[make_a_map] updated and compiling for indigo.

This updates the api for indigo with the changes discussed in #42.
rosjava · Feb 23, 2015 · 28121fe · 28121fe
1 parent 9e780b4
commit 28121fe
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Showing 3 changed files with 33 additions and 20 deletions.
diff --git a/make_a_map/src/main/java/com/github/rosjava/android_apps/make_a_map/MainActivity.java b/make_a_map/src/main/java/com/github/rosjava/android_apps/make_a_map/MainActivity.java
@@ -36,7 +36,10 @@
 import map_store.SaveMapResponse;
 
 import com.github.rosjava.android_remocons.common_tools.apps.RosAppActivity;
+import com.google.common.collect.Lists;
+
 import org.ros.android.view.RosImageView;
+import org.ros.android.view.visualization.layer.Layer;
 import org.ros.namespace.NameResolver;
 import org.ros.node.NodeConfiguration;
 import org.ros.node.NodeMainExecutor;
@@ -291,17 +294,22 @@ protected void init(NodeMainExecutor nodeMainExecutor) {
 
 		viewControlLayer.addListener(new CameraControlListener() {
 			@Override
-			public void onZoom(double focusX, double focusY, double factor) {
+			public void onZoom(float focusX, float focusY, float factor) {
 
 			}
 
+            @Override
+            public void onDoubleTap(float x, float y) {
+
+            }
+
 			@Override
 			public void onTranslate(float distanceX, float distanceY) {
 
 			}
 
 			@Override
-			public void onRotate(double focusX, double focusY, double deltaAngle) {
+			public void onRotate(float focusX, float focusY, double deltaAngle) {
 
 			}
 		});
@@ -310,11 +318,21 @@ public void onRotate(double focusX, double focusY, double deltaAngle) {
         String scanTopic  = remaps.get(getString(R.string.scan_topic));
         String robotFrame = (String) params.get("robot_frame", getString(R.string.robot_frame));
 
-        mapView.addLayer(viewControlLayer);
-		mapView.addLayer(new OccupancyGridLayer(appNameSpace.resolve(mapTopic).toString()));
-		mapView.addLayer(new LaserScanLayer(appNameSpace.resolve(scanTopic).toString()));
-		mapView.addLayer(new RobotLayer(robotFrame));
-		NtpTimeProvider ntpTimeProvider = new NtpTimeProvider(
+        OccupancyGridLayer occupancyGridLayer = new OccupancyGridLayer(appNameSpace.resolve(mapTopic).toString());
+        LaserScanLayer laserScanLayer = new LaserScanLayer(appNameSpace.resolve(scanTopic).toString());
+        RobotLayer robotLayer = new RobotLayer(robotFrame);
+
+        mapView.onCreate(
+                Lists.<Layer>newArrayList(
+                        viewControlLayer,
+                        occupancyGridLayer,
+                        laserScanLayer,
+                        robotLayer
+                )
+        );
+
+
+        NtpTimeProvider ntpTimeProvider = new NtpTimeProvider(
 				InetAddressFactory.newFromHostString("192.168.0.1"),
 				nodeMainExecutor.getScheduledExecutorService());
 		ntpTimeProvider.startPeriodicUpdates(1, TimeUnit.MINUTES);

diff --git a/make_a_map/src/main/java/com/github/rosjava/android_apps/make_a_map/ViewControlLayer.java b/make_a_map/src/main/java/com/github/rosjava/android_apps/make_a_map/ViewControlLayer.java
@@ -20,7 +20,6 @@
 
 import java.util.concurrent.ExecutorService;
 import android.content.Context;
-import android.os.Handler;
 import android.view.GestureDetector;
 import android.view.MotionEvent;
 import android.view.ScaleGestureDetector;
@@ -30,15 +29,13 @@
 import com.github.rosjava.android_remocons.common_tools.apps.AppParameters;
 
 import org.ros.android.view.RosImageView;
-import org.ros.android.view.visualization.Camera;
 import org.ros.android.view.visualization.RotateGestureDetector;
 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.concurrent.ListenerGroup;
 import org.ros.concurrent.SignalRunnable;
 import org.ros.node.ConnectedNode;
-import org.ros.rosjava_geometry.FrameTransformTree;
 
 /**
  * @author murase@jsk.imi.i.u-tokyo.ac.jp (Kazuto Murase)
@@ -73,7 +70,6 @@ public ViewControlLayer(final Context context,
                             final ViewGroup mainLayout,
                             final ViewGroup sideLayout,
                             final AppParameters params) {
-	super(context,executorService);
 
 	this.context = context;
 
@@ -163,9 +159,8 @@ private void swapViews() {
     }
 
     @Override
-	public void onStart(ConnectedNode connectedNode, Handler handler,
-			    FrameTransformTree frameTransformTree, final Camera camera) {
-	handler.post(new Runnable() {
+	public void onStart(final VisualizationView view, ConnectedNode connectedNode) {
+	view.post(new Runnable() {
 		@Override
 		    public void run() {
 		    translateGestureDetector =
@@ -174,7 +169,7 @@ public void run() {
 				    public boolean onScroll(MotionEvent event1, MotionEvent event2,
 							    final float distanceX, final float distanceY) {
 				    if (mapViewGestureAvaiable) {
-					camera.translate(-distanceX, distanceY);
+					view.getCamera().translate(-distanceX, distanceY);
 					listeners.signal(new SignalRunnable<CameraControlListener>() {
 						@Override
 						    public void run(CameraControlListener listener) {
@@ -193,9 +188,9 @@ public void run(CameraControlListener listener) {
 				    public boolean onRotate(MotionEvent event1, MotionEvent event2,
 							    final double deltaAngle) {
 				    if (mapViewGestureAvaiable) {
-					final double focusX = (event1.getX(0) + event1.getX(1)) / 2;
-					final double focusY = (event1.getY(0) + event1.getY(1)) / 2;
-					camera.rotate(focusX, focusY, deltaAngle);
+					final float focusX = (event1.getX(0) + event1.getX(1)) / 2;
+					final float focusY = (event1.getY(0) + event1.getY(1)) / 2;
+                        view.getCamera().rotate(focusX, focusY, deltaAngle);
 					listeners.signal(new SignalRunnable<CameraControlListener>() {
 						@Override
 						    public void run(CameraControlListener listener) {
@@ -222,7 +217,7 @@ public boolean onScale(ScaleGestureDetector detector) {
 							     final float focusX = detector.getFocusX();
 							     final float focusY = detector.getFocusY();
 							     final float factor = detector.getScaleFactor();
-							     camera.zoom(focusX, focusY, factor);
+                                 view.getCamera().zoom(focusX, focusY, factor);
 							     listeners.signal(new SignalRunnable<CameraControlListener>() {
 								     @Override
 									 public void run(CameraControlListener listener) {

diff --git a/settings.gradle b/settings.gradle
@@ -16,7 +16,7 @@
 
 include 'teleop'
 include 'map_nav'
-/*
 include 'make_a_map'
+/*
 include 'map_manager'
 */