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Piv
2020-02-03 18:58:42 +10:30
commit 89a7572fde
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*.iml
.gradle
/local.properties
/.idea/caches
/.idea/libraries
/.idea/modules.xml
/.idea/workspace.xml
/.idea/navEditor.xml
/.idea/assetWizardSettings.xml
.DS_Store
/build
/captures
.externalNativeBuild
.cxx

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<option name="resolveModulePerSourceSet" value="false" />
<option name="testRunner" value="PLATFORM" />
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/build

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app/build.gradle Normal file
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apply plugin: 'com.android.application'
apply plugin: 'com.google.protobuf'
android {
compileSdkVersion 29
buildToolsVersion "29.0.2"
defaultConfig {
applicationId "com.example.carcontroller"
minSdkVersion 26
targetSdkVersion 29
versionCode 1
versionName "1.0"
testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
}
buildTypes {
release {
minifyEnabled false
proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
}
}
}
protobuf {
protoc { artifact = 'com.google.protobuf:protoc:3.10.0' }
plugins {
javalite { artifact = "com.google.protobuf:protoc-gen-javalite:3.0.0" }
grpc {
artifact = 'io.grpc:protoc-gen-grpc-java:1.25.0'
}
}
generateProtoTasks {
all().each { task ->
task.plugins {
javalite {}
grpc { // Options added to --grpc_out
option 'lite'
}
}
}
}
}
dependencies {
implementation fileTree(dir: 'libs', include: ['*.jar'])
implementation 'androidx.appcompat:appcompat:1.1.0'
implementation 'androidx.constraintlayout:constraintlayout:1.1.3'
implementation 'com.google.android.material:material:1.0.0'
implementation 'androidx.preference:preference:1.1.0'
testImplementation 'junit:junit:4.12'
androidTestImplementation 'androidx.test:runner:1.2.0'
androidTestImplementation 'androidx.test.espresso:espresso-core:3.2.0'
implementation 'io.grpc:grpc-okhttp:1.25.0'
implementation 'io.grpc:grpc-protobuf-lite:1.25.0'
implementation 'io.grpc:grpc-stub:1.25.0'
implementation 'javax.annotation:javax.annotation-api:1.2'
implementation 'org.zeromq:jeromq:0.5.2'
}

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app/proguard-rules.pro vendored Normal file
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# Add project specific ProGuard rules here.
# You can control the set of applied configuration files using the
# proguardFiles setting in build.gradle.
#
# For more details, see
# http://developer.android.com/guide/developing/tools/proguard.html
# If your project uses WebView with JS, uncomment the following
# and specify the fully qualified class name to the JavaScript interface
# class:
#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
# public *;
#}
# Uncomment this to preserve the line number information for
# debugging stack traces.
#-keepattributes SourceFile,LineNumberTable
# If you keep the line number information, uncomment this to
# hide the original source file name.
#-renamesourcefileattribute SourceFile

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app/src/androidTest/java/com/example/carcontroller/ExampleInstrumentedTest.java Normal file
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package com.example.carcontroller;
import android.content.Context;
import androidx.test.platform.app.InstrumentationRegistry;
import androidx.test.ext.junit.runners.AndroidJUnit4;
import org.junit.Test;
import org.junit.runner.RunWith;
import static org.junit.Assert.*;
/**
* Instrumented test, which will execute on an Android device.
*
* @see <a href="http://d.android.com/tools/testing">Testing documentation</a>
*/
@RunWith(AndroidJUnit4.class)
public class ExampleInstrumentedTest {
@Test
public void useAppContext() {
// Context of the app under test.
Context appContext = InstrumentationRegistry.getInstrumentation().getTargetContext();
assertEquals("com.example.carcontroller", appContext.getPackageName());
}
}

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app/src/main/AndroidManifest.xml Normal file
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<?xml version="1.0" encoding="utf-8"?>
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
package="com.example.carcontroller">
<uses-permission android:name="android.permission.INTERNET" />
<uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
<application
android:allowBackup="true"
android:icon="@mipmap/ic_launcher"
android:label="@string/app_name"
android:roundIcon="@mipmap/ic_launcher_round"
android:supportsRtl="true"
android:theme="@style/AppTheme">
<activity android:name=".SLAM.SlamController"></activity>
<activity android:name=".LidarTrackingController" />
<activity
android:name=".SettingsActivity"
android:label="@string/title_activity_settings"
android:parentActivityName=".MainActivity" />
<activity android:name=".SimpleController" />
<activity
android:name=".MainActivity"
android:theme="@style/AppTheme.NoActionBar">
<intent-filter>
<action android:name="android.intent.action.MAIN" />
<category android:name="android.intent.category.LAUNCHER" />
</intent-filter>
</activity>
</application>
</manifest>

