Renames Camera to XYOrthographicCamera.

Fixes camera control gestures that stopped working after Honeycomb.

android_15/src/org/ros/android/view/visualization/VisualizationView.java

@@ -23,6 +23,7 @@ import android.graphics.PixelFormat;
 import android.opengl.GLSurfaceView;
 import android.util.AttributeSet;
 import android.view.MotionEvent;
+
 import org.ros.android.view.visualization.layer.Layer;
 import org.ros.exception.RosRuntimeException;
 import org.ros.message.MessageListener;
@@ -45,8 +46,10 @@ public class VisualizationView extends GLSurfaceView implements NodeMain {
   private static final boolean DEBUG = false;
 
   private final FrameTransformTree frameTransformTree = new FrameTransformTree();
-  private final Camera camera = new Camera(frameTransformTree);
-  private final XYOrthographicRenderer renderer = new XYOrthographicRenderer(camera);
+  private final XYOrthographicCamera camera = new XYOrthographicCamera(
+      frameTransformTree);
+  private final XYOrthographicRenderer renderer = new XYOrthographicRenderer(
+      camera);
   private final List<Layer> layers = Lists.newArrayList();
   private final CountDownLatch attachedToWindow = new CountDownLatch(1);
 
@@ -84,14 +87,14 @@ public class VisualizationView extends GLSurfaceView implements NodeMain {
         return true;
       }
     }
-    return false;
+    return super.onTouchEvent(event);
   }
 
   public XYOrthographicRenderer getRenderer() {
     return renderer;
   }
 
-  public Camera getCamera() {
+  public XYOrthographicCamera getCamera() {
     return camera;
   }
 
@@ -136,7 +139,8 @@ public class VisualizationView extends GLSurfaceView implements NodeMain {
   }
 
   private void startTransformListener() {
-    Subscriber<tf2_msgs.TFMessage> tfSubscriber = connectedNode.newSubscriber("tf", tf2_msgs.TFMessage._TYPE); // tf.tfMessage
+    Subscriber<tf2_msgs.TFMessage> tfSubscriber = connectedNode.newSubscriber(
+        "tf", tf2_msgs.TFMessage._TYPE);
     tfSubscriber.addMessageListener(new MessageListener<tf2_msgs.TFMessage>() {
       @Override
       public void onNewMessage(tf2_msgs.TFMessage message) {

android_15/src/org/ros/android/view/visualization/Camera.java → android_15/src/org/ros/android/view/visualization/XYOrthographicCamera.java

@@ -31,7 +31,7 @@ import javax.microedition.khronos.opengles.GL10;
  * @author damonkohler@google.com (Damon Kohler)
  * @author moesenle@google.com (Lorenz Moesenlechner)
  */
-public class Camera {
+public class XYOrthographicCamera {
 
   /**
    * Pixels per meter in the world. If zoom is set to the number of pixels per
@@ -64,7 +64,7 @@ public class Camera {
    */
   private FrameName frame;
 
-  public Camera(FrameTransformTree frameTransformTree) {
+  public XYOrthographicCamera(FrameTransformTree frameTransformTree) {
     this.frameTransformTree = frameTransformTree;
     mutex = new Object();
     resetTransform();
@@ -81,7 +81,7 @@ public class Camera {
     }
   }
 
-    public boolean applyFrameTransform(GL10 gl, FrameName frame) {
+  public boolean applyFrameTransform(GL10 gl, FrameName frame) {
     Preconditions.checkNotNull(frame);
     if (this.frame != null) {
       FrameTransform frameTransform = frameTransformTree.transform(frame, this.frame);
@@ -95,11 +95,9 @@ public class Camera {
 
   /**
    * Translates the camera.
-   * 
-   * @param deltaX
-   *          distance to move in x in pixels
-   * @param deltaY
-   *          distance to move in y in pixels
+   *
+   * @param deltaX distance to move in x in pixels
+   * @param deltaY distance to move in y in pixels
    */
   public void translate(double deltaX, double deltaY) {
     synchronized (mutex) {
@@ -109,32 +107,25 @@ public class Camera {
 
