android/WALT/app/src/main/java/org/chromium/latency/walt/DragLatencyFragment.java - platform/external/walt - Git at Google

 /*
  * Copyright (C) 2015 The Android Open Source Project
  *
  * 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 org.chromium.latency.walt;

 import android.content.BroadcastReceiver;
 import android.content.Context;
 import android.content.Intent;
 import android.graphics.Color;
 import android.os.Bundle;
 import android.support.v4.app.Fragment;
 import android.text.method.ScrollingMovementMethod;
 import android.view.LayoutInflater;
 import android.view.MotionEvent;
 import android.view.View;
 import android.view.ViewGroup;
 import android.widget.TextView;

 import com.github.mikephil.charting.charts.ScatterChart;
 import com.github.mikephil.charting.components.Description;
 import com.github.mikephil.charting.data.Entry;
 import com.github.mikephil.charting.data.ScatterData;
 import com.github.mikephil.charting.data.ScatterDataSet;

 import java.io.IOException;
 import java.util.ArrayList;
 import java.util.Locale;

 public class DragLatencyFragment extends Fragment
         implements View.OnClickListener, RobotAutomationListener {

     private SimpleLogger logger;
     private WaltDevice waltDevice;
     private TextView logTextView;
     private TouchCatcherView touchCatcher;
     private TextView crossCountsView;
     private TextView dragCountsView;
     private View startButton;
     private View restartButton;
     private View finishButton;
     private ScatterChart latencyChart;
     private View latencyChartLayout;
     int moveCount = 0;

     ArrayList<UsMotionEvent> touchEventList = new ArrayList<>();
     ArrayList<WaltDevice.TriggerMessage> laserEventList = new ArrayList<>();


     private BroadcastReceiver logReceiver = new BroadcastReceiver() {
         @Override
         public void onReceive(Context context, Intent intent) {
             String msg = intent.getStringExtra("message");
             DragLatencyFragment.this.appendLogText(msg);
         }
     };

     private View.OnTouchListener touchListener = new View.OnTouchListener() {
         @Override
         public boolean onTouch(View v, MotionEvent event) {
             int histLen = event.getHistorySize();
             for (int i = 0; i < histLen; i++){
                 UsMotionEvent eh = new UsMotionEvent(event, waltDevice.clock.baseTime, i);
                 touchEventList.add(eh);
             }
             UsMotionEvent e = new UsMotionEvent(event, waltDevice.clock.baseTime);
             touchEventList.add(e);
             moveCount += histLen + 1;

             updateCountsDisplay();
             return true;
         }
     };

     public DragLatencyFragment() {
         // Required empty public constructor
     }

     @Override
     public View onCreateView(LayoutInflater inflater, ViewGroup container,
                              Bundle savedInstanceState) {
         logger = SimpleLogger.getInstance(getContext());
         waltDevice = WaltDevice.getInstance(getContext());

         // Inflate the layout for this fragment
         final View view = inflater.inflate(R.layout.fragment_drag_latency, container, false);
         logTextView = (TextView) view.findViewById(R.id.txt_log_drag_latency);
         startButton = view.findViewById(R.id.button_start_drag);
         restartButton = view.findViewById(R.id.button_restart_drag);
         finishButton = view.findViewById(R.id.button_finish_drag);
         touchCatcher = (TouchCatcherView) view.findViewById(R.id.tap_catcher);
         crossCountsView = (TextView) view.findViewById(R.id.txt_cross_counts);
         dragCountsView = (TextView) view.findViewById(R.id.txt_drag_counts);
         latencyChart = (ScatterChart) view.findViewById(R.id.latency_chart);
         latencyChartLayout = view.findViewById(R.id.latency_chart_layout);
         logTextView.setMovementMethod(new ScrollingMovementMethod());
         view.findViewById(R.id.button_close_chart).setOnClickListener(this);
         restartButton.setEnabled(false);
         finishButton.setEnabled(false);
         return view;
     }

     @Override
     public void onResume() {
         super.onResume();

         logTextView.setText(logger.getLogText());
         logger.registerReceiver(logReceiver);

         // Register this fragment class as the listener for some button clicks
         startButton.setOnClickListener(this);
         restartButton.setOnClickListener(this);
         finishButton.setOnClickListener(this);
     }

