Convert android_core stack to gradle.

.hgignore

@@ -13,10 +13,13 @@ syntax: glob
 .settings
 .classpath
 .project
-dependencies.xml
-ros.properties
-default.properties
-project.properties
-
-syntax: regexp
-(target|build|bin|dist|msg_gen|srv_gen|gen|test_output)/.*
+.gradle
+target
+build
+dist
+msg_gen
+srv_gen
+gen
+libs
+bin
+local.properties

android_acm_serial/CMakeLists.txt

@@ -1,30 +0,0 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-
-rosbuild_init()
-
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})

android_acm_serial/Makefile

@@ -1 +0,0 @@
-include $(shell rospack find rosjava_bootstrap)/rosjava.mk

android_hokuyo/src/test/java/org/ros/android/hokuyo/scip20/DecoderTest.java → android_acm_serial/build.gradle

@@ -1,12 +1,12 @@
 /*
  * Copyright (C) 2011 Google Inc.
- * 
+ *
  * 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
@@ -14,24 +14,7 @@
  * the License.
  */
 
-package org.ros.android.hokuyo.scip20;
+dependsOn ':android_honeycomb_mr2'
 
-import junit.framework.TestCase;
+debug.dependsOn deployLibs
 
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class DecoderTest extends TestCase {
-  
-  public void testDecodeValue2() {
-    assertEquals(1234, Decoder.decodeValue("CB", 2));
-  }
-  
-  public void testDecodeValue3() {
-    assertEquals(5432, Decoder.decodeValue("1Dh", 3));
-  }
-  
-  public void testDecodeValue4() {
-    assertEquals(16000000, Decoder.decodeValue("m2@0", 4));
-  }
-}

android_acm_serial/build.xml

@@ -1,7 +1,85 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<project name="android_acm_serial" default="debug">
-  <property file="ros.properties" />
-  <property file="project.properties" />
-  <import file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
-</project>
+<project name="android_acm_serial" default="help">
+
+    <!-- The local.properties file is created and updated by the 'android' tool.
+         It contains the path to the SDK. It should *NOT* be checked into
+         Version Control Systems. -->
+    <property file="local.properties" />
+
+    <!-- The ant.properties file can be created by you. It is only edited by the
+         'android' tool to add properties to it.
+         This is the place to change some Ant specific build properties.
+         Here are some properties you may want to change/update:
+
+         source.dir
+             The name of the source directory. Default is 'src'.
+         out.dir
+             The name of the output directory. Default is 'bin'.
+
+         For other overridable properties, look at the beginning of the rules
+         files in the SDK, at tools/ant/build.xml
+
+         Properties related to the SDK location or the project target should
+         be updated using the 'android' tool with the 'update' action.
+
+         This file is an integral part of the build system for your
+         application and should be checked into Version Control Systems.
+
+         -->
+    <property file="ant.properties" />
+
+    <!-- The project.properties file is created and updated by the 'android'
+         tool, as well as ADT.
+
+         This contains project specific properties such as project target, and library
+         dependencies. Lower level build properties are stored in ant.properties
+         (or in .classpath for Eclipse projects).
 
+         This file is an integral part of the build system for your
+         application and should be checked into Version Control Systems. -->
+    <loadproperties srcFile="project.properties" />
+
+    <!-- quick check on sdk.dir -->
+    <fail
+            message="sdk.dir is missing. Make sure to generate local.properties using 'android update project' or to inject it through an env var"
+            unless="sdk.dir"
+    />
+
+
+<!-- extension targets. Uncomment the ones where you want to do custom work
+     in between standard targets -->
+<!--
+    <target name="-pre-build">
+    </target>
+    <target name="-pre-compile">
+    </target>
+
+    /* This is typically used for code obfuscation.
+       Compiled code location: ${out.classes.absolute.dir}
+       If this is not done in place, override ${out.dex.input.absolute.dir} */
+    <target name="-post-compile">
+    </target>
+-->
+
+    <!-- Import the actual build file.
+
+         To customize existing targets, there are two options:
+         - Customize only one target:
+             - copy/paste the target into this file, *before* the
+               <import> task.
+             - customize it to your needs.
+         - Customize the whole content of build.xml
+             - copy/paste the content of the rules files (minus the top node)
+               into this file, replacing the <import> task.
+             - customize to your needs.
+
+         ***********************
+         ****** IMPORTANT ******
+         ***********************
+         In all cases you must update the value of version-tag below to read 'custom' instead of an integer,
+         in order to avoid having your file be overridden by tools such as "android update project"
+    -->
+    <!-- version-tag: 1 -->
+    <import file="${sdk.dir}/tools/ant/build.xml" />
+
+</project>

android_acm_serial/manifest.xml

@@ -1,23 +1,8 @@
 <package>
-  <description brief="android_acm_serial">
-
-    android_acm_serial
-
-  </description>
+  <description brief="android_acm_serial">android_acm_serial</description>
   <author>Damon Kohler</author>
-  <license>Apache 2.0</license>
-  <review status="unreviewed" notes=""/>
+  <license>Apache License 2.0</license>
+  <review status="unreviewed" notes="" />
   <url>http://ros.org/wiki/android_acm_serial</url>
-
-  <depend package="rosjava" />
-  <depend package="android_gingerbread" />
-  <depend package="polling_input_stream" />
-
-  <export>
-    <rosjava-android-lib target="android-13" />
-    <rosjava-src location="src" />
-    <rosjava-src location="gen" />
-    <rosjava-src location="res" />
-  </export>
 </package>
 

android_acm_serial/project.properties

@@ -0,0 +1,13 @@
+# This file is automatically generated by Android Tools.
+# Do not modify this file -- YOUR CHANGES WILL BE ERASED!
+#
+# This file must be checked in Version Control Systems.
+#
+# To customize properties used by the Ant build system use,
+# "ant.properties", and override values to adapt the script to your
+# project structure.
+
+# Project target.
+target=android-13
+android.library=true
+android.library.reference.1=../android_honeycomb_mr2

android_acm_serial/src/org/ros/android/acm_serial/AcmAsyncInputStream.java

@@ -0,0 +1,99 @@
+/*
+ * Copyright (C) 2011 Google Inc.
+ * 
+ * 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.ros.android.acm_serial;
+
+import com.google.common.base.Preconditions;
+
+import android.hardware.usb.UsbConstants;
+import android.hardware.usb.UsbEndpoint;
+import android.hardware.usb.UsbRequest;
+import android.util.Log;
+
+import java.io.IOException;
+import java.io.InputStream;
+import java.nio.ByteBuffer;
+
+public class AcmAsyncInputStream extends InputStream {
+
+  private static final boolean DEBUG = false;
+  private static final String TAG = "AcmAsyncInputStream";
+
+  private final UsbRequestPool usbRequestPool;
+  private final UsbEndpoint endpoint;
+
+  public AcmAsyncInputStream(UsbRequestPool usbRequestPool, UsbEndpoint endpoint) {
+    Preconditions.checkArgument(endpoint.getDirection() == UsbConstants.USB_DIR_IN);
+    this.endpoint = endpoint;
+    this.usbRequestPool = usbRequestPool;
+  }
+
+  @Override
+  public void close() throws IOException {
+    usbRequestPool.shutdown();
+  }
+
+  @Override
+  public int read(byte[] buffer, int offset, int count) throws IOException {
+    Preconditions.checkNotNull(buffer);
+    if (offset < 0 || count < 0 || offset + count > buffer.length) {
+      throw new IndexOutOfBoundsException();
+    }
+    // NOTE(damonkohler): According to the InputStream.read() javadoc, we should
+    // be able to return 0 when we didn't read anything. However, it also says
+    // we should block until input is available. Blocking seems to be the
+    // preferred behavior.
+    if (DEBUG) {
+      Log.i(TAG, "Reading " + count + " bytes.");
+    }
+    int byteCount = 0;
+    while (byteCount == 0) {
+      UsbRequest request = usbRequestPool.poll(endpoint);
+      if (!request.queue(ByteBuffer.wrap(buffer, offset, count), count)) {
+        Log.e(TAG, "IO error while queuing " + count + " bytes to be read.");
+      }
+    }
+    if (byteCount < 0) {
+      throw new IOException("USB read failed.");
+    }
+    // System.arraycopy(slice, 0, buffer, offset, byteCount);
+    if (DEBUG) {
+      Log.i(TAG, "Actually read " + byteCount + " bytes.");
+      // Log.i(TAG, "Slice: " + byteArrayToHexString(slice));
+    }
+    return byteCount;
+  }
+
+  @Override
+  public int read() throws IOException {
+    throw new UnsupportedOperationException();
+  }
+
+  // TODO(damonkohler): Possibly move this to some common place?
+  private static String byteArrayToHexString(byte[] data) {
+    if (data == null) {
+      return "null";
+    }
+    if (data.length == 0) {
+      return "empty";
+    }
+    StringBuilder out = new StringBuilder(data.length * 5);
+    for (byte b : data) {
+      out.append(String.format("%02x", b));
+    }
+    return out.toString();
+  }
+}

android_gingerbread/AndroidManifest.xml

@@ -3,7 +3,7 @@
   xmlns:android="http://schemas.android.com/apk/res/android"
   android:versionCode="1"
   android:versionName="1.0"
-  package="org.ros.android">
+  package="org.ros.android_gingerbread">
   <uses-sdk android:minSdkVersion="10" />
   <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
   <uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
@@ -22,4 +22,4 @@
       </intent-filter>
     </service>
   </application>
-</manifest>
+</manifest>

android_gingerbread/CMakeLists.txt

@@ -1,30 +0,0 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-
-rosbuild_init()
-
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})

android_gingerbread/Makefile

@@ -1 +0,0 @@
-include $(shell rospack find rosjava_bootstrap)/rosjava.mk

android_hokuyo/src/main/java/org/ros/android/hokuyo/scip20/ChecksumException.java → android_gingerbread/build.gradle

@@ -1,12 +1,12 @@
 /*
  * Copyright (C) 2011 Google Inc.
- * 
+ *
  * 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
@@ -14,10 +14,10 @@
  * the License.
  */
 
-package org.ros.android.hokuyo.scip20;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class ChecksumException extends RuntimeException {
+dependencies {
+  compile 'ros.rosjava_core:rosjava:0.0.0-SNAPSHOT'
+  compile 'ros:message.sensor_msgs:0.0.0-SNAPSHOT'
 }
+
+debug.dependsOn deployTransitiveLibs
+

android_gingerbread/build.xml

@@ -1,7 +1,85 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<project name="android_gingerbread" default="debug">
-  <property file="ros.properties" />
-  <property file="project.properties" />
-  <import file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
-</project>
+<project name="android_gingerbread" default="help">
+
+    <!-- The local.properties file is created and updated by the 'android' tool.
+         It contains the path to the SDK. It should *NOT* be checked into
+         Version Control Systems. -->
+    <property file="local.properties" />
+
+    <!-- The ant.properties file can be created by you. It is only edited by the
+         'android' tool to add properties to it.
+         This is the place to change some Ant specific build properties.
+         Here are some properties you may want to change/update:
+
+         source.dir
+             The name of the source directory. Default is 'src'.
+         out.dir
+             The name of the output directory. Default is 'bin'.
+
+         For other overridable properties, look at the beginning of the rules
+         files in the SDK, at tools/ant/build.xml
+
+         Properties related to the SDK location or the project target should
+         be updated using the 'android' tool with the 'update' action.
+
+         This file is an integral part of the build system for your
+         application and should be checked into Version Control Systems.
+
+         -->
+    <property file="ant.properties" />
+
+    <!-- The project.properties file is created and updated by the 'android'
+         tool, as well as ADT.
+
+         This contains project specific properties such as project target, and library
+         dependencies. Lower level build properties are stored in ant.properties
+         (or in .classpath for Eclipse projects).
 
