Fixes issue 73. RosActivity now starts up and shutsdown reliably.

Better handling of OutOfMemory errors. Still have to track down the leak.
Cleanups, javadoc, copyright headers.

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

@@ -19,6 +19,9 @@ package org.ros.android;
 import org.ros.node.NodeRunner;
 
 /**
+ * Initializes instances of classes derived from {@link RosActivity} with the
+ * parent {@link RosActivity} and {@link NodeRunner}.
+ * 
  * @author damonkohler@google.com (Damon Kohler)
  */
 class InitRunnable implements Runnable {

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

@@ -29,6 +29,8 @@ import android.os.IBinder;
 import android.os.PowerManager;
 import android.os.PowerManager.WakeLock;
 import android.util.Log;
+import org.ros.concurrent.ListenerCollection;
+import org.ros.concurrent.ListenerCollection.SignalRunnable;
 import org.ros.node.DefaultNodeRunner;
 import org.ros.node.NodeConfiguration;
 import org.ros.node.NodeListener;
@@ -36,12 +38,16 @@ import org.ros.node.NodeMain;
 import org.ros.node.NodeRunner;
 
 import java.util.Collection;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
 
 /**
  * @author damonkohler@google.com (Damon Kohler)
  */
 public class NodeRunnerService extends Service implements NodeRunner {
 
+  private static final String TAG = "NodeRunnerService";
+
   // NOTE(damonkohler): If this is 0, the notification does not show up.
   private static final int ONGOING_NOTIFICATION = 1;
 
@@ -52,6 +58,7 @@ public class NodeRunnerService extends Service implements NodeRunner {
 
   private final NodeRunner nodeRunner;
   private final IBinder binder;
+  private final ListenerCollection<NodeRunnerServiceListener> listeners;
 
   private WakeLock wakeLock;
   private WifiLock wifiLock;
@@ -68,24 +75,26 @@ public class NodeRunnerService extends Service implements NodeRunner {
 
   public NodeRunnerService() {
     super();
-    nodeRunner = DefaultNodeRunner.newDefault();
+    ExecutorService executorService = Executors.newCachedThreadPool();
+    nodeRunner = DefaultNodeRunner.newDefault(executorService);
     binder = new LocalBinder();
+    listeners = new ListenerCollection<NodeRunnerServiceListener>(executorService);
   }
 
   @Override
   public void onCreate() {
     PowerManager powerManager = (PowerManager) getSystemService(POWER_SERVICE);
-    wakeLock = powerManager.newWakeLock(PowerManager.PARTIAL_WAKE_LOCK, "NodeRunnerService");
+    wakeLock = powerManager.newWakeLock(PowerManager.PARTIAL_WAKE_LOCK, TAG);
     wakeLock.acquire();
     int wifiLockType = WifiManager.WIFI_MODE_FULL;
     try {
       wifiLockType = WifiManager.class.getField("WIFI_MODE_FULL_HIGH_PERF").getInt(null);
     } catch (Exception e) {
       // We must be running on a pre-Honeycomb device.
-      Log.w("NodeRunnerService", "Unable to acquire high performance wifi lock.");
+      Log.w(TAG, "Unable to acquire high performance wifi lock.");
     }
     WifiManager wifiManager = (WifiManager) getSystemService(WIFI_SERVICE);
-    wifiLock = wifiManager.createWifiLock(wifiLockType, "NodeRunnerService");
+    wifiLock = wifiManager.createWifiLock(wifiLockType, TAG);
     wifiLock.acquire();
   }
 
@@ -100,6 +109,11 @@ public class NodeRunnerService extends Service implements NodeRunner {
     run(nodeMain, nodeConfiguration, null);
   }
 
+  @Override
+  public void execute(Runnable runnable) {
+    nodeRunner.execute(runnable);
+  }
+
   @Override
   public void shutdownNodeMain(NodeMain nodeMain) {
     nodeRunner.shutdownNodeMain(nodeMain);
@@ -107,15 +121,37 @@ public class NodeRunnerService extends Service implements NodeRunner {
 
