MainActivity.java

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/*
 * Copyright (C) 2012 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_map_viewer;

import com.google.common.base.Preconditions;

import android.os.Bundle;
import android.view.View;
import android.view.Window;
import android.view.WindowManager;
import android.widget.Toast;
import android.widget.ToggleButton;
import org.ros.address.InetAddressFactory;
import org.ros.android.RosActivity;
import org.ros.android.view.visualization.VisualizationView;
import org.ros.android.view.visualization.layer.CameraControlLayer;
import org.ros.android.view.visualization.layer.CameraControlListener;
import org.ros.android.view.visualization.layer.CompressedOccupancyGridLayer;
import org.ros.android.view.visualization.layer.OccupancyGridLayer;
import org.ros.android.view.visualization.layer.LaserScanLayer;
import org.ros.android.view.visualization.layer.RobotLayer;
import org.ros.node.NodeConfiguration;
import org.ros.node.NodeMainExecutor;
import org.ros.time.NtpTimeProvider;

import java.util.concurrent.TimeUnit;

public class MainActivity extends RosActivity {

  private static final String MAP_FRAME = "map";
  private static final String ROBOT_FRAME = "base_link";

  private final SystemCommands systemCommands;

  private VisualizationView visualizationView;
  private ToggleButton followMeToggleButton;

  public MainActivity() {
    super("Map Viewer", "Map Viewer");
    systemCommands = new SystemCommands();
  }

  @Override
  public void onCreate(Bundle savedInstanceState) {
    super.onCreate(savedInstanceState);
    requestWindowFeature(Window.FEATURE_NO_TITLE);
    getWindow().setFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN,
        WindowManager.LayoutParams.FLAG_FULLSCREEN);
    setContentView(R.layout.main);
    visualizationView = (VisualizationView) findViewById(R.id.visualization);
    followMeToggleButton = (ToggleButton) findViewById(R.id.follow_me_toggle_button);
    enableFollowMe();
  }

  @Override
  protected void init(NodeMainExecutor nodeMainExecutor) {
    CameraControlLayer cameraControlLayer =
        new CameraControlLayer(this, nodeMainExecutor.getScheduledExecutorService());
    cameraControlLayer.addListener(new CameraControlListener() {
      @Override
      public void onZoom(double focusX, double focusY, double factor) {
        disableFollowMe();
      }

      @Override
      public void onTranslate(float distanceX, float distanceY) {
        disableFollowMe();
      }

      @Override
      public void onRotate(double focusX, double focusY, double deltaAngle) {
        disableFollowMe();
      }

    });
    visualizationView.addLayer(cameraControlLayer);
    visualizationView.addLayer(new CompressedOccupancyGridLayer("map/png"));
    visualizationView.addLayer(new LaserScanLayer("scan"));
    // Turtlebot configuration
    // visualizationView.addLayer(new OccupancyGridLayer("turtlebot/application/map"));
    // visualizationView.addLayer(new LaserScanLayer("turtlebot/application/scan"));
    visualizationView.addLayer(new RobotLayer(ROBOT_FRAME));
    NodeConfiguration nodeConfiguration =
        NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress(),
            getMasterUri());
    NtpTimeProvider ntpTimeProvider =
        new NtpTimeProvider(InetAddressFactory.newFromHostString("192.168.0.1"),
            nodeMainExecutor.getScheduledExecutorService());
    ntpTimeProvider.startPeriodicUpdates(1, TimeUnit.MINUTES);
    nodeConfiguration.setTimeProvider(ntpTimeProvider);
    nodeMainExecutor.execute(visualizationView, nodeConfiguration);
    nodeMainExecutor.execute(systemCommands, nodeConfiguration);
  }

  public void onClearMapButtonClicked(View view) {
    toast("Clearing map...");
    systemCommands.reset();
    enableFollowMe();
  }

  public void onSaveMapButtonClicked(View view) {
    toast("Saving map...");
    systemCommands.saveGeotiff();
  }

  private void toast(final String text) {
    runOnUiThread(new Runnable() {
      @Override
      public void run() {
        Toast toast = Toast.makeText(MainActivity.this, text, Toast.LENGTH_SHORT);
        toast.show();
      }
    });
  }

  public void onFollowMeToggleButtonClicked(View view) {
    boolean on = ((ToggleButton) view).isChecked();
    if (on) {
      enableFollowMe();
    } else {
      disableFollowMe();
    }
  }

  private void enableFollowMe() {
    Preconditions.checkNotNull(visualizationView);
    Preconditions.checkNotNull(followMeToggleButton);
    runOnUiThread(new Runnable() {
      @Override
      public void run() {
        visualizationView.getCamera().jumpToFrame(ROBOT_FRAME);
        followMeToggleButton.setChecked(true);
      }
    });
  }

  private void disableFollowMe() {
    Preconditions.checkNotNull(visualizationView);
    Preconditions.checkNotNull(followMeToggleButton);
    runOnUiThread(new Runnable() {
      @Override
      public void run() {
        visualizationView.getCamera().setFrame(MAP_FRAME);
        followMeToggleButton.setChecked(false);
      }
    });
  }
}