commit 89a7572fde72d4fbd0b5c082687096b79c36abab
Author: Piv <18462828+Piv200@users.noreply.github.com>
Date: Mon Feb 3 18:58:42 2020 +1030
Initial Commit
diff --git a/.gitignore b/.gitignore
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--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,14 @@
+*.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
diff --git a/.idea/codeStyles/Project.xml b/.idea/codeStyles/Project.xml
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+++ b/.idea/codeStyles/Project.xml
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+
+
+
+
+
+
+
+
+
+
+
+
+ xmlns:android
+
+ ^$
+
+
+
+
+
+
+
+
+ xmlns:.*
+
+ ^$
+
+
+ BY_NAME
+
+
+
+
+
+
+ .*:id
+
+ http://schemas.android.com/apk/res/android
+
+
+
+
+
+
+
+
+ .*:name
+
+ http://schemas.android.com/apk/res/android
+
+
+
+
+
+
+
+
+ name
+
+ ^$
+
+
+
+
+
+
+
+
+ style
+
+ ^$
+
+
+
+
+
+
+
+
+ .*
+
+ ^$
+
+
+ BY_NAME
+
+
+
+
+
+
+ .*
+
+ http://schemas.android.com/apk/res/android
+
+
+ ANDROID_ATTRIBUTE_ORDER
+
+
+
+
+
+
+ .*
+
+ .*
+
+
+ BY_NAME
+
+
+
+
+
+
+
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diff --git a/.idea/gradle.xml b/.idea/gradle.xml
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+++ b/.idea/gradle.xml
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+
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+
+
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diff --git a/.idea/misc.xml b/.idea/misc.xml
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+++ b/.idea/misc.xml
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diff --git a/.idea/runConfigurations.xml b/.idea/runConfigurations.xml
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+++ b/.idea/runConfigurations.xml
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diff --git a/.idea/vcs.xml b/.idea/vcs.xml
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+++ b/.idea/vcs.xml
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+
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+
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diff --git a/app/.gitignore b/app/.gitignore
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--- /dev/null
+++ b/app/.gitignore
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+/build
diff --git a/app/build.gradle b/app/build.gradle
new file mode 100644
index 0000000..49285c3
--- /dev/null
+++ b/app/build.gradle
@@ -0,0 +1,58 @@
+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'
+}
diff --git a/app/proguard-rules.pro b/app/proguard-rules.pro
new file mode 100644
index 0000000..f1b4245
--- /dev/null
+++ b/app/proguard-rules.pro
@@ -0,0 +1,21 @@
+# 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
diff --git a/app/src/androidTest/java/com/example/carcontroller/ExampleInstrumentedTest.java b/app/src/androidTest/java/com/example/carcontroller/ExampleInstrumentedTest.java
new file mode 100644
index 0000000..39c6e5f
--- /dev/null
+++ b/app/src/androidTest/java/com/example/carcontroller/ExampleInstrumentedTest.java
@@ -0,0 +1,27 @@
+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 Testing documentation
+ */
+@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());
+ }
+}
diff --git a/app/src/main/AndroidManifest.xml b/app/src/main/AndroidManifest.xml
new file mode 100644
index 0000000..2d1be85
--- /dev/null
+++ b/app/src/main/AndroidManifest.xml
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/app/src/main/java/com/example/carcontroller/LidarTrackingController.java b/app/src/main/java/com/example/carcontroller/LidarTrackingController.java
new file mode 100644
index 0000000..f50dce8
--- /dev/null
+++ b/app/src/main/java/com/example/carcontroller/LidarTrackingController.java
@@ -0,0 +1,36 @@
+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();
+ }
+ }
+
+}
diff --git a/app/src/main/java/com/example/carcontroller/LidarView.java b/app/src/main/java/com/example/carcontroller/LidarView.java
new file mode 100644
index 0000000..bc9889e
--- /dev/null
+++ b/app/src/main/java/com/example/carcontroller/LidarView.java
@@ -0,0 +1,106 @@
+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);
+ }
+
+ }
+}
diff --git a/app/src/main/java/com/example/carcontroller/MainActivity.java b/app/src/main/java/com/example/carcontroller/MainActivity.java
new file mode 100644
index 0000000..e81c079
--- /dev/null
+++ b/app/src/main/java/com/example/carcontroller/MainActivity.java
@@ -0,0 +1,69 @@
+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);
+ }
+}
diff --git a/app/src/main/java/com/example/carcontroller/PiLoader.java b/app/src/main/java/com/example/carcontroller/PiLoader.java
new file mode 100644
index 0000000..69f4823
--- /dev/null
+++ b/app/src/main/java/com/example/carcontroller/PiLoader.java
@@ -0,0 +1,71 @@
+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.
