├── .gitignore
├── AndroidManifest.xml
├── README
├── build.gradle
├── build.xml
├── buildAll.sh
├── local.properties
├── mainpage.dox
├── manifest.xml
├── proguard-project.txt
├── project.properties
├── res
    ├── color
    │   └── color.xml
    ├── drawable-hdpi
    │   ├── ic_action_help.png
    │   └── ic_launcher.png
    ├── drawable-ldpi
    │   ├── ic_action_help.png
    │   └── ic_launcher.png
    ├── drawable-mdpi
    │   ├── ic_action_help.png
    │   └── ic_launcher.png
    ├── drawable-xhdpi
    │   ├── ic_action_help.png
    │   └── ic_launcher.png
    ├── layout
    │   └── activity_main.xml
    ├── menu
    │   └── activity_main.xml
    ├── values-v11
    │   └── styles.xml
    ├── values-v14
    │   └── styles.xml
    ├── values
    │   ├── strings.xml
    │   └── styles.xml
    └── xml
    │   └── preferences.xml
└── src
    └── org
        └── ros
            └── android
                └── android_sensors_driver
                    ├── FluidPressurePublisher.java
                    ├── IlluminancePublisher.java
                    ├── ImuPublisher.java
                    ├── MagneticFieldPublisher.java
                    ├── MainActivity.java
                    ├── NavSatFixPublisher.java
                    └── TemperaturePublisher.java


/.gitignore:
--------------------------------------------------------------------------------
 1 | *~
 2 | ~*
 3 | .classpath
 4 | .gradle
 5 | .project
 6 | .settings
 7 | bin
 8 | build
 9 | build.xml
10 | gen
11 | libs
12 | lint.xml
13 | local.properties
14 | proguard-project.txt
15 | project.properties
16 | 
17 | # These are Android Studio files, might be worth including these later.
18 | *.iml
19 | .idea
20 | build.log
21 | build-log.xml
22 | 


--------------------------------------------------------------------------------
/AndroidManifest.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="utf-8"?>
 2 | <manifest xmlns:android="http://schemas.android.com/apk/res/android"
 3 |     package="org.ros.android.android_sensors_driver"
 4 |     android:versionCode="1"
 5 |     android:versionName="1.0" 
 6 |     xmlns:tools="http://schemas.android.com/tools"
 7 |     >
 8 | 
 9 |     <uses-sdk
10 |         android:minSdkVersion="10"
11 |         android:targetSdkVersion="17" />
12 | 
13 |     <uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
14 |     <uses-permission android:name="android.permission.CHANGE_WIFI_STATE" />
15 |     <uses-permission android:name="android.permission.INTERNET" />
16 |     <uses-permission android:name="android.permission.WAKE_LOCK" />
17 |     <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
18 |     <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
19 |     <uses-permission android:name="android.permission.NFC" />
20 | 
21 |     <application
22 |         android:allowBackup="true"
23 |         tools:replace="android:icon"
24 |         android:icon="@drawable/ic_launcher"
25 |         android:label="@string/app_name"
26 |         android:theme="@style/AppTheme" >
27 |         <activity
28 |             android:name="org.ros.android.android_sensors_driver.MainActivity"
29 |             android:configChanges="orientation|keyboardHidden"
30 |             android:label="@string/app_name"
31 |             android:screenOrientation="landscape" >
32 |             <intent-filter>
33 |                 <action android:name="android.intent.action.MAIN" />
34 | 
35 |                 <category android:name="android.intent.category.LAUNCHER" />
36 |             </intent-filter>
37 |             
38 |             <intent-filter>
39 |                 <action android:name="android.nfc.action.NDEF_DISCOVERED" />
40 |                 <category android:name="android.intent.category.DEFAULT" />
41 |                 <data android:scheme="http" 
42 |                       android:host="ros.org"
43 |                       android:path="/wiki/android_sensors_driver/install"
44 |                       />
45 |             </intent-filter>
46 |             
47 |             <!-- intent-filter>
48 |                 <action android:name="android.nfc.action.NDEF_DISCOVERED" />
49 |                 <category android:name="android.intent.category.DEFAULT" />
50 |                 <data android:scheme="http"
51 |                       
52 |                        />
53 |             </intent-filter-->
54 |             
55 |             <!-- android:host="*"   ?id=org.ros.android.sensors_driver  android:pathPattern="*org.ros.android.sensors_driver"     android:pathPrefix="/.*org.ros.android.sensors_driver.*"-->
56 |         </activity>
57 |         
58 |         <activity android:name="org.ros.android.MasterChooser">
59 |         </activity>
60 | 
61 |         <service android:name="org.ros.android.NodeMainExecutorService" />
62 |     </application>
63 | 
64 | </manifest>
65 | 


--------------------------------------------------------------------------------
/README:
--------------------------------------------------------------------------------
 1 | Authors:
 2 |  no email             (Tal Regev)
 3 |  chadrockey@gmail.com (Chad Rockey)
 4 |  axelfurlan@gmail.com (Axel Furlan)
 5 | 
 6 | This is an extension to the first version of the Ros Android Sensors Driver.
 7 | It extends the driver to camera readings and updates the previous version to the post-gradle shift of the rosjava libs.
 8 | Two compression methods are currently supported, PNG and JPEG (with selectable compression quality).
 9 | The topic names are:
10 | 
11 |  /android/imu
12 |  /android/fix (GPS)
13 |  /camera/camera_info
14 |  /camera/image/compressed
15 | 
16 | 
17 | Compiling:
18 | 
19 | To compile it on you machine, please follow the detailed instructions at:
20 | 
21 | Rosjava:
22 | http://wiki.ros.org/rosjava/Tutorials/indigo/Installation
23 | 
24 | Also need to compile android_core from here:
25 | https://github.com/rosjava/android_core/tree/indigo
26 | 
27 | Once your environment is set, do the following steps:
28 |  1) git clone the repo in the android_core folder (the same folder where rosjava are ~/rosjava).
29 |  2) Edit the settings.gradle file in the android_core folder, adding 'android_sensors_driver' at the end of the include list.
30 |  3) cd ~/rosjava; catkin_make
31 | 
32 | For the whole process of building, packing, installing into the phone and running the app in debug mode, use the buildAll.sh script.
33 | 


--------------------------------------------------------------------------------
/build.gradle:
--------------------------------------------------------------------------------
 1 | /*
 2 |  * Copyright (C) 2011 Google Inc.
 3 |  *
 4 |  * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 5 |  * use this file except in compliance with the License. You may obtain a copy of
 6 |  * the License at
 7 |  *
 8 |  * http://www.apache.org/licenses/LICENSE-2.0
 9 |  *
10 |  * Unless required by applicable law or agreed to in writing, software
11 |  * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
12 |  * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
13 |  * License for the specific language governing permissions and limitations under
14 |  * the License.
15 |  */
16 | 
17 | 
18 | 
19 | dependencies {
20 |   compile "org.ros.rosjava_core:rosjava:0.2.0"
21 |   compile "org.ros.rosjava_core:rosjava_tutorial_pubsub:[0,)"
22 |   compile 'com.android.support:support-v4:21.0.0'
23 |   compile project(':android_15')
24 | 
25 | }
26 | 
27 | 
28 | apply plugin: 'android'
29 | 
30 | /*debug.dependsOn project(':android_gingerbread_mr1').tasks.debug*/
31 | 
32 | android {
33 |     compileSdkVersion 15
34 | 
35 |     defaultConfig {
36 |         minSdkVersion 15
37 |         applicationId "org.ros.android.android_sensor_driver"
38 |         targetSdkVersion 15
39 |         versionCode 1
40 |         versionName "1.0"
41 |     }
42 | }
43 | 


--------------------------------------------------------------------------------
/build.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="UTF-8"?>
 2 | <project name="MainActivity" default="help">
 3 | 
 4 |     <!-- The local.properties file is created and updated by the 'android' tool.
 5 |          It contains the path to the SDK. It should *NOT* be checked into
 6 |          Version Control Systems. -->
 7 |     <property file="local.properties" />
 8 | 
 9 |     <!-- The ant.properties file can be created by you. It is only edited by the
10 |          'android' tool to add properties to it.
11 |          This is the place to change some Ant specific build properties.
12 |          Here are some properties you may want to change/update:
13 | 
14 |          source.dir
15 |              The name of the source directory. Default is 'src'.
16 |          out.dir
17 |              The name of the output directory. Default is 'bin'.
18 | 
19 |          For other overridable properties, look at the beginning of the rules
20 |          files in the SDK, at tools/ant/build.xml
21 | 
22 |          Properties related to the SDK location or the project target should
23 |          be updated using the 'android' tool with the 'update' action.
24 | 
25 |          This file is an integral part of the build system for your
26 |          application and should be checked into Version Control Systems.
27 | 
28 |          -->
29 |     <property file="ant.properties" />
30 | 
31 |     <!-- if sdk.dir was not set from one of the property file, then
32 |          get it from the ANDROID_HOME env var.
33 |          This must be done before we load project.properties since
34 |          the proguard config can use sdk.dir -->
35 |     <property environment="env" />
36 |     <condition property="sdk.dir" value="${env.ANDROID_HOME}">
37 |         <isset property="env.ANDROID_HOME" />
38 |     </condition>
39 | 
40 |     <!-- The project.properties file is created and updated by the 'android'
41 |          tool, as well as ADT.
42 | 
43 |          This contains project specific properties such as project target, and library
44 |          dependencies. Lower level build properties are stored in ant.properties
45 |          (or in .classpath for Eclipse projects).
46 | 
47 |          This file is an integral part of the build system for your
48 |          application and should be checked into Version Control Systems. -->
49 |     <loadproperties srcFile="project.properties" />
50 | 
51 |     <!-- quick check on sdk.dir -->
52 |     <fail
53 |             message="sdk.dir is missing. Make sure to generate local.properties using 'android update project' or to inject it through the ANDROID_HOME environment variable."
54 |             unless="sdk.dir"
55 |     />
56 | 
57 |     <!--
58 |         Import per project custom build rules if present at the root of the project.
59 |         This is the place to put custom intermediary targets such as:
60 |             -pre-build
61 |             -pre-compile
62 |             -post-compile (This is typically used for code obfuscation.
63 |                            Compiled code location: ${out.classes.absolute.dir}
64 |                            If this is not done in place, override ${out.dex.input.absolute.dir})
65 |             -post-package
66 |             -post-build
67 |             -pre-clean
68 |     -->
69 |     <import file="custom_rules.xml" optional="true" />
70 | 
71 |     <!-- Import the actual build file.
72 | 
73 |          To customize existing targets, there are two options:
74 |          - Customize only one target:
75 |              - copy/paste the target into this file, *before* the
76 |                <import> task.
77 |              - customize it to your needs.
78 |          - Customize the whole content of build.xml
79 |              - copy/paste the content of the rules files (minus the top node)
80 |                into this file, replacing the <import> task.
81 |              - customize to your needs.
82 | 
83 |          ***********************
84 |          ****** IMPORTANT ******
85 |          ***********************
86 |          In all cases you must update the value of version-tag below to read 'custom' instead of an integer,
87 |          in order to avoid having your file be overridden by tools such as "android update project"
88 |     -->
89 |     <!-- version-tag: 1 -->
90 |     <import file="${sdk.dir}/tools/ant/build.xml" />
91 | 
92 | </project>
93 | 


