Initial Commit

2020-02-03 18:58:42 +10:30
commit 89a7572fde
60 changed files with 1927 additions and 0 deletions
--- a/app/.gitignore
+++ b/app/.gitignore
@@ -0,0 +1 @@
+/build
--- a/app/build.gradle
+++ 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'
+}
--- a/app/proguard-rules.pro
+++ 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
--- a/app/src/androidTest/java/com/example/carcontroller/ExampleInstrumentedTest.java
+++ 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 <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());
+    }
+}
--- a/app/src/main/AndroidManifest.xml
+++ b/app/src/main/AndroidManifest.xml
@@ -0,0 +1,33 @@
+<?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>
--- a/app/src/main/java/com/example/carcontroller/LidarTrackingController.java
+++ 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();
+        }
+    }
+
+}
--- a/app/src/main/java/com/example/carcontroller/LidarView.java
+++ 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);
+        }
+
+    }
+}
--- a/app/src/main/java/com/example/carcontroller/MainActivity.java
+++ 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);
+    }
+}
--- a/app/src/main/java/com/example/carcontroller/PiLoader.java
+++ 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.
+            }
+        }
+    }
+}
--- a/app/src/main/java/com/example/carcontroller/SLAM/SlamController.java
+++ 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();
+    }
+}
--- a/app/src/main/java/com/example/carcontroller/SLAM/SlamView.java
+++ 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();
+    }
+}
--- a/app/src/main/java/com/example/carcontroller/SettingsActivity.java
+++ 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);
+        }
+    }
+}
--- a/app/src/main/java/com/example/carcontroller/SimpleController.java
+++ 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);
+    }
+}
--- a/app/src/main/proto/SlamController.proto
+++ 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) {}
+}
--- a/app/src/main/proto/lidar_tracker.proto
+++ 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) {}
+}
--- a/app/src/main/proto/motorService.proto
+++ 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){}
+}
--- a/app/src/main/res/drawable-v24/ic_launcher_foreground.xml
+++ b/app/src/main/res/drawable-v24/ic_launcher_foreground.xml
@@ -0,0 +1,34 @@
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:aapt="http://schemas.android.com/aapt"
+    android:width="108dp"
+    android:height="108dp"
+    android:viewportWidth="108"
+    android:viewportHeight="108">
+    <path
+        android:fillType="evenOdd"
+        android:pathData="M32,64C32,64 38.39,52.99 44.13,50.95C51.37,48.37 70.14,49.57 70.14,49.57L108.26,87.69L108,109.01L75.97,107.97L32,64Z"
+        android:strokeWidth="1"
+        android:strokeColor="#00000000">
+        <aapt:attr name="android:fillColor">
+            <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
+                    android:color="#00000000"
+                    android:offset="1.0" />
+            </gradient>
+        </aapt:attr>
+    </path>
+    <path
+        android:fillColor="#FFFFFF"
+        android:fillType="nonZero"
+        android:pathData="M66.94,46.02L66.94,46.02C72.44,50.07 76,56.61 76,64L32,64C32,56.61 35.56,50.11 40.98,46.06L36.18,41.19C35.45,40.45 35.45,39.3 36.18,38.56C36.91,37.81 38.05,37.81 38.78,38.56L44.25,44.05C47.18,42.57 50.48,41.71 54,41.71C57.48,41.71 60.78,42.57 63.68,44.05L69.11,38.56C69.84,37.81 70.98,37.81 71.71,38.56C72.44,39.3 72.44,40.45 71.71,41.19L66.94,46.02ZM62.94,56.92C64.08,56.92 65,56.01 65,54.88C65,53.76 64.08,52.85 62.94,52.85C61.8,52.85 60.88,53.76 60.88,54.88C60.88,56.01 61.8,56.92 62.94,56.92ZM45.06,56.92C46.2,56.92 47.13,56.01 47.13,54.88C47.13,53.76 46.2,52.85 45.06,52.85C43.92,52.85 43,53.76 43,54.88C43,56.01 43.92,56.92 45.06,56.92Z"
+        android:strokeWidth="1"
+        android:strokeColor="#00000000" />
+</vector>
--- a/app/src/main/res/drawable/ic_car.xml
+++ b/app/src/main/res/drawable/ic_car.xml
@@ -0,0 +1,92 @@
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+    android:width="839dp"
+    android:height="1562dp"
+    android:viewportWidth="839"
+    android:viewportHeight="1562">
+  <path
+      android:pathData="M789.56,658.22C789.56,558.39 708.46,477.34 608.56,477.34L230.27,477.34C130.38,477.34 49.28,558.39 49.28,658.22L49.28,1020C49.28,1119.83 135.76,1142.73 235.65,1142.73L612.46,1141.67C712.35,1141.67 789.56,1119.83 789.56,1020L789.56,658.22Z"
+      android:strokeWidth="6.61"
+      android:fillColor="#959595"
+      android:strokeColor="#000000"/>
+  <path
+      android:pathData="M593.58,735.46l130.66,0l0,339.77l-130.66,0z"
+      android:strokeWidth="8.26"
+      android:fillColor="#FF5B5B"
