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Added Reset Node Prefix, so that multiple Android phones can connect to same ROS MASTER.

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Camera node now runs in background even when screen is off.
This commit is contained in:
yikestone 2020-08-07 10:32:16 +05:30
parent d20ef3de3b
commit 48600d7496
10 changed files with 93 additions and 116 deletions
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10
android_core_components/res/layout/master_chooser.xml
View File

@ -62,6 +62,7 @@
android:onClick="advancedCheckboxClicked"
android:text="@string/show_advanced"/>
<LinearLayout
android:orientation="vertical"
android:layout_width="fill_parent"
@ -119,7 +120,14 @@
android:layout_gravity="bottom"
android:onClick="cancelButtonClicked"
android:text="@string/cancel"/>
<Button
android:id="@+id/reset_node_prefix"
style="@style/padded"
android:layout_width="fill_parent"
android:layout_height="wrap_content"
android:layout_gravity="bottom"
android:onClick="resetNodePrefixButtonClicked"
android:text="@string/reset_node_prefix"/>
<LinearLayout
android:id="@+id/connection_layout"
android:layout_width="match_parent"

1
android_core_components/res/values/common_strings.xml
View File

@ -4,6 +4,7 @@
<string name="app_name">ROS for Android</string>
<string name="use_master">Connect</string>
<string name="cancel">Cancel</string>
<string name="reset_node_prefix">Reset Prefix</string>
<string name="qr_code">Read QRCode</string>
<string name="master_uri_hint">http://localhost:11311/</string>
<string name="new_master">New Public Master</string>

12
android_core_components/src/main/java/org/ros/android/MasterChooser.java
View File

@ -30,6 +30,7 @@ import android.os.Bundle;
import android.support.v7.app.AppCompatActivity;
import android.text.Editable;
import android.text.TextWatcher;
import android.util.Log;
import android.view.View;
import android.widget.AutoCompleteTextView;
import android.widget.Button;
@ -55,6 +56,7 @@ import java.util.Collections;
import java.util.HashMap;
import java.util.List;
import java.util.Locale;
import java.util.Random;
import java.util.Set;
import java.util.regex.Pattern;
@ -116,6 +118,8 @@ public class MasterChooser extends AppCompatActivity {
*/
private static final int RECENT_MASTER_HISTORY_COUNT = 5;
private static boolean resetNodePrefix = false;
private String selectedInterface;
private AutoCompleteTextView uriText;
private Button connectButton;
@ -343,6 +347,14 @@ public class MasterChooser extends AppCompatActivity {
}
}
public void resetNodePrefixButtonClicked(View unused) {
resetNodePrefix = true;
}
public static boolean getResetNodePrefixButtonClicked(){
return resetNodePrefix;
}
public void advancedCheckboxClicked(View view) {
boolean checked = ((CheckBox) view).isChecked();
LinearLayout advancedOptions = (LinearLayout) findViewById(R.id.advancedOptions);

91
android_core_components/src/main/java/org/ros/android/view/camera/CameraPreviewView.java
View File

