Initial import of my androidgcs framework

androidgcs/AndroidManifest.xml

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+<?xml version="1.0" encoding="utf-8"?>
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+      package="org.openpilot.androidgcs"
+      android:versionCode="1"
+      android:versionName="1.0">
+
+
+    <application android:icon="@drawable/icon" android:label="@string/app_name">
+        <activity android:name="ObjectBrowser"
+                  android:label="@string/app_name">
+            <intent-filter>
+                <action android:name="android.intent.action.MAIN" />
+                <category android:name="android.intent.category.LAUNCHER" />
+            </intent-filter>
+        </activity>
+
+    </application>
+</manifest>

androidgcs/default.properties

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+# This file is automatically generated by Android Tools.
+# Do not modify this file -- YOUR CHANGES WILL BE ERASED!
+#
+# This file must be checked in Version Control Systems.
+#
+# To customize properties used by the Ant build system use,
+# "build.properties", and override values to adapt the script to your
+# project structure.
+
+# Project target.
+target=android-8

androidgcs/gen/org/openpilot/androidgcs/R.java

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+/* AUTO-GENERATED FILE.  DO NOT MODIFY.
+ *
+ * This class was automatically generated by the
+ * aapt tool from the resource data it found.  It
+ * should not be modified by hand.
+ */
+
+package org.openpilot.androidgcs;
+
+public final class R {
+    public static final class attr {
+    }
+    public static final class color {
+        public static final int all_black=0x7f050001;
+        public static final int all_white=0x7f050000;
+    }
+    public static final class drawable {
+        public static final int icon=0x7f020000;
+    }
+    public static final class id {
+        public static final int objects=0x7f060000;
+    }
+    public static final class layout {
+        public static final int main=0x7f030000;
+        public static final int objectbrowser=0x7f030001;
+    }
+    public static final class string {
+        public static final int app_name=0x7f040001;
+        public static final int hello=0x7f040000;
+    }
+}

androidgcs/proguard.cfg

@@ -0,0 +1,36 @@
+-optimizationpasses 5
+-dontusemixedcaseclassnames
+-dontskipnonpubliclibraryclasses
+-dontpreverify
+-verbose
+-optimizations !code/simplification/arithmetic,!field/*,!class/merging/*
+
+-keep public class * extends android.app.Activity
+-keep public class * extends android.app.Application
+-keep public class * extends android.app.Service
+-keep public class * extends android.content.BroadcastReceiver
+-keep public class * extends android.content.ContentProvider
+-keep public class * extends android.app.backup.BackupAgentHelper
+-keep public class * extends android.preference.Preference
+-keep public class com.android.vending.licensing.ILicensingService
+
+-keepclasseswithmembernames class * {
+    native <methods>;
+}
+
+-keepclasseswithmembernames class * {
+    public <init>(android.content.Context, android.util.AttributeSet);
+}
+
+-keepclasseswithmembernames class * {
+    public <init>(android.content.Context, android.util.AttributeSet, int);
+}
+
+-keepclassmembers enum * {
+    public static **[] values();
+    public static ** valueOf(java.lang.String);
+}
+
+-keep class * implements android.os.Parcelable {
+  public static final android.os.Parcelable$Creator *;
+}

androidgcs/res/layout/main.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:orientation="vertical"
+    android:layout_width="fill_parent"
+    android:layout_height="fill_parent"
+    >
+<TextView  
+    android:layout_width="fill_parent" 
+    android:layout_height="wrap_content" 
+    android:text="@string/hello"
+    />
+</LinearLayout>

androidgcs/res/layout/objectbrowser.xml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:orientation="vertical"
+    android:layout_width="fill_parent"
+    android:layout_height="fill_parent"
+    android:background="@color/all_white">
+<ExpandableListView android:layout_height="wrap_content" android:layout_width="match_parent" android:id="@+id/objects"></ExpandableListView>
+</LinearLayout>

androidgcs/res/values/strings.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <string name="hello">OpenPilot Android GCS</string>
+    <string name="app_name">OpieMobi</string>
+    <color name="all_white">#FFFFFF</color>
+    <color name="all_black">#000000</color>
+</resources>

