UI/settings update

SCCapstone · May 14, 2016 · 3a70f5e · 3a70f5e
1 parent cbb47b9
commit 3a70f5e
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Showing 20 changed files with 1,222 additions and 1,320 deletions.
diff --git a/src/android_foo/.idea/gradle.xml b/src/android_foo/.idea/gradle.xml
diff --git a/src/android_foo/.idea/inspectionProfiles/Project_Default.xml b/src/android_foo/.idea/inspectionProfiles/Project_Default.xml
diff --git a/src/android_foo/.idea/misc.xml b/src/android_foo/.idea/misc.xml
diff --git a/src/android_foo/.idea/workspace.xml b/src/android_foo/.idea/workspace.xml
diff --git a/src/android_foo/control_app/build.gradle b/src/android_foo/control_app/build.gradle
@@ -48,9 +48,9 @@ dependencies {
     compile 'com.android.support:appcompat-v7:23.2.0'
     compile 'com.android.support:cardview-v7:23.2.0'
     compile 'com.android.support:recyclerview-v7:23.2.0'
-    compile 'org.osmdroid:osmdroid-android:5.0.1'
     compile 'org.slf4j:slf4j-android:1.6.1-RC1'
-    compile 'com.github.MKergall.osmbonuspack:OSMBonusPack:v5.7'
+    compile 'org.osmdroid:osmdroid-android:5.2@aar'
+    compile 'com.github.MKergall:osmbonuspack:v5.8.1'
     compile 'com.android.support:support-v4:23.2.0'
     compile 'com.github.amlcurran.showcaseview:library:5.4.1'
     compile project(':control_app_lib')

diff --git a/...oid_foo/control_app/src/androidTest/java/com/robotca/ControlApp/Core/ControlModeTest.java b/...oid_foo/control_app/src/androidTest/java/com/robotca/ControlApp/Core/ControlModeTest.java
@@ -21,7 +21,7 @@ public class ControlModeTest {
 
     static
     {
-        ControlApp.ROBOT_INFO = new RobotInfo(null, "HUDTestRobotInfo", "HUDMasterURI", null, null, null, null, null, null);
+        ControlApp.ROBOT_INFO = new RobotInfo(null, "HUDTestRobotInfo", "HUDMasterURI", null, null, null, null, null, null, false, false, false, false);
     }
 
     @Rule

diff --git a/...foo/control_app/src/androidTest/java/com/robotca/ControlApp/Core/RobotControllerTest.java b/...foo/control_app/src/androidTest/java/com/robotca/ControlApp/Core/RobotControllerTest.java
@@ -30,7 +30,7 @@ public class RobotControllerTest {
 
     static
     {
-        ControlApp.ROBOT_INFO = new RobotInfo(null, "HUDTestRobotInfo", "HUDMasterURI", null, null, null, null, null, null);
+        ControlApp.ROBOT_INFO = new RobotInfo(null, "HUDTestRobotInfo", "HUDMasterURI", null, null, null, null, null, null, false, false, false, false);
     }
 
     @Rule

diff --git a/...oo/control_app/src/androidTest/java/com/robotca/ControlApp/Fragments/HUDFragmentTest.java b/...oo/control_app/src/androidTest/java/com/robotca/ControlApp/Fragments/HUDFragmentTest.java
@@ -29,7 +29,7 @@ public class HUDFragmentTest {
 
     static
     {
-        ControlApp.ROBOT_INFO = new RobotInfo(null, "HUDTestRobotInfo", "HUDMasterURI", null, null, null, null, null, null);
+        ControlApp.ROBOT_INFO = new RobotInfo(null, "HUDTestRobotInfo", "HUDMasterURI", null, null, null, null, null, null, false, false, false, false);
     }
 
     private static final String TAG = "HUDFragmentTest";

diff --git a/...android_foo/control_app/src/androidTest/java/com/robotca/ControlApp/RobotChooserTest.java b/...android_foo/control_app/src/androidTest/java/com/robotca/ControlApp/RobotChooserTest.java
@@ -33,7 +33,7 @@ public class RobotChooserTest {
 
