From b633fdea955a5b54fdde02da044b3f06db1422d8 Mon Sep 17 00:00:00 2001
From: Piv <18462828+Piv200@users.noreply.github.com>
Date: Sat, 25 Apr 2020 16:29:12 +0930
Subject: [PATCH] Recording vehicle change is working

---
 .../vato/carcontroller/SimpleController.java    |  7 ++++---
 .../activity_lidar_tracking_controller.xml      | 17 ++++++++++++++---
 .../control/gpio/recording_vehicle_decorator.py | 12 ++++++++----
 car/src/car/tracking/lidar_servicer.py          | 11 ++++++++++-
 .../main/proto/car/tracking/lidar_tracker.proto |  4 +++-
 5 files changed, 39 insertions(+), 12 deletions(-)

diff --git a/app/src/main/java/org/vato/carcontroller/SimpleController.java b/app/src/main/java/org/vato/carcontroller/SimpleController.java
index 835dcbc..8c6f814 100644
--- a/app/src/main/java/org/vato/carcontroller/SimpleController.java
+++ b/app/src/main/java/org/vato/carcontroller/SimpleController.java
@@ -104,22 +104,23 @@ public class SimpleController extends AppCompatActivity implements SeekBar.OnSee
 
     public void saveRecording(View view) {
         grpcController.saveRecording();
+
     }
 
     public void record(View view) {
-        grpcController.record(recordSwitch.isSelected());
+        grpcController.record(recordSwitch.isChecked());
     }
 
     public void recordLidar(View view) {
         StreamObserver<Empty> response = new StreamObserver<Empty>() {
             @Override
             public void onNext(Empty value) {
-                Toast.makeText(getApplicationContext(), "Started Recording Lidar", Toast.LENGTH_SHORT);
+                Toast.makeText(getApplicationContext(), "Started Recording Lidar", Toast.LENGTH_SHORT).show();
             }
 
             @Override
             public void onError(Throwable t) {
-                Toast.makeText(getApplicationContext(), "Failed to set lidar recording", Toast.LENGTH_SHORT);
+                Toast.makeText(getApplicationContext(), "Failed to set lidar recording", Toast.LENGTH_SHORT).show();
             }
 
             @Override
diff --git a/app/src/main/res/layout-land/activity_lidar_tracking_controller.xml b/app/src/main/res/layout-land/activity_lidar_tracking_controller.xml
index 7b8dff5..93940a3 100644
--- a/app/src/main/res/layout-land/activity_lidar_tracking_controller.xml
+++ b/app/src/main/res/layout-land/activity_lidar_tracking_controller.xml
@@ -7,14 +7,17 @@
     tools:context=".LIDAR.LidarTrackingController">
 
     <org.vato.carcontroller.LIDAR.LidarView
+        android:id="@+id/lidarMap"
         android:layout_width="match_parent"
         android:layout_height="match_parent"
-        android:id="@+id/lidarMap"/>
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        tools:layout_editor_absoluteX="-45dp" />
 
     <ImageView
         android:id="@+id/imageView"
-        android:layout_width="37dp"
-        android:layout_height="21dp"
+        android:layout_width="96dp"
+        android:layout_height="89dp"
         android:rotation="270"
         android:scaleType="fitCenter"
         app:layout_constraintBottom_toBottomOf="parent"
@@ -23,5 +26,13 @@
         app:layout_constraintTop_toTopOf="parent"
         app:srcCompat="@drawable/ic_car" />
 
+    <Switch
+        android:id="@+id/switch1"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="Switch"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
 
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/car/src/car/control/gpio/recording_vehicle_decorator.py b/car/src/car/control/gpio/recording_vehicle_decorator.py
index 1ce0090..1b839f6 100644
--- a/car/src/car/control/gpio/recording_vehicle_decorator.py
+++ b/car/src/car/control/gpio/recording_vehicle_decorator.py
@@ -39,8 +39,10 @@ class VehicleRecordingDecorator:
         return self._recording
 
     @record.setter
-    def record(self, value):
-        self._recording = True
+    def record(self, value: bool):
+        if not value:
+            self._records = []
+        self._recording = value
 
     @property
     def throttle(self):
@@ -49,7 +51,8 @@ class VehicleRecordingDecorator:
     @throttle.setter
     def throttle(self, value):
         if self._recording:
-            self._records.append(('t', value, str(datetime.datetime.now())))
+            self._records.append(
+                't,' + str(value) + ',' + datetime.datetime.now().isoformat(sep=' ', timespec='seconds'))
         self._vehicle.throttle = value
 
     @property
@@ -59,7 +62,8 @@ class VehicleRecordingDecorator:
     @steering.setter
     def steering(self, value):
         if self._recording:
-            self._records.append(('s', value, str(datetime.datetime.now())))
+            self._records.append(
+                's,' + str(value) + ',' + datetime.datetime.now().isoformat(sep=' ', timespec='seconds'))
         self._vehicle.steering = value
 
     @property
diff --git a/car/src/car/tracking/lidar_servicer.py b/car/src/car/tracking/lidar_servicer.py
index ae6c2f0..9038428 100644
--- a/car/src/car/tracking/lidar_servicer.py
+++ b/car/src/car/tracking/lidar_servicer.py
@@ -43,7 +43,16 @@ class LidarServicer(PersonTrackingServicer):
         return empty.Empty()
 
     def record(self, request, context):
-        self._lidar.record = True
+        # TODO: Fix this to not require 
+        if request.value:
+            self.cache.start_cache()
+        else:
+            self.cache.stop_scanning()
+        self._lidar.record = request.value
+        return empty.Empty()
+
+    def save_lidar(self, request, context):
+        self._lidar.save_data(request.file)
         return empty.Empty()
 
     def onGroupsChanged(self, message):
diff --git a/protobuf/src/main/proto/car/tracking/lidar_tracker.proto b/protobuf/src/main/proto/car/tracking/lidar_tracker.proto
index 3b0d5cb..b988413 100644
--- a/protobuf/src/main/proto/car/tracking/lidar_tracker.proto
+++ b/protobuf/src/main/proto/car/tracking/lidar_tracker.proto
@@ -8,6 +8,7 @@ option java_outer_classname = "PersonTrackingProto";
 
 import "google/protobuf/empty.proto";
 import "google/protobuf/wrappers.proto";
+import "car/control/motorService.proto";
 
 message Int32Value{
     int32 value = 1;
@@ -24,7 +25,6 @@ message PointScan{
 }
 
 
-
 service PersonTracking{
     rpc set_tracking_group(Int32Value) returns (google.protobuf.Empty) {}
 
@@ -34,4 +34,6 @@ service PersonTracking{
 
     rpc record(google.protobuf.BoolValue) returns (google.protobuf.Empty) {}
 
+    rpc save_lidar(MotorControl.SaveRequest) returns (google.protobuf.Empty) {}
+
 }
\ No newline at end of file