From 2c8f61e8a65b2628b763c0dc3dbca9bc0ff73aef Mon Sep 17 00:00:00 2001
From: Piv <18462828+Piv200@users.noreply.github.com>
Date: Wed, 5 Feb 2020 22:16:23 +1030
Subject: [PATCH] FIx Slam protos

---
 app/build.gradle                                   |  1 -
 .../java/com/example/carcontroller/LidarView.java  |  1 -
 .../com/example/carcontroller/SLAM/SlamView.java   | 13 +++++++++++--
 app/src/main/proto/Empty.proto                     | 11 +++++++++++
 app/src/main/proto/SlamController.proto            | 14 ++++++++------
 app/src/main/proto/lidar_tracker.proto             | 11 ++++-------
 build.gradle                                       |  2 +-
 7 files changed, 35 insertions(+), 18 deletions(-)
 create mode 100644 app/src/main/proto/Empty.proto

diff --git a/app/build.gradle b/app/build.gradle
index 49285c3..516d7c5 100644
--- a/app/build.gradle
+++ b/app/build.gradle
@@ -41,7 +41,6 @@ protobuf {
 }
 
 dependencies {
-
     implementation fileTree(dir: 'libs', include: ['*.jar'])
     implementation 'androidx.appcompat:appcompat:1.1.0'
     implementation 'androidx.constraintlayout:constraintlayout:1.1.3'
diff --git a/app/src/main/java/com/example/carcontroller/LidarView.java b/app/src/main/java/com/example/carcontroller/LidarView.java
index bc9889e..64e15f3 100644
--- a/app/src/main/java/com/example/carcontroller/LidarView.java
+++ b/app/src/main/java/com/example/carcontroller/LidarView.java
@@ -33,7 +33,6 @@ public class LidarView extends SurfaceView implements Runnable {
     @Override
     protected void onSizeChanged(int w, int h, int oldw, int oldh) {
         super.onSizeChanged(w, h, oldw, oldh);
-
     }
 
     @Override
diff --git a/app/src/main/java/com/example/carcontroller/SLAM/SlamView.java b/app/src/main/java/com/example/carcontroller/SLAM/SlamView.java
index e217ca0..15450dd 100644
--- a/app/src/main/java/com/example/carcontroller/SLAM/SlamView.java
+++ b/app/src/main/java/com/example/carcontroller/SLAM/SlamView.java
@@ -7,6 +7,9 @@ import android.view.SurfaceView;
 
 import androidx.preference.PreferenceManager;
 
+import com.example.carcontroller.SlamScan;
+import com.google.protobuf.InvalidProtocolBufferException;
+
 import org.zeromq.SocketType;
 import org.zeromq.ZContext;
 import org.zeromq.ZMQ;
@@ -43,17 +46,23 @@ public class SlamView extends SurfaceView implements Runnable {
     @Override
     public void run() {
         // Receive map from zmq and update appropriately.
-        try (ZMQ.Socket socket = context.createSocket(SocketType.SUB)) {
+        try (ZMQ.Socket socket = context.createSocket(SocketType.PAIR)) {
             socket.connect("tcp://" + host + ":" + port);
+            socket.send("Hi");
             while (!Thread.currentThread().isInterrupted()) {
                 byte[] map = socket.recv();
+                SlamScan scan = SlamScan.parseFrom(map);
+                for (Byte b : scan.getMap()) {
 
+                }
             }
+        } catch (InvalidProtocolBufferException e) {
+            System.out.println("Invalid map found");
         }
 
     }
 
-    public void stop(){
+    public void stop() {
         // Use grpc to tell the loader to stop. Interrupt the loader thread as well.
         mapThread.interrupt();
     }
diff --git a/app/src/main/proto/Empty.proto b/app/src/main/proto/Empty.proto
new file mode 100644
index 0000000..ff44b21
--- /dev/null
+++ b/app/src/main/proto/Empty.proto
@@ -0,0 +1,11 @@
+syntax = "proto3";
+
+package persontracking;
+
+option java_multiple_files = true;
+option java_package = "com.example.carcontroller";
+option java_outer_classname = "EmptyProto";
+
+message Empty{
+
+}
\ No newline at end of file
diff --git a/app/src/main/proto/SlamController.proto b/app/src/main/proto/SlamController.proto
index 4de05d5..f9dcf7a 100644
--- a/app/src/main/proto/SlamController.proto
+++ b/app/src/main/proto/SlamController.proto
@@ -1,5 +1,11 @@
 syntax = "proto3";
 
+option java_multiple_files = true;
+option java_package = "com.example.carcontroller";
+option java_outer_classname = "SlamControllerProto";
+
+import "Empty.proto";
+
 message SlamDetails {
     int32 map_size_pixels = 1;
     int32 map_size_meters = 2;
@@ -20,12 +26,8 @@ message SlamScan{
     SlamLocation location = 2;
 }
 
-message Empty{
-
-}
-
 service SlamControl {
-    rpc start_map_streaming(SlamDetails) returns (Empty) {}
+    rpc start_map_streaming(SlamDetails) returns (persontracking.Empty) {}
 
-    rpc stop_streaming(Empty) returns (Empty) {}
+    rpc stop_streaming(persontracking.Empty) returns (persontracking.Empty) {}
 }
\ No newline at end of file
diff --git a/app/src/main/proto/lidar_tracker.proto b/app/src/main/proto/lidar_tracker.proto
index 0567b3e..a1abae6 100644
--- a/app/src/main/proto/lidar_tracker.proto
+++ b/app/src/main/proto/lidar_tracker.proto
@@ -6,15 +6,12 @@ option java_multiple_files = true;
 option java_package = "com.example.carcontroller";
 option java_outer_classname = "PersonTrackingProto";
 
+import "Empty.proto";
 
 message Int32Value{
     int32 value = 1;
 }
 
-message Empty{
-
-}
-
 message Point{
     double angle = 1;
     int32 distance = 2;
@@ -26,9 +23,9 @@ message PointScan{
 }
 
 service PersonTracking{
-    rpc set_tracking_group(Int32Value) returns (Empty) {}
+    rpc set_tracking_group(Int32Value) returns (persontracking.Empty) {}
 
-    rpc stop_tracking(Empty) returns (Empty) {}
+    rpc stop_tracking(persontracking.Empty) returns (persontracking.Empty) {}
 
-    rpc get_scan_data(Empty) returns (PointScan) {}
+    rpc get_scan_data(persontracking.Empty) returns (PointScan) {}
 }
\ No newline at end of file
diff --git a/build.gradle b/build.gradle
index beb8018..d4f60f2 100644
--- a/build.gradle
+++ b/build.gradle
@@ -6,7 +6,7 @@ buildscript {
         jcenter()
     }
     dependencies {
-        classpath 'com.android.tools.build:gradle:3.5.1'
+        classpath 'com.android.tools.build:gradle:3.5.3'
         classpath 'com.google.protobuf:protobuf-gradle-plugin:0.8.10'
 
         // NOTE: Do not place your application dependencies here; they belong