MainActivity.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.android_tutorial_camera;

import android.hardware.Camera;
import android.os.Bundle;
import android.view.MotionEvent;
import android.view.Window;
import android.view.WindowManager;
import android.widget.Toast;
import org.ros.address.InetAddressFactory;
import org.ros.android.RosActivity;
import org.ros.android.view.camera.RosCameraPreviewView;
import org.ros.node.NodeConfiguration;
import org.ros.node.NodeMainExecutor;
import android.util.Log;
import java.io.IOException;

public class MainActivity extends RosActivity {

  private int cameraId;
  private RosCameraPreviewView rosCameraPreviewView;

  public MainActivity() {
    super("CameraTutorial", "CameraTutorial");
  }

  @Override
  protected void onCreate(Bundle savedInstanceState) {
    super.onCreate(savedInstanceState);
    requestWindowFeature(Window.FEATURE_NO_TITLE);
    getWindow().addFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN);
    setContentView(R.layout.main);
    rosCameraPreviewView = (RosCameraPreviewView) findViewById(R.id.ros_camera_preview_view);
  }

  @Override
  public boolean onTouchEvent(MotionEvent event) {
    if (event.getAction() == MotionEvent.ACTION_UP) {
      int numberOfCameras = Camera.getNumberOfCameras();
      final Toast toast;
      if (numberOfCameras > 1) {
        cameraId = (cameraId + 1) % numberOfCameras;
        rosCameraPreviewView.releaseCamera();
        rosCameraPreviewView.setCamera(Camera.open(cameraId));
        toast = Toast.makeText(this, "Switching cameras.", Toast.LENGTH_SHORT);
      } else {
        toast = Toast.makeText(this, "No alternative cameras to switch to.", Toast.LENGTH_SHORT);
      }
      runOnUiThread(new Runnable() {
        @Override
        public void run() {
          toast.show();
        }
      });
    }
    return true;
  }

  @Override
  protected void init(NodeMainExecutor nodeMainExecutor) {
    cameraId = 0;

    rosCameraPreviewView.setCamera(Camera.open(cameraId));
    try {
      java.net.Socket socket = new java.net.Socket(getMasterUri().getHost(), getMasterUri().getPort());
      java.net.InetAddress local_network_address = socket.getLocalAddress();
      socket.close();
      NodeConfiguration nodeConfiguration =
              NodeConfiguration.newPublic(local_network_address.getHostAddress(), getMasterUri());
      nodeMainExecutor.execute(rosCameraPreviewView, nodeConfiguration);
    } catch (IOException e) {
        // Socket problem
        Log.e("Camera Tutorial", "socket error trying to get networking information from the master uri");
    }

  }
}