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Set the port for SLAM streaming request.

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Piv
2020-02-19 17:43:11 +10:30
parent 28e691f50c
commit 8efb862256
1 changed files with 7 additions and 2 deletions
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9
app/src/main/java/com/example/carcontroller/SLAM/SlamView.java
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@@ -34,6 +34,7 @@ public class SlamView extends SurfaceView implements SlamUpdater.MapChangedListe
private ManagedChannel channel; private ManagedChannel channel;
private int mapSizePixels; private int mapSizePixels;
private int mapSizeMeters; private int mapSizeMeters;
private String port;
public SlamView(Context context) { public SlamView(Context context) {
super(context); super(context);
@@ -56,7 +57,7 @@ public class SlamView extends SurfaceView implements SlamUpdater.MapChangedListe
private void init() { private void init() {
SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(context); SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(context);
String host = prefs.getString("host", "10.0.0.53"); 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"); String gRPCPort = prefs.getString("port", "50051");
mapSizePixels = Integer.parseInt(prefs.getString("MAPSIZEPIXELS", "540")); mapSizePixels = Integer.parseInt(prefs.getString("MAPSIZEPIXELS", "540"));
mapSizeMeters = Integer.parseInt(prefs.getString("MAPSIZEMETRES", "10")); 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. // 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() { public void stop() {