     @Override
     public void onPause() {
         logger.unregisterReceiver(logReceiver);
         super.onPause();
     }

     public void appendLogText(String msg) {
         logTextView.append(msg + "\n");
     }

     void updateCountsDisplay() {
         crossCountsView.setText(String.format(Locale.US, "↕ %d", laserEventList.size()));
         dragCountsView.setText(String.format(Locale.US, "⇄ %d", moveCount));
     }

     /**
      * @return true if measurement was successfully started
      */
     boolean startMeasurement() {
         logger.log("Starting drag latency test");
         try {
             waltDevice.syncClock();
         } catch (IOException e) {
             logger.log("Error syncing clocks: " + e.getMessage());
             return false;
         }
         // Register a callback for triggers
         waltDevice.setTriggerHandler(triggerHandler);
         try {
             waltDevice.command(WaltDevice.CMD_AUTO_LASER_ON);
             waltDevice.startListener();
         } catch (IOException e) {
             logger.log("Error: " + e.getMessage());
             waltDevice.clearTriggerHandler();
             return false;
         }
         touchCatcher.setOnTouchListener(touchListener);
         touchCatcher.startAnimation();
         touchEventList.clear();
         laserEventList.clear();
         moveCount = 0;
         updateCountsDisplay();
         return true;
     }

     void restartMeasurement() {
         logger.log("\n## Restarting drag latency test. Re-sync clocks ...");
         try {
             waltDevice.syncClock();
         } catch (IOException e) {
             logger.log("Error syncing clocks: " + e.getMessage());
         }

         touchCatcher.startAnimation();
         touchEventList.clear();
         laserEventList.clear();
         moveCount = 0;
         updateCountsDisplay();
     }

     void finishAndShowStats() {
         touchCatcher.stopAnimation();
         waltDevice.stopListener();
         try {
             waltDevice.command(WaltDevice.CMD_AUTO_LASER_OFF);
         } catch (IOException e) {
             logger.log("Error: " + e.getMessage());
         }
         touchCatcher.setOnTouchListener(null);
         waltDevice.clearTriggerHandler();

         waltDevice.checkDrift();

         logger.log(String.format(Locale.US,
                 "Recorded %d laser events and %d touch events. ",
                 laserEventList.size(),
                 touchEventList.size()
         ));

         if (touchEventList.size() < 100) {
             logger.log("Insufficient number of touch events (<100), aborting.");
             return;
         }

         if (laserEventList.size() < 8) {
             logger.log("Insufficient number of laser events (<8), aborting.");
             return;
         }

         // TODO: Log raw data if enabled in settings, touch events add lots of text to the log.
         // logRawData();
         reshapeAndCalculate();
         LogUploader.uploadIfAutoEnabled(getContext());
     }

     // Data formatted for processing with python script, y.py
     void logRawData() {
         logger.log("#####> LASER EVENTS #####");
         for (int i = 0; i < laserEventList.size(); i++){
             logger.log(laserEventList.get(i).t + " " + laserEventList.get(i).value);
         }
         logger.log("#####< END OF LASER EVENTS #####");

         logger.log("=====> TOUCH EVENTS =====");
         for (UsMotionEvent e: touchEventList) {
             logger.log(String.format(Locale.US,
                     "%d %.3f %.3f",
                     e.kernelTime,
                     e.x, e.y
             ));
         }
         logger.log("=====< END OF TOUCH EVENTS =====");
     }

     void reshapeAndCalculate() {
         double[] ft, lt; // All time arrays are in _milliseconds_
         double[] fy;
         int[] ldir;

         // Use the time of the first touch event as time = 0 for debugging convenience
         long t0_us = touchEventList.get(0).kernelTime;
         long tLast_us = touchEventList.get(touchEventList.size() - 1).kernelTime;

         int fN = touchEventList.size();
         ft = new double[fN];
         fy = new double[fN];

         for (int i = 0; i < fN; i++){
             ft[i] = (touchEventList.get(i).kernelTime - t0_us) / 1000.;
             fy[i] = touchEventList.get(i).y;
         }

