VisualizationView.java

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/*
 * 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.view.visualization;

import com.google.common.base.Preconditions;
import com.google.common.collect.Lists;

import android.app.Activity;
import android.content.Context;
import android.graphics.PixelFormat;
import android.opengl.GLSurfaceView;
import android.os.Bundle;
import android.util.AttributeSet;
import android.view.MotionEvent;

import org.ros.android.RosActivity;
import org.ros.android.view.visualization.layer.Layer;
import org.ros.message.MessageListener;
import org.ros.namespace.GraphName;
import org.ros.node.ConnectedNode;
import org.ros.node.Node;
import org.ros.node.NodeMain;
import org.ros.node.NodeMainExecutor;
import org.ros.node.topic.Subscriber;
import org.ros.rosjava_geometry.FrameTransformTree;

import java.util.Collections;
import java.util.List;

public class VisualizationView extends GLSurfaceView implements NodeMain {

  private static final boolean DEBUG = false;

  private final Object mutex = new Object();
  private final FrameTransformTree frameTransformTree = new FrameTransformTree();
  private final XYOrthographicCamera camera = new XYOrthographicCamera(frameTransformTree);

  private List<Layer> layers;
  private XYOrthographicRenderer renderer;
  private ConnectedNode connectedNode;

  public VisualizationView(Context context) {
    super(context);
  }

  public VisualizationView(Context context, AttributeSet attrs) {
    super(context, attrs);
  }

  public void onCreate(List<Layer> layers) {
    this.layers = layers;
    setDebugFlags(DEBUG_CHECK_GL_ERROR);
    if (DEBUG) {
      // Turn on OpenGL logging.
      setDebugFlags(getDebugFlags() | DEBUG_LOG_GL_CALLS);
    }
    setEGLConfigChooser(8, 8, 8, 8, 0, 0);
    getHolder().setFormat(PixelFormat.TRANSLUCENT);
    renderer = new XYOrthographicRenderer(this);
    setRenderer(renderer);
  }

  public void init(NodeMainExecutor nodeMainExecutor) {
    Preconditions.checkNotNull(layers);
    for (Layer layer : layers) {
      layer.init(nodeMainExecutor);
    }
  }

  @Override
  public GraphName getDefaultNodeName() {
    return GraphName.of("android_15/visualization_view");
  }

  @Override
  public boolean onTouchEvent(MotionEvent event) {
    for (Layer layer : Lists.reverse(layers)) {
      if (layer.onTouchEvent(this, event)) {
        return true;
      }
    }
    return super.onTouchEvent(event);
  }

  public XYOrthographicRenderer getRenderer() {
    return renderer;
  }

  public XYOrthographicCamera getCamera() {
    return camera;
  }

  public FrameTransformTree getFrameTransformTree() {
    return frameTransformTree;
  }

  public List<Layer> getLayers() {
    return Collections.unmodifiableList(layers);
  }

  @Override
  public void onStart(ConnectedNode connectedNode) {
    this.connectedNode = connectedNode;
    startTransformListener();
    startLayers();
  }

  private void startTransformListener() {
    final Subscriber<tf2_msgs.TFMessage> tfSubscriber =
        connectedNode.newSubscriber("tf", tf2_msgs.TFMessage._TYPE);
    tfSubscriber.addMessageListener(new MessageListener<tf2_msgs.TFMessage>() {
      @Override
      public void onNewMessage(tf2_msgs.TFMessage message) {
        synchronized (mutex) {
          for (geometry_msgs.TransformStamped transform : message.getTransforms()) {
            frameTransformTree.update(transform);
          }
        }
      }
    });
    final Subscriber<tf2_msgs.TFMessage> tfStaticSubscriber =
        connectedNode.newSubscriber("tf_static", tf2_msgs.TFMessage._TYPE);
    tfStaticSubscriber.addMessageListener(new MessageListener<tf2_msgs.TFMessage>() {
      @Override
      public void onNewMessage(tf2_msgs.TFMessage message) {
        synchronized (mutex) {
          for (geometry_msgs.TransformStamped transform : message.getTransforms()) {
            frameTransformTree.update(transform);
          }
        }
      }
    });
  }

  private void startLayers() {
    for (Layer layer : layers) {
      layer.onStart(this, connectedNode);
    }
  }

  public void addLayer(Layer layer) {
        layers.add(layer);
  }

  @Override
  public void onShutdown(Node node) {
    for (Layer layer : layers) {
      layer.onShutdown(this, node);
    }
    this.connectedNode = null;
  }

  @Override
  public void onShutdownComplete(Node node) {
  }

  @Override
  public void onError(Node node, Throwable throwable) {
  }
}