Merge pull request #185 from tulku/cni-master

List all network interfaces in master chooser

android_10/res/layout/master_chooser.xml

@@ -63,26 +63,52 @@
         android:text="@string/show_advanced"/>
 
     <LinearLayout
+        android:orientation="vertical"
         android:layout_width="fill_parent"
-        android:layout_height="fill_parent">
+        android:layout_height="fill_parent"
+        android:visibility="gone"
+        android:id="@+id/advancedOptions">
 
-        <Button
-            android:id="@+id/master_chooser_new_master_button"
+        <TextView
             android:layout_width="wrap_content"
-            android:layout_height="fill_parent"
-            android:layout_weight="1"
-            android:onClick="newMasterButtonClicked"
-            android:text="@string/new_master"
-            android:visibility="gone"/>
+            android:layout_height="wrap_content"
+            android:textAppearance="?android:attr/textAppearanceMedium"
+            android:text="@string/select_interface"
+            android:id="@+id/interfaceLabel"
+            android:layout_gravity="center"
+            android:autoText="true"/>
 
-        <Button
-            android:id="@+id/master_chooser_new_private_master_button"
+        <ListView
             android:layout_width="wrap_content"
-            android:layout_height="fill_parent"
+            android:layout_height="0dp"
+            android:id="@+id/networkInterfaces"
             android:layout_weight="1"
-            android:onClick="newPrivateMasterButtonClicked"
-            android:text="@string/new_private_master"
-            android:visibility="gone"/>
+            android:visibility="visible"/>
+
+        <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="visible"/>
+
+            <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="visible"/>
+
+        </LinearLayout>
+
     </LinearLayout>
 
     <Button
@@ -94,4 +120,4 @@
         android:onClick="cancelButtonClicked"
         android:text="@string/cancel"/>
 
-</LinearLayout>
+</LinearLayout>

android_10/res/values/common_strings.xml

@@ -9,6 +9,7 @@
     <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="select_interface">Select network interface</string>
     <string name="uri_text">Master URI:</string>
 
 </resources>

android_10/src/org/ros/android/MasterChooser.java

@@ -19,6 +19,7 @@ package org.ros.android;
 import com.google.common.base.Preconditions;
 
 import android.app.Activity;
+import android.content.Context;
 import android.content.Intent;
 import android.content.SharedPreferences;
 import android.content.pm.PackageManager;
@@ -33,14 +34,25 @@ import android.widget.Button;
 import android.widget.CheckBox;
 import android.widget.EditText;
 import android.widget.Toast;
+import android.widget.AdapterView;
+import android.widget.ArrayAdapter;
+import android.widget.LinearLayout;
+import android.widget.ListView;
 import org.ros.android.android_10.R;
+import org.ros.exception.RosRuntimeException;
 import org.ros.internal.node.client.MasterClient;
 import org.ros.internal.node.xmlrpc.XmlRpcTimeoutException;
 import org.ros.namespace.GraphName;
 import org.ros.node.NodeConfiguration;
 
+import java.net.NetworkInterface;
+import java.net.SocketException;
 import java.net.URI;
 import java.net.URISyntaxException;
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.Enumeration;
+import java.util.HashMap;
 import java.util.List;
 
 /**
@@ -68,9 +80,33 @@ public class MasterChooser extends Activity {
   private static final String BAR_CODE_SCANNER_PACKAGE_NAME =
       "com.google.zxing.client.android.SCAN";
 
+  private String selectedInterface;
   private EditText uriText;
   private Button connectButton;
 
+  private class StableArrayAdapter extends ArrayAdapter<String> {
+
+    HashMap<String, Integer> idMap = new HashMap<String, Integer>();
+
+    public StableArrayAdapter(Context context, int textViewResourceId, List<String> objects) {
+      super(context, textViewResourceId, objects);
+      for (int i = 0; i < objects.size(); ++i) {
+        idMap.put(objects.get(i), i);
+      }
+    }
+
+    @Override
+    public long getItemId(int position) {
+      String item = getItem(position);
+      return idMap.get(item);
+    }
+
+    @Override
+    public boolean hasStableIds() {
+      return true;
+    }
+  }
+
   @Override
   protected void onCreate(Bundle savedInstanceState) {
     super.onCreate(savedInstanceState);
@@ -96,6 +132,32 @@ public class MasterChooser extends Activity {
       }
     });
 
