rosdai's profile - activity

Hi,

I'm working on an android application which connects a master on PC. I wonder if there's any way to feedback the current connection status in android user interface ? I can see the status in logcat in eclipse, but is there a way to show it to the android user?

one of the idea is to catch the registration error, and make a toast to handle it. is it possible to catch the registration error? if yes, where to catch it?

following is the logcat from eclipse. i want to tell the user "connecting to master failed" whenever the following error occurs.

04-17 12:16:50.856: E/Registrar(17158): Exception caught while communicating with master.
04-17 12:16:50.856: E/Registrar(17158): java.lang.RuntimeException: java.net.ConnectException: orome.intern.vmi.ei.tum.de/192.168.13.7:11311 - Connection refused
04-17 12:16:50.856: E/Registrar(17158):     at org.ros.internal.node.xmlrpc.XmlRpcClientFactory$1.invoke(XmlRpcClientFactory.java:157)
04-17 12:16:50.856: E/Registrar(17158):     at $Proxy0.unregisterPublisher(Native Method)
04-17 12:16:50.856: E/Registrar(17158):     at org.ros.internal.node.client.MasterClient.unregisterPublisher(MasterClient.java:161)
04-17 12:16:50.856: E/Registrar(17158):     at org.ros.internal.node.client.Registrar$3$1.call(Registrar.java:170)
04-17 12:16:50.856: E/Registrar(17158):     at org.ros.internal.node.client.Registrar$3$1.call(Registrar.java:167)
04-17 12:16:50.856: E/Registrar(17158):     at org.ros.internal.node.client.Registrar.callMaster(Registrar.java:111)
04-17 12:16:50.856: E/Registrar(17158):     at org.ros.internal.node.client.Registrar.access$100(Registrar.java:51)
04-17 12:16:50.856: E/Registrar(17158):     at org.ros.internal.node.client.Registrar$3.call(Registrar.java:167)
04-17 12:16:50.856: E/Registrar(17158):     at org.ros.internal.node.client.Registrar$3.call(Registrar.java:164)
04-17 12:16:50.856: E/Registrar(17158):     at java.util.concurrent.FutureTask$Sync.innerRun(FutureTask.java:306)
04-17 12:16:50.856: E/Registrar(17158):     at java.util.concurrent.FutureTask.run(FutureTask.java:138)
04-17 12:16:50.856: E/Registrar(17158):     at java.util.concurrent.Executors$RunnableAdapter.call(Executors.java:444)
04-17 12:16:50.856: E/Registrar(17158):     at java.util.concurrent.FutureTask$Sync.innerRun(FutureTask.java:306)
04-17 12:16:50.856: E/Registrar(17158):     at java.util.concurrent.FutureTask.run(FutureTask.java:138)
04-17 12:16:50.856: E/Registrar(17158):     at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1088)
04-17 12:16:50.856: E/Registrar(17158):     at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:581)
04-17 12:16:50.856: E/Registrar(17158):     at java.lang.Thread.run(Thread.java:1019)
04-17 12:16:50.856: E/Registrar(17158): Caused by: java.net.ConnectException: orome.intern.vmi.ei.tum.de/192.168.13.7:11311 - Connection refused
04-17 12:16:50.856: E/Registrar(17158):     at org.apache.harmony.luni.net.PlainSocketImpl.connect(PlainSocketImpl ...

Hi all,

I have an application for android which sends data from a nodemain to master on PC. onCreate I used connectmaster() to run a new NodeMain called Sender. now I want to add a reconnect function, which will kill this Sender and connect it to Master again.

