" />
 
        <Button
            android:id="@+id/button5"
            android:layout_width="wrap_content"
            android:layout_height="match_parent"
            android:layout_marginLeft="20dp"
            android:background="@drawable/icone_quitter" />
 
        <Button
            android:id="@+id/button4"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_marginLeft="20dp"
            android:text="@string/droite" />
    </LinearLayout>
 
    <Button
        android:id="@+id/button2"
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:text="@string/recule"
        android:layout_gravity="center" />
 
    <DigitalClock
        android:id="@+id/digitalClock1"
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:text="@string/temps"
        android:textColor="#FFF3FF"
        android:textSize="50dp" />
 
</LinearLayout>

enfin dans la class, pour la programmation des fonctions; parler , avancer etc, attention à bien déclarer en public class et vérifie tes importations:

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package com;
 
import java.io.FileNotFoundException;
import java.io.FileOutputStream;
import java.io.IOException;
 
import com.example.R;
 
 
import android.app.Activity;
import android.hardware.Camera;
import android.hardware.Camera.PictureCallback;
import android.hardware.Camera.ShutterCallback;
import android.os.Bundle;
import android.util.Log;
import android.view.Menu;
import android.view.MenuInflater;
import android.view.MenuItem;
import android.view.View;
import android.view.View.OnClickListener;
import android.widget.Button;
import android.widget.FrameLayout;
import android.widget.Toast;
 
//import com.aldebaran.proxy.*;
 
public class CameraDemo extends Activity {
	private static final String TAG ="CameraDemo";
	Camera camera;
	Preview preview;
 
	Button buttonClick; 
	Button button1;
	Button button2;
	Button button3;
	Button button4;
	Button button5;
 
	Button button6;
	Button button7;
 
 
 
	/** Called when the activity is first created. */
	@Override
	public void onCreate(Bundle savedInstanceState) {
		super.onCreate(savedInstanceState);
		setContentView(R.layout.main);
 
		preview = new Preview(this);
		((FrameLayout) findViewById(R.id.preview)).addView(preview);
 
		buttonClick = (Button)findViewById(R.id.buttonClick);
		buttonClick.setOnClickListener( new OnClickListener() {
			public void onClick(View v) {
				preview.camera.takePicture(shutterCallback, rawCallback, jpegCallback);
				                        }
		});
 
		Log.d(TAG, "onCreate'd");
 
		button1 = (Button)findViewById(R.id.button1);
		button1.setOnClickListener(new OnClickListener(){
			public void onClick(View v){				
				preview.camera.startSmoothZoom(10);
				                       }			
		});
 
		button2 = (Button)findViewById(R.id.button2);
		button2.setOnClickListener(new OnClickListener(){
			public void onClick(View v){				
				preview.camera.stopSmoothZoom();
				                        }			
		});
 
		button3 = (Button)findViewById(R.id.button3);
		button3.setOnClickListener(new OnClickListener(){			
				public void onClick(View v){				
				preview.camera.lock();				
				                           }										
		});
 
		button4 = (Button)findViewById(R.id.button4);
		button4.setOnClickListener(new OnClickListener(){
			public void onClick(View v){				
				preview.camera.unlock();
				                       }			
		});
 
		button5 = (Button)findViewById(R.id.button5);
		button5.setOnClickListener(new OnClickListener(){
			public void onClick(View v){				
				preview.camera.setDisplayOrientation(90);
				                       }			
		});
 
		button6 = (Button)findViewById(R.id.button6);
		button6.setOnClickListener(new OnClickListener(){
			public void onClick(View v){				
				preview.camera.setDisplayOrientation(145);	
				                        }					
		});
 
		button7 = (Button)findViewById(R.id.button7);
		button7.setOnClickListener(new OnClickListener(){
			public void onClick(View v){
				preview.camera.setDisplayOrientation(45);				
				                       }							
		});
	}
			/*public class tts
			{
			  static
			  {
			    System.loadLibrary("JNaoQi");
			  }
 
			  public static void main(String[] args)
			  {
				// TTS proxy
				ALTextToSpeechProxy ttsProxy;
				ttsProxy = new ALTextToSpeechProxy("naopium.local", 9559);
 
				// Talk
				ttsProxy.say("hello world");
			  }
			}*/
 
 
	ShutterCallback shutterCallback = new ShutterCallback() {
		public void onShutter() {
			Log.d(TAG, "onShutter'd");
		}
	};
 
	/** Handles data for raw picture */
	PictureCallback rawCallback = new PictureCallback() {
		public void onPictureTaken(byte[] data, Camera camera) {
			Log.d(TAG, "onPictureTaken - raw");
		}
	};
 
	/** Handles data for jpeg picture */
	PictureCallback jpegCallback = new PictureCallback() {
		public void onPictureTaken(byte[] data, Camera camera) {
			FileOutputStream outStream = null;
			try {
				// write to local sandbox file system
				outStream = CameraDemo.this.openFileOutput(String.format("%d.jpg", System.currentTimeMillis()), 0);	
				// Or write to sdcard
				outStream = new FileOutputStream(String.format("/sdcard/%d.jpg", System.currentTimeMillis()));	
				outStream.write(data);
				outStream.close();
				Log.d(TAG, "onPictureTaken - wrote bytes: " + data.length);
			} catch (FileNotFoundException e) {
				e.printStackTrace();
			} catch (IOException e) {
				e.printStackTrace();
			} finally {
			}
			Log.d(TAG, "onPictureTaken - jpeg");
		}
	};
 
//On trouve ici la gestion du Menu	
 
    //Méthode qui se déclenchera lorsque vous appuierez sur le bouton menu du téléphone
    public boolean onCreateOptionsMenu(Menu menu) {
 
        //Création d'un MenuInflater qui va permettre d'instancier un Menu XML en un objet Menu
        MenuInflater inflater = getMenuInflater();
        //Instanciation du menu XML spécifier en un objet Menu
        inflater.inflate(R.layout.menu, menu);
 
        //Il n'est pas possible de modifier l'icône d'entête du sous-menu via le fichier XML on le fait donc en JAVA
    	menu.getItem(0).getSubMenu().setHeaderIcon(R.drawable.menu);
 
        return true;
     }
 
       //Méthode qui se déclenchera au clic sur un item
      public boolean onOptionsItemSelected(MenuItem item) {
         //On regarde quel item a été cliqué grâce à son id et on déclenche une action
         switch (item.getItemId()) {
            case R.id.menu:
               Toast.makeText(CameraDemo.this, "Menu", Toast.LENGTH_SHORT).show();
               return true;
            case R.id.reseau:
                Toast.makeText(CameraDemo.this, "Reseau", Toast.LENGTH_SHORT).show();
                return true;
            case R.id.pilotage:
                Toast.makeText(CameraDemo.this, "Pilotage", Toast.LENGTH_SHORT).show();
 
                return true;
           case R.id.quitter:
               //Pour fermer l'application il suffit de faire finish()
               finish();
               return true;
         }
         return false;}
 
}