         // Remove all laser events that are outside the time span of the touch events
         // they are not usable and would result in errors downstream
         int j = laserEventList.size() - 1;
         while (j >= 0 && laserEventList.get(j).t > tLast_us) {
             laserEventList.remove(j);
             j--;
         }

         while (laserEventList.size() > 0 && laserEventList.get(0).t < t0_us) {
             laserEventList.remove(0);
         }

         // Calculation assumes that the first event is generated by the finger obstructing the beam.
         // Remove the first event if it was generated by finger going out of the beam (value==1).
         while (laserEventList.size() > 0 && laserEventList.get(0).value == 1) {
             laserEventList.remove(0);
         }

         int lN = laserEventList.size();

         if (lN < 8) {
             logger.log("ERROR: Insufficient number of laser events overlapping with touch events," +
                             "aborting."
             );
             return;
         }

         lt = new double[lN];
         ldir = new int[lN];
         for (int i = 0; i < lN; i++){
             lt[i] = (laserEventList.get(i).t - t0_us) / 1000.;
             ldir[i] = laserEventList.get(i).value;
         }

         calculateDragLatency(ft,fy, lt, ldir);
     }

     /**
      * Handler for all the button clicks on this screen.
      */
     @Override
     public void onClick(View v) {
         if (v.getId() == R.id.button_restart_drag) {
             latencyChartLayout.setVisibility(View.GONE);
             restartButton.setEnabled(false);
             restartMeasurement();
             restartButton.setEnabled(true);
             return;
         }

         if (v.getId() == R.id.button_start_drag) {
             latencyChartLayout.setVisibility(View.GONE);
             startButton.setEnabled(false);
             boolean startSuccess = startMeasurement();
             if (startSuccess) {
                 finishButton.setEnabled(true);
                 restartButton.setEnabled(true);
             } else {
                 startButton.setEnabled(true);
             }
             return;
         }

         if (v.getId() == R.id.button_finish_drag) {
             finishButton.setEnabled(false);
             restartButton.setEnabled(false);
             finishAndShowStats();
             startButton.setEnabled(true);
             return;
         }

         if (v.getId() == R.id.button_close_chart) {
             latencyChartLayout.setVisibility(View.GONE);
         }
     }

     public void onRobotAutomationEvent(String event) {
         if (event.equals(RobotAutomationListener.RESTART_EVENT)) {
             onClick(restartButton);
         } else if (event.equals(RobotAutomationListener.START_EVENT)) {
             onClick(startButton);
         } else if (event.equals(RobotAutomationListener.FINISH_EVENT)) {
             onClick(finishButton);
         }
     }

     private WaltDevice.TriggerHandler triggerHandler = new WaltDevice.TriggerHandler() {
         @Override
         public void onReceive(WaltDevice.TriggerMessage tmsg) {
             laserEventList.add(tmsg);
             updateCountsDisplay();
         }
     };

     public void calculateDragLatency(double[] ft, double[] fy, double[] lt, int[] ldir) {
         // TODO: throw away several first laser crossings (if not already)
         double[] ly = Utils.interp(lt, ft, fy);
         double lmid = Utils.mean(ly);
         // Assume first crossing is into the beam = light-off = 0
         if (ldir[0] != 0) {
             // TODO: add more sanity checks here.
             logger.log("First laser crossing is not into the beam, aborting");
             return;
         }

         // label sides, one simple label is i starts from 1, then side = (i mod 4) / 2  same as the 2nd LSB bit or i.
         int[] sideIdx = new int[lt.length];

         // This is one way of deciding what laser events were on which side
         // It should go above, below, below, above, above
         // The other option is to mirror the python code that uses position and velocity for this
         for (int i = 0; i<lt.length; i++) {
             sideIdx[i] = ((i+1) / 2) % 2;
         }
         /*
         logger.log("ft = " + Utils.array2string(ft, "%.2f"));
         logger.log("fy = " + Utils.array2string(fy, "%.2f"));
         logger.log("lt = " + Utils.array2string(lt, "%.2f"));
         logger.log("sideIdx = " + Arrays.toString(sideIdx));*/

