Move layers into a new package.

Rename to eliminate redundancy with package structure.
Pull out SubscriberLayer.

android_honeycomb_mr2/src/org/ros/android/views/visualization/CompressedBitmapLayer.java

@@ -1,98 +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.views.visualization;
-
-import android.graphics.Bitmap;
-import android.graphics.BitmapFactory;
-import android.os.Handler;
-import org.ros.message.MessageListener;
-import org.ros.message.compressed_visualization_transport_msgs.CompressedBitmap;
-import org.ros.namespace.GraphName;
-import org.ros.node.Node;
-import org.ros.node.topic.Subscriber;
-
-import java.nio.IntBuffer;
-
-import javax.microedition.khronos.opengles.GL10;
-
-/**
- * @author moesenle@google.com (Lorenz Moesenlechner)
- */
-public class CompressedBitmapLayer extends DefaultVisualizationLayer implements TfLayer {
-
-  private final GraphName topic;
-  private final TextureDrawable occupancyGrid;
-
-  private boolean initialized;
-  private Subscriber<org.ros.message.compressed_visualization_transport_msgs.CompressedBitmap> compressedOccupancyGridSubscriber;
-  private String frame;
-
-  public CompressedBitmapLayer(String topic) {
-    this(new GraphName(topic));
-  }
-
-  public CompressedBitmapLayer(GraphName topic) {
-    this.topic = topic;
-    occupancyGrid = new TextureDrawable();
-    initialized = false;
-  }
-
-  @Override
-  public void draw(GL10 gl) {
-    if (initialized) {
-      occupancyGrid.draw(gl);
-    }
-  }
-
-  @Override
-  public void onStart(Node node, Handler handler, Camera camera, Transformer transformer) {
-    compressedOccupancyGridSubscriber =
-        node.newSubscriber(topic, "compressed_visualization_transport_msgs/CompressedBitmap");
-    compressedOccupancyGridSubscriber
-        .addMessageListener(new MessageListener<org.ros.message.compressed_visualization_transport_msgs.CompressedBitmap>() {
-          @Override
-          public void onNewMessage(CompressedBitmap compressedBitmap) {
-            BitmapFactory.Options options = new BitmapFactory.Options();
-            options.inPreferredConfig = Bitmap.Config.ARGB_8888;
-            Bitmap bitmap =
-                BitmapFactory.decodeByteArray(compressedBitmap.data, 0,
-                    compressedBitmap.data.length, options);
-            IntBuffer pixels = IntBuffer.allocate(bitmap.getWidth() * bitmap.getHeight());
-            bitmap.copyPixelsToBuffer(pixels);
-            bitmap.recycle();
-            Bitmap occupancyGridBitmap =
-                TextureBitmapUtilities.createSquareBitmap(pixels.array(), bitmap.getWidth(),
-                    bitmap.getHeight(), 0xff000000);
-            occupancyGrid.update(compressedBitmap.origin, compressedBitmap.resolution_x,
-                occupancyGridBitmap);
-            frame = compressedBitmap.header.frame_id;
-            initialized = true;
-            requestRender();
-          }
-        });
-  }
-
-  @Override
-  public void onShutdown(VisualizationView view, Node node) {
-    compressedOccupancyGridSubscriber.shutdown();
-  }
-
-  @Override
-  public String getFrame() {
-    return frame;
-  }
-}

android_honeycomb_mr2/src/org/ros/android/views/visualization/OpenGlDrawable.java

@@ -21,8 +21,6 @@ import javax.microedition.khronos.opengles.GL10;
 /**
  * @author damonkohler@google.com (Damon Kohler)
  */
-interface OpenGlDrawable {
-
+public interface OpenGlDrawable {
   void draw(GL10 gl);
-
 }

android_honeycomb_mr2/src/org/ros/android/views/visualization/VisualizationView.java

@@ -19,6 +19,8 @@ package org.ros.android.views.visualization;
 import com.google.common.collect.Iterables;
 import com.google.common.collect.Lists;
 