+         This file is an integral part of the build system for your
+         application and should be checked into Version Control Systems. -->
+    <loadproperties srcFile="project.properties" />
+
+    <!-- quick check on sdk.dir -->
+    <fail
+            message="sdk.dir is missing. Make sure to generate local.properties using 'android update project' or to inject it through an env var"
+            unless="sdk.dir"
+    />
+
+
+<!-- extension targets. Uncomment the ones where you want to do custom work
+     in between standard targets -->
+<!--
+    <target name="-pre-build">
+    </target>
+    <target name="-pre-compile">
+    </target>
+
+    /* This is typically used for code obfuscation.
+       Compiled code location: ${out.classes.absolute.dir}
+       If this is not done in place, override ${out.dex.input.absolute.dir} */
+    <target name="-post-compile">
+    </target>
+-->
+
+    <!-- Import the actual build file.
+
+         To customize existing targets, there are two options:
+         - Customize only one target:
+             - copy/paste the target into this file, *before* the
+               <import> task.
+             - customize it to your needs.
+         - Customize the whole content of build.xml
+             - copy/paste the content of the rules files (minus the top node)
+               into this file, replacing the <import> task.
+             - customize to your needs.
+
+         ***********************
+         ****** IMPORTANT ******
+         ***********************
+         In all cases you must update the value of version-tag below to read 'custom' instead of an integer,
+         in order to avoid having your file be overridden by tools such as "android update project"
+    -->
+    <!-- version-tag: 1 -->
+    <import file="${sdk.dir}/tools/ant/build.xml" />
+
+</project>

android_gingerbread/manifest.xml

@@ -1,22 +1,12 @@
 <package>
   <description brief="android_gingerbread">
-
     android_gingerbread
-
   </description>
   <author>Damon Kohler</author>
   <license>Apache 2</license>
-  <review status="unreviewed" notes=""/>
-  <url>http://ros.org/wiki/android</url>
+  <review status="unreviewed" notes="" />
+  <url>http://ros.org/wiki/android_gingerbread</url>
 
-  <depend package="rosjava"/>
   <depend package="sensor_msgs" />
-
-  <export>
-    <rosjava-android-lib target="android-10" />
-    <rosjava-src location="src" />
-    <rosjava-src location="gen" />
-    <rosjava-src location="res" />
-  </export>
-
 </package>
+

android_gingerbread/proguard.cfg

@@ -18,14 +18,18 @@
     native <methods>;
 }
 
--keepclasseswithmembernames class * {
+-keepclasseswithmembers class * {
     public <init>(android.content.Context, android.util.AttributeSet);
 }
 
--keepclasseswithmembernames class * {
+-keepclasseswithmembers class * {
     public <init>(android.content.Context, android.util.AttributeSet, int);
 }
 
+-keepclassmembers class * extends android.app.Activity {
+   public void *(android.view.View);
+}
+
 -keepclassmembers enum * {
     public static **[] values();
     public static ** valueOf(java.lang.String);

android_gingerbread/project.properties

@@ -0,0 +1,12 @@
+# This file is automatically generated by Android Tools.
+# Do not modify this file -- YOUR CHANGES WILL BE ERASED!
+#
+# This file must be checked in Version Control Systems.
+#
+# To customize properties used by the Ant build system use,
+# "ant.properties", and override values to adapt the script to your
+# project structure.
+
+# Project target.
+target=android-10
+android.library=true

android_gingerbread/src/org/ros/android/MasterChooser.java

@@ -1,12 +1,12 @@
 /*
  * Copyright (C) 2011 Google Inc.
- * 
+ *
  * 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
@@ -18,7 +18,7 @@ package org.ros.android;
 
 import com.google.common.base.Preconditions;
 
-import org.ros.android.R;
+import org.ros.android_gingerbread.R;
 
 import android.app.Activity;
 import android.content.Intent;
@@ -40,7 +40,7 @@ import java.util.List;
  * Displays a text box to allow the user to enter a URI or scan a QR code. Then
  * it returns that uri to the calling activity. When this activity is started
  * the last used (or the default) uri is displayed to the user.
- * 
+ *
  * @author ethan.rublee@gmail.com (Ethan Rublee)
  * @author damonkohler@google.com (Damon Kohler)
  * @author munjaldesai@google.com (Munjal Desai)
@@ -136,7 +136,7 @@ public class MasterChooser extends Activity {
 
   /**
    * Check if the specified app is installed.
-   * 
+   *
    * @param intent
    *          The activity that you wish to look for.
    * @return true if the desired activity is install on the device, false

android_gingerbread/src/org/ros/android/NodeRunnerService.java

@@ -1,12 +1,12 @@
 /*
  * Copyright (C) 2011 Google Inc.
- * 
+ *
  * 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
@@ -18,6 +18,8 @@ package org.ros.android;
 
 import com.google.common.base.Preconditions;
 
+import org.ros.android_gingerbread.R;
+
 import android.app.Notification;
 import android.app.PendingIntent;
 import android.app.Service;

android_hokuyo/CMakeLists.txt

@@ -1,30 +0,0 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-
-rosbuild_init()
-
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})

android_hokuyo/Makefile

@@ -1 +0,0 @@
-include $(shell rospack find rosjava_bootstrap)/rosjava.mk

android_hokuyo/build.xml

@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project default="default">
-  <property file="ros.properties" />
-  <import file="${ros.pkg.rosjava_bootstrap.dir}/simple_build.xml" />
-</project>
-

android_hokuyo/mainpage.dox

@@ -1,26 +0,0 @@
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b android_hokuyo_node is ... 
-
-<!-- 
-Provide an overview of your package.
--->
-
-
-\section codeapi Code API
-
-<!--
-Provide links to specific auto-generated API documentation within your
-package that is of particular interest to a reader. Doxygen will
-document pretty much every part of your code, so do your best here to
-point the reader to the actual API.
-
-If your codebase is fairly large or has different sets of APIs, you
-should use the doxygen 'group' tag to keep these APIs together. For
-example, the roscpp documentation has 'libros' group.
--->
-
-
-*/

android_hokuyo/manifest.xml

@@ -1,25 +0,0 @@
-<package>
-  <description brief="android_hokuyo">
-
-     android_hokuyo
-
-  </description>
-  <author>Damon Kohler</author>
-  <license>BSD</license>
-  <review status="unreviewed" notes=""/>
-  <url>http://ros.org/wiki/android_hokuyo</url>
-
-  <depend package="rosjava" />
-  <depend package="sensor_msgs" />
-
-  <export>
-    <rosjava-src location="src/main/java" />
-    <rosjava-src location="src/test/java" scope="test" />
-    <rosjava-pathelement location="target/" groupId="org.ros.android" artifactId="org.ros.android.hokuyo" version="0.0.0" built="true" />
-    <rosjava-pathelement groupId="com.google.guava" artifactId="org.ros.rosjava.guava" version="r07" />
-    <rosjava-pathelement groupId="junit" artifactId="junit" version="4.8.2" scope="test" />
-  </export>
-
-</package>
-
-

android_hokuyo/src/main/java/org/ros/android/hokuyo/LaserScan.java

@@ -1,58 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- * 
- * 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.ros.android.hokuyo;
-
-import org.ros.message.Time;
-
-import java.util.List;
-
-/**
- * Represents a collection of range reading from the sensor.
- * 
- * @author moesenle@google.com (Lorenz Moesenlechner)
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class LaserScan {
-
-  private final Time time;
-  private final List<Integer> ranges;
-
-  /**
-   * @param time
-   *          the {@link Time} at which this scan was created
-   * @param ranges
-   *          the sequence of range readings from the sensor in millimeters
-   */
-  public LaserScan(Time time, List<Integer> ranges) {
-    this.time = time;
-    this.ranges = ranges;
-  }
-
-  /**
-   * @return the {@link Time} this scan was created
-   */
-  public Time getTime() {
-    return time;
-  }
-
-  /**
-   * @return the sequence of range readings from the sensor in millimeters
-   */
-  public List<Integer> getRanges() {
-    return ranges;
-  }
-}

android_hokuyo/src/main/java/org/ros/android/hokuyo/LaserScanPublisher.java

@@ -1,125 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- * 
- * 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.ros.android.hokuyo;
-
-import com.google.common.annotations.VisibleForTesting;
-import com.google.common.base.Preconditions;
-
-import org.ros.namespace.GraphName;
-import org.ros.node.Node;
-import org.ros.node.NodeMain;
-import org.ros.node.parameter.ParameterTree;
-import org.ros.node.topic.Publisher;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class LaserScanPublisher implements NodeMain {
-
-  private final LaserScannerDevice laserScannerDevice;
-
-  private Node node;
-  private Publisher<org.ros.message.sensor_msgs.LaserScan> publisher;
-
-  /**
-   * We need a way to adjust time stamps because it is not (easily) possible to
-   * change a tablet's clock.
-   */
-  public LaserScanPublisher(LaserScannerDevice laserScannerDevice) {
-    this.laserScannerDevice = laserScannerDevice;
-  }
-
-  @Override
-  public GraphName getDefaultNodeName() {
-    return new GraphName("android_hokuyo/laser_scan_publisher");
-  }
-
-  @Override
-  public void onStart(final Node node) {
-    this.node = node;
-    ParameterTree params = node.newParameterTree();
-    final String laserTopic = params.getString("~laser_topic", "laser");
-    final String laserFrame = params.getString("~laser_frame", "laser");
-    publisher = node.newPublisher(node.resolveName(laserTopic), "sensor_msgs/LaserScan");
-    publisher.setQueueLimit(5);
-    laserScannerDevice.startScanning(new LaserScanListener() {
-      @Override
-      public void onNewLaserScan(LaserScan scan) {
-        org.ros.message.sensor_msgs.LaserScan message = toLaserScanMessage(laserFrame, scan);
-        publisher.publish(message);
-      }
-    });
-  }
-  
-  @Override
-  public void onShutdown(Node node) {
-  }
-
-  @Override
-  public void onShutdownComplete(Node node) {
-    laserScannerDevice.shutdown();
-  }
-
-  /**
-   * Construct a LaserScan message from sensor readings and the laser
-   * configuration.
-   * 
-   * Also gets rid of readings that don't contain any information.
-   * 
-   * Some laser scanners have blind areas before and after the actual detection
-   * range. These are indicated by the frontStep and the lastStep properties of
-   * the laser's configuration. Since the blind values never change, we can just
-   * ignore them when copying the range readings.
-   * 
-   * @param laserFrame
-   *          the laser's sensor frame
-   * @param scan
-   *          the actual range readings.
-   * @return a new sensor_msgs/LaserScan message
-   */
-  @VisibleForTesting
-  org.ros.message.sensor_msgs.LaserScan toLaserScanMessage(String laserFrame, LaserScan scan) {
-    Preconditions.checkNotNull(node);
-    Preconditions.checkNotNull(node.getMessageFactory());
-    org.ros.message.sensor_msgs.LaserScan message =
-        node.getMessageFactory().newMessage("sensor_msgs/LaserScan");
-    LaserScannerConfiguration configuration = laserScannerDevice.getConfiguration();
-
-    message.angle_increment = configuration.getAngleIncrement();
-    message.angle_min = configuration.getMinimumAngle();
-    message.angle_max = configuration.getMaximumAngle();
-    message.ranges = new float[configuration.getLastStep() - configuration.getFirstStep() + 1];
-    Preconditions.checkState(message.ranges.length <= scan.getRanges().size(), String.format(
-        "Number of scans in configuration does not match received range measurements (%d > %d).",
-        message.ranges.length, scan.getRanges().size()));
-    for (int i = 0; i < message.ranges.length; i++) {
-      message.ranges[i] = (float) (scan.getRanges().get(i + configuration.getFirstStep()) / 1000.0);
-    }
-    message.time_increment = configuration.getTimeIncrement();
-    message.scan_time = configuration.getScanTime();
-    message.range_min = (float) (configuration.getMinimumMeasurment() / 1000.0);
-    message.range_max = (float) (configuration.getMaximumMeasurement() / 1000.0);
-    message.header.frame_id = laserFrame;
-    message.header.stamp = scan.getTime();
-    return message;
-  }
-
-  @VisibleForTesting
-  void setNode(Node node) {
-    this.node = node;
-  }
-}

android_hokuyo/src/main/java/org/ros/android/hokuyo/LaserScannerConfiguration.java