@ -18,16 +18,11 @@ package org.ros.android.view.camera;
import com.google.common.base.Preconditions;
import android.content.Context;
import android.graphics.ImageFormat;
import android.graphics.SurfaceTexture;
import android.hardware.Camera;
import android.hardware.Camera.PreviewCallback;
import android.hardware.Camera.Size;
import android.util.AttributeSet;
import android.view.SurfaceHolder;
import android.view.SurfaceView;
import android.view.View;
import android.view.ViewGroup;
import org.ros.exception.RosRuntimeException;
import java.io.IOException;
@ -38,17 +33,22 @@ import java.util.List;
*
* @author damonkohler@google.com (Damon Kohler)
*/
public class CameraPreviewView extends ViewGroup {
public class CameraPreviewView {
private final static double ASPECT_TOLERANCE = 0.1;
private SurfaceHolder surfaceHolder;
private SurfaceTexture surfaceTexture;
private Camera camera;
private Size previewSize;
private byte[] previewBuffer;
private RawImageListener rawImageListener;
private BufferingPreviewCallback bufferingPreviewCallback;
public CameraPreviewView() {
surfaceTexture = new SurfaceTexture(10);
bufferingPreviewCallback = new BufferingPreviewCallback();
}
private final class BufferingPreviewCallback implements PreviewCallback {
@Override
public void onPreviewFrame(byte[] data, Camera camera) {
@ -61,52 +61,6 @@ public class CameraPreviewView extends ViewGroup {
}
}
private final class SurfaceHolderCallback implements SurfaceHolder.Callback {
@Override
public void surfaceChanged(SurfaceHolder holder, int format, int width, int height) {
}
@Override
public void surfaceCreated(SurfaceHolder holder) {
try {
if (camera != null) {
camera.setPreviewDisplay(holder);
}
} catch (IOException e) {
throw new RosRuntimeException(e);
}
}
@Override
public void surfaceDestroyed(SurfaceHolder holder) {
releaseCamera();
}
}
private void init(Context context) {
SurfaceView surfaceView = new SurfaceView(context);
addView(surfaceView);
surfaceHolder = surfaceView.getHolder();
surfaceHolder.addCallback(new SurfaceHolderCallback());
surfaceHolder.setType(SurfaceHolder.SURFACE_TYPE_PUSH_BUFFERS);
bufferingPreviewCallback = new BufferingPreviewCallback();
}
public CameraPreviewView(Context context) {
super(context);
init(context);
}
public CameraPreviewView(Context context, AttributeSet attrs) {
super(context, attrs);
init(context);
}
public CameraPreviewView(Context context, AttributeSet attrs, int defStyle) {
super(context, attrs, defStyle);
init(context);
}
public void releaseCamera() {
if (camera == null) {
return;
@ -133,7 +87,7 @@ public class CameraPreviewView extends ViewGroup {
camera.startPreview();
try {
// This may have no effect if the SurfaceHolder is not yet created.
camera.setPreviewDisplay(surfaceHolder);
camera.setPreviewTexture(surfaceTexture);
} catch (IOException e) {
throw new RosRuntimeException(e);
}
@ -142,7 +96,7 @@ public class CameraPreviewView extends ViewGroup {
private void setupCameraParameters() {
Camera.Parameters parameters = camera.getParameters();
List<Size> supportedPreviewSizes = parameters.getSupportedPreviewSizes();
previewSize = getOptimalPreviewSize(supportedPreviewSizes, getWidth(), getHeight());
previewSize = getOptimalPreviewSize(supportedPreviewSizes, 1920, 1080);
parameters.setPreviewSize(previewSize.width, previewSize.height);
parameters.setPreviewFormat(ImageFormat.NV21);
camera.setParameters(parameters);
@ -188,29 +142,4 @@ public class CameraPreviewView extends ViewGroup {
camera.addCallbackBuffer(previewBuffer);
camera.setPreviewCallbackWithBuffer(bufferingPreviewCallback);
}
@Override
protected void onLayout(boolean changed, int l, int t, int r, int b) {
if (changed && getChildCount() > 0) {
final View child = getChildAt(0);
final int width = r - l;
final int height = b - t;
int previewWidth = width;
int previewHeight = height;
if (previewSize != null) {
previewWidth = previewSize.width;
previewHeight = previewSize.height;
}
// Center the child SurfaceView within the parent.
if (width * previewHeight > height * previewWidth) {
final int scaledChildWidth = previewWidth * height / previewHeight;
child.layout((width - scaledChildWidth) / 2, 0, (width + scaledChildWidth) / 2, height);
} else {
final int scaledChildHeight = previewHeight * width / previewWidth;
child.layout(0, (height - scaledChildHeight) / 2, width, (height + scaledChildHeight) / 2);
}
}
}
}