--------------------------------------------------------------------------------
/buildAll.sh:
--------------------------------------------------------------------------------
 1 | # Bash
 2 | 
 3 | ../gradlew clean debug
 4 | if [ $? -eq 0 ]
 5 |  then
 6 |   adb uninstall org.ros.android.android_sensors_driver
 7 |   adb install bin/MainActivity-debug.apk
 8 |   adb shell am start -n org.ros.android.android_sensors_driver/org.ros.android.android_sensors_driver.MainActivity
 9 |   adb logcat -c
10 |   adb logcat
11 | fi
12 | 


--------------------------------------------------------------------------------
/local.properties:
--------------------------------------------------------------------------------
 1 | # This file is automatically generated by Android Tools.
 2 | # Do not modify this file -- YOUR CHANGES WILL BE ERASED!
 3 | #
 4 | # This file must *NOT* be checked into Version Control Systems,
 5 | # as it contains information specific to your local configuration.
 6 | 
 7 | # location of the SDK. This is only used by Ant
 8 | # For customization when using a Version Control System, please read the
 9 | # header note.
10 | sdk.dir=/home/willow/NVPACK/android-sdk-linux
11 | 


--------------------------------------------------------------------------------
/mainpage.dox:
--------------------------------------------------------------------------------
 1 | /**
 2 | \mainpage
 3 | \htmlinclude manifest.html
 4 | 
 5 | \b android_sensors_driver is ...
 6 | 
 7 | <!--
 8 | Provide an overview of your package.
 9 | -->
10 | 
11 | 
12 | \section codeapi Code API
13 | 
14 | <!--
15 | Provide links to specific auto-generated API documentation within your
16 | package that is of particular interest to a reader. Doxygen will
17 | document pretty much every part of your code, so do your best here to
18 | point the reader to the actual API.
19 | 
20 | If your codebase is fairly large or has different sets of APIs, you
21 | should use the doxygen 'group' tag to keep these APIs together. For
22 | example, the roscpp documentation has 'libros' group.
23 | -->
24 | 
25 | 
26 | */
27 | 


--------------------------------------------------------------------------------
/manifest.xml:
--------------------------------------------------------------------------------
 1 | <package>
 2 |   <description brief="android_sensors_driver">
 3 |      android_sensors_driver
 4 |   </description>
 5 |   <author>Chad Rockey (chadrockey@gmail.com)</author>
 6 |   <license>Apache 2.0</license>
 7 |   <review status="unreviewed" notes="" />
 8 |   <url>http://ros.org/wiki/android_sensors_driver</url>
 9 | </package>
10 | 


--------------------------------------------------------------------------------
/proguard-project.txt:
--------------------------------------------------------------------------------
 1 | # To enable ProGuard in your project, edit project.properties
 2 | # to define the proguard.config property as described in that file.
 3 | #
 4 | # Add project specific ProGuard rules here.
 5 | # By default, the flags in this file are appended to flags specified
 6 | # in ${sdk.dir}/tools/proguard/proguard-android.txt
 7 | # You can edit the include path and order by changing the ProGuard
 8 | # include property in project.properties.
 9 | #
10 | # For more details, see
11 | #   http://developer.android.com/guide/developing/tools/proguard.html
12 | 
13 | # Add any project specific keep options here:
14 | 
15 | # If your project uses WebView with JS, uncomment the following
16 | # and specify the fully qualified class name to the JavaScript interface
17 | # class:
18 | #-keepclassmembers class fqcn.of.javascript.interface.for.webview {
19 | #   public *;
20 | #}
21 | 


--------------------------------------------------------------------------------
/project.properties:
--------------------------------------------------------------------------------
 1 | # This file is automatically generated by Android Tools.
 2 | # Do not modify this file -- YOUR CHANGES WILL BE ERASED!
 3 | #
 4 | # This file must be checked in Version Control Systems.
 5 | #
 6 | # To customize properties used by the Ant build system use,
 7 | # "ant.properties", and override values to adapt the script to your
 8 | # project structure.
 9 | 
10 | # Project target.
11 | target=android-17
12 | #android.library=true
13 | android.library.reference.1=../android_gingerbread_mr1
14 | 


--------------------------------------------------------------------------------
/res/color/color.xml:
--------------------------------------------------------------------------------
1 | <?xml version="1.0" encoding="utf-8"?>
2 | <item xmlns:android="http://schemas.android.com/apk/res/android">
3 |     
4 | </item>


--------------------------------------------------------------------------------
/res/drawable-hdpi/ic_action_help.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/chadrockey/android_sensors_driver/37b5447081c508223e2d1c99eb2a7a0898a6c879/res/drawable-hdpi/ic_action_help.png


--------------------------------------------------------------------------------
/res/drawable-hdpi/ic_launcher.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/chadrockey/android_sensors_driver/37b5447081c508223e2d1c99eb2a7a0898a6c879/res/drawable-hdpi/ic_launcher.png


--------------------------------------------------------------------------------
/res/drawable-ldpi/ic_action_help.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/chadrockey/android_sensors_driver/37b5447081c508223e2d1c99eb2a7a0898a6c879/res/drawable-ldpi/ic_action_help.png


--------------------------------------------------------------------------------
/res/drawable-ldpi/ic_launcher.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/chadrockey/android_sensors_driver/37b5447081c508223e2d1c99eb2a7a0898a6c879/res/drawable-ldpi/ic_launcher.png


--------------------------------------------------------------------------------
/res/drawable-mdpi/ic_action_help.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/chadrockey/android_sensors_driver/37b5447081c508223e2d1c99eb2a7a0898a6c879/res/drawable-mdpi/ic_action_help.png


--------------------------------------------------------------------------------
/res/drawable-mdpi/ic_launcher.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/chadrockey/android_sensors_driver/37b5447081c508223e2d1c99eb2a7a0898a6c879/res/drawable-mdpi/ic_launcher.png


--------------------------------------------------------------------------------
/res/drawable-xhdpi/ic_action_help.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/chadrockey/android_sensors_driver/37b5447081c508223e2d1c99eb2a7a0898a6c879/res/drawable-xhdpi/ic_action_help.png


--------------------------------------------------------------------------------
/res/drawable-xhdpi/ic_launcher.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/chadrockey/android_sensors_driver/37b5447081c508223e2d1c99eb2a7a0898a6c879/res/drawable-xhdpi/ic_launcher.png


--------------------------------------------------------------------------------
/res/layout/activity_main.xml:
--------------------------------------------------------------------------------
1 | <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
2 |     android:layout_width="fill_parent"
3 |     android:layout_height="fill_parent"
4 |     android:background="#000000"
5 |     android:orientation="vertical" >
6 | </LinearLayout>


--------------------------------------------------------------------------------
/res/menu/activity_main.xml:
--------------------------------------------------------------------------------
1 | <?xml version="1.0" encoding="utf-8"?>
2 | <menu xmlns:android="http://schemas.android.com/apk/res/android">
3 |     <item android:id="@+id/menu_help"
4 |           android:icon="@drawable/ic_action_help"
5 |           android:title="Help"
6 |           android:showAsAction="ifRoom" />
7 | </menu>


--------------------------------------------------------------------------------
/res/values-v11/styles.xml:
--------------------------------------------------------------------------------
 1 | <resources>
 2 | 
 3 |     <!--
 4 |         Base application theme for API 11+. This theme completely replaces
 5 |         AppBaseTheme from res/values/styles.xml on API 11+ devices.
 6 |     -->
 7 |     <style name="AppBaseTheme" parent="android:Theme.Holo.Light">
 8 |         <!-- API 11 theme customizations can go here. -->
 9 |     </style>
10 | 
11 | </resources>


--------------------------------------------------------------------------------
/res/values-v14/styles.xml:
--------------------------------------------------------------------------------
 1 | <resources>
 2 | 
 3 |     <!--
 4 |         Base application theme for API 14+. This theme completely replaces
 5 |         AppBaseTheme from BOTH res/values/styles.xml and
 6 |         res/values-v11/styles.xml on API 14+ devices.
 7 |     -->
 8 |     <style name="AppBaseTheme" parent="android:Theme.Holo.Light.DarkActionBar">
 9 |         <!-- API 14 theme customizations can go here. -->
10 |     </style>
11 | 
12 | </resources>


--------------------------------------------------------------------------------
/res/values/strings.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="utf-8"?>
 2 | <resources>
 3 | 
 4 |     <string name="app_name">ROS Sensors Driver</string>
 5 |     
 6 |     <string name="help_title">About Android Sensors Driver</string>
 7 |     <string name="help_message">Android Sensors Driver is an open source project!  For more information, go to the \'Wiki\'.  To report bugs or request features click \'Report\'.</string>
 8 |     <string name="help_ok">OK</string>
 9 |     <string name="help_report">Report</string>
10 |     <string name="help_wiki">Wiki</string>
11 | 
12 | </resources>