I tried the following code:

   private void reconnectMaster()
   {
       disconnectMaster();
       try {
           Thread.sleep(3000);
       } catch (InterruptedException e) {
           e.printStackTrace();
       }
       Log.v(TAG, "shut down node sender");
       connectmaster();
   }

   private void disconnectMaster(){

       nodeMainExecutor.shutdownNodeMain(sender);

   }

   public void connectmaster(){
       try{
           String Uri = ((EditText)findViewById(R.id.hostvalue)).getText().toString();
           Integer port = Integer.parseInt(((EditText)findViewById(R.id.portvalue)).getText().toString());
           URI masterUri = URI.create("http://"+ Uri + ":" + port);
           Log.v("Sender", "setMasterURI");
           String localhost = InetAddressFactory.newNonLoopback().getHostAddress();
//           String localhost = "192.168.13.111";
           Log.v("Sender", "setlocalhost");

           nodeConfiguration = NodeConfiguration.newPublic(localhost, masterUri);
           Log.v("Sender", "nodeConfiguration");

           nodeConfiguration.setNodeName("Ant_Sender");
           Log.v("Sender", "nodeName");     

           }catch (Exception e) {
           e.printStackTrace();
           Log.e("Sender", "nodeConfiguration error");
       }

       Log.i("SDM", "create new Sender"); 
       sender = new Sender();
       nodeMainExecutor.execute(sender, nodeConfiguration);

   }

and my Sender has the following code:

public class Sender implements NodeMain {

   public Publisher<ant_msgs.sdm> publisherSDM;
   public Publisher<ant_msgs.wgt> publisherWGT;
   public Publisher<ant_msgs.hrm> publisherHRM;
   private Node node;

public Sender() {
//     TODO Auto-generated constructor stub

}

  @Override
  public GraphName getDefaultNodeName() {
    return new GraphName("Sender");
  }

  @Override
  public void onStart(Node node) {
      Log.i("Sender", "enter onStart");
      this.node = node;
      publisherSDM = node.newPublisher("ANT", ant_msgs.sdm._TYPE);

  }

  public void publishSDM(float speed, float cadence, float distance, long stride, String data)
      {
      Log.i("Sender", "publishSDM enter");

      ant_msgs.sdm msg = publisherSDM.newMessage();
      msg.speed(speed);
      msg.cadence(cadence);
      msg.distance(distance);
      msg.stride(stride);
      msg.data(data);
      publisherSDM.publish(msg);
  }

  @Override
  public void onShutdown(Node node) {
      Log.i("sender", "onShutdown");
      node.shutdown();
      node = null;
  }

  @Override
  public void onShutdownComplete(Node node) {
  }
}

but every time i click on the button reconnect, hundreds of "onShutDown" is shown in my logcat (which is in my Sender's shutdown method log.v), and then the application broke down

04-16 11:54:17.437: I/Registrar(7170): Unregistering publisher: Publisher<PublisherDefinition<PublisherIdentifier<NodeSlaveIdentifier</Ant_Sender, http://192.168.13.111:42290>, TopicIdentifier</rosout>>, Topic<TopicIdentifier</rosout>, TopicDescription<rosgraph_msgs/Log,acffd30cd6b6de30f120938c17c593fb>>>>
04-16 11:54:17.437: W/Registrar(7170): Registrar no longer running, request ignored.
04-16 11:54:17.757: I/DefaultPublisher(7170): Publisher unregistration failed: Publisher<PublisherDefinition<PublisherIdentifier<NodeSlaveIdentifier</Ant_Sender, http://192.168.13.111:42290>, TopicIdentifier</rosout>>, Topic<TopicIdentifier</rosout>, TopicDescription<rosgraph_msgs/Log,acffd30cd6b6de30f120938c17c593fb>>>>

04-16 11:53:28.430: E/dalvikvm(5334): Thread creation failed (err=No such file or directory)
04-16 11:53:28.430: D/AndroidRuntime(5334): Shutting down VM
04-16 11:53:28.430: W/dalvikvm(5334): threadid=1: thread exiting with uncaught exception (group=0x40018560)
04-16 11:53:28.437: E/AndroidRuntime(5334): FATAL EXCEPTION: main
04-16 11:53:28.437: E/AndroidRuntime(5334): java.lang.OutOfMemoryError: thread creation failed
04-16 11:53:28.437: E/AndroidRuntime(5334):     at java.lang.VMThread.create(Native Method)
04-16 11:53:28.437: E/AndroidRuntime(5334):     at java.lang.Thread ...