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app/src/main/java/com/example/carcontroller/LidarTrackingController.java Normal file
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package com.example.carcontroller;
import androidx.appcompat.app.AppCompatActivity;
import android.os.Bundle;
public class LidarTrackingController extends AppCompatActivity {
private LidarView lidarMap;
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_lidar_tracking_controller);
lidarMap = findViewById(R.id.lidarMap);
}
@Override
protected void onResume() {
super.onResume();
if (lidarMap != null) {
lidarMap.resume();
}
}
@Override
protected void onPause() {
super.onPause();
if (lidarMap != null) {
lidarMap.pause();
}
}
}

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app/src/main/java/com/example/carcontroller/LidarView.java Normal file
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package com.example.carcontroller;
import android.content.Context;
import android.graphics.Bitmap;
import android.graphics.Canvas;
import android.util.AttributeSet;
import android.view.MotionEvent;
import android.view.SurfaceHolder;
import android.view.SurfaceView;
public class LidarView extends SurfaceView implements Runnable {
private boolean running;
private Thread lidarThread;
private SurfaceHolder holder;
PersonTrackingGrpc.PersonTrackingBlockingStub stub;
private int mBitmapX, mBitmapY, mViewWidth, mViewHeight;
private Bitmap mBitmap;
public LidarView(Context context) {
super(context);
}
public LidarView(Context context, AttributeSet attrs) {
super(context, attrs);
}
public LidarView(Context context, AttributeSet attrs, int defStyleAttr) {
super(context, attrs, defStyleAttr);
}
@Override
protected void onSizeChanged(int w, int h, int oldw, int oldh) {
super.onSizeChanged(w, h, oldw, oldh);
}
@Override
public boolean onTouchEvent(MotionEvent event) {
float x = event.getX();
float y = event.getY();
// Get the group that was selected and select on the grpc controller.
switch (event.getAction()) {
case MotionEvent.ACTION_DOWN:
break;
}
return true;
}
@Override
public void run() {
Canvas canvas;
while (running) {
if (holder.getSurface().isValid()) {
canvas = holder.lockCanvas();
canvas.save();
// Get the updated points from the raspberry pi.
// Iterate through every point (hist point) and draw to the canvas.
}
}
}
public void pause() {
running = false;
try {
lidarThread.join();
} catch (InterruptedException e) {
}
}
public void resume() {
lidarThread = new Thread(this);
lidarThread.start();
running = true;
}
private static class Point {
private double x;
private double y;
private Point(double x, double y) {
this.x = x;
this.y = y;
}
static Point fromXY(double x, double y) {
return new Point(x, y);
}
static Point fromHist(double distance, double angle) {
return fromHist(distance, angle, new Point(0, 0));
}
static Point fromHist(double distance, double angle, Point offset) {
return new Point(distance * Math.sin(angle) + offset.x, distance * Math.cos(angle) + offset.y);
}
}
}

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app/src/main/java/com/example/carcontroller/MainActivity.java Normal file
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package com.example.carcontroller;
import androidx.appcompat.app.AppCompatActivity;
import androidx.appcompat.widget.Toolbar;
import android.content.Intent;
import android.os.Bundle;
import android.view.Menu;
import android.view.MenuInflater;
import android.view.MenuItem;
import android.view.View;
import android.widget.SeekBar;
import com.example.carcontroller.SLAM.SlamController;
import java.util.concurrent.CountDownLatch;
import io.grpc.stub.StreamObserver;
public class MainActivity extends AppCompatActivity {
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
Toolbar toolbar = findViewById(R.id.toolbar);
setSupportActionBar(toolbar);
}
@Override
public boolean onCreateOptionsMenu(Menu menu) {
getMenuInflater().inflate(R.menu.menu_main, menu);
return true;
}
@Override
public boolean onOptionsItemSelected(MenuItem item) {
int id = item.getItemId();
if (id == R.id.action_settings) {
Intent intent = new Intent(this, SettingsActivity.class);
startActivity(intent);
return true;
}
return super.onOptionsItemSelected(item);
}
public void loadSimpleController(View view) {
Intent intent = new Intent(getApplicationContext(), SimpleController.class);
startActivity(intent);
}
public void loadLidarController(View view) {
Intent intent = new Intent(getApplicationContext(), LidarTrackingController.class);
startActivity(intent);
}
public void loadCameraController(View view) {
}
public void loadSlamController(View view) {
Intent intent = new Intent(getApplicationContext(), SlamController.class);
startActivity(intent);
}
}

