Update everything to work with the new NodeMain and NodeConfiguration changes.

android_gingerbread/src/org/ros/android/OrientationPublisher.java

@@ -16,6 +16,8 @@
 
 package org.ros.android;
 
+import com.google.common.base.Preconditions;
+
 import android.hardware.Sensor;
 import android.hardware.SensorEvent;
 import android.hardware.SensorEventListener;
@@ -23,9 +25,7 @@ import android.hardware.SensorManager;
 import org.ros.message.Time;
 import org.ros.message.geometry_msgs.PoseStamped;
 import org.ros.message.geometry_msgs.Quaternion;
-import org.ros.node.DefaultNodeFactory;
 import org.ros.node.Node;
-import org.ros.node.NodeConfiguration;
 import org.ros.node.NodeMain;
 import org.ros.node.topic.Publisher;
 
@@ -85,9 +85,10 @@ public class OrientationPublisher implements NodeMain {
   }
 
   @Override
-  public void main(NodeConfiguration configuration) throws Exception {
+  public void main(Node node) throws Exception {
+    Preconditions.checkState(this.node == null);
+    this.node = node;
     try {
-      node = new DefaultNodeFactory().newNode("android/orientation_publisher", configuration);
       Publisher<org.ros.message.geometry_msgs.PoseStamped> publisher =
           node.newPublisher("android/orientation", "geometry_msgs/PoseStamped");
       orientationListener = new OrientationListener(publisher);
@@ -105,8 +106,9 @@ public class OrientationPublisher implements NodeMain {
 
   @Override
   public void shutdown() {
-    sensorManager.unregisterListener(orientationListener);
-    node.shutdown();
+    if (node != null) {
+      node.shutdown();
+      node = null;
+    }
   }
-
 }

android_gingerbread/src/org/ros/android/views/RosCameraPreviewView.java

@@ -24,9 +24,7 @@ import org.ros.message.sensor_msgs.CameraInfo;
 import org.ros.message.sensor_msgs.CompressedImage;
 import org.ros.namespace.GraphName;
 import org.ros.namespace.NameResolver;
-import org.ros.node.DefaultNodeFactory;
 import org.ros.node.Node;
-import org.ros.node.NodeConfiguration;
 import org.ros.node.NodeMain;
 import org.ros.node.topic.Publisher;
 
@@ -50,9 +48,9 @@ public class RosCameraPreviewView extends CameraPreviewView implements NodeMain
   }
 
   @Override
-  public void main(NodeConfiguration nodeConfiguration) throws Exception {
-    Preconditions.checkState(node == null);
-    node = new DefaultNodeFactory().newNode("android/camera_preview_view", nodeConfiguration);
+  public void main(Node node) throws Exception {
+    Preconditions.checkState(this.node == null);
+    this.node = node;
     NameResolver resolver = node.getResolver().createResolver(new GraphName("camera"));
     Publisher<CompressedImage> imagePublisher =
         node.newPublisher(resolver.resolve("image_raw"), "sensor_msgs/CompressedImage");

android_gingerbread/src/org/ros/android/views/RosImageView.java

@@ -18,16 +18,13 @@ package org.ros.android.views;
 
 import com.google.common.base.Preconditions;
 
-import org.ros.android.MessageCallable;
-
 import android.content.Context;
 import android.graphics.Bitmap;
 import android.util.AttributeSet;
 import android.widget.ImageView;
+import org.ros.android.MessageCallable;
 import org.ros.message.MessageListener;
-import org.ros.node.DefaultNodeFactory;
 import org.ros.node.Node;
-import org.ros.node.NodeConfiguration;
 import org.ros.node.NodeMain;
 
 /**
@@ -68,9 +65,9 @@ public class RosImageView<T> extends ImageView implements NodeMain {
   }
 
   @Override
-  public void main(NodeConfiguration nodeConfiguration) throws Exception {
-    Preconditions.checkState(node == null);
-    node = new DefaultNodeFactory().newNode("android/image_view", nodeConfiguration);
+  public void main(Node node) throws Exception {
+    Preconditions.checkState(this.node == null);
+    this.node = node;
     node.newSubscriber(topicName, messageType, new MessageListener<T>() {
       @Override
       public void onNewMessage(final T message) {
@@ -87,9 +84,10 @@ public class RosImageView<T> extends ImageView implements NodeMain {
 