+      android:strokeColor="#FF5B5B"/>
+  <path
+      android:pathData="M62.32,263.9l701.35,0l0,97.23l-701.35,0z"
+      android:strokeWidth="5.49"
+      android:fillColor="#959595"
+      android:strokeColor="#000000"/>
+  <path
+      android:pathData="M520.64,128.48L312.01,128.48C312.01,128.48 318.74,377.25 305.95,433.92C297.02,473.49 256.48,485.63 256.48,485.63C359.14,497.03 463.82,495.92 565.56,483.57C565.56,483.57 525.38,467.15 519.22,433.27C508.92,376.66 520.64,128.48 520.64,128.48Z"
+      android:fillColor="#959595"/>
+  <path
+      android:fillColor="#FF000000"
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+      android:strokeWidth="15.05"
+      android:strokeColor="#000000"/>
+  <path
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+      android:strokeWidth="24.67"
+      android:fillColor="#212121"
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+  <path
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+  <path
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+  <path
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+      android:strokeWidth="24.67"
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+  <path
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+      android:strokeWidth="24.67"
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+  <path
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+      android:fillColor="#959595"/>
+  <path
+      android:pathData="M818.08,1498.76C818.08,1467.81 792.96,1442.69 762.02,1442.69L85.51,1442.69C54.57,1442.69 29.45,1467.81 29.45,1498.76C29.45,1529.7 54.57,1554.82 85.51,1554.82L762.02,1554.82C792.96,1554.82 818.08,1529.7 818.08,1498.76Z"
+      android:strokeWidth="9.96"
+      android:fillColor="#212121"
+      android:strokeColor="#000000"/>
+  <path
+      android:pathData="M374.89,583.76h95.59v367.66h-95.59z"
+      android:strokeWidth="9.15"
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+      android:strokeColor="#3DDF43"/>
+  <path
+      android:pathData="M104.05,683.02h118.88v234.07h-118.88z"
+      android:strokeWidth="9.15"
+      android:fillColor="#3E79FF"
+      android:strokeColor="#3E79FF"/>
+  <path
+      android:pathData="M297.63,1142.72C297.63,1142.72 320.93,1129.19 331.43,1207.94C338,1257.15 322.47,1439.5 322.47,1439.5"
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+      android:fillColor="#00000000"
+      android:strokeColor="#000000"/>
+  <path
+      android:pathData="M552.08,1141.32C552.08,1141.32 531.49,1126.76 515.72,1183.75C502.41,1231.84 522.37,1438.36 522.37,1438.36"
+      android:strokeWidth="9.15"
+      android:fillColor="#00000000"
+      android:strokeColor="#000000"/>
+</vector>
--- a/app/src/main/res/drawable/ic_launcher_background.xml
+++ b/app/src/main/res/drawable/ic_launcher_background.xml
@@ -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"
+        android:pathData="M19,0L19,108"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M29,0L29,108"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M39,0L39,108"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M49,0L49,108"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M59,0L59,108"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M69,0L69,108"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M79,0L79,108"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M89,0L89,108"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M99,0L99,108"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M0,9L108,9"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M0,19L108,19"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M0,29L108,29"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M0,39L108,39"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M0,49L108,49"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M0,59L108,59"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M0,69L108,69"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M0,79L108,79"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M0,89L108,89"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M0,99L108,99"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M19,29L89,29"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M19,39L89,39"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M19,49L89,49"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M19,59L89,59"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M19,69L89,69"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M19,79L89,79"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M29,19L29,89"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M39,19L39,89"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M49,19L49,89"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M59,19L59,89"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M69,19L69,89"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+    <path