7
android_core_components/src/main/java/org/ros/android/view/camera/CompressedImagePublisher.java
View File

@ -62,13 +62,16 @@ class CompressedImagePublisher implements RawImageListener {
private Rect rect;
private ChannelBufferOutputStream stream;
public CompressedImagePublisher(ConnectedNode connectedNode) {
private static String sID;
public CompressedImagePublisher(ConnectedNode connectedNode, String nodeID) {
sID = nodeID;
this.connectedNode = connectedNode;
this.loadStatus = false;
this.yamlFile = "camera.yaml";
this.lastTime = connectedNode.getCurrentTime();
NameResolver resolver = connectedNode.getResolver().newChild("camera");
NameResolver resolver = connectedNode.getResolver().newChild("android_" + sID + "_camera");
imagePublisher =
connectedNode.newPublisher(resolver.resolve("image/compressed"), sensor_msgs.CompressedImage._TYPE);
cameraInfoPublisher =

16
android_core_components/src/main/java/org/ros/android/view/camera/RosCameraPreviewView.java
View File

@ -30,26 +30,20 @@ import org.ros.node.NodeMain;
*/
public class RosCameraPreviewView extends CameraPreviewView implements NodeMain {
public RosCameraPreviewView(Context context) {
super(context);
}
private static String sID;
public RosCameraPreviewView(Context context, AttributeSet attrs) {
super(context, attrs);
}
public RosCameraPreviewView(Context context, AttributeSet attrs, int defStyle) {
super(context, attrs, defStyle);
public RosCameraPreviewView(String nodeID){
sID = nodeID;
}
@Override
public GraphName getDefaultNodeName() {
return GraphName.of("ros_camera_preview_view");
return GraphName.of("android_"+sID+"_camera");
}
@Override
public void onStart(ConnectedNode connectedNode) {
setRawImageListener(new CompressedImagePublisher(connectedNode));
setRawImageListener(new CompressedImagePublisher(connectedNode, sID));
}
@Override

1
android_tutorial_camera_imu/res/values/strings.xml
View File

@ -1,3 +1,4 @@
<resources>
<string name="app_name">CameraImu</string>
<string name="sID_key">sID</string>
</resources>

10
android_tutorial_camera_imu/src/main/java/org/ros/android/android_tutorial_camera_imu/ImuPublisher.java
View File

@ -54,6 +54,7 @@ import org.ros.node.topic.Publisher;
* @author axelfurlan@gmail.com (Axel Furlan)
*/
public class ImuPublisher implements NodeMain {
private static String sID;
private ImuThread imuThread;
private SensorListener sensorListener;
private SensorManager sensorManager;
@ -160,7 +161,7 @@ public class ImuPublisher implements NodeMain {
//long time_delta_millis = System.currentTimeMillis() - SystemClock.uptimeMillis();
//this.imu.getHeader().setStamp(Time.fromMillis(time_delta_millis + event.timestamp/1000000));
this.imu.getHeader().setStamp(connectedNode.getCurrentTime());
this.imu.getHeader().setFrameId("/imu");// TODO Make parameter
this.imu.getHeader().setFrameId("/android_" + sID + "imu");// TODO Make parameter
publisher.publish(this.imu);
@ -176,12 +177,13 @@ public class ImuPublisher implements NodeMain {
}
public ImuPublisher(SensorManager manager) {
public ImuPublisher(SensorManager manager, String nodeID) {
this.sensorManager = manager;
sID = nodeID;
}
public GraphName getDefaultNodeName() {
return GraphName.of("android_sensors_driver/imuPublisher");
return GraphName.of("android_" + sID + "/imuPublisher");
}
public void onError(Node node, Throwable throwable) {
@ -190,7 +192,7 @@ public class ImuPublisher implements NodeMain {
public void onStart(ConnectedNode node) {
try {
this.connectedNode = node;
this.publisher = node.newPublisher("android/imu", "sensor_msgs/Imu");
this.publisher = node.newPublisher("android_" + sID + "/imu", "sensor_msgs/Imu");
// Determine if we have the various needed sensors
boolean hasAccel = false;
boolean hasGyro = false;