--------------------------------------------------------------------------------
/res/values/styles.xml:
--------------------------------------------------------------------------------
 1 | <resources>
 2 | 
 3 |     <!--
 4 |         Base application theme, dependent on API level. This theme is replaced
 5 |         by AppBaseTheme from res/values-vXX/styles.xml on newer devices.
 6 |     -->
 7 |     <style name="AppBaseTheme" parent="android:Theme.Light">
 8 |         <!--
 9 |             Theme customizations available in newer API levels can go in
10 |             res/values-vXX/styles.xml, while customizations related to
11 |             backward-compatibility can go here.
12 |         -->
13 |     </style>
14 | 
15 |     <!-- Application theme. -->
16 |     <style name="AppTheme" parent="AppBaseTheme">
17 |         <!-- All customizations that are NOT specific to a particular API-level can go here. -->
18 |     </style>
19 | 
20 | </resources>
21 | 


--------------------------------------------------------------------------------
/res/xml/preferences.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="utf-8"?>
 2 | <PreferenceScreen xmlns:android="http://schemas.android.com/apk/res/android">
 3 |     <PreferenceCategory 
 4 |         android:title="Cat 1"
 5 |         android:key="pref_key_storage_settings">
 6 |         <CheckBoxPreference
 7 |             android:key="pref_key_auto_delete"
 8 |             android:summary="Auto delete summary"
 9 |             android:title="Audo delete title"
10 |             android:defaultValue="false" />
11 |         <Preference 
12 |             android:key="pref_key_sms_delete_limit"
13 |             android:dependency="pref_key_auto_delete"
14 |             android:summary="delete limit sum"
15 |             android:title="delete limit title" />
16 |         <Preference 
17 |             android:key="pref_key_mms_delete_limit"
18 |             android:dependency="pref_key_auto_delete"
19 |             android:summary="mms delete sum"
20 |             android:title="mms delete sum" />
21 |     </PreferenceCategory>
22 | </PreferenceScreen>


--------------------------------------------------------------------------------
/src/org/ros/android/android_sensors_driver/FluidPressurePublisher.java:
--------------------------------------------------------------------------------
  1 | /*
  2 |  * Copyright (c) 2011, Chad Rockey
  3 |  * All rights reserved.
  4 |  *
  5 |  * Redistribution and use in source and binary forms, with or without
  6 |  * modification, are permitted provided that the following conditions are met:
  7 |  *
  8 |  *     * Redistributions of source code must retain the above copyright
  9 |  *       notice, this list of conditions and the following disclaimer.
 10 |  *     * Redistributions in binary form must reproduce the above copyright
 11 |  *       notice, this list of conditions and the following disclaimer in the
 12 |  *       documentation and/or other materials provided with the distribution.
 13 |  *     * Neither the name of the Android Sensors Driver nor the names of its
 14 |  *       contributors may be used to endorse or promote products derived from
 15 |  *       this software without specific prior written permission.
 16 |  *
 17 |  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 18 |  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 19 |  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 20 |  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 21 |  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 22 |  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 23 |  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 24 |  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 25 |  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 26 |  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 27 |  * POSSIBILITY OF SUCH DAMAGE.
 28 |  */
 29 | 
 30 | package org.ros.android.android_sensors_driver;
 31 | 
 32 | 
 33 | import java.util.List;
 34 | 
 35 | import android.hardware.Sensor;
 36 | import android.hardware.SensorEvent;
 37 | import android.hardware.SensorEventListener;
 38 | import android.hardware.SensorManager;
 39 | import android.os.Looper;
 40 | import android.os.SystemClock;
 41 | 
 42 | import org.ros.node.ConnectedNode;
 43 | import org.ros.message.Time;
 44 | import org.ros.namespace.GraphName;
 45 | import sensor_msgs.FluidPressure;
 46 | import org.ros.node.Node;
 47 | import org.ros.node.NodeMain;
 48 | import org.ros.node.topic.Publisher;
 49 | 
 50 | /**
 51 |  * @author chadrockey@gmail.com (Chad Rockey)
 52 |  */
 53 | public class FluidPressurePublisher implements NodeMain
 54 | {
 55 | 
 56 |   private FluidPressureThread fpThread;
 57 |   private SensorListener sensorListener;
 58 |   private SensorManager sensorManager;
 59 |   private Publisher<FluidPressure> publisher;
 60 |   private int sensorDelay;
 61 |   
 62 |   private class FluidPressureThread extends Thread
 63 |   {
 64 | 	  private final SensorManager sensorManager;
 65 | 	  private SensorListener sensorListener;
 66 | 	  private Looper threadLooper;
 67 | 
 68 | 	  private final Sensor fpSensor;
 69 | 	  
 70 | 	  private FluidPressureThread(SensorManager sensorManager, SensorListener sensorListener)
 71 | 	  {
 72 | 		  this.sensorManager = sensorManager;
 73 | 		  this.sensorListener = sensorListener;
 74 | 		  this.fpSensor = this.sensorManager.getDefaultSensor(Sensor.TYPE_PRESSURE);
 75 | 	  }
 76 | 	  
 77 | 	    
 78 | 	  public void run()
 79 | 	  {
 80 | 			Looper.prepare();
 81 | 			this.threadLooper = Looper.myLooper();
 82 | 			this.sensorManager.registerListener(this.sensorListener, this.fpSensor, sensorDelay);
 83 | 			Looper.loop();
 84 | 	  }
 85 | 	    
 86 | 	    
 87 | 	  public void shutdown()
 88 | 	  {
 89 | 	    	this.sensorManager.unregisterListener(this.sensorListener);
 90 | 	    	if(this.threadLooper != null)
 91 | 	    	{
 92 | 	            this.threadLooper.quit();
 93 | 	    	}
 94 | 	  }
 95 | 	}
 96 |   
 97 |   private class SensorListener implements SensorEventListener
 98 |   {
 99 | 
100 |     private Publisher<FluidPressure> publisher;
101 | 
102 |     private SensorListener(Publisher<FluidPressure> publisher)
103 |     {
104 |       this.publisher = publisher;
105 |     }
106 | 
107 | //	@Override
108 | 	public void onAccuracyChanged(Sensor sensor, int accuracy)
109 | 	{
110 | 	}
111 | 
112 | //	@Override
113 | 	public void onSensorChanged(SensorEvent event)
114 | 	{
115 | 		if(event.sensor.getType() == Sensor.TYPE_PRESSURE)
116 | 		{
117 | 			FluidPressure msg = this.publisher.newMessage();
118 | 			long time_delta_millis = System.currentTimeMillis() - SystemClock.uptimeMillis();
119 | 			msg.getHeader().setStamp(Time.fromMillis(time_delta_millis + event.timestamp/1000000));
120 | 			msg.getHeader().setFrameId("/imu");// TODO Make parameter
121 | 
122 | 			msg.setFluidPressure(100.0*event.values[0]); // Reported in hPa, need to output in Pa
123 | 			msg.setVariance(0.0);
124 | 
125 | 			publisher.publish(msg);
126 | 		}
127 | 	}
128 |   }
129 |   
130 |   public FluidPressurePublisher(SensorManager manager, int sensorDelay)
131 |   {
132 | 	  this.sensorManager = manager;
133 | 	  this.sensorDelay = sensorDelay;
134 |   }
135 | 
136 |   public GraphName getDefaultNodeName()
137 |   {
138 | 	    return GraphName.of("android_sensors_driver/fluid_pressure_publisher");
139 |   }
140 |   
141 |   public void onError(Node node, Throwable throwable)
142 |   {
143 |   }
144 | 
145 |   public void onStart(ConnectedNode node)
146 |   {
147 | 	  try
148 | 	  {
149 | 			List<Sensor> mfList = this.sensorManager.getSensorList(Sensor.TYPE_PRESSURE);
150 | 			
151 | 			if(mfList.size() > 0)
152 | 			{
153 | 				this.publisher = node.newPublisher("android/barometric_pressure", "sensor_msgs/FluidPressure");
154 | 				this.sensorListener = new SensorListener(this.publisher);
155 | 				this.fpThread = new FluidPressureThread(this.sensorManager, this.sensorListener);
156 | 				this.fpThread.start();		
157 | 			}			
158 | 
159 | 	  }
160 | 	  catch (Exception e)
161 | 	  {
162 | 		  if (node != null)
163 | 		  {
164 | 			  node.getLog().fatal(e);
165 | 		  }
166 | 		  else
167 | 		  {
168 | 			  e.printStackTrace();
169 | 		  }
170 | 	  }
171 |   }
172 | 
173 | //@Override
174 |   public void onShutdown(Node arg0)
175 |   {
176 |   	  if(this.fpThread == null){
177 |   	  	return;
178 |   	  }
179 | 
180 | 	  this.fpThread.shutdown();
181 | 	
182 | 	  try
183 | 	  {
184 | 		  this.fpThread.join();
185 | 	  }
186 | 	  catch (InterruptedException e)
187 | 	  {
188 | 		  e.printStackTrace();
189 | 	  }
190 |   }
191 | 
192 | //@Override
193 |   public void onShutdownComplete(Node arg0)
194 |   {
195 |   }
196 | 
197 | }
198 | 
199 | 


