Update to Munjal's improved master chooser.

Change frame to laser.
Remove eroneous setting of seq in the LaserScan message header.

android/res/layout/master_chooser.xml

@@ -1,16 +1,39 @@
 <?xml version="1.0" encoding="utf-8"?>
-<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
-  android:orientation="vertical" android:layout_width="match_parent"
+<LinearLayout
+  xmlns:android="http://schemas.android.com/apk/res/android"
+  android:orientation="vertical"
+  android:layout_width="match_parent"
   android:layout_height="match_parent">
-  <EditText android:layout_height="wrap_content" android:layout_width="match_parent" android:hint="@string/master_uri_hint" android:id="@+id/master_chooser_uri">
+  <EditText
+    android:layout_height="wrap_content"
+    android:layout_width="match_parent"
+    android:singleLine="true"
+    android:hint="@string/master_uri_hint"
+    android:id="@+id/master_chooser_uri">
     <requestFocus></requestFocus>
   </EditText>
-  <LinearLayout android:orientation="horizontal"
-    android:layout_height="wrap_content" android:layout_width="match_parent"
+  <LinearLayout
+    android:orientation="horizontal"
+    android:layout_height="wrap_content"
+    android:layout_width="match_parent"
     android:id="@+id/linearLayout1">
-    <Button android:layout_height="wrap_content"
-      android:text="@string/ok" android:layout_width="100dip" android:id="@+id/master_chooser_ok"></Button>
-    <Button android:layout_height="wrap_content"
-      android:text="@string/cancel" android:layout_width="100dip" android:id="@+id/master_chooser_cancel"></Button>
+    <Button
+      android:layout_height="wrap_content"
+      android:text="@string/ok"
+      android:layout_width="100dip"
+      android:id="@+id/master_chooser_ok"
+      android:onClick="okButtonClicked"></Button>
+    <Button
+      android:id="@+id/master_chooser_qr_code_button"
+      android:layout_height="wrap_content"
+      android:layout_width="wrap_content"
+      android:onClick="qrCodeButtonClicked"
+      android:text="@string/qr_code"></Button>
+    <Button
+      android:layout_height="wrap_content"
+      android:text="@string/cancel"
+      android:layout_width="100dip"
+      android:id="@+id/master_chooser_cancel"
+      android:onClick="cancelButtonClicked"></Button>
   </LinearLayout>
-</LinearLayout>
+</LinearLayout>

android/res/values/common_strings.xml

@@ -3,5 +3,6 @@
     <string name="app_name">ROS for Android</string>
     <string name="ok">Ok</string>
     <string name="cancel">Cancel</string>
+    <string name="qr_code">Scan</string>
     <string name="master_uri_hint">http://localhost:11311/</string>
 </resources>

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

@@ -16,59 +16,135 @@
 
 package org.ros.rosjava.android;
 
+import java.net.URI;
+import java.net.URISyntaxException;
+import java.util.List;
+
+import org.ros.node.NodeConfiguration;
+
+import com.google.common.base.Preconditions;
+
 import android.app.Activity;
 import android.content.Intent;
+import android.content.SharedPreferences;
+import android.content.pm.PackageManager;
+import android.content.pm.ResolveInfo;
+import android.net.Uri;
 import android.os.Bundle;
 import android.view.View;
-import android.view.View.OnClickListener;
 import android.widget.Button;
 import android.widget.EditText;
 import android.widget.Toast;
-import org.ros.node.NodeConfiguration;
-
-import java.net.URI;
-import java.net.URISyntaxException;
 
 /**
+ * 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)
  */
 public class MasterChooser extends Activity {
 
+  /**
+   * The key with which the last used uri will be stored as a preference.
+   */
+  private static final String PREFS_KEY_NAME = "URI_KEY";
+  /**
+   * Package name of the QR code reader used to scan QR codes.
+   */
+  private static final String BAR_CODE_SCANNER_PACKAGE_NAME =
+      "com.google.zxing.client.android.SCAN";
+  private String masterUri = "";
+  private EditText uriText;
+
   @Override
   protected void onCreate(Bundle savedInstanceState) {
     super.onCreate(savedInstanceState);
     setContentView(R.layout.master_chooser);
+    uriText = (EditText) findViewById(R.id.master_chooser_uri);
+    // Get the URI from preferences and display it. Since only primitive types
+    // can be saved in preferences the URI is stored as a string.
+    masterUri =
+        getPreferences(MODE_PRIVATE).getString(PREFS_KEY_NAME,
+            NodeConfiguration.DEFAULT_MASTER_URI.toString());
+    uriText.setText(masterUri);
+  }
 