androidgcs/src/org/openpilot/androidgcs/ObjBrowserExpandableListAdapter.java

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+/**
+ * 
+ */
+package org.openpilot.androidgcs;
+
+import android.widget.AbsListView;
+import android.widget.TextView;
+import android.content.Context;
+import android.view.Gravity;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.BaseExpandableListAdapter;
+
+/**
+ * @author jcotton81
+ *
+ */
+public class ObjBrowserExpandableListAdapter extends BaseExpandableListAdapter {
+
+        // Sample data set. children[i] contains the children (String[]) for
+        // groups[i].
+        private String[] groups = { "Parent1", "Parent2", "Parent3" };
+        private String[][] children = { { "Child1" },{ "Child2" }, { "Child3" },{ "Child4" }, { "Child5" } };
+
+        private Context context;
+        
+        public ObjBrowserExpandableListAdapter(Context context) {
+        	this.context = context;
+        }
+        
+        public Object getChild(int groupPosition, int childPosition) {
+            return children[groupPosition][childPosition];
+        }
+
+        public long getChildId(int groupPosition, int childPosition) {
+            return childPosition;
+        }
+
+        public int getChildrenCount(int groupPosition) {
+            int i = 0;
+            try {
+            i = children[groupPosition].length;
+
+            } catch (Exception e) {
+            }
+
+            return i;
+        }
+
+        public TextView getGenericView() {
+            // Layout parameters for the ExpandableListView
+            AbsListView.LayoutParams lp = new AbsListView.LayoutParams(
+                ViewGroup.LayoutParams.FILL_PARENT, 64);
+
+            TextView textView = new TextView(context);
+            textView.setLayoutParams(lp);
+            // Center the text vertically
+            textView.setGravity(Gravity.CENTER_VERTICAL | Gravity.LEFT);
+            // Set the text starting position
+            textView.setPadding(36, 0, 0, 0);
+            return textView;
+        }
+        
+        public View getChildView(int groupPosition, int childPosition,
+            boolean isLastChild, View convertView, ViewGroup parent) {
+            TextView textView = getGenericView();
+            textView.setText(getChild(groupPosition, childPosition).toString());
+            return textView;
+        }
+
+        public Object getGroup(int groupPosition) {
+            return groups[groupPosition];
+        }
+
+        public int getGroupCount() {
+            return groups.length;
+        }
+
+        public long getGroupId(int groupPosition) {
+            return groupPosition;
+        }
+
+        public View getGroupView(int groupPosition, boolean isExpanded,
+            View convertView, ViewGroup parent) {
+            TextView textView = getGenericView();
+            textView.setText(getGroup(groupPosition).toString());
+            return textView;
+        }
+
+        public boolean isChildSelectable(int groupPosition, int childPosition) {
+            return true;
+        }
+
+        public boolean hasStableIds() {
+            return true;
+        }
+        
+
+}

androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java

@@ -0,0 +1,21 @@
+package org.openpilot.androidgcs;
+
+import android.app.Activity;
+import android.os.Bundle;
+
+import android.widget.*;
+
+public class ObjectBrowser extends Activity {
+    /** Called when the activity is first created. */
+    @Override
+    public void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        
+        setContentView(R.layout.objectbrowser);
+        ExpandableListAdapter mAdapter;
+        ExpandableListView epView = (ExpandableListView) findViewById(R.id.objects);
+        mAdapter = new ObjBrowserExpandableListAdapter(this);
+       	epView.setAdapter(mAdapter);
+
+    }
+}

androidgcs/src/org/openpilot/uavtalk/UAVDataObject.java

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+package org.openpilot.uavtalk;
+
+public abstract class UAVDataObject extends UAVObject {
+	
+	public UAVDataObject(int objID, Boolean isSingleInst, Boolean isSet, String name) {
+		super(objID, isSingleInst, name);
+	}
+	
+	public void initialize(int instID, UAVMetaObject mobj) {
+
+	}
+	
+	public void initialize(UAVMetaObject mobj) {
+	    
+	}
+	
+	Boolean isSettings() {
+		return null;
+	}
+	
+    UAVMetaObject getMetaObject() {
+		return null;	
+    }
+	    
+    public abstract UAVDataObject clone(int instID);
+
+}

