Added UI for manually setting Node prefix.

Added on demand Node start and shutdown switch.
Added radio buttons for changing camera resolution.
This commit is contained in:
yikestone 2020-08-10 07:33:30 +05:30
parent 50a3edbfa6
commit ad1e819595

View File

@ -27,8 +27,12 @@ import android.os.Build;
import android.os.Bundle;
import android.support.v4.app.ActivityCompat;
import android.view.MotionEvent;
import android.view.View;
import android.view.Window;
import android.view.WindowManager;
import android.widget.CompoundButton;
import android.widget.RadioButton;
import android.widget.Switch;
import android.widget.Toast;
import android.util.Log;
@ -54,27 +58,18 @@ public class MainActivity extends RosActivity {
private NavSatFixPublisher fix_pub;
private ImuPublisher imu_pub;
private Switch cameraSwitch;
private Switch imuSwitch;
private Switch gpsSwitch;
private boolean cameraRunning;
private NodeMainExecutor nodeMainExecutor;
private LocationManager mLocationManager;
private SensorManager mSensorManager;
private static String sID = "";
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();
}
}
private NodeConfiguration nodeConfigurationGPS, nodeConfigurationCamera, nodeConfigurationImu;
public MainActivity() {
super("ROS", "Camera & Imu");
@ -84,24 +79,76 @@ public class MainActivity extends RosActivity {
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
requestWindowFeature(Window.FEATURE_NO_TITLE);
getWindow().addFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN);
//setContentView(R.layout.activity_main);
setContentView(R.layout.activity_main);
cameraRunning = false;
cameraSwitch = (Switch) findViewById(R.id.camera_switch);
imuSwitch = (Switch) findViewById(R.id.imu_switch);
gpsSwitch = (Switch) findViewById(R.id.gps_switch);
imuSwitch.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
@Override
public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
if(isChecked)
nodeMainExecutor.execute(imu_pub, nodeConfigurationImu);
else
nodeMainExecutor.shutdownNodeMain(imu_pub);
Log.v("IMU publisher", ""+isChecked);
}
});
gpsSwitch.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
@Override
public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
if(isChecked)
nodeMainExecutor.execute(fix_pub, nodeConfigurationGPS);
else
nodeMainExecutor.shutdownNodeMain(fix_pub);
Log.v("IMU publisher", ""+isChecked);
}
});
cameraSwitch.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
@Override
public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
if(isChecked) {
rosCameraPreviewView.setCamera(getCamera());
nodeMainExecutor.execute(rosCameraPreviewView, nodeConfigurationCamera);
cameraRunning = true;
}
else {
nodeMainExecutor.shutdownNodeMain(rosCameraPreviewView);
cameraRunning = false;
}
Log.v("IMU publisher", ""+isChecked);
}
});
}
@Override
public boolean onTouchEvent(MotionEvent event) {
//if (Build.VERSION.SDK_INT < Build.VERSION_CODES.P) {
if (event.getAction() == MotionEvent.ACTION_UP) {
int numberOfCameras = Camera.getNumberOfCameras();
final Toast toast;
if (numberOfCameras > 1) {
cameraId = (cameraId + 1) % numberOfCameras;
rosCameraPreviewView.releaseCamera();
rosCameraPreviewView.setCamera(getCamera());
toast = Toast.makeText(this, "Switching cameras.", Toast.LENGTH_SHORT);
} else {
toast = Toast.makeText(this, "No alternative cameras to switch to.", Toast.LENGTH_SHORT);
public void onSwitchCameraButtonClicked(View view) {
final Toast toast;
if(!cameraRunning)
{
toast = Toast.makeText(this, "Camera Publisher not running", Toast.LENGTH_SHORT);
}
else {
int numberOfCameras = Camera.getNumberOfCameras();
if (numberOfCameras > 1) {
cameraId = (cameraId + 1) % numberOfCameras;
rosCameraPreviewView.releaseCamera();
rosCameraPreviewView.setCamera(getCamera());