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app/src/main/java/com/example/carcontroller/PiLoader.java Normal file
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package com.example.carcontroller;
import java.util.concurrent.TimeUnit;
import java.util.concurrent.atomic.AtomicBoolean;
import io.grpc.ManagedChannel;
import io.grpc.ManagedChannelBuilder;
public class PiLoader implements Runnable {
Integer steeringValue = 50;
Integer throttleValue = 50;
private ManagedChannel mChannel;
private CarControlGrpc.CarControlBlockingStub stub;
private AtomicBoolean stop = new AtomicBoolean(false);
Thread piUpdaterThread;
public PiLoader(String host, Integer port) {
mChannel = ManagedChannelBuilder.forAddress(host, port).usePlaintext().build();
// Create an async stub.
stub = CarControlGrpc.newBlockingStub(mChannel);
}
private void createAndStart() {
piUpdaterThread = new Thread(this);
piUpdaterThread.start();
}
public void updateSteering(int value) {
steeringValue = value;
}
public void updateThrottle(int value) {
throttleValue = value;
}
public void stop() {
stop.lazySet(true);
if (!stop.get()) {
piUpdaterThread.interrupt();
}
}
public void start() {
stop.lazySet(false);
createAndStart();
}
@Override
public void run() {
while (!stop.get() && !Thread.interrupted()) {
try {
SteeringResponse steeringResponse = stub.setSteering(SteeringRequest.newBuilder().setSteering((float) steeringValue / 50f - 1).build());
ThrottleResponse throttleResponse = stub.setThrottle(ThrottleRequest.newBuilder().setThrottle((float) throttleValue / 50f - 1).build());
} catch (Exception e) {
System.out.println("Error");
stop();
}
try {
// Use the same update rate as a typical screen refresh rate.
TimeUnit.MILLISECONDS.sleep(15);
} catch (InterruptedException e) {
// TODO: Handle when interrupted and sleeping.
}
}
}
}

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app/src/main/java/com/example/carcontroller/SLAM/SlamController.java Normal file
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package com.example.carcontroller.SLAM;
import androidx.appcompat.app.AppCompatActivity;
import androidx.preference.PreferenceManager;
import android.content.SharedPreferences;
import android.os.Bundle;
import android.widget.SeekBar;
import com.example.carcontroller.PiLoader;
import com.example.carcontroller.R;
public class SlamController extends AppCompatActivity implements SeekBar.OnSeekBarChangeListener {
SeekBar steeringSlider;
SeekBar throttleSlider;
private static PiLoader grpcController;
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_slam_controller);
steeringSlider = findViewById(R.id.steeringBar);
if (steeringSlider != null) {
steeringSlider.setOnSeekBarChangeListener(this);
}
throttleSlider = findViewById(R.id.throttleBar);
if (throttleSlider != null) {
throttleSlider.setOnSeekBarChangeListener(this);
}
}
@Override
public void onProgressChanged(SeekBar seekBar, int i, boolean b) {
// Call the gRPC method to change the throttle.
switch (seekBar.getId()) {
case R.id.steeringBar:
if (grpcController != null) {
grpcController.updateSteering(i);
}
break;
case R.id.throttleBar:
if (grpcController != null) {
grpcController.updateThrottle(i);
}
break;
}
}
@Override
public void onStartTrackingTouch(SeekBar seekBar) {
}
@Override
public void onStopTrackingTouch(SeekBar seekBar) {
// Reset back to the middle, as this is how the controller will normally work.
// Check if this will actually still call the onProgressChanged listener method.
// Otherwise update the steering/throttle here as well.
steeringSlider.setProgress(50);
throttleSlider.setProgress(50);
}
@Override
protected void onResume() {
super.onResume();
SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(getApplicationContext());
if (grpcController == null) {
grpcController = new PiLoader(prefs.getString("host", "10.0.0.53"), Integer.parseInt(prefs.getString("port", "50051")));
}
// Should call the equivalent of the load method either here or in the loader.
grpcController.start();
}
@Override
protected void onPause() {
super.onPause();
grpcController.stop();
}
@Override
protected void onStop() {
super.onStop();
grpcController.stop();
}
}

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app/src/main/java/com/example/carcontroller/SLAM/SlamView.java Normal file
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package com.example.carcontroller.SLAM;
import android.content.Context;
import android.content.SharedPreferences;
import android.util.AttributeSet;
import android.view.SurfaceView;
import androidx.preference.PreferenceManager;
import org.zeromq.SocketType;
import org.zeromq.ZContext;
import org.zeromq.ZMQ;
public class SlamView extends SurfaceView implements Runnable {
ZContext context;
String host;
String port;
Thread mapThread;
public SlamView(Context context) {
super(context);
init();
}
public SlamView(Context context, AttributeSet attrs) {
super(context, attrs);
init();
}
public SlamView(Context context, AttributeSet attrs, int defStyleAttr) {
super(context, attrs, defStyleAttr);
init();
}
private void init() {
context = new ZContext();
SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(getContext());
host = prefs.getString("host", "10.0.0.53");
port = prefs.getString("port", "50051");
}
@Override
public void run() {
// Receive map from zmq and update appropriately.
try (ZMQ.Socket socket = context.createSocket(SocketType.SUB)) {
socket.connect("tcp://" + host + ":" + port);
while (!Thread.currentThread().isInterrupted()) {
byte[] map = socket.recv();
}
}
}
public void stop(){
// Use grpc to tell the loader to stop. Interrupt the loader thread as well.
mapThread.interrupt();
}
}