   @Override
   public void shutdown() {
+    signalOnShutdown();
+    // NOTE(damonkohler): This may be called multiple times. Shutting down a
+    // NodeRunner multiple times is safe. It simply calls shutdown on all
+    // NodeMains.
+    nodeRunner.shutdown();
+    if (wakeLock.isHeld()) {
+      wakeLock.release();
+    }
+    if (wifiLock.isHeld()) {
+      wifiLock.release();
+    }
     stopForeground(true);
     stopSelf();
   }
+  
+  public void addListener(NodeRunnerServiceListener listener) {
+    listeners.add(listener);
+  }
+
+  private void signalOnShutdown() {
+    listeners.signal(new SignalRunnable<NodeRunnerServiceListener>() {
+      @Override
+      public void run(NodeRunnerServiceListener nodeRunnerServiceListener) {
+        nodeRunnerServiceListener.onShutdown(NodeRunnerService.this);
+      }
+    });
+  }
 
   @Override
   public void onDestroy() {
-    nodeRunner.shutdown();
-    wakeLock.release();
-    wifiLock.release();
+    shutdown();
     super.onDestroy();
   }
 

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

@@ -0,0 +1,29 @@
+/*
+ * 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;
+
+
+/**
+ * @author damonkohler@google.com (Damon Kohler)
+ */
+public interface NodeRunnerServiceListener {
+
+  /**
+   * @param nodeRunnerService the {@link NodeRunnerService} that was shut down
+   */
+  void onShutdown(NodeRunnerService nodeRunnerService);
+}

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

@@ -23,6 +23,7 @@ import android.content.ComponentName;
 import android.content.Intent;
 import android.content.ServiceConnection;
 import android.os.IBinder;
+import android.widget.Toast;
 import org.ros.node.NodeMain;
 import org.ros.node.NodeRunner;
 
@@ -36,26 +37,27 @@ public abstract class RosActivity extends Activity {
 
   private static final int MASTER_CHOOSER_REQUEST_CODE = 0;
 
-  private URI masterUri;
-  private NodeRunner nodeRunner;
-
   private final ServiceConnection nodeRunnerServiceConnection;
   private final String notificationTicker;
   private final String notificationTitle;
 
+  private URI masterUri;
+  private NodeRunnerService nodeRunnerService;
+
   private class NodeRunnerServiceConnection implements ServiceConnection {
     @Override
     public void onServiceConnected(ComponentName name, IBinder binder) {
-      // NOTE(damonkohler): This must be synchronized in case the activity is
-      // paused while we are connecting to the service. Pausing the activity
-      // causes the nodeRunner field to be nulled.
-      synchronized (RosActivity.this) {
-        nodeRunner = ((NodeRunnerService.LocalBinder) binder).getService();
-        // Run init() in a new thread as a convenience since it often requires
-        // network access. Also, this allows us to keep a reference to the
-        // NodeRunner separate from this class.
-        new Thread(new InitRunnable(RosActivity.this, nodeRunner)).start();
-      }
+      nodeRunnerService = ((NodeRunnerService.LocalBinder) binder).getService();
+      nodeRunnerService.addListener(new NodeRunnerServiceListener() {
+        @Override
+        public void onShutdown(NodeRunnerService nodeRunnerService) {
+          RosActivity.this.finish();
+        }
+      });
+      // Run init() in a new thread as a convenience since it often requires
+      // network access. Also, this allows us to keep a reference to the
+      // NodeRunner separate from this class.
+      nodeRunnerService.execute(new InitRunnable(RosActivity.this, nodeRunnerService));
     }
 
     @Override
@@ -72,16 +74,16 @@ public abstract class RosActivity extends Activity {
 
   @Override
   protected void onResume() {
-    super.onResume();
     if (getMasterUri() == null) {
       // Call this method on super to avoid triggering our precondition in the
       // overridden startActivityForResult().
       super.startActivityForResult(new Intent(this, MasterChooser.class), 0);
-    } else if (nodeRunner == null) {
+    } else if (nodeRunnerService == null) {
       // TODO(damonkohler): The NodeRunnerService should maintain its own copy
       // of master URI that we can query if we're restarting this activity.
       startNodeRunnerService();
     }
+    super.onResume();
   }
 
   private void startNodeRunnerService() {
@@ -95,21 +97,23 @@ public abstract class RosActivity extends Activity {
   }
 
   @Override
-  protected void onPause() {
-    super.onPause();
-    synchronized (this) {
-      if (nodeRunner != null) {
-        unbindService(nodeRunnerServiceConnection);
-        nodeRunner = null;
-      }
+  protected void onDestroy() {
+    if (nodeRunnerService != null) {
+      nodeRunnerService.shutdown();
+      unbindService(nodeRunnerServiceConnection);
+      // NOTE(damonkohler): The activity could still be restarted. In that case,
+      // nodeRunner needs to be null for everything to be started up again.
+      nodeRunnerService = null;
     }
+    Toast.makeText(this, notificationTitle + " shut down.", Toast.LENGTH_SHORT).show();
+    super.onDestroy();
   }
 