   @Override
   public void shutdown() {
-    Preconditions.checkNotNull(node);
-    node.shutdown();
-    node = null;
+    if (node != null) {
+      node.shutdown();
+      node = null;
+    }
   }
 
 }

android_gingerbread/src/org/ros/android/views/RosTextView.java

@@ -18,15 +18,12 @@ package org.ros.android.views;
 
 import com.google.common.base.Preconditions;
 
-import org.ros.android.MessageCallable;
-
 import android.content.Context;
 import android.util.AttributeSet;
 import android.widget.TextView;
+import org.ros.android.MessageCallable;
 import org.ros.message.MessageListener;
-import org.ros.node.DefaultNodeFactory;
 import org.ros.node.Node;
-import org.ros.node.NodeConfiguration;
 import org.ros.node.NodeMain;
 
 /**
@@ -64,9 +61,9 @@ public class RosTextView<T> extends TextView implements NodeMain {
   }
 
   @Override
-  public void main(NodeConfiguration nodeConfiguration) {
-    Preconditions.checkState(node == null);
-    node = new DefaultNodeFactory().newNode("android/text_view", nodeConfiguration);
+  public void main(Node node) {
+    Preconditions.checkState(this.node == null);
+    this.node = node;
     node.newSubscriber(topicName, messageType, new MessageListener<T>() {
       @Override
       public void onNewMessage(final T message) {
@@ -90,16 +87,12 @@ public class RosTextView<T> extends TextView implements NodeMain {
     });
   }
 
-  public void setNode(Node node) {
-    Preconditions.checkState(node == null);
-    this.node = node;
-  }
-
   @Override
   public void shutdown() {
-    Preconditions.checkNotNull(node);
-    node.shutdown();
-    node = null;
+    if (node != null) {
+      node.shutdown();
+      node = null;
+    }
   }
 
 }

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

@@ -16,12 +16,12 @@
 
 package org.ros.android.hokuyo;
 
+import com.google.common.base.Preconditions;
+
 import org.ros.message.Duration;
 import org.ros.message.MessageListener;
 import org.ros.message.std_msgs.Time;
-import org.ros.node.DefaultNodeFactory;
 import org.ros.node.Node;
-import org.ros.node.NodeConfiguration;
 import org.ros.node.NodeMain;
 import org.ros.node.parameter.ParameterTree;
 import org.ros.node.topic.Publisher;
@@ -52,9 +52,9 @@ public class LaserScanPublisher implements NodeMain {
   }
 
   @Override
-  public void main(NodeConfiguration nodeConfiguration) throws Exception {
-    node = new DefaultNodeFactory().newNode("android_hokuyo_node",
-        nodeConfiguration);
+  public void main(final Node node) throws Exception {
+    Preconditions.checkState(this.node == null);
+    this.node = node;
     ParameterTree params = node.newParameterTree();
     final String laserTopic = params.getString("~laser_topic", "laser");
     final String laserFrame = params.getString("~laser_frame", "laser");
@@ -80,6 +80,10 @@ public class LaserScanPublisher implements NodeMain {
 
   @Override
   public void shutdown() {
+    if (node != null) {
+      node.shutdown();
+      node = null;
+    }
     scipDevice.shutdown();
   }
 

android_hokuyo_test/src/org/ros/android/hokuyo/ConfigurationTest.java → android_hokuyo_test/src/org/ros/android/hokuyo/Scip20DeviceConfigurationTest.java

@@ -21,13 +21,13 @@ import junit.framework.TestCase;
 /**
  * @author damonkohler@google.com (Damon Kohler)
  */
-public class ConfigurationTest extends TestCase {
+public class Scip20DeviceConfigurationTest extends TestCase {
   
-  private Configuration.Builder builder;
+  private Scip20DeviceConfiguration.Builder builder;
 