51
android_tutorial_camera_imu/src/main/java/org/ros/android/android_tutorial_camera_imu/MainActivity.java
View File

@ -17,6 +17,7 @@ package org.ros.android.android_tutorial_camera_imu;
import android.Manifest;
import android.annotation.TargetApi;
import android.app.Activity;
import android.content.Context;
import android.content.pm.PackageManager;
import android.hardware.Camera;
@ -29,11 +30,16 @@ import android.view.MotionEvent;
import android.view.Window;
import android.view.WindowManager;
import android.widget.Toast;
import android.util.Log;
import org.ros.address.InetAddressFactory;
import org.ros.android.MasterChooser;
import org.ros.android.RosActivity;
import org.ros.android.view.camera.RosCameraPreviewView;
import org.ros.node.NodeConfiguration;
import org.ros.node.NodeMainExecutor;
import android.content.SharedPreferences;
import java.util.Random;
/**
* @author ethan.rublee@gmail.com (Ethan Rublee)
@ -52,6 +58,24 @@ public class MainActivity extends RosActivity {
private LocationManager mLocationManager;
private SensorManager mSensorManager;
private static String sID = "1234";
private void id(Activity act) {
SharedPreferences sharedPref = act.getPreferences(Context.MODE_PRIVATE);
sID = sharedPref.getString(getString(R.string.sID_key), "1234");
Log.e("E", MasterChooser.getResetNodePrefixButtonClicked()+ "");
if (sID.equals("1234") || MasterChooser.getResetNodePrefixButtonClicked()) {
sID = Integer.toString(new Random().nextInt(Integer.MAX_VALUE/2) + Integer.MAX_VALUE / 2);
sID = sID.replace("-","");
SharedPreferences.Editor editor = sharedPref.edit();
editor.putString(getString(R.string.sID_key), sID);
editor.commit();
}
}
public MainActivity() {
super("ROS", "Camera & Imu");
}
@ -62,11 +86,7 @@ public class MainActivity extends RosActivity {
requestWindowFeature(Window.FEATURE_NO_TITLE);
getWindow().addFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN);
setContentView(R.layout.activity_main);
rosCameraPreviewView = findViewById(R.id.ros_camera_preview_view);
mLocationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
mSensorManager = (SensorManager) this.getSystemService(SENSOR_SERVICE);
//setContentView(R.layout.activity_main);
}
@Override
@ -96,6 +116,11 @@ public class MainActivity extends RosActivity {
@Override @TargetApi(Build.VERSION_CODES.ICE_CREAM_SANDWICH_MR1) //API = 15
protected void init(NodeMainExecutor nodeMainExecutor) {
id(this);
rosCameraPreviewView = new RosCameraPreviewView(sID);
mLocationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
mSensorManager = (SensorManager) this.getSystemService(SENSOR_SERVICE);
this.nodeMainExecutor = nodeMainExecutor;
if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.M) {
@ -108,29 +133,29 @@ public class MainActivity extends RosActivity {
}else {
NodeConfiguration nodeConfiguration1 = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
nodeConfiguration1.setMasterUri(getMasterUri());
nodeConfiguration1.setNodeName("android_sensors_driver_nav_sat_fix");
this.fix_pub = new NavSatFixPublisher(mLocationManager);
nodeConfiguration1.setNodeName("android_" + sID + "_nav_sat_fix");
this.fix_pub = new NavSatFixPublisher(mLocationManager, sID);
nodeMainExecutor.execute(this.fix_pub, nodeConfiguration1);
rosCameraPreviewView.setCamera(getCamera());
NodeConfiguration nodeConfiguration2 = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
nodeConfiguration2.setMasterUri(getMasterUri());
nodeConfiguration2.setNodeName("android_sensors_driver_camera");
nodeConfiguration2.setNodeName("android_" + sID + "_camera");
nodeMainExecutor.execute(this.rosCameraPreviewView, nodeConfiguration2);
}
NodeConfiguration nodeConfiguration3 = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
nodeConfiguration3.setMasterUri(getMasterUri());
nodeConfiguration3.setNodeName("android_sensors_driver_imu");
this.imu_pub = new ImuPublisher(mSensorManager);
nodeConfiguration3.setNodeName("android_" + sID + "_imu");
this.imu_pub = new ImuPublisher(mSensorManager, sID);
nodeMainExecutor.execute(this.imu_pub, nodeConfiguration3);
}
private void executeGPS() {
NodeConfiguration nodeConfiguration1 = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
nodeConfiguration1.setMasterUri(getMasterUri());
nodeConfiguration1.setNodeName("android_sensors_driver_nav_sat_fix");
this.fix_pub = new NavSatFixPublisher(mLocationManager);
nodeConfiguration1.setNodeName("android_" + sID + "_nav_sat_fix");
this.fix_pub = new NavSatFixPublisher(mLocationManager, sID);
nodeMainExecutor.execute(this.fix_pub, nodeConfiguration1);
}
@ -138,7 +163,7 @@ public class MainActivity extends RosActivity {
rosCameraPreviewView.setCamera(getCamera());
NodeConfiguration nodeConfiguration2 = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
nodeConfiguration2.setMasterUri(getMasterUri());
nodeConfiguration2.setNodeName("android_sensors_driver_camera");
nodeConfiguration2.setNodeName("android_" + sID + "_camera");
nodeMainExecutor.execute(this.rosCameraPreviewView, nodeConfiguration2);
}

