MainActivity.java

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/*
 * Copyright (C) 2013 OSRF.
 *
 * 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 com.github.rosjava.android_apps.teleop;

import android.os.Bundle;
import android.view.Menu;
import android.view.MenuItem;
import android.view.View;
import android.widget.Button;

import com.github.rosjava.android_apps.application_management.RosAppActivity;
import org.ros.android.view.RosImageView;
import org.ros.namespace.NameResolver;
import org.ros.node.NodeConfiguration;
import org.ros.node.NodeMainExecutor;
import org.ros.address.InetAddressFactory;
import org.ros.android.BitmapFromCompressedImage;
import org.ros.android.view.VirtualJoystickView;

public class MainActivity extends RosAppActivity {

        private RosImageView<sensor_msgs.CompressedImage> cameraView;
        private VirtualJoystickView virtualJoystickView;
        private Button backButton;
    private static final String virtualJoystickTopic = "android/virtual_joystick/cmd_vel";
        private static final String cameraTopic = "camera/rgb/image_color/compressed_throttle";


        public MainActivity() {
                // The RosActivity constructor configures the notification title and
                // ticker
                // messages.
                super("android teleop", "android teleop");
        }

        @SuppressWarnings("unchecked")
        @Override
        public void onCreate(Bundle savedInstanceState) {
                
                String defaultRobotName = getString(R.string.default_robot);
                String defaultAppName = getString(R.string.default_app);
                setDefaultRobotName(defaultRobotName);
                setDefaultAppName(defaultAppName);
                setDashboardResource(R.id.top_bar);
                setMainWindowResource(R.layout.main);
                super.onCreate(savedInstanceState);

                
                cameraView = (RosImageView<sensor_msgs.CompressedImage>) findViewById(R.id.image);
                cameraView.setMessageType(sensor_msgs.CompressedImage._TYPE);
                cameraView.setMessageToBitmapCallable(new BitmapFromCompressedImage());
                virtualJoystickView = (VirtualJoystickView) findViewById(R.id.virtual_joystick);
                backButton = (Button) findViewById(R.id.back_button);
                backButton.setOnClickListener(new View.OnClickListener() {
                        @Override
                        public void onClick(View view) {
                                onBackPressed();
                        }
                });
        }

        @Override
        protected void init(NodeMainExecutor nodeMainExecutor) {
                
                super.init(nodeMainExecutor);

                NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(
                                InetAddressFactory.newNonLoopback().getHostAddress(),
                                getMasterUri());

                NameResolver appNameSpace = getAppNameSpace();
                cameraView.setTopicName(appNameSpace.resolve(cameraTopic).toString());
        virtualJoystickView.setTopicName(appNameSpace.resolve(virtualJoystickTopic).toString());
                
                nodeMainExecutor.execute(cameraView, nodeConfiguration
                                .setNodeName("android/camera_view"));
                nodeMainExecutor.execute(virtualJoystickView,
                                nodeConfiguration.setNodeName("android/virtual_joystick"));

                nodeConfiguration = NodeConfiguration.newPublic(InetAddressFactory
                                .newNonLoopback().getHostAddress(), getMasterUri());
        }
        
          @Override
          public boolean onCreateOptionsMenu(Menu menu){
                  menu.add(0,0,0,R.string.stop_app);

                  return super.onCreateOptionsMenu(menu);
          }
          
          @Override
          public boolean onOptionsItemSelected(MenuItem item){
                  super.onOptionsItemSelected(item);
                  switch (item.getItemId()){
                  case 0:
                          onDestroy();
                          break;
                  }
                  return true;
          }
        
}