   /**
    * This method is called in a background thread once this {@link Activity} has
    * been initialized with a master {@link URI} via the {@link MasterChooser}
    * and a {@link NodeRunnerService} has started. Your {@link NodeMain}s should
-   * be started here.
+   * be started here using the provided {@link NodeRunner}.
    * 
    * @param nodeRunner
    *          the {@link NodeRunner} created for this {@link Activity}

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

@@ -31,6 +31,7 @@ import javax.microedition.khronos.opengles.GL10;
  * @author munjaldesai@google.com (Munjal Desai)
  */
 class DistancePoints {
+
   // Members for displaying the range vertices and polygons.
   private FloatBuffer rangeVertexBuffer;
   private ByteBuffer rangeVertexByteBuffer;

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

@@ -1,3 +1,19 @@
+/*
+ * 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 com.google.common.base.Preconditions;
@@ -7,7 +23,11 @@ import android.opengl.GLUtils;
 
 import javax.microedition.khronos.opengles.GL10;
 
+/**
+ * @author damonkohler@google.com (Damon Kohler)
+ */
 public class Texture {
+  
   private boolean needReload;
   private Bitmap textureBitmap;
   private int[] textureHandle;
@@ -60,5 +80,4 @@ public class Texture {
     textureBitmap = null;
     needReload = false;
   }
-
 }

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

@@ -1,7 +1,26 @@
+/*
+ * 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;
 
+/**
+ * @author damonkohler@google.com (Damon Kohler)
+ */
 public class TextureBitmapUtilities {
 
   public static Bitmap createSquareBitmap(int[] pixels, int width, int height, int fillColor) {

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

@@ -36,9 +36,10 @@ import javax.microedition.khronos.opengles.GL10;
  */
 public class TextureDrawable implements OpenGlDrawable {
 
-  private Texture texture;
-  private FloatBuffer vertexBuffer;
-  private FloatBuffer textureBuffer;
+  private final Texture texture;
+  private final FloatBuffer vertexBuffer;
+  private final FloatBuffer textureBuffer;
+  
   private Transform origin;
   private double resolution;
   private double width;

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

@@ -35,7 +35,7 @@ public class VisualizationView extends GLSurfaceView implements NodeMain {
   private final RenderRequestListener renderRequestListener;
   private final TransformListener transformListener;
   private final Camera camera;
-  private final XYOrthoraphicRenderer renderer;
+  private final XyOrthoraphicRenderer renderer;
   private final List<Layer> layers;
 
   private Node node;
@@ -50,7 +50,7 @@ public class VisualizationView extends GLSurfaceView implements NodeMain {
     };
     transformListener = new TransformListener();
     camera = new Camera(transformListener.getTransformer());
-    renderer = new XYOrthoraphicRenderer(transformListener.getTransformer(), camera);
+    renderer = new XyOrthoraphicRenderer(transformListener.getTransformer(), camera);
     layers = Lists.newArrayList();
     setEGLConfigChooser(8, 8, 8, 8, 0, 0);
     getHolder().setFormat(PixelFormat.TRANSLUCENT);
@@ -68,7 +68,7 @@ public class VisualizationView extends GLSurfaceView implements NodeMain {
     return false;
   }
 
-  public XYOrthoraphicRenderer getRenderer() {
+  public XyOrthoraphicRenderer getRenderer() {
     return renderer;
   }
   

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

@@ -16,10 +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 org.ros.android.views.visualization.layer.Layer;
+import org.ros.android.views.visualization.layer.TfLayer;
 
 import java.util.List;
 
@@ -30,9 +29,8 @@ import javax.microedition.khronos.opengles.GL10;
  * Renders all layers of a navigation view.
  * 
  * @author moesenle@google.com (Lorenz Moesenlechner)
- * 
  */
-public class XYOrthoraphicRenderer implements GLSurfaceView.Renderer {
+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.
@@ -43,7 +41,7 @@ public class XYOrthoraphicRenderer implements GLSurfaceView.Renderer {
 
   private Camera camera;
 