+    ListView interfacesList = (ListView) findViewById(R.id.networkInterfaces);
+    final List<String> list = new ArrayList<String>();
+
+    try {
+      for (NetworkInterface networkInterface : Collections.list(NetworkInterface.getNetworkInterfaces())) {
+        if (networkInterface.isUp() && !networkInterface.isLoopback()) {
+          list.add(networkInterface.getName());
+        }
+      }
+    } catch (SocketException e) {
+      throw new RosRuntimeException(e);
+    }
+
+    // Fallback to previous behaviour when no interface is selected.
+    selectedInterface = "";
+
+    final StableArrayAdapter adapter = new StableArrayAdapter(this, android.R.layout.simple_list_item_1, list);
+    interfacesList.setAdapter(adapter);
+
+    interfacesList.setOnItemClickListener(new AdapterView.OnItemClickListener() {
+      @Override
+      public void onItemClick(AdapterView<?> parent, View view, int position, long id) {
+        selectedInterface = parent.getItemAtPosition(position).toString();
+      }
+    });
+
     // Get the URI from preferences and display it. Since only primitive types
     // can be saved in preferences the URI is stored as a string.
     String uri =
@@ -140,7 +202,7 @@ public class MasterChooser extends Activity {
           return false;
         } catch (XmlRpcTimeoutException e) {
           toast("Master unreachable!");
-          return false;          
+          return false;
         }
       }
 
@@ -152,9 +214,7 @@ public class MasterChooser extends Activity {
           editor.putString(PREFS_KEY_NAME, uri);
           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", uri);
+          Intent intent = createNewMasterIntent(false, true);
           setResult(RESULT_OK, intent);
           finish();
         } else {
@@ -179,8 +239,8 @@ public class MasterChooser extends Activity {
     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.
+      // 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 {
@@ -191,32 +251,31 @@ 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);
+    LinearLayout advancedOptions = (LinearLayout) findViewById(R.id.advancedOptions);
     if (checked) {
-      new_private_master.setVisibility(View.VISIBLE);
-      new_public_master.setVisibility(View.VISIBLE);
+      advancedOptions.setVisibility(View.VISIBLE);
     } else {
-      new_private_master.setVisibility(View.GONE);
-      new_public_master.setVisibility(View.GONE);
+      advancedOptions.setVisibility(View.GONE);
     }
   }
 
-  public Intent createNewMasterIntent(Boolean isPrivate) {
+  public Intent createNewMasterIntent(boolean newMaster, boolean isPrivate) {
     Intent intent = new Intent();
-    intent.putExtra("NEW_MASTER", true);
+    final String uri = uriText.getText().toString();
+    intent.putExtra("ROS_MASTER_CREATE_NEW", newMaster);
     intent.putExtra("ROS_MASTER_PRIVATE", isPrivate);
+    intent.putExtra("ROS_MASTER_URI", uri);
+    intent.putExtra("ROS_MASTER_NETWORK_INTERFACE", selectedInterface);
     return intent;
   }
 
   public void newMasterButtonClicked(View unused) {
-    setResult(RESULT_OK, createNewMasterIntent(false));
+    setResult(RESULT_OK, createNewMasterIntent(true, false));
     finish();
   }
 
   public void newPrivateMasterButtonClicked(View unused) {
-    setResult(RESULT_OK, createNewMasterIntent(true));
+    setResult(RESULT_OK, createNewMasterIntent(true, true));
     finish();
   }
 

