vato007/picar
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Slow down grpc loader, fix width setting for SLAM and invert colours.

Browse Source
This commit is contained in:
Piv
2020-02-20 19:28:54 +10:30
parent 8efb862256
commit a6834c0d07
2 changed files with 6 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
app/src/main/java/com/example/carcontroller/PiLoader.java
View File

@@ -62,7 +62,7 @@ public class PiLoader implements Runnable {
try { try {
// Use the same update rate as a typical screen refresh rate. // Use the same update rate as a typical screen refresh rate.
TimeUnit.MILLISECONDS.sleep(15); TimeUnit.MILLISECONDS.sleep(200);
} catch (InterruptedException e) { } catch (InterruptedException e) {
// TODO: Handle when interrupted and sleeping. // TODO: Handle when interrupted and sleeping.
} }

16
app/src/main/java/com/example/carcontroller/SLAM/SlamView.java
View File

@@ -27,7 +27,6 @@ public class SlamView extends SurfaceView implements SlamUpdater.MapChangedListe
private SlamUpdater slam; private SlamUpdater slam;
private Thread mapThread; private Thread mapThread;
private Context context; private Context context;
private int width;
private SurfaceHolder surfaceHolder; private SurfaceHolder surfaceHolder;
private Paint paint; private Paint paint;
private SlamControlGrpc.SlamControlStub stub; private SlamControlGrpc.SlamControlStub stub;
@@ -118,11 +117,12 @@ public class SlamView extends SurfaceView implements SlamUpdater.MapChangedListe
canvas.save(); canvas.save();
canvas.drawColor(Color.WHITE); canvas.drawColor(Color.WHITE);
// Using width as we want square. // Using width as we want square.
Bitmap bitmap = Bitmap.createBitmap(width, width, Bitmap.Config.ALPHA_8); Bitmap bitmap = Bitmap.createBitmap(mapSizePixels, mapSizePixels, Bitmap.Config.ALPHA_8);
for (int i = 0; i < width; i++) { for (int i = 0; i < mapSizePixels; i++) {
for (int j = 0; j < width; j++) { for (int j = 0; j < mapSizePixels; j++) {
// 0-255 is appropriate for the config used. // 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); canvas.drawBitmap(bitmap, 0, 0, paint);
@@ -130,10 +130,4 @@ public class SlamView extends SurfaceView implements SlamUpdater.MapChangedListe
surfaceHolder.unlockCanvasAndPost(canvas); surfaceHolder.unlockCanvasAndPost(canvas);
} }
} }
@Override
protected void onSizeChanged(int w, int b, int oldW, int oldB) {
super.onSizeChanged(w, b, oldW, oldB);
width = w;
}
} }