   /**
    * Rotates the camera round the specified coordinates.
-   * 
-   * @param focusX
-   *          the x coordinate to focus on
-   * @param focusY
-   *          the y coordinate to focus on
-   * @param deltaAngle
-   *          the camera will be rotated by {@code deltaAngle} radians
+   *
+   * @param focusX     the x coordinate to focus on
+   * @param focusY     the y coordinate to focus on
+   * @param deltaAngle the camera will be rotated by {@code deltaAngle} radians
    */
   public void rotate(double focusX, double focusY, double deltaAngle) {
     synchronized (mutex) {
       Transform focus = Transform.translation(toMetricCoordinates((int) focusX, (int) focusY));
-      transform =
-          transform.multiply(focus).multiply(Transform.zRotation(deltaAngle))
-              .multiply(focus.invert());
+      transform = transform.multiply(focus).multiply(Transform.zRotation(deltaAngle))
+          .multiply(focus.invert());
     }
   }
 
   /**
    * Zooms the camera around the specified focus coordinates.
-   * 
-   * @param focusX
-   *          the x coordinate to focus on
-   * @param focusY
-   *          the y coordinate to focus on
-   * @param factor
-   *          the zoom will be scaled by this factor
+   *
+   * @param focusX the x coordinate to focus on
+   * @param focusY the y coordinate to focus on
+   * @param factor the zoom will be scaled by this factor
    */
   public void zoom(double focusX, double focusY, double factor) {
     synchronized (mutex) {
@@ -153,7 +144,7 @@ public class Camera {
 
   /**
    * @return the metric coordinates of the provided pixel coordinates where the
-   *         origin is the top left corner of the view
+   * origin is the top left corner of the view
    */
   public Vector3 toMetricCoordinates(int x, int y) {
     double centeredX = x - viewport.getWidth() / 2.0d;
@@ -167,11 +158,10 @@ public class Camera {
 
   /**
    * Changes the camera frame to the specified frame.
-   * <p>
+   * <p/>
    * If possible, the camera will avoid jumping on the next frame.
-   * 
-   * @param frame
-   *          the new camera frame
+   *
+   * @param frame the new camera frame
    */
   public void setFrame(FrameName frame) {
     Preconditions.checkNotNull(frame);
@@ -198,9 +188,8 @@ public class Camera {
   /**
    * Changes the camera frame to the specified frame and aligns the camera with
    * the new frame.
-   * 
-   * @param frame
-   *          the new camera frame
+   *
+   * @param frame the new camera frame
    */
   public void jumpToFrame(FrameName frame) {
     synchronized (mutex) {

android_15/src/org/ros/android/view/visualization/XYOrthographicRenderer.java

@@ -39,9 +39,9 @@ public class XYOrthographicRenderer implements GLSurfaceView.Renderer {
    */
   private List<Layer> layers;
 
-  private Camera camera;
+  private XYOrthographicCamera camera;
 
-  public XYOrthographicRenderer(Camera camera) {
+  public XYOrthographicRenderer(XYOrthographicCamera camera) {
     this.camera = camera;
   }
 

android_15/src/org/ros/android/view/visualization/layer/CameraControlLayer.java

@@ -18,12 +18,14 @@ package org.ros.android.view.visualization.layer;
 
 import android.content.Context;
 import android.os.Handler;
+import android.support.v4.view.GestureDetectorCompat;
 import android.view.GestureDetector;
 import android.view.MotionEvent;
 import android.view.ScaleGestureDetector;
-import org.ros.android.view.visualization.Camera;
+
 import org.ros.android.view.visualization.RotateGestureDetector;
 import org.ros.android.view.visualization.VisualizationView;
+import org.ros.android.view.visualization.XYOrthographicCamera;
 import org.ros.concurrent.ListenerGroup;
 import org.ros.concurrent.SignalRunnable;
 import org.ros.node.ConnectedNode;
@@ -33,7 +35,7 @@ import java.util.concurrent.ExecutorService;
 