--------------------------------------------------------------------------------
/src/org/ros/android/android_sensors_driver/IlluminancePublisher.java:
--------------------------------------------------------------------------------
  1 | /*
  2 |  * Copyright (c) 2011, Chad Rockey
  3 |  * All rights reserved.
  4 |  *
  5 |  * Redistribution and use in source and binary forms, with or without
  6 |  * modification, are permitted provided that the following conditions are met:
  7 |  *
  8 |  *     * Redistributions of source code must retain the above copyright
  9 |  *       notice, this list of conditions and the following disclaimer.
 10 |  *     * Redistributions in binary form must reproduce the above copyright
 11 |  *       notice, this list of conditions and the following disclaimer in the
 12 |  *       documentation and/or other materials provided with the distribution.
 13 |  *     * Neither the name of the Android Sensors Driver nor the names of its
 14 |  *       contributors may be used to endorse or promote products derived from
 15 |  *       this software without specific prior written permission.
 16 |  *
 17 |  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 18 |  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 19 |  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 20 |  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 21 |  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 22 |  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 23 |  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 24 |  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 25 |  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 26 |  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 27 |  * POSSIBILITY OF SUCH DAMAGE.
 28 |  */
 29 | 
 30 | package org.ros.android.android_sensors_driver;
 31 | 
 32 | 
 33 | import java.util.List;
 34 | 
 35 | import android.hardware.Sensor;
 36 | import android.hardware.SensorEvent;
 37 | import android.hardware.SensorEventListener;
 38 | import android.hardware.SensorManager;
 39 | import android.os.Looper;
 40 | import android.os.SystemClock;
 41 | 
 42 | import org.ros.node.ConnectedNode;
 43 | import org.ros.message.Time;
 44 | import org.ros.namespace.GraphName;
 45 | import sensor_msgs.Illuminance;
 46 | import org.ros.node.Node;
 47 | import org.ros.node.NodeMain;
 48 | import org.ros.node.topic.Publisher;
 49 | 
 50 | /**
 51 |  * @author chadrockey@gmail.com (Chad Rockey)
 52 |  */
 53 | public class IlluminancePublisher implements NodeMain
 54 | {
 55 | 
 56 |   private IlluminanceThread ilThread;
 57 |   private SensorListener sensorListener;
 58 |   private SensorManager sensorManager;
 59 |   private Publisher<Illuminance> publisher;
 60 |   private int sensorDelay;
 61 |   
 62 |   private class IlluminanceThread extends Thread
 63 |   {
 64 | 	  private final SensorManager sensorManager;
 65 | 	  private SensorListener sensorListener;
 66 | 	  private Looper threadLooper;
 67 | 
 68 | 	  private final Sensor ilSensor;
 69 | 	  
 70 | 	  private IlluminanceThread(SensorManager sensorManager, SensorListener sensorListener)
 71 | 	  {
 72 | 		  this.sensorManager = sensorManager;
 73 | 		  this.sensorListener = sensorListener;
 74 | 		  this.ilSensor = this.sensorManager.getDefaultSensor(Sensor.TYPE_LIGHT);
 75 | 	  }
 76 | 	  
 77 | 	    
 78 | 	  public void run()
 79 | 	  {
 80 | 			Looper.prepare();
 81 | 			this.threadLooper = Looper.myLooper();
 82 | 			this.sensorManager.registerListener(this.sensorListener, this.ilSensor, sensorDelay);
 83 | 			Looper.loop();
 84 | 	  }
 85 | 	    
 86 | 	    
 87 | 	  public void shutdown()
 88 | 	  {
 89 | 	    	this.sensorManager.unregisterListener(this.sensorListener);
 90 | 	    	if(this.threadLooper != null)
 91 | 	    	{
 92 | 	            this.threadLooper.quit();
 93 | 	    	}
 94 | 	  }
 95 | 	}
 96 |   
 97 |   private class SensorListener implements SensorEventListener
 98 |   {
 99 | 
100 |     private Publisher<Illuminance> publisher;
101 | 
102 |     private SensorListener(Publisher<Illuminance> publisher)
103 |     {
104 |       this.publisher = publisher;
105 |     }
106 | 
107 | //	@Override
108 | 	public void onAccuracyChanged(Sensor sensor, int accuracy)
109 | 	{
110 | 	}
111 | 
112 | //	@Override
113 | 	public void onSensorChanged(SensorEvent event)
114 | 	{
115 | 		if(event.sensor.getType() == Sensor.TYPE_LIGHT)
116 | 		{
117 | 			Illuminance msg = this.publisher.newMessage();
118 | 			long time_delta_millis = System.currentTimeMillis() - SystemClock.uptimeMillis();
119 | 			msg.getHeader().setStamp(Time.fromMillis(time_delta_millis + event.timestamp/1000000));
120 | 			msg.getHeader().setFrameId("android_illuminance"); // TODO Make parameter
121 | 
122 | 			msg.setIlluminance(event.values[0]);
123 | 			msg.setVariance(0.0); // TODO Make parameter
124 | 
125 | 			publisher.publish(msg);
126 | 		}
127 | 	}
128 |   }
129 |   
130 |   public IlluminancePublisher(SensorManager manager, int sensorDelay)
131 |   {
132 | 	  this.sensorManager = manager;
133 | 	  this.sensorDelay = sensorDelay;
134 |   }
135 | 
136 |   public GraphName getDefaultNodeName()
137 |   {
138 | 	    return GraphName.of("/android/illuminance_publisher");
139 |   }
140 |   
141 |   public void onError(Node node, Throwable throwable)
142 |   {
143 |   }
144 | 
145 |   public void onStart(ConnectedNode node)
146 |   {
147 | 	  try
148 | 	  {
149 | 			List<Sensor> mfList = this.sensorManager.getSensorList(Sensor.TYPE_LIGHT);
150 | 			
151 | 			if(mfList.size() > 0)
152 | 			{
153 | 				this.publisher = node.newPublisher("android/illuminance", "sensor_msgs/Illuminance");
154 | 				this.sensorListener = new SensorListener(this.publisher);
155 | 				this.ilThread = new IlluminanceThread(this.sensorManager, this.sensorListener);
156 | 				this.ilThread.start();		
157 | 			}
158 | 
159 | 	  }
160 | 	  catch (Exception e)
161 | 	  {
162 | 		  if (node != null)
163 | 		  {
164 | 			  node.getLog().fatal(e);
165 | 		  }
166 | 		  else
167 | 		  {
168 | 			  e.printStackTrace();
169 | 		  }
170 | 	  }
171 |   }
172 | 
173 | //@Override
174 |   public void onShutdown(Node arg0)
175 |   {
176 |   	  if(this.ilThread == null){
177 |   	  	return;
178 |   	  }
179 | 
180 | 	  this.ilThread.shutdown();
181 | 	
182 | 	  try
183 | 	  {
184 | 		  this.ilThread.join();
185 | 	  }
186 | 	  catch (InterruptedException e)
187 | 	  {
188 | 		  e.printStackTrace();
189 | 	  }
190 |   }
191 | 
192 | //@Override
193 |   public void onShutdownComplete(Node arg0)
194 |   {
195 |   }
196 | 
197 | }
198 | 
199 | 