         double averageBestShift = 0;
         for(int side = 0; side < 2; side++) {
             double[] lts = Utils.extract(sideIdx, side, lt);
             // TODO: time this call
             double bestShift = Utils.findBestShift(lts, ft, fy);
             logger.log(String.format(Locale.US, "bestShift = %.2f", bestShift));
             averageBestShift += bestShift / 2;
         }

         drawLatencyGraph(ft, fy, lt, averageBestShift);
         logger.log(String.format(Locale.US, "Drag latency is %.1f [ms]", averageBestShift));
     }

     private void drawLatencyGraph(double[] ft, double[] fy, double[] lt, double averageBestShift) {
         final ArrayList<Entry> touchEntries = new ArrayList<>();
         final ArrayList<Entry> laserEntries = new ArrayList<>();
         final double[] laserT = new double[lt.length];
         for (int i = 0; i < ft.length; i++) {
             touchEntries.add(new Entry((float) ft[i], (float) fy[i]));
         }
         for (int i = 0; i < lt.length; i++) {
             laserT[i] = lt[i] + averageBestShift;
         }
         final double[] laserY = Utils.interp(laserT, ft, fy);
         for (int i = 0; i < laserY.length; i++) {
             laserEntries.add(new Entry((float) laserT[i], (float) laserY[i]));
         }

         final ScatterDataSet dataSetTouch = new ScatterDataSet(touchEntries, "Touch Events");
         dataSetTouch.setScatterShape(ScatterChart.ScatterShape.CIRCLE);
         dataSetTouch.setScatterShapeSize(8f);

         final ScatterDataSet dataSetLaser = new ScatterDataSet(laserEntries,
                 String.format(Locale.US, "Laser Events  Latency=%.1f ms", averageBestShift));
         dataSetLaser.setColor(Color.RED);
         dataSetLaser.setScatterShapeSize(10f);
         dataSetLaser.setScatterShape(ScatterChart.ScatterShape.X);

         final ScatterData scatterData = new ScatterData(dataSetTouch, dataSetLaser);
         final Description desc = new Description();
         desc.setText("Y-Position [pixels] vs. Time [ms]");
         desc.setTextSize(12f);
         latencyChart.setDescription(desc);
         latencyChart.setData(scatterData);
         latencyChartLayout.setVisibility(View.VISIBLE);
     }
 }
	/*
	* Copyright (C) 2015 The Android Open Source Project
	*
	* 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 org.chromium.latency.walt;

	import android.content.BroadcastReceiver;
	import android.content.Context;
	import android.content.Intent;
	import android.graphics.Color;
	import android.os.Bundle;
	import android.support.v4.app.Fragment;
	import android.text.method.ScrollingMovementMethod;
	import android.view.LayoutInflater;
	import android.view.MotionEvent;
	import android.view.View;
	import android.view.ViewGroup;
	import android.widget.TextView;

	import com.github.mikephil.charting.charts.ScatterChart;
	import com.github.mikephil.charting.components.Description;
	import com.github.mikephil.charting.data.Entry;
	import com.github.mikephil.charting.data.ScatterData;
	import com.github.mikephil.charting.data.ScatterDataSet;

	import java.io.IOException;
	import java.util.ArrayList;
	import java.util.Locale;

	public class DragLatencyFragment extends Fragment
	implements View.OnClickListener, RobotAutomationListener {

	private SimpleLogger logger;
	private WaltDevice waltDevice;
	private TextView logTextView;
	private TouchCatcherView touchCatcher;
	private TextView crossCountsView;
	private TextView dragCountsView;
	private View startButton;
	private View restartButton;
	private View finishButton;
	private ScatterChart latencyChart;
	private View latencyChartLayout;
	int moveCount = 0;