   @Override
   protected void setUp() throws Exception {
-    builder = new Configuration.Builder();
+    builder = new Scip20DeviceConfiguration.Builder();
   }
 
   public void testParseModel() {

android_honeycomb_mr2/src/org/ros/android/views/DistanceView.java

@@ -27,9 +27,7 @@ import android.view.View.OnTouchListener;
 import org.ros.message.MessageListener;
 import org.ros.message.geometry_msgs.Twist;
 import org.ros.message.sensor_msgs.LaserScan;
-import org.ros.node.DefaultNodeFactory;
 import org.ros.node.Node;
-import org.ros.node.NodeConfiguration;
 import org.ros.node.NodeMain;
 
 import java.util.ArrayList;
@@ -96,11 +94,9 @@ public class DistanceView extends GLSurfaceView implements OnTouchListener, Node
   }
 
   @Override
-  public void main(NodeConfiguration nodeConfiguration) throws Exception {
-    if (node == null) {
-      Preconditions.checkNotNull(nodeConfiguration);
-    }
-    node = new DefaultNodeFactory().newNode("android/distance_view", nodeConfiguration);
+  public void main(Node node) throws Exception {
+    Preconditions.checkState(this.node == null);
+    this.node = node;
     // Subscribe to the laser scans.
     node.newSubscriber(laserTopic, "sensor_msgs/LaserScan", this);
     // Subscribe to the command velocity. This is needed for auto adjusting the
@@ -123,9 +119,10 @@ public class DistanceView extends GLSurfaceView implements OnTouchListener, Node
 
   @Override
   public void shutdown() {
-    Preconditions.checkNotNull(node);
-    node.shutdown();
-    node = null;
+    if (node != null) {
+      node.shutdown();
+      node = null;
+    }
     // Save the existing settings before exiting.
     distanceRenderer.savePreferences(this.getContext());
   }

android_honeycomb_mr2/src/org/ros/android/views/MapView.java

@@ -34,9 +34,7 @@ import org.ros.message.geometry_msgs.Quaternion;
 import org.ros.message.nav_msgs.MapMetaData;
 import org.ros.message.nav_msgs.OccupancyGrid;
 import org.ros.message.nav_msgs.Path;
-import org.ros.node.DefaultNodeFactory;
 import org.ros.node.Node;
-import org.ros.node.NodeConfiguration;
 import org.ros.node.NodeMain;
 import org.ros.node.topic.Publisher;
 
@@ -182,11 +180,9 @@ public class MapView extends GLSurfaceView implements NodeMain, OnTouchListener
   }
 
   @Override
-  public void main(NodeConfiguration nodeConfiguration) throws Exception {
-    if (node == null) {
-      Preconditions.checkNotNull(nodeConfiguration);
-      node = new DefaultNodeFactory().newNode("android/map_view", nodeConfiguration);
-    }
+  public void main(Node node) throws Exception {
+    Preconditions.checkState(this.node == null);
+    this.node = node;
     // Initialize the goal publisher.
     goalPublisher = node.newPublisher(SIMPLE_GOAL_TOPIC, "geometry_msgs/PoseStamped");
     // Initialize the initial pose publisher.
@@ -263,9 +259,10 @@ public class MapView extends GLSurfaceView implements NodeMain, OnTouchListener
 
   @Override
   public void shutdown() {
-    Preconditions.checkNotNull(node);
-    node.shutdown();
-    node = null;
+    if (node != null) {
+      node.shutdown();
+      node = null;
+    }
   }
 
   @Override

android_honeycomb_mr2/src/org/ros/android/views/PanTiltView.java

@@ -25,7 +25,7 @@ import android.view.View.OnTouchListener;
 import android.widget.ImageView;
 import android.widget.RelativeLayout;
 import org.ros.address.InetAddressFactory;
-import org.ros.node.DefaultNodeFactory;
+import org.ros.internal.node.DefaultNodeFactory;
 import org.ros.node.Node;
 import org.ros.node.NodeConfiguration;
 import org.ros.node.topic.Publisher;
@@ -463,12 +463,14 @@ public class PanTiltView extends RelativeLayout implements OnTouchListener {
     homeIcon = (ImageView) findViewById(org.ros.android.R.id.pt_home_marker);
   }
 
