Add primary functionality to lidar view based on slam view.

Also go back to java 8.

.idea/misc.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_1_9" project-jdk-name="1.8" project-jdk-type="JavaSDK">
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_1_8" project-jdk-name="1.8" project-jdk-type="JavaSDK">
     <output url="file://$PROJECT_DIR$/build/classes" />
   </component>
   <component name="ProjectType">

app/build.gradle

@@ -19,8 +19,8 @@ android {
         }
     }
     compileOptions {
-        sourceCompatibility = 9.8
+        sourceCompatibility = 1.8
-        targetCompatibility = 9.8
+        targetCompatibility = 1.8
     }
 }
 

app/src/main/java/com/example/carcontroller/LIDAR/LidarView.java

@@ -1,35 +1,95 @@
 package com.example.carcontroller.LIDAR;
 
 import android.content.Context;
+import android.content.SharedPreferences;
 import android.graphics.Bitmap;
 import android.graphics.Canvas;
+import android.graphics.Color;
+import android.graphics.Paint;
 import android.util.AttributeSet;
 import android.view.MotionEvent;
 import android.view.SurfaceHolder;
 import android.view.SurfaceView;
 
+import androidx.preference.PreferenceManager;
+
+import com.example.carcontroller.Empty;
+import com.example.carcontroller.Int32Value;
 import com.example.carcontroller.PersonTrackingGrpc;
+import com.example.carcontroller.PointScan;
+import com.example.carcontroller.Updaters.AbstractUpdater;
+import com.example.carcontroller.Updaters.ZmqUpdater;
 
-public class LidarView extends SurfaceView implements Runnable {
+import java.util.stream.Collectors;
 
-    private boolean running;
+import io.grpc.ManagedChannel;
+import io.grpc.ManagedChannelBuilder;
+import io.grpc.stub.StreamObserver;
+
+public class LidarView extends SurfaceView implements AbstractUpdater.MapChangedListener<PointScan> {
+
+    private static final String LIDAR_TOPIC = "lidar_map";
+
+    private AbstractUpdater<PointScan> lidar;
     private Thread lidarThread;
-    private SurfaceHolder holder;
+    private String port;
-    PersonTrackingGrpc.PersonTrackingBlockingStub stub;
+    private SurfaceHolder surfaceHolder;
+    PersonTrackingGrpc.PersonTrackingStub stub;
 
     private int mBitmapX, mBitmapY, mViewWidth, mViewHeight;
     private Bitmap mBitmap;
 
     public LidarView(Context context) {
         super(context);
+        init();
     }
 
     public LidarView(Context context, AttributeSet attrs) {
         super(context, attrs);
+        init();
     }
 
     public LidarView(Context context, AttributeSet attrs, int defStyleAttr) {
         super(context, attrs, defStyleAttr);
+        init();
+    }
+
+    private void init() {
+        SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(getContext());
+        String host = prefs.getString("host", "10.0.0.53");
+        port = prefs.getString("zmqPort", "5050");
+        String gRPCPort = prefs.getString("port", "50051");
+        lidar = new ZmqUpdater<>(PointScan.getDefaultInstance().getParserForType(), LIDAR_TOPIC, host, port);
+        lidar.addMapChangedListener(this);
+        surfaceHolder = getHolder();
+        lidarThread = new Thread(lidar);
+        ManagedChannel channel = ManagedChannelBuilder.forAddress(host, Integer.parseInt(gRPCPort)).usePlaintext().build();
+        stub = PersonTrackingGrpc.newStub(channel);
+    }
+
+    /**
+     * Called by MainActivity.onResume() to start a thread.
+     */
+    public void resume() {
+        StreamObserver<Empty> response = new StreamObserver<Empty>() {
+            @Override
+            public void onNext(Empty value) {
+                lidarThread.start();
+            }
+
+            @Override
+            public void onError(Throwable t) {
+                // TODO: close the activity,
+                System.out.println(t.getMessage());
+            }
+
+            @Override
+            public void onCompleted() {
+                // Don't care.
+            }
+        };
+        // use async grpc method, ZMQ doesn't need to connect straight away.
+        stub.startTracking(Int32Value.newBuilder().setValue(Integer.parseInt(port)).build(), response);
     }
 
     @Override
@@ -42,7 +102,7 @@ public class LidarView extends SurfaceView implements Runnable {
         float x = event.getX();
         float y = event.getY();
 