@@ -1,98 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- * 
- * 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.ros.android.hokuyo;
-
-public interface LaserScannerConfiguration {
-
-  /**
-   * @return The laser's model.
-   */
-  String getModel();
-
-  /**
-   * @return The minimal range.
-   */
-  int getMinimumMeasurment();
-
-  /**
-   * @return The maximal range.
-   */
-  int getMaximumMeasurement();
-
-  /**
-   * @return The total number of range readings returned by the laser.
-   */
-  int getTotalSteps();
-
-  /**
-   * Returns the first meaningful range reading. The laser might have a blind
-   * area at the beginning of the scan range. Range readings are generated for
-   * this area, they do not contain any useful information though.
-   * 
-   * @return The index of the first meaningful range reading.
-   */
-  int getFirstStep();
-
-  /**
-   * Returns the last meaningful range reading. The laser might have a blind
-   * area at the end of the scan range. Range readings are generated for this
-   * area, they do not contain any useful information though.
-   * 
-   * @return The index of the last meaningful range reading.
-   */
-  int getLastStep();
-
-  /**
-   * Returns the front step of the laser. The front step is the index of the
-   * reading that is pointing directly forward.
-   * 
-   * @return The index of the front step.
-   */
-  int getFrontStep();
-
-  /**
-   * @return The motor speed of the laser
-   */
-  int getStandardMotorSpeed();
-
-  /**
-   * @return The angle increment i.e. the angle between two successive points in
-   *         a scan.
-   */
-  float getAngleIncrement();
-
-  /**
-   * @return The minimum angle, i.e. the angle of the first step
-   */
-  float getMinimumAngle();
-
-  /**
-   * @return The maximum angle, i.e. the angle of the last step
-   */
-  float getMaximumAngle();
-
-  /**
-   * @return The time increment between two successive points in a scan.
-   */
-  float getTimeIncrement();
-
-  /**
-   * @return The time between two scans.
-   */
-  float getScanTime();
-
-}

android_hokuyo/src/main/java/org/ros/android/hokuyo/scip20/Configuration.java

@@ -1,227 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- * 
- * 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.ros.android.hokuyo.scip20;
-
-import com.google.common.annotations.VisibleForTesting;
-import com.google.common.base.Preconditions;
-
-import org.ros.android.hokuyo.LaserScannerConfiguration;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class Configuration implements LaserScannerConfiguration {
-
-  private String model;
-  private int minimumMeasurment; // mm
-  private int maximumMeasurement; // mm
-  private int totalSteps; // in 360 range
-  private int firstStep; // first step in measurement range
-  private int lastStep; // last step in measurement range
-  private int frontStep; // step number on the sensor's front axis
-  private int standardMotorSpeed; // RPM
-
-  public static class Builder {
-
-    private Configuration configuration;
-
-    public Builder() {
-      configuration = new Configuration();
-    }
-
-    public LaserScannerConfiguration build() {
-      return configuration;
-    }
-
-    @VisibleForTesting
-    int parseIntegerValue(String tag, String buffer) {
-      Preconditions.checkArgument(buffer.startsWith(tag + ":"));
-      return Integer.valueOf(buffer.substring(5, buffer.length()));
-    }
-
-    public Builder parseModel(String buffer) {
-      Preconditions.checkArgument(buffer.startsWith("MODL:"));
-      configuration.model = buffer.substring(5, buffer.length() - 1);
-      return this;
-    }
-
-    public Builder parseMinimumMeasurement(String buffer) {
-      configuration.minimumMeasurment = parseIntegerValue("DMIN", buffer);
-      return this;
-    }
-
-    public Builder parseMaximumMeasurement(String buffer) {
-      configuration.maximumMeasurement = parseIntegerValue("DMAX", buffer);
-      return this;
-    }
-
-    public Builder parseTotalSteps(String buffer) {
-      configuration.totalSteps = parseIntegerValue("ARES", buffer);
-      return this;
-    }
-
-    public Builder parseFirstStep(String buffer) {
-      configuration.firstStep = parseIntegerValue("AMIN", buffer);
-      return this;
-    }
-
-    public Builder parseLastStep(String buffer) {
-      configuration.lastStep = parseIntegerValue("AMAX", buffer);
-      return this;
-    }
-
-    public Builder parseFrontStep(String buffer) {
-      configuration.frontStep = parseIntegerValue("AFRT", buffer);
-      return this;
-    }
-
-    public Builder parseStandardMotorSpeed(String buffer) {
-      configuration.standardMotorSpeed = parseIntegerValue("SCAN", buffer);
-      return this;
-    }
-  }
-
-  private Configuration() {
-    // Use the Configuration.Builder to construct a Configuration object.
-  }
-
-  /**
-   * @return the laser's model
-   */
-  @Override
-  public String getModel() {
-    return model;
-  }
-
-  /**
-   * @return the minimal range
-   */
-  @Override
-  public int getMinimumMeasurment() {
-    return minimumMeasurment;
-  }
-
-  /**
-   * @return the maximal range
-   */
-  @Override
-  public int getMaximumMeasurement() {
-    return maximumMeasurement;
-  }
-
-  /**
-   * @return the total number of range readings returned by the laser
-   */
-  @Override
-  public int getTotalSteps() {
-    return totalSteps;
-  }
-
-  /**
-   * Returns the first meaningful range reading. The laser might have a blind
-   * area at the beginning of the scan range. Range readings are generated for
-   * this area, they do not contain any useful information though.
-   * 
-   * @return the index of the first meaningful range reading
-   */
-  @Override
-  public int getFirstStep() {
-    return firstStep;
-  }
-
-  /**
-   * Returns the last meaningful range reading. The laser might have a blind
-   * area at the end of the scan range. Range readings are generated for this
-   * area, they do not contain any useful information though.
-   * 
-   * @return the index of the last meaningful range reading
-   */
-  @Override
-  public int getLastStep() {
-    return lastStep;
-  }
-
-  /**
-   * Returns the front step of the laser. The front step is the index of the
-   * reading that is pointing directly forward.
-   * 
-   * @return the index of the front step
-   */
-  @Override
-  public int getFrontStep() {
-    return frontStep;
-  }
-
-  /**
-   * @return the motor speed of the laser
-   */
-  @Override
-  public int getStandardMotorSpeed() {
-    return standardMotorSpeed;
-  }
-
-  /**
-   * @return the angle increment i.e. the angle between two successive points in
-   *         a scan
-   */
-  @Override
-  public float getAngleIncrement() {
-    return (float) ((2.0 * Math.PI) / getTotalSteps());
-  }
-
-  /**
-   * @return the minimum angle, i.e. the angle of the first step
-   */
-  @Override
-  public float getMinimumAngle() {
-    return (getFirstStep() - getFrontStep()) * getAngleIncrement();
-  }
-
-  /**
-   * @return the maximum angle, i.e. the angle of the last step
-   */
-  @Override
-  public float getMaximumAngle() {
-    return (getLastStep() - getFrontStep()) * getAngleIncrement();
-  }
-
-  /**
-   * @return the time increment between two successive points in a scan
-   */
-  @Override
-  public float getTimeIncrement() {
-    return (float) (60.0 / ((double) getStandardMotorSpeed() * getTotalSteps()));
-  }
-
-  /**
-   * @return the time between two scans
-   */
-  @Override
-  public float getScanTime() {
-    return (float) (60.0 / (double) getStandardMotorSpeed());
-  }
-
-  @Override
-  public String toString() {
-    return String
-        .format(
-            "MODL: %s\nDMIN: %d\nDMAX: %d\nARES: %d\nAMIN: %d\nAMAX: %d\nAFRT: %d\nSCAN: %d",
-            getModel(), getMinimumMeasurment(), getMaximumMeasurement(),
-            getTotalSteps(), getFirstStep(), getLastStep(), getFrontStep(),
-            getStandardMotorSpeed());
-  }
-}

android_hokuyo/src/main/java/org/ros/android/hokuyo/scip20/Decoder.java

@@ -1,50 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- * 
- * 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.ros.android.hokuyo.scip20;
-
-import com.google.common.base.Preconditions;
-import com.google.common.collect.Lists;
-
-import java.util.List;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-class Decoder {
-
-  public static int decodeValue(String buffer, int blockSize) {
-    Preconditions.checkArgument(buffer.length() == blockSize);
-    Preconditions.checkArgument(blockSize == 2 || blockSize == 3
-        || blockSize == 4);
-    int result = 0;
-    for (int i = 0; i < blockSize; i++) {
-      result |= (buffer.charAt(blockSize - i - 1) - 0x30) << i * 6;
-    }
-    return result;
-  }
-
-  public static List<Integer> decodeValues(String buffer, int blockSize) {
-    Preconditions.checkArgument(buffer.length() % blockSize == 0);
-    List<Integer> data = Lists.newArrayList();
-    for (int i = 0; i < buffer.length(); i += blockSize) {
-      // sensor_msgs/LaserScan uses floats for ranges.
-      data.add(decodeValue(buffer.substring(i, i + 3), blockSize));
-    }
-    return data;
-  }
-
-}