+import org.ros.android.views.visualization.layer.Layer;
+
 import android.content.Context;
 import android.graphics.PixelFormat;
 import android.opengl.GLSurfaceView;
@@ -34,7 +36,7 @@ public class VisualizationView extends GLSurfaceView implements NodeMain {
   private final TransformListener transformListener;
   private final Camera camera;
   private final XYOrthoraphicRenderer renderer;
-  private final List<VisualizationLayer> layers;
+  private final List<Layer> layers;
 
   private Node node;
 
@@ -58,7 +60,7 @@ public class VisualizationView extends GLSurfaceView implements NodeMain {
 
   @Override
   public boolean onTouchEvent(MotionEvent event) {
-    for (VisualizationLayer layer : Iterables.reverse(layers)) {
+    for (Layer layer : Iterables.reverse(layers)) {
       if (layer.onTouchEvent(this, event)) {
         return true;
       }
@@ -77,7 +79,7 @@ public class VisualizationView extends GLSurfaceView implements NodeMain {
    * @param layer
    *          layer to add
    */
-  public void addLayer(VisualizationLayer layer) {
+  public void addLayer(Layer layer) {
     layers.add(layer);
     layer.addRenderListener(renderRequestListener);
     if (node != null) {
@@ -86,7 +88,7 @@ public class VisualizationView extends GLSurfaceView implements NodeMain {
     requestRender();
   }
 
-  public void removeLayer(VisualizationLayer layer) {
+  public void removeLayer(Layer layer) {
     layer.onShutdown(this, node);
     layers.remove(layer);
   }
@@ -95,7 +97,7 @@ public class VisualizationView extends GLSurfaceView implements NodeMain {
   public void onStart(Node node) {
     this.node = node;
     transformListener.onStart(node);
-    for (VisualizationLayer layer : layers) {
+    for (Layer layer : layers) {
       layer.onStart(node, getHandler(), camera, transformListener.getTransformer());
     }
     renderer.setLayers(layers);
@@ -104,7 +106,7 @@ public class VisualizationView extends GLSurfaceView implements NodeMain {
   @Override
   public void onShutdown(Node node) {
     renderer.setLayers(null);
-    for (VisualizationLayer layer: layers) {
+    for (Layer layer: layers) {
       layer.onShutdown(this, node);
     }
     transformListener.onShutdown(node);

android_honeycomb_mr2/src/org/ros/android/views/visualization/XYOrthoraphicRenderer.java

@@ -16,6 +16,9 @@
 
 package org.ros.android.views.visualization;
 
+import org.ros.android.views.visualization.layer.TfLayer;
+import org.ros.android.views.visualization.layer.Layer;
+
 import android.opengl.GLSurfaceView;
 
 import java.util.List;
@@ -34,7 +37,7 @@ public class XYOrthoraphicRenderer implements GLSurfaceView.Renderer {
    * List of layers to draw. Layers are drawn in-order, i.e. the layer with
    * index 0 is the bottom layer and is drawn first.
    */
-  private List<VisualizationLayer> layers;
+  private List<Layer> layers;
 
   private Transformer transformer;
 
@@ -80,7 +83,7 @@ public class XYOrthoraphicRenderer implements GLSurfaceView.Renderer {
     if (layers == null) {
       return;
     }
-    for (VisualizationLayer layer : getLayers()) {
+    for (Layer layer : getLayers()) {
       gl.glPushMatrix();
       if (layer instanceof TfLayer) {
         String layerFrame = ((TfLayer) layer).getFrame();
@@ -96,11 +99,11 @@ public class XYOrthoraphicRenderer implements GLSurfaceView.Renderer {
     }
   }
 
-  public List<VisualizationLayer> getLayers() {
+  public List<Layer> getLayers() {
     return layers;
   }
 
-  public void setLayers(List<VisualizationLayer> layers) {
+  public void setLayers(List<Layer> layers) {
     this.layers = layers;
   }
 

android_honeycomb_mr2/src/org/ros/android/views/visualization/CameraControlLayer.java → android_honeycomb_mr2/src/org/ros/android/views/visualization/layer/CameraControlLayer.java

