From 8efb8622562ad10b335296856900a4f90063db6d Mon Sep 17 00:00:00 2001 From: Piv <18462828+Piv200@users.noreply.github.com> Date: Wed, 19 Feb 2020 17:43:11 +1030 Subject: [PATCH] Set the port for SLAM streaming request. --- .../java/com/example/carcontroller/SLAM/SlamView.java | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/app/src/main/java/com/example/carcontroller/SLAM/SlamView.java b/app/src/main/java/com/example/carcontroller/SLAM/SlamView.java index 3479dd6..ada7765 100644 --- a/app/src/main/java/com/example/carcontroller/SLAM/SlamView.java +++ b/app/src/main/java/com/example/carcontroller/SLAM/SlamView.java @@ -34,6 +34,7 @@ public class SlamView extends SurfaceView implements SlamUpdater.MapChangedListe private ManagedChannel channel; private int mapSizePixels; private int mapSizeMeters; + private String port; public SlamView(Context context) { super(context); @@ -56,7 +57,7 @@ public class SlamView extends SurfaceView implements SlamUpdater.MapChangedListe private void init() { SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(context); String host = prefs.getString("host", "10.0.0.53"); - String port = prefs.getString("zmqPort", "5050"); + port = prefs.getString("zmqPort", "5050"); String gRPCPort = prefs.getString("port", "50051"); mapSizePixels = Integer.parseInt(prefs.getString("MAPSIZEPIXELS", "540")); mapSizeMeters = Integer.parseInt(prefs.getString("MAPSIZEMETRES", "10")); @@ -93,7 +94,11 @@ public class SlamView extends SurfaceView implements SlamUpdater.MapChangedListe } }; // use async grpc method, ZMQ doesn't need to connect straight away. - stub.startMapStreaming(SlamDetails.newBuilder().setMapSizePixels(mapSizePixels).setMapSizeMeters(mapSizeMeters).build(), response); + stub.startMapStreaming(SlamDetails.newBuilder() + .setMapSizePixels(mapSizePixels) + .setMapSizeMeters(mapSizeMeters) + .setPort(Integer.parseInt(port)) + .build(), response); } public void stop() {