--------------------------------------------------------------------------------
/src/org/ros/android/android_sensors_driver/ImuPublisher.java:
--------------------------------------------------------------------------------
  1 | /*
  2 |  * Copyright (c) 2011, Chad Rockey
  3 |  * All rights reserved.
  4 |  *
  5 |  * Redistribution and use in source and binary forms, with or without
  6 |  * modification, are permitted provided that the following conditions are met:
  7 |  *
  8 |  *     * Redistributions of source code must retain the above copyright
  9 |  *       notice, this list of conditions and the following disclaimer.
 10 |  *     * Redistributions in binary form must reproduce the above copyright
 11 |  *       notice, this list of conditions and the following disclaimer in the
 12 |  *       documentation and/or other materials provided with the distribution.
 13 |  *     * Neither the name of the Android Sensors Driver nor the names of its
 14 |  *       contributors may be used to endorse or promote products derived from
 15 |  *       this software without specific prior written permission.
 16 |  *
 17 |  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 18 |  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 19 |  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 20 |  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 21 |  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 22 |  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 23 |  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 24 |  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 25 |  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 26 |  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 27 |  * POSSIBILITY OF SUCH DAMAGE.
 28 |  */
 29 | 
 30 | package org.ros.android.android_sensors_driver;
 31 | 
 32 | 
 33 | import java.util.List;
 34 | import android.hardware.Sensor;
 35 | import android.hardware.SensorEvent;
 36 | import android.hardware.SensorEventListener;
 37 | import android.hardware.SensorManager;
 38 | import android.os.Looper;
 39 | import android.os.SystemClock;
 40 | 
 41 | import org.ros.node.ConnectedNode;
 42 | import org.ros.message.Time;
 43 | import org.ros.namespace.GraphName;
 44 | import sensor_msgs.Imu;
 45 | import org.ros.node.Node;
 46 | import org.ros.node.NodeMain;
 47 | import org.ros.node.topic.Publisher;
 48 | 
 49 | /**
 50 |  * @author chadrockey@gmail.com (Chad Rockey)
 51 |  * @author axelfurlan@gmail.com (Axel Furlan)
 52 |  */
 53 | public class ImuPublisher implements NodeMain
 54 | {
 55 | 
 56 |   private ImuThread imuThread;
 57 |   private SensorListener sensorListener;
 58 |   private SensorManager sensorManager;
 59 |   private Publisher<Imu> publisher;
 60 |   private int sensorDelay;
 61 |   
 62 |   private class ImuThread extends Thread
 63 |   {
 64 | 	  private final SensorManager sensorManager;
 65 | 	  private SensorListener sensorListener;
 66 | 	  private Looper threadLooper;
 67 | 	  
 68 | 	  private final Sensor accelSensor;
 69 | 	  private final Sensor gyroSensor;
 70 | 	  private final Sensor quatSensor;
 71 | 	  
 72 | 	  private ImuThread(SensorManager sensorManager, SensorListener sensorListener)
 73 | 	  {
 74 | 		  this.sensorManager = sensorManager;
 75 | 		  this.sensorListener = sensorListener;
 76 | 		  this.accelSensor = this.sensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
 77 | 		  this.gyroSensor = this.sensorManager.getDefaultSensor(Sensor.TYPE_GYROSCOPE);
 78 | 		  this.quatSensor = this.sensorManager.getDefaultSensor(Sensor.TYPE_ROTATION_VECTOR);
 79 | 	  }
 80 | 	  
 81 | 	    
 82 | 	  public void run()
 83 | 	  {
 84 | 			Looper.prepare();
 85 | 			this.threadLooper = Looper.myLooper();
 86 | 			this.sensorManager.registerListener(this.sensorListener, this.accelSensor, sensorDelay);
 87 | 			this.sensorManager.registerListener(this.sensorListener, this.gyroSensor, sensorDelay);
 88 | 			this.sensorManager.registerListener(this.sensorListener, this.quatSensor, sensorDelay);
 89 | 			Looper.loop();
 90 | 	  }
 91 | 	    
 92 | 	    
 93 | 	  public void shutdown()
 94 | 	  {
 95 | 	    	this.sensorManager.unregisterListener(this.sensorListener);
 96 | 	    	if(this.threadLooper != null)
 97 | 	    	{
 98 | 	            this.threadLooper.quit();
 99 | 	    	}
100 | 	  }
101 | 	}
102 |   
103 |   private class SensorListener implements SensorEventListener
104 |   {
105 | 
106 |     private Publisher<Imu> publisher;
107 |     
108 |     private boolean hasAccel;
109 |     private boolean hasGyro;
110 |     private boolean hasQuat;
111 |     
112 |     private long accelTime;
113 |     private long gyroTime;
114 |     private long quatTime;
115 |     
116 |     private Imu imu;
117 | 
118 |     private SensorListener(Publisher<Imu> publisher, boolean hasAccel, boolean hasGyro, boolean hasQuat)
119 |     {
120 |       this.publisher = publisher;
121 |       this.hasAccel = hasAccel;
122 |       this.hasGyro = hasGyro;
123 |       this.hasQuat = hasQuat;
124 |       this.accelTime = 0;
125 |       this.gyroTime = 0;
126 |       this.quatTime = 0;
127 |       this.imu = this.publisher.newMessage();
128 |     }
129 | 
130 | //	@Override
131 | 	public void onAccuracyChanged(Sensor sensor, int accuracy)
132 | 	{
133 | 	}
134 | 
135 | //	@Override
136 | 	public void onSensorChanged(SensorEvent event)
137 | 	{
138 | 		if(event.sensor.getType() == Sensor.TYPE_ACCELEROMETER)
139 | 		{
140 | 			this.imu.getLinearAcceleration().setX(event.values[0]);
141 | 			this.imu.getLinearAcceleration().setY(event.values[1]);
142 | 			this.imu.getLinearAcceleration().setZ(event.values[2]);
143 | 			
144 | 			double[] tmpCov = {0,0,0, 0,0,0, 0,0,0};// TODO Make Parameter
145 | 			this.imu.setLinearAccelerationCovariance(tmpCov);
146 | 			this.accelTime = event.timestamp;
147 | 		}
148 | 		else if(event.sensor.getType() == Sensor.TYPE_GYROSCOPE)
149 | 		{
150 | 			this.imu.getAngularVelocity().setX(event.values[0]);
151 | 			this.imu.getAngularVelocity().setY(event.values[1]);
152 | 			this.imu.getAngularVelocity().setZ(event.values[2]);
153 | 			double[] tmpCov = {0,0,0, 0,0,0, 0,0,0};// TODO Make Parameter
154 | 			this.imu.setAngularVelocityCovariance(tmpCov);
155 | 	        this.gyroTime = event.timestamp;
156 | 		}
157 | 		else if(event.sensor.getType() == Sensor.TYPE_ROTATION_VECTOR)
158 | 		{
159 | 	        float[] quaternion = new float[4];
160 | 	        SensorManager.getQuaternionFromVector(quaternion, event.values);
161 | 	        this.imu.getOrientation().setW(quaternion[0]);
162 | 	        this.imu.getOrientation().setX(quaternion[1]);
163 | 	        this.imu.getOrientation().setY(quaternion[2]);
164 | 	        this.imu.getOrientation().setZ(quaternion[3]);
165 | 			double[] tmpCov = {0,0,0, 0,0,0, 0,0,0};// TODO Make Parameter
166 | 			this.imu.setOrientationCovariance(tmpCov);
167 | 	       	this.quatTime = event.timestamp;
168 | 		}
169 | 		
170 | 		// Currently storing event times in case I filter them in the future.  Otherwise they are used to determine if all sensors have reported.
171 | 		if((this.accelTime != 0 || !this.hasAccel) &&
172 | 		   (this.gyroTime != 0 || !this.hasGyro) && 
173 | 		   (this.quatTime != 0 || !this.hasQuat))
174 | 		{
175 | 			// Convert event.timestamp (nanoseconds uptime) into system time, use that as the header stamp
176 | 			long time_delta_millis = System.currentTimeMillis() - SystemClock.uptimeMillis();
177 | 			this.imu.getHeader().setStamp(Time.fromMillis(time_delta_millis + event.timestamp/1000000));
178 | 			this.imu.getHeader().setFrameId("/imu");// TODO Make parameter
179 | 			
180 | 			publisher.publish(this.imu);
181 | 
182 | 			// Create a new message
183 | 			this.imu = this.publisher.newMessage();
184 | 			
185 | 			// Reset times
186 | 			this.accelTime = 0;
187 | 			this.gyroTime = 0;
188 | 			this.quatTime = 0;
189 | 		}
190 | 	}
191 |   }
192 | 
193 |   
194 |   public ImuPublisher(SensorManager manager, int sensorDelay)
195 |   {
196 | 	  this.sensorManager = manager;
197 | 	  this.sensorDelay = sensorDelay;
198 |   }
199 | 
200 |   public GraphName getDefaultNodeName()
201 |   {
202 | 	    return GraphName.of("android_sensors_driver/imuPublisher");
203 |   }
204 |   
205 |   public void onError(Node node, Throwable throwable)
206 |   {
207 |   }
208 | 
209 |   public void onStart(ConnectedNode node)
210 |   {
211 | 	  try
212 | 	  {
213 | 			this.publisher = node.newPublisher("android/imu", "sensor_msgs/Imu");
214 | 			// 	Determine if we have the various needed sensors
215 | 			boolean hasAccel = false;
216 | 			boolean hasGyro = false;
217 | 			boolean hasQuat = false;
218 | 	
219 | 			List<Sensor> accelList = this.sensorManager.getSensorList(Sensor.TYPE_ACCELEROMETER);
220 | 			
221 | 			if(accelList.size() > 0)
222 | 			{
223 | 				hasAccel = true;
224 | 			}
225 | 			
226 | 			List<Sensor> gyroList = this.sensorManager.getSensorList(Sensor.TYPE_GYROSCOPE);
227 | 			if(gyroList.size() > 0)
228 | 			{
229 | 				hasGyro = true;
230 | 			}
231 | 			
232 | 			List<Sensor> quatList = this.sensorManager.getSensorList(Sensor.TYPE_ROTATION_VECTOR);
233 | 			if(quatList.size() > 0)
234 | 			{
235 | 				hasQuat = true;
236 | 			}
237 | 			
238 | 			this.sensorListener = new SensorListener(publisher, hasAccel, hasGyro, hasQuat);
239 | 			this.imuThread = new ImuThread(this.sensorManager, sensorListener);
240 | 			this.imuThread.start();		
241 | 	  }
242 | 	  catch (Exception e)
243 | 	  {
244 | 		  if (node != null)
245 | 		  {
246 | 			  node.getLog().fatal(e);
247 | 		  }
248 | 		  else
249 | 		  {
250 | 			  e.printStackTrace();
251 | 		  }
252 | 	  }
253 |   }
254 | 
255 | //@Override
256 |   public void onShutdown(Node arg0)
257 |   {
258 | 	  if(this.imuThread == null){
259 | 	  	  	return;
260 | 	  }
261 | 	  this.imuThread.shutdown();
262 | 	
263 | 	  try
264 | 	  {
265 | 		  this.imuThread.join();
266 | 	  }
267 | 	  catch (InterruptedException e)
268 | 	  {
269 | 		  e.printStackTrace();
270 | 	  }
271 |   }
272 | 
273 | //@Override
274 |   public void onShutdownComplete(Node arg0)
275 |   {
276 |   }
277 | 
278 | }
279 | 
280 | 