@@ -14,7 +14,11 @@
  * the License.
  */
 
-package org.ros.android.views.visualization;
+package org.ros.android.views.visualization.layer;
+
+import org.ros.android.views.visualization.Camera;
+import org.ros.android.views.visualization.Transformer;
+import org.ros.android.views.visualization.VisualizationView;
 
 import android.content.Context;
 import android.os.Handler;
@@ -26,7 +30,7 @@ import org.ros.node.Node;
 /**
  * @author moesenle@google.com (Lorenz Moesenlechner)
  */
-public class CameraControlLayer extends DefaultVisualizationLayer {
+public class CameraControlLayer extends DefaultLayer {
 
   private final Context context;
 

android_honeycomb_mr2/src/org/ros/android/views/visualization/layer/CompressedBitmapLayer.java

@@ -0,0 +1,96 @@
+/*
+ * 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.views.visualization.layer;
+
+import android.graphics.Bitmap;
+import android.graphics.BitmapFactory;
+import android.os.Handler;
+import org.ros.android.views.visualization.Camera;
+import org.ros.android.views.visualization.TextureBitmapUtilities;
+import org.ros.android.views.visualization.TextureDrawable;
+import org.ros.android.views.visualization.Transformer;
+import org.ros.message.MessageListener;
+import org.ros.message.compressed_visualization_transport_msgs.CompressedBitmap;
+import org.ros.namespace.GraphName;
+import org.ros.node.Node;
+
+import java.nio.IntBuffer;
+
+import javax.microedition.khronos.opengles.GL10;
+
+/**
+ * @author moesenle@google.com (Lorenz Moesenlechner)
+ */
+public class CompressedBitmapLayer extends
+    SubscriberLayer<org.ros.message.compressed_visualization_transport_msgs.CompressedBitmap>
+    implements TfLayer {
+
+  private final TextureDrawable occupancyGrid;
+
+  private boolean ready;
+  private String frame;
+
+  public CompressedBitmapLayer(String topic) {
+    this(new GraphName(topic));
+  }
+
+  public CompressedBitmapLayer(GraphName topic) {
+    super(topic, "compressed_visualization_transport_msgs/CompressedBitmap");
+    occupancyGrid = new TextureDrawable();
+    ready = false;
+  }
+
+  @Override
+  public void draw(GL10 gl) {
+    if (ready) {
+      occupancyGrid.draw(gl);
+    }
+  }
+
+  @Override
+  public void onStart(Node node, Handler handler, Camera camera, Transformer transformer) {
+    super.onStart(node, handler, camera, transformer);
+    getSubscriber()
+        .addMessageListener(
+            new MessageListener<org.ros.message.compressed_visualization_transport_msgs.CompressedBitmap>() {
+              @Override
+              public void onNewMessage(CompressedBitmap compressedBitmap) {
+                BitmapFactory.Options options = new BitmapFactory.Options();
+                options.inPreferredConfig = Bitmap.Config.ARGB_8888;
+                Bitmap bitmap =
+                    BitmapFactory.decodeByteArray(compressedBitmap.data, 0,
+                        compressedBitmap.data.length, options);
+                IntBuffer pixels = IntBuffer.allocate(bitmap.getWidth() * bitmap.getHeight());
+                bitmap.copyPixelsToBuffer(pixels);
+                bitmap.recycle();
+                Bitmap occupancyGridBitmap =
+                    TextureBitmapUtilities.createSquareBitmap(pixels.array(), bitmap.getWidth(),
+                        bitmap.getHeight(), 0xff000000);
+                occupancyGrid.update(compressedBitmap.origin, compressedBitmap.resolution_x,
+                    occupancyGridBitmap);
+                frame = compressedBitmap.header.frame_id;
+                ready = true;
+                requestRender();
+              }
+            });
+  }
+
+  @Override
+  public String getFrame() {
+    return frame;
+  }
+}

android_honeycomb_mr2/src/org/ros/android/views/visualization/DefaultVisualizationLayer.java → android_honeycomb_mr2/src/org/ros/android/views/visualization/layer/DefaultLayer.java

