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Code Issues Packages Projects Releases Wiki Activity

Tango: C-API Code Migration to Mira release

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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
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app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+36 -8
View File
@@ -9,8 +9,10 @@ import android.app.Notification;
import android.app.NotificationManager;
import android.app.PendingIntent;
import android.app.ProgressDialog;
import android.content.ComponentName;
import android.content.DialogInterface;
import android.content.Intent;
import android.content.ServiceConnection;
import android.content.pm.PackageInfo;
import android.content.pm.PackageManager;
import android.content.pm.PackageManager.NameNotFoundException;
@@ -20,6 +22,7 @@ import android.os.Bundle;
import android.os.Environment;
import android.os.Handler;
import android.os.Debug;
import android.os.IBinder;
import android.text.Editable;
import android.text.InputType;
import android.util.Log;
@@ -99,6 +102,24 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private Toast mToast = null;
//Tango Service connection.
ServiceConnection mTangoServiceConnection = new ServiceConnection() {
public void onServiceConnected(ComponentName name, IBinder service) {
if(!RTABMapLib.onTangoServiceConnected(service))
{
mToast.makeText(getApplicationContext(),
String.format("Failed to intialize Tango!"), mToast.LENGTH_SHORT).show();
}
}
public void onServiceDisconnected(ComponentName name) {
// Handle this if you need to gracefully shutdown/retry
// in the event that Tango itself crashes/gets upgraded while running.
mToast.makeText(getApplicationContext(),
String.format("Tango disconnected!"), mToast.LENGTH_SHORT).show();
}
};
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
@@ -172,7 +193,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
Environment.getExternalStorageState()), mToast.LENGTH_LONG).show();
}
RTABMapLib.initialize(this);
RTABMapLib.onCreate(this);
RTABMapLib.openDatabase(mTempDatabasePath);
}
@@ -193,6 +214,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
protected void onResume() {
super.onResume();
TangoInitializationHelper.bindTangoService(this, mTangoServiceConnection);
Log.i(TAG, String.format("onResume()"));
if (Tango.hasPermission(this, Tango.PERMISSIONTYPE_MOTION_TRACKING)) {
@@ -209,12 +232,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemPostProcessing.setEnabled(false);
}
if(RTABMapLib.onResume()!=0)
{
mToast.makeText(getApplicationContext(),
String.format("Failed to connect with Tango!"), mToast.LENGTH_SHORT).show();
}
} else {
Log.i(TAG, String.format("Asking for motion tracking permission"));
startActivityForResult(
@@ -232,6 +249,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
RTABMapLib.onPause();
mOpenedDatabasePath = "";
RTABMapLib.openDatabase(mTempDatabasePath);
unbindService(mTangoServiceConnection);
}
@Override
@@ -318,6 +337,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
int featuresExtracted,
float hypothesis,
int nodesDrawn,
float fps,
int rejected)
{
if(mItemPause!=null)
@@ -335,6 +355,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
((TextView)findViewById(R.id.features)).setText(String.format("%d / %s", featuresExtracted, mMaxFeaturesValues[mParamMaxFeaturesIndex]));
((TextView)findViewById(R.id.update_time)).setText(String.format("%.3f / %s", updateTime, mTimeThrValues[mParamTimeThrMsIndex]));
((TextView)findViewById(R.id.hypothesis)).setText(String.format("%.3f / %s (%d)", hypothesis, mLoopThrValues[mParamLoopThrMsIndex], loopClosureId>0?loopClosureId:highestHypId));
((TextView)findViewById(R.id.fps)).setText(String.format("%.3f Hz", fps));
if(mItemPause!=null && !mItemPause.isChecked())
{
if(loopClosureId > 0)
@@ -367,13 +388,14 @@ public class RTABMapActivity extends Activity implements OnClickListener {
final int features,
final float hypothesis,
final int nodesDrawn,
final float fps,
final int rejected)
{
Log.i(TAG, String.format("updateStatsCallback()"));
runOnUiThread(new Runnable() {
public void run() {
updateStatsUI(nodes, words, points, polygons, updateTime, loopClosureId, highestHypId, databaseMemoryUsed, inliers, features, hypothesis, nodesDrawn, rejected);
updateStatsUI(nodes, words, points, polygons, updateTime, loopClosureId, highestHypId, databaseMemoryUsed, inliers, features, hypothesis, nodesDrawn, fps, rejected);
}
});
}
@@ -469,6 +491,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
((TextView)findViewById(R.id.features)).setText(String.valueOf(0));
((TextView)findViewById(R.id.update_time)).setText(String.valueOf(0));
((TextView)findViewById(R.id.hypothesis)).setText(String.valueOf(0));
((TextView)findViewById(R.id.fps)).setText(String.valueOf(0));
mTotalLoopClosures = 0;
((TextView)findViewById(R.id.total_loop)).setText(String.valueOf(mTotalLoopClosures));
@@ -764,6 +787,10 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
item.setChecked(!item.isChecked());
RTABMapLib.setAutoExposure(item.isChecked());
// restart Tango service
onPause();
onResume();
}
else if(itemId == R.id.resolution)
{
@@ -1024,6 +1051,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
((TextView)findViewById(R.id.features)).setText(String.valueOf(0));
((TextView)findViewById(R.id.update_time)).setText(String.valueOf(0));
((TextView)findViewById(R.id.hypothesis)).setText(String.valueOf(0));
((TextView)findViewById(R.id.fps)).setText(String.valueOf(0));
mTotalLoopClosures = 0;
((TextView)findViewById(R.id.total_loop)).setText(String.valueOf(mTotalLoopClosures));
app/android/src/com/introlab/rtabmap/RTABMapLib.java
+17 -5
View File
@@ -1,6 +1,8 @@
package com.introlab.rtabmap;
import android.os.IBinder;
import android.view.KeyEvent;
import android.util.Log;
// Wrapper for native library
@@ -8,19 +10,29 @@ import android.view.KeyEvent;
public class RTABMapLib
{
static
{
System.loadLibrary("NativeRTABMap");
static {
// This project depends on tango_client_api, so we need to make sure we load
// the correct library first.
if (TangoInitializationHelper.loadTangoSharedLibrary() ==
TangoInitializationHelper.ARCH_ERROR) {
Log.e(RTABMapActivity.class.getSimpleName(), "ERROR! Unable to load libtango_client_api.so!");
}
System.loadLibrary("NativeRTABMap");
}
// Initialize the Tango Service, this function starts the communication
// between the application and Tango Service.
// The activity object is used for checking if the API version is outdated.
public static native int initialize(RTABMapActivity activity);
public static native void onCreate(RTABMapActivity activity);
public static native void openDatabase(String databasePath);
public static native int onResume();
/*
* Called when the Tango service is connected.
*
* @param binder The native binder object.
*/
public static native boolean onTangoServiceConnected(IBinder binder);
// Release all non OpenGl resources that are allocated from the program.
public static native void onPause();
app/android/src/com/introlab/rtabmap/TangoInitializationHelper.java
+136
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;
}
}