From 9393d24e594e6ca7bc77f0bf41afaaa41bc08ce3 Mon Sep 17 00:00:00 2001
From: Piv <18462828+Piv200@users.noreply.github.com>
Date: Sat, 30 May 2020 12:12:35 +0930
Subject: [PATCH] Minor upgrades to android lidar support

---
 app/build.gradle                              |  6 ++---
 .../vato/carcontroller/LIDAR/LidarView.java   | 26 ++++++++++++++++++-
 .../org/vato/carcontroller/SLAM/SlamView.java | 15 +++++++++++
 .../carcontroller/Updaters/GrpcUpdater.java   |  1 +
 4 files changed, 44 insertions(+), 4 deletions(-)

diff --git a/app/build.gradle b/app/build.gradle
index a662531..0818652 100644
--- a/app/build.gradle
+++ b/app/build.gradle
@@ -36,9 +36,9 @@ dependencies {
     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:1.28.1' // CURRENT_GRPC_VERSION
-    implementation 'io.grpc:grpc-protobuf-lite:1.28.1' // CURRENT_GRPC_VERSION
-    implementation 'io.grpc:grpc-stub:1.28.1' // CURRENT_GRPC_VERSION
+    implementation 'io.grpc:grpc-okhttp:1.29.0' // CURRENT_GRPC_VERSION
+    implementation 'io.grpc:grpc-protobuf-lite:1.29.0' // CURRENT_GRPC_VERSION
+    implementation 'io.grpc:grpc-stub:1.29.0' // CURRENT_GRPC_VERSION
     implementation 'javax.annotation:javax.annotation-api:1.2'
     implementation 'org.zeromq:jeromq:0.5.2'
 }
diff --git a/app/src/main/java/org/vato/carcontroller/LIDAR/LidarView.java b/app/src/main/java/org/vato/carcontroller/LIDAR/LidarView.java
index aad1dc4..12bd7ae 100644
--- a/app/src/main/java/org/vato/carcontroller/LIDAR/LidarView.java
+++ b/app/src/main/java/org/vato/carcontroller/LIDAR/LidarView.java
@@ -7,6 +7,7 @@ import android.graphics.Canvas;
 import android.graphics.Color;
 import android.graphics.Paint;
 import android.util.AttributeSet;
+import android.util.Log;
 import android.view.MotionEvent;
 import android.view.SurfaceHolder;
 import android.view.SurfaceView;
@@ -115,8 +116,22 @@ public class LidarView extends SurfaceView
 
 
     public void stop() {
-        // TODO: Use grpc to tell zmq to stop.
         lidar.stop();
+        StreamObserver<Empty> responseObserver = new StreamObserver<Empty>() {
+            @Override
+            public void onNext(Empty value) {
+            }
+
+            @Override
+            public void onError(Throwable t) {
+                Log.d("LIDAR", "Failed to stop SLAM", t);
+            }
+
+            @Override
+            public void onCompleted() {
+            }
+        };
+        stub.stopTracking(Empty.newBuilder().build(), responseObserver);
         try {
             lidarThread.join(1000);
         } catch (InterruptedException e) {
@@ -141,6 +156,15 @@ public class LidarView extends SurfaceView
         }
     }
 
+    /**
+     *
+     * @param groupNumber
+     * @return
+     */
+    private static int convertGroupNumberToHue(int groupNumber){
+        return 0;
+    }
+
     private static class Point {
         private double x;
         private double y;
diff --git a/app/src/main/java/org/vato/carcontroller/SLAM/SlamView.java b/app/src/main/java/org/vato/carcontroller/SLAM/SlamView.java
index 55635b6..4b60ff6 100644
--- a/app/src/main/java/org/vato/carcontroller/SLAM/SlamView.java
+++ b/app/src/main/java/org/vato/carcontroller/SLAM/SlamView.java
@@ -7,6 +7,7 @@ import android.graphics.Canvas;
 import android.graphics.Color;
 import android.graphics.Paint;
 import android.util.AttributeSet;
+import android.util.Log;
 import android.view.SurfaceHolder;
 import android.view.SurfaceView;
 
@@ -128,6 +129,20 @@ public class SlamView extends SurfaceView implements AbstractUpdater.MapChangedL
     public void stop() {
         // TODO: Use grpc to tell zmq to stop.
         slam.stop();
+        stub.stopStreaming(Empty.newBuilder().build(), new StreamObserver<Empty>() {
+            @Override
+            public void onNext(Empty value) {
+            }
+
+            @Override
+            public void onError(Throwable t) {
+                Log.d("SLAM", "Failed to stop SLAM", t);
+            }
+
+            @Override
+            public void onCompleted() {
+            }
+        });
         try {
             mapThread.join(1000);
         } catch (InterruptedException e) {
diff --git a/app/src/main/java/org/vato/carcontroller/Updaters/GrpcUpdater.java b/app/src/main/java/org/vato/carcontroller/Updaters/GrpcUpdater.java
index 2ac8231..8e53a8f 100644
--- a/app/src/main/java/org/vato/carcontroller/Updaters/GrpcUpdater.java
+++ b/app/src/main/java/org/vato/carcontroller/Updaters/GrpcUpdater.java
@@ -17,6 +17,7 @@ public class GrpcUpdater<T extends MessageLite> extends AbstractUpdater<T> {
 
     @Override
     public void stop() {
+        // TODO... may not be needed here.
 
     }