android_hokuyo/src/main/java/org/ros/android/hokuyo/scip20/Device.java

@@ -1,378 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- * 
- * 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.ros.android.hokuyo.scip20;
-
-import com.google.common.base.Preconditions;
-
-import org.apache.commons.logging.Log;
-import org.apache.commons.logging.LogFactory;
-import org.ros.android.hokuyo.LaserScan;
-import org.ros.android.hokuyo.LaserScanListener;
-import org.ros.android.hokuyo.LaserScannerConfiguration;
-import org.ros.android.hokuyo.LaserScannerDevice;
-import org.ros.exception.RosRuntimeException;
-import org.ros.message.Time;
-import org.ros.time.RemoteUptimeClock;
-import org.ros.time.TimeProvider;
-
-import java.io.BufferedInputStream;
-import java.io.BufferedOutputStream;
-import java.io.BufferedReader;
-import java.io.BufferedWriter;
-import java.io.IOException;
-import java.io.InputStream;
-import java.io.InputStreamReader;
-import java.io.OutputStream;
-import java.io.OutputStreamWriter;
-import java.nio.charset.Charset;
-import java.util.List;
-import java.util.concurrent.Callable;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class Device implements LaserScannerDevice {
-
-  private static final boolean DEBUG = false;
-  private static final Log log = LogFactory.getLog(Device.class);
-
-  private static final int STREAM_BUFFER_SIZE = 8192;
-  private static final String EXPECTED_SENSOR_DIAGNOSTIC = "Sensor works well.";
-  private static final double DRIFT_SENSITIVITY = 0.3;
-  private static final double ERROR_REDUCTION_COEFFICIENT_SENSITIVITY = 0.3;
-  private static final double LATENCY_FILTER_THRESHOLD = 1.05;
-  private static final int LATENCY_FILTER_SAMPLE_SIZE = 10;
-  private static final int CALIBRATION_SAMPLE_SIZE = 20;
-  private static final int CALIBRATION_SAMPLING_DELAY_MILLIS = 500;
-
-  private final BufferedInputStream bufferedInputStream;
-  private final BufferedReader reader;
-  private final BufferedWriter writer;
-  private final LaserScannerConfiguration configuration;
-  private final RemoteUptimeClock remoteUptimeClock;
-
-  /**
-   * It is not necessary to provide buffered streams. Buffering is handled
-   * internally.
-   * 
-   * @param inputStream
-   *          the {@link InputStream} for the ACM serial device
-   * @param outputStream
-   *          the {@link OutputStream} for the ACM serial device
-   * @param epochTimeProvider
-   */
-  public Device(InputStream inputStream, OutputStream outputStream, TimeProvider epochTimeProvider) {
-    bufferedInputStream = new BufferedInputStream(inputStream, STREAM_BUFFER_SIZE);
-    reader =
-        new BufferedReader(new InputStreamReader(bufferedInputStream, Charset.forName("US-ASCII")));
-    writer =
-        new BufferedWriter(new OutputStreamWriter(new BufferedOutputStream(outputStream,
-            STREAM_BUFFER_SIZE), Charset.forName("US-ASCII")));
-    remoteUptimeClock =
-        RemoteUptimeClock.newDefault(epochTimeProvider, new Callable<Double>() {
-          @Override
-          public Double call() throws Exception {
-            return (double) queryUptime();
-          }
-        }, DRIFT_SENSITIVITY, ERROR_REDUCTION_COEFFICIENT_SENSITIVITY, LATENCY_FILTER_SAMPLE_SIZE,
-            LATENCY_FILTER_THRESHOLD);
-    init();
-    configuration = queryConfiguration();
-  }
-
-  /**
-   * Initialize the sensor by
-   * <ol>
-   * <li>trying TM commands until one completes successfully,</li>
-   * <li>performing a reset,</li>
-   * <li>checking the laser's diagnostic information,</li>
-   * <li>and finally calibrating the laser's clock.</li>
-   * </ol>
-   */
-  private void init() {
-    reset();
-    String sensorDiagnostic = queryState().getSensorDiagnostic();
-    Preconditions.checkState(sensorDiagnostic.equals(EXPECTED_SENSOR_DIAGNOSTIC),
-        "Sensor diagnostic check failed: \"" + sensorDiagnostic + "\"");
-    waitUntilReady();
-    remoteUptimeClock.calibrate(CALIBRATION_SAMPLE_SIZE, CALIBRATION_SAMPLING_DELAY_MILLIS);
-  }
-
-  private void waitUntilReady() {
-    boolean ready = false;
-    while (!ready) {
-      ready = true;
-      write("MD0000076800001");
-      try {
-        checkMdmsStatus();
-      } catch (MdmsException e) {
-        if (DEBUG) {
-          log.info("Sensor not ready.", e);
-        }
-        ready = false;
-      }
-      checkTerminator();
-    }
-    Preconditions.checkState(read().equals("MD0000076800000"));
-    checkMdmsStatus();
-    while (true) {
-      String line = read(); // Data and checksum or terminating LF
-      if (line.length() == 0) {
-        break;
-      }
-      verifyChecksum(line);
-    }
-  }
-
-  @Override
-  public LaserScannerConfiguration getConfiguration() {
-    return configuration;
-  }
-
-  private void write(String command) {
-    Preconditions.checkArgument(!command.endsWith("\n"));
-    try {
-      writer.write(command + "\n");
-      writer.flush();
-      if (DEBUG) {
-        log.info("Wrote: " + command);
-      }
-    } catch (IOException e) {
-      throw new RosRuntimeException(e);
-    }
-    String echo = read();
-    Preconditions.checkState(echo.equals(command),
-        String.format("Echo does not match command: \"%s\" != \"%s\"", echo, command));
-  }
-
-  private void checkStatus() {
-    String statusAndChecksum = read();
-    String status = verifyChecksum(statusAndChecksum);
-    Preconditions.checkState(status.equals("00"));
-  }
-
-  private void checkMdmsStatus() {
-    String statusAndChecksum = read();
-    String status = verifyChecksum(statusAndChecksum);
-    // NOTE(damonkohler): It's not clear in the spec that both of these status
-    // codes are valid.
-    if (status.equals("00") || status.equals("99")) {
-      return;
-    }
-    throw new MdmsException(status);
-  }
-
-  private void checkTmStatus() {
-    String statusAndChecksum = read();
-    String status = verifyChecksum(statusAndChecksum);
-    if (!(status.equals("01") || status.equals("04"))) {
-      return;
-    }
-    throw new TmException(status);
-  }
-
-  private String read() {
-    String line;
-    try {
-      line = reader.readLine();
-    } catch (IOException e) {
-      throw new RosRuntimeException(e);
-    }
-    if (DEBUG) {
-      log.info("Read: " + line);
-    }
-    return line;
-  }
-
-  private String verifyChecksum(String buffer) {
-    Preconditions.checkArgument(buffer.length() > 0, "Empty buffer supplied to verifyChecksum().");
-    String data = buffer.substring(0, buffer.length() - 1);
-    char checksum = buffer.charAt(buffer.length() - 1);
-    int sum = 0;
-    for (int i = 0; i < data.length(); i++) {
-      sum += data.charAt(i);
-    }
-    if ((sum & 63) + 0x30 == checksum) {
-      return data;
-    }
-    throw new ChecksumException();
-  }
-
-  private void reset() {
-    // Exit time adjust mode.
-    write("TM2");
-    checkTmStatus();
-    checkTerminator();
-
-    // Reset
-    write("RS");
-    checkStatus();
-    checkTerminator();
-
-    // Change to SCIP2.0 mode.
-    write("SCIP2.0");
-    try {
-      checkStatus();
-    } catch (IllegalStateException e) {
-      // Not all devices support this command.
-      if (DEBUG) {
-        log.error("Switch to SCIP 2.0 failed.", e);
-      }
-    }
-    checkTerminator();
-
-    // Reset
-    write("RS");
-    checkStatus();
-    checkTerminator();
-  }
-
-  private void checkTerminator() {
-    Preconditions.checkState(read().length() == 0);
-  }
-
-  /**
-   * @return the time in milliseconds
-   */
-  private long readTimestamp() {
-    return Decoder.decodeValue(verifyChecksum(read()), 4);
-  }
-
-  @Override
-  public void startScanning(final LaserScanListener listener) {
-    // TODO(damonkohler): Use NodeMainExecutor ExecutorService.
-    new Thread() {
-      @Override
-      public void run() {
-        while (true) {
-          String command = "MD00000768000%02d";
-          write(String.format(command, 99));
-          checkMdmsStatus();
-          checkTerminator();
-          String scansRemaining = "99";
-          while (!scansRemaining.equals("00")) {
-            String commandEcho = read();
-            scansRemaining = commandEcho.substring(commandEcho.length() - 2);
-            checkMdmsStatus();
-            long timestamp = readTimestamp();
-            StringBuilder data = new StringBuilder();
-            boolean checksumOk = true;
-            while (true) {
-              String line = read(); // Data and checksum or terminating LF
-              if (line.length() == 0) {
-                if (checksumOk) {
-                  try {
-                    Time time = new Time(remoteUptimeClock.toLocalUptime(timestamp));
-                    List<Integer> ranges = Decoder.decodeValues(data.toString(), 3);
-                    listener.onNewLaserScan(new LaserScan(time, ranges));
-                  } catch (IllegalArgumentException e) {
-                    log.error("Failed to decode scan data.", e);
-                    break;
-                  }
-                }
-                break;
-              }
-              try {
-                data.append(verifyChecksum(line));
-              } catch (ChecksumException e) {
-                // NOTE(damonkohler): Even though this checksum is incorrect, we
-                // continue processing the scan data so that we don't lose
-                // synchronization. Once the complete laser scan has arrived, we
-                // will drop it and continue with the next incoming scan.
-                checksumOk = false;
-                log.error("Invalid checksum.", e);
-              }
-            }
-          }
-          remoteUptimeClock.update();
-        }
-      }
-    }.start();
-  }
-
-  private String readAndStripSemicolon() {
-    String buffer = read();
-    Preconditions.checkState(buffer.charAt(buffer.length() - 2) == ';');
-    return buffer.substring(0, buffer.length() - 2) + buffer.charAt(buffer.length() - 1);
-  }
-
-  private LaserScannerConfiguration queryConfiguration() {
-    Configuration.Builder builder = new Configuration.Builder();
-    write("PP");
-    checkStatus();
-    builder.parseModel(verifyChecksum(readAndStripSemicolon()));
-    builder.parseMinimumMeasurement(verifyChecksum(readAndStripSemicolon()));
-    builder.parseMaximumMeasurement(verifyChecksum(readAndStripSemicolon()));
-    builder.parseTotalSteps(verifyChecksum(readAndStripSemicolon()));
-    builder.parseFirstStep(verifyChecksum(readAndStripSemicolon()));
-    builder.parseLastStep(verifyChecksum(readAndStripSemicolon()));
-    builder.parseFrontStep(verifyChecksum(readAndStripSemicolon()));
-    builder.parseStandardMotorSpeed(verifyChecksum(readAndStripSemicolon()));
-    checkTerminator();
-    return builder.build();
-  }
-
-  private State queryState() {
-    State.Builder builder = new State.Builder();
-    write("II");
-    checkStatus();
-    builder.parseModel(verifyChecksum(readAndStripSemicolon()));
-    builder.parseLaserIlluminationState(verifyChecksum(readAndStripSemicolon()));
-    builder.parseMotorSpeed(verifyChecksum(readAndStripSemicolon()));
-    builder.parseMeasurementMode(verifyChecksum(readAndStripSemicolon()));
-    builder.parseBitRate(verifyChecksum(readAndStripSemicolon()));
-    builder.parseTimeStamp(verifyChecksum(readAndStripSemicolon()));
-    builder.parseSensorDiagnostic(verifyChecksum(readAndStripSemicolon()));
-    checkTerminator();
-    return builder.build();
-  }
-
-  private long queryUptime() {
-    // Enter time adjust mode
-    write("TM0");
-    checkTmStatus();
-    checkTerminator();
-    // Read the current time stamp
-    write("TM1");
-    checkTmStatus();
-    // We assume that the communication lag is symmetrical meaning that the
-    // sensor's time is exactly in between the start time and the current time.
-    long timestamp = readTimestamp();
-    checkTerminator();
-    // Leave adjust mode
-    write("TM2");
-    checkTmStatus();
-    checkTerminator();
-    return timestamp;
-  }
-
-  @Override
-  public void shutdown() {
-    try {
-      reader.close();
-    } catch (IOException e) {
-      // Ignore spurious shutdown errors.
-      e.printStackTrace();
-    }
-    try {
-      writer.close();
-    } catch (IOException e) {
-      // Ignore spurious shutdown errors.
-      e.printStackTrace();
-    }
-  }
-}

android_hokuyo/src/main/java/org/ros/android/hokuyo/scip20/MdmsException.java

@@ -1,96 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- * 
- * 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.ros.android.hokuyo.scip20;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- * 
- */
-public class MdmsException extends RuntimeException {
-
-  public MdmsException(String status) {
-    super(getMessage(status));
-  }
-  
-  private static String getMessage(String status) {
-    if (status.equals("0A")) {
-      return "Unable to create transmission data or reply command internally.";
-    }
-    if (status.equals("0B")) {
-      return "Buffer shortage or command repeated that is already processed.";
-    }
-    if (status.equals("0C")) {
-      return "Command with insufficient parameters 1.";
-    }
-    if (status.equals("0D")) {
-      return "Undefined command 1.";
-    }
-    if (status.equals("0E")) {
-      return "Undefined command 2.";
-    }
-    if (status.equals("0F")) {
-      return "Command with insufficient parameters 2.";
-    }
-    if (status.equals("0G")) {
-      return "String Character in command exceeds 16 letters.";
-    }
-    if (status.equals("0H")) {
-      return "String Character has invalid letters.";
-    }
-    if (status.equals("0I")) {
-      return "Sensor is now in firmware update mode.";
-    }
-    if (status.equals("01")) {
-      return "Sensor is now in firmware update mode.";
-    }
-    if (status.equals("01")) {
-      return "Starting step has non-numeric value.";
-    }
-    if (status.equals("02")) {
-      return "End step has non-numeric value.";
-    }
-    if (status.equals("03")) {
-      return "Cluster count has non-numeric value.";
-    }
-    if (status.equals("04")) {
-      return "End step is out of range.";
-    }
-    if (status.equals("05")) {
-      return "End step is smaller than starting step.";
-    }
-    if (status.equals("06")) {
-      return "Scan interval has non-numeric value.";
-    }
-    if (status.equals("07")) {
-      return "Number of scan has non-numeric value.";
-    }
-    if (status.equals("98")) {
-      return "Resumption of process after confirming normal laser operation.";
-    }
-    
-    int value = Integer.valueOf(status);
-    if (value > 20 && value < 50) {
-      return "Processing stopped to verify the error.";
-    }
-    if (value > 49 && value < 98) {
-      return "Hardware trouble (such as laser, motor malfunctions etc.).";
-    }
-    
-    return "Unknown status code: " + status;
-  }
-  
-}