 /**
  * Provides gesture control of the camera for translate, rotate, and zoom.
- * 
+ *
  * @author damonkohler@google.com (Damon Kohler)
  * @author moesenle@google.com (Lorenz Moesenlechner)
  */
@@ -42,18 +44,17 @@ public class CameraControlLayer extends DefaultLayer {
   private final Context context;
   private final ListenerGroup<CameraControlListener> listeners;
 
-  private GestureDetector translateGestureDetector;
+  private GestureDetectorCompat translateGestureDetector;
   private RotateGestureDetector rotateGestureDetector;
   private ScaleGestureDetector zoomGestureDetector;
 
   /**
    * Creates a new {@link CameraControlLayer}.
-   * <p>
+   * <p/>
    * The camera's frame will be set to {@code frame} once when this layer is
    * started and always when the camera is translated.
-   * 
-   * @param context
-   *          the application's {@link Context}
+   *
+   * @param context         the application's {@link Context}
    * @param executorService
    */
   public CameraControlLayer(Context context, ExecutorService executorService) {
@@ -71,21 +72,30 @@ public class CameraControlLayer extends DefaultLayer {
         || zoomGestureDetector == null) {
       return false;
     }
-    return translateGestureDetector.onTouchEvent(event)
-        || rotateGestureDetector.onTouchEvent(event) || zoomGestureDetector.onTouchEvent(event);
+    final boolean translateGestureHandled = translateGestureDetector.onTouchEvent(event);
+    final boolean rotateGestureHandled = rotateGestureDetector.onTouchEvent(event);
+    final boolean zoomGestureHandled = zoomGestureDetector.onTouchEvent(event);
+    return translateGestureHandled || rotateGestureHandled || zoomGestureHandled ||
+        super.onTouchEvent(view, event);
   }
 
   @Override
   public void onStart(ConnectedNode connectedNode, Handler handler,
-      FrameTransformTree frameTransformTree, final Camera camera) {
+                      FrameTransformTree frameTransformTree, final XYOrthographicCamera camera) {
     handler.post(new Runnable() {
       @Override
       public void run() {
         translateGestureDetector =
-            new GestureDetector(context, new GestureDetector.SimpleOnGestureListener() {
+            new GestureDetectorCompat(context, new GestureDetector.SimpleOnGestureListener() {
+              @Override
+              public boolean onDown(MotionEvent e) {
+                // This must return true in order for onScroll() to trigger.
+                return true;
+              }
+
               @Override
               public boolean onScroll(MotionEvent event1, MotionEvent event2,
-                  final float distanceX, final float distanceY) {
+                                      final float distanceX, final float distanceY) {
                 camera.translate(-distanceX, distanceY);
                 listeners.signal(new SignalRunnable<CameraControlListener>() {
                   @Override
@@ -100,7 +110,7 @@ public class CameraControlLayer extends DefaultLayer {
             new RotateGestureDetector(new RotateGestureDetector.OnRotateGestureListener() {
               @Override
               public boolean onRotate(MotionEvent event1, MotionEvent event2,
-                  final double deltaAngle) {
+                                      final double deltaAngle) {
                 final double focusX = (event1.getX(0) + event1.getX(1)) / 2;
                 final double focusY = (event1.getY(0) + event1.getY(1)) / 2;
                 camera.rotate(focusX, focusY, deltaAngle);
@@ -110,9 +120,7 @@ public class CameraControlLayer extends DefaultLayer {
                     listener.onRotate(focusX, focusY, deltaAngle);
                   }
                 });
-                // Don't consume this event in order to allow the zoom gesture
-                // to also be detected.
-                return false;
+                return true;
               }
             });
         zoomGestureDetector =

android_15/src/org/ros/android/view/visualization/layer/CompressedOccupancyGridLayer.java

@@ -22,7 +22,7 @@ import android.graphics.Bitmap;
 import android.graphics.BitmapFactory;
 import android.os.Handler;
 import org.jboss.netty.buffer.ChannelBuffer;
-import org.ros.android.view.visualization.Camera;
+import org.ros.android.view.visualization.XYOrthographicCamera;
 import org.ros.android.view.visualization.TextureBitmap;
 import org.ros.message.MessageListener;
 import org.ros.namespace.GraphName;
@@ -84,7 +84,7 @@ public class CompressedOccupancyGridLayer extends SubscriberLayer<nav_msgs.Occup
 