@@ -14,10 +14,15 @@
  * the License.
  */
 
-package org.ros.android.views.visualization;
+package org.ros.android.views.visualization.layer;
 
 import com.google.common.collect.Lists;
 
+import org.ros.android.views.visualization.Camera;
+import org.ros.android.views.visualization.RenderRequestListener;
+import org.ros.android.views.visualization.Transformer;
+import org.ros.android.views.visualization.VisualizationView;
+
 import android.os.Handler;
 import android.view.MotionEvent;
 import org.ros.node.Node;
@@ -31,11 +36,11 @@ import javax.microedition.khronos.opengles.GL10;
  * 
  * @author moesenle@google.com (Lorenz Moesenlechner)
  */
-public abstract class DefaultVisualizationLayer implements VisualizationLayer {
+public abstract class DefaultLayer implements Layer {
 
   private final Collection<RenderRequestListener> renderListeners;
 
-  public DefaultVisualizationLayer() {
+  public DefaultLayer() {
     renderListeners = Lists.newArrayList();
   }
 

android_honeycomb_mr2/src/org/ros/android/views/visualization/VisualizationLayer.java → android_honeycomb_mr2/src/org/ros/android/views/visualization/layer/Layer.java

@@ -14,7 +14,13 @@
  * the License.
  */
 
-package org.ros.android.views.visualization;
+package org.ros.android.views.visualization.layer;
+
+import org.ros.android.views.visualization.Camera;
+import org.ros.android.views.visualization.OpenGlDrawable;
+import org.ros.android.views.visualization.RenderRequestListener;
+import org.ros.android.views.visualization.Transformer;
+import org.ros.android.views.visualization.VisualizationView;
 
 import android.os.Handler;
 import android.view.MotionEvent;
@@ -26,7 +32,7 @@ import org.ros.node.Node;
  * @author moesenle@google.com (Lorenz Moesenlechner)
  * 
  */
-public interface VisualizationLayer extends OpenGlDrawable {
+public interface Layer extends OpenGlDrawable {
 
   /**
    * Event handler for touch events.

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

@@ -14,21 +14,25 @@
  * the License.
  */
 
-package org.ros.android.views.visualization;
+package org.ros.android.views.visualization.layer;
 
 import android.graphics.Bitmap;
 import android.os.Handler;
+import org.ros.android.views.visualization.Camera;
+import org.ros.android.views.visualization.TextureBitmapUtilities;
+import org.ros.android.views.visualization.TextureDrawable;
+import org.ros.android.views.visualization.Transformer;
 import org.ros.message.MessageListener;
 import org.ros.namespace.GraphName;
 import org.ros.node.Node;
-import org.ros.node.topic.Subscriber;
 
 import javax.microedition.khronos.opengles.GL10;
 
 /**
  * @author moesenle@google.com (Lorenz Moesenlechner)
  */
-public class OccupancyGridLayer extends DefaultVisualizationLayer implements TfLayer {
+public class OccupancyGridLayer extends SubscriberLayer<org.ros.message.nav_msgs.OccupancyGrid>
+    implements TfLayer {
   /**
    * Color of occupied cells in the map.
    */
@@ -44,11 +48,9 @@ public class OccupancyGridLayer extends DefaultVisualizationLayer implements TfL
    */
   private static final int COLOR_UNKNOWN = 0xff000000;
 
-  private final GraphName topic;
   private final TextureDrawable occupancyGrid;
 
-  private boolean initialized;
-  private Subscriber<org.ros.message.nav_msgs.OccupancyGrid> occupancyGridSubscriber;
+  private boolean ready;
   private String frame;
 
   public OccupancyGridLayer(String topic) {
@@ -56,14 +58,14 @@ public class OccupancyGridLayer extends DefaultVisualizationLayer implements TfL
   }
 
   public OccupancyGridLayer(GraphName topic) {
-    this.topic = topic;
+    super(topic, "nav_msgs/OccupancyGrid");
     occupancyGrid = new TextureDrawable();
-    initialized = false;
+    ready = false;
   }
 