     @Before
     public void setUp() throws Exception {
-        robotInfo = new RobotInfo(UUID.randomUUID(), "TestRobotInfo", "TestMasterURI", null, null, null, null, null, null);
+        robotInfo = new RobotInfo(UUID.randomUUID(), "TestRobotInfo", "TestMasterURI", null, null, null, null, null, null, false, false, false, false);
     }
 
     @Test

diff --git a/src/android_foo/control_app/src/main/java/com/robotca/ControlApp/ControlApp.java b/src/android_foo/control_app/src/main/java/com/robotca/ControlApp/ControlApp.java
@@ -160,12 +160,14 @@ public void onCreate(Bundle savedInstanceState) {
         PreferenceManager.setDefaultValues(this, R.xml.prefs, false);
 
         if (ROBOT_INFO != null) {
-            editor.putString(getString(R.string.prefs_joystick_topic_edittext_key), ROBOT_INFO.getJoystickTopic());
-            editor.putString(getString(R.string.prefs_laserscan_topic_edittext_key), ROBOT_INFO.getLaserTopic());
-            editor.putString(getString(R.string.prefs_camera_topic_edittext_key), ROBOT_INFO.getCameraTopic());
-            editor.putString(getString(R.string.prefs_navsat_topic_edittext_key), ROBOT_INFO.getNavSatTopic());
-            editor.putString(getString(R.string.prefs_odometry_topic_edittext_key), ROBOT_INFO.getOdometryTopic());
-            editor.putString(getString(R.string.prefs_pose_topic_edittext_key), ROBOT_INFO.getPoseTopic());
+            ROBOT_INFO.save(editor);
+
+//            editor.putString(getString(R.string.prefs_joystick_topic_edittext_key), ROBOT_INFO.getJoystickTopic());
+//            editor.putString(getString(R.string.prefs_laserscan_topic_edittext_key), ROBOT_INFO.getLaserTopic());
+//            editor.putString(getString(R.string.prefs_camera_topic_edittext_key), ROBOT_INFO.getCameraTopic());
+//            editor.putString(getString(R.string.prefs_navsat_topic_edittext_key), ROBOT_INFO.getNavSatTopic());
+//            editor.putString(getString(R.string.prefs_odometry_topic_edittext_key), ROBOT_INFO.getOdometryTopic());
+//            editor.putString(getString(R.string.prefs_pose_topic_edittext_key), ROBOT_INFO.getPoseTopic());
         }
 
 //        editor.putBoolean(getString(R.string.prefs_warning_checkbox_key), true);

diff --git a/src/android_foo/control_app/src/main/java/com/robotca/ControlApp/Core/RobotController.java b/src/android_foo/control_app/src/main/java/com/robotca/ControlApp/Core/RobotController.java
@@ -311,6 +311,18 @@ public void publishVelocity(double linearVelocityX, double linearVelocityY, doub
                 Log.e("Emergency Stop", e.getMessage());
             }
 
+            if(PreferenceManager.getDefaultSharedPreferences(context).getBoolean(context.getString(R.string.prefs_invert_x_axis_key), false)){
+                linearVelocityX *= -1;
+            }
+
+            if(PreferenceManager.getDefaultSharedPreferences(context).getBoolean(context.getString(R.string.prefs_invert_y_axis_key), false)){
+                linearVelocityY *= -1;
+            }
+
+            if(PreferenceManager.getDefaultSharedPreferences(context).getBoolean(context.getString(R.string.prefs_invert_angular_velocity_key), false)){
+                angularVelocityZ *= -1;
+            }
+
             currentVelocityCommand.getLinear().setX(linearVelocityX * scale);
             currentVelocityCommand.getLinear().setY(-linearVelocityY * scale);
             currentVelocityCommand.getLinear().setZ(0.0);
@@ -583,6 +595,18 @@ public LaserScan getLaserScan() {
     protected void setLaserScan(LaserScan laserScan) {
         synchronized (laserScanMutex) {
             this.laserScan = laserScan;
+
+            boolean invertLaserScan = PreferenceManager.getDefaultSharedPreferences(context).getBoolean(context.getString(R.string.prefs_reverse_angle_reading_key), false);
+
+            if(invertLaserScan) {
+                float[] ranges = this.laserScan.getRanges();
+
+                for (int i = 0; i < this.laserScan.getRanges().length / 2; i++) {
+                    float range = ranges[i];
+                    ranges[i] = ranges[ranges.length - i - 1];
+                    ranges[ranges.length - i - 1] = range;
+                }
+            }
         }
 