   @Override
   public void onStart(ConnectedNode connectedNode, Handler handler,
-      FrameTransformTree frameTransformTree, Camera camera) {
+      FrameTransformTree frameTransformTree, XYOrthographicCamera camera) {
     super.onStart(connectedNode, handler, frameTransformTree, camera);
     getSubscriber().addMessageListener(new MessageListener<nav_msgs.OccupancyGrid>() {
       @Override

android_15/src/org/ros/android/view/visualization/layer/DefaultLayer.java

@@ -18,7 +18,7 @@ package org.ros.android.view.visualization.layer;
 
 import android.os.Handler;
 import android.view.MotionEvent;
-import org.ros.android.view.visualization.Camera;
+import org.ros.android.view.visualization.XYOrthographicCamera;
 import org.ros.android.view.visualization.VisualizationView;
 import org.ros.node.ConnectedNode;
 import org.ros.node.Node;
@@ -44,7 +44,7 @@ public abstract class DefaultLayer implements Layer {
 
   @Override
   public void onStart(ConnectedNode connectedNode, Handler handler,
-      FrameTransformTree frameTransformTree, Camera camera) {
+      FrameTransformTree frameTransformTree, XYOrthographicCamera camera) {
   }
 
   @Override

android_15/src/org/ros/android/view/visualization/layer/GridCellsLayer.java

@@ -17,7 +17,7 @@
 package org.ros.android.view.visualization.layer;
 
 import android.os.Handler;
-import org.ros.android.view.visualization.Camera;
+import org.ros.android.view.visualization.XYOrthographicCamera;
 import org.ros.android.view.visualization.Color;
 import org.ros.android.view.visualization.Vertices;
 import org.ros.message.MessageListener;
@@ -40,7 +40,7 @@ public class GridCellsLayer extends SubscriberLayer<nav_msgs.GridCells> implemen
   private final Lock lock;
 
   private FrameName frame;
-  private Camera camera;
+  private XYOrthographicCamera camera;
   private boolean ready;
   private nav_msgs.GridCells message;
 
@@ -84,7 +84,7 @@ public class GridCellsLayer extends SubscriberLayer<nav_msgs.GridCells> implemen
 
   @Override
   public void onStart(ConnectedNode connectedNode, Handler handler,
-      final FrameTransformTree frameTransformTree, Camera camera) {
+      final FrameTransformTree frameTransformTree, XYOrthographicCamera camera) {
     super.onStart(connectedNode, handler, frameTransformTree, camera);
     this.camera = camera;
     getSubscriber().addMessageListener(new MessageListener<nav_msgs.GridCells>() {

android_15/src/org/ros/android/view/visualization/layer/LaserScanLayer.java

@@ -16,21 +16,22 @@
 
 package org.ros.android.view.visualization.layer;
 
-import org.ros.android.view.visualization.Camera;
 import org.ros.android.view.visualization.Color;
 import org.ros.android.view.visualization.Vertices;
+import org.ros.android.view.visualization.XYOrthographicCamera;
 import org.ros.message.MessageListener;
 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 org.ros.rosjava_geometry.FrameTransformTree;
 
 import java.nio.FloatBuffer;
 
 import javax.microedition.khronos.opengles.GL10;
 
+import sensor_msgs.LaserScan;
+
 /**
  * A {@link SubscriberLayer} that visualizes sensor_msgs/LaserScan messages.
  * 
@@ -47,7 +48,7 @@ public class LaserScanLayer extends SubscriberLayer<sensor_msgs.LaserScan> imple
   private final Object mutex;
 
   private FrameName frame;
-  private Camera camera;
+  private XYOrthographicCamera camera;
   private FloatBuffer vertexFrontBuffer;
   private FloatBuffer vertexBackBuffer;
 
@@ -77,7 +78,7 @@ public class LaserScanLayer extends SubscriberLayer<sensor_msgs.LaserScan> imple
 