	ArrayList<UsMotionEvent> touchEventList = new ArrayList<>();
	ArrayList<WaltDevice.TriggerMessage> laserEventList = new ArrayList<>();


	private BroadcastReceiver logReceiver = new BroadcastReceiver() {
	@Override
	public void onReceive(Context context, Intent intent) {
	String msg = intent.getStringExtra("message");
	DragLatencyFragment.this.appendLogText(msg);
	}
	};

	private View.OnTouchListener touchListener = new View.OnTouchListener() {
	@Override
	public boolean onTouch(View v, MotionEvent event) {
	int histLen = event.getHistorySize();
	for (int i = 0; i < histLen; i++){
	UsMotionEvent eh = new UsMotionEvent(event, waltDevice.clock.baseTime, i);
	touchEventList.add(eh);
	}
	UsMotionEvent e = new UsMotionEvent(event, waltDevice.clock.baseTime);
	touchEventList.add(e);
	moveCount += histLen + 1;

	updateCountsDisplay();
	return true;
	}
	};

	public DragLatencyFragment() {
	// Required empty public constructor
	}

	@Override
	public View onCreateView(LayoutInflater inflater, ViewGroup container,
	Bundle savedInstanceState) {
	logger = SimpleLogger.getInstance(getContext());
	waltDevice = WaltDevice.getInstance(getContext());

	// Inflate the layout for this fragment
	final View view = inflater.inflate(R.layout.fragment_drag_latency, container, false);
	logTextView = (TextView) view.findViewById(R.id.txt_log_drag_latency);
	startButton = view.findViewById(R.id.button_start_drag);
	restartButton = view.findViewById(R.id.button_restart_drag);
	finishButton = view.findViewById(R.id.button_finish_drag);
	touchCatcher = (TouchCatcherView) view.findViewById(R.id.tap_catcher);
	crossCountsView = (TextView) view.findViewById(R.id.txt_cross_counts);
	dragCountsView = (TextView) view.findViewById(R.id.txt_drag_counts);
	latencyChart = (ScatterChart) view.findViewById(R.id.latency_chart);
	latencyChartLayout = view.findViewById(R.id.latency_chart_layout);
	logTextView.setMovementMethod(new ScrollingMovementMethod());
	view.findViewById(R.id.button_close_chart).setOnClickListener(this);
	restartButton.setEnabled(false);
	finishButton.setEnabled(false);
	return view;
	}

	@Override
	public void onResume() {
	super.onResume();

	logTextView.setText(logger.getLogText());
	logger.registerReceiver(logReceiver);

	// Register this fragment class as the listener for some button clicks
	startButton.setOnClickListener(this);
	restartButton.setOnClickListener(this);
	finishButton.setOnClickListener(this);
	}

	@Override
	public void onPause() {
	logger.unregisterReceiver(logReceiver);
	super.onPause();
	}

	public void appendLogText(String msg) {
	logTextView.append(msg + "\n");
	}

	void updateCountsDisplay() {
	crossCountsView.setText(String.format(Locale.US, "↕ %d", laserEventList.size()));
	dragCountsView.setText(String.format(Locale.US, "⇄ %d", moveCount));
	}

	/**
	* @return true if measurement was successfully started
	*/
	boolean startMeasurement() {
	logger.log("Starting drag latency test");
	try {
	waltDevice.syncClock();
	} catch (IOException e) {
	logger.log("Error syncing clocks: " + e.getMessage());
	return false;
	}
	// Register a callback for triggers
	waltDevice.setTriggerHandler(triggerHandler);
	try {
	waltDevice.command(WaltDevice.CMD_AUTO_LASER_ON);
	waltDevice.startListener();
	} catch (IOException e) {
	logger.log("Error: " + e.getMessage());
	waltDevice.clearTriggerHandler();
	return false;
	}
	touchCatcher.setOnTouchListener(touchListener);
	touchCatcher.startAnimation();
	touchEventList.clear();
	laserEventList.clear();
	moveCount = 0;
	updateCountsDisplay();
	return true;
	}

	void restartMeasurement() {
	logger.log("\n## Restarting drag latency test. Re-sync clocks ...");
	try {
	waltDevice.syncClock();
	} catch (IOException e) {
	logger.log("Error syncing clocks: " + e.getMessage());
	}

	touchCatcher.startAnimation();
	touchEventList.clear();
	laserEventList.clear();
	moveCount = 0;
	updateCountsDisplay();
	}

	void finishAndShowStats() {
	touchCatcher.stopAnimation();
	waltDevice.stopListener();
	try {
	waltDevice.command(WaltDevice.CMD_AUTO_LASER_OFF);
	} catch (IOException e) {
	logger.log("Error: " + e.getMessage());
	}
	touchCatcher.setOnTouchListener(null);
	waltDevice.clearTriggerHandler();

	waltDevice.checkDrift();

	logger.log(String.format(Locale.US,
	"Recorded %d laser events and %d touch events. ",
	laserEventList.size(),
	touchEventList.size()
	));

	if (touchEventList.size() < 100) {
	logger.log("Insufficient number of touch events (<100), aborting.");
	return;
	}

	if (laserEventList.size() < 8) {
	logger.log("Insufficient number of laser events (<8), aborting.");
	return;
	}