android_10/src/org/ros/android/NodeMainExecutorService.java

@@ -27,6 +27,7 @@ import android.content.DialogInterface.OnClickListener;
 import android.content.Intent;
 import android.net.wifi.WifiManager;
 import android.net.wifi.WifiManager.WifiLock;
+import android.os.AsyncTask;
 import android.os.Binder;
 import android.os.Handler;
 import android.os.IBinder;
@@ -37,6 +38,7 @@ import android.view.WindowManager;
 import android.widget.Toast;
 import org.ros.RosCore;
 import org.ros.android.android_10.R;
+import org.ros.address.InetAddressFactory;
 import org.ros.concurrent.ListenerGroup;
 import org.ros.concurrent.SignalRunnable;
 import org.ros.exception.RosRuntimeException;
@@ -48,6 +50,7 @@ import org.ros.node.NodeMainExecutor;
 
 import java.net.URI;
 import java.util.Collection;
+import java.util.concurrent.ExecutionException;
 import java.util.concurrent.ScheduledExecutorService;
 
 /**
@@ -74,6 +77,7 @@ public class NodeMainExecutorService extends Service implements NodeMainExecutor
   private WifiLock wifiLock;
   private RosCore rosCore;
   private URI masterUri;
+  private String rosHostname;
 
   /**
    * Class for clients to access. Because we know this service always runs in
@@ -87,6 +91,7 @@ public class NodeMainExecutorService extends Service implements NodeMainExecutor
 
   public NodeMainExecutorService() {
     super();
+    rosHostname = null;
     nodeMainExecutor = DefaultNodeMainExecutor.newDefault();
     binder = new LocalBinder();
     listeners =
@@ -230,6 +235,13 @@ public class NodeMainExecutorService extends Service implements NodeMainExecutor
     masterUri = uri;
   }
 
+  public void setRosHostname(String hostname) {
+    rosHostname = hostname;
+  }
+
+  public String getRosHostname() {
+    return rosHostname;
+  }
   /**
    * This version of startMaster can only create private masters.
    *
@@ -240,9 +252,37 @@ public class NodeMainExecutorService extends Service implements NodeMainExecutor
     startMaster(true);
   }
 
-  public void startMaster(Boolean isPrivate) {
+  /**
+   * Starts a new ros master in an AsyncTask.
+   * @param isPrivate
+   */
+  public void startMaster(boolean isPrivate) {
+    AsyncTask<Boolean, Void, URI> task = new AsyncTask<Boolean, Void, URI>() {
+      @Override
+      protected URI doInBackground(Boolean[] params) {
+        NodeMainExecutorService.this.startMasterBlocking(params[0]);
+        return NodeMainExecutorService.this.getMasterUri();
+      }
+    };
+    task.execute(isPrivate);
+    try {
+      task.get();
+    } catch (InterruptedException e) {
+      throw new RosRuntimeException(e);
+    } catch (ExecutionException e) {
+      throw new RosRuntimeException(e);
+    }
+  }
+
+  /**
+   * Private blocking method to start a Ros Master.
+   * @param isPrivate
+   */
+  private void startMasterBlocking(boolean isPrivate) {
     if (isPrivate) {
       rosCore = RosCore.newPrivate();
+    } else if (rosHostname != null) {
+      rosCore = RosCore.newPublic(rosHostname, 11311);
     } else {
       rosCore = RosCore.newPublic(11311);
     }

android_10/src/org/ros/android/RosActivity.java

@@ -24,10 +24,13 @@ import android.content.Intent;
 import android.content.ServiceConnection;
 import android.os.AsyncTask;
 import android.os.IBinder;
+import org.ros.address.InetAddressFactory;
 import org.ros.exception.RosRuntimeException;
 import org.ros.node.NodeMain;
 import org.ros.node.NodeMainExecutor;
 
+import java.net.NetworkInterface;
+import java.net.SocketException;
 import java.net.URI;
 import java.net.URISyntaxException;
 import java.util.concurrent.ExecutionException;
@@ -136,6 +139,11 @@ public abstract class RosActivity extends Activity {
     return nodeMainExecutorService.getMasterUri();
   }
 