   @Override
   public void onStart(ConnectedNode connectedNode, android.os.Handler handler,
-      FrameTransformTree frameTransformTree, Camera camera) {
+      FrameTransformTree frameTransformTree, XYOrthographicCamera camera) {
     super.onStart(connectedNode, handler, frameTransformTree, camera);
     this.camera = camera;
     Subscriber<LaserScan> subscriber = getSubscriber();

android_15/src/org/ros/android/view/visualization/layer/Layer.java

@@ -18,7 +18,7 @@ package org.ros.android.view.visualization.layer;
 
 import android.os.Handler;
 import android.view.MotionEvent;
-import org.ros.android.view.visualization.Camera;
+import org.ros.android.view.visualization.XYOrthographicCamera;
 import org.ros.android.view.visualization.OpenGlDrawable;
 import org.ros.android.view.visualization.VisualizationView;
 import org.ros.node.ConnectedNode;
@@ -47,7 +47,7 @@ public interface Layer extends OpenGlDrawable {
    * Called when the layer is registered at the navigation view.
    */
   void onStart(ConnectedNode connectedNode, Handler handler, FrameTransformTree frameTransformTree,
-      Camera camera);
+      XYOrthographicCamera camera);
 
   /**
    * Called when the view is removed from the view.

android_15/src/org/ros/android/view/visualization/layer/OccupancyGridLayer.java

@@ -20,7 +20,7 @@ import com.google.common.base.Preconditions;
 
 import android.os.Handler;
 import org.jboss.netty.buffer.ChannelBuffer;
-import org.ros.android.view.visualization.Camera;
+import org.ros.android.view.visualization.XYOrthographicCamera;
 import org.ros.android.view.visualization.TextureBitmap;
 import org.ros.internal.message.MessageBuffers;
 import org.ros.message.MessageListener;
@@ -88,7 +88,7 @@ public class OccupancyGridLayer extends SubscriberLayer<nav_msgs.OccupancyGrid>
 
   @Override
   public void onStart(ConnectedNode connectedNode, Handler handler,
-      FrameTransformTree frameTransformTree, Camera camera) {
+      FrameTransformTree frameTransformTree, XYOrthographicCamera camera) {
     super.onStart(connectedNode, handler, frameTransformTree, camera);
     previousGl = null;
     getSubscriber().addMessageListener(new MessageListener<nav_msgs.OccupancyGrid>() {

android_15/src/org/ros/android/view/visualization/layer/PathLayer.java

@@ -20,7 +20,7 @@ import org.ros.android.view.visualization.Color;
 
 import android.os.Handler;
 import geometry_msgs.PoseStamped;
-import org.ros.android.view.visualization.Camera;
+import org.ros.android.view.visualization.XYOrthographicCamera;
 import org.ros.message.MessageListener;
 import org.ros.namespace.GraphName;
 import org.ros.node.ConnectedNode;
@@ -71,7 +71,7 @@ public class PathLayer extends SubscriberLayer<nav_msgs.Path> implements TfLayer
 
   @Override
   public void onStart(ConnectedNode connectedNode, Handler handler, FrameTransformTree frameTransformTree,
-      Camera camera) {
+      XYOrthographicCamera camera) {
     super.onStart(connectedNode, handler, frameTransformTree, camera);
     getSubscriber().addMessageListener(new MessageListener<nav_msgs.Path>() {
       @Override

android_15/src/org/ros/android/view/visualization/layer/PosePublisherLayer.java

@@ -22,7 +22,7 @@ import android.content.Context;
 import android.os.Handler;
 import android.view.GestureDetector;
 import android.view.MotionEvent;
-import org.ros.android.view.visualization.Camera;
+import org.ros.android.view.visualization.XYOrthographicCamera;
 import org.ros.android.view.visualization.VisualizationView;
 import org.ros.android.view.visualization.shape.PoseShape;
 import org.ros.android.view.visualization.shape.Shape;
@@ -49,7 +49,7 @@ public class PosePublisherLayer extends DefaultLayer {
   private GraphName topic;
   private GestureDetector gestureDetector;
   private Transform pose;
-  private Camera camera;
+  private XYOrthographicCamera camera;
   private ConnectedNode connectedNode;
 
   public PosePublisherLayer(String topic, Context context) {
@@ -102,7 +102,7 @@ public class PosePublisherLayer extends DefaultLayer {
 