-    final EditText uriText = (EditText) findViewById(R.id.master_chooser_uri);
-    final Button okButton = (Button) findViewById(R.id.master_chooser_ok);
-    final Button cancelButton = (Button) findViewById(R.id.master_chooser_cancel);
-
-    okButton.setOnClickListener(new OnClickListener() {
-      @Override
-      public void onClick(View v) {
-        Intent intent = new Intent();
-        try {
-          URI uri = new URI(uriText.getText().toString());
-          if (uri.toString().length() == 0) {
-            uri = NodeConfiguration.DEFAULT_MASTER_URI;
-          }
-          intent.putExtra("ROS_MASTER_URI", uri.toString());
-          setResult(RESULT_OK, intent);
-          finish();
-        } catch (URISyntaxException e) {
-          Toast.makeText(MasterChooser.this, "Invalid URI", Toast.LENGTH_SHORT).show();
-        }
+  @Override
+  public void onActivityResult(int requestCode, int resultCode, Intent intent) {
+    // 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 contents = intent.getStringExtra("SCAN_RESULT");
+        uriText.setText(contents);
       }
-    });
+    }
+  }
 
-    cancelButton.setOnClickListener(new OnClickListener() {
-      @Override
-      public void onClick(View v) {
-        setResult(RESULT_CANCELED);
-        finish();
-      }
-    });
+  public void qrCodeButtonClicked(View unused) {
+    Intent intent = new Intent(BAR_CODE_SCANNER_PACKAGE_NAME);
+    intent.putExtra("SCAN_MODE", "QR_CODE_MODE");
+    // Check if the Barcode Scanner is installed.
+    if (!isQRCodeReaderInstalled(intent)) {
+      // Open the Market and take them to the page from which they can download
+      // the Barcode Scanner app.
+      startActivity(new Intent(Intent.ACTION_VIEW,
+          Uri.parse("market://details?id=com.google.zxing.client.android")));
+    } else {
+      // Call the Barcode Scanner to let the user scan a QR code.
+      startActivityForResult(intent, 0);
+    }
+  }
+
+  public void okButtonClicked(View unused) {
+    // Get the current text entered for URI.
+    String userUri = uriText.getText().toString();
+
+    if (userUri.length() == 0) {
+      // If there is no text input then set it to the default URI.
+      userUri = NodeConfiguration.DEFAULT_MASTER_URI.toString();
+      uriText.setText(userUri);
+      Toast.makeText(MasterChooser.this, "Empty URI not allowed.", Toast.LENGTH_SHORT).show();
+    }
+    // Make sure the URI can be parsed correctly.
+    try {
+      new URI(userUri); // Test the supplied URI.
+    } catch (URISyntaxException e) {
+      Toast.makeText(MasterChooser.this, "Invalid URI.", Toast.LENGTH_SHORT).show();
+      return;
+    }
+
+    // If the displayed URI is valid then pack that into the intent.
+    masterUri = userUri;
+    SharedPreferences.Editor editor = getPreferences(MODE_PRIVATE).edit();
+    editor.putString(PREFS_KEY_NAME, masterUri);
+    editor.commit();
+    // Package the intent to be consumed by the calling activity.
+    Intent intent = new Intent();
+    intent.putExtra("ROS_MASTER_URI", masterUri);
+    setResult(RESULT_OK, intent);
+    finish();
   }
 
+  public void cancelButtonClicked(View unused) {
+    setResult(RESULT_CANCELED);
+    finish();
+  }
+
+  /**
+   * 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
+   *         otherwise.
+   */
+  private boolean isQRCodeReaderInstalled(Intent intent) {
+    List<ResolveInfo> list =
+        getPackageManager().queryIntentActivities(intent, PackageManager.MATCH_DEFAULT_ONLY);
+    return (list.size() > 0);
+  }
 }