androidgcs/src/org/openpilot/uavtalk/UAVMetaObject.java

@@ -0,0 +1,50 @@
+package org.openpilot.uavtalk;
+
+public class UAVMetaObject extends UAVObject {
+
+	public UAVMetaObject(int objID, Boolean isSingleInst, String name) {
+		super(objID, isSingleInst, name);
+		// TODO Auto-generated constructor stub
+	}
+
+	public UAVMetaObject(int objID, String mname, UAVDataObject obj) {
+		// TODO Auto-generated constructor stub
+	}
+
+	@Override
+	public void deserialize(byte[] arr, int offset) {
+		// TODO Auto-generated method stub
+		
+	}
+
+	@Override
+	public UAVMetaObject getDefaultMetadata() {
+		// TODO Auto-generated method stub
+		return null;
+	}
+
+	@Override
+	public String getDescription() {
+		// TODO Auto-generated method stub
+		return null;
+	}
+
+	@Override
+	public int getObjID() {
+		// TODO Auto-generated method stub
+		return 0;
+	}
+
+	@Override
+	public String getObjName() {
+		// TODO Auto-generated method stub
+		return null;
+	}
+
+	@Override
+	public byte[] serialize() {
+		// TODO Auto-generated method stub
+		return null;
+	}
+
+}

androidgcs/src/org/openpilot/uavtalk/UAVObject.java

@@ -0,0 +1,117 @@
+package org.openpilot.uavtalk;
+
+public abstract class UAVObject {
+	  
+	  
+	      /**
+	       * Object update mode
+	       */
+	      public enum UpdateMode {
+	              UPDATEMODE_PERIODIC, /** Automatically update object at periodic intervals */
+	              UPDATEMODE_ONCHANGE, /** Only update object when its data changes */
+	              UPDATEMODE_MANUAL,   /** Manually update object, by calling the updated() function */
+	              UPDATEMODE_NEVER     /** Object is never updated */
+	      } ;
+
+	      /**
+	       * Access mode
+	       */
+	      public enum AccessMode{
+	              ACCESS_READWRITE,
+	              ACCESS_READONLY
+	      } ;
+
+
+	      private Boolean isSingleInst;
+	      private int instID;
+	      private UAVMetaObject meta;
+
+	      public UAVObject(int objID, Boolean isSingleInst, String name) {
+	    	  assert(objID == getObjID()); // ID is in implementation code, make sure it matches object
+	    	  assert(name.equals(getName()));	      
+	    	  this.isSingleInst = isSingleInst;
+	    	  meta = getDefaultMetadata();
+	      };
+	      
+	      public void initialize(int instID) {
+	    	  this.instID = instID;
+	      }
+	      
+	      public int getInstID() { return instID; }	      
+	      public Boolean isSingleInstance() { return isSingleInst; }	      
+	      public String getName() { return getObjName(); }  // matching QT API to the current autogen code	      
+	      	
+	      public abstract int getObjID();	      
+	      public abstract String getDescription();
+	      public abstract String getObjName();
+	      
+	      int getNumBytes() {
+	    	  return serialize().length;
+	      }
+
+	      // The name of the serializer and deserialize from the autogenerated code
+	      public abstract byte[] serialize();	      
+	      public abstract void deserialize(byte[] arr,int offset);
+	      
+	      byte [] pack() {
+	    	  return serialize();
+	      }
+	      
+	      Boolean unpack(byte [] data) {
+	    	deserialize(data, 0);
+			return true;  
+	      }
+	      
+	      public void setMetadata(UAVMetaObject obj) { meta = obj; }
+	      public UAVMetaObject getMetadata() { return meta; }
+	      public abstract UAVMetaObject getDefaultMetadata();
+
+	      /*  
+	       // Unported code from QT	      
+	      bool save();
+	      bool save(QFile& file);
+	      bool load();
+	      bool load(QFile& file);
+	      virtual void setMetadata(const Metadata& mdata) = 0;
+	      virtual Metadata getMetadata() = 0;
+	      virtual Metadata getDefaultMetadata() = 0;
+	      void requestUpdate();
+	      void updated();
+	      void lock();
+	      void lock(int timeoutMs);
+	      void unlock();
+	      QMutex* getMutex();
+	      qint32 getNumFields();
+	      QList<UAVObjectField*> getFields();
+	      UAVObjectField* getField(const QString& name);
+	      QString toString();
+	      QString toStringBrief();
+	      QString toStringData();
+	      void emitTransactionCompleted(bool success);
+
+	  signals:
+	      void objectUpdated(UAVObject* obj);
+	      void objectUpdatedAuto(UAVObject* obj);
+	      void objectUpdatedManual(UAVObject* obj);
+	      void objectUnpacked(UAVObject* obj);
+	      void updateRequested(UAVObject* obj);
+	      void transactionCompleted(UAVObject* obj, bool success);
+
+	  private slots:
+	      void fieldUpdated(UAVObjectField* field);
+
+	  protected:
+	      quint32 objID;
+	      quint32 instID;
+	      bool isSingleInst;
+	      QString name;
+	      QString description;
+	      quint32 numBytes;
+	      QMutex* mutex;
+	      quint8* data;
+	      QList<UAVObjectField*> fields;
+
+	      void initializeFields(QList<UAVObjectField*>& fields, quint8* data, quint32 numBytes);
+	      void setDescription(const QString& description);
+	      */
+}

