CompressedImageView.java

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package org.ros.android.android_image_view;

import org.jboss.netty.buffer.ChannelBuffer;
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.topic.Subscriber;

import android.content.Context;
import android.graphics.Bitmap;
import android.graphics.BitmapFactory;
import android.util.AttributeSet;
import android.view.MotionEvent;
import android.view.ViewGroup;
import android.widget.ImageView;

public class CompressedImageView extends ImageView implements NodeMain {

        private String topicName;
        private String messageType;
        private Bitmap showBitmap;
        private float aspect;
        private TouchEventTalker talker ;

        public CompressedImageView(Context context) {
                super(context);
        }
        
        public void setTalker( TouchEventTalker talker ){
                this.talker = talker ;
        }

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

        public CompressedImageView(Context context, AttributeSet attrs, int defStyle) {
                super(context, attrs, defStyle);
        }

        public void setTopicName(String topicName) {
                this.topicName = topicName;
        }

        public void setMessageType(String messageType) {
                this.messageType = messageType;
        }

        @Override
        public GraphName getDefaultNodeName() {
                return GraphName.of("tap_on_image/compressed_image_view");
        }

        @Override
        public void onStart(ConnectedNode connectedNode) {
                Subscriber<sensor_msgs.CompressedImage> subscriber = connectedNode
                                .newSubscriber(topicName, messageType);
                subscriber
                                .addMessageListener(new MessageListener<sensor_msgs.CompressedImage>() {
                                        @Override
                                        public void onNewMessage(
                                                        final sensor_msgs.CompressedImage message) {
                                                System.out.println( "receive message" ) ;
                                                post(new Runnable() {
                                                        @Override
                                                        public void run() {
                                                                ChannelBuffer buffer = message.getData();
                                                                byte[] data = buffer.array();
                                                                if (CompressedImageView.this.showBitmap != null) {
                                                                        CompressedImageView.this.showBitmap
                                                                                        .recycle();
                                                                }
                                                                CompressedImageView.this.showBitmap = BitmapFactory
                                                                                .decodeByteArray(data,
                                                                                                buffer.arrayOffset(),
                                                                                                buffer.readableBytes());
                                                                CompressedImageView.this.setBitmap();
                                                                setImageBitmap(CompressedImageView.this.showBitmap);
                                                        }
                                                });
                                                postInvalidate();
                                        }
                                });
        }

        public void setBitmap() {
                setBitmap(this.showBitmap);
        }

        public void setBitmap(Bitmap bmp) {
                this.showBitmap = bmp ;
                float aspect = 1.0f * bmp.getWidth() / bmp.getHeight();
                if (Math.abs(this.aspect - aspect) > 0.1) {
                        this.aspect = aspect;
                        float rate = //1.0f ;
                                        Math.min(1.0f * MainActivity.width / bmp.getWidth(),
                                        1.0f * MainActivity.height / bmp.getHeight());
                        ViewGroup.LayoutParams param = CompressedImageView.this
                                        .getLayoutParams();
                        param.width = (int) (rate * bmp.getWidth());
                        param.height = (int) (rate * bmp.getHeight());
                        this.setLayoutParams(param);
                }
                setImageBitmap(bmp);
                postInvalidate();
        }

        @Override
        public boolean onTouchEvent(MotionEvent e) {
                System.out.println(e.getX() + ":" + e.getY());
                if ( this.talker != null ){
                        this.talker.publish( e.getX(), e.getY(), this.getWidth(), this.getHeight(), e.getAction() ) ;
                }
                return true;
        }

        @Override
        public void onShutdown(Node node) {
        }

        @Override
        public void onShutdownComplete(Node node) {
        }

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