Hi ROS community,

I'm trying to modify the android_tutorial_pubsub in hope that the roscore is started on my PC instead of on Android. I started roscore and set ROS_IP as well as ROS_MASTER_URI.

All I did to the code was delete

rosCore = RosCore.newPrivate();
rosCore.start();
try {
  rosCore.awaitStart();
} catch (Exception e) {
  throw new RuntimeException(e);
}
talker = new Talker();

nodeConfiguration.setMasterUri(rosCore.getUri());

and add:

nodeConfiguration.setMasterUri(URI.create("http://192.168.13.7:11311"));

so the code looks like this

/*
 * Copyright (C) 2011 Google Inc.
 *
 * 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.
 */

package org.ros.android.tutorial.pubsub;

import java.net.URI;

import android.os.Bundle;
//import org.ros.RosCore;
import org.ros.android.MessageCallable;
import org.ros.android.RosActivity;
import org.ros.android.views.RosTextView;
import org.ros.node.NodeConfiguration;
import org.ros.node.NodeMainExecutor;
import org.ros.tutorials.pubsub.R;
import org.ros.tutorials.pubsub.Talker;

    /**
     * @author damonkohler@google.com (Damon Kohler)
     */
    public class MainActivity extends RosActivity {

    //  private RosCore rosCore;
      private RosTextView<org.ros.message.std_msgs.String> rosTextView;
      private Talker tal

ker;

  public MainActivity() {
    super("Pubsub Tutorial", "Pubsub Tutorial");
  }

  @SuppressWarnings("unchecked")
  @Override
  public void onCreate(Bundle savedInstanceState) {
    super.onCreate(savedInstanceState);
    setContentView(R.layout.main);
    rosTextView = (RosTextView<org.ros.message.std_msgs.String>) findViewById(R.id.text);
    rosTextView.setTopicName("/chatter");
    rosTextView.setMessageType("std_msgs/String");
    rosTextView
        .setMessageToStringCallable(new MessageCallable<String, org.ros.message.std_msgs.String>() {
          @Override
          public String call(org.ros.message.std_msgs.String message) {
            return message.data;
          }
        });
  }

  @Override
  protected void init(NodeMainExecutor nodeMainExecutor) {
//    rosCore = RosCore.newPrivate();
//    rosCore.start();
//    try {
//      rosCore.awaitStart();
//    } catch (Exception e) {
//      throw new RuntimeException(e);
//    }
    talker = new Talker();
    NodeConfiguration nodeConfiguration = NodeConfiguration.newPrivate();
//    nodeConfiguration.setMasterUri(URI.create("http://192.168.13.7:11311"));
    nodeMainExecutor.execute(talker, nodeConfiguration);
    nodeMainExecutor.execute(rosTextView, nodeConfiguration);
  }

  @Override
  protected void onDestroy() {
    super.onDestroy();
    // RosCore should be shut down last since running Nodes will attempt to
    // unregister at shutdown.
//    rosCore.shutdown();
  }
}

when running, android is able to show Hello World n. so I assume android is then the two nodes talker and ros_text_view is able to connect the my master on PC. but as I called roswtf, i got the following error:

Loaded plugin tf.tfwtf
Package: beginner_tutorials
================================================================================
Static checks summary:

No errors or warnings
================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
connection to [/android_gingerbread/ros_text_view] timed out
connection to [/rosjava_tutorial_pubsub/talker] timed out
... done running graph rules

Online checks summary:

Found 2 error(s).

ERROR Could not contact the following nodes:
 * /android_gingerbread/ros_text_view
 * /rosjava_tutorial_pubsub/talker

ERROR The following nodes should be connected but ...