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

Camera node now runs in background even when screen is off.

android_core_components/res/layout/master_chooser.xml

@@ -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"

android_core_components/res/values/common_strings.xml

@@ -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>

android_core_components/src/main/java/org/ros/android/MasterChooser.java

@@ -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);

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

@@ -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);
-      }
-    }
-  }
 }

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

@@ -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 =

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

@@ -30,26 +30,20 @@ import org.ros.node.NodeMain;
  */
 public class RosCameraPreviewView extends CameraPreviewView implements NodeMain {
 
-  public RosCameraPreviewView(Context context) {
+  private static String sID;
-    super(context);
-  }
 
-  public RosCameraPreviewView(Context context, AttributeSet attrs) {
+  public RosCameraPreviewView(String nodeID){
-    super(context, attrs);
+    sID = nodeID;
-  }
-
-  public RosCameraPreviewView(Context context, AttributeSet attrs, int defStyle) {
-    super(context, attrs, defStyle);
   }
 
   @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

android_tutorial_camera_imu/res/values/strings.xml

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

android_tutorial_camera_imu/src/main/java/org/ros/android/android_tutorial_camera_imu/ImuPublisher.java

@@ -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;

android_tutorial_camera_imu/src/main/java/org/ros/android/android_tutorial_camera_imu/MainActivity.java

@@ -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);
+        //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);
     }
 
     @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");
+            nodeConfiguration1.setNodeName("android_" + sID + "_nav_sat_fix");
-            this.fix_pub = new NavSatFixPublisher(mLocationManager);
+            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");
+        nodeConfiguration3.setNodeName("android_" + sID + "_imu");
-        this.imu_pub = new ImuPublisher(mSensorManager);
+        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");
+        nodeConfiguration1.setNodeName("android_" + sID + "_nav_sat_fix");
-        this.fix_pub = new NavSatFixPublisher(mLocationManager);
+        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);
     }
 

android_tutorial_camera_imu/src/main/java/org/ros/android/android_tutorial_camera_imu/NavSatFixPublisher.java

@@ -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) {