   @Override
   public void draw(GL10 gl) {
-    if (initialized) {
+    if (ready) {
       occupancyGrid.draw(gl);
     }
   }
@@ -85,9 +87,9 @@ public class OccupancyGridLayer extends DefaultVisualizationLayer implements TfL
 
   @Override
   public void onStart(Node node, Handler handler, Camera camera, Transformer transformer) {
-    occupancyGridSubscriber = node.newSubscriber(topic, "nav_msgs/OccupancyGrid");
-    occupancyGridSubscriber
-        .addMessageListener(new MessageListener<org.ros.message.nav_msgs.OccupancyGrid>() {
+    super.onStart(node, handler, camera, transformer);
+    getSubscriber().addMessageListener(
+        new MessageListener<org.ros.message.nav_msgs.OccupancyGrid>() {
           @Override
           public void onNewMessage(org.ros.message.nav_msgs.OccupancyGrid occupancyGridMessage) {
             Bitmap occupancyGridBitmap =
@@ -98,17 +100,12 @@ public class OccupancyGridLayer extends DefaultVisualizationLayer implements TfL
             occupancyGrid.update(occupancyGridMessage.info.origin,
                 occupancyGridMessage.info.resolution, occupancyGridBitmap);
             frame = occupancyGridMessage.header.frame_id;
-            initialized = true;
+            ready = true;
             requestRender();
           }
         });
   }
 
-  @Override
-  public void onShutdown(VisualizationView view, Node node) {
-    occupancyGridSubscriber.shutdown();
-  }
-
   @Override
   public String getFrame() {
     return frame;

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

@@ -14,15 +14,16 @@
  * the License.
  */
 
-package org.ros.android.views.visualization;
+package org.ros.android.views.visualization.layer;
 
 import android.os.Handler;
+import org.ros.android.views.visualization.Camera;
+import org.ros.android.views.visualization.Transformer;
 import org.ros.message.MessageListener;
 import org.ros.message.geometry_msgs.PoseStamped;
 import org.ros.message.nav_msgs.Path;
 import org.ros.namespace.GraphName;
 import org.ros.node.Node;
-import org.ros.node.topic.Subscriber;
 
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
@@ -33,53 +34,47 @@ import javax.microedition.khronos.opengles.GL10;
 /**
  * @author moesenle@google.com (Lorenz Moesenlechner)
  */
-public class PathLayer extends DefaultVisualizationLayer {
+public class PathLayer extends SubscriberLayer<org.ros.message.nav_msgs.Path> {
 
   static final float color[] = { 0.2f, 0.8f, 0.2f, 1.0f };
-  
+
   private FloatBuffer pathVertexBuffer;
+  private boolean ready;
   private boolean visible;
-  private Subscriber<Path> pathSubscriber;
-  private GraphName topic;
 
   public PathLayer(String topic) {
     this(new GraphName(topic));
   }
 
   public PathLayer(GraphName topic) {
-    this.topic = topic;
-    visible = false;
+    super(topic, "nav_msgs/Path");
+    visible = true;
+    ready = false;
   }
 
   @Override
   public void draw(GL10 gl) {
-    if (!visible) {
-      return;
+    if (ready && visible) {
+      gl.glEnableClientState(GL10.GL_VERTEX_ARRAY);
+      gl.glVertexPointer(3, GL10.GL_FLOAT, 0, pathVertexBuffer);
+      gl.glColor4f(color[0], color[1], color[2], color[3]);
+      gl.glDrawArrays(GL10.GL_LINE_STRIP, 0, pathVertexBuffer.limit() / 3);
     }
-    gl.glEnableClientState(GL10.GL_VERTEX_ARRAY);
-    gl.glVertexPointer(3, GL10.GL_FLOAT, 0, pathVertexBuffer);
-    gl.glColor4f(color[0], color[1], color[2], color[3]);
-    gl.glDrawArrays(GL10.GL_LINE_STRIP, 0, pathVertexBuffer.limit() / 3);
   }
 
