Fixes issue 70. We now support the latest version of the Android SDK/ADT.

Also adds some additional debugging and completes multi-device suport in the hokuyo tutorial.

.hgignore

@@ -16,6 +16,7 @@ syntax: glob
 dependencies.xml
 ros.properties
 default.properties
+project.properties
 
 syntax: regexp
-(target|build|dist|msg_gen|srv_gen|gen|test_output)/.*
+(target|build|bin|dist|msg_gen|srv_gen|gen|test_output)/.*

android_acm_serial/build.xml

@@ -1,6 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<project>
+<project name="android_acm_serial" default="debug">
   <property file="ros.properties" />
-  <include file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
+  <property file="project.properties" />
+  <import file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
 </project>
 

android_acm_serial/src/org/ros/android/acm_serial/AcmDeviceActivity.java

@@ -29,6 +29,8 @@ import android.hardware.usb.UsbDeviceConnection;
 import android.hardware.usb.UsbInterface;
 import android.hardware.usb.UsbManager;
 import android.os.Bundle;
+import org.apache.commons.logging.Log;
+import org.apache.commons.logging.LogFactory;
 import org.ros.android.RosActivity;
 import org.ros.exception.RosRuntimeException;
 
@@ -40,6 +42,9 @@ import java.util.Map;
  */
 public abstract class AcmDeviceActivity extends RosActivity implements AcmDevicePermissionCallback {
 
+  private static final boolean DEBUG = true;
+  private static final Log log = LogFactory.getLog(AcmDeviceActivity.class);
+
   static final String ACTION_USB_PERMISSION = "org.ros.android.USB_PERMISSION";
 
   private final Map<UsbDevice, AcmDevice> acmDevices;
@@ -68,6 +73,9 @@ public abstract class AcmDeviceActivity extends RosActivity implements AcmDevice
   }
 
   private void newAcmDevice(UsbDevice usbDevice) {
+    if (DEBUG) {
+      log.info("Adding new ACM device.");
+    }
     Preconditions.checkNotNull(usbDevice);
     Preconditions.checkState(!acmDevices.containsKey(usbDevice), "Already connected to device.");
     Preconditions.checkState(usbManager.hasPermission(usbDevice), "Permission denied.");
@@ -95,7 +103,11 @@ public abstract class AcmDeviceActivity extends RosActivity implements AcmDevice
     Intent intent = getIntent();
     if (intent.getAction().equals(UsbManager.ACTION_USB_DEVICE_ATTACHED)) {
       UsbDevice usbDevice = (UsbDevice) intent.getParcelableExtra(UsbManager.EXTRA_DEVICE);
-      newAcmDevice(usbDevice);
+      if (!acmDevices.containsKey(usbDevice)) {
+        newAcmDevice(usbDevice);
+      } else if (DEBUG) {
+        log.info("Ignoring already connected device.");
+      }
     }
   }
 

android_gingerbread/build.xml

@@ -1,6 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<project>
+<project name="android_gingerbread" default="debug">
   <property file="ros.properties" />
-  <include file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
+  <property file="project.properties" />
+  <import file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
 </project>
 

android_honeycomb_mr2/build.xml

@@ -1,6 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<project>
+<project name="android_honeycomb_mr2" default="debug">
   <property file="ros.properties" />
-  <include file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
+  <property file="project.properties" />
+  <import file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
 </project>
 

android_rosserial/build.xml

@@ -1,6 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<project>
+<project name="android_rosserial" default="debug">
   <property file="ros.properties" />
-  <include file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
+  <property file="project.properties" />
+  <import file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
 </project>
 

android_tutorial_camera/build.xml

@@ -1,6 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<project>
+<project name="android_tutorial_camera" default="debug">
   <property file="ros.properties" />
-  <include file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
+  <property file="project.properties" />
+  <import file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
 </project>
 

android_tutorial_hokuyo/build.xml

@@ -1,6 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<project>
+<project name="android_tutorial_hokuyo" default="debug">
   <property file="ros.properties" />
-  <include file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
+  <property file="project.properties" />
+  <import file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
 </project>
 

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

@@ -23,6 +23,7 @@ import org.ros.android.acm_serial.AcmDeviceActivity;
 import org.ros.android.hokuyo.LaserScanPublisher;
 import org.ros.android.hokuyo.scip20.Device;
 import org.ros.exception.RosRuntimeException;
+import org.ros.namespace.GraphName;
 import org.ros.node.NodeConfiguration;
 import org.ros.time.NtpTimeProvider;
 
@@ -33,13 +34,11 @@ import java.util.concurrent.CountDownLatch;
  */
 public class MainActivity extends AcmDeviceActivity {
 
-  private final CountDownLatch acmDeviceLatch;
-
-  private AcmDevice acmDevice;
+  private final CountDownLatch nodeRunnerServiceLatch;
 
   public MainActivity() {
     super("Hokuyo Node", "Hokuyo Node");
-    acmDeviceLatch = new CountDownLatch(1);
+    nodeRunnerServiceLatch = new CountDownLatch(1);
   }
 
   @Override
@@ -50,8 +49,12 @@ public class MainActivity extends AcmDeviceActivity {
 
   @Override
   protected void init() {
+    nodeRunnerServiceLatch.countDown();
+  }
+
+  private void startLaserScanPublisher(AcmDevice acmDevice) {
     try {
-      acmDeviceLatch.await();
+      nodeRunnerServiceLatch.await();
     } catch (InterruptedException e) {
       throw new RosRuntimeException(e);
     }
@@ -60,7 +63,7 @@ public class MainActivity extends AcmDeviceActivity {
     NodeConfiguration nodeConfiguration =
         NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostName(),
             getMasterUri());
-    nodeConfiguration.setNodeName("hokuyo_node");
+    nodeConfiguration.setNodeName(GraphName.newAnonymous());
     NtpTimeProvider ntpTimeProvider =
         new NtpTimeProvider(InetAddressFactory.newFromHostString("ntp.ubuntu.com"));
     ntpTimeProvider.updateTime();
@@ -69,9 +72,13 @@ public class MainActivity extends AcmDeviceActivity {
   }
 
   @Override
-  public void onPermissionGranted(AcmDevice acmDevice) {
-    this.acmDevice = acmDevice;
-    acmDeviceLatch.countDown();
+  public void onPermissionGranted(final AcmDevice acmDevice) {
+    new Thread() {
+      @Override
+      public void run() {
+        startLaserScanPublisher(acmDevice);
+      };
+    }.start();
   }
 
   @Override

android_tutorial_image_transport/build.xml

@@ -1,6 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<project>
+<project name="android_tutorial_image_transport" default="debug">
   <property file="ros.properties" />
-  <include file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
+  <property file="project.properties" />
+  <import file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
 </project>
 

android_tutorial_pubsub/build.xml

@@ -1,6 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<project>
+<project name="android_tutorial_pubsub" default="debug">
   <property file="ros.properties" />
-  <include file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
+  <property file="project.properties" />
+  <import file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
 </project>
 

android_tutorial_teleop/build.xml

@@ -1,6 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<project>
+<project name="android_tutorial_teleop" default="debug">
   <property file="ros.properties" />
-  <include file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
+  <property file="project.properties" />
+  <import file="${ros.pkg.rosjava_bootstrap.dir}/android.xml" />
 </project>