--------------------------------------------------------------------------------
/src/org/ros/android/android_sensors_driver/MagneticFieldPublisher.java:
--------------------------------------------------------------------------------
  1 | /*
  2 |  * Copyright (c) 2011, Chad Rockey
  3 |  * All rights reserved.
  4 |  *
  5 |  * Redistribution and use in source and binary forms, with or without
  6 |  * modification, are permitted provided that the following conditions are met:
  7 |  *
  8 |  *     * Redistributions of source code must retain the above copyright
  9 |  *       notice, this list of conditions and the following disclaimer.
 10 |  *     * Redistributions in binary form must reproduce the above copyright
 11 |  *       notice, this list of conditions and the following disclaimer in the
 12 |  *       documentation and/or other materials provided with the distribution.
 13 |  *     * Neither the name of the Android Sensors Driver nor the names of its
 14 |  *       contributors may be used to endorse or promote products derived from
 15 |  *       this software without specific prior written permission.
 16 |  *
 17 |  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 18 |  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 19 |  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 20 |  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 21 |  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 22 |  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 23 |  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 24 |  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 25 |  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 26 |  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 27 |  * POSSIBILITY OF SUCH DAMAGE.
 28 |  */
 29 | 
 30 | package org.ros.android.android_sensors_driver;
 31 | 
 32 | 
 33 | import java.util.List;
 34 | 
 35 | import android.hardware.Sensor;
 36 | import android.hardware.SensorEvent;
 37 | import android.hardware.SensorEventListener;
 38 | import android.hardware.SensorManager;
 39 | import android.os.Looper;
 40 | import android.os.SystemClock;
 41 | 
 42 | import org.ros.node.ConnectedNode;
 43 | import org.ros.message.Time;
 44 | import org.ros.namespace.GraphName;
 45 | import sensor_msgs.MagneticField;
 46 | import org.ros.node.Node;
 47 | import org.ros.node.NodeMain;
 48 | import org.ros.node.topic.Publisher;
 49 | 
 50 | /**
 51 |  * @author chadrockey@gmail.com (Chad Rockey)
 52 |  */
 53 | public class MagneticFieldPublisher implements NodeMain
 54 | {
 55 | 
 56 |   private MagneticFieldThread mfThread;
 57 |   private SensorListener sensorListener;
 58 |   private SensorManager sensorManager;
 59 |   private Publisher<MagneticField> publisher;
 60 |   private int sensorDelay;
 61 |   
 62 |   private class MagneticFieldThread extends Thread
 63 |   {
 64 | 	  private final SensorManager sensorManager;
 65 | 	  private SensorListener sensorListener;
 66 | 	  private Looper threadLooper;
 67 | 	  
 68 | 
 69 | 	  private final Sensor mfSensor;
 70 | 	  
 71 | 	  private MagneticFieldThread(SensorManager sensorManager, SensorListener sensorListener)
 72 | 	  {
 73 | 		  this.sensorManager = sensorManager;
 74 | 		  this.sensorListener = sensorListener;
 75 | 		  this.mfSensor = this.sensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);
 76 | 	  }
 77 | 	  
 78 | 	    
 79 | 	  public void run()
 80 | 	  {
 81 | 			Looper.prepare();
 82 | 			this.threadLooper = Looper.myLooper();
 83 | 			this.sensorManager.registerListener(this.sensorListener, this.mfSensor, sensorDelay);
 84 | 			Looper.loop();
 85 | 	  }
 86 | 	    
 87 | 	    
 88 | 	  public void shutdown()
 89 | 	  {
 90 | 	    	this.sensorManager.unregisterListener(this.sensorListener);
 91 | 	    	if(this.threadLooper != null)
 92 | 	    	{
 93 | 	            this.threadLooper.quit();
 94 | 	    	}
 95 | 	  }
 96 | 	}
 97 |   
 98 |   private class SensorListener implements SensorEventListener
 99 |   {
100 | 
101 |     private Publisher<MagneticField> publisher;
102 | 
103 |     private SensorListener(Publisher<MagneticField> publisher)
104 |     {
105 |       this.publisher = publisher;
106 |     }
107 | 
108 | //	@Override
109 | 	public void onAccuracyChanged(Sensor sensor, int accuracy)
110 | 	{
111 | 	}
112 | 
113 | //	@Override
114 | 	public void onSensorChanged(SensorEvent event)
115 | 	{
116 | 		if(event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD)
117 | 		{
118 | 			MagneticField msg = this.publisher.newMessage();
119 | 			long time_delta_millis = System.currentTimeMillis() - SystemClock.uptimeMillis();
120 | 			msg.getHeader().setStamp(Time.fromMillis(time_delta_millis + event.timestamp/1000000));
121 | 			msg.getHeader().setFrameId("/imu");// TODO Make parameter
122 | 
123 | 			msg.getMagneticField().setX(event.values[0]/1e6);
124 | 			msg.getMagneticField().setY(event.values[1]/1e6);
125 | 			msg.getMagneticField().setZ(event.values[2]/1e6);
126 | 			
127 | 			double[] tmpCov = {0,0,0, 0,0,0, 0,0,0}; // TODO Make Parameter
128 | 			msg.setMagneticFieldCovariance(tmpCov);
129 | 
130 | 			publisher.publish(msg);
131 | 		}
132 | 	}
133 |   }
134 | 
135 |   
136 |   public MagneticFieldPublisher(SensorManager manager, int sensorDelay)
137 |   {
138 | 	  this.sensorManager = manager;
139 | 	  this.sensorDelay = sensorDelay;
140 |   }
141 | 
142 |   public GraphName getDefaultNodeName()
143 |   {
144 | 	    return GraphName.of("android_sensors_driver/magnetic_field_publisher");
145 |   }
146 |   
147 |   public void onError(Node node, Throwable throwable)
148 |   {
149 |   }
150 | 
151 |   public void onStart(ConnectedNode node)
152 |   {
153 | 	  try
154 | 	  {
155 | 			List<Sensor> mfList = this.sensorManager.getSensorList(Sensor.TYPE_MAGNETIC_FIELD);
156 | 			
157 | 			if(mfList.size() > 0)
158 | 			{
159 | 				this.publisher = node.newPublisher("android/magnetic_field", "sensor_msgs/MagneticField");
160 | 				this.sensorListener = new SensorListener(this.publisher);
161 | 				this.mfThread = new MagneticFieldThread(this.sensorManager, this.sensorListener);
162 | 				this.mfThread.start();		
163 | 			}			
164 | 
165 | 	  }
166 | 	  catch (Exception e)
167 | 	  {
168 | 		  if (node != null)
169 | 		  {
170 | 			  node.getLog().fatal(e);
171 | 		  }
172 | 		  else
173 | 		  {
174 | 			  e.printStackTrace();
175 | 		  }
176 | 	  }
177 |   }
178 | 
179 | //@Override
180 |   public void onShutdown(Node arg0)
181 |   {
182 | 	  if(this.mfThread == null){
183 | 	  	  	return;
184 | 	  }
185 | 	  
186 | 	  this.mfThread.shutdown();
187 | 	
188 | 	  try
189 | 	  {
190 | 		  this.mfThread.join();
191 | 	  }
192 | 	  catch (InterruptedException e)
193 | 	  {
194 | 		  e.printStackTrace();
195 | 	  }
196 |   }
197 | 
198 | //@Override
199 |   public void onShutdownComplete(Node arg0)
200 |   {
201 |   }
202 | 
203 | }
204 | 
205 | 