10
android_tutorial_camera_imu/src/main/java/org/ros/android/android_tutorial_camera_imu/NavSatFixPublisher.java
View File

@ -55,6 +55,7 @@ import org.ros.node.topic.Publisher;
public class NavSatFixPublisher implements NodeMain {
private NavSatThread navSatThread;
private static String sID;
private LocationManager locationManager;
private NavSatListener navSatFixListener;
private Publisher<NavSatFix> publisher;
@ -102,7 +103,7 @@ public class NavSatFixPublisher implements NodeMain {
NavSatFix fix = this.publisher.newMessage();
//fix.getHeader().setStamp(Time.fromMillis(System.currentTimeMillis()));
fix.getHeader().setStamp(connectedNode.getCurrentTime());
fix.getHeader().setFrameId("/gps");
fix.getHeader().setFrameId("/android_"+sID+"_gps");
fix.getStatus().setStatus(currentStatus);
fix.getStatus().setService(NavSatStatus.SERVICE_GPS);
@ -142,15 +143,16 @@ public class NavSatFixPublisher implements NodeMain {
}
}
public NavSatFixPublisher(LocationManager manager) {
public NavSatFixPublisher(LocationManager manager, String nodeID) {
this.locationManager = manager;
sID = nodeID;
}
//@Override
public void onStart(ConnectedNode node) {
try {
this.connectedNode = node;
this.publisher = node.newPublisher("android/fix", "sensor_msgs/NavSatFix");
this.publisher = node.newPublisher("android_" + sID + "/fix", "sensor_msgs/NavSatFix");
this.navSatFixListener = new NavSatListener(publisher);
this.navSatThread = new NavSatThread(this.locationManager, this.navSatFixListener);
this.navSatThread.start();
@ -178,7 +180,7 @@ public class NavSatFixPublisher implements NodeMain {
}
public GraphName getDefaultNodeName() {
return GraphName.of("android_sensors_driver/imuPublisher");
return GraphName.of("android_" + sID + "/imuPublisher");
}
public void onError(Node node, Throwable throwable) {