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Merge pull request #52 from googlesamples/release-capella
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Release capella
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@jguomoto
jguomoto committed Dec 15, 2015
2 parents fdfd71c + 15b6584 commit e4ea49e
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Showing 21 changed files with 335 additions and 372 deletions.
111 changes: 44 additions & 67 deletions ...app/src/main/java/com/projecttango/experiments/javaarealearning/AreaLearningActivity.java
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Original file line number Diff line number Diff line change
Expand Up @@ -18,12 +18,10 @@

import com.google.atap.tangoservice.Tango.OnTangoUpdateListener;
import com.google.atap.tangoservice.Tango;
import com.google.atap.tangoservice.TangoAreaDescriptionMetaData;
import com.google.atap.tangoservice.TangoConfig;
import com.google.atap.tangoservice.TangoCoordinateFramePair;
import com.google.atap.tangoservice.TangoErrorException;
import com.google.atap.tangoservice.TangoEvent;
import com.google.atap.tangoservice.TangoException;
import com.google.atap.tangoservice.TangoInvalidException;
import com.google.atap.tangoservice.TangoOutOfDateException;
import com.google.atap.tangoservice.TangoPoseData;
Expand All @@ -34,7 +32,6 @@
import android.content.Intent;
import android.content.pm.PackageInfo;
import android.content.pm.PackageManager.NameNotFoundException;
import android.os.AsyncTask;
import android.os.Bundle;
import android.util.Log;
import android.view.MotionEvent;
Expand All @@ -43,14 +40,14 @@
import android.widget.TextView;
import android.widget.Toast;

import java.text.DecimalFormat;
import java.util.ArrayList;

import com.projecttango.tangoutils.TangoPoseUtilities;

import org.rajawali3d.surface.IRajawaliSurface;
import org.rajawali3d.surface.RajawaliSurfaceView;

import java.text.DecimalFormat;
import java.util.ArrayList;

/**
* Main Activity class for the Area Learning API Sample. Handles the connection to the Tango service
* and propagation of Tango pose data to OpenGL and Layout views. OpenGL rendering logic is
Expand All @@ -60,7 +57,7 @@ public class AreaLearningActivity extends Activity implements View.OnClickListen
SetADFNameDialog.CallbackListener, SaveAdfTask.SaveAdfListener {

private static final String TAG = AreaLearningActivity.class.getSimpleName();
private static final int SECONDS_TO_MILLI = 1000;
private static final int SECS_TO_MILLISECS = 1000;
private Tango mTango;
private TangoConfig mConfig;
private TextView mTangoEventTextView;
Expand Down Expand Up @@ -102,6 +99,9 @@ public class AreaLearningActivity extends Activity implements View.OnClickListen
private double mAdf2DevicePreviousPoseTimeStamp;
private double mAdf2StartPreviousPoseTimeStamp;

private double mPreviousPoseTimeStamp;
private double mTimeToNextUpdate = UPDATE_INTERVAL_MS;

private boolean mIsRelocalized;
private boolean mIsLearningMode;
private boolean mIsConstantSpaceRelocalize;
Expand All @@ -113,9 +113,10 @@ public class AreaLearningActivity extends Activity implements View.OnClickListen
private SaveAdfTask mSaveAdfTask;

private TangoPoseData[] mPoses;
private static final int UPDATE_INTERVAL_MS = 100;
private static final DecimalFormat mThreeDecimalFormat = new DecimalFormat("00.000");
private static final Object mSharedLock = new Object();
private static final double UPDATE_INTERVAL_MS = 100.0;
private static final DecimalFormat FORMAT_THREE_DECIMAL = new DecimalFormat("00.000");

private final Object mSharedLock = new Object();