androidgcs/src/org/openpilot/uavtalk/UAVObjectManager.java

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+package org.openpilot.uavtalk;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+public class UAVObjectManager {
+
+	private final int MAX_INSTANCES = 10;
+
+	// Use array list to store objects since rarely added or deleted
+	private List<List<UAVObject>> objects = new ArrayList<List<UAVObject>>();  
+
+	public UAVObjectManager()
+	{
+		//mutex = new QMutex(QMutex::Recursive);
+	}
+
+	/**
+	 * Register an object with the manager. This function must be called for all newly created instances.
+	 * A new instance can be created directly by instantiating a new object or by calling clone() of
+	 * an existing object. The object will be registered and will be properly initialized so that it can accept
+	 * updates.
+	 */
+	Boolean registerObject(UAVDataObject obj)
+	{
+		//  QMutexLocker locker(mutex);
+
+		ListIterator<List<UAVObject>> objIt = objects.listIterator(0);
+
+		// Check if this object type is already in the list
+		while(objIt.hasNext()) {
+			List<UAVObject> instList = objIt.next();
+
+			// Check if the object ID is in the list
+			if( (instList.size() > 0) && (instList.get(0).getObjID() == obj.getObjID() )) {
+				// Check if this is a single instance object, if yes we can not add a new instance
+				if(obj.isSingleInstance()) {
+					return false;
+				}
+				// The object type has alredy been added, so now we need to initialize the new instance with the appropriate id
+				// There is a single metaobject for all object instances of this type, so no need to create a new one
+				// Get object type metaobject from existing instance				
+				UAVDataObject refObj = (UAVDataObject) instList.get(0);
+				if (refObj == null)
+				{
+					return false;
+				}
+				UAVMetaObject mobj = refObj.getMetaObject();
+
+				// Make sure we aren't requesting to create too many instances
+				if(obj.getInstID() >= MAX_INSTANCES || instList.size() >= MAX_INSTANCES || obj.getInstID() < 0) {
+					return false;
+				}
+
+				// If InstID is zero then we find the next open instId and create it 
+				if (obj.getInstID() == 0)
+				{
+					// Assign the next available ID and initialize the object instance the nadd
+					obj.initialize(instList.size(), mobj);
+					instList.add(obj);
+					return true;
+				}
+
+				// Check if that inst ID already exists
+				ListIterator<UAVObject> instIter = instList.listIterator();
+				while(instIter.hasNext()) {
+					UAVObject testObj = instIter.next();
+					if(testObj.getInstID() == obj.getInstID()) {
+						return false;
+					}
+				}
+
+				// If the instance ID is specified and not at the default value (0) then we need to make sure
+				// that there are no gaps in the instance list. If gaps are found then then additional instances
+				// will be created.
+				for(int instID = instList.size(); instID < obj.getInstID(); instID++) {
+					UAVDataObject newObj = obj.clone(instID);
+					newObj.initialize(mobj);
+					instList.add(newObj);
+					// emit new instance signal
+				}
+				obj.initialize(mobj);
+				//emit new instance signal
+				instList.add(obj);
+
+				instIter = instList.listIterator();