+        android:fillColor="#00000000"
+        android:pathData="M79,19L79,89"
+        android:strokeWidth="0.8"
+        android:strokeColor="#33FFFFFF" />
+</vector>
--- a/app/src/main/res/layout-land/activity_lidar_tracking_controller.xml
+++ b/app/src/main/res/layout-land/activity_lidar_tracking_controller.xml
@@ -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>
--- a/app/src/main/res/layout-land/activity_simple_controller.xml
+++ b/app/src/main/res/layout-land/activity_simple_controller.xml
@@ -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>
--- a/app/src/main/res/layout-land/activity_slam_controller.xml
+++ b/app/src/main/res/layout-land/activity_slam_controller.xml
@@ -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>
--- a/app/src/main/res/layout/activity_lidar_tracking_controller.xml
+++ b/app/src/main/res/layout/activity_lidar_tracking_controller.xml
@@ -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>
--- a/app/src/main/res/layout/activity_main.xml
+++ b/app/src/main/res/layout/activity_main.xml
@@ -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>
--- a/app/src/main/res/layout/activity_simple_controller.xml
+++ b/app/src/main/res/layout/activity_simple_controller.xml
@@ -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>
--- a/app/src/main/res/layout/activity_slam_controller.xml
+++ b/app/src/main/res/layout/activity_slam_controller.xml
@@ -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>
--- a/app/src/main/res/layout/content_main.xml
+++ b/app/src/main/res/layout/content_main.xml
@@ -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>
--- a/app/src/main/res/layout/settings_activity.xml
+++ b/app/src/main/res/layout/settings_activity.xml
@@ -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>
--- a/app/src/main/res/menu/menu_main.xml
+++ b/app/src/main/res/menu/menu_main.xml
@@ -0,0 +1,10 @@
+<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>
--- a/app/src/main/res/mipmap-anydpi-v26/ic_launcher.xml
+++ b/app/src/main/res/mipmap-anydpi-v26/ic_launcher.xml
@@ -0,0 +1,5 @@
+<?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>
--- a/app/src/main/res/mipmap-anydpi-v26/ic_launcher_round.xml
+++ b/app/src/main/res/mipmap-anydpi-v26/ic_launcher_round.xml
@@ -0,0 +1,5 @@
+<?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>
--- a/app/src/main/res/mipmap-hdpi/ic_launcher.png
+++ b/app/src/main/res/mipmap-hdpi/ic_launcher.png
--- a/app/src/main/res/mipmap-hdpi/ic_launcher_round.png
+++ b/app/src/main/res/mipmap-hdpi/ic_launcher_round.png
--- a/app/src/main/res/mipmap-mdpi/ic_launcher.png
+++ b/app/src/main/res/mipmap-mdpi/ic_launcher.png
--- a/app/src/main/res/mipmap-mdpi/ic_launcher_round.png
+++ b/app/src/main/res/mipmap-mdpi/ic_launcher_round.png
--- a/app/src/main/res/mipmap-xhdpi/ic_launcher.png
+++ b/app/src/main/res/mipmap-xhdpi/ic_launcher.png
--- a/app/src/main/res/mipmap-xhdpi/ic_launcher_round.png
+++ b/app/src/main/res/mipmap-xhdpi/ic_launcher_round.png
--- a/app/src/main/res/mipmap-xxhdpi/ic_launcher.png
+++ b/app/src/main/res/mipmap-xxhdpi/ic_launcher.png
--- a/app/src/main/res/mipmap-xxhdpi/ic_launcher_round.png
+++ b/app/src/main/res/mipmap-xxhdpi/ic_launcher_round.png
--- a/app/src/main/res/mipmap-xxxhdpi/ic_launcher.png
+++ b/app/src/main/res/mipmap-xxxhdpi/ic_launcher.png
--- a/app/src/main/res/mipmap-xxxhdpi/ic_launcher_round.png
+++ b/app/src/main/res/mipmap-xxxhdpi/ic_launcher_round.png
--- a/app/src/main/res/values/arrays.xml
+++ b/app/src/main/res/values/arrays.xml
@@ -0,0 +1,12 @@
+<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>
--- a/app/src/main/res/values/colors.xml
+++ b/app/src/main/res/values/colors.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <color name="colorPrimary">#008577</color>
+    <color name="colorPrimaryDark">#00574B</color>
+    <color name="colorAccent">#D81B60</color>
+</resources>
--- a/app/src/main/res/values/strings.xml
+++ b/app/src/main/res/values/strings.xml
@@ -0,0 +1,21 @@
+<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>
--- a/app/src/main/res/values/styles.xml
+++ b/app/src/main/res/values/styles.xml
@@ -0,0 +1,21 @@
+<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>
--- a/app/src/main/res/xml/root_preferences.xml
+++ b/app/src/main/res/xml/root_preferences.xml
@@ -0,0 +1,45 @@
+<!--
+  ~ 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>
--- a/app/src/test/java/com/example/carcontroller/ExampleUnitTest.java
+++ 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 <a href="http://d.android.com/tools/testing">Testing documentation</a>
+ */
+public class ExampleUnitTest {
+    @Test
+    public void addition_isCorrect() {
+        assertEquals(4, 2 + 2);
+    }
+}