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app/src/main/java/com/example/carcontroller/SettingsActivity.java Normal file
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package com.example.carcontroller;
import android.os.Bundle;
import androidx.appcompat.app.ActionBar;
import androidx.appcompat.app.AppCompatActivity;
import androidx.preference.PreferenceFragmentCompat;
public class SettingsActivity extends AppCompatActivity {
public final static String HOST = "host";
public final static String PORT = "port";
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.settings_activity);
getSupportFragmentManager()
.beginTransaction()
.replace(R.id.settings, new SettingsFragment())
.commit();
ActionBar actionBar = getSupportActionBar();
if (actionBar != null) {
actionBar.setDisplayHomeAsUpEnabled(true);
}
}
public static class SettingsFragment extends PreferenceFragmentCompat {
@Override
public void onCreatePreferences(Bundle savedInstanceState, String rootKey) {
setPreferencesFromResource(R.xml.root_preferences, rootKey);
}
}
}

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app/src/main/java/com/example/carcontroller/SimpleController.java Normal file
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package com.example.carcontroller;
import androidx.appcompat.app.AppCompatActivity;
import androidx.preference.PreferenceManager;
import android.content.SharedPreferences;
import android.os.Bundle;
import android.widget.SeekBar;
import java.util.concurrent.CountDownLatch;
import io.grpc.stub.StreamObserver;
public class SimpleController extends AppCompatActivity implements SeekBar.OnSeekBarChangeListener {
SeekBar steeringSlider;
SeekBar throttleSlider;
private static PiLoader grpcController;
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_simple_controller);
steeringSlider = findViewById(R.id.steeringBar);
if (steeringSlider != null) {
steeringSlider.setOnSeekBarChangeListener(this);
}
throttleSlider = findViewById(R.id.throttleBar);
if (throttleSlider != null) {
throttleSlider.setOnSeekBarChangeListener(this);
}
}
@Override
protected void onResume() {
super.onResume();
SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(getApplicationContext());
if (grpcController == null) {
grpcController = new PiLoader(prefs.getString("host", "10.0.0.53"), Integer.parseInt(prefs.getString("port", "50051")));
}
// Should call the equivalent of the load method either here or in the loader.
grpcController.start();
}
@Override
protected void onPause() {
super.onPause();
grpcController.stop();
}
@Override
protected void onStop() {
super.onStop();
grpcController.stop();
}
@Override
public void onProgressChanged(SeekBar seekBar, int i, boolean b) {
// Call the gRPC method to change the throttle.
switch (seekBar.getId()) {
case R.id.steeringBar:
if (grpcController != null) {
grpcController.updateSteering(i);
}
break;
case R.id.throttleBar:
if (grpcController != null) {
grpcController.updateThrottle(i);
}
break;
}
}
@Override
public void onStartTrackingTouch(SeekBar seekBar) {
}
@Override
public void onStopTrackingTouch(SeekBar seekBar) {
// Reset back to the middle, as this is how the controller will normally work.
// Check if this will actually still call the onProgressChanged listener method.
// Otherwise update the steering/throttle here as well.
steeringSlider.setProgress(50);
throttleSlider.setProgress(50);
}
}

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app/src/main/proto/SlamController.proto Normal file
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syntax = "proto3";
message SlamDetails {
int32 map_size_pixels = 1;
int32 map_size_meters = 2;
}
message SlamRow{
repeated int32 points = 1;
}
message SlamLocation{
int32 x = 1;
int32 y = 2;
int32 theta = 3;
}
message SlamScan{
bytes map = 1;
SlamLocation location = 2;
}
message Empty{
}
service SlamControl {
rpc start_map_streaming(SlamDetails) returns (Empty) {}
rpc stop_streaming(Empty) returns (Empty) {}
}

34
app/src/main/proto/lidar_tracker.proto Normal file
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syntax = "proto3";
package persontracking;
option java_multiple_files = true;
option java_package = "com.example.carcontroller";
option java_outer_classname = "PersonTrackingProto";
message Int32Value{
int32 value = 1;
}
message Empty{
}
message Point{
double angle = 1;
int32 distance = 2;
int32 group_number = 3;
}
message PointScan{
repeated Point points = 1;
}
service PersonTracking{
rpc set_tracking_group(Int32Value) returns (Empty) {}
rpc stop_tracking(Empty) returns (Empty) {}
rpc get_scan_data(Empty) returns (PointScan) {}
}

29
app/src/main/proto/motorService.proto Normal file
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syntax = "proto3";
package MotorControl;
option java_multiple_files = true;
option java_package = "com.example.carcontroller";
option java_outer_classname = "MotorServiceProto";
message ThrottleRequest{
float throttle = 1;
}
message ThrottleResponse{
bool throttleSet = 1;
}
message SteeringRequest{
float steering = 1;
}
message SteeringResponse{
bool steeringSet = 1;
}
service CarControl{
rpc SetThrottle(ThrottleRequest) returns (ThrottleResponse){}
rpc SetSteering(SteeringRequest) returns (SteeringResponse){}
}