+				while(instIter.hasNext()) {
+					UAVObject testObj = instIter.next();
+					if(testObj.getInstID() == obj.getInstID()) {
+						return false;
+					}
+				}
+
+
+				// Check if there are any gaps between the requested instance ID and the ones in the list,
+				// if any then create the missing instances.
+				for (int instId = instList.size(); instId < obj.getInstID(); ++instId)
+				{
+					UAVDataObject cobj = obj.clone(instId);
+					cobj.initialize(mobj);
+					instList.add(cobj);
+					// emit newInstance(cobj);
+				}
+				// Finally, initialize the actual object instance
+				obj.initialize(mobj);
+				// Add the actual object instance in the list
+				instList.add(obj);
+				//emit newInstance(obj);
+				return true;
+			}
+
+		}
+
+		// If this point is reached then this is the first time this object type (ID) is added in the list
+		// create a new list of the instances, add in the object collection and create the object's metaobject
+		// Create metaobject
+		String mname = obj.getName();
+		mname += "Meta";
+		UAVMetaObject mobj = new UAVMetaObject(obj.getObjID()+1, mname, obj);
+		// Initialize object
+		obj.initialize(0, mobj);
+		// Add to list
+		addObject(obj);
+		addObject(mobj);
+		return true;
+	}
+
+	void addObject(UAVObject obj)
+	{
+		// Add to list
+		List<UAVObject> ls = new ArrayList<UAVObject>();
+		ls.add(obj);
+		objects.add(ls);
+		//emit newObject(obj);
+	}
+
+	/**
+	 * Get all objects. A two dimentional QList is returned. Objects are grouped by
+	 * instances of the same object type.
+	 */
+	List<List<UAVObject>> getObjects()
+	{
+		//QMutexLocker locker(mutex);
+		return objects;
+	}
+
+	/**
+	 * Same as getObjects() but will only return DataObjects.
+	 */
+	List< List<UAVDataObject> > getDataObjects()
+	{
+		return new ArrayList<List<UAVDataObject>>();
+
+		/*		QMutexLocker locker(mutex);
+		QList< QList<UAVDataObject*> > dObjects;
+
+		// Go through objects and copy to new list when types match
+		for (int objidx = 0; objidx < objects.length(); ++objidx)
+		{
+			if (objects[objidx].length() > 0)
+			{
+				// Check type
+				UAVDataObject* obj = dynamic_cast<UAVDataObject*>(objects[objidx][0]);
+				if (obj != NULL)
+				{
+					// Create instance list
+					QList<UAVDataObject*> list;
+					// Go through instances and cast them to UAVDataObject, then add to list
+					for (int instidx = 0; instidx < objects[objidx].length(); ++instidx)
+					{
+						obj = dynamic_cast<UAVDataObject*>(objects[objidx][instidx]);
+						if (obj != NULL)
+						{
+							list.append(obj);
+						}
+					}
+					// Append to object list
+					dObjects.append(list);
+				}
+			}
+		}*/
+		// Done
+	}
+
+	/**
+	 * Same as getObjects() but will only return MetaObjects.
+	 */
+	List <List<UAVMetaObject> > getMetaObjects()
+	{
+		return new ArrayList< List<UAVMetaObject> >();
+		/*
+		QMutexLocker locker(mutex);
+		QList< QList<UAVMetaObject*> > mObjects;
+
+		// Go through objects and copy to new list when types match
+		for (int objidx = 0; objidx < objects.length(); ++objidx)
+		{
+			if (objects[objidx].length() > 0)
+			{
+				// Check type
+				UAVMetaObject* obj = dynamic_cast<UAVMetaObject*>(objects[objidx][0]);