@Override
protected void onCreate(Bundle savedInstanceState) {
Expand All @@ -140,8 +141,6 @@ protected void onCreate(Bundle savedInstanceState) {
mStart2DevicePoseCount = 0;
mAdf2DevicePoseCount = 0;
mAdf2StartPoseCount = 0;

startUIThread();
}

/**
Expand Down Expand Up @@ -405,7 +404,6 @@ public void onPoseAvailable(TangoPoseData pose) {
// UI loop doesn't interfere while Pose call back is updating
// the data.
synchronized (mSharedLock) {
float[] translation = pose.getTranslationAsFloats();
// Check for Device wrt ADF pose, Device wrt Start of Service pose,
// Start of Service wrt ADF pose(This pose determines if device
// the is relocalized or not).
Expand All @@ -421,7 +419,7 @@ public void onPoseAvailable(TangoPoseData pose) {
// Calculate time difference between current and last available Device wrt
// ADF pose.
mAdf2DevicePoseDelta = (pose.timestamp - mAdf2DevicePreviousPoseTimeStamp)
* SECONDS_TO_MILLI;
* SECS_TO_MILLISECS;
mAdf2DevicePreviousPoseTimeStamp = pose.timestamp;
if (mIsRelocalized) {
updateRenderer = true;
Expand All @@ -438,7 +436,7 @@ public void onPoseAvailable(TangoPoseData pose) {
// Calculate time difference between current and last available Device wrt
// SS pose.
mStart2DevicePoseDelta = (pose.timestamp - mStart2DevicePreviousPoseTimeStamp)
* SECONDS_TO_MILLI;
* SECS_TO_MILLISECS;
mStart2DevicePreviousPoseTimeStamp = pose.timestamp;
if (!mIsRelocalized) {
updateRenderer = true;
Expand All @@ -456,7 +454,7 @@ public void onPoseAvailable(TangoPoseData pose) {
// Calculate time difference between current and last available SS wrt ADF
// pose.
mAdf2StartPoseDelta = (pose.timestamp - mAdf2StartPreviousPoseTimeStamp)
* SECONDS_TO_MILLI;
* SECS_TO_MILLISECS;
mAdf2StartPreviousPoseTimeStamp = pose.timestamp;
if (pose.statusCode == TangoPoseData.POSE_VALID) {
mIsRelocalized = true;
Expand All @@ -467,6 +465,24 @@ public void onPoseAvailable(TangoPoseData pose) {
}
}
}

final double deltaTime = (pose.timestamp - mPreviousPoseTimeStamp) * SECS_TO_MILLISECS;
mPreviousPoseTimeStamp = pose.timestamp;
mTimeToNextUpdate -= deltaTime;

if (mTimeToNextUpdate < 0.0) {
mTimeToNextUpdate = UPDATE_INTERVAL_MS;

runOnUiThread(new Runnable() {
@Override
public void run() {
synchronized (mSharedLock) {
updateTextViews();
}
}
});
}

if (updateRenderer) {
mRenderer.updateDevicePose(pose, mIsRelocalized);
}
Expand Down Expand Up @@ -527,42 +543,6 @@ private void showSetADFNameDialog() {
setADFNameDialog.show(manager, "ADFNameDialog");
}

/**
* Create a separate thread to update Log information on UI at the specified interval of
* UPDATE_INTERVAL_MS. This function also makes sure to have access to the mPoses atomically.
*/
private void startUIThread() {
new Thread(new Runnable() {
@Override
public void run() {
while (true) {
try {
Thread.sleep(UPDATE_INTERVAL_MS);
runOnUiThread(new Runnable() {
@Override
public void run() {
try {
synchronized (mSharedLock) {

if (mPoses == null) {
return;
} else {
updateTextViews();
}
}
} catch (NullPointerException e) {
e.printStackTrace();
}
}
});
} catch (InterruptedException e) {
e.printStackTrace();
}
}
}
}).start();
}