-  public XYOrthoraphicRenderer(Transformer transformer, Camera camera) {
+  public XyOrthoraphicRenderer(Transformer transformer, Camera camera) {
     this.setLayers(layers);
     this.transformer = transformer;
     this.camera = camera;
@@ -106,5 +104,4 @@ public class XYOrthoraphicRenderer implements GLSurfaceView.Renderer {
   public void setLayers(List<Layer> layers) {
     this.layers = layers;
   }
-
 }

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

@@ -19,6 +19,7 @@ package org.ros.android.views.visualization.layer;
 import android.graphics.Bitmap;
 import android.graphics.BitmapFactory;
 import android.os.Handler;
+import android.util.Log;
 import org.ros.android.views.visualization.Camera;
 import org.ros.android.views.visualization.TextureBitmapUtilities;
 import org.ros.android.views.visualization.TextureDrawable;
@@ -27,6 +28,7 @@ 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;
 
@@ -39,7 +41,9 @@ public class CompressedBitmapLayer extends
     SubscriberLayer<org.ros.message.compressed_visualization_transport_msgs.CompressedBitmap>
     implements TfLayer {
 
-  private final TextureDrawable occupancyGrid;
+  private static final String TAG = "CompressedBitmapLayer";
+
+  private final TextureDrawable textureDrawable;
 
   private boolean ready;
   private String frame;
@@ -50,43 +54,61 @@ public class CompressedBitmapLayer extends
 
   public CompressedBitmapLayer(GraphName topic) {
     super(topic, "compressed_visualization_transport_msgs/CompressedBitmap");
-    occupancyGrid = new TextureDrawable();
+    textureDrawable = new TextureDrawable();
     ready = false;
   }
 
   @Override
   public void draw(GL10 gl) {
     if (ready) {
-      occupancyGrid.draw(gl);
+      textureDrawable.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();
-              }
-            });
+    Subscriber<CompressedBitmap> subscriber = getSubscriber();
+    subscriber.setQueueLimit(1);
+    subscriber
+        .addMessageListener(new MessageListener<org.ros.message.compressed_visualization_transport_msgs.CompressedBitmap>() {
+          @Override
+          public void onNewMessage(CompressedBitmap compressedBitmap) {
+            update(compressedBitmap);
+          }
+        });
+  }
+
+  void update(CompressedBitmap compressedBitmap) {
+    Bitmap bitmap;
+    IntBuffer pixels;
+    try {
+      BitmapFactory.Options options = new BitmapFactory.Options();
+      options.inPreferredConfig = Bitmap.Config.ARGB_8888;
+      bitmap =
+          BitmapFactory.decodeByteArray(compressedBitmap.data, 0, compressedBitmap.data.length,
+              options);
+      pixels = IntBuffer.allocate(bitmap.getWidth() * bitmap.getHeight());
+      bitmap.copyPixelsToBuffer(pixels);
+      bitmap.recycle();
+    } catch (OutOfMemoryError e) {
+      Log.e(TAG, "Not enough memory to decode incoming compressed bitmap.", e);
+      return;
+    }
+    Bitmap squareBitmap;
+    try {
+      squareBitmap =
+          TextureBitmapUtilities.createSquareBitmap(pixels.array(), bitmap.getWidth(),
+              bitmap.getHeight(), 0xff000000);
+    } catch (OutOfMemoryError e) {
+      Log.e(TAG, String.format("Not enough memory to render %d x %d pixel bitmap.",
+          bitmap.getWidth(), bitmap.getHeight()), e);
+      return;
+    }
+    textureDrawable.update(compressedBitmap.origin, compressedBitmap.resolution_x, squareBitmap);
+    frame = compressedBitmap.header.frame_id;
+    ready = true;
+    requestRender();
   }
 
   @Override

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

@@ -16,6 +16,8 @@
 
 package org.ros.android.views.visualization.layer;
 
+import com.google.common.base.Preconditions;
+
 import android.os.Handler;
 import org.ros.android.views.visualization.Camera;
 import org.ros.android.views.visualization.Transformer;
@@ -47,11 +49,12 @@ public class SubscriberLayer<T> extends DefaultLayer {
   
   @Override
   public void onShutdown(VisualizationView view, Node node) {
-    super.onShutdown(view, node);
     subscriber.shutdown();
+    super.onShutdown(view, node);
   }
 
   public Subscriber<T> getSubscriber() {
+    Preconditions.checkNotNull(subscriber);
     return subscriber;
   }
 }