android_hokuyo/src/main/java/org/ros/android/hokuyo/scip20/State.java

@@ -1,139 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- * 
- * 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.ros.android.hokuyo.scip20;
-
-import com.google.common.base.Preconditions;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class State {
-
-  private String model;
-  private String laserIlluminationState;
-  private String motorSpeed;
-  private String measurementMode;
-  private String bitRate;
-  private String timestamp;
-  private String sensorDiagnostic;
-
-  public static class Builder {
-
-    private State state;
-
-    public Builder() {
-      state = new State();
-    }
-
-    public State build() {
-      return state;
-    }
-
-    private String parseStringValue(String tag, String buffer) {
-      Preconditions.checkArgument(buffer.startsWith(tag + ":"));
-      return buffer.substring(5, buffer.length());
-    }
-
-    public Builder parseModel(String buffer) {
-      state.model = parseStringValue("MODL", buffer);
-      return this;
-    }
-
-    public Builder parseLaserIlluminationState(String buffer) {
-      state.laserIlluminationState = parseStringValue("LASR", buffer);
-      return this;
-    }
-
-    public Builder parseMotorSpeed(String buffer) {
-      state.motorSpeed = parseStringValue("SCSP", buffer);
-      return this;
-    }
-
-    public Builder parseMeasurementMode(String buffer) {
-      state.measurementMode = parseStringValue("MESM", buffer);
-      return this;
-    }
-
-    public Builder parseBitRate(String buffer) {
-      state.bitRate = parseStringValue("SBPS", buffer);
-      return this;
-    }
-
-    public Builder parseTimeStamp(String buffer) {
-      state.timestamp = parseStringValue("TIME", buffer);
-      return this;
-    }
-
-    public Builder parseSensorDiagnostic(String buffer) {
-      state.sensorDiagnostic = parseStringValue("STAT", buffer);
-      return this;
-    }
-  }
-
-  private State() {
-    // Use the State.Builder to construct a Configuration object.
-  }
-
-  /**
-   * @return the laser's model
-   */
-  public String getModel() {
-    return model;
-  }
-
-  /**
-   * @return the laser's illumination state
-   */
-  public String getLaserIlluminationState() {
-    return laserIlluminationState;
-  }
-
-  /**
-   * @return the laser's motor speed
-   */
-  public String getMotorSpeed() {
-    return motorSpeed;
-  }
-
-  /**
-   * @return the laser's measurement mode
-   */
-  public String getMeasurementMode() {
-    return measurementMode;
-  }
-
-  /**
-   * @return the laser's bit rate for RS232C
-   */
-  public String getBitRate() {
-    return bitRate;
-  }
-
-  /**
-   * @return the laser's timestamp
-   */
-  public String getTimestamp() {
-    return timestamp;
-  }
-
-  /**
-   * @return the laser's sensorDiagnostic message
-   */
-  public String getSensorDiagnostic() {
-    return sensorDiagnostic;
-  }
-}

android_hokuyo/src/main/java/org/ros/android/hokuyo/scip20/TmException.java

@@ -1,38 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- * 
- * 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.ros.android.hokuyo.scip20;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class TmException extends RuntimeException {
-
-  public TmException(String status) {
-    super(getMessage(status));
-  }
-
-  private static String getMessage(String status) {
-    if (status.equals("01")) {
-      return "Invalid control code.";
-    }
-    if (status.equals("04")) {
-      return "Adjust mode is off when requested for time.";
-    }
-
-    return "Unknown status code: " + status;
-  }
-}

android_hokuyo/src/test/java/org/ros/android/hokuyo/FakeLaserDevice.java

@@ -1,92 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- * 
- * 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.ros.android.hokuyo;
-
-import org.ros.message.Time;
-
-import java.util.ArrayList;
-import java.util.List;
-
-/**
- * @author moesenle@google.com (Lorenz Moesenlechner)
- */
-public class FakeLaserDevice implements LaserScannerDevice {
-
-  private static final int SCAN_PUBLISH_FREQUENCY = 10;
-
-  private RepeatingScanGeneratorThread scanGeneratorThread;
-  private int numberOfRangeValues;
-
-  private class RepeatingScanGeneratorThread extends Thread {
-    private LaserScanListener listener;
-    private int frequency;
-
-    public RepeatingScanGeneratorThread(int frequency, LaserScanListener listener) {
-      this.listener = listener;
-      this.frequency = frequency;
-    }
-
-    @Override
-    public void run() {
-      try {
-        while (!Thread.currentThread().isInterrupted()) {
-          listener.onNewLaserScan(makeFakeScan());
-          Thread.sleep((long) (1000f / frequency));
-        }
-      } catch (InterruptedException e) {
-        // Cancelable
-      }
-    }
-
-    public void cancel() {
-      interrupt();
-    }
-  }
-
-  public FakeLaserDevice(int numberOfRangeValues) {
-    this.numberOfRangeValues = numberOfRangeValues;
-  }
-
-  @Override
-  public void startScanning(LaserScanListener listener) {
-    if (scanGeneratorThread != null) {
-      scanGeneratorThread.cancel();
-    }
-    scanGeneratorThread = new RepeatingScanGeneratorThread(SCAN_PUBLISH_FREQUENCY, listener);
-    scanGeneratorThread.start();
-  }
-
-  @Override
-  public void shutdown() {
-    if (scanGeneratorThread != null) {
-      scanGeneratorThread.cancel();
-    }
-  }
-
-  @Override
-  public LaserScannerConfiguration getConfiguration() {
-    return new FakeLaserScannerConfiguration();
-  }
-
-  public LaserScan makeFakeScan() {
-    List<Integer> fakeRangeMeasurements = new ArrayList<Integer>(numberOfRangeValues);
-    for (int i = 0; i < numberOfRangeValues; i++) {
-      fakeRangeMeasurements.add(0);
-    }
-    return new LaserScan(new Time(), fakeRangeMeasurements);
-  }
-}

android_hokuyo/src/test/java/org/ros/android/hokuyo/FakeLaserScannerConfiguration.java

@@ -1,87 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- * 
- * 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.ros.android.hokuyo;
-
-/**
- * @author moesenle@google.com (Lorenz Moesenlechner)
- */
-public class FakeLaserScannerConfiguration implements LaserScannerConfiguration {
-  @Override
-  public String getModel() {
-    return "TestLaserScanner";
-  }
-
-  @Override
-  public int getMinimumMeasurment() {
-    return 0;
-  }
-
-  @Override
-  public int getMaximumMeasurement() {
-    return 1000;
-  }
-
-  @Override
-  public int getTotalSteps() {
-    return 3;
-  }
-
-  @Override
-  public int getFirstStep() {
-    return 0;
-  }
-
-  @Override
-  public int getLastStep() {
-    return 2;
-  }
-
-  @Override
-  public int getFrontStep() {
-    return 1;
-  }
-
-  @Override
-  public int getStandardMotorSpeed() {
-    return 0;
-  }
-
-  @Override
-  public float getAngleIncrement() {
-    return (float) Math.PI;
-  }
-
-  @Override
-  public float getMinimumAngle() {
-    return (float) -Math.PI;
-  }
-
-  @Override
-  public float getMaximumAngle() {
-    return (float) Math.PI;
-  }
-
-  @Override
-  public float getTimeIncrement() {
-    return 0;
-  }
-
-  @Override
-  public float getScanTime() {
-    return 0;
-  }
-}

android_hokuyo/src/test/java/org/ros/android/hokuyo/LaserScanPublisherIntegrationTest.java

@@ -1,94 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- * 
- * 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.ros.android.hokuyo;
-
-import static org.junit.Assert.assertTrue;
-import static org.junit.Assert.fail;
-
-import org.junit.After;
-import org.junit.Before;
-import org.junit.Test;
-import org.ros.RosCore;
-import org.ros.internal.node.DefaultNode;
-import org.ros.namespace.GraphName;
-import org.ros.node.DefaultNodeMainExecutor;
-import org.ros.node.Node;
-import org.ros.node.NodeConfiguration;
-import org.ros.node.NodeMainExecutor;
-
-import java.util.concurrent.CountDownLatch;
-import java.util.concurrent.TimeUnit;
-
-/**
- * @author moesenle@google.com (Lorenz Moesenlechner)
- */
-public class LaserScanPublisherIntegrationTest {
-
-  private NodeMainExecutor nodeMainExecutor;
-  private RosCore rosCore;
-  private NodeConfiguration nodeConfiguration;
-
-  @Before
-  public void before() throws InterruptedException {
-    rosCore = RosCore.newPrivate();
-    rosCore.start();
-    assertTrue(rosCore.awaitStart(1, TimeUnit.SECONDS));
-    nodeConfiguration = NodeConfiguration.newPrivate(rosCore.getUri());
-    nodeMainExecutor = DefaultNodeMainExecutor.newDefault();
-  }
-
-  @After
-  public void after() {
-    nodeMainExecutor.shutdown();
-    rosCore.shutdown();
-  }
-
-  @Test
-  public void testLaserScanPublisher() throws InterruptedException {
-    FakeLaserDevice fakeLaserDevice = new FakeLaserDevice(3);
-    LaserScanPublisher laserScanPublisher = new LaserScanPublisher(fakeLaserDevice);
-    nodeMainExecutor.execute(laserScanPublisher, nodeConfiguration);
-
-    final CountDownLatch laserScanReceived = new CountDownLatch(1);
-    LaserScanSubscriber laserScanSubscriber = new LaserScanSubscriber(laserScanReceived);
-    nodeMainExecutor.execute(laserScanSubscriber, nodeConfiguration);
-    // NOTE(damonkohler): This can take awhile when running from ant test.
-    assertTrue(laserScanReceived.await(10, TimeUnit.SECONDS));
-
-    fakeLaserDevice.shutdown();
-  }
-
-  @Test
-  public void testLaserScannerInvalidNumberOfMeasurements() throws InterruptedException {
-    NodeConfiguration nodeConfiguration = NodeConfiguration.newPrivate(rosCore.getUri());
-    FakeLaserDevice fakeLaser = new FakeLaserDevice(0);
-    LaserScanPublisher scanPublisher = new LaserScanPublisher(fakeLaser);
-    Node node =
-        new DefaultNode(nodeConfiguration.setNodeName(GraphName.newAnonymous()), null,
-            nodeMainExecutor.getScheduledExecutorService());
-    scanPublisher.setNode(node);
-    try {
-      scanPublisher.toLaserScanMessage("/base_scan", fakeLaser.makeFakeScan());
-      fail();
-    } catch (IllegalStateException e) {
-      // This should throw because our laser scan has too few range
-      // measurements. It expects three according to our configuration.
-    }
-    node.shutdown();
-    fakeLaser.shutdown();
-  }
-}

android_hokuyo/src/test/java/org/ros/android/hokuyo/LaserScanSubscriber.java

@@ -1,68 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- * 
- * 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.ros.android.hokuyo;
-
-import static org.junit.Assert.assertEquals;
-
-import org.ros.message.MessageListener;
-import org.ros.message.sensor_msgs.LaserScan;
-import org.ros.namespace.GraphName;
-import org.ros.node.Node;
-import org.ros.node.NodeMain;
-import org.ros.node.topic.Subscriber;
-
-import java.util.concurrent.CountDownLatch;
-
-/**
- * @author moesenle@google.com (Lorenz Moesenlechner)
- */
-public class LaserScanSubscriber implements NodeMain {
-
-  private final CountDownLatch laserScanReceived;
-
-  LaserScanSubscriber(CountDownLatch laserScanReceived) {
-    this.laserScanReceived = laserScanReceived;
-  }
-
-  @Override
-  public GraphName getDefaultNodeName() {
-    return new GraphName("android_hokuyo/laser_scan_subscriber");
-  }
-
-  @Override
-  public void onStart(Node node) {
-    Subscriber<org.ros.message.sensor_msgs.LaserScan> subscriber =
-        node.newSubscriber("laser", "sensor_msgs/LaserScan");
-    subscriber.addMessageListener(new MessageListener<org.ros.message.sensor_msgs.LaserScan>() {
-      @Override
-      public void onNewMessage(LaserScan message) {
-        assertEquals(3, message.ranges.length);
-        laserScanReceived.countDown();
-        // TODO(moesenle): Check that the fake laser data is equal to
-        // the received message.
-      }
-    });
-  }
-
-  @Override
-  public void onShutdown(Node node) {
-  }
-
-  @Override
-  public void onShutdownComplete(Node node) {
-  }
-}

android_hokuyo/src/test/java/org/ros/android/hokuyo/scip20/ConfigurationTest.java

@@ -1,47 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- * 
- * 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.ros.android.hokuyo.scip20;
-
-import org.ros.android.hokuyo.scip20.Configuration;
-
-import junit.framework.TestCase;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class ConfigurationTest extends TestCase {
-  
-  private Configuration.Builder builder;
-
-  @Override
-  protected void setUp() throws Exception {
-    builder = new Configuration.Builder();
-  }
-
-  public void testParseModel() {
-    builder.parseModel("MODL:URG-04LX(Hokuyo Automatic Co., Ltd.);");
-    assertEquals("URG-04LX(Hokuyo Automatic Co., Ltd.)", builder.build().getModel());
-  }
-  
-  public void testParseIntegerValue() {
-    // NOTE(damonkohler): We leave off the trailing ";" here because it is
-    // stripped before parsing.
-    assertEquals(20, builder.parseIntegerValue("DMIN", "DMIN:20"));
-  }
-  
- 
-}

android_honeycomb_mr2/AndroidManifest.xml

@@ -1,18 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
-<manifest xmlns:android="http://schemas.android.com/apk/res/android"
-      package="org.ros.android"
-      android:versionCode="1"
-      android:versionName="1.0">
-    <uses-sdk android:minSdkVersion="13" />
-
-    <application android:icon="@drawable/icon" android:label="@string/app_name">
-        <activity android:name=".Android_honeycombActivity"
-                  android:label="@string/app_name">
-            <intent-filter>
-                <action android:name="android.intent.action.MAIN" />
-                <category android:name="android.intent.category.LAUNCHER" />
-            </intent-filter>
-        </activity>
-
-    </application>
-</manifest>
+<manifest
+  xmlns:android="http://schemas.android.com/apk/res/android"
+  package="org.ros.android_honeycomb_mr2"
+  android:versionCode="1"
+  android:versionName="1.0">
+  <uses-sdk android:minSdkVersion="13" />
+</manifest>

android_honeycomb_mr2/CMakeLists.txt

@@ -1,30 +0,0 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-
-rosbuild_init()
-
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})

android_honeycomb_mr2/Makefile

@@ -1 +0,0 @@
-include $(shell rospack find rosjava_bootstrap)/rosjava.mk

android_hokuyo/src/main/java/org/ros/android/hokuyo/LaserScannerDevice.java → android_honeycomb_mr2/build.gradle

@@ -1,12 +1,12 @@
 /*
  * Copyright (C) 2011 Google Inc.
- * 
+ *
  * 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
@@ -14,28 +14,14 @@
  * the License.
  */
 
-package org.ros.android.hokuyo;
+dependsOn ':android_gingerbread'
 
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public interface LaserScannerDevice {
-
-  /**
-   * Starts continuously scanning.
-   * 
-   * @param listener
-   *          called for each new scan
-   */
-  void startScanning(LaserScanListener listener);
+dependencies {
+  compile 'ros.rosjava_core:rosjava_geometry:0.0.0-SNAPSHOT'
+  compile 'ros:message.nav_msgs:0.0.0-SNAPSHOT'
+  compile 'ros:message.tf:0.0.0-SNAPSHOT'
+  compile 'ros:message.compressed_visualization_transport_msgs:0.0.0-SNAPSHOT'
+}
 
-  /**
-   * Shuts down the device and releases any shared resources.
-   */
-  void shutdown();
+debug.dependsOn deployLibs
 
-  /**
-   * @return the device configuration
-   */
-  LaserScannerConfiguration getConfiguration();
-}

android_honeycomb_mr2/build.xml

@@ -1,7 +1,85 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<project name="android_honeycomb_mr2" default="debug">
-  <property file="ros.properties" />
-  <property file="project.properties" />
-  <import file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
-</project>
+<project name="Android_honeycombActivity" default="help">
+
+    <!-- The local.properties file is created and updated by the 'android' tool.
+         It contains the path to the SDK. It should *NOT* be checked into
+         Version Control Systems. -->
+    <property file="local.properties" />
+
+    <!-- The ant.properties file can be created by you. It is only edited by the
+         'android' tool to add properties to it.
+         This is the place to change some Ant specific build properties.
+         Here are some properties you may want to change/update:
+
+         source.dir
+             The name of the source directory. Default is 'src'.
+         out.dir
+             The name of the output directory. Default is 'bin'.
+
+         For other overridable properties, look at the beginning of the rules
+         files in the SDK, at tools/ant/build.xml
+
+         Properties related to the SDK location or the project target should
+         be updated using the 'android' tool with the 'update' action.
+
+         This file is an integral part of the build system for your
+         application and should be checked into Version Control Systems.
+
+         -->
+    <property file="ant.properties" />
+
+    <!-- The project.properties file is created and updated by the 'android'
+         tool, as well as ADT.
+
+         This contains project specific properties such as project target, and library
+         dependencies. Lower level build properties are stored in ant.properties
+         (or in .classpath for Eclipse projects).
 
+         This file is an integral part of the build system for your
+         application and should be checked into Version Control Systems. -->
+    <loadproperties srcFile="project.properties" />
+
+    <!-- quick check on sdk.dir -->
+    <fail
+            message="sdk.dir is missing. Make sure to generate local.properties using 'android update project' or to inject it through an env var"
+            unless="sdk.dir"
+    />
+
+
+<!-- extension targets. Uncomment the ones where you want to do custom work
+     in between standard targets -->
+<!--
+    <target name="-pre-build">
+    </target>
+    <target name="-pre-compile">
+    </target>
+
+    /* This is typically used for code obfuscation.
+       Compiled code location: ${out.classes.absolute.dir}
+       If this is not done in place, override ${out.dex.input.absolute.dir} */
+    <target name="-post-compile">
+    </target>
+-->
+
+    <!-- Import the actual build file.
+
+         To customize existing targets, there are two options:
+         - Customize only one target:
+             - copy/paste the target into this file, *before* the
+               <import> task.
+             - customize it to your needs.
+         - Customize the whole content of build.xml
+             - copy/paste the content of the rules files (minus the top node)
+               into this file, replacing the <import> task.
+             - customize to your needs.
+
+         ***********************
+         ****** IMPORTANT ******
+         ***********************
+         In all cases you must update the value of version-tag below to read 'custom' instead of an integer,
+         in order to avoid having your file be overridden by tools such as "android update project"
+    -->
+    <!-- version-tag: 1 -->
+    <import file="${sdk.dir}/tools/ant/build.xml" />
+
+</project>

android_honeycomb_mr2/project.properties

@@ -0,0 +1,13 @@
+# This file is automatically generated by Android Tools.
+# Do not modify this file -- YOUR CHANGES WILL BE ERASED!
+#
+# This file must be checked in Version Control Systems.
+#
+# To customize properties used by the Ant build system use,
+# "ant.properties", and override values to adapt the script to your
+# project structure.
+
+# Project target.
+target=android-13
+android.library=true
+android.library.reference.1=../android_gingerbread

android_honeycomb_mr2/src/org/ros/android/views/PanTiltView.java → android_honeycomb_mr2/src/java/org/ros/android/views/PanTiltView.java

@@ -155,7 +155,7 @@ public class PanTiltView extends RelativeLayout implements OnTouchListener, Node
   public PanTiltView(Context context, AttributeSet attrs, int defStyle) {
     super(context, attrs, defStyle);
     // Instantiate the elements from the layout XML file.
-    LayoutInflater.from(context).inflate(org.ros.android.R.layout.pan_tilt, this, true);
+    LayoutInflater.from(context).inflate(org.ros.android_honeycomb_mr2.R.layout.pan_tilt, this, true);
     // Load settings (minPan, maxPan, etc) from the shared preferences.
     loadSettings();
     initPanTiltWidget();
@@ -390,8 +390,8 @@ public class PanTiltView extends RelativeLayout implements OnTouchListener, Node
   }
 
   private void initPanTiltWidget() {
-    mainLayout = (RelativeLayout) findViewById(org.ros.android.R.id.pan_tilt_layout);
-    desiredTack = (ImageView) findViewById(org.ros.android.R.id.pt_divet);
+    mainLayout = (RelativeLayout) findViewById(org.ros.android_honeycomb_mr2.R.id.pan_tilt_layout);
+    desiredTack = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.pt_divet);
     topLargeTack = new ImageView[10];
     topSmallTack = new ImageView[10];
     rightLargeTack = new ImageView[7];
@@ -400,26 +400,26 @@ public class PanTiltView extends RelativeLayout implements OnTouchListener, Node
       topLargeTack[i] = new ImageView(getContext());
       topSmallTack[i] = new ImageView(getContext());
     }
-    topLargeTack[0] = (ImageView) findViewById(org.ros.android.R.id.pan_large_marker_0);
-    topLargeTack[1] = (ImageView) findViewById(org.ros.android.R.id.pan_large_marker_1);
-    topLargeTack[2] = (ImageView) findViewById(org.ros.android.R.id.pan_large_marker_2);
-    topLargeTack[3] = (ImageView) findViewById(org.ros.android.R.id.pan_large_marker_3);
-    topLargeTack[4] = (ImageView) findViewById(org.ros.android.R.id.pan_large_marker_4);
-    topLargeTack[5] = (ImageView) findViewById(org.ros.android.R.id.pan_large_marker_5);
-    topLargeTack[6] = (ImageView) findViewById(org.ros.android.R.id.pan_large_marker_6);
-    topLargeTack[7] = (ImageView) findViewById(org.ros.android.R.id.pan_large_marker_7);
-    topLargeTack[8] = (ImageView) findViewById(org.ros.android.R.id.pan_large_marker_8);
-    topLargeTack[9] = (ImageView) findViewById(org.ros.android.R.id.pan_large_marker_9);
-    topSmallTack[0] = (ImageView) findViewById(org.ros.android.R.id.pan_small_marker_0);
-    topSmallTack[1] = (ImageView) findViewById(org.ros.android.R.id.pan_small_marker_1);
-    topSmallTack[2] = (ImageView) findViewById(org.ros.android.R.id.pan_small_marker_2);
-    topSmallTack[3] = (ImageView) findViewById(org.ros.android.R.id.pan_small_marker_3);
-    topSmallTack[4] = (ImageView) findViewById(org.ros.android.R.id.pan_small_marker_4);
-    topSmallTack[5] = (ImageView) findViewById(org.ros.android.R.id.pan_small_marker_5);
-    topSmallTack[6] = (ImageView) findViewById(org.ros.android.R.id.pan_small_marker_6);
-    topSmallTack[7] = (ImageView) findViewById(org.ros.android.R.id.pan_small_marker_7);
-    topSmallTack[8] = (ImageView) findViewById(org.ros.android.R.id.pan_small_marker_8);
-    topSmallTack[9] = (ImageView) findViewById(org.ros.android.R.id.pan_small_marker_9);
+    topLargeTack[0] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.pan_large_marker_0);
+    topLargeTack[1] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.pan_large_marker_1);
+    topLargeTack[2] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.pan_large_marker_2);
+    topLargeTack[3] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.pan_large_marker_3);
+    topLargeTack[4] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.pan_large_marker_4);
+    topLargeTack[5] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.pan_large_marker_5);
+    topLargeTack[6] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.pan_large_marker_6);
+    topLargeTack[7] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.pan_large_marker_7);
+    topLargeTack[8] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.pan_large_marker_8);
+    topLargeTack[9] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.pan_large_marker_9);
+    topSmallTack[0] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.pan_small_marker_0);
+    topSmallTack[1] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.pan_small_marker_1);
+    topSmallTack[2] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.pan_small_marker_2);
+    topSmallTack[3] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.pan_small_marker_3);
+    topSmallTack[4] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.pan_small_marker_4);
+    topSmallTack[5] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.pan_small_marker_5);
+    topSmallTack[6] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.pan_small_marker_6);
+    topSmallTack[7] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.pan_small_marker_7);
+    topSmallTack[8] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.pan_small_marker_8);
+    topSmallTack[9] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.pan_small_marker_9);
     for (int i = 0; i < topLargeTack.length; i++) {
       topLargeTack[i].setAlpha(0.0f);
       topSmallTack[i].setAlpha(0.0f);
@@ -428,33 +428,33 @@ public class PanTiltView extends RelativeLayout implements OnTouchListener, Node
       rightLargeTack[i] = new ImageView(getContext());
       rightSmallTack[i] = new ImageView(getContext());
     }
-    rightLargeTack[0] = (ImageView) findViewById(org.ros.android.R.id.tilt_large_marker_0);
-    rightLargeTack[1] = (ImageView) findViewById(org.ros.android.R.id.tilt_large_marker_1);
-    rightLargeTack[2] = (ImageView) findViewById(org.ros.android.R.id.tilt_large_marker_2);
-    rightLargeTack[3] = (ImageView) findViewById(org.ros.android.R.id.tilt_large_marker_3);
-    rightLargeTack[4] = (ImageView) findViewById(org.ros.android.R.id.tilt_large_marker_4);
-    rightLargeTack[5] = (ImageView) findViewById(org.ros.android.R.id.tilt_large_marker_5);
-    rightLargeTack[6] = (ImageView) findViewById(org.ros.android.R.id.tilt_large_marker_6);
-    rightSmallTack[0] = (ImageView) findViewById(org.ros.android.R.id.tilt_small_marker_0);
-    rightSmallTack[1] = (ImageView) findViewById(org.ros.android.R.id.tilt_small_marker_1);
-    rightSmallTack[2] = (ImageView) findViewById(org.ros.android.R.id.tilt_small_marker_2);
-    rightSmallTack[3] = (ImageView) findViewById(org.ros.android.R.id.tilt_small_marker_3);
-    rightSmallTack[4] = (ImageView) findViewById(org.ros.android.R.id.tilt_small_marker_4);
-    rightSmallTack[5] = (ImageView) findViewById(org.ros.android.R.id.tilt_small_marker_5);
-    rightSmallTack[6] = (ImageView) findViewById(org.ros.android.R.id.tilt_small_marker_6);
+    rightLargeTack[0] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.tilt_large_marker_0);
+    rightLargeTack[1] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.tilt_large_marker_1);
+    rightLargeTack[2] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.tilt_large_marker_2);
+    rightLargeTack[3] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.tilt_large_marker_3);
+    rightLargeTack[4] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.tilt_large_marker_4);
+    rightLargeTack[5] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.tilt_large_marker_5);
+    rightLargeTack[6] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.tilt_large_marker_6);
+    rightSmallTack[0] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.tilt_small_marker_0);
+    rightSmallTack[1] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.tilt_small_marker_1);
+    rightSmallTack[2] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.tilt_small_marker_2);
+    rightSmallTack[3] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.tilt_small_marker_3);
+    rightSmallTack[4] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.tilt_small_marker_4);
+    rightSmallTack[5] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.tilt_small_marker_5);
+    rightSmallTack[6] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.tilt_small_marker_6);
     for (int i = 0; i < rightLargeTack.length; i++) {
       rightLargeTack[i].setAlpha(0.0f);
       rightSmallTack[i].setAlpha(0.0f);
     }
 
     zoomLitBar = new ImageView[5];
-    zoomLitBar[0] = (ImageView) findViewById(org.ros.android.R.id.zoom_bar_lit_0);
-    zoomLitBar[1] = (ImageView) findViewById(org.ros.android.R.id.zoom_bar_lit_1);
-    zoomLitBar[2] = (ImageView) findViewById(org.ros.android.R.id.zoom_bar_lit_2);
-    zoomLitBar[3] = (ImageView) findViewById(org.ros.android.R.id.zoom_bar_lit_3);
-    zoomLitBar[4] = (ImageView) findViewById(org.ros.android.R.id.zoom_bar_lit_4);
+    zoomLitBar[0] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.zoom_bar_lit_0);
+    zoomLitBar[1] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.zoom_bar_lit_1);
+    zoomLitBar[2] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.zoom_bar_lit_2);
+    zoomLitBar[3] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.zoom_bar_lit_3);
+    zoomLitBar[4] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.zoom_bar_lit_4);
 
-    homeIcon = (ImageView) findViewById(org.ros.android.R.id.pt_home_marker);
+    homeIcon = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.pt_home_marker);
   }
 
   private void loadSettings() {

android_honeycomb_mr2/src/org/ros/android/views/VirtualJoystickView.java → android_honeycomb_mr2/src/java/org/ros/android/views/VirtualJoystickView.java

@@ -538,36 +538,36 @@ public class VirtualJoystickView extends RelativeLayout implements AnimationList
     // All the virtual joystick elements must be centered on the parent.
     setGravity(Gravity.CENTER);
     // Instantiate the elements from the layout XML file.
-    LayoutInflater.from(context).inflate(org.ros.android.R.layout.virtual_joystick, this, true);
-    mainLayout = (RelativeLayout) findViewById(org.ros.android.R.id.virtual_joystick_layout);
-    magnitudeText = (TextView) findViewById(org.ros.android.R.id.magnitude);
-    intensity = (ImageView) findViewById(org.ros.android.R.id.intensity);
-    thumbDivet = (ImageView) findViewById(org.ros.android.R.id.thumb_divet);
+    LayoutInflater.from(context).inflate(org.ros.android_honeycomb_mr2.R.layout.virtual_joystick, this, true);
+    mainLayout = (RelativeLayout) findViewById(org.ros.android_honeycomb_mr2.R.id.virtual_joystick_layout);
+    magnitudeText = (TextView) findViewById(org.ros.android_honeycomb_mr2.R.id.magnitude);
+    intensity = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.intensity);
+    thumbDivet = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.thumb_divet);
     orientationWidget = new ImageView[24];
-    orientationWidget[0] = (ImageView) findViewById(org.ros.android.R.id.widget_0_degrees);
-    orientationWidget[1] = (ImageView) findViewById(org.ros.android.R.id.widget_15_degrees);
-    orientationWidget[2] = (ImageView) findViewById(org.ros.android.R.id.widget_30_degrees);
-    orientationWidget[3] = (ImageView) findViewById(org.ros.android.R.id.widget_45_degrees);
-    orientationWidget[4] = (ImageView) findViewById(org.ros.android.R.id.widget_60_degrees);
-    orientationWidget[5] = (ImageView) findViewById(org.ros.android.R.id.widget_75_degrees);
-    orientationWidget[6] = (ImageView) findViewById(org.ros.android.R.id.widget_90_degrees);
-    orientationWidget[7] = (ImageView) findViewById(org.ros.android.R.id.widget_105_degrees);
-    orientationWidget[8] = (ImageView) findViewById(org.ros.android.R.id.widget_120_degrees);
-    orientationWidget[9] = (ImageView) findViewById(org.ros.android.R.id.widget_135_degrees);
-    orientationWidget[10] = (ImageView) findViewById(org.ros.android.R.id.widget_150_degrees);
-    orientationWidget[11] = (ImageView) findViewById(org.ros.android.R.id.widget_165_degrees);
-    orientationWidget[12] = (ImageView) findViewById(org.ros.android.R.id.widget_180_degrees);
-    orientationWidget[13] = (ImageView) findViewById(org.ros.android.R.id.widget_195_degrees);
-    orientationWidget[14] = (ImageView) findViewById(org.ros.android.R.id.widget_210_degrees);
-    orientationWidget[15] = (ImageView) findViewById(org.ros.android.R.id.widget_225_degrees);
-    orientationWidget[16] = (ImageView) findViewById(org.ros.android.R.id.widget_240_degrees);
-    orientationWidget[17] = (ImageView) findViewById(org.ros.android.R.id.widget_255_degrees);
-    orientationWidget[18] = (ImageView) findViewById(org.ros.android.R.id.widget_270_degrees);
-    orientationWidget[19] = (ImageView) findViewById(org.ros.android.R.id.widget_285_degrees);
-    orientationWidget[20] = (ImageView) findViewById(org.ros.android.R.id.widget_300_degrees);
-    orientationWidget[21] = (ImageView) findViewById(org.ros.android.R.id.widget_315_degrees);
-    orientationWidget[22] = (ImageView) findViewById(org.ros.android.R.id.widget_330_degrees);
-    orientationWidget[23] = (ImageView) findViewById(org.ros.android.R.id.widget_345_degrees);
+    orientationWidget[0] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_0_degrees);
+    orientationWidget[1] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_15_degrees);
+    orientationWidget[2] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_30_degrees);
+    orientationWidget[3] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_45_degrees);
+    orientationWidget[4] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_60_degrees);
+    orientationWidget[5] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_75_degrees);
+    orientationWidget[6] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_90_degrees);
+    orientationWidget[7] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_105_degrees);
+    orientationWidget[8] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_120_degrees);
+    orientationWidget[9] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_135_degrees);
+    orientationWidget[10] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_150_degrees);
+    orientationWidget[11] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_165_degrees);
+    orientationWidget[12] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_180_degrees);
+    orientationWidget[13] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_195_degrees);
+    orientationWidget[14] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_210_degrees);
+    orientationWidget[15] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_225_degrees);
+    orientationWidget[16] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_240_degrees);
+    orientationWidget[17] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_255_degrees);
+    orientationWidget[18] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_270_degrees);
+    orientationWidget[19] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_285_degrees);
+    orientationWidget[20] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_300_degrees);
+    orientationWidget[21] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_315_degrees);
+    orientationWidget[22] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_330_degrees);
+    orientationWidget[23] = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.widget_345_degrees);
     // Initially hide all the widgets.
     for (ImageView tack : orientationWidget) {
       tack.setAlpha(0.0f);
@@ -583,12 +583,12 @@ public class VirtualJoystickView extends RelativeLayout implements AnimationList
     // Initially the orientationWidgets should point to 0 degrees.
     contactTheta = 0;
     animateOrientationWidgets();
-    currentRotationRange = (ImageView) findViewById(org.ros.android.R.id.top_angle_slice);
-    previousRotationRange = (ImageView) findViewById(org.ros.android.R.id.mid_angle_slice);
+    currentRotationRange = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.top_angle_slice);
+    previousRotationRange = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.mid_angle_slice);
     // Hide the slices/arcs used during the turn-in-place mode.
     currentRotationRange.setAlpha(0.0f);
     previousRotationRange.setAlpha(0.0f);
-    lastVelocityDivet = (ImageView) findViewById(org.ros.android.R.id.previous_velocity_divet);
+    lastVelocityDivet = (ImageView) findViewById(org.ros.android_honeycomb_mr2.R.id.previous_velocity_divet);
     contactUpLocation = new Point(0, 0);
     holonomic = false;
     for (ImageView tack : orientationWidget) {

android_rosserial/AndroidManifest.xml

@@ -1,32 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<manifest
-  xmlns:android="http://schemas.android.com/apk/res/android"
-  package="org.ros.android.rosserial"
-  android:versionCode="1"
-  android:versionName="1.0">
-  <uses-feature android:name="android.hardware.usb.host" />
-  <uses-sdk android:minSdkVersion="13" />
-  <uses-permission android:name="android.permission.INTERNET" />
-  <uses-permission android:name="android.permission.WAKE_LOCK" />
-  <application
-    android:icon="@drawable/icon"
-    android:label="@string/app_name">
-    <activity
-      android:name="MainActivity"
-      android:label="@string/app_name"
-      android:launchMode="singleTask">
-      <intent-filter>
-        <action android:name="android.intent.action.MAIN" />
-        <category android:name="android.intent.category.LAUNCHER" />
-      </intent-filter>
-      <intent-filter>
-        <action android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED" />
-      </intent-filter>
-      <meta-data
-        android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED"
-        android:resource="@xml/arduino_device_filter" />
-    </activity>
-    <activity android:name="org.ros.android.MasterChooser" />
-    <service android:name="org.ros.android.NodeRunnerService" />
-  </application>
-</manifest>

android_rosserial/CMakeLists.txt

@@ -1,30 +0,0 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-
-rosbuild_init()
-
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})

android_rosserial/Makefile

@@ -1 +0,0 @@
-include $(shell rospack find rosjava_bootstrap)/rosjava.mk

android_rosserial/build.xml

@@ -1,7 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project name="android_rosserial" default="debug">
-  <property file="ros.properties" />
-  <property file="project.properties" />
-  <import file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
-</project>
-

android_rosserial/mainpage.dox

@@ -1,26 +0,0 @@
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b android_rosserial is ... 
-
-<!-- 
-Provide an overview of your package.
--->
-
-
-\section codeapi Code API
-
-<!--
-Provide links to specific auto-generated API documentation within your
-package that is of particular interest to a reader. Doxygen will
-document pretty much every part of your code, so do your best here to
-point the reader to the actual API.
-
-If your codebase is fairly large or has different sets of APIs, you
-should use the doxygen 'group' tag to keep these APIs together. For
-example, the roscpp documentation has 'libros' group.
--->
-
-
-*/

android_rosserial/manifest.xml

@@ -1,27 +0,0 @@
-<package>
-  <description brief="android_rosserial">
-
-     android_rosserial
-
-  </description>
-  <author>Damon Kohler</author>
-  <license>BSD</license>
-  <review status="unreviewed" notes=""/>
-  <url>http://ros.org/wiki/android_rosserial</url>
-
-  <depend package="android_acm_serial" />
-  <depend package="android_gingerbread" />
-  <depend package="parsec_msgs" />
-  <depend package="polling_input_stream" />
-  <depend package="rosjava" />
-  <depend package="rosserial_java" />
-
-  <export>
-    <rosjava-android-app target="android-13" />
-    <rosjava-src location="src" />
-    <rosjava-src location="gen" />
-    <rosjava-src location="res" />
-  </export>
-</package>
-
-

android_rosserial/proguard.cfg

@@ -1,40 +0,0 @@
--optimizationpasses 5
--dontusemixedcaseclassnames
--dontskipnonpubliclibraryclasses
--dontpreverify
--verbose
--optimizations !code/simplification/arithmetic,!field/*,!class/merging/*
-
--keep public class * extends android.app.Activity
--keep public class * extends android.app.Application
--keep public class * extends android.app.Service
--keep public class * extends android.content.BroadcastReceiver
--keep public class * extends android.content.ContentProvider
--keep public class * extends android.app.backup.BackupAgentHelper
--keep public class * extends android.preference.Preference
--keep public class com.android.vending.licensing.ILicensingService
-
--keepclasseswithmembernames class * {
-    native <methods>;
-}
-
--keepclasseswithmembers class * {
-    public <init>(android.content.Context, android.util.AttributeSet);
-}
-
--keepclasseswithmembers class * {
-    public <init>(android.content.Context, android.util.AttributeSet, int);
-}
-
--keepclassmembers class * extends android.app.Activity {
-   public void *(android.view.View);
-}
-
--keepclassmembers enum * {
-    public static **[] values();
-    public static ** valueOf(java.lang.String);
-}
-
--keep class * implements android.os.Parcelable {
-  public static final android.os.Parcelable$Creator *;
-}

android_rosserial/res/layout/main.xml

@@ -1,12 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    android:orientation="vertical"
-    android:layout_width="fill_parent"
-    android:layout_height="fill_parent"
-    >
-<TextView  
-    android:layout_width="fill_parent" 
-    android:layout_height="wrap_content" 
-    android:text="@string/hello"
-    />
-</LinearLayout>

android_rosserial/res/values/strings.xml

@@ -1,5 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<resources>
-    <string name="hello">Hello World, MainActivity!</string>
-    <string name="app_name">rosserial</string>
-</resources>

android_rosserial/res/xml/arduino_device_filter.xml

@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<resources>
-  <usb-device
-    vendor-id="9025"
-    product-id="16" />
-</resources>

android_rosserial/src/org/ros/android/rosserial/MainActivity.java

@@ -1,91 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * 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.ros.android.rosserial;
-
-import android.os.Bundle;
-import org.ros.address.InetAddressFactory;
-import org.ros.android.acm_serial.AcmDevice;
-import org.ros.android.acm_serial.AcmDeviceActivity;
-import org.ros.android.acm_serial.BitRate;
-import org.ros.android.acm_serial.DataBits;
-import org.ros.android.acm_serial.Parity;
-import org.ros.android.acm_serial.PollingInputStream;
-import org.ros.android.acm_serial.StopBits;
-import org.ros.exception.RosRuntimeException;
-import org.ros.node.NodeConfiguration;
-import org.ros.node.NodeMainExecutor;
-import org.ros.rosserial.RosSerial;
-import org.ros.time.NtpTimeProvider;
-
-import java.util.concurrent.CountDownLatch;
-import java.util.concurrent.ScheduledExecutorService;
-import java.util.concurrent.TimeUnit;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class MainActivity extends AcmDeviceActivity {
-
-  private final CountDownLatch acmDeviceLatch;
-
-  private AcmDevice acmDevice;
-
-  public MainActivity() {
-    super("ROS Serial", "ROS Serial");
-    acmDeviceLatch = new CountDownLatch(1);
-  }
-
-  @Override
-  public void onCreate(Bundle savedInstanceState) {
-    super.onCreate(savedInstanceState);
-    setContentView(R.layout.main);
-  }
-
-  @Override
-  protected void init(NodeMainExecutor nodeMainExecutor) {
-    try {
-      acmDeviceLatch.await();
-    } catch (InterruptedException e) {
-      throw new RosRuntimeException(e);
-    }
-    acmDevice.setLineCoding(BitRate.BPS_115200, StopBits.STOP_BITS_1, Parity.NONE,
-        DataBits.DATA_BITS_8);
-    NodeConfiguration nodeConfiguration =
-        NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress(),
-            getMasterUri());
-    nodeConfiguration.setNodeName("rosserial");
-    ScheduledExecutorService scheduledExecutorService =
-        nodeMainExecutor.getScheduledExecutorService();
-    NtpTimeProvider ntpTimeProvider =
-        new NtpTimeProvider(InetAddressFactory.newFromHostString("192.168.0.1"),
-            scheduledExecutorService);
-    ntpTimeProvider.startPeriodicUpdates(1, TimeUnit.MINUTES);
-    nodeConfiguration.setTimeProvider(ntpTimeProvider);
-    nodeMainExecutor.execute(new RosSerial(new PollingInputStream(acmDevice.getInputStream(),
-        scheduledExecutorService), acmDevice.getOutputStream()), nodeConfiguration);
-  }
-
-  @Override
-  public void onPermissionGranted(AcmDevice acmDevice) {
-    this.acmDevice = acmDevice;
-    acmDeviceLatch.countDown();
-  }
-
-  @Override
-  public void onPermissionDenied() {
-  }
-}

android_tutorial_camera/CMakeLists.txt

@@ -1,30 +0,0 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-
-rosbuild_init()
-
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})

android_tutorial_camera/Makefile

@@ -1 +0,0 @@
-include $(shell rospack find rosjava_bootstrap)/rosjava.mk

android_tutorial_camera/build.gradle

@@ -0,0 +1,20 @@
+/*
+ * Copyright (C) 2011 Google Inc.
+ *
+ * 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.
+ */
+
+dependsOn ':android_gingerbread'
+
+debug.dependsOn deployLibs
+

android_tutorial_camera/build.xml

@@ -1,7 +1,85 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<project name="android_tutorial_camera" default="debug">
-  <property file="ros.properties" />
-  <property file="project.properties" />
-  <import file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
-</project>
+<project name="MainActivity" default="help">
+
+    <!-- The local.properties file is created and updated by the 'android' tool.
+         It contains the path to the SDK. It should *NOT* be checked into
+         Version Control Systems. -->
+    <property file="local.properties" />
+
+    <!-- The ant.properties file can be created by you. It is only edited by the
+         'android' tool to add properties to it.
+         This is the place to change some Ant specific build properties.
+         Here are some properties you may want to change/update:
+
+         source.dir
+             The name of the source directory. Default is 'src'.
+         out.dir
+             The name of the output directory. Default is 'bin'.
+
+         For other overridable properties, look at the beginning of the rules
+         files in the SDK, at tools/ant/build.xml
+
+         Properties related to the SDK location or the project target should
+         be updated using the 'android' tool with the 'update' action.
+
+         This file is an integral part of the build system for your
+         application and should be checked into Version Control Systems.
+
+         -->
+    <property file="ant.properties" />
+
+    <!-- The project.properties file is created and updated by the 'android'
+         tool, as well as ADT.
+
+         This contains project specific properties such as project target, and library
+         dependencies. Lower level build properties are stored in ant.properties
+         (or in .classpath for Eclipse projects).
 
+         This file is an integral part of the build system for your
+         application and should be checked into Version Control Systems. -->
+    <loadproperties srcFile="project.properties" />
+
+    <!-- quick check on sdk.dir -->
+    <fail
+            message="sdk.dir is missing. Make sure to generate local.properties using 'android update project' or to inject it through an env var"
+            unless="sdk.dir"
+    />
+
+
+<!-- extension targets. Uncomment the ones where you want to do custom work
+     in between standard targets -->
+<!--
+    <target name="-pre-build">
+    </target>
+    <target name="-pre-compile">
+    </target>
+
+    /* This is typically used for code obfuscation.
+       Compiled code location: ${out.classes.absolute.dir}
+       If this is not done in place, override ${out.dex.input.absolute.dir} */
+    <target name="-post-compile">
+    </target>
+-->
+
+    <!-- Import the actual build file.
+
+         To customize existing targets, there are two options:
+         - Customize only one target:
+             - copy/paste the target into this file, *before* the
+               <import> task.
+             - customize it to your needs.
+         - Customize the whole content of build.xml
+             - copy/paste the content of the rules files (minus the top node)
+               into this file, replacing the <import> task.
+             - customize to your needs.
+
+         ***********************
+         ****** IMPORTANT ******
+         ***********************
+         In all cases you must update the value of version-tag below to read 'custom' instead of an integer,
+         in order to avoid having your file be overridden by tools such as "android update project"
+    -->
+    <!-- version-tag: 1 -->
+    <import file="${sdk.dir}/tools/ant/build.xml" />
+
+</project>

android_tutorial_camera/manifest.xml

@@ -1,22 +1,9 @@
 <package>
   <description brief="android_camera_tutorial">
-
      android_camera_tutorial
-
   </description>
   <author>Damon Kohler</author>
-  <license>BSD</license>
-  <review status="unreviewed" notes=""/>
+  <license>Apache License 2.0</license>
+  <review status="unreviewed" notes="" />
   <url>http://ros.org/wiki/android_camera_tutorial</url>
-
-  <depend package="rosjava" />
-  <depend package="android_gingerbread" />
-
-  <export>
-    <rosjava-android-app target="android-10" />
-    <rosjava-src location="src" />
-    <rosjava-src location="gen" />
-    <rosjava-src location="res" />
-  </export>
-
 </package>

android_tutorial_camera/proguard.cfg

@@ -18,14 +18,18 @@
     native <methods>;
 }
 
--keepclasseswithmembernames class * {
+-keepclasseswithmembers class * {
     public <init>(android.content.Context, android.util.AttributeSet);
 }
 
--keepclasseswithmembernames class * {
+-keepclasseswithmembers class * {
     public <init>(android.content.Context, android.util.AttributeSet, int);
 }
 
+-keepclassmembers class * extends android.app.Activity {
+   public void *(android.view.View);
+}
+
 -keepclassmembers enum * {
     public static **[] values();
     public static ** valueOf(java.lang.String);

android_tutorial_camera/project.properties

@@ -0,0 +1,12 @@
+# This file is automatically generated by Android Tools.
+# Do not modify this file -- YOUR CHANGES WILL BE ERASED!
+#
+# This file must be checked in Version Control Systems.
+#
+# To customize properties used by the Ant build system use,
+# "ant.properties", and override values to adapt the script to your
+# project structure.
+
+# Project target.
+target=android-10
+android.library.reference.1=../android_gingerbread