/**
* Updates the text view in UI screen with the Pose. Each pose is associated with Target and
* Base Frame. We need to check for that pair and update our views accordingly.
Expand All @@ -571,34 +551,31 @@ private void updateTextViews() {
// Allow clicking of the save button only when Tango is localized to the current ADF.
mSaveAdfButton.setEnabled(mIsRelocalized);

if (mPoses[0] != null
&& mPoses[0].baseFrame == TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION
if (mPoses[0] != null && mPoses[0].baseFrame == TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION
&& mPoses[0].targetFrame == TangoPoseData.COORDINATE_FRAME_DEVICE) {
mAdf2DeviceTranslationTextView.setText(TangoPoseUtilities.getTranslationString(mPoses[0], mThreeDecimalFormat));
mAdf2DeviceQuatTextView.setText(TangoPoseUtilities.getQuaternionString(mPoses[0], mThreeDecimalFormat));
mAdf2DeviceTranslationTextView.setText(TangoPoseUtilities.getTranslationString(mPoses[0], FORMAT_THREE_DECIMAL));
mAdf2DeviceQuatTextView.setText(TangoPoseUtilities.getQuaternionString(mPoses[0], FORMAT_THREE_DECIMAL));
mAdf2DevicePoseStatusTextView.setText(TangoPoseUtilities.getStatusString(mPoses[0]));
mAdf2DevicePoseCountTextView.setText(Integer.toString(mAdf2DevicePoseCount));
mAdf2DevicePoseDeltaTextView.setText(mThreeDecimalFormat.format(mAdf2DevicePoseDelta));
mAdf2DevicePoseDeltaTextView.setText(FORMAT_THREE_DECIMAL.format(mAdf2DevicePoseDelta));
}

if (mPoses[1] != null
&& mPoses[1].baseFrame == TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE
if (mPoses[1] != null && mPoses[1].baseFrame == TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE
&& mPoses[1].targetFrame == TangoPoseData.COORDINATE_FRAME_DEVICE) {
mStart2DeviceTranslationTextView.setText(TangoPoseUtilities.getTranslationString(mPoses[1], mThreeDecimalFormat));
mStart2DeviceQuatTextView.setText(TangoPoseUtilities.getQuaternionString(mPoses[1], mThreeDecimalFormat));
mStart2DeviceTranslationTextView.setText(TangoPoseUtilities.getTranslationString(mPoses[1], FORMAT_THREE_DECIMAL));
mStart2DeviceQuatTextView.setText(TangoPoseUtilities.getQuaternionString(mPoses[1], FORMAT_THREE_DECIMAL));
mStart2DevicePoseStatusTextView.setText(TangoPoseUtilities.getStatusString(mPoses[1]));
mStart2DevicePoseCountTextView.setText(Integer.toString(mStart2DevicePoseCount));
mStart2DevicePoseDeltaTextView.setText(mThreeDecimalFormat.format(mStart2DevicePoseDelta));
mStart2DevicePoseDeltaTextView.setText(FORMAT_THREE_DECIMAL.format(mStart2DevicePoseDelta));
}

if (mPoses[2] != null
&& mPoses[2].baseFrame == TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION
if (mPoses[2] != null && mPoses[2].baseFrame == TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION
&& mPoses[2].targetFrame == TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE) {
mAdf2StartTranslationTextView.setText(TangoPoseUtilities.getTranslationString(mPoses[2], mThreeDecimalFormat));
mAdf2StartQuatTextView.setText(TangoPoseUtilities.getQuaternionString(mPoses[2], mThreeDecimalFormat));
mAdf2StartTranslationTextView.setText(TangoPoseUtilities.getTranslationString(mPoses[2], FORMAT_THREE_DECIMAL));
mAdf2StartQuatTextView.setText(TangoPoseUtilities.getQuaternionString(mPoses[2], FORMAT_THREE_DECIMAL));
mAdf2StartPoseStatusTextView.setText(TangoPoseUtilities.getStatusString(mPoses[2]));
mAdf2StartPoseCountTextView.setText(Integer.toString(mAdf2StartPoseCount));
mAdf2StartPoseDeltaTextView.setText(mThreeDecimalFormat.format(mAdf2StartPoseDelta));
mAdf2StartPoseDeltaTextView.setText(FORMAT_THREE_DECIMAL.format(mAdf2StartPoseDelta));
}
}
}
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