-        // Get the group that was selected and select on the grpc controller.
+        // TODO: Get the group that was selected and select on the grpc controller.
         switch (event.getAction()) {
             case MotionEvent.ACTION_DOWN:
                 break;
@@ -50,36 +110,31 @@ public class LidarView extends SurfaceView implements Runnable {
         return true;
     }
 
-    @Override
-    public void run() {
-        Canvas canvas;
-        while (running) {
-            if (holder.getSurface().isValid()) {
-                canvas = holder.lockCanvas();
-                canvas.save();
-                // Get the updated points from the raspberry pi.
 
-
+    public void stop() {
-                // Iterate through every point (hist point) and draw to the canvas.
+        // TODO: Use grpc to tell zmq to stop.
-                
+        lidar.stop();
-            }
-        }
-    }
-
-    public void pause() {
-        running = false;
         try {
-            lidarThread.join();
+            lidarThread.join(1000);
         } catch (InterruptedException e) {
-
         }
-
     }
 
-    public void resume() {
+    @Override
-        lidarThread = new Thread(this);
+    public void mapChanged(PointScan points) {
-        lidarThread.start();
+        if (surfaceHolder.getSurface().isValid()) {
-        running = true;
+            Canvas canvas = surfaceHolder.lockCanvas();
+            canvas.save();
+            canvas.drawColor(Color.WHITE);
+            for (Point point : points.getPointsList().stream().map(Point::fromProtoPoint).collect(Collectors.toList())) {
+                // Now for each point, draw a circle for the point (so it's big enough) in the correct spot,
+                // and create a colour for that point to paint it correctly.
+                // TODO: Dynamically change the colour of the paint object based on the point group number.
+                canvas.drawCircle((float) point.x, (float) point.y, 5, new Paint());
+            }
+            canvas.restore();
+            surfaceHolder.unlockCanvasAndPost(canvas);
+        }
     }
 
     private static class Point {
@@ -91,8 +146,8 @@ public class LidarView extends SurfaceView implements Runnable {
             this.y = y;
         }
 
-        static Point fromXY(double x, double y) {
+        static Point fromProtoPoint(com.example.carcontroller.Point point) {
-            return new Point(x, y);
+            return fromHist(point.getDistance(), point.getAngle());
         }
 
         static Point fromHist(double distance, double angle) {

app/src/main/java/com/example/carcontroller/SLAM/SlamView.java

@@ -31,7 +31,6 @@ public class SlamView extends SurfaceView implements AbstractUpdater.MapChangedL
 
     private AbstractUpdater<SlamScan> slam;
     private Thread mapThread;
-    private Context context;
     private SurfaceHolder surfaceHolder;
     private Paint paint;
     private SlamControlGrpc.SlamControlStub stub;
@@ -41,24 +40,21 @@ public class SlamView extends SurfaceView implements AbstractUpdater.MapChangedL
 
     public SlamView(Context context) {
         super(context);
-        this.context = context;
         init();
     }
 
     public SlamView(Context context, AttributeSet attrs) {
         super(context, attrs);
-        this.context = context;
         init();
     }
 
     public SlamView(Context context, AttributeSet attrs, int defStyleAttr) {
         super(context, attrs, defStyleAttr);
-        this.context = context;
         init();
     }
 
     private void init() {
-        SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(context);
+        SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(getContext());
         String host = prefs.getString("host", "10.0.0.53");
         port = prefs.getString("zmqPort", "5050");
         String gRPCPort = prefs.getString("port", "50051");
@@ -104,10 +100,10 @@ public class SlamView extends SurfaceView implements AbstractUpdater.MapChangedL
     }
 
     public void stop() {
-        // Use grpc to tell the loader to stop. Interrupt the loader thread as well.
+        // TODO: Use grpc to tell zmq to stop.
         slam.stop();
         try {
-            mapThread.join();
+            mapThread.join(1000);
         } catch (InterruptedException e) {
         }
     }

app/src/main/proto/lidar_tracker.proto

@@ -27,5 +27,5 @@ service PersonTracking{
 
     rpc stop_tracking(Empty) returns (Empty) {}
 
-    rpc get_scan_data(Empty) returns (PointScan) {}
+    rpc start_tracking(Int32Value) returns (Empty) {}
 }