   @Override
   public void onStart(ConnectedNode connectedNode, Handler handler,
-      FrameTransformTree frameTransformTree, final Camera camera) {
+      FrameTransformTree frameTransformTree, final XYOrthographicCamera camera) {
     this.connectedNode = connectedNode;
     this.camera = camera;
     shape = new PoseShape(camera);

android_15/src/org/ros/android/view/visualization/layer/PoseSubscriberLayer.java

@@ -17,7 +17,7 @@
 package org.ros.android.view.visualization.layer;
 
 import android.os.Handler;
-import org.ros.android.view.visualization.Camera;
+import org.ros.android.view.visualization.XYOrthographicCamera;
 import org.ros.android.view.visualization.shape.GoalShape;
 import org.ros.android.view.visualization.shape.Shape;
 import org.ros.message.MessageListener;
@@ -60,7 +60,7 @@ public class PoseSubscriberLayer extends SubscriberLayer<geometry_msgs.PoseStamp
 
   @Override
   public void onStart(ConnectedNode connectedNode, Handler handler,
-      final FrameTransformTree frameTransformTree, Camera camera) {
+      final FrameTransformTree frameTransformTree, XYOrthographicCamera camera) {
     super.onStart(connectedNode, handler, frameTransformTree, camera);
     shape = new GoalShape();
     getSubscriber().addMessageListener(new MessageListener<geometry_msgs.PoseStamped>() {

android_15/src/org/ros/android/view/visualization/layer/RobotLayer.java

@@ -17,7 +17,7 @@
 package org.ros.android.view.visualization.layer;
 
 import android.os.Handler;
-import org.ros.android.view.visualization.Camera;
+import org.ros.android.view.visualization.XYOrthographicCamera;
 import org.ros.android.view.visualization.shape.RobotShape;
 import org.ros.android.view.visualization.shape.Shape;
 import org.ros.node.ConnectedNode;
@@ -50,7 +50,7 @@ public class RobotLayer extends DefaultLayer implements TfLayer {
 
   @Override
   public void onStart(ConnectedNode connectedNode, Handler handler,
-      final FrameTransformTree frameTransformTree, final Camera camera) {
+      final FrameTransformTree frameTransformTree, final XYOrthographicCamera camera) {
   }
 
   @Override

android_15/src/org/ros/android/view/visualization/layer/SubscriberLayer.java

@@ -19,7 +19,7 @@ package org.ros.android.view.visualization.layer;
 import com.google.common.base.Preconditions;
 
 import android.os.Handler;
-import org.ros.android.view.visualization.Camera;
+import org.ros.android.view.visualization.XYOrthographicCamera;
 import org.ros.android.view.visualization.VisualizationView;
 import org.ros.namespace.GraphName;
 import org.ros.node.ConnectedNode;
@@ -44,7 +44,7 @@ public class SubscriberLayer<T> extends DefaultLayer {
 
   @Override
   public void onStart(ConnectedNode connectedNode, Handler handler,
-      FrameTransformTree frameTransformTree, Camera camera) {
+      FrameTransformTree frameTransformTree, XYOrthographicCamera camera) {
     super.onStart(connectedNode, handler, frameTransformTree, camera);
     subscriber = connectedNode.newSubscriber(topicName, messageType);
   }

android_15/src/org/ros/android/view/visualization/shape/PoseShape.java

@@ -16,10 +16,10 @@
 
 package org.ros.android.view.visualization.shape;
 
-import org.ros.android.view.visualization.Camera;
-
 import javax.microedition.khronos.opengles.GL10;
 
+import org.ros.android.view.visualization.XYOrthographicCamera;
+
 /**
  * Represents the pose that will be published.
  * <p>
@@ -30,9 +30,9 @@ import javax.microedition.khronos.opengles.GL10;
  */
 public class PoseShape extends GoalShape {
 
-  private final Camera camera;
+  private final XYOrthographicCamera camera;
 
-  public PoseShape(Camera camera) {
+  public PoseShape(XYOrthographicCamera camera) {
     this.camera = camera;
   }