i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

Tango: C-API Code Migration to Mira release

Browse Source
This commit is contained in:
matlabbe
2016-05-12 14:34:51 -04:00
parent 1fbcc2319a
commit dde0e26110
9 changed files with 241 additions and 45 deletions
Download Patch File Download Diff File Expand all files Collapse all files

136
app/android/src/com/introlab/rtabmap/TangoInitializationHelper.java Normal file
View File

@@ -0,0 +1,136 @@
/*
* Copyright 2016 Google Inc. All Rights Reserved.
*
* 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.
*
* Copied for convenience from https://github.com/googlesamples/tango-examples-c/blob/master/cpp_example_util/app/src/main/java/com/projecttango/examples/cpp/util/TangoInitializationHelper.java
*/
package com.introlab.rtabmap;
import android.content.Context;
import android.content.Intent;
import android.content.ServiceConnection;
import android.os.Build;
import android.os.IBinder;
import android.util.Log;
import java.io.File;
/**
* Functions for simplifying the process of initializing TangoService, and function
* handles loading correct libtango_client_api.so.
*/
public class TangoInitializationHelper {
public static final int ARCH_ERROR = -2;
public static final int ARCH_FALLBACK = -1;
public static final int ARCH_DEFAULT = 0;
public static final int ARCH_ARM64 = 1;
public static final int ARCH_ARM32 = 2;
public static final int ARCH_X86_64 = 3;
public static final int ARCH_X86 = 4;
/**
* Only for apps using the C API:
* Initializes the underlying TangoService for native apps.
*
* @return returns false if the device doesn't have the Tango running as Android Service.
* Otherwise ture.
*/
public static final boolean bindTangoService(final Context context,
ServiceConnection connection) {
Intent intent = new Intent();
intent.setClassName("com.google.tango", "com.google.atap.tango.TangoService");
boolean hasJavaService = (context.getPackageManager().resolveService(intent, 0) != null);
// User doesn't have the latest packagename for TangoCore, fallback to the previous name.
if (!hasJavaService) {
intent = new Intent();
intent.setClassName("com.projecttango.tango", "com.google.atap.tango.TangoService");
hasJavaService = (context.getPackageManager().resolveService(intent, 0) != null);
}
// User doesn't have a Java-fied TangoCore at all; fallback to the deprecated approach
// of doing nothing and letting the native side auto-init to the system-service version
// of Tango.
if (!hasJavaService) {
return false;
}
return context.bindService(intent, connection, Context.BIND_AUTO_CREATE);
}
/**
* Load the libtango_client_api.so library based on different Tango device setup.
*
* @return returns the loaded architecture id.
*/
public static final int loadTangoSharedLibrary() {
int loadedSoId = ARCH_ERROR;
String basePath = "/data/data/com.google.tango/libfiles/";
if (!(new File(basePath).exists())) {
basePath = "/data/data/com.projecttango.tango/libfiles/";
}
Log.i("TangoInitializationHelper", "basePath: " + basePath);
try {
System.load(basePath + "arm64-v8a/libtango_client_api.so");
loadedSoId = ARCH_ARM64;
Log.i("TangoInitializationHelper", "Success! Using arm64-v8a/libtango_client_api.");
} catch (UnsatisfiedLinkError e) {
}
if (loadedSoId < ARCH_DEFAULT) {
try {
System.load(basePath + "armeabi-v7a/libtango_client_api.so");
loadedSoId = ARCH_ARM32;
Log.i("TangoInitializationHelper", "Success! Using armeabi-v7a/libtango_client_api.");
} catch (UnsatisfiedLinkError e) {
}
}
if (loadedSoId < ARCH_DEFAULT) {
try {
System.load(basePath + "x86_64/libtango_client_api.so");
loadedSoId = ARCH_X86_64;
Log.i("TangoInitializationHelper", "Success! Using x86_64/libtango_client_api.");
} catch (UnsatisfiedLinkError e) {
}
}
if (loadedSoId < ARCH_DEFAULT) {
try {
System.load(basePath + "x86/libtango_client_api.so");
loadedSoId = ARCH_X86;
Log.i("TangoInitializationHelper", "Success! Using x86/libtango_client_api.");
} catch (UnsatisfiedLinkError e) {
}
}
if (loadedSoId < ARCH_DEFAULT) {
try {
System.load(basePath + "default/libtango_client_api.so");
loadedSoId = ARCH_DEFAULT;
Log.i("TangoInitializationHelper", "Success! Using default/libtango_client_api.");
} catch (UnsatisfiedLinkError e) {
}
}
if (loadedSoId < ARCH_DEFAULT) {
try {
System.loadLibrary("tango_client_api");
loadedSoId = ARCH_FALLBACK;
Log.i("TangoInitializationHelper", "Falling back to libtango_client_api.so symlink.");
} catch (UnsatisfiedLinkError e) {
}
}
return loadedSoId;
}
}