   @Override
   public void onStart(Node node, Handler handler, Camera camera, Transformer transformer) {
-    pathSubscriber = node.newSubscriber(topic, "nav_msgs/Path");
-    pathSubscriber.addMessageListener(new MessageListener<Path>() {
+    super.onStart(node, handler, camera, transformer);
+    getSubscriber().addMessageListener(new MessageListener<Path>() {
       @Override
       public void onNewMessage(Path path) {
         pathVertexBuffer = makePathVertices(path);
-        setVisible(true);
+        ready = true;
         requestRender();
       }
     });
   }
 
-  @Override
-  public void onShutdown(VisualizationView view, Node node) {
-    pathSubscriber.shutdown();
-  }
-
   public boolean isVisible() {
     return visible;
   }

android_honeycomb_mr2/src/org/ros/android/views/visualization/PosePublisherLayer.java → android_honeycomb_mr2/src/org/ros/android/views/visualization/layer/PosePublisherLayer.java

@@ -14,10 +14,15 @@
  * the License.
  */
 
-package org.ros.android.views.visualization;
+package org.ros.android.views.visualization.layer;
 
 import com.google.common.base.Preconditions;
 
+import org.ros.android.views.visualization.Camera;
+import org.ros.android.views.visualization.Transformer;
+import org.ros.android.views.visualization.TriangleFanShape;
+import org.ros.android.views.visualization.VisualizationView;
+
 import android.content.Context;
 import android.graphics.Point;
 import android.os.Handler;
@@ -36,7 +41,7 @@ import javax.microedition.khronos.opengles.GL10;
  * @author moesenle@google.com (Lorenz Moesenlechner)
  * 
  */
-public class PosePublisherLayer extends DefaultVisualizationLayer {
+public class PosePublisherLayer extends DefaultLayer {
 
   private static final float vertices[] = { 0.0f, 0.0f, 0.0f, // center
       -0.251f, 0.0f, 0.0f, // bottom

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

@@ -14,15 +14,18 @@
  * the License.
  */
 
-package org.ros.android.views.visualization;
+package org.ros.android.views.visualization.layer;
 
 import android.os.Handler;
 import android.view.MotionEvent;
+import org.ros.android.views.visualization.Camera;
+import org.ros.android.views.visualization.Transformer;
+import org.ros.android.views.visualization.TriangleFanShape;
+import org.ros.android.views.visualization.VisualizationView;
 import org.ros.message.MessageListener;
 import org.ros.message.geometry_msgs.PoseStamped;
 import org.ros.namespace.GraphName;
 import org.ros.node.Node;
-import org.ros.node.topic.Subscriber;
 import org.ros.rosjava_geometry.Transform;
 
 import javax.microedition.khronos.opengles.GL10;
@@ -30,7 +33,8 @@ import javax.microedition.khronos.opengles.GL10;
 /**
  * @author moesenle@google.com (Lorenz Moesenlechner)
  */
-public class PoseSubscriberLayer extends DefaultVisualizationLayer implements TfLayer {
+public class PoseSubscriberLayer extends
+    SubscriberLayer<org.ros.message.geometry_msgs.PoseStamped> implements TfLayer {
 
   private static final float vertices[] = { 0.0f, 0.0f, 0.0f, // center
       -0.105f, 0.0f, 0.0f, // bottom
@@ -43,14 +47,11 @@ public class PoseSubscriberLayer extends DefaultVisualizationLayer implements Tf
       -0.15f, 0.15f, 0.0f, // bottom left
       -0.105f, 0.0f, 0.0f // bottom
       };
-
   private static final float color[] = { 0.180392157f, 0.71372549f, 0.909803922f, 0.5f };
 
-  private final GraphName topic;
   private final TriangleFanShape goalShape;
 
   private boolean visible;
-  private Subscriber<org.ros.message.geometry_msgs.PoseStamped> poseSubscriber;
   private String poseFrame;
 
   public PoseSubscriberLayer(String topic) {
@@ -58,7 +59,7 @@ public class PoseSubscriberLayer extends DefaultVisualizationLayer implements Tf
   }
 
   public PoseSubscriberLayer(GraphName topic) {
-    this.topic = topic;
+    super(topic, "geometry_msgs/PoseStamped");
     goalShape = new TriangleFanShape(vertices, color);
     visible = false;
   }
@@ -77,9 +78,9 @@ public class PoseSubscriberLayer extends DefaultVisualizationLayer implements Tf
 