+  // TODO(damonkohler): PanTiltView should be a NodeMain.
   public void initPublisher(URI masterUri) {
     try {
       NodeConfiguration nodeConfiguration =
           NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress()
               .toString(), masterUri);
-      node = new DefaultNodeFactory().newNode("pan_tilt_view", nodeConfiguration);
+      nodeConfiguration.setNodeName("pan_tilt_view");
+      node = new DefaultNodeFactory().newNode(nodeConfiguration);
       publisher = node.newPublisher("/ptu_cmd", "sensor_msgs/JointState");
     } catch (Exception e) {
       if (node != null) {

android_honeycomb_mr2/src/org/ros/android/views/VirtualJoystickView.java

@@ -33,9 +33,9 @@ import android.widget.ImageView;
 import android.widget.RelativeLayout;
 import android.widget.TextView;
 import org.ros.address.InetAddressFactory;
+import org.ros.internal.node.DefaultNodeFactory;
 import org.ros.message.MessageListener;
 import org.ros.message.nav_msgs.Odometry;
-import org.ros.node.DefaultNodeFactory;
 import org.ros.node.Node;
 import org.ros.node.NodeConfiguration;
 import org.ros.node.topic.Publisher;
@@ -260,12 +260,14 @@ public class VirtualJoystickView extends RelativeLayout implements OnTouchListen
    * @param masterUri
    *          The address of the master node.
    */
+  // TODO(damonkohler): VirtualJoystickView should be a NodeMain.
   private void initNode(final URI masterUri) {
     try {
       NodeConfiguration nodeConfiguration =
           NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress()
               .toString(), masterUri);
-      node = new DefaultNodeFactory().newNode("virtual_joystick", nodeConfiguration);
+      nodeConfiguration.setNodeName("virtual_joystick");
+      node = new DefaultNodeFactory().newNode(nodeConfiguration);
       publisher = node.newPublisher("cmd_vel", "geometry_msgs/Twist");
       node.newSubscriber("odom", "nav_msgs/Odometry", this);
       publisherTimer.schedule(timerTask, 0, 80);

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

@@ -47,6 +47,7 @@ public class MainActivity extends AcmDeviceActivity {
     NodeConfiguration nodeConfiguration =
         NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostName(),
             getMasterUri());
+    nodeConfiguration.setNodeName("hokuyo_node");
     getNodeRunner().run(laserScanPublisher, nodeConfiguration);
   }
 }

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

@@ -16,15 +16,14 @@
 
 package org.ros.android.tutorial.pubsub;
 
-import org.ros.node.NodeRunner;
-
 import android.app.Activity;
 import android.os.Bundle;
 import org.ros.RosCore;
 import org.ros.android.MessageCallable;
 import org.ros.android.views.RosTextView;
-import org.ros.node.NodeConfiguration;
 import org.ros.node.DefaultNodeRunner;
+import org.ros.node.NodeConfiguration;
+import org.ros.node.NodeRunner;
 import org.ros.tutorials.pubsub.R;
 import org.ros.tutorials.pubsub.Talker;
 
@@ -60,22 +59,14 @@ public class MainActivity extends Activity {
         });
   }
   
-  @Override
-  protected void onPause() {
-    super.onPause();
-    talker.shutdown();
-    rosTextView.shutdown();
-    rosCore.shutdown();
-  }
-  
   @Override
   protected void onResume() {
     super.onResume();
     try {
       rosCore = RosCore.newPrivate();
-      NodeConfiguration nodeConfiguration = NodeConfiguration.newPrivate();
-      nodeRunner.run(rosCore, nodeConfiguration);
+      rosCore.start();
       rosCore.awaitStart();
+      NodeConfiguration nodeConfiguration = NodeConfiguration.newPrivate();
       nodeConfiguration.setMasterUri(rosCore.getUri());
       talker = new Talker();
       nodeRunner.run(talker, nodeConfiguration);
@@ -85,4 +76,11 @@ public class MainActivity extends Activity {
     }
   }
 
+  @Override
+  protected void onPause() {
+    super.onPause();
+    nodeRunner.shutdown();
+    rosCore.shutdown();
+  }
+
 }