--------------------------------------------------------------------------------
/src/org/ros/android/android_sensors_driver/MainActivity.java:
--------------------------------------------------------------------------------
  1 | /*
  2 |  * Copyright (C) 2011 Google Inc.
  3 |  * 
  4 |  * Licensed under the Apache License, Version 2.0 (the "License"); you may not
  5 |  * use this file except in compliance with the License. You may obtain a copy of
  6 |  * the License at
  7 |  * 
  8 |  * http://www.apache.org/licenses/LICENSE-2.0
  9 |  * 
 10 |  * Unless required by applicable law or agreed to in writing, software
 11 |  * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 12 |  * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 13 |  * License for the specific language governing permissions and limitations under
 14 |  * the License.
 15 |  */
 16 | 
 17 | package org.ros.android.android_sensors_driver;
 18 | 
 19 | import android.app.AlertDialog;
 20 | import android.content.ActivityNotFoundException;
 21 | import android.content.Context;
 22 | import android.content.DialogInterface;
 23 | import android.content.Intent;
 24 | import android.hardware.Sensor;
 25 | import android.hardware.SensorManager;
 26 | import android.location.LocationManager;
 27 | import android.net.Uri;
 28 | import android.os.Bundle;
 29 | import android.widget.Toast;
 30 | 
 31 | import org.ros.address.InetAddressFactory;
 32 | import org.ros.android.RosActivity;
 33 | import org.ros.node.NodeConfiguration;
 34 | import org.ros.node.NodeMainExecutor;
 35 | 
 36 | import android.view.Menu;
 37 | import android.view.MenuItem;
 38 | import android.view.SubMenu;
 39 | import android.view.Window;
 40 | import android.view.WindowManager;
 41 | import android.view.MenuInflater;
 42 | 
 43 | import java.net.URI;
 44 | 
 45 | /**
 46 |  * @author chadrockey@gmail.com (Chad Rockey)
 47 |  * @author axelfurlan@gmail.com (Axel Furlan)
 48 |  */
 49 | 
 50 | 
 51 | public class MainActivity extends RosActivity
 52 | {
 53 |     private NavSatFixPublisher fix_pub;
 54 |     private ImuPublisher imu_pub;
 55 |     private MagneticFieldPublisher magnetic_field_pub;
 56 |     private FluidPressurePublisher fluid_pressure_pub;
 57 |     private IlluminancePublisher illuminance_pub;
 58 |     private TemperaturePublisher temperature_pub;
 59 | 
 60 |     private LocationManager mLocationManager;
 61 |     private SensorManager mSensorManager;
 62 | 
 63 | 
 64 |     public MainActivity()
 65 |     {
 66 |         super("ROS Sensors Driver", "ROS Sensors Driver");
 67 |     }
 68 | 
 69 |     @Override
 70 |     protected void onPause()
 71 |     {
 72 |         super.onPause();
 73 |     }
 74 | 
 75 |     @Override
 76 |     protected void onCreate(Bundle savedInstanceState)
 77 |     {
 78 |         super.onCreate(savedInstanceState);
 79 |         setContentView(R.layout.activity_main);
 80 | 
 81 |         mLocationManager = (LocationManager)this.getSystemService(Context.LOCATION_SERVICE);
 82 |         mSensorManager = (SensorManager)this.getSystemService(SENSOR_SERVICE);
 83 |     }
 84 | 
 85 |     @Override
 86 |     protected void onResume()
 87 |     {
 88 |         super.onResume();
 89 |     }
 90 | 
 91 | 
 92 |     @Override
 93 |     protected void init(NodeMainExecutor nodeMainExecutor)
 94 |     {
 95 |         URI masterURI = getMasterUri();
 96 |         //masterURI = URI.create("http://192.168.15.247:11311/");
 97 |         //masterURI = URI.create("http://10.0.1.157:11311/");
 98 | 
 99 |         int currentapiVersion = android.os.Build.VERSION.SDK_INT;
100 | 
101 |         int sensorDelay = 20000; // 20,000 us == 50 Hz for Android 3.1 and above
102 |         if(currentapiVersion <= android.os.Build.VERSION_CODES.HONEYCOMB){
103 |             sensorDelay = SensorManager.SENSOR_DELAY_UI; // 16.7Hz for older devices.  They only support enum values, not the microsecond version.
104 |         }
105 | 
106 |         @SuppressWarnings("deprecation")
107 |         int tempSensor = Sensor.TYPE_TEMPERATURE; // Older temperature
108 |         if(currentapiVersion <= android.os.Build.VERSION_CODES.ICE_CREAM_SANDWICH){
109 |             tempSensor = Sensor.TYPE_AMBIENT_TEMPERATURE; // Use newer temperature if possible
110 |         }
111 | 
112 | 
113 |         if(currentapiVersion >= android.os.Build.VERSION_CODES.GINGERBREAD){
114 |             NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
115 |             nodeConfiguration.setMasterUri(masterURI);
116 |             nodeConfiguration.setNodeName("android_sensors_driver_magnetic_field");
117 |             this.magnetic_field_pub = new MagneticFieldPublisher(mSensorManager, sensorDelay);
118 |             nodeMainExecutor.execute(this.magnetic_field_pub, nodeConfiguration);
119 |         }
120 | 
121 |         if(currentapiVersion >= android.os.Build.VERSION_CODES.GINGERBREAD){
122 |             NodeConfiguration nodeConfiguration2 = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
123 |             nodeConfiguration2.setMasterUri(masterURI);
124 |             nodeConfiguration2.setNodeName("android_sensors_driver_nav_sat_fix");
125 |             this.fix_pub = new NavSatFixPublisher(mLocationManager);
126 |             nodeMainExecutor.execute(this.fix_pub, nodeConfiguration2);
127 |         }
128 | 
129 |         if(currentapiVersion >= android.os.Build.VERSION_CODES.GINGERBREAD){
130 |             NodeConfiguration nodeConfiguration3 = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
131 |             nodeConfiguration3.setMasterUri(masterURI);
132 |             nodeConfiguration3.setNodeName("android_sensors_driver_imu");
133 |             this.imu_pub = new ImuPublisher(mSensorManager, sensorDelay);
134 |             nodeMainExecutor.execute(this.imu_pub, nodeConfiguration3);
135 |         }
136 | 
137 |         if(currentapiVersion >= android.os.Build.VERSION_CODES.GINGERBREAD){
138 |             NodeConfiguration nodeConfiguration4 = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
139 |             nodeConfiguration4.setMasterUri(masterURI);
140 |             nodeConfiguration4.setNodeName("android_sensors_driver_pressure");
141 |             this.fluid_pressure_pub = new FluidPressurePublisher(mSensorManager, sensorDelay);
142 |             nodeMainExecutor.execute(this.fluid_pressure_pub, nodeConfiguration4);
143 |         }
144 | 
145 |         if(currentapiVersion >= android.os.Build.VERSION_CODES.GINGERBREAD){
146 |             NodeConfiguration nodeConfiguration5 = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
147 |             nodeConfiguration5.setMasterUri(masterURI);
148 |             nodeConfiguration5.setNodeName("android_sensors_driver_illuminance");
149 |             this.illuminance_pub = new IlluminancePublisher(mSensorManager, sensorDelay);
150 |             nodeMainExecutor.execute(this.illuminance_pub, nodeConfiguration5);
151 |         }
152 | 
153 |         if(currentapiVersion >= android.os.Build.VERSION_CODES.GINGERBREAD){
154 |             NodeConfiguration nodeConfiguration6 = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
155 |             nodeConfiguration6.setMasterUri(masterURI);
156 |             nodeConfiguration6.setNodeName("android_sensors_driver_temperature");
157 |             this.temperature_pub = new TemperaturePublisher(mSensorManager, sensorDelay, tempSensor);
158 |             nodeMainExecutor.execute(this.temperature_pub, nodeConfiguration6);
159 |         }
160 |     }
161 | 
162 |     @Override
163 |     public boolean onCreateOptionsMenu(Menu menu) {
164 |         MenuInflater inflater = getMenuInflater();
165 |         inflater.inflate(R.menu.activity_main, menu);
166 |         return super.onCreateOptionsMenu(menu);
167 |     }
168 | 
169 |     @Override
170 |     public boolean onOptionsItemSelected(MenuItem item) {
171 |         if(item.getItemId() == R.id.menu_help) {
172 |                 AlertDialog.Builder builder = new AlertDialog.Builder(this);
173 |                 builder.setCancelable(true);
174 |                 builder.setTitle(getResources().getString(R.string.help_title));
175 |                 builder.setMessage(getResources().getString(R.string.help_message));
176 |                 builder.setInverseBackgroundForced(true);
177 |                 builder.setNegativeButton(getResources().getString(R.string.help_ok),
178 |                         new DialogInterface.OnClickListener() {
179 |                             @Override
180 |                             public void onClick(DialogInterface dialog, int which) {
181 |                                 dialog.dismiss();
182 |                             }
183 |                         });
184 |                 builder.setNeutralButton(getResources().getString(R.string.help_wiki),
185 |                         new DialogInterface.OnClickListener() {
186 |                             @Override
187 |                             public void onClick(DialogInterface dialog, int which) {
188 |                                 Intent i = new Intent(Intent.ACTION_VIEW);
189 |                                 Uri u = Uri.parse("http://www.ros.org/wiki/android_sensors_driver");
190 |                                 try {
191 |                                     // Start the activity
192 |                                     i.setData(u);
193 |                                     startActivity(i);
194 |                                 } catch (ActivityNotFoundException e) {
195 |                                     // Raise on activity not found
196 |                                     Toast toast = Toast.makeText(MainActivity.this, "Browser not found.", Toast.LENGTH_SHORT);
197 |                                     toast.show();
198 |                                 }
199 |                             }
200 |                         });
201 |                 builder.setPositiveButton(getResources().getString(R.string.help_report),
202 |                         new DialogInterface.OnClickListener() {
203 |                             @Override
204 |                             public void onClick(DialogInterface dialog, int which) {
205 |                                 Intent i = new Intent(Intent.ACTION_VIEW);
206 |                                 Uri u = Uri.parse("https://github.com/ros-android/android_sensors_driver/issues/new");
207 |                                 try {
208 |                                     // Start the activity
209 |                                     i.setData(u);
210 |                                     startActivity(i);
211 |                                 } catch (ActivityNotFoundException e) {
212 |                                     // Raise on activity not found
213 |                                     Toast toast = Toast.makeText(MainActivity.this, "Browser not found.", Toast.LENGTH_SHORT);
214 |                                     toast.show();
215 |                                 }
216 |                             }
217 |                         });
218 |                 AlertDialog alert = builder.create();
219 |                 alert.show();
220 | 
221 |         }
222 |         return super.onOptionsItemSelected(item);
223 |     }
224 | }
225 | 
226 | 


--------------------------------------------------------------------------------
/src/org/ros/android/android_sensors_driver/NavSatFixPublisher.java:
--------------------------------------------------------------------------------
  1 | /*
  2 |  * Copyright (c) 2011, Chad Rockey
  3 |  * All rights reserved.
  4 |  *
  5 |  * Redistribution and use in source and binary forms, with or without
  6 |  * modification, are permitted provided that the following conditions are met:
  7 |  *
  8 |  *     * Redistributions of source code must retain the above copyright
  9 |  *       notice, this list of conditions and the following disclaimer.
 10 |  *     * Redistributions in binary form must reproduce the above copyright
 11 |  *       notice, this list of conditions and the following disclaimer in the
 12 |  *       documentation and/or other materials provided with the distribution.
 13 |  *     * Neither the name of the Android Sensors Driver nor the names of its
 14 |  *       contributors may be used to endorse or promote products derived from
 15 |  *       this software without specific prior written permission.
 16 |  *
 17 |  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 18 |  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 19 |  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 20 |  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 21 |  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 22 |  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 23 |  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 24 |  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 25 |  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 26 |  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 27 |  * POSSIBILITY OF SUCH DAMAGE.
 28 |  */
 29 | 
 30 | package org.ros.android.android_sensors_driver;
 31 | 
 32 | import android.location.Location;
 33 | import android.location.LocationListener;
 34 | import android.location.LocationManager;
 35 | import android.location.LocationProvider;
 36 | import android.os.Bundle;
 37 | import android.os.Looper;
 38 | 
 39 | import org.ros.namespace.GraphName;
 40 | import org.ros.node.ConnectedNode;
 41 | import org.ros.message.Time;
 42 | import sensor_msgs.NavSatFix;
 43 | import sensor_msgs.NavSatStatus;
 44 | import org.ros.node.Node;
 45 | import org.ros.node.NodeMain;
 46 | import org.ros.node.topic.Publisher;
 47 | 
 48 | /**
 49 |  * @author chadrockey@gmail.com (Chad Rockey)
 50 |  * @author axelfurlan@gmail.com (Axel Furlan)
 51 |  */
 52 | public class NavSatFixPublisher implements NodeMain {
 53 | 
 54 |   private NavSatThread navSatThread;
 55 |   private LocationManager locationManager;
 56 |   private NavSatListener navSatFixListener;
 57 |   private Publisher<NavSatFix> publisher;
 58 |   
 59 |   private class NavSatThread extends Thread {
 60 | 	  LocationManager locationManager;
 61 | 	  NavSatListener navSatListener;
 62 | 	  private Looper threadLooper;
 63 | 	  
 64 | 	  private NavSatThread(LocationManager locationManager, NavSatListener navSatListener){
 65 | 		  this.locationManager = locationManager;
 66 | 		  this.navSatListener = navSatListener;
 67 | 	  }
 68 | 	  
 69 | 	    public void run() {
 70 | 	    	Looper.prepare();
 71 | 	    	threadLooper = Looper.myLooper();
 72 | 	    	this.locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 0, 0, this.navSatListener);
 73 | 	    	Looper.loop();
 74 | 	    }
 75 | 	    
 76 | 	    public void shutdown(){
 77 | 	    	this.locationManager.removeUpdates(this.navSatListener);
 78 | 	    	if(threadLooper != null){
 79 | 	            threadLooper.quit();
 80 | 	    	}
 81 | 	    }
 82 | 	}
 83 |   
 84 |   private class NavSatListener implements LocationListener {
 85 | 
 86 |     private Publisher<NavSatFix> publisher;
 87 | 
 88 |     private volatile byte currentStatus;
 89 | 
 90 |     private NavSatListener(Publisher<NavSatFix> publisher) {
 91 |       this.publisher = publisher;
 92 |       this.currentStatus = NavSatStatus.STATUS_FIX; // Default to fix until we are told otherwise.
 93 |     }
 94 | 
 95 | //	@Override
 96 | 	public void onLocationChanged(Location location)
 97 | 	{
 98 | 		NavSatFix fix = this.publisher.newMessage();
 99 | 		fix.getHeader().setStamp(Time.fromMillis(System.currentTimeMillis()));
100 | 		fix.getHeader().setFrameId("/gps");
101 | 		
102 | 		fix.getStatus().setStatus(currentStatus);
103 | 		fix.getStatus().setService(NavSatStatus.SERVICE_GPS);
104 | 		
105 | 		fix.setLatitude(location.getLatitude());
106 | 		fix.setLongitude(location.getLongitude());
107 | 		fix.setAltitude(location.getAltitude());
108 | 		fix.setPositionCovarianceType(NavSatFix.COVARIANCE_TYPE_APPROXIMATED);
109 | 		double deviation = location.getAccuracy();
110 | 		double covariance = deviation*deviation;
111 | 		double[] tmpCov = {covariance,0,0, 0,covariance,0, 0,0,covariance};
112 | 		fix.setPositionCovariance(tmpCov);
113 | 		publisher.publish(fix);
114 | 	}
115 | 
116 | //	@Override
117 | 	public void onProviderDisabled(String provider) {
118 | 	}
119 | 
120 | //	@Override
121 | 	public void onProviderEnabled(String provider) {
122 | 	}
123 | 
124 | //	@Override
125 | 	public void onStatusChanged(String provider, int status, Bundle extras) {
126 | 		switch (status) {
127 | 		case LocationProvider.OUT_OF_SERVICE:
128 | 			currentStatus = NavSatStatus.STATUS_NO_FIX;
129 | 			break;
130 | 		case LocationProvider.TEMPORARILY_UNAVAILABLE:
131 | 			currentStatus = NavSatStatus.STATUS_NO_FIX;
132 | 			break;
133 | 		case LocationProvider.AVAILABLE:
134 | 			currentStatus = NavSatStatus.STATUS_FIX;
135 | 			break;
136 | 		}
137 | 	}
138 |   }
139 | 
140 |   public NavSatFixPublisher(LocationManager manager) {
141 | 	  this.locationManager = manager;
142 |   }
143 | 
144 | //@Override
145 | public void onStart(ConnectedNode node)
146 | {
147 |   try
148 |   {
149 | 	this.publisher = node.newPublisher("android/fix", "sensor_msgs/NavSatFix");
150 |   	this.navSatFixListener = new NavSatListener(publisher);
151 |   	this.navSatThread = new NavSatThread(this.locationManager, this.navSatFixListener);
152 |   	this.navSatThread.start();
153 |   }
154 |   catch (Exception e)
155 |   {
156 |     if (node != null)
157 |     {
158 |       node.getLog().fatal(e);
159 |     }
160 |     else
161 |     {
162 |       e.printStackTrace();
163 |     }
164 |   }
165 | }
166 | 
167 | //@Override
168 | public void onShutdown(Node arg0) {
169 | 	if(this.navSatThread == null){
170 |   	  	return;
171 |   	}
172 | 	
173 | 	this.navSatThread.shutdown();
174 | 	try {
175 | 		this.navSatThread.join();
176 | 	} catch (InterruptedException e) {
177 | 		e.printStackTrace();
178 | 	}
179 | }
180 | 
181 | //@Override
182 | public void onShutdownComplete(Node arg0) {
183 | }
184 | 
185 | public GraphName getDefaultNodeName()
186 | {
187 | 	    return GraphName.of("android_sensors_driver/imuPublisher");
188 | }
189 | 
190 | public void onError(Node node, Throwable throwable)
191 | {
192 | }
193 | 
194 | }
195 | 