34
app/src/main/res/drawable-v24/ic_launcher_foreground.xml Normal file
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@@ -0,0 +1,34 @@
<vector xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:aapt="http://schemas.android.com/aapt"
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android:viewportWidth="108"
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<gradient
android:endX="78.5885"
android:endY="90.9159"
android:startX="48.7653"
android:startY="61.0927"
android:type="linear">
<item
android:color="#44000000"
android:offset="0.0" />
<item
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92
app/src/main/res/drawable/ic_car.xml Normal file
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@@ -0,0 +1,92 @@
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android:height="1562dp"
android:viewportWidth="839"
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</vector>

170
app/src/main/res/drawable/ic_launcher_background.xml Normal file
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@@ -0,0 +1,170 @@
<?xml version="1.0" encoding="utf-8"?>
<vector xmlns:android="http://schemas.android.com/apk/res/android"
android:width="108dp"
android:height="108dp"
android:viewportWidth="108"
android:viewportHeight="108">
<path
android:fillColor="#008577"
android:pathData="M0,0h108v108h-108z" />
<path
android:fillColor="#00000000"
android:pathData="M9,0L9,108"
android:strokeWidth="0.8"
android:strokeColor="#33FFFFFF" />
<path
android:fillColor="#00000000"
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android:fillColor="#00000000"
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27
app/src/main/res/layout-land/activity_lidar_tracking_controller.xml Normal file
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@@ -0,0 +1,27 @@
<?xml version="1.0" encoding="utf-8"?>
<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
android:layout_height="match_parent"
tools:context=".LidarTrackingController">
<com.example.carcontroller.LidarView
android:layout_width="match_parent"
android:layout_height="match_parent"
android:id="@+id/lidarMap"/>
<ImageView
android:id="@+id/imageView"
android:layout_width="37dp"
android:layout_height="21dp"
android:rotation="270"
android:scaleType="fitCenter"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintEnd_toEndOf="parent"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toTopOf="parent"
app:srcCompat="@drawable/ic_car" />
</androidx.constraintlayout.widget.ConstraintLayout>

31
app/src/main/res/layout-land/activity_simple_controller.xml Normal file
View File

@@ -0,0 +1,31 @@
<?xml version="1.0" encoding="utf-8"?>
<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
android:layout_height="match_parent"
tools:context=".SimpleController">
<SeekBar
android:id="@+id/steeringBar"
android:layout_width="200dp"
android:layout_height="44dp"
android:layout_marginEnd="32dp"
android:layout_marginBottom="32dp"
android:max="100"
android:progress="50"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintEnd_toEndOf="parent" />
<SeekBar
android:id="@+id/throttleBar"
android:layout_width="200dp"
android:layout_height="242dp"
android:layout_marginBottom="32dp"
android:max="100"
android:progress="50"
android:rotation="270"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintStart_toStartOf="parent" />
</androidx.constraintlayout.widget.ConstraintLayout>

31
app/src/main/res/layout-land/activity_slam_controller.xml Normal file
View File

@@ -0,0 +1,31 @@
<?xml version="1.0" encoding="utf-8"?>
<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
android:layout_height="match_parent"
tools:context=".SLAM.SlamController">
<SeekBar
android:id="@+id/steeringBar"
android:layout_width="200dp"
android:layout_height="44dp"
android:layout_marginEnd="32dp"
android:layout_marginBottom="32dp"
android:max="100"
android:progress="50"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintEnd_toEndOf="parent" />
<SeekBar
android:id="@+id/throttleBar"
android:layout_width="200dp"
android:layout_height="242dp"
android:layout_marginBottom="32dp"
android:max="100"
android:progress="50"
android:rotation="270"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintStart_toStartOf="parent" />
</androidx.constraintlayout.widget.ConstraintLayout>

18
app/src/main/res/layout/activity_lidar_tracking_controller.xml Normal file
View File

@@ -0,0 +1,18 @@
<?xml version="1.0" encoding="utf-8"?>
<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
android:layout_height="match_parent"
tools:context=".LidarTrackingController">
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="Please Switch to Landscape Orientation"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintEnd_toEndOf="parent"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toTopOf="parent" />
</androidx.constraintlayout.widget.ConstraintLayout>

25
app/src/main/res/layout/activity_main.xml Normal file
View File

@@ -0,0 +1,25 @@
<?xml version="1.0" encoding="utf-8"?>
<androidx.coordinatorlayout.widget.CoordinatorLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
android:layout_height="match_parent"
tools:context=".MainActivity">
<com.google.android.material.appbar.AppBarLayout
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:theme="@style/AppTheme.AppBarOverlay">
<androidx.appcompat.widget.Toolbar
android:id="@+id/toolbar"
android:layout_width="match_parent"
android:layout_height="?attr/actionBarSize"
android:background="?attr/colorPrimary"
app:popupTheme="@style/AppTheme.PopupOverlay" />
</com.google.android.material.appbar.AppBarLayout>
<include layout="@layout/content_main" />
</androidx.coordinatorlayout.widget.CoordinatorLayout>

