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Fix SLAM controller, use PUB instead of PAIR sockets for zmq updater.

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Piv
2020-02-15 20:28:35 +10:30
parent ab885115e3
commit f281829595
4 changed files with 53 additions and 13 deletions
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39
app/src/main/java/com/example/carcontroller/SLAM/SlamView.java
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@@ -12,9 +12,16 @@ import android.view.SurfaceView;
import androidx.preference.PreferenceManager;
import com.example.carcontroller.Empty;
import com.example.carcontroller.SlamControlGrpc;
import com.example.carcontroller.SlamDetails;
import com.example.carcontroller.SlamLocation;
import com.google.protobuf.ByteString;
import io.grpc.ManagedChannel;
import io.grpc.ManagedChannelBuilder;
import io.grpc.stub.StreamObserver;
public class SlamView extends SurfaceView implements SlamUpdater.MapChangedListener {
private SlamUpdater slam;
@@ -23,6 +30,10 @@ public class SlamView extends SurfaceView implements SlamUpdater.MapChangedListe
private int width;
private SurfaceHolder surfaceHolder;
private Paint paint;
private SlamControlGrpc.SlamControlStub stub;
private ManagedChannel channel;
private int mapSizePixels;
private int mapSizeMeters;
public SlamView(Context context) {
super(context);
@@ -46,19 +57,43 @@ public class SlamView extends SurfaceView implements SlamUpdater.MapChangedListe
SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(context);
String host = prefs.getString("host", "10.0.0.53");
String port = prefs.getString("zmqPort", "5050");
String gRPCPort = prefs.getString("port", "50051");
mapSizePixels = Integer.parseInt(prefs.getString("MAPSIZEPIXELS", "540"));
mapSizeMeters = Integer.parseInt(prefs.getString("MAPSIZEMETRES", "10"));
slam = new ZmqSlamUpdater(host, port);
slam.addMapChangedListener(this);
surfaceHolder = getHolder();
paint = new Paint();
paint.setColor(Color.BLUE);
mapThread = new Thread(slam);
channel = ManagedChannelBuilder.forAddress(host, Integer.parseInt(gRPCPort)).usePlaintext().build();
stub = SlamControlGrpc.newStub(channel);
}
/**
* Called by MainActivity.onResume() to start a thread.
*/
public void resume() {
mapThread = new Thread(slam);
mapThread.start();
StreamObserver<Empty> response = new StreamObserver<Empty>() {
@Override
public void onNext(Empty value) {
mapThread.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.startMapStreaming(SlamDetails.newBuilder().setMapSizePixels(mapSizePixels).setMapSizeMeters(mapSizeMeters).build(), response);
}
public void stop() {