+ }
+ }
+ }
+}
diff --git a/app/src/main/java/com/example/carcontroller/SLAM/SlamController.java b/app/src/main/java/com/example/carcontroller/SLAM/SlamController.java
new file mode 100644
index 0000000..be927a6
--- /dev/null
+++ b/app/src/main/java/com/example/carcontroller/SLAM/SlamController.java
@@ -0,0 +1,90 @@
+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();
+ }
+}
diff --git a/app/src/main/java/com/example/carcontroller/SLAM/SlamView.java b/app/src/main/java/com/example/carcontroller/SLAM/SlamView.java
new file mode 100644
index 0000000..e217ca0
--- /dev/null
+++ b/app/src/main/java/com/example/carcontroller/SLAM/SlamView.java
@@ -0,0 +1,60 @@
+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();
+ }
+}
diff --git a/app/src/main/java/com/example/carcontroller/SettingsActivity.java b/app/src/main/java/com/example/carcontroller/SettingsActivity.java
new file mode 100644
index 0000000..adaa362
--- /dev/null
+++ b/app/src/main/java/com/example/carcontroller/SettingsActivity.java
@@ -0,0 +1,34 @@
+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);
+ }
+ }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/example/carcontroller/SimpleController.java b/app/src/main/java/com/example/carcontroller/SimpleController.java
new file mode 100644
index 0000000..f440518
--- /dev/null
+++ b/app/src/main/java/com/example/carcontroller/SimpleController.java
@@ -0,0 +1,90 @@
+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);
+ }
+}
diff --git a/app/src/main/proto/SlamController.proto b/app/src/main/proto/SlamController.proto
new file mode 100644
index 0000000..4de05d5
--- /dev/null
+++ b/app/src/main/proto/SlamController.proto
@@ -0,0 +1,31 @@
+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) {}
+}
\ No newline at end of file
diff --git a/app/src/main/proto/lidar_tracker.proto b/app/src/main/proto/lidar_tracker.proto
new file mode 100644
index 0000000..0567b3e
--- /dev/null
+++ b/app/src/main/proto/lidar_tracker.proto
@@ -0,0 +1,34 @@
+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) {}
+}
\ No newline at end of file
diff --git a/app/src/main/proto/motorService.proto b/app/src/main/proto/motorService.proto
new file mode 100644
index 0000000..121d6f5
--- /dev/null
+++ b/app/src/main/proto/motorService.proto
@@ -0,0 +1,29 @@
+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){}
+}
\ No newline at end of file
diff --git a/app/src/main/res/drawable-v24/ic_launcher_foreground.xml b/app/src/main/res/drawable-v24/ic_launcher_foreground.xml
new file mode 100644
index 0000000..1f6bb29
--- /dev/null
+++ b/app/src/main/res/drawable-v24/ic_launcher_foreground.xml
@@ -0,0 +1,34 @@
+
+
+
+
+ - Reply
+ - Reply to all
+
+
+
+ - reply
+ - reply_all
+
+
\ No newline at end of file
diff --git a/app/src/main/res/values/colors.xml b/app/src/main/res/values/colors.xml
new file mode 100644
index 0000000..69b2233
--- /dev/null
+++ b/app/src/main/res/values/colors.xml
@@ -0,0 +1,6 @@
+
+
+ #008577
+ #00574B
+ #D81B60
+
diff --git a/app/src/main/res/values/strings.xml b/app/src/main/res/values/strings.xml
new file mode 100644
index 0000000..8cb9075
--- /dev/null
+++ b/app/src/main/res/values/strings.xml
@@ -0,0 +1,21 @@
+
+ CarController
+ Please switch to landscape orientation
+ Settings
+
+
+ Messages
+ Sync
+ Settings
+
+
+ Your signature
+ Default reply action
+
+
+ Sync email periodically
+ Download incoming attachments
+ Automatically download attachments for incoming emails
+
+ Only download attachments when manually requested
+
diff --git a/app/src/main/res/values/styles.xml b/app/src/main/res/values/styles.xml
new file mode 100644
index 0000000..7a78279
--- /dev/null
+++ b/app/src/main/res/values/styles.xml
@@ -0,0 +1,21 @@
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/app/src/main/res/xml/root_preferences.xml b/app/src/main/res/xml/root_preferences.xml
new file mode 100644
index 0000000..e425d6a
--- /dev/null
+++ b/app/src/main/res/xml/root_preferences.xml
@@ -0,0 +1,45 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/app/src/test/java/com/example/carcontroller/ExampleUnitTest.java b/app/src/test/java/com/example/carcontroller/ExampleUnitTest.java
new file mode 100644
index 0000000..351622b
--- /dev/null
+++ b/app/src/test/java/com/example/carcontroller/ExampleUnitTest.java
@@ -0,0 +1,17 @@
+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 Testing documentation
+ */
+public class ExampleUnitTest {
+ @Test
+ public void addition_isCorrect() {
+ assertEquals(4, 2 + 2);
+ }
+}
\ No newline at end of file
diff --git a/build.gradle b/build.gradle
new file mode 100644
index 0000000..beb8018
--- /dev/null
+++ b/build.gradle
@@ -0,0 +1,27 @@
+// 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
+}
diff --git a/gradle.properties b/gradle.properties
new file mode 100644
index 0000000..199d16e
--- /dev/null
+++ b/gradle.properties
@@ -0,0 +1,20 @@
+# 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
+
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
new file mode 100644
index 0000000..f6b961f
Binary files /dev/null and b/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
new file mode 100644
index 0000000..654077b
--- /dev/null
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -0,0 +1,6 @@
+#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
diff --git a/gradlew b/gradlew
new file mode 100755
index 0000000..cccdd3d
--- /dev/null
+++ b/gradlew
@@ -0,0 +1,172 @@
+#!/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" "$@"
diff --git a/gradlew.bat b/gradlew.bat
new file mode 100644
index 0000000..e95643d
--- /dev/null
+++ b/gradlew.bat
@@ -0,0 +1,84 @@
+@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
diff --git a/settings.gradle b/settings.gradle
new file mode 100644
index 0000000..14630a6
--- /dev/null
+++ b/settings.gradle
@@ -0,0 +1,2 @@
+include ':app'
+rootProject.name='CarController'