20
app/src/main/res/layout/activity_simple_controller.xml Normal file
View File

@@ -0,0 +1,20 @@
<?xml version="1.0" encoding="utf-8"?>
<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
android:layout_height="match_parent"
tools:context=".SimpleController">
<TextView
android:id="@+id/textView"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="@string/switch.to.landscape"
android:textColor="@android:color/black"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintEnd_toEndOf="parent"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toTopOf="parent" />
</androidx.constraintlayout.widget.ConstraintLayout>

18
app/src/main/res/layout/activity_slam_controller.xml Normal file
View File

@@ -0,0 +1,18 @@
<?xml version="1.0" encoding="utf-8"?>
<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
android:layout_height="match_parent"
tools:context=".SLAM.SlamController">
<TextView
android:id="@+id/textView2"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="Please Change to Landscape Rotation"
app:layout_constraintBottom_toBottomOf="parent"
app:layout_constraintEnd_toEndOf="parent"
app:layout_constraintStart_toStartOf="parent"
app:layout_constraintTop_toTopOf="parent"/>
</androidx.constraintlayout.widget.ConstraintLayout>

36
app/src/main/res/layout/content_main.xml Normal file
View File

@@ -0,0 +1,36 @@
<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:orientation="vertical"
android:padding="32dp"
app:layout_behavior="@string/appbar_scrolling_view_behavior">
<Button
style="@style/Widget.AppCompat.Button"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:onClick="loadSimpleController"
android:text="Simple Controller" />
<Button
style="@style/Widget.AppCompat.Button"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:onClick="loadSlamController"
android:text="SLAM Controller" />
<Button
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:onClick="loadLidarController"
android:text="Controls with LIDAR Tracking" />
<Button
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:onClick="loadCameraController"
android:text="Controls with Camera" />
</LinearLayout>

9
app/src/main/res/layout/settings_activity.xml Normal file
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@@ -0,0 +1,9 @@
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="match_parent"
android:layout_height="match_parent">
<FrameLayout
android:id="@+id/settings"
android:layout_width="match_parent"
android:layout_height="match_parent" />
</LinearLayout>

10
app/src/main/res/menu/menu_main.xml Normal file
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<menu xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools"
tools:context="com.example.appwithsettings.MainActivity">
<item
android:id="@+id/action_settings"
android:orderInCategory="100"
android:title="@string/action_settings"
app:showAsAction="never" />
</menu>

5
app/src/main/res/mipmap-anydpi-v26/ic_launcher.xml Normal file
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<?xml version="1.0" encoding="utf-8"?>
<adaptive-icon xmlns:android="http://schemas.android.com/apk/res/android">
<background android:drawable="@drawable/ic_launcher_background" />
<foreground android:drawable="@drawable/ic_launcher_foreground" />
</adaptive-icon>

5
app/src/main/res/mipmap-anydpi-v26/ic_launcher_round.xml Normal file
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<?xml version="1.0" encoding="utf-8"?>
<adaptive-icon xmlns:android="http://schemas.android.com/apk/res/android">
<background android:drawable="@drawable/ic_launcher_background" />
<foreground android:drawable="@drawable/ic_launcher_foreground" />
</adaptive-icon>

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12
app/src/main/res/values/arrays.xml Normal file
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<resources>
<!-- Reply Preference -->
<string-array name="reply_entries">
<item>Reply</item>
<item>Reply to all</item>
</string-array>
<string-array name="reply_values">
<item>reply</item>
<item>reply_all</item>
</string-array>
</resources>

6
app/src/main/res/values/colors.xml Normal file
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<?xml version="1.0" encoding="utf-8"?>
<resources>
<color name="colorPrimary">#008577</color>
<color name="colorPrimaryDark">#00574B</color>
<color name="colorAccent">#D81B60</color>
</resources>

21
app/src/main/res/values/strings.xml Normal file
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<resources>
<string name="app_name">CarController</string>
<string name="switch.to.landscape">Please switch to landscape orientation</string>
<string name="title_activity_settings">Settings</string>
<!-- Preference Titles -->
<string name="messages_header">Messages</string>
<string name="sync_header">Sync</string>
<string name="action_settings">Settings</string>
<!-- Messages Preferences -->
<string name="signature_title">Your signature</string>
<string name="reply_title">Default reply action</string>
<!-- Sync Preferences -->
<string name="sync_title">Sync email periodically</string>
<string name="attachment_title">Download incoming attachments</string>
<string name="attachment_summary_on">Automatically download attachments for incoming emails
</string>
<string name="attachment_summary_off">Only download attachments when manually requested</string>
</resources>