toast = Toast.makeText(this, "Switching cameras.", Toast.LENGTH_SHORT);
} else {
toast = Toast.makeText(this, "No alternative cameras to switch to.", Toast.LENGTH_SHORT);
}
}
runOnUiThread(new Runnable() {
@Override
@ -109,14 +156,11 @@ public class MainActivity extends RosActivity {
toast.show();
}
});
}
//}
return true;
}
@Override @TargetApi(Build.VERSION_CODES.ICE_CREAM_SANDWICH_MR1) //API = 15
protected void init(NodeMainExecutor nodeMainExecutor) {
id(this);
sID = MasterChooser.sID;
rosCameraPreviewView = new RosCameraPreviewView(sID);
mLocationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
mSensorManager = (SensorManager) this.getSystemService(SENSOR_SERVICE);
@ -131,40 +175,32 @@ public class MainActivity extends RosActivity {
PERMISSIONS[3] = Manifest.permission.WRITE_EXTERNAL_STORAGE;
ActivityCompat.requestPermissions(this, PERMISSIONS, 0);
}else {
NodeConfiguration nodeConfiguration1 = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
nodeConfiguration1.setMasterUri(getMasterUri());
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_" + sID + "_camera");
nodeMainExecutor.execute(this.rosCameraPreviewView, nodeConfiguration2);
initGPS();
initCamera();
}
initImu();
NodeConfiguration nodeConfiguration3 = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
nodeConfiguration3.setMasterUri(getMasterUri());
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_" + sID + "_nav_sat_fix");
private void initGPS() {
this.fix_pub = new NavSatFixPublisher(mLocationManager, sID);
nodeMainExecutor.execute(this.fix_pub, nodeConfiguration1);
nodeConfigurationGPS = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
nodeConfigurationGPS.setMasterUri(getMasterUri());
nodeConfigurationGPS.setNodeName(fix_pub.getDefaultNodeName());
}
private void executeCamera() {
private void initCamera() {
rosCameraPreviewView.setCamera(getCamera());
NodeConfiguration nodeConfiguration2 = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
nodeConfiguration2.setMasterUri(getMasterUri());
nodeConfiguration2.setNodeName("android_" + sID + "_camera");
nodeMainExecutor.execute(this.rosCameraPreviewView, nodeConfiguration2);
nodeConfigurationCamera = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
nodeConfigurationCamera.setMasterUri(getMasterUri());
nodeConfigurationCamera.setNodeName(rosCameraPreviewView.getDefaultNodeName());
}
private void initImu() {
nodeConfigurationImu = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
nodeConfigurationImu.setMasterUri(getMasterUri());
this.imu_pub = new ImuPublisher(mSensorManager, sID);
nodeConfigurationImu.setNodeName(imu_pub.getDefaultNodeName());
}
private Camera getCamera() {
@ -188,17 +224,41 @@ public class MainActivity extends RosActivity {
if (requestCode == 0) {
if (grantResults.length > 0 && grantResults[0] == PackageManager.PERMISSION_GRANTED) {
// permission was granted, yay! Do the
executeGPS();
initGPS();
}
if (grantResults.length > 1 && grantResults[1] == PackageManager.PERMISSION_GRANTED) {
// permission was granted, yay! Do the
executeCamera();
}
if (grantResults.length > 2 && grantResults[2] == PackageManager.PERMISSION_GRANTED &&
grantResults[3] == PackageManager.PERMISSION_GRANTED) {
// permission was granted, yay! Do the
initCamera();
}
}
}
public void onRadioButtonClicked(View view) {
boolean checked = ((RadioButton) view).isChecked();
switch(view.getId()) {
case R.id.res480:
if (checked)
rosCameraPreviewView.setPreviewSize(640, 480);
break;
case R.id.res720:
if (checked)
rosCameraPreviewView.setPreviewSize(1280, 720);
break;
case R.id.res1080:
if (checked)
rosCameraPreviewView.setPreviewSize(1920, 1080);
break;
}
if(cameraRunning){
rosCameraPreviewView.releaseCamera();
rosCameraPreviewView.setCamera(getCamera());
}
}
}