Merge pull request #163 from rosjava/gradle_catkinization

Gradle Android Plugin & Catkinization

.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_tools)
 
-catkin_package()
+catkin_android_setup(assembleRelease publishToMavenLocal)
 
-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')
+}
+
+apply plugin: 'android-library'
+
+android {
+    compileSdkVersion 13
+    buildToolsVersion androidBuildToolsVersion
+}

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_benchmarks/build.gradle

@@ -16,7 +16,12 @@
 
 dependencies {
   compile 'ros.rosjava_core:rosjava_benchmarks:0.0.0-SNAPSHOT'
+  compile project(':android_gingerbread_mr1')
 }
 
-debug.dependsOn project(':android_gingerbread_mr1').tasks.debug
+apply plugin: 'android'
 
+android {
+    compileSdkVersion 10
+    buildToolsVersion androidBuildToolsVersion
+}

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

@@ -18,3 +18,9 @@ dependencies {
   compile 'ros.rosjava_core:rosjava:0.0.0-SNAPSHOT'
 }
 
+apply plugin: 'android-library'
+
+android {
+    compileSdkVersion 10
+    buildToolsVersion androidBuildToolsVersion
+}

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

@@ -81,7 +81,8 @@ 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);
       }

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

@@ -43,7 +43,7 @@ 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 +52,9 @@ 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 +114,7 @@ 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().
@@ -133,8 +135,8 @@ 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 (resultCode == RESULT_OK) {
+      if (requestCode == MASTER_CHOOSER_REQUEST_CODE) {
         if (data == null) {
           nodeMainExecutorService.startMaster();
         } else {

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

@@ -3,8 +3,8 @@
 
     <string name="app_name">ROS for Android</string>
     <string name="cancel">Cancel</string>
-    <string name="qr_code">Scan</string>
+    <string name="qr_code">QRCode</string>
     <string name="master_uri_hint">http://localhost:11311/</string>
     <string name="new_master">New Master</string>
 
-</resources>
+</resources>

android_honeycomb_mr2/build.gradle

@@ -16,7 +16,12 @@
 
 dependencies {
   compile 'ros.rosjava_core:rosjava_geometry:0.0.0-SNAPSHOT'
+  compile project(':android_gingerbread_mr1')
 }
 
-debug.dependsOn project(':android_gingerbread_mr1').tasks.debug
+apply plugin: 'android-library'
 
+android {
+    compileSdkVersion 13
+    buildToolsVersion androidBuildToolsVersion
+}

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/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

@@ -113,6 +113,10 @@ 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;

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

@@ -56,6 +56,7 @@ public class OccupancyGridLayer extends SubscriberLayer<nav_msgs.OccupancyGrid>
 
   private boolean ready;
   private GraphName frame;
+  private GL10 previousGl;
 
   public OccupancyGridLayer(String topic) {
     this(GraphName.of(topic));
@@ -70,6 +71,10 @@ 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);
     }
@@ -84,6 +89,7 @@ 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) {