21
app/src/main/res/values/styles.xml Normal file
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<resources>
<!-- Base application theme. -->
<style name="AppTheme" parent="Theme.AppCompat.Light.DarkActionBar">
<!-- Customize your theme here. -->
<item name="colorPrimary">@color/colorPrimary</item>
<item name="colorPrimaryDark">@color/colorPrimaryDark</item>
<item name="colorAccent">@color/colorAccent</item>
<item name="preferenceTheme">@style/PreferenceThemeOverlay</item>
</style>
<style name="AppTheme.NoActionBar">
<item name="windowActionBar">false</item>
<item name="windowNoTitle">true</item>
</style>
<style name="AppTheme.AppBarOverlay" parent="ThemeOverlay.AppCompat.Dark.ActionBar" />
<style name="AppTheme.PopupOverlay" parent="ThemeOverlay.AppCompat.Light" />
</resources>

45
app/src/main/res/xml/root_preferences.xml Normal file
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<!--
~ Copyright 2018 The app Open Source Project
~
~ 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.
-->
<PreferenceScreen xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto">
<PreferenceCategory app:title="Car Connection">
<EditTextPreference
app:key="host"
app:title="Pi IP Address/Hostname"
app:useSimpleSummaryProvider="true" />
<EditTextPreference
android:title="Port number"
app:key="port"
app:useSimpleSummaryProvider="true" />
</PreferenceCategory>
<PreferenceCategory android:title="Car Calibration">
<SeekBarPreference
android:defaultValue="50"
android:max="100"
android:title="Steering Trim - Unimplemented ATM"
app:key="steering_trim"
app:min="0"
app:useSimpleSummaryProvider="true" />
</PreferenceCategory>
</PreferenceScreen>

17
app/src/test/java/com/example/carcontroller/ExampleUnitTest.java Normal file
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package com.example.carcontroller;
import org.junit.Test;
import static org.junit.Assert.*;
/**
* Example local unit test, which will execute on the development machine (host).
*
* @see <a href="http://d.android.com/tools/testing">Testing documentation</a>
*/
public class ExampleUnitTest {
@Test
public void addition_isCorrect() {
assertEquals(4, 2 + 2);
}
}

27
build.gradle Normal file
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// Top-level build file where you can add configuration options common to all sub-projects/modules.
buildscript {
repositories {
google()
jcenter()
}
dependencies {
classpath 'com.android.tools.build:gradle:3.5.1'
classpath 'com.google.protobuf:protobuf-gradle-plugin:0.8.10'
// NOTE: Do not place your application dependencies here; they belong
// in the individual module build.gradle files
}
}
allprojects {
repositories {
google()
jcenter()
mavenLocal()
}
}
task clean(type: Delete) {
delete rootProject.buildDir
}

20
gradle.properties Normal file
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# Project-wide Gradle settings.
# IDE (e.g. Android Studio) users:
# Gradle settings configured through the IDE *will override*
# any settings specified in this file.
# For more details on how to configure your build environment visit
# http://www.gradle.org/docs/current/userguide/build_environment.html
# Specifies the JVM arguments used for the daemon process.
# The setting is particularly useful for tweaking memory settings.
org.gradle.jvmargs=-Xmx1536m
# When configured, Gradle will run in incubating parallel mode.
# This option should only be used with decoupled projects. More details, visit
# http://www.gradle.org/docs/current/userguide/multi_project_builds.html#sec:decoupled_projects
# org.gradle.parallel=true
# AndroidX package structure to make it clearer which packages are bundled with the
# Android operating system, and which are packaged with your app's APK
# https://developer.android.com/topic/libraries/support-library/androidx-rn
android.useAndroidX=true
# Automatically convert third-party libraries to use AndroidX
android.enableJetifier=true

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gradle/wrapper/gradle-wrapper.properties vendored Normal file
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#Wed Sep 11 18:49:06 ACST 2019
distributionBase=GRADLE_USER_HOME
distributionPath=wrapper/dists
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists
distributionUrl=https\://services.gradle.org/distributions/gradle-5.4.1-all.zip