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

@@ -75,7 +75,6 @@ public class LaserScanPublisher implements NodeMain {
         message.range_min = (float) (configuration.getMinimumMeasurment() / 1000.0);
         message.range_max = (float) (configuration.getMaximumMeasurement() / 1000.0);
         message.header.frame_id = "laser";
-        message.header.seq = seq;
         message.header.stamp = node.getCurrentTime();
         publisher.publish(message);
         seq++;

android_hokuyo/src/org/ros/rosjava/android/hokuyo/Scip20Device.java

@@ -24,7 +24,7 @@ import com.google.common.base.Preconditions;
 
 public class Scip20Device {
 
-  private static final boolean DEBUG = true;
+  private static final boolean DEBUG = false;
   private static final String TAG = "Scip20Device";
 
   private final AcmDevice device;

android_tutorial_hokuyo/AndroidManifest.xml

@@ -20,5 +20,6 @@
 			<meta-data android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED"
 				android:resource="@xml/hokuyo_device_filter" />
 		</activity>
+        <activity android:name="org.ros.rosjava.android.MasterChooser" />
 	</application>
 </manifest>

android_tutorial_hokuyo/src/org/ros/rosjava/android/tutorial/hokuyo/MainActivity.java

@@ -19,23 +19,28 @@ package org.ros.rosjava.android.tutorial.hokuyo;
 import java.net.URI;
 import java.net.URISyntaxException;
 
+import org.ros.address.InetAddressFactory;
 import org.ros.node.NodeConfiguration;
 import org.ros.node.NodeMain;
 import org.ros.node.NodeRunner;
+import org.ros.rosjava.android.MasterChooser;
 import org.ros.rosjava.android.hokuyo.LaserScanPublisher;
 import org.ros.rosjava.serial.R;
 
 import android.app.Activity;
+import android.content.Intent;
 import android.hardware.usb.UsbDevice;
 import android.hardware.usb.UsbManager;
 import android.os.Bundle;
 
 public class MainActivity extends Activity {
-  
+
   private final NodeRunner nodeRunner;
-  
+
   private NodeMain laserScanPublisher;
-  
+
+  private URI masterUri;
+
   public MainActivity() {
     nodeRunner = NodeRunner.newDefault();
   }
@@ -44,24 +49,47 @@ public class MainActivity extends Activity {
   public void onCreate(Bundle savedInstanceState) {
     super.onCreate(savedInstanceState);
     setContentView(R.layout.main);
-    UsbDevice device = (UsbDevice) getIntent().getParcelableExtra(UsbManager.EXTRA_DEVICE);
-    if (device == null) {
-      finish();
+  }
+
+  @Override
+  protected void onResume() {
+    if (masterUri == null) {
+      startActivityForResult(new Intent(this, MasterChooser.class), 0);
     } else {
-      UsbManager manager = (UsbManager) getSystemService(USB_SERVICE);
-      laserScanPublisher = new LaserScanPublisher(manager, device);
-      NodeConfiguration nodeConfiguration;
-      try {
-        nodeConfiguration = NodeConfiguration.newPublic("192.168.1.138", new URI("http://192.168.1.136:11311"));
-      } catch (URISyntaxException e) {
-        throw new RuntimeException(e);
-      }      
-      nodeRunner.run(laserScanPublisher, nodeConfiguration);
+      final UsbDevice device = (UsbDevice) getIntent().getParcelableExtra(UsbManager.EXTRA_DEVICE);
+      if (device != null) {
+        new Thread() {
+          public void run() {
+            UsbManager manager = (UsbManager) getSystemService(USB_SERVICE);
+            laserScanPublisher = new LaserScanPublisher(manager, device);
+            NodeConfiguration nodeConfiguration =
+                NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostName(),
+                    masterUri);
+            nodeRunner.run(laserScanPublisher, nodeConfiguration);
+          }
+        }.start();
+      }
     }
+    super.onResume();
   }
-  
+
   @Override
   protected void onPause() {
-    laserScanPublisher.shutdown();
+    if (laserScanPublisher != null) {
+      laserScanPublisher.shutdown();
+    }
+    super.onPause();
+  }
+
+  @Override
+  protected void onActivityResult(int requestCode, int resultCode, Intent data) {
+    if (requestCode == 0 && resultCode == RESULT_OK) {
+      try {
+        masterUri = new URI(data.getStringExtra("ROS_MASTER_URI"));
+      } catch (URISyntaxException e) {
+        throw new RuntimeException(e);
+      }
+    }
   }
+
 }