   @Override
   public void onStart(Node node, Handler handler, Camera camera, Transformer transformer) {
-    poseSubscriber = node.newSubscriber(topic, "geometry_msgs/PoseStamped");
-    poseSubscriber
-        .addMessageListener(new MessageListener<org.ros.message.geometry_msgs.PoseStamped>() {
+    super.onStart(node, handler, camera, transformer);
+    getSubscriber().addMessageListener(
+        new MessageListener<org.ros.message.geometry_msgs.PoseStamped>() {
           @Override
           public void onNewMessage(PoseStamped pose) {
             goalShape.setPose(Transform.makeFromPoseMessage(pose.pose));
@@ -90,11 +91,6 @@ public class PoseSubscriberLayer extends DefaultVisualizationLayer implements Tf
         });
   }
 
-  @Override
-  public void onShutdown(VisualizationView view, Node node) {
-    poseSubscriber.shutdown();
-  }
-
   public boolean isVisible() {
     return visible;
   }

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

@@ -14,12 +14,16 @@
  * the License.
  */
 
-package org.ros.android.views.visualization;
+package org.ros.android.views.visualization.layer;
 
 import android.content.Context;
 import android.os.Handler;
 import android.view.GestureDetector;
 import android.view.MotionEvent;
+import org.ros.android.views.visualization.Camera;
+import org.ros.android.views.visualization.Transformer;
+import org.ros.android.views.visualization.TriangleFanShape;
+import org.ros.android.views.visualization.VisualizationView;
 import org.ros.message.Time;
 import org.ros.message.geometry_msgs.TransformStamped;
 import org.ros.node.Node;
@@ -31,9 +35,8 @@ import javax.microedition.khronos.opengles.GL10;
 
 /**
  * @author moesenle@google.com (Lorenz Moesenlechner)
- * 
  */
-public class RobotLayer extends DefaultVisualizationLayer implements TfLayer {
+public class RobotLayer extends DefaultLayer implements TfLayer {
 
   private static final float vertices[] = {
     0.0f, 0.0f, 0.0f, // Top

android_honeycomb_mr2/src/org/ros/android/views/visualization/layer/SubscriberLayer.java

@@ -0,0 +1,57 @@
+/*
+ * 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.views.visualization.layer;
+
+import android.os.Handler;
+import org.ros.android.views.visualization.Camera;
+import org.ros.android.views.visualization.Transformer;
+import org.ros.android.views.visualization.VisualizationView;
+import org.ros.namespace.GraphName;
+import org.ros.node.Node;
+import org.ros.node.topic.Subscriber;
+
+/**
+ * @author damonkohler@google.com (Damon Kohler)
+ */
+public class SubscriberLayer<T> extends DefaultLayer {
+
+  private final GraphName topic;
+  private final String messageType;
+
+  private Subscriber<T> subscriber;
+
+  public SubscriberLayer(GraphName topic, String messageType) {
+    this.topic = topic;
+    this.messageType = messageType;
+  }
+ 
+  @Override
+  public void onStart(Node node, Handler handler, Camera camera, Transformer transformer) {
+    super.onStart(node, handler, camera, transformer);
+    subscriber = node.newSubscriber(topic, messageType);
+  }
+  
+  @Override
+  public void onShutdown(VisualizationView view, Node node) {
+    super.onShutdown(view, node);
+    subscriber.shutdown();
+  }
+
+  public Subscriber<T> getSubscriber() {
+    return subscriber;
+  }
+}

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

@@ -14,19 +14,16 @@
  * the License.
  */
 
-package org.ros.android.views.visualization;
+package org.ros.android.views.visualization.layer;
 
 /**
  * Interface for layers that are positioned by using Tf.
  * 
  * @author moesenle@google.com (Lorenz Moesenlechner)
- * 
  */
 public interface TfLayer {
-
   /**
    * @return the frame id of the layer
    */
   String getFrame();
-
 }