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Upgrading Zenoh dependency to 1.1.0 on the Robot Teleop app #25

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merged 1 commit into from
Jan 6, 2025
Merged

Upgrading Zenoh dependency to 1.1.0 on the Robot Teleop app #25

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2 changes: 1 addition & 1 deletion zenoh-android/RobotTeleop/app/build.gradle.kts
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@ android {
}

dependencies {
implementation("io.zenoh:zenoh-kotlin-android:0.11.0")
implementation("org.eclipse.zenoh:zenoh-kotlin-android:1.1.0")
implementation("commons-net:commons-net:3.9.0")
implementation("org.jetbrains.kotlinx:kotlinx-coroutines-android:1.7.3")
implementation("androidx.core:core-ktx:1.9.0")
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11 changes: 6 additions & 5 deletions zenoh-android/RobotTeleop/app/src/main/java/com/example/zenohapp/MainActivity.kt
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Expand Up @@ -16,9 +16,9 @@ import androidx.lifecycle.ViewModelProvider
import com.example.zenohapp.databinding.ActivityMainBinding
import io.zenoh.Config
import io.zenoh.Session
import io.zenoh.Zenoh
import java.io.File
import java.io.FileOutputStream
import java.io.InputStream
import kotlin.io.path.Path

class MainActivity : AppCompatActivity() {
Expand All @@ -32,16 +32,17 @@ class MainActivity : AppCompatActivity() {

viewModel = ViewModelProvider(this).get(ZenohViewModel::class.java)

System.setProperty("zenoh.logger", "debug")
Zenoh.initLogFromEnvOr("debug")

val config = assets.open("config-inline-prod.json")
val configFile = assets.open("config-inline-prod.json")
val tempConfig = File.createTempFile("config", ".json5")
tempConfig.deleteOnExit()
FileOutputStream(tempConfig).use { output ->
config.copyTo(output)
configFile.copyTo(output)
}

Session.open(Config.Companion.from(Path(tempConfig.absolutePath))).onSuccess {
val config = Config.fromFile(Path(tempConfig.absolutePath)).getOrThrow()
Zenoh.open(config).onSuccess {
viewModel.zenohSession = it
}.onFailure {
Log.e("Zenoh Session", "Zenoh session could not be opened: ${it.message}")
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50 changes: 20 additions & 30 deletions ...-android/RobotTeleop/app/src/main/java/com/example/zenohapp/ui/examples/TeleopFragment.kt
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Expand Up @@ -31,13 +31,13 @@ import com.example.zenohapp.ros.Image
import com.example.zenohapp.ros.Time
import com.example.zenohapp.ros.Twist
import com.example.zenohapp.ros.Vector3
import io.zenoh.bytes.Encoding
import io.zenoh.bytes.ZBytes
import io.zenoh.keyexpr.intoKeyExpr
import io.zenoh.prelude.Encoding
import io.zenoh.prelude.KnownEncoding
import io.zenoh.publication.Publisher
import io.zenoh.pubsub.Publisher
import io.zenoh.pubsub.Subscriber
import io.zenoh.query.intoSelector
import io.zenoh.sample.Sample
import io.zenoh.subscriber.Subscriber
import io.zenoh.value.Value
import kotlinx.coroutines.Dispatchers
import kotlinx.coroutines.GlobalScope
import kotlinx.coroutines.Job
Expand All @@ -49,10 +49,6 @@ import kotlinx.coroutines.launch
import java.nio.ByteBuffer
import kotlin.random.Random





class TeleopFragment : Fragment(), OnTouchListener, OnSeekBarChangeListener {
private var _binding: FragmentTeleopBinding? = null
private val binding get() = _binding!!
Expand Down Expand Up @@ -219,9 +215,9 @@ class TeleopFragment : Fragment(), OnTouchListener, OnSeekBarChangeListener {
mKeyExpr = mNSEditText.text.toString()+cmdVelSuffix
viewModel.zenohSession?.apply {
mKeyExpr.intoKeyExpr().onSuccess { ke ->
this.declarePublisher(ke).res().onSuccess { pub ->
this.declarePublisher(ke).onSuccess { pub ->
mPublisher = pub
Log.v(TAG, "Declared publiser on: ${mNSEditText.text.toString()}")
Log.v(TAG, "Declared publiser on: ${mNSEditText.text}")
}
.onFailure { handleError(TAG, "Failed to launch publisher", it) }
}
Expand All @@ -237,9 +233,10 @@ class TeleopFragment : Fragment(), OnTouchListener, OnSeekBarChangeListener {
val arr = ByteArray(mStream.buffer.position())
mStream.buffer.rewind()
mStream.buffer.get(arr)
val payload = Value(arr, Encoding(KnownEncoding.APP_OCTET_STREAM))
val payload = ZBytes.from(arr)

mPublisher.put(payload).res().onFailure { Log.e(TAG, "Error when publishing", it) }
mPublisher.put(payload, encoding = Encoding.APPLICATION_OCTET_STREAM)
.onFailure { Log.e(TAG, "Error when publishing", it) }
.onSuccess { Log.v(TAG, "Published command!") }
}

Expand Down Expand Up @@ -304,16 +301,12 @@ class TeleopFragment : Fragment(), OnTouchListener, OnSeekBarChangeListener {
val arr = ByteArray(mStream.buffer.position())
mStream.buffer.rewind()
mStream.buffer.get(arr)
val payload = Value(arr, Encoding(KnownEncoding.APP_OCTET_STREAM))
val payload = ZBytes.from(arr)

viewModel.zenohSession?.apply {
actionDockKE.intoKeyExpr().onSuccess { ke ->
this.get(ke)
.withValue(payload)
.res().onSuccess {

Log.v(TAG, "Sent dock action publiser : $actionDockKE")
}
actionDockKE.intoSelector().onSuccess { ke ->
this.get(ke, callback = {}, payload, encoding = Encoding.APPLICATION_OCTET_STREAM)
.onSuccess { Log.v(TAG, "Sent dock action publiser : $actionDockKE") }
.onFailure { handleError(TAG, "Failed to send action dock", it) }
}
.onFailure { handleError(TAG, "Failed to parse keyExpr", it) }
Expand All @@ -338,17 +331,14 @@ class TeleopFragment : Fragment(), OnTouchListener, OnSeekBarChangeListener {
val arr = ByteArray(mStream.buffer.position())
mStream.buffer.rewind()
mStream.buffer.get(arr)
val payload = Value(arr, Encoding(KnownEncoding.APP_OCTET_STREAM))
val actionSoundKE = mNSEditText.text.toString() + cmdSoundSuffix
viewModel.zenohSession?.apply {
actionSoundKE.intoKeyExpr().onSuccess { ke ->
this.put(ke, payload)
.res().onSuccess {
Log.v(TAG, "Sent sound command")
}
this.put(ke, payload = ZBytes.from(arr), encoding = Encoding.APPLICATION_OCTET_STREAM)
.onSuccess { Log.v(TAG, "Sent sound command") }
.onFailure { handleError(TAG, "Failed to send action dock", it) }
}
.onFailure { handleError(TAG, "Failed to parse keyExpr", it) }
.onFailure { handleError(TAG, "Failed to parse keyExpr", it) }
}

}
Expand All @@ -369,16 +359,16 @@ class TeleopFragment : Fragment(), OnTouchListener, OnSeekBarChangeListener {
viewModel.zenohSession?.apply {
(mNSEditText.text.toString() + batteryStateSuffix).intoKeyExpr().onSuccess { key ->
Log.v(TAG, "Subