Merge pull request #170 from rosjava/release

Upgrades official branch for 0.1.0 release

.gitignore

@@ -10,3 +10,10 @@ libs
 local.properties
 proguard-project.txt
 
+# These are Android Studio files, might be worth including these later.
+.idea
+*.iml
+build.log
+build-log.xml
+docs.iml
+

.hgignore

@@ -1,28 +0,0 @@
-syntax: glob
-*.class
-*.dex
-*.orig
-*.swp
-*.pyc
-*.DS_Store
-*~
-*.log
-*.ap_
-*.apk
-.cproject
-.settings
-.classpath
-.project
-.gradle
-target
-build
-dist
-msg_gen
-srv_gen
-gen
-libs
-bin
-docs/src/main/sphinx/conf.py
-local.properties
-proguard-project.txt
-build.xml

.rosinstall

@@ -1,8 +0,0 @@
-- hg:
-    local-name: android_core
-    uri: https://code.google.com/p/rosjava.android/
-    version: default
-- hg:
-    local-name: google
-    uri: https://code.google.com/p/rosjava.google/
-    version: default

CMakeLists.txt

@@ -1,12 +1,9 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(android_core)
 
-find_package(catkin REQUIRED)
+find_package(catkin REQUIRED rosjava_build_tools)
 
-catkin_package()
+catkin_android_setup(assembleRelease uploadArchives)
 
-execute_process(
-  COMMAND ./gradlew
-  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
-)
+catkin_package()
 

android_acm_serial/build.gradle

@@ -14,5 +14,14 @@
  * the License.
  */
 
-debug.dependsOn project(':android_honeycomb_mr2').tasks.debug
 
+dependencies {
+  compile project(':android_honeycomb_mr2')
+  compile project(':android_gingerbread_mr1')
+}
+
+apply plugin: 'android-library'
+
+android {
+    compileSdkVersion 13
+}

android_acm_serial/mainpage.dox

@@ -1,26 +0,0 @@
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b android_acm_serial 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_acm_serial/project.properties

@@ -1,13 +0,0 @@
-# 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/AndroidManifest.xml → android_acm_serial/src/main/AndroidManifest.xml

@@ -6,4 +6,11 @@
 
     <uses-sdk android:minSdkVersion="13" />
 
+    <!-- 
+      You shouldn't need an application tag for a library, but this is a 
+      workaround to get past a gradle android plugin bug in 0.4.
+    
+      It should disappear in 0.5
+    -->
+    <application />
 </manifest>

android_acm_serial/src/main/java/org/ros/android/android_acm_serial/AcmDevice.java

@@ -0,0 +1,176 @@
+/*
+ * 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.android_acm_serial;
+
+import android.hardware.usb.UsbConstants;
+import android.hardware.usb.UsbDevice;
+import android.hardware.usb.UsbDeviceConnection;
+import android.hardware.usb.UsbEndpoint;
+import android.hardware.usb.UsbInterface;
+
+import com.google.common.base.Preconditions;
+
+import org.apache.commons.logging.Log;
+import org.apache.commons.logging.LogFactory;
+import org.ros.exception.RosRuntimeException;
+
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+
+/**
+ * @author damonkohler@google.com (Damon Kohler)
+ */
+public class AcmDevice {
+
+  private static final int CONTROL_TRANSFER_TIMEOUT = 3000; // ms
+
+  private final UsbDeviceConnection usbDeviceConnection;
+  private final UsbDevice usbDevice;
+  private final UsbInterface usbInterface;
+  private final InputStream inputStream;
+  private final OutputStream outputStream;
+  private final UsbRequestPool usbRequestPool;
+
+  private static final Log log = LogFactory.getLog(AcmDevice.class);
+
+    /**
+     * Auxiliary data class. Used to group the pair of USB endpoints
+     * used for ACM communication
+     */
+  private class AcmUsbEndpoints {
+      private final UsbEndpoint incoming;
+      private final UsbEndpoint outgoing;
+
+      public AcmUsbEndpoints(UsbEndpoint incoming, UsbEndpoint outgoing) {
+          this.incoming = incoming;
+          this.outgoing = outgoing;
+      }
+
+      private UsbEndpoint getOutgoing() {
+          return outgoing;
+      }
+
+      private UsbEndpoint getIncoming() {
+          return incoming;
+      }
+  }
+
+  public AcmDevice(UsbDeviceConnection usbDeviceConnection, UsbDevice usbDevice) {
+    Preconditions.checkNotNull(usbDeviceConnection);
+    this.usbDeviceConnection = usbDeviceConnection;
+
+    // Go through all declared interfaces and automatically select the one that looks
+    // like an ACM interface
+    UsbInterface usbInterface = null;
+    AcmUsbEndpoints acmUsbEndpoints = null;
+    for(int i=0;i<usbDevice.getInterfaceCount() && acmUsbEndpoints == null;i++) {
+        usbInterface = usbDevice.getInterface(i);
+        Preconditions.checkNotNull(usbInterface);
+        Preconditions.checkState(usbDeviceConnection.claimInterface(usbInterface, true));
+        acmUsbEndpoints = getAcmEndpoints(usbInterface);
+    }
+    if(acmUsbEndpoints == null) {
+        throw new IllegalArgumentException("Couldn't find an interface that looks like ACM on this USB device: " + usbDevice);
+    }
+
+    this.usbInterface = usbInterface;
+    this.usbDevice = usbDevice;
+    usbRequestPool = new UsbRequestPool(usbDeviceConnection);
+    usbRequestPool.addEndpoint(acmUsbEndpoints.getOutgoing(), null);
+    usbRequestPool.start();
+
+    outputStream = new AcmOutputStream(usbRequestPool, acmUsbEndpoints.getOutgoing());
+    inputStream = new AcmInputStream(usbDeviceConnection, acmUsbEndpoints.getIncoming());
+  }
+
+    /**
+     * Goes through the given UsbInterface's endpoints and finds the incoming
+     * and outgoing bulk transfer endpoints.
+     * @return Array with incoming (first) and outgoing (second) USB endpoints
+     * @return <code>null</code>  in case either of the endpoints is not found
+     */
+  private AcmUsbEndpoints getAcmEndpoints(UsbInterface usbInterface) {
+      UsbEndpoint outgoingEndpoint = null;
+      UsbEndpoint incomingEndpoint = null;
+      for (int i = 0; i < usbInterface.getEndpointCount(); i++) {
+          UsbEndpoint endpoint = usbInterface.getEndpoint(i);
+          log.info("Interface: " + i + "/" + "Class: " + usbInterface.getInterfaceClass());
+          if (usbInterface.getInterfaceClass() == UsbConstants.USB_CLASS_CDC_DATA) {
+              if (endpoint.getDirection() == UsbConstants.USB_DIR_OUT) {
+                  log.info("Endpoint " + i + "/" + usbInterface.getEndpointCount() + ": " + endpoint + ". Type = " + endpoint.getType());
+                  outgoingEndpoint = endpoint;
+              } else if(endpoint.getDirection() == UsbConstants.USB_DIR_IN) {
+                  log.info("Endpoint " + i + "/" + usbInterface.getEndpointCount() + ": " + endpoint + ". Type = " + endpoint.getType());
+                  incomingEndpoint = endpoint;
+              }
+          }
+      }
+      if(outgoingEndpoint == null || incomingEndpoint == null) {
+          return null;
+      } else {
+          return new AcmUsbEndpoints(incomingEndpoint, outgoingEndpoint);
+      }
+  }
+
+  public void setLineCoding(BitRate bitRate, StopBits stopBits, Parity parity, DataBits dataBits) {
+    ByteBuffer buffer = ByteBuffer.allocate(7);
+    buffer.order(ByteOrder.LITTLE_ENDIAN);
+    buffer.putInt(bitRate.getBitRate());
+    buffer.put(stopBits.getStopBits());
+    buffer.put(parity.getParity());
+    buffer.put(dataBits.getDataBits());
+    setLineCoding(buffer.array());
+  }
+
+  private void setLineCoding(byte[] lineCoding) {
+    int byteCount;
+    byteCount =
+        usbDeviceConnection.controlTransfer(0x21, 0x20, 0, 0, lineCoding, lineCoding.length,
+            CONTROL_TRANSFER_TIMEOUT);
+    Preconditions.checkState(byteCount == lineCoding.length, "Failed to set line coding.");
+  }
+
+  public UsbDevice getUsbDevice() {
+    return this.usbDevice;
+  }
+
+  public UsbInterface getUsbInterface() {
+    return usbInterface;
+  }
+
+  public InputStream getInputStream() {
+    return inputStream;
+  }
+
+  public OutputStream getOutputStream() {
+    return outputStream;
+  }
+
+  public void close() {
+    usbDeviceConnection.releaseInterface(usbInterface);
+    usbDeviceConnection.close();
+    try {
+      inputStream.close();
+      outputStream.close();
+    } catch (IOException e) {
+      throw new RosRuntimeException(e);
+    }
+  }
+}

android_acm_serial/src/org/ros/android/android_acm_serial/AcmDeviceActivity.java → android_acm_serial/src/main/java/org/ros/android/android_acm_serial/AcmDeviceActivity.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
@@ -22,6 +22,7 @@ import com.google.common.collect.Maps;
 
 import android.app.PendingIntent;
 import android.content.BroadcastReceiver;
+import android.content.Context;
 import android.content.Intent;
 import android.content.IntentFilter;
 import android.hardware.usb.UsbDevice;
@@ -56,44 +57,57 @@ public abstract class AcmDeviceActivity extends RosActivity implements AcmDevice
 
   protected AcmDeviceActivity(String notificationTicker, String notificationTitle) {
     super(notificationTicker, notificationTitle);
+    log.info("<New> - Enter - v0.1");
     acmDevices = Maps.newConcurrentMap();
     usbDevicePermissionReceiver =
         new UsbDevicePermissionReceiver(new UsbDevicePermissionCallback() {
           @Override
           public void onPermissionGranted(UsbDevice usbDevice) {
+            log.info("New ACM device. Permission Granted");
             newAcmDevice(usbDevice);
           }
 
           @Override
           public void onPermissionDenied() {
+              log.info("New ACM device. Permission Denied");
             AcmDeviceActivity.this.onPermissionDenied();
           }
         });
     usbDeviceDetachedReceiver = new UsbDeviceDetachedReceiver(acmDevices);
+    log.info("<New> - Exit");
   }
 
+    /**
+     * Creates a new AcmDevice for the newly connected
+     */
   private void newAcmDevice(UsbDevice usbDevice) {
-    Preconditions.checkNotNull(usbDevice);
-    String deviceName = usbDevice.getDeviceName();
-    Preconditions.checkState(!acmDevices.containsKey(deviceName), "Already connected to device: "
-        + deviceName);
-    Preconditions.checkState(usbManager.hasPermission(usbDevice), "Permission denied: "
-        + deviceName);
-    UsbInterface usbInterface = usbDevice.getInterface(1);
-    UsbDeviceConnection usbDeviceConnection = usbManager.openDevice(usbDevice);
-    Preconditions.checkNotNull(usbDeviceConnection, "Failed to open device: " + deviceName);
-    if (DEBUG) {
-      log.info("Adding new ACM device: " + deviceName);
+    try {
+        Preconditions.checkNotNull(usbDevice);
+        String deviceName = usbDevice.getDeviceName();
+        Preconditions.checkState(!acmDevices.containsKey(deviceName), "Already connected to device: "
+            + deviceName);
+        Preconditions.checkState(usbManager.hasPermission(usbDevice), "Permission denied: "
+            + deviceName);
+
+        UsbDeviceConnection usbDeviceConnection = usbManager.openDevice(usbDevice);
+        Preconditions.checkNotNull(usbDeviceConnection, "Failed to open device: " + deviceName);
+        if (DEBUG) {
+          log.info("Adding new ACM device: " + deviceName);
+        }
+        AcmDevice acmDevice = new AcmDevice(usbDeviceConnection, usbDevice);
+        acmDevices.put(deviceName, acmDevice);
+        AcmDeviceActivity.this.onPermissionGranted(acmDevice);
+    } catch(IllegalStateException e) {
+        log.info("A precondition failed: " + e);
+    } catch(IllegalArgumentException e) {
+        log.info("Failed to create ACM device: " + e);
     }
-    AcmDevice acmDevice = new AcmDevice(usbDeviceConnection, usbInterface);
-    acmDevices.put(deviceName, acmDevice);
-    AcmDeviceActivity.this.onPermissionGranted(acmDevice);
   }
 
   @Override
   protected void onCreate(Bundle savedInstanceState) {
     super.onCreate(savedInstanceState);
-    usbManager = (UsbManager) getSystemService(USB_SERVICE);
+    usbManager = (UsbManager) getSystemService(Context.USB_SERVICE);
     usbPermissionIntent = PendingIntent.getBroadcast(this, 0, new Intent(ACTION_USB_PERMISSION), 0);
     registerReceiver(usbDevicePermissionReceiver, new IntentFilter(ACTION_USB_PERMISSION));
     registerReceiver(usbDeviceDetachedReceiver, new IntentFilter(
@@ -132,7 +146,7 @@ public abstract class AcmDeviceActivity extends RosActivity implements AcmDevice
 
   /**
    * Request permission from the user to access the supplied {@link UsbDevice}.
-   * 
+   *
    * @param usbDevice
    *          the {@link UsbDevice} that provides ACM serial
    * @param callback

android_acm_serial/src/org/ros/android/android_acm_serial/AcmDevice.java

@@ -1,113 +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.android_acm_serial;
-
-import com.google.common.base.Preconditions;
-
-import android.hardware.usb.UsbConstants;
-import android.hardware.usb.UsbDeviceConnection;
-import android.hardware.usb.UsbEndpoint;
-import android.hardware.usb.UsbInterface;
-import org.ros.exception.RosRuntimeException;
-
-import java.io.IOException;
-import java.io.InputStream;
-import java.io.OutputStream;
-import java.nio.ByteBuffer;
-import java.nio.ByteOrder;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class AcmDevice {
-
-  private static final int CONTROL_TRANSFER_TIMEOUT = 3000; // ms
-
-  private final UsbDeviceConnection usbDeviceConnection;
-  private final UsbInterface usbInterface;
-  private final InputStream inputStream;
-  private final OutputStream outputStream;
-  private final UsbRequestPool usbRequestPool;
-
-  public AcmDevice(UsbDeviceConnection usbDeviceConnection, UsbInterface usbInterface) {
-    Preconditions.checkNotNull(usbDeviceConnection);
-    Preconditions.checkNotNull(usbInterface);  
-    Preconditions.checkState(usbDeviceConnection.claimInterface(usbInterface, true));
-    this.usbDeviceConnection = usbDeviceConnection;
-    this.usbInterface = usbInterface;
-
-    UsbEndpoint outgoingEndpoint = null;
-    UsbEndpoint incomingEndpoint = null;
-    for (int i = 0; i < usbInterface.getEndpointCount(); i++) {
-      UsbEndpoint endpoint = usbInterface.getEndpoint(i);
-      if (endpoint.getType() == UsbConstants.USB_ENDPOINT_XFER_BULK) {
-        if (endpoint.getDirection() == UsbConstants.USB_DIR_OUT) {
-          outgoingEndpoint = endpoint;
-        } else {
-          incomingEndpoint = endpoint;
-        }
-      }
-    }
-    if (outgoingEndpoint == null || incomingEndpoint == null) {
-      throw new IllegalArgumentException("Not all endpoints found.");
-    }
-
-    usbRequestPool = new UsbRequestPool(usbDeviceConnection);
-    usbRequestPool.addEndpoint(outgoingEndpoint, null);
-    usbRequestPool.start();
-
-    outputStream = new AcmOutputStream(usbRequestPool, outgoingEndpoint);
-    inputStream = new AcmInputStream(usbDeviceConnection, incomingEndpoint);
-  }
-
-  public void setLineCoding(BitRate bitRate, StopBits stopBits, Parity parity, DataBits dataBits) {
-    ByteBuffer buffer = ByteBuffer.allocate(7);
-    buffer.order(ByteOrder.LITTLE_ENDIAN);
-    buffer.putInt(bitRate.getBitRate());
-    buffer.put(stopBits.getStopBits());
-    buffer.put(parity.getParity());
-    buffer.put(dataBits.getDataBits());
-    setLineCoding(buffer.array());
-  }
-
-  private void setLineCoding(byte[] lineCoding) {
-    int byteCount;
-    byteCount =
-        usbDeviceConnection.controlTransfer(0x21, 0x20, 0, 0, lineCoding, lineCoding.length,
-            CONTROL_TRANSFER_TIMEOUT);
-    Preconditions.checkState(byteCount == lineCoding.length, "Failed to set line coding.");
-  }
-
-  public InputStream getInputStream() {
-    return inputStream;
-  }
-
-  public OutputStream getOutputStream() {
-    return outputStream;
-  }
-
-  public void close() {
-    usbDeviceConnection.releaseInterface(usbInterface);
-    usbDeviceConnection.close();
-    try {
-      inputStream.close();
-      outputStream.close();
-    } catch (IOException e) {
-      throw new RosRuntimeException(e);
-    }
-  }
-}

android_benchmarks/build.gradle

@@ -15,8 +15,12 @@
  */
 
 dependencies {
-  compile 'ros.rosjava_core:rosjava_benchmarks:0.0.0-SNAPSHOT'
+  compile 'org.ros.rosjava_core:rosjava_benchmarks:0.1.+'
+  compile project(':android_gingerbread_mr1')
 }
 
-debug.dependsOn project(':android_gingerbread_mr1').tasks.debug
+apply plugin: 'android'
 
+android {
+    compileSdkVersion 10
+}

android_benchmarks/project.properties

@@ -1,12 +0,0 @@
-# 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_mr1

android_benchmarks/AndroidManifest.xml → android_benchmarks/src/main/AndroidManifest.xml

@@ -23,7 +23,11 @@
         </activity>
         <activity android:name="org.ros.android.MasterChooser" />
 
-        <service android:name="org.ros.android.NodeMainExecutorService" />
+        <service android:name="org.ros.android.NodeMainExecutorService" >
+            <intent-filter>
+                <action android:name="org.ros.android.NodeMainExecutorService" />
+            </intent-filter>
+        </service>
     </application>
 
 </manifest>

android_gingerbread_mr1/build.gradle

@@ -15,6 +15,13 @@
  */
 
 dependencies {
-  compile 'ros.rosjava_core:rosjava:0.0.0-SNAPSHOT'
+  compile 'org.ros.rosjava_core:rosjava:0.1.+'
+  compile 'org.ros.rosjava_messages:sensor_msgs:1.10.+'
+}
+
+apply plugin: 'android-library'
+
+android {
+    compileSdkVersion 10
 }
 

android_gingerbread_mr1/mainpage.dox

@@ -1,26 +0,0 @@
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b android 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_gingerbread_mr1/project.properties

@@ -1,12 +0,0 @@
-# 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_mr1/res/layout/master_chooser.xml

@@ -1,52 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent"
-    android:orientation="vertical" >
-
-    <EditText
-        android:id="@+id/master_chooser_uri"
-        android:layout_width="match_parent"
-        android:layout_height="wrap_content"
-        android:hint="@string/master_uri_hint"
-        android:singleLine="true" >
-
-        <requestFocus />
-    </EditText>
-
-    <LinearLayout
-        android:id="@+id/linearLayout1"
-        android:layout_width="match_parent"
-        android:layout_height="wrap_content"
-        android:orientation="horizontal" >
-
-        <Button
-            android:id="@+id/master_chooser_ok"
-            android:layout_width="100dip"
-            android:layout_height="wrap_content"
-            android:onClick="okButtonClicked"
-            android:text="@android:string/ok" />
-
-        <Button
-            android:id="@+id/master_chooser_qr_code_button"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:onClick="qrCodeButtonClicked"
-            android:text="@string/qr_code" />
-
-        <Button
-            android:id="@+id/master_chooser_new_master_button"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:onClick="newMasterButtonClicked"
-            android:text="@string/new_master" />
-        
-        <Button
-            android:id="@+id/master_chooser_cancel"
-            android:layout_width="100dip"
-            android:layout_height="wrap_content"
-            android:onClick="cancelButtonClicked"
-            android:text="@string/cancel" />
-    </LinearLayout>
-
-</LinearLayout>

android_gingerbread_mr1/res/values/common_strings.xml

@@ -1,10 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<resources>
-
-    <string name="app_name">ROS for Android</string>
-    <string name="cancel">Cancel</string>
-    <string name="qr_code">Scan</string>
-    <string name="master_uri_hint">http://localhost:11311/</string>
-    <string name="new_master">New Master</string>
-
-</resources>

android_gingerbread_mr1/src/org/ros/android/MasterChooser.java → android_gingerbread_mr1/src/main/java/org/ros/android/MasterChooser.java

@@ -26,6 +26,8 @@ import android.content.pm.ResolveInfo;
 import android.net.Uri;
 import android.os.Bundle;
 import android.view.View;
+import android.widget.Button;
+import android.widget.CheckBox;
 import android.widget.EditText;
 import android.widget.Toast;
 import org.ros.android.android_gingerbread_mr1.R;
@@ -81,7 +83,8 @@ public class MasterChooser extends Activity {
     // If the Barcode Scanner returned a string then display that string.
     if (requestCode == 0) {
       if (resultCode == RESULT_OK) {
-        Preconditions.checkState(intent.getStringExtra("SCAN_RESULT_FORMAT").equals("TEXT_TYPE"));
+        String scanResultFormat = intent.getStringExtra("SCAN_RESULT_FORMAT");
+        Preconditions.checkState(scanResultFormat.equals("TEXT_TYPE") || scanResultFormat.equals("QR_CODE"));
         String contents = intent.getStringExtra("SCAN_RESULT");
         uriText.setText(contents);
       }
@@ -113,6 +116,7 @@ public class MasterChooser extends Activity {
     editor.commit();
     // Package the intent to be consumed by the calling activity.
     Intent intent = new Intent();
+    intent.putExtra("NEW_MASTER", false);
     intent.putExtra("ROS_MASTER_URI", masterUri);
     setResult(RESULT_OK, intent);
     finish();
@@ -133,8 +137,33 @@ public class MasterChooser extends Activity {
     }
   }
 
+  public void advancedCheckboxClicked(View view) {
+    boolean checked = ((CheckBox) view).isChecked();
+    Button new_public_master = (Button) findViewById(R.id.master_chooser_new_master_button);
+    Button new_private_master = (Button) findViewById(R.id.master_chooser_new_private_master_button);
+    if (checked) {
+      new_private_master.setVisibility(View.VISIBLE);
+      new_public_master.setVisibility(View.VISIBLE);
+    } else {
+      new_private_master.setVisibility(View.GONE);
+      new_public_master.setVisibility(View.GONE);
+    }
+  }
+
+  public Intent createNewMasterIntent (Boolean isPrivate) {
+    Intent intent = new Intent();
+    intent.putExtra("NEW_MASTER", true);
+    intent.putExtra("ROS_MASTER_PRIVATE", isPrivate);
+    return intent;
+  }
+
   public void newMasterButtonClicked(View unused) {
-    setResult(RESULT_OK, null);
+    setResult(RESULT_OK, createNewMasterIntent(false));
+    finish();
+  }
+
+  public void newPrivateMasterButtonClicked(View unused) {
+    setResult(RESULT_OK, createNewMasterIntent(true));
     finish();
   }
 

android_gingerbread_mr1/src/org/ros/android/NodeMainExecutorService.java → android_gingerbread_mr1/src/main/java/org/ros/android/NodeMainExecutorService.java

@@ -201,8 +201,22 @@ public class NodeMainExecutorService extends Service implements NodeMainExecutor
     masterUri = uri;
   }
 
+  /**
+   * This version of startMaster can only create private masters.
+   *
+   * @deprecated use {@link public void startMaster(Boolean isPrivate)} instead.
+   */
+  @Deprecated
   public void startMaster() {
-    rosCore = RosCore.newPrivate();
+    startMaster(true);
+  }
+
+  public void startMaster(Boolean isPrivate) {
+    if (isPrivate) {
+      rosCore = RosCore.newPrivate();
+    } else {
+      rosCore = RosCore.newPublic(11311);
+    }
     rosCore.start();
     try {
       rosCore.awaitStart();

android_gingerbread_mr1/src/org/ros/android/RosActivity.java → android_gingerbread_mr1/src/main/java/org/ros/android/RosActivity.java

@@ -31,6 +31,7 @@ import org.ros.node.NodeMainExecutor;
 
 import java.net.URI;
 import java.net.URISyntaxException;
+import java.util.concurrent.ExecutionException;
 
 /**
  * @author damonkohler@google.com (Damon Kohler)
@@ -43,7 +44,7 @@ public abstract class RosActivity extends Activity {
   private final String notificationTicker;
   private final String notificationTitle;
 
-  private NodeMainExecutorService nodeMainExecutorService;
+  protected NodeMainExecutorService nodeMainExecutorService;
 
   private final class NodeMainExecutorServiceConnection implements ServiceConnection {
     @Override
@@ -52,7 +53,9 @@ public abstract class RosActivity extends Activity {
       nodeMainExecutorService.addListener(new NodeMainExecutorServiceListener() {
         @Override
         public void onShutdown(NodeMainExecutorService nodeMainExecutorService) {
-          RosActivity.this.finish();
+          if ( !isFinishing() ) {
+            RosActivity.this.finish();
+          }
         }
       });
       startMasterChooser();
@@ -112,7 +115,7 @@ public abstract class RosActivity extends Activity {
    */
   protected abstract void init(NodeMainExecutor nodeMainExecutor);
 
-  private void startMasterChooser() {
+  public void startMasterChooser() {
     Preconditions.checkState(getMasterUri() == null);
     // Call this method on super to avoid triggering our precondition in the
     // overridden startActivityForResult().
@@ -133,10 +136,24 @@ public abstract class RosActivity extends Activity {
   @Override
   protected void onActivityResult(int requestCode, int resultCode, Intent data) {
     super.onActivityResult(requestCode, resultCode, data);
-    if (requestCode == MASTER_CHOOSER_REQUEST_CODE) {
-      if (resultCode == RESULT_OK) {
-        if (data == null) {
-          nodeMainExecutorService.startMaster();
+    if (resultCode == RESULT_OK) {
+      if (requestCode == MASTER_CHOOSER_REQUEST_CODE) {
+        if (data.getBooleanExtra("NEW_MASTER", false) == true) {
+          AsyncTask<Boolean, Void, URI> task = new AsyncTask<Boolean, Void, URI>() {
+            @Override
+            protected URI doInBackground(Boolean[] params) {
+              RosActivity.this.nodeMainExecutorService.startMaster(params[0]);
+              return RosActivity.this.nodeMainExecutorService.getMasterUri();
+            }
+          };
+          task.execute(data.getBooleanExtra("ROS_MASTER_PRIVATE", true));
+          try {
+            task.get();
+          } catch (InterruptedException e) {
+            e.printStackTrace();
+          } catch (ExecutionException e) {
+            e.printStackTrace();
+          }
         } else {
           URI uri;
           try {

android_gingerbread_mr1/src/main/res/layout/master_chooser.xml

@@ -0,0 +1,98 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="wrap_content"
+    android:orientation="vertical"
+    android:focusable="false"
+    style="@style/padded">
+
+    <LinearLayout
+            android:layout_width="fill_parent"
+            android:layout_height="fill_parent"
+            >
+
+        <TextView
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="@string/uri_text"
+                android:id="@+id/textView"
+                android:layout_weight="1"
+                android:textSize="18dp"/>
+
+        <EditText
+            android:id="@+id/master_chooser_uri"
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:hint="@string/master_uri_hint"
+            android:singleLine="true"
+            android:layout_weight="20">
+
+            <requestFocus />
+        </EditText>
+
+    </LinearLayout>
+
+    <LinearLayout
+            android:layout_width="fill_parent"
+            android:layout_height="fill_parent"
+            style="@style/padded">
+
+        <Button
+                android:id="@+id/master_chooser_qr_code_button"
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:onClick="qrCodeButtonClicked"
+                android:text="@string/qr_code"
+                android:layout_weight="1"/>
+
+        <Button
+            android:id="@+id/master_chooser_ok"
+            android:layout_width="0dip"
+            android:layout_height="wrap_content"
+            android:onClick="okButtonClicked"
+            android:text="@string/use_master"
+            android:layout_weight="1"/>
+    </LinearLayout>
+
+    <CheckBox
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:text="@string/show_advanced"
+            android:id="@+id/advanced_checkBox"
+            android:checked="false"
+            android:onClick="advancedCheckboxClicked"
+            style="@style/padded"/>
+
+    <LinearLayout
+            android:layout_width="fill_parent"
+            android:layout_height="fill_parent">
+
+        <Button
+            android:id="@+id/master_chooser_new_master_button"
+            android:layout_width="wrap_content"
+            android:layout_height="fill_parent"
+            android:onClick="newMasterButtonClicked"
+            android:text="@string/new_master"
+            android:layout_weight="1"
+            android:visibility="gone"/>
+
+        <Button
+                android:id="@+id/master_chooser_new_private_master_button"
+                android:layout_width="wrap_content"
+                android:layout_height="fill_parent"
+                android:onClick="newPrivateMasterButtonClicked"
+                android:text="@string/new_private_master"
+                android:layout_weight="1"
+                android:visibility="gone"/>
+    </LinearLayout>
+
+    <Button
+            android:id="@+id/master_chooser_cancel"
+            android:layout_width="fill_parent"
+            android:layout_height="wrap_content"
+            android:onClick="cancelButtonClicked"
+            android:text="@string/cancel"
+            android:layout_gravity="bottom"
+            style="@style/padded"/>
+
+</LinearLayout>

android_gingerbread_mr1/src/main/res/values/common_strings.xml

@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+
+    <string name="app_name">ROS for Android</string>
+    <string name="use_master">Connect</string>
+    <string name="cancel">Cancel</string>
+    <string name="qr_code">Read QRCode</string>
+    <string name="master_uri_hint">http://localhost:11311/</string>
+    <string name="new_master">New Public Master</string>
+    <string name="new_private_master">New Private Master</string>
+    <string name="show_advanced">Show advanced options</string>
+    <string name="uri_text">Robot URI:</string>
+
+</resources>

android_gingerbread_mr1/src/main/res/values/styles.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <style name="padded">
+        <item name="android:layout_marginTop">10dp</item>
+    </style>
+</resources>

android_honeycomb_mr2/build.gradle

@@ -15,8 +15,12 @@
  */
 
 dependencies {
-  compile 'ros.rosjava_core:rosjava_geometry:0.0.0-SNAPSHOT'
+  compile 'org.ros.rosjava_core:rosjava_geometry:0.1.+'
+  compile project(':android_gingerbread_mr1')
 }
 
-debug.dependsOn project(':android_gingerbread_mr1').tasks.debug
+apply plugin: 'android-library'
 
+android {
+    compileSdkVersion 13
+}

android_honeycomb_mr2/mainpage.dox

@@ -1,26 +0,0 @@
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b android_honeycomb 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_honeycomb_mr2/project.properties

@@ -1,13 +0,0 @@
-# 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-14
-android.library=true
-android.library.reference.1=../android_gingerbread_mr1

android_honeycomb_mr2/AndroidManifest.xml → android_honeycomb_mr2/src/main/AndroidManifest.xml

@@ -5,4 +5,12 @@
   android:versionCode="1"
   android:versionName="1.0">
   <uses-sdk android:minSdkVersion="13" />
+
+  <!-- 
+    You shouldn't need an application tag for a library, but this is a 
+    workaround to get past a gradle android plugin bug in 0.4.
+    
+    It should disappear in 0.5
+  -->
+  <application />
 </manifest>

android_honeycomb_mr2/src/org/ros/android/view/VirtualJoystickView.java → android_honeycomb_mr2/src/main/java/org/ros/android/view/VirtualJoystickView.java

@@ -239,19 +239,23 @@ public class VirtualJoystickView extends RelativeLayout implements AnimationList
    */
   private Timer publisherTimer;
   private geometry_msgs.Twist currentVelocityCommand;
+  private String topicName;
 
   public VirtualJoystickView(Context context) {
     super(context);
     initVirtualJoystick(context);
+    topicName = "~cmd_vel";
   }
 
   public VirtualJoystickView(Context context, AttributeSet attrs) {
     super(context, attrs);
     initVirtualJoystick(context);
+    topicName = "~cmd_vel";
   }
 
   public VirtualJoystickView(Context context, AttributeSet attrs, int defStyle) {
     super(context, attrs, defStyle);
+    topicName = "~cmd_vel";
   }
 
   /**
@@ -915,6 +919,10 @@ public class VirtualJoystickView extends RelativeLayout implements AnimationList
     }
     return false;
   }
+  
+  public void setTopicName(String topicName) {
+    this.topicName = topicName;
+  }
 
   @Override
   public GraphName getDefaultNodeName() {
@@ -923,7 +931,8 @@ public class VirtualJoystickView extends RelativeLayout implements AnimationList
 
   @Override
   public void onStart(ConnectedNode connectedNode) {
-    publisher = connectedNode.newPublisher("~cmd_vel", geometry_msgs.Twist._TYPE);
+    publisher = connectedNode.newPublisher(topicName, geometry_msgs.Twist._TYPE);
+    currentVelocityCommand = publisher.newMessage();
     Subscriber<nav_msgs.Odometry> subscriber =
         connectedNode.newSubscriber("odom", nav_msgs.Odometry._TYPE);
     subscriber.addMessageListener(this);

android_honeycomb_mr2/src/org/ros/android/view/visualization/Camera.java → android_honeycomb_mr2/src/main/java/org/ros/android/view/visualization/Camera.java

@@ -19,9 +19,9 @@ package org.ros.android.view.visualization;
 import com.google.common.base.Preconditions;
 
 import org.ros.math.RosMath;
-import org.ros.namespace.GraphName;
 import org.ros.rosjava_geometry.FrameTransform;
 import org.ros.rosjava_geometry.FrameTransformTree;
+import org.ros.rosjava_geometry.FrameName;
 import org.ros.rosjava_geometry.Transform;
 import org.ros.rosjava_geometry.Vector3;
 
@@ -62,7 +62,7 @@ public class Camera {
    * instance, base_link, the view follows the robot and the robot itself is in
    * the origin.
    */
-  private GraphName frame;
+  private FrameName frame;
 
   public Camera(FrameTransformTree frameTransformTree) {
     this.frameTransformTree = frameTransformTree;
@@ -81,7 +81,7 @@ public class Camera {
     }
   }
 
-  public boolean applyFrameTransform(GL10 gl, GraphName frame) {
+    public boolean applyFrameTransform(GL10 gl, FrameName frame) {
     Preconditions.checkNotNull(frame);
     if (this.frame != null) {
       FrameTransform frameTransform = frameTransformTree.transform(frame, this.frame);
@@ -161,7 +161,7 @@ public class Camera {
     return transform.invert().apply(new Vector3(centeredX, centeredY, 0));
   }
 
-  public GraphName getFrame() {
+  public FrameName getFrame() {
     return frame;
   }
 
@@ -173,7 +173,7 @@ public class Camera {
    * @param frame
    *          the new camera frame
    */
-  public void setFrame(GraphName frame) {
+  public void setFrame(FrameName frame) {
     Preconditions.checkNotNull(frame);
     synchronized (mutex) {
       if (this.frame != null && this.frame != frame) {
@@ -189,10 +189,10 @@ public class Camera {
   }
 
   /**
-   * @see #setFrame(GraphName)
+   * @see #setFrame(FrameName)
    */
   public void setFrame(String frame) {
-    setFrame(GraphName.of(frame));
+    setFrame(FrameName.of(frame));
   }
 
   /**
@@ -202,7 +202,7 @@ public class Camera {
    * @param frame
    *          the new camera frame
    */
-  public void jumpToFrame(GraphName frame) {
+  public void jumpToFrame(FrameName frame) {
     synchronized (mutex) {
       this.frame = frame;
       double zoom = getZoom();
@@ -212,10 +212,10 @@ public class Camera {
   }
 
   /**
-   * @see #jumpToFrame(GraphName)
+   * @see #jumpToFrame(FrameName)
    */
   public void jumpToFrame(String frame) {
-    jumpToFrame(GraphName.of(frame));
+    jumpToFrame(FrameName.of(frame));
   }
 
   public void setViewport(Viewport viewport) {

android_honeycomb_mr2/src/org/ros/android/view/visualization/OpenGlTransform.java → android_honeycomb_mr2/src/main/java/org/ros/android/view/visualization/OpenGlTransform.java

@@ -61,6 +61,7 @@ public class OpenGlTransform {
     for (double value : transform.toMatrix()) {
       matrix.put((float) value);
     }
+    matrix.position(0);
     gl.glMultMatrixf(matrix);
   }
 }

android_honeycomb_mr2/src/org/ros/android/view/visualization/TextureBitmap.java → android_honeycomb_mr2/src/main/java/org/ros/android/view/visualization/TextureBitmap.java

@@ -120,6 +120,10 @@ public class TextureBitmap implements OpenGlDrawable {
     update(origin, stride, resolution, fillColor);
   }
 
+  public void clearHandle() {
+    handle = null;
+  }
+
   private void update(Transform origin, int stride, float resolution, int fillColor) {
     this.origin = origin;
     scaledWidth = TEXTURE_STRIDE * resolution;
@@ -140,6 +144,7 @@ public class TextureBitmap implements OpenGlDrawable {
       gl.glBindTexture(GL10.GL_TEXTURE_2D, handle[0]);
       gl.glTexParameterf(GL10.GL_TEXTURE_2D, GL10.GL_TEXTURE_MIN_FILTER, GL10.GL_NEAREST);
       gl.glTexParameterf(GL10.GL_TEXTURE_2D, GL10.GL_TEXTURE_MAG_FILTER, GL10.GL_NEAREST);
+      reload = true;
     }
     synchronized (mutex) {
       if (reload) {

android_honeycomb_mr2/src/org/ros/android/view/visualization/VisualizationView.java → android_honeycomb_mr2/src/main/java/org/ros/android/view/visualization/VisualizationView.java

@@ -27,7 +27,6 @@ import org.ros.android.view.visualization.layer.Layer;
 import org.ros.exception.RosRuntimeException;
 import org.ros.message.MessageListener;
 import org.ros.namespace.GraphName;
-import org.ros.namespace.NameResolver;
 import org.ros.node.ConnectedNode;
 import org.ros.node.Node;
 import org.ros.node.NodeMain;
@@ -45,8 +44,7 @@ public class VisualizationView extends GLSurfaceView implements NodeMain {
 
   private static final boolean DEBUG = false;
 
-  private final NameResolver nameResolver = NameResolver.newRoot();
-  private final FrameTransformTree frameTransformTree = new FrameTransformTree(nameResolver);
+  private final FrameTransformTree frameTransformTree = new FrameTransformTree();
   private final Camera camera = new Camera(frameTransformTree);
   private final XYOrthographicRenderer renderer = new XYOrthographicRenderer(camera);
   private final List<Layer> layers = Lists.newArrayList();
@@ -113,6 +111,10 @@ public class VisualizationView extends GLSurfaceView implements NodeMain {
     layers.remove(layer);
   }
 
+  public void hideLayer(Layer layer) {
+    layers.remove(layer);
+  }
+
   @Override
   public void onStart(ConnectedNode connectedNode) {
     this.connectedNode = connectedNode;
@@ -134,10 +136,10 @@ public class VisualizationView extends GLSurfaceView implements NodeMain {
   }
 
   private void startTransformListener() {
-    Subscriber<tf.tfMessage> tfSubscriber = connectedNode.newSubscriber("tf", tf.tfMessage._TYPE);
-    tfSubscriber.addMessageListener(new MessageListener<tf.tfMessage>() {
+    Subscriber<tf2_msgs.TFMessage> tfSubscriber = connectedNode.newSubscriber("tf", tf2_msgs.TFMessage._TYPE); // tf.tfMessage
+    tfSubscriber.addMessageListener(new MessageListener<tf2_msgs.TFMessage>() {
       @Override
-      public void onNewMessage(tf.tfMessage message) {
+      public void onNewMessage(tf2_msgs.TFMessage message) {
         for (geometry_msgs.TransformStamped transform : message.getTransforms()) {
           frameTransformTree.update(transform);
         }

android_honeycomb_mr2/src/org/ros/android/view/visualization/XYOrthographicRenderer.java → android_honeycomb_mr2/src/main/java/org/ros/android/view/visualization/XYOrthographicRenderer.java

@@ -19,8 +19,7 @@ package org.ros.android.view.visualization;
 import android.opengl.GLSurfaceView;
 import org.ros.android.view.visualization.layer.Layer;
 import org.ros.android.view.visualization.layer.TfLayer;
-import org.ros.namespace.GraphName;
-
+import org.ros.rosjava_geometry.FrameName;
 import java.util.List;
 
 import javax.microedition.khronos.egl.EGLConfig;
@@ -76,7 +75,7 @@ public class XYOrthographicRenderer implements GLSurfaceView.Renderer {
     for (Layer layer : getLayers()) {
       gl.glPushMatrix();
       if (layer instanceof TfLayer) {
-        GraphName layerFrame = ((TfLayer) layer).getFrame();
+        FrameName layerFrame = ((TfLayer) layer).getFrame();
         if (layerFrame != null && camera.applyFrameTransform(gl, layerFrame)) {
           layer.draw(gl);
         }

android_honeycomb_mr2/src/org/ros/android/view/visualization/layer/CompressedOccupancyGridLayer.java → android_honeycomb_mr2/src/main/java/org/ros/android/view/visualization/layer/CompressedOccupancyGridLayer.java

@@ -27,6 +27,7 @@ import org.ros.android.view.visualization.TextureBitmap;
 import org.ros.message.MessageListener;
 import org.ros.namespace.GraphName;
 import org.ros.node.ConnectedNode;
+import org.ros.rosjava_geometry.FrameName;
 import org.ros.rosjava_geometry.FrameTransformTree;
 import org.ros.rosjava_geometry.Transform;
 
@@ -57,7 +58,7 @@ public class CompressedOccupancyGridLayer extends SubscriberLayer<nav_msgs.Occup
   private final TextureBitmap textureBitmap;
 
   private boolean ready;
-  private GraphName frame;
+  private FrameName frame;
 
   public CompressedOccupancyGridLayer(String topic) {
     this(GraphName.of(topic));
@@ -77,7 +78,7 @@ public class CompressedOccupancyGridLayer extends SubscriberLayer<nav_msgs.Occup
   }
 
   @Override
-  public GraphName getFrame() {
+  public FrameName getFrame() {
     return frame;
   }
 
@@ -116,7 +117,7 @@ public class CompressedOccupancyGridLayer extends SubscriberLayer<nav_msgs.Occup
     float resolution = message.getInfo().getResolution();
     Transform origin = Transform.fromPoseMessage(message.getInfo().getOrigin());
     textureBitmap.updateFromPixelArray(pixels, stride, resolution, origin, COLOR_UNKNOWN);
-    frame = GraphName.of(message.getHeader().getFrameId());
+    frame = FrameName.of(message.getHeader().getFrameId());
     ready = true;
   }
 }

android_honeycomb_mr2/src/org/ros/android/view/visualization/layer/GridCellsLayer.java → android_honeycomb_mr2/src/main/java/org/ros/android/view/visualization/layer/GridCellsLayer.java

@@ -23,6 +23,7 @@ import org.ros.android.view.visualization.Vertices;
 import org.ros.message.MessageListener;
 import org.ros.namespace.GraphName;
 import org.ros.node.ConnectedNode;
+import org.ros.rosjava_geometry.FrameName;
 import org.ros.rosjava_geometry.FrameTransformTree;
 
 import java.util.concurrent.locks.Lock;
@@ -38,7 +39,7 @@ public class GridCellsLayer extends SubscriberLayer<nav_msgs.GridCells> implemen
   private final Color color;
   private final Lock lock;
 
-  private GraphName frame;
+  private FrameName frame;
   private Camera camera;
   private boolean ready;
   private nav_msgs.GridCells message;
@@ -89,7 +90,7 @@ public class GridCellsLayer extends SubscriberLayer<nav_msgs.GridCells> implemen
     getSubscriber().addMessageListener(new MessageListener<nav_msgs.GridCells>() {
       @Override
       public void onNewMessage(nav_msgs.GridCells data) {
-        frame = GraphName.of(data.getHeader().getFrameId());
+        frame = FrameName.of(data.getHeader().getFrameId());
         if (frameTransformTree.lookUp(frame) != null) {
           if (lock.tryLock()) {
             message = data;
@@ -102,7 +103,7 @@ public class GridCellsLayer extends SubscriberLayer<nav_msgs.GridCells> implemen
   }
 
   @Override
-  public GraphName getFrame() {
+  public FrameName getFrame() {
     return frame;
   }
 }

android_honeycomb_mr2/src/org/ros/android/view/visualization/layer/LaserScanLayer.java → android_honeycomb_mr2/src/main/java/org/ros/android/view/visualization/layer/LaserScanLayer.java

@@ -24,6 +24,7 @@ import org.ros.namespace.GraphName;
 import org.ros.node.ConnectedNode;
 import org.ros.node.topic.Subscriber;
 import org.ros.rosjava_geometry.FrameTransformTree;
+import org.ros.rosjava_geometry.FrameName;
 import sensor_msgs.LaserScan;
 
 import java.nio.FloatBuffer;
@@ -45,7 +46,7 @@ public class LaserScanLayer extends SubscriberLayer<sensor_msgs.LaserScan> imple
 
   private final Object mutex;
 
-  private GraphName frame;
+  private FrameName frame;
   private Camera camera;
   private FloatBuffer vertexFrontBuffer;
   private FloatBuffer vertexBackBuffer;
@@ -83,7 +84,7 @@ public class LaserScanLayer extends SubscriberLayer<sensor_msgs.LaserScan> imple
     subscriber.addMessageListener(new MessageListener<LaserScan>() {
       @Override
       public void onNewMessage(LaserScan laserScan) {
-        frame = GraphName.of(laserScan.getHeader().getFrameId());
+        frame = FrameName.of(laserScan.getHeader().getFrameId());
         updateVertexBuffer(laserScan, LASER_SCAN_STRIDE);
       }
     });
@@ -127,7 +128,7 @@ public class LaserScanLayer extends SubscriberLayer<sensor_msgs.LaserScan> imple
   }
 
   @Override
-  public GraphName getFrame() {
+  public FrameName getFrame() {
     return frame;
   }
 }

android_honeycomb_mr2/src/org/ros/android/view/visualization/layer/OccupancyGridLayer.java → android_honeycomb_mr2/src/main/java/org/ros/android/view/visualization/layer/OccupancyGridLayer.java

@@ -26,6 +26,7 @@ import org.ros.internal.message.MessageBuffers;
 import org.ros.message.MessageListener;
 import org.ros.namespace.GraphName;
 import org.ros.node.ConnectedNode;
+import org.ros.rosjava_geometry.FrameName;
 import org.ros.rosjava_geometry.FrameTransformTree;
 import org.ros.rosjava_geometry.Transform;
 
@@ -55,7 +56,8 @@ public class OccupancyGridLayer extends SubscriberLayer<nav_msgs.OccupancyGrid>
   private final TextureBitmap textureBitmap;
 
   private boolean ready;
-  private GraphName frame;
+  private FrameName frame;
+  private GL10 previousGl;
 
   public OccupancyGridLayer(String topic) {
     this(GraphName.of(topic));
@@ -70,13 +72,17 @@ public class OccupancyGridLayer extends SubscriberLayer<nav_msgs.OccupancyGrid>
 
   @Override
   public void draw(GL10 gl) {
+    if (previousGl != gl) {
+      textureBitmap.clearHandle();
+      previousGl = gl;
+    }
     if (ready) {
       textureBitmap.draw(gl);
     }
   }
 
   @Override
-  public GraphName getFrame() {
+  public FrameName getFrame() {
     return frame;
   }
 
@@ -84,6 +90,7 @@ public class OccupancyGridLayer extends SubscriberLayer<nav_msgs.OccupancyGrid>
   public void onStart(ConnectedNode connectedNode, Handler handler,
       FrameTransformTree frameTransformTree, Camera camera) {
     super.onStart(connectedNode, handler, frameTransformTree, camera);
+    previousGl = null;
     getSubscriber().addMessageListener(new MessageListener<nav_msgs.OccupancyGrid>() {
       @Override
       public void onNewMessage(nav_msgs.OccupancyGrid message) {
@@ -111,7 +118,7 @@ public class OccupancyGridLayer extends SubscriberLayer<nav_msgs.OccupancyGrid>
     Transform origin = Transform.fromPoseMessage(message.getInfo().getOrigin());
     textureBitmap.updateFromPixelBuffer(pixels, stride, resolution, origin, COLOR_UNKNOWN);
     pixels.clear();
-    frame = GraphName.of(message.getHeader().getFrameId());
+    frame = FrameName.of(message.getHeader().getFrameId());
     ready = true;
   }
 }

android_honeycomb_mr2/src/org/ros/android/view/visualization/layer/PathLayer.java → android_honeycomb_mr2/src/main/java/org/ros/android/view/visualization/layer/PathLayer.java

@@ -24,6 +24,7 @@ import org.ros.android.view.visualization.Camera;
 import org.ros.message.MessageListener;
 import org.ros.namespace.GraphName;
 import org.ros.node.ConnectedNode;
+import org.ros.rosjava_geometry.FrameName;
 import org.ros.rosjava_geometry.FrameTransformTree;
 
 import java.nio.ByteBuffer;
@@ -45,7 +46,7 @@ public class PathLayer extends SubscriberLayer<nav_msgs.Path> implements TfLayer
 
   private FloatBuffer vertexBuffer;
   private boolean ready;
-  private GraphName frame;
+  private FrameName frame;
 
   public PathLayer(String topic) {
     this(GraphName.of(topic));
@@ -87,7 +88,7 @@ public class PathLayer extends SubscriberLayer<nav_msgs.Path> implements TfLayer
     goalVertexByteBuffer.order(ByteOrder.nativeOrder());
     vertexBuffer = goalVertexByteBuffer.asFloatBuffer();
     if (path.getPoses().size() > 0) {
-      frame = GraphName.of(path.getPoses().get(0).getHeader().getFrameId());
+      frame = FrameName.of(path.getPoses().get(0).getHeader().getFrameId());
       // Path poses are densely packed and will make the path look like a solid
       // line even if it is drawn as points. Skipping poses provides the visual
       // point separation were looking for.
@@ -107,7 +108,7 @@ public class PathLayer extends SubscriberLayer<nav_msgs.Path> implements TfLayer
   }
 
   @Override
-  public GraphName getFrame() {
+  public FrameName getFrame() {
     return frame;
   }
 }

android_honeycomb_mr2/src/org/ros/android/view/visualization/layer/PoseSubscriberLayer.java → android_honeycomb_mr2/src/main/java/org/ros/android/view/visualization/layer/PoseSubscriberLayer.java

@@ -24,6 +24,7 @@ import org.ros.message.MessageListener;
 import org.ros.namespace.GraphName;
 import org.ros.node.ConnectedNode;
 import org.ros.rosjava_geometry.FrameTransform;
+import org.ros.rosjava_geometry.FrameName;
 import org.ros.rosjava_geometry.FrameTransformTree;
 import org.ros.rosjava_geometry.Transform;
 
@@ -35,7 +36,7 @@ import javax.microedition.khronos.opengles.GL10;
 public class PoseSubscriberLayer extends SubscriberLayer<geometry_msgs.PoseStamped> implements
     TfLayer {
 
-  private final GraphName targetFrame;
+  private final FrameName targetFrame;
 
   private Shape shape;
   private boolean ready;
@@ -46,7 +47,7 @@ public class PoseSubscriberLayer extends SubscriberLayer<geometry_msgs.PoseStamp
 
   public PoseSubscriberLayer(GraphName topic) {
     super(topic, "geometry_msgs/PoseStamped");
-    targetFrame = GraphName.of("/map");
+    targetFrame = FrameName.of("map");
     ready = false;
   }
 
@@ -65,7 +66,7 @@ public class PoseSubscriberLayer extends SubscriberLayer<geometry_msgs.PoseStamp
     getSubscriber().addMessageListener(new MessageListener<geometry_msgs.PoseStamped>() {
       @Override
       public void onNewMessage(geometry_msgs.PoseStamped pose) {
-        GraphName source = GraphName.of(pose.getHeader().getFrameId());
+          FrameName source = FrameName.of(pose.getHeader().getFrameId());
         FrameTransform frameTransform = frameTransformTree.transform(source, targetFrame);
         if (frameTransform != null) {
           Transform poseTransform = Transform.fromPoseMessage(pose.getPose());
@@ -77,7 +78,7 @@ public class PoseSubscriberLayer extends SubscriberLayer<geometry_msgs.PoseStamp
   }
 
   @Override
-  public GraphName getFrame() {
+  public FrameName getFrame() {
     return targetFrame;
   }
 }

android_honeycomb_mr2/src/org/ros/android/view/visualization/layer/RobotLayer.java → android_honeycomb_mr2/src/main/java/org/ros/android/view/visualization/layer/RobotLayer.java

@@ -20,9 +20,9 @@ import android.os.Handler;
 import org.ros.android.view.visualization.Camera;
 import org.ros.android.view.visualization.shape.RobotShape;
 import org.ros.android.view.visualization.shape.Shape;
-import org.ros.namespace.GraphName;
 import org.ros.node.ConnectedNode;
 import org.ros.rosjava_geometry.FrameTransformTree;
+import org.ros.rosjava_geometry.FrameName;
 
 import javax.microedition.khronos.opengles.GL10;
 
@@ -31,16 +31,16 @@ import javax.microedition.khronos.opengles.GL10;
  */
 public class RobotLayer extends DefaultLayer implements TfLayer {
 
-  private final GraphName frame;
+  private final FrameName frame;
   private final Shape shape;
 
-  public RobotLayer(GraphName frame) {
+  public RobotLayer(FrameName frame) {
     this.frame = frame;
     shape = new RobotShape();
   }
 
   public RobotLayer(String frame) {
-    this(GraphName.of(frame));
+    this(FrameName.of(frame));
   }
 
   @Override
@@ -54,7 +54,7 @@ public class RobotLayer extends DefaultLayer implements TfLayer {
   }
 
   @Override
-  public GraphName getFrame() {
+  public FrameName getFrame() {
     return frame;
   }
 }

android_honeycomb_mr2/src/org/ros/android/view/visualization/layer/TfLayer.java → android_honeycomb_mr2/src/main/java/org/ros/android/view/visualization/layer/TfLayer.java

@@ -16,7 +16,7 @@
 
 package org.ros.android.view.visualization.layer;
 
-import org.ros.namespace.GraphName;
+import org.ros.rosjava_geometry.FrameName;
 
 /**
  * Interface for layers that are positioned by using Tf.
@@ -28,5 +28,5 @@ public interface TfLayer {
   /**
    * @return the {@link Layer}'s reference frame
    */
-  GraphName getFrame();
+  FrameName getFrame();
 }