	// TODO: Log raw data if enabled in settings, touch events add lots of text to the log.
	// logRawData();
	reshapeAndCalculate();
	LogUploader.uploadIfAutoEnabled(getContext());
	}

	// Data formatted for processing with python script, y.py
	void logRawData() {
	logger.log("#####> LASER EVENTS #####");
	for (int i = 0; i < laserEventList.size(); i++){
	logger.log(laserEventList.get(i).t + " " + laserEventList.get(i).value);
	}
	logger.log("#####< END OF LASER EVENTS #####");

	logger.log("=====> TOUCH EVENTS =====");
	for (UsMotionEvent e: touchEventList) {
	logger.log(String.format(Locale.US,
	"%d %.3f %.3f",
	e.kernelTime,
	e.x, e.y
	));
	}
	logger.log("=====< END OF TOUCH EVENTS =====");
	}

	void reshapeAndCalculate() {
	double[] ft, lt; // All time arrays are in _milliseconds_
	double[] fy;
	int[] ldir;

	// Use the time of the first touch event as time = 0 for debugging convenience
	long t0_us = touchEventList.get(0).kernelTime;
	long tLast_us = touchEventList.get(touchEventList.size() - 1).kernelTime;

	int fN = touchEventList.size();
	ft = new double[fN];
	fy = new double[fN];

	for (int i = 0; i < fN; i++){
	ft[i] = (touchEventList.get(i).kernelTime - t0_us) / 1000.;
	fy[i] = touchEventList.get(i).y;
	}

	// Remove all laser events that are outside the time span of the touch events
	// they are not usable and would result in errors downstream
	int j = laserEventList.size() - 1;
	while (j >= 0 && laserEventList.get(j).t > tLast_us) {
	laserEventList.remove(j);
	j--;
	}

	while (laserEventList.size() > 0 && laserEventList.get(0).t < t0_us) {
	laserEventList.remove(0);
	}

	// Calculation assumes that the first event is generated by the finger obstructing the beam.
	// Remove the first event if it was generated by finger going out of the beam (value==1).
	while (laserEventList.size() > 0 && laserEventList.get(0).value == 1) {
	laserEventList.remove(0);
	}

	int lN = laserEventList.size();

	if (lN < 8) {
	logger.log("ERROR: Insufficient number of laser events overlapping with touch events," +
	"aborting."
	);
	return;
	}

	lt = new double[lN];
	ldir = new int[lN];
	for (int i = 0; i < lN; i++){
	lt[i] = (laserEventList.get(i).t - t0_us) / 1000.;
	ldir[i] = laserEventList.get(i).value;
	}

	calculateDragLatency(ft,fy, lt, ldir);
	}

	/**
	* Handler for all the button clicks on this screen.
	*/
	@Override
	public void onClick(View v) {
	if (v.getId() == R.id.button_restart_drag) {
	latencyChartLayout.setVisibility(View.GONE);
	restartButton.setEnabled(false);
	restartMeasurement();
	restartButton.setEnabled(true);
	return;
	}

	if (v.getId() == R.id.button_start_drag) {
	latencyChartLayout.setVisibility(View.GONE);
	startButton.setEnabled(false);
	boolean startSuccess = startMeasurement();
	if (startSuccess) {
	finishButton.setEnabled(true);
	restartButton.setEnabled(true);
	} else {
	startButton.setEnabled(true);
	}
	return;
	}

	if (v.getId() == R.id.button_finish_drag) {
	finishButton.setEnabled(false);
	restartButton.setEnabled(false);
	finishAndShowStats();
	startButton.setEnabled(true);
	return;
	}

	if (v.getId() == R.id.button_close_chart) {
	latencyChartLayout.setVisibility(View.GONE);
	}
	}