         // Call the listener callbacks

diff --git a/src/android_foo/control_app/src/main/java/com/robotca/ControlApp/Core/RobotInfo.java b/src/android_foo/control_app/src/main/java/com/robotca/ControlApp/Core/RobotInfo.java
@@ -1,5 +1,7 @@
 package com.robotca.ControlApp.Core;
 
+import android.content.SharedPreferences;
+import android.os.Bundle;
 import android.support.annotation.NonNull;
 
 import java.net.URI;
@@ -11,11 +13,39 @@
  *
  * Created by Michael Brunson on 1/23/16.
  */
-public class RobotInfo implements Comparable<RobotInfo> {
+public class RobotInfo implements Comparable<RobotInfo>, Savable {
 
     // Number of RobotInfos in storage
     private static int robotCount = 1;
 
+    /** Bundle key for UUID */
+    public static final String UUID_KEY = "UUID_KEY";
+    /** Bundle key for robot name */
+    public static final String ROBOT_NAME_KEY = "ROBOT_NAME_KEY";
+    /** Bundle key for master URI */
+    public static final String MASTER_URI_KEY = "MASTER_URI_KEY";
+    /** Bundle key for joystick topic */
+    public static final String JOYSTICK_TOPIC_KEY = "JOYSTICK_TOPIC_KEY";
+    /** Bundle key for laser scan topic */
+    public static final String LASER_SCAN_TOPIC_KEY = "LASER_SCAN_TOPIC_KEY";
+    /** Bundle key for camera topic */
+    public static final String CAMERA_TOPIC_KEY = "CAMERA_TOPIC_KEY";
+    /** Bundle key for navsat topic */
+    public static final String NAVSAT_TOPIC_KEY = "NAVSAT_TOPIC_KEY";
+    /** Bundle key for odometry topic */
+    public static final String ODOMETRY_TOPIC_KEY = "ODOMETRY_TOPIC_KEY";
+    /** Bundle key for pose topic */
+    public static final String POSE_TOPIC_KEY = "POSE_TOPIC_KEY";
+    /** Bundle key for reverse laser scan */
+    public static final String REVERSE_LASER_SCAN_KEY = "REVERSE_LASER_SCAN_KEY";
+    /** Bundle key for invert x-axis */
+    public static final String INVERT_X_KEY = "INVERT_X_KEY";
+    /** Bundle key for invert x-axis */
+    public static final String INVERT_Y_KEY = "INVERT_Y_KEY";
+    /** Bundle key for invert x-axis */
+    public static final String INVERT_ANGULAR_VELOCITY_KEY = "INVERT_ANGULAR_VELOCITY_KEY";
+
+
     // UUID for this RobotInfo
     private UUID id = UUID.randomUUID();
 
@@ -31,6 +61,10 @@ public class RobotInfo implements Comparable<RobotInfo> {
     private String navsatTopic;
     private String odometryTopic;
     private String poseTopic;
+    private boolean reverseLaserScan;
+    private boolean invertX;
+    private boolean invertY;
+    private boolean invertAngularVelocity;
 
     @SuppressWarnings("unused")
     private static final String TAG = "RobotInfo";
@@ -47,7 +81,11 @@ public RobotInfo() {
         laserTopic = "/scan";
         navsatTopic = "/navsat/fix";
         odometryTopic = "/odometry/filtered";
-        poseTopic = "/pose/";
+        poseTopic = "/pose";
+        reverseLaserScan = false;
+        invertX = false;
+        invertY = false;
+        invertAngularVelocity = false;
     }
 
