From a6834c0d07691edc5d05d6e8c870eae5a725cdb9 Mon Sep 17 00:00:00 2001
From: Piv <18462828+Piv200@users.noreply.github.com>
Date: Thu, 20 Feb 2020 19:28:54 +1030
Subject: [PATCH] Slow down grpc loader, fix width setting for SLAM and invert
 colours.

---
 .../java/com/example/carcontroller/PiLoader.java |  2 +-
 .../com/example/carcontroller/SLAM/SlamView.java | 16 +++++-----------
 2 files changed, 6 insertions(+), 12 deletions(-)

diff --git a/app/src/main/java/com/example/carcontroller/PiLoader.java b/app/src/main/java/com/example/carcontroller/PiLoader.java
index 69f4823..5bc13eb 100644
--- a/app/src/main/java/com/example/carcontroller/PiLoader.java
+++ b/app/src/main/java/com/example/carcontroller/PiLoader.java
@@ -62,7 +62,7 @@ public class PiLoader implements Runnable {
 
             try {
                 // Use the same update rate as a typical screen refresh rate.
-                TimeUnit.MILLISECONDS.sleep(15);
+                TimeUnit.MILLISECONDS.sleep(200);
             } catch (InterruptedException e) {
                 // TODO: Handle when interrupted and sleeping.
             }
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 ada7765..13d33cd 100644
--- a/app/src/main/java/com/example/carcontroller/SLAM/SlamView.java
+++ b/app/src/main/java/com/example/carcontroller/SLAM/SlamView.java
@@ -27,7 +27,6 @@ public class SlamView extends SurfaceView implements SlamUpdater.MapChangedListe
     private SlamUpdater slam;
     private Thread mapThread;
     private Context context;
-    private int width;
     private SurfaceHolder surfaceHolder;
     private Paint paint;
     private SlamControlGrpc.SlamControlStub stub;
@@ -118,11 +117,12 @@ public class SlamView extends SurfaceView implements SlamUpdater.MapChangedListe
             canvas.save();
             canvas.drawColor(Color.WHITE);
             // Using width as we want square.
-            Bitmap bitmap = Bitmap.createBitmap(width, width, Bitmap.Config.ALPHA_8);
-            for (int i = 0; i < width; i++) {
-                for (int j = 0; j < width; j++) {
+            Bitmap bitmap = Bitmap.createBitmap(mapSizePixels, mapSizePixels, Bitmap.Config.ALPHA_8);
+            for (int i = 0; i < mapSizePixels; i++) {
+                for (int j = 0; j < mapSizePixels; j++) {
                     // 0-255 is appropriate for the config used.
-                    bitmap.setPixel(i, j, map.byteAt(i * width + j));
+                    // Take away from 255 to invert the colours, so walls are the correct colour.
+                    bitmap.setPixel(i, j, 255 - map.byteAt(i * mapSizePixels + j));
                 }
             }
             canvas.drawBitmap(bitmap, 0, 0, paint);
@@ -130,10 +130,4 @@ public class SlamView extends SurfaceView implements SlamUpdater.MapChangedListe
             surfaceHolder.unlockCanvasAndPost(canvas);
         }
     }
-
-    @Override
-    protected void onSizeChanged(int w, int b, int oldW, int oldB) {
-        super.onSizeChanged(w, b, oldW, oldB);
-        width = w;
-    }
 }