	public void onRobotAutomationEvent(String event) {
	if (event.equals(RobotAutomationListener.RESTART_EVENT)) {
	onClick(restartButton);
	} else if (event.equals(RobotAutomationListener.START_EVENT)) {
	onClick(startButton);
	} else if (event.equals(RobotAutomationListener.FINISH_EVENT)) {
	onClick(finishButton);
	}
	}

	private WaltDevice.TriggerHandler triggerHandler = new WaltDevice.TriggerHandler() {
	@Override
	public void onReceive(WaltDevice.TriggerMessage tmsg) {
	laserEventList.add(tmsg);
	updateCountsDisplay();
	}
	};

	public void calculateDragLatency(double[] ft, double[] fy, double[] lt, int[] ldir) {
	// TODO: throw away several first laser crossings (if not already)
	double[] ly = Utils.interp(lt, ft, fy);
	double lmid = Utils.mean(ly);
	// Assume first crossing is into the beam = light-off = 0
	if (ldir[0] != 0) {
	// TODO: add more sanity checks here.
	logger.log("First laser crossing is not into the beam, aborting");
	return;
	}

	// label sides, one simple label is i starts from 1, then side = (i mod 4) / 2 same as the 2nd LSB bit or i.
	int[] sideIdx = new int[lt.length];

	// This is one way of deciding what laser events were on which side
	// It should go above, below, below, above, above
	// The other option is to mirror the python code that uses position and velocity for this
	for (int i = 0; i<lt.length; i++) {
	sideIdx[i] = ((i+1) / 2) % 2;
	}
	/*
	logger.log("ft = " + Utils.array2string(ft, "%.2f"));
	logger.log("fy = " + Utils.array2string(fy, "%.2f"));
	logger.log("lt = " + Utils.array2string(lt, "%.2f"));
	logger.log("sideIdx = " + Arrays.toString(sideIdx));*/

	double averageBestShift = 0;
	for(int side = 0; side < 2; side++) {
	double[] lts = Utils.extract(sideIdx, side, lt);
	// TODO: time this call
	double bestShift = Utils.findBestShift(lts, ft, fy);
	logger.log(String.format(Locale.US, "bestShift = %.2f", bestShift));
	averageBestShift += bestShift / 2;
	}

	drawLatencyGraph(ft, fy, lt, averageBestShift);
	logger.log(String.format(Locale.US, "Drag latency is %.1f [ms]", averageBestShift));
	}

	private void drawLatencyGraph(double[] ft, double[] fy, double[] lt, double averageBestShift) {
	final ArrayList<Entry> touchEntries = new ArrayList<>();
	final ArrayList<Entry> laserEntries = new ArrayList<>();
	final double[] laserT = new double[lt.length];
	for (int i = 0; i < ft.length; i++) {
	touchEntries.add(new Entry((float) ft[i], (float) fy[i]));
	}
	for (int i = 0; i < lt.length; i++) {
	laserT[i] = lt[i] + averageBestShift;
	}
	final double[] laserY = Utils.interp(laserT, ft, fy);
	for (int i = 0; i < laserY.length; i++) {
	laserEntries.add(new Entry((float) laserT[i], (float) laserY[i]));
	}

	final ScatterDataSet dataSetTouch = new ScatterDataSet(touchEntries, "Touch Events");
	dataSetTouch.setScatterShape(ScatterChart.ScatterShape.CIRCLE);
	dataSetTouch.setScatterShapeSize(8f);

	final ScatterDataSet dataSetLaser = new ScatterDataSet(laserEntries,
	String.format(Locale.US, "Laser Events Latency=%.1f ms", averageBestShift));
	dataSetLaser.setColor(Color.RED);
	dataSetLaser.setScatterShapeSize(10f);
	dataSetLaser.setScatterShape(ScatterChart.ScatterShape.X);

	final ScatterData scatterData = new ScatterData(dataSetTouch, dataSetLaser);
	final Description desc = new Description();
	desc.setText("Y-Position [pixels] vs. Time [ms]");
	desc.setTextSize(12f);
	latencyChart.setDescription(desc);
	latencyChart.setData(scatterData);
	latencyChartLayout.setVisibility(View.VISIBLE);
	}
	}