 //    public RobotInfo(String mName, String mMasterUri) {
@@ -65,7 +103,9 @@ public RobotInfo() {
      * @param cameraTopic CameraTopic name for this RobotInfo
      */
     public RobotInfo(UUID id, String name, String masterUriString, String joystickTopic,
-                     String laserTopic, String cameraTopic,String navsatTopic, String odometryTopic, String poseTopic) {
+                     String laserTopic, String cameraTopic,String navsatTopic,
+                     String odometryTopic, String poseTopic, boolean reverseLaserScan,
+                     boolean invertX, boolean invertY, boolean invertAngularVelocity) {
         this.id = id;
         this.name = name;
         this.masterUriString = masterUriString;
@@ -75,6 +115,10 @@ public RobotInfo(UUID id, String name, String masterUriString, String joystickTo
         this.navsatTopic = navsatTopic;
         this.odometryTopic = odometryTopic;
         this.poseTopic = poseTopic;
+        this.reverseLaserScan = reverseLaserScan;
+        this.invertX = invertX;
+        this.invertY = invertY;
+        this.invertAngularVelocity = invertAngularVelocity;
     }
 
     /**
@@ -215,6 +259,66 @@ public URI getUri(){
         return URI.create(getMasterUri());
     }
 
+    /**
+     * @return If laser scan should be reversed
+     */
+    public boolean isReverseLaserScan() {
+        return reverseLaserScan;
+    }
+
+    /**
+     * Sets whether the laser scan should be reversed
+     * @param reverseLaserScan Reverse if true, false otherwise
+     */
+    public void setReverseLaserScan(boolean reverseLaserScan) {
+        this.reverseLaserScan = reverseLaserScan;
+    }
+
+    /**
+     * @return If x-axis should be inverted
+     */
+    public boolean isInvertX() {
+        return invertX;
+    }
+
+    /**
+     * Sets whether to invert x-axis
+     * @param invertX Invert if true, false otherwise
+     */
+    public void setInvertX(boolean invertX) {
+        this.invertX = invertX;
+    }
+
+    /**
+     * @return If y-axis should be inverted
+     */
+    public boolean isInvertY() {
+        return invertY;
+    }
+
+    /**
+     * Sets whether to invert y-axis
+     * @param invertY Invert if true, false otherwise
+     */
+    public void setInvertY(boolean invertY) {
+        this.invertY = invertY;
+    }
+
+    /**
+     * @return If angular velocity should be inverted
+     */
+    public boolean isInvertAngularVelocity() {
+        return invertAngularVelocity;
+    }
+
+    /**
+     * Sets whether to invert angular velocity
+     * @param invertAngularVelocity Invert if true, false otherwise
+     */
+    public void setInvertAngularVelocity(boolean invertAngularVelocity) {
+        this.invertAngularVelocity = invertAngularVelocity;
+    }
+
     /**
      * Compares this RobotInfo to another based on UUID.
      * @param another The other RobotInfo
@@ -272,4 +376,64 @@ static int getRobotCount()
     {
         return robotCount;
     }
+
+    @Override
+    public void load(@NonNull Bundle bundle) {
+        id = UUID.fromString(bundle.getString(UUID_KEY, UUID.randomUUID().toString()));
+        name = bundle.getString(ROBOT_NAME_KEY, "");
+        masterUriString = bundle.getString(MASTER_URI_KEY, "http://localhost:11311");
+        joystickTopic = bundle.getString(JOYSTICK_TOPIC_KEY, "/joy_teleop/cmd_vel");
+        cameraTopic = bundle.getString(CAMERA_TOPIC_KEY, "/image_raw/compressed");
+        laserTopic = bundle.getString(LASER_SCAN_TOPIC_KEY, "/scan");
+        navsatTopic = bundle.getString(NAVSAT_TOPIC_KEY, "/navsat/fix");
+        odometryTopic = bundle.getString(ODOMETRY_TOPIC_KEY, "/odometry/filtered");
+        poseTopic = bundle.getString(POSE_TOPIC_KEY, "/pose");