+				if (obj != NULL)
+				{
+					// Create instance list
+					QList<UAVMetaObject*> list;
+					// Go through instances and cast them to UAVMetaObject, then add to list
+					for (int instidx = 0; instidx < objects[objidx].length(); ++instidx)
+					{
+						obj = dynamic_cast<UAVMetaObject*>(objects[objidx][instidx]);
+						if (obj != NULL)
+						{
+							list.append(obj);
+						}
+					}
+					// Append to object list
+					mObjects.append(list);
+				}
+			}
+		}
+		// Done
+		return mObjects;
+		 */
+	}
+
+	/**
+	 * Get a specific object given its name and instance ID
+	 * @returns The object is found or NULL if not
+	 */
+	UAVObject getObject(String name, int instId)
+	{
+		return getObject(name, 0, instId);
+	}
+
+	/**
+	 * Get a specific object given its object and instance ID
+	 * @returns The object is found or NULL if not
+	 */
+	UAVObject getObject(int objId, int instId)
+	{
+		return getObject(null, objId, instId);
+	}
+
+	/**
+	 * Helper function for the public getObject() functions.
+	 */
+	UAVObject getObject(String name, int objId, int instId)
+	{
+		//QMutexLocker locker(mutex);
+		// Check if this object type is already in the list
+		ListIterator<List<UAVObject>> objIter = objects.listIterator();
+		while(objIter.hasNext()) {
+			List<UAVObject> instList = objIter.next();
+			if (instList.size() > 0) {
+				if ( (name != null && instList.get(0).getName().compareTo(name) == 0) || (name == null && instList.get(0).getObjID() == objId) ) {
+					// Look for the requested instance ID
+					ListIterator<UAVObject> iter = instList.listIterator();
+					while(iter.hasNext()) {
+						UAVObject obj = iter.next();
+						if(obj.getInstID() == instId) {
+							return obj;
+						}
+					}
+				}
+			}
+		}
+		
+		return null;
+	}
+
+	/**
+	 * Get all the instances of the object specified by name
+	 */
+	List<UAVObject> getObjectInstances(String name)
+	{
+		return getObjectInstances(name, 0);
+	}
+
+	/**
+	 * Get all the instances of the object specified by its ID
+	 */
+	List<UAVObject> getObjectInstances(int objId)
+	{
+		return getObjectInstances(null, objId);
+	}
+
+	/**
+	 * Helper function for the public getObjectInstances()
+	 */
+	List<UAVObject> getObjectInstances(String name, int objId)
+	{
+		//QMutexLocker locker(mutex);
+		// Check if this object type is already in the list
+		ListIterator<List<UAVObject>> objIter = objects.listIterator();
+		while(objIter.hasNext()) {
+			List<UAVObject> instList = objIter.next();
+			if (instList.size() > 0) {
+				if ( (name != null && instList.get(0).getName().compareTo(name) == 0) || (name == null && instList.get(0).getObjID() == objId) ) {
+					return instList;
+				}
+			}
+		}			
+		
+		return null;
+	}
+
+	/**
+	 * Get the number of instances for an object given its name
+	 */
+	int getNumInstances(String name)
+	{
+		return getNumInstances(name, 0);
+	}
+
+	/**
+	 * Get the number of instances for an object given its ID
+	 */
+	int getNumInstances(int objId)
+	{
+		return getNumInstances(null, objId);
+	}
+
+	/**
+	 * Helper function for public getNumInstances
+	 */
+	int getNumInstances(String name, int objId)
+	{
+		return getObjectInstances(name,objId).size();
+	}
+
+
+}