--------------------------------------------------------------------------------
/src/org/ros/android/android_sensors_driver/TemperaturePublisher.java:
--------------------------------------------------------------------------------
  1 | /*
  2 |  * Copyright (c) 2011, Chad Rockey
  3 |  * All rights reserved.
  4 |  *
  5 |  * Redistribution and use in source and binary forms, with or without
  6 |  * modification, are permitted provided that the following conditions are met:
  7 |  *
  8 |  *     * Redistributions of source code must retain the above copyright
  9 |  *       notice, this list of conditions and the following disclaimer.
 10 |  *     * Redistributions in binary form must reproduce the above copyright
 11 |  *       notice, this list of conditions and the following disclaimer in the
 12 |  *       documentation and/or other materials provided with the distribution.
 13 |  *     * Neither the name of the Android Sensors Driver nor the names of its
 14 |  *       contributors may be used to endorse or promote products derived from
 15 |  *       this software without specific prior written permission.
 16 |  *
 17 |  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 18 |  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 19 |  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 20 |  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 21 |  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 22 |  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 23 |  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 24 |  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 25 |  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 26 |  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 27 |  * POSSIBILITY OF SUCH DAMAGE.
 28 |  */
 29 | 
 30 | package org.ros.android.android_sensors_driver;
 31 | 
 32 | 
 33 | import java.util.List;
 34 | 
 35 | import android.hardware.Sensor;
 36 | import android.hardware.SensorEvent;
 37 | import android.hardware.SensorEventListener;
 38 | import android.hardware.SensorManager;
 39 | import android.os.Looper;
 40 | import android.os.SystemClock;
 41 | 
 42 | import org.ros.node.ConnectedNode;
 43 | import org.ros.message.Time;
 44 | import org.ros.namespace.GraphName;
 45 | import sensor_msgs.Temperature;
 46 | import org.ros.node.Node;
 47 | import org.ros.node.NodeMain;
 48 | import org.ros.node.topic.Publisher;
 49 | 
 50 | /**
 51 |  * @author chadrockey@gmail.com (Chad Rockey)
 52 |  */
 53 | public class TemperaturePublisher implements NodeMain
 54 | {
 55 | 
 56 |   private TemperatureThread tmpThread;
 57 |   private SensorListener sensorListener;
 58 |   private SensorManager sensorManager;
 59 |   private Publisher<Temperature> publisher;
 60 |   private int sensorType;
 61 |   private int sensorDelay;
 62 |   
 63 |   private class TemperatureThread extends Thread
 64 |   {
 65 | 	  private final SensorManager sensorManager;
 66 | 	  private SensorListener sensorListener;
 67 | 	  private Looper threadLooper;
 68 | 	  
 69 | 
 70 | 	  private final Sensor tmpSensor;
 71 | 	  
 72 | 	  private TemperatureThread(SensorManager sensorManager, SensorListener sensorListener)
 73 | 	  {
 74 | 		  this.sensorManager = sensorManager;
 75 | 		  this.sensorListener = sensorListener;
 76 | 		  this.tmpSensor = this.sensorManager.getDefaultSensor(sensorType);
 77 | 	  }
 78 | 	  
 79 | 	    
 80 | 	  public void run()
 81 | 	  {
 82 | 			Looper.prepare();
 83 | 			this.threadLooper = Looper.myLooper();
 84 | 			this.sensorManager.registerListener(this.sensorListener, this.tmpSensor, sensorDelay);
 85 | 			Looper.loop();
 86 | 	  }
 87 | 	    
 88 | 	    
 89 | 	  public void shutdown()
 90 | 	  {
 91 | 	    	this.sensorManager.unregisterListener(this.sensorListener);
 92 | 	    	if(this.threadLooper != null)
 93 | 	    	{
 94 | 	            this.threadLooper.quit();
 95 | 	    	}
 96 | 	  }
 97 | 	}
 98 |   
 99 |   private class SensorListener implements SensorEventListener
100 |   {
101 | 
102 |     private Publisher<Temperature> publisher;
103 | 
104 |     private SensorListener(Publisher<Temperature> publisher)
105 |     {
106 |       this.publisher = publisher;
107 |     }
108 | 
109 | //	@Override
110 | 	public void onAccuracyChanged(Sensor sensor, int accuracy)
111 | 	{
112 | 	}
113 | 
114 | //	@Override
115 | 	public void onSensorChanged(SensorEvent event)
116 | 	{
117 | 		if(event.sensor.getType() == sensorType)
118 | 		{
119 | 			Temperature msg = this.publisher.newMessage();
120 | 			long time_delta_millis = System.currentTimeMillis() - SystemClock.uptimeMillis();
121 | 			msg.getHeader().setStamp(Time.fromMillis(time_delta_millis + event.timestamp/1000000));
122 | 			msg.getHeader().setFrameId("/android/temperature");// TODO Make parameter
123 | 
124 | 			msg.setTemperature(event.values[0]);
125 | 			msg.setVariance(0.0);
126 | 
127 | 			this.publisher.publish(msg);
128 | 		}
129 | 	}
130 |   }
131 |   
132 |   public TemperaturePublisher(SensorManager manager, int sensorDelay, int sensorType)
133 |   {
134 | 	  this.sensorManager = manager;
135 | 	  this.sensorDelay = sensorDelay;
136 | 	  this.sensorType = sensorType;
137 |   }
138 | 
139 |   public GraphName getDefaultNodeName()
140 |   {
141 | 	    return GraphName.of("android_sensors_driver/temperature_publisher");
142 |   }
143 |   
144 |   public void onError(Node node, Throwable throwable)
145 |   {
146 |   }
147 | 
148 |   public void onStart(ConnectedNode node)
149 |   {
150 | 	  try
151 | 	  {
152 | 			List<Sensor> mfList = this.sensorManager.getSensorList(sensorType);
153 | 			
154 | 			if(mfList.size() > 0)
155 | 			{
156 | 				this.publisher = node.newPublisher("android/temperature", "sensor_msgs/Temperature");
157 | 				this.sensorListener = new SensorListener(this.publisher);
158 | 				this.tmpThread = new TemperatureThread(this.sensorManager, this.sensorListener);
159 | 				this.tmpThread.start();		
160 | 			}			
161 | 
162 | 	  }
163 | 	  catch (Exception e)
164 | 	  {
165 | 		  if (node != null)
166 | 		  {
167 | 			  node.getLog().fatal(e);
168 | 		  }
169 | 		  else
170 | 		  {
171 | 			  e.printStackTrace();
172 | 		  }
173 | 	  }
174 |   }
175 | 
176 | //@Override
177 |   public void onShutdown(Node arg0)
178 |   {
179 |   	  if(this.tmpThread == null){
180 |   	  	return;
181 |   	  }
182 | 
183 | 	  this.tmpThread.shutdown();
184 | 	
185 | 	  try
186 | 	  {
187 | 		  this.tmpThread.join();
188 | 	  }
189 | 	  catch (InterruptedException e)
190 | 	  {
191 | 		  e.printStackTrace();
192 | 	  }
193 |   }
194 | 
195 | //@Override
196 |   public void onShutdownComplete(Node arg0)
197 |   {
198 |   }
199 | 
200 | }
201 | 
202 | 


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