org.ros.android.renderer.VisualizationView.java Source code

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Here is the source code for org.ros.android.renderer.VisualizationView.java

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/*
 * Copyright (C) 2011 Google Inc.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */

package org.ros.android.renderer;

import java.util.List;

import org.ros.android.renderer.layer.Layer;
import org.ros.message.MessageListener;
import org.ros.namespace.GraphName;
import org.ros.namespace.NameResolver;
import org.ros.node.ConnectedNode;
import org.ros.node.Node;
import org.ros.node.NodeMain;
import org.ros.node.topic.Subscriber;
import org.ros.rosjava_geometry.FrameTransformTree;

import std_msgs.Header;
import android.content.Context;
import android.graphics.PixelFormat;
import android.opengl.GLSurfaceView;
import android.util.AttributeSet;
import android.view.MotionEvent;

import com.google.common.collect.Lists;

/**
 * @author moesenle@google.com (Lorenz Moesenlechner)
 */
public class VisualizationView extends GLSurfaceView implements NodeMain {

    private static final int TF_MESSAGE_QUEUE = 5;

    private static final String TF_TOPIC = "tf_throttled";

    private RenderRequestListener renderRequestListener;

    private FrameTransformTree frameTransformTree;

    private Camera camera;
    private VisViewRenderer renderer;
    private List<Layer> layers;
    private ConnectedNode connectedNode;
    private final AvailableFrameTracker frameTracker = new AvailableFrameTracker();

    public VisualizationView(Context context) {
        super(context);
        init();
    }

    public VisualizationView(Context context, AttributeSet attrs) {
        super(context, attrs);
        init();
    }

    private void init() {
        renderRequestListener = new RenderRequestListener() {
            @Override
            public void onRenderRequest() {
                requestRender();
            }
        };
        frameTransformTree = new org.ros.rosjava_geometry.FrameTransformTree(NameResolver.newRoot());
        camera = new OrbitCamera(frameTransformTree, frameTracker);
        renderer = new VisViewRenderer(frameTransformTree, camera);
        layers = Lists.newArrayList();
        setEGLConfigChooser(8, 8, 8, 8, 8, 8);
        setEGLContextClientVersion(2);

        getHolder().setFormat(PixelFormat.TRANSLUCENT);
        setRenderer(renderer);
    }

    @Override
    public GraphName getDefaultNodeName() {
        return GraphName.of("android_honeycomb_mr2/visualization_view");
    }

    @Override
    public boolean onTouchEvent(MotionEvent event) {
        for (Layer layer : Lists.reverse(layers)) {
            if (layer != null && layer.onTouchEvent(this, event)) {
                return true;
            }
        }
        return false;
    }

    public VisViewRenderer getRenderer() {
        return renderer;
    }

    public Camera getCamera() {
        return camera;
    }

    /**
     * Adds a new layer at the end of the layers collection. The new layer will be drawn last, i.e. on top of all other layers.
     * 
     * @param layer
     *            layer to add
     */
    public void addLayer(Layer layer) {
        synchronized (layers) {
            layers.add(layer);
        }
        layer.addRenderListener(renderRequestListener);
        if (connectedNode != null) {
            layer.onStart(connectedNode, getHandler(), frameTransformTree, camera);
        }
        requestRender();
    }

    public void removeLayer(Layer layer) {
        layer.onShutdown(this, connectedNode);
        synchronized (layers) {
            layers.remove(layer);
        }
    }

    @Override
    public void onStart(ConnectedNode connectedNode) {
        this.connectedNode = connectedNode;
        startTransformListener();
        startLayers();
    }

    private final NameResolver nameResolver = NameResolver.newRoot();

    private void startTransformListener() {
        Subscriber<tf.tfMessage> tfSubscriber = connectedNode.newSubscriber(TF_TOPIC, tf.tfMessage._TYPE);
        tfSubscriber.addMessageListener(new MessageListener<tf.tfMessage>() {
            @Override
            public void onNewMessage(tf.tfMessage message) {
                for (geometry_msgs.TransformStamped transform : message.getTransforms()) {
                    transform.setChildFrameId(nameResolver.resolve(transform.getChildFrameId()).toString());
                    Header header = transform.getHeader();
                    header.setFrameId(nameResolver.resolve(header.getFrameId()).toString());
                    frameTransformTree.update(transform);
                    frameTracker.receivedMessage(transform);
                }
            }
        }, TF_MESSAGE_QUEUE);
    }

    private void startLayers() {
        for (Layer layer : layers) {
            layer.onStart(connectedNode, getHandler(), frameTransformTree, camera);
        }
        renderer.setLayers(layers);
    }

    @Override
    public void onShutdown(Node node) {
        renderer.setLayers(null);
        for (Layer layer : layers) {
            layer.onShutdown(this, node);
        }
        this.connectedNode = null;
    }

    @Override
    public void onShutdownComplete(Node node) {
    }

    @Override
    public void onError(Node node, Throwable throwable) {
    }

    public FrameTransformTree getFrameTransformTree() {
        return frameTransformTree;
    }
}