MainActivity.java
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00001 /*
00002  * Copyright (C) 2011 Google Inc.
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License"); you may not
00005  * use this file except in compliance with the License. You may obtain a copy of
00006  * the License at
00007  *
00008  * http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
00012  * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
00013  * License for the specific language governing permissions and limitations under
00014  * the License.
00015  */
00016 
00017 package com.github.rosjava.android_extras.android_tutorial_hokuyo;
00018 
00019 import android.os.Bundle;
00020 import org.ros.address.InetAddressFactory;
00021 import org.ros.android.android_acm_serial.AcmDevice;
00022 import org.ros.android.android_acm_serial.AcmDeviceActivity;
00023 import org.ros.exception.RosRuntimeException;
00024 import com.github.rosjava.rosjava_extras.hokuyo.LaserScanPublisher;
00025 import com.github.rosjava.rosjava_extras.hokuyo.scip20.Device;
00026 import org.ros.namespace.GraphName;
00027 import org.ros.node.NodeConfiguration;
00028 import org.ros.node.NodeMainExecutor;
00029 import org.ros.time.NtpTimeProvider;
00030 
00031 import java.util.concurrent.CountDownLatch;
00032 import java.util.concurrent.TimeUnit;
00033 
00037 public class MainActivity extends AcmDeviceActivity {
00038 
00039   private final CountDownLatch nodeRunnerServiceLatch;
00040 
00041   private NodeMainExecutor nodeMainExecutor;
00042 
00043   public MainActivity() {
00044     super("Hokuyo Node", "Hokuyo Node");
00045     nodeRunnerServiceLatch = new CountDownLatch(1);
00046   }
00047 
00048   @Override
00049   public void onCreate(Bundle savedInstanceState) {
00050     super.onCreate(savedInstanceState);
00051     setContentView(R.layout.main);
00052   }
00053 
00054   @Override
00055   protected void init(NodeMainExecutor nodeMainExecutor) {
00056     nodeRunnerServiceLatch.countDown();
00057     this.nodeMainExecutor = nodeMainExecutor;
00058   }
00059 
00060   private void startLaserScanPublisher(AcmDevice acmDevice) {
00061     try {
00062       nodeRunnerServiceLatch.await();
00063     } catch (InterruptedException e) {
00064       throw new RosRuntimeException(e);
00065     }
00066     NodeConfiguration nodeConfiguration =
00067         NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress(),
00068             getMasterUri());
00069     nodeConfiguration.setNodeName(GraphName.newAnonymous());
00070     NtpTimeProvider ntpTimeProvider =
00071         new NtpTimeProvider(InetAddressFactory.newFromHostString("192.168.0.1"),
00072             nodeMainExecutor.getScheduledExecutorService());
00073     ntpTimeProvider.startPeriodicUpdates(1, TimeUnit.MINUTES);
00074     nodeConfiguration.setTimeProvider(ntpTimeProvider);
00075     Device scipDevice =
00076         new Device(acmDevice.getInputStream(), acmDevice.getOutputStream(), ntpTimeProvider);
00077     LaserScanPublisher laserScanPublisher = new LaserScanPublisher(scipDevice);
00078     nodeMainExecutor.execute(laserScanPublisher, nodeConfiguration);
00079   }
00080 
00081   @Override
00082   public void onPermissionGranted(final AcmDevice acmDevice) {
00083     new Thread() {
00084       @Override
00085       public void run() {
00086         startLaserScanPublisher(acmDevice);
00087       };
00088     }.start();
00089   }
00090 
00091   @Override
00092   public void onPermissionDenied() {
00093   }
00094 }


android_extras
Author(s): Daniel Stonier
autogenerated on Thu Jun 6 2019 20:13:19