172
gradlew vendored Executable file
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#!/usr/bin/env sh
##############################################################################
##
## Gradle start up script for UN*X
##
##############################################################################
# Attempt to set APP_HOME
# Resolve links: $0 may be a link
PRG="$0"
# Need this for relative symlinks.
while [ -h "$PRG" ] ; do
ls=`ls -ld "$PRG"`
link=`expr "$ls" : '.*-> \(.*\)$'`
if expr "$link" : '/.*' > /dev/null; then
PRG="$link"
else
PRG=`dirname "$PRG"`"/$link"
fi
done
SAVED="`pwd`"
cd "`dirname \"$PRG\"`/" >/dev/null
APP_HOME="`pwd -P`"
cd "$SAVED" >/dev/null
APP_NAME="Gradle"
APP_BASE_NAME=`basename "$0"`
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
DEFAULT_JVM_OPTS=""
# Use the maximum available, or set MAX_FD != -1 to use that value.
MAX_FD="maximum"
warn () {
echo "$*"
}
die () {
echo
echo "$*"
echo
exit 1
}
# OS specific support (must be 'true' or 'false').
cygwin=false
msys=false
darwin=false
nonstop=false
case "`uname`" in
CYGWIN* )
cygwin=true
;;
Darwin* )
darwin=true
;;
MINGW* )
msys=true
;;
NONSTOP* )
nonstop=true
;;
esac
CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
# Determine the Java command to use to start the JVM.
if [ -n "$JAVA_HOME" ] ; then
if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
# IBM's JDK on AIX uses strange locations for the executables
JAVACMD="$JAVA_HOME/jre/sh/java"
else
JAVACMD="$JAVA_HOME/bin/java"
fi
if [ ! -x "$JAVACMD" ] ; then
die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
Please set the JAVA_HOME variable in your environment to match the
location of your Java installation."
fi
else
JAVACMD="java"
which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
Please set the JAVA_HOME variable in your environment to match the
location of your Java installation."
fi
# Increase the maximum file descriptors if we can.
if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
MAX_FD_LIMIT=`ulimit -H -n`
if [ $? -eq 0 ] ; then
if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
MAX_FD="$MAX_FD_LIMIT"
fi
ulimit -n $MAX_FD
if [ $? -ne 0 ] ; then
warn "Could not set maximum file descriptor limit: $MAX_FD"
fi
else
warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
fi
fi
# For Darwin, add options to specify how the application appears in the dock
if $darwin; then
GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
fi
# For Cygwin, switch paths to Windows format before running java
if $cygwin ; then
APP_HOME=`cygpath --path --mixed "$APP_HOME"`
CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
JAVACMD=`cygpath --unix "$JAVACMD"`
# We build the pattern for arguments to be converted via cygpath
ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
SEP=""
for dir in $ROOTDIRSRAW ; do
ROOTDIRS="$ROOTDIRS$SEP$dir"
SEP="|"
done
OURCYGPATTERN="(^($ROOTDIRS))"
# Add a user-defined pattern to the cygpath arguments
if [ "$GRADLE_CYGPATTERN" != "" ] ; then
OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
fi
# Now convert the arguments - kludge to limit ourselves to /bin/sh
i=0
for arg in "$@" ; do
CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option
if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition
eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
else
eval `echo args$i`="\"$arg\""
fi
i=$((i+1))
done
case $i in
(0) set -- ;;
(1) set -- "$args0" ;;
(2) set -- "$args0" "$args1" ;;
(3) set -- "$args0" "$args1" "$args2" ;;
(4) set -- "$args0" "$args1" "$args2" "$args3" ;;
(5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
(6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
(7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
(8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
(9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
esac
fi
# Escape application args
save () {
for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
echo " "
}
APP_ARGS=$(save "$@")
# Collect all arguments for the java command, following the shell quoting and substitution rules
eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
cd "$(dirname "$0")"
fi
exec "$JAVACMD" "$@"

84
gradlew.bat vendored Normal file
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@if "%DEBUG%" == "" @echo off
@rem ##########################################################################
@rem
@rem Gradle startup script for Windows
@rem
@rem ##########################################################################
@rem Set local scope for the variables with windows NT shell
if "%OS%"=="Windows_NT" setlocal
set DIRNAME=%~dp0
if "%DIRNAME%" == "" set DIRNAME=.
set APP_BASE_NAME=%~n0
set APP_HOME=%DIRNAME%
@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
set DEFAULT_JVM_OPTS=
@rem Find java.exe
if defined JAVA_HOME goto findJavaFromJavaHome
set JAVA_EXE=java.exe
%JAVA_EXE% -version >NUL 2>&1
if "%ERRORLEVEL%" == "0" goto init
echo.
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
echo.
echo Please set the JAVA_HOME variable in your environment to match the
echo location of your Java installation.
goto fail
:findJavaFromJavaHome
set JAVA_HOME=%JAVA_HOME:"=%
set JAVA_EXE=%JAVA_HOME%/bin/java.exe
if exist "%JAVA_EXE%" goto init
echo.
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
echo.
echo Please set the JAVA_HOME variable in your environment to match the
echo location of your Java installation.
goto fail
:init
@rem Get command-line arguments, handling Windows variants
if not "%OS%" == "Windows_NT" goto win9xME_args
:win9xME_args
@rem Slurp the command line arguments.
set CMD_LINE_ARGS=
set _SKIP=2
:win9xME_args_slurp
if "x%~1" == "x" goto execute
set CMD_LINE_ARGS=%*
:execute
@rem Setup the command line
set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
@rem Execute Gradle
"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
:end
@rem End local scope for the variables with windows NT shell
if "%ERRORLEVEL%"=="0" goto mainEnd
:fail
rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
rem the _cmd.exe /c_ return code!
if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
exit /b 1
:mainEnd
if "%OS%"=="Windows_NT" endlocal
:omega

2
settings.gradle Normal file
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include ':app'
rootProject.name='CarController'