+        reverseLaserScan = bundle.getBoolean(REVERSE_LASER_SCAN_KEY, false);
+        invertX = bundle.getBoolean(INVERT_X_KEY, false);
+        invertY = bundle.getBoolean(INVERT_Y_KEY, false);
+        invertAngularVelocity = bundle.getBoolean(INVERT_ANGULAR_VELOCITY_KEY, false);
+    }
+
+    public void load(@NonNull SharedPreferences prefs) {
+        joystickTopic = prefs.getString(RobotStorage.getPreferenceKey(JOYSTICK_TOPIC_KEY), "/joy_teleop/cmd_vel");
+        cameraTopic = prefs.getString(RobotStorage.getPreferenceKey(CAMERA_TOPIC_KEY), "/image_raw/compressed");
+        laserTopic = prefs.getString(RobotStorage.getPreferenceKey(LASER_SCAN_TOPIC_KEY), "/scan");
+        navsatTopic = prefs.getString(RobotStorage.getPreferenceKey(NAVSAT_TOPIC_KEY), "/navsat/fix");
+        odometryTopic = prefs.getString(RobotStorage.getPreferenceKey(ODOMETRY_TOPIC_KEY), "/odometry/filtered");
+        poseTopic = prefs.getString(RobotStorage.getPreferenceKey(POSE_TOPIC_KEY), "/pose");
+        reverseLaserScan = prefs.getBoolean(RobotStorage.getPreferenceKey(REVERSE_LASER_SCAN_KEY), false);
+        invertX = prefs.getBoolean(RobotStorage.getPreferenceKey(INVERT_X_KEY), false);
+        invertY = prefs.getBoolean(RobotStorage.getPreferenceKey(INVERT_Y_KEY), false);
+        invertAngularVelocity = prefs.getBoolean(RobotStorage.getPreferenceKey(INVERT_ANGULAR_VELOCITY_KEY), false);
+    }
+
+    @Override
+    public void save(@NonNull Bundle bundle) {
+        bundle.putString(UUID_KEY, id.toString());
+        bundle.putString(ROBOT_NAME_KEY, name);
+        bundle.putString(MASTER_URI_KEY, masterUriString);
+        bundle.putString(JOYSTICK_TOPIC_KEY, joystickTopic);
+        bundle.putString(CAMERA_TOPIC_KEY, cameraTopic);
+        bundle.putString(LASER_SCAN_TOPIC_KEY, laserTopic);
+        bundle.putString(NAVSAT_TOPIC_KEY, navsatTopic);
+        bundle.putString(ODOMETRY_TOPIC_KEY, odometryTopic);
+        bundle.putString(POSE_TOPIC_KEY, poseTopic);
+        bundle.putBoolean(REVERSE_LASER_SCAN_KEY, reverseLaserScan);
+        bundle.putBoolean(INVERT_X_KEY, invertX);
+        bundle.putBoolean(INVERT_Y_KEY, invertY);
+        bundle.putBoolean(INVERT_ANGULAR_VELOCITY_KEY, invertAngularVelocity);
+    }
+
+    public void save(@NonNull SharedPreferences.Editor prefs) {
+        prefs.putString(RobotStorage.getPreferenceKey(JOYSTICK_TOPIC_KEY), joystickTopic);
+        prefs.putString(RobotStorage.getPreferenceKey(CAMERA_TOPIC_KEY), cameraTopic);
+        prefs.putString(RobotStorage.getPreferenceKey(LASER_SCAN_TOPIC_KEY), laserTopic);
+        prefs.putString(RobotStorage.getPreferenceKey(NAVSAT_TOPIC_KEY), navsatTopic);
+        prefs.putString(RobotStorage.getPreferenceKey(ODOMETRY_TOPIC_KEY), odometryTopic);
+        prefs.putString(RobotStorage.getPreferenceKey(POSE_TOPIC_KEY), poseTopic);
+        prefs.putBoolean(RobotStorage.getPreferenceKey(REVERSE_LASER_SCAN_KEY), reverseLaserScan);
+        prefs.putBoolean(RobotStorage.getPreferenceKey(INVERT_X_KEY), invertX);
+        prefs.putBoolean(RobotStorage.getPreferenceKey(INVERT_Y_KEY), invertY);
+        prefs.putBoolean(RobotStorage.getPreferenceKey(INVERT_ANGULAR_VELOCITY_KEY), invertAngularVelocity);
+    }
 }
-Original file line number
+Diff line change
@@ Expand Up / @@ -21,7 +21,7 @@ public class ControlModeTest { @@
         static
         {
-            ControlApp.ROBOT_INFO = new RobotInfo(null, "HUDTestRobotInfo", "HUDMasterURI", null, null, null, null, null, null);
+            ControlApp.ROBOT_INFO = new RobotInfo(null, "HUDTestRobotInfo", "HUDMasterURI", null, null, null, null, null, null, false, false, false, false);
         }
         @Rule
@@ Expand Down @@