+  public String getRosHostname() {
+    Preconditions.checkNotNull(nodeMainExecutorService);
+    return nodeMainExecutorService.getRosHostname();
+  }
+
   @Override
   public void startActivityForResult(Intent intent, int requestCode) {
     Preconditions.checkArgument(requestCode != MASTER_CHOOSER_REQUEST_CODE);
@@ -144,24 +152,25 @@ public abstract class RosActivity extends Activity {
 
   @Override
   protected void onActivityResult(int requestCode, int resultCode, Intent data) {
-    if (requestCode == MASTER_CHOOSER_REQUEST_CODE) {
-      if (resultCode == RESULT_OK) {
-        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));
+    super.onActivityResult(requestCode, resultCode, data);
+    if (resultCode == RESULT_OK) {
+      if (requestCode == MASTER_CHOOSER_REQUEST_CODE) {
+        String host;
+        String networkInterfaceName = data.getStringExtra("ROS_MASTER_NETWORK_INTERFACE");
+        // Handles the default selection and prevents possible errors
+        if (networkInterfaceName == null || networkInterfaceName.equals("")) {
+          host = InetAddressFactory.newNonLoopback().getHostAddress();
+        } else {
           try {
-            task.get();
-          } catch (InterruptedException e) {
-            e.printStackTrace();
-          } catch (ExecutionException e) {
-            e.printStackTrace();
+            NetworkInterface networkInterface = NetworkInterface.getByName(networkInterfaceName);
+            host = InetAddressFactory.newNonLoopbackForNetworkInterface(networkInterface).getHostAddress();
+          } catch (SocketException e) {
+            throw new RosRuntimeException(e);
           }
+        }
+        nodeMainExecutorService.setRosHostname(host);
+        if (data.getBooleanExtra("ROS_MASTER_CREATE_NEW", false)) {
+          nodeMainExecutorService.startMaster(data.getBooleanExtra("ROS_MASTER_PRIVATE", true));
         } else {
           URI uri;
           try {
@@ -171,7 +180,14 @@ public abstract class RosActivity extends Activity {
           }
           nodeMainExecutorService.setMasterUri(uri);
         }
-        init();
+        // Run init() in a new thread as a convenience since it often requires network access.
+        new AsyncTask<Void, Void, Void>() {
+          @Override
+          protected Void doInBackground(Void... params) {
+            RosActivity.this.init(nodeMainExecutorService);
+            return null;
+          }
+        }.execute();
       } else {
         // Without a master URI configured, we are in an unusable state.
         nodeMainExecutorService.forceShutdown();

android_tutorial_pubsub/AndroidManifest.xml

@@ -4,6 +4,7 @@
 
     <uses-permission android:name="android.permission.INTERNET" />
     <uses-permission android:name="android.permission.WAKE_LOCK" />
+    <uses-permission android:name="android.permission.SYSTEM_ALERT_WINDOW" />
 
     <application
         android:icon="@drawable/icon"

android_tutorial_pubsub/src/org/ros/android/android_tutorial_pubsub/MainActivity.java

@@ -17,7 +17,6 @@
 package org.ros.android.android_tutorial_pubsub;
 
 import android.os.Bundle;
-import org.ros.address.InetAddressFactory;
 import org.ros.android.MessageCallable;
 import org.ros.android.RosActivity;
 import org.ros.android.view.RosTextView;
@@ -58,11 +57,14 @@ public class MainActivity extends RosActivity {
   @Override
   protected void init(NodeMainExecutor nodeMainExecutor) {
     talker = new Talker();
+
     // At this point, the user has already been prompted to either enter the URI
     // of a master to use or to start a master locally.
-    String host = InetAddressFactory.newNonLoopback().getHostAddress();
-    NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(host, getMasterUri());
 
+    // The user can easily use the selected ROS Hostname in the master chooser
+    // activity.
+    NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(getRosHostname());
+    nodeConfiguration.setMasterUri(getMasterUri());
     nodeMainExecutor.execute(talker, nodeConfiguration);
     // The RosTextView is also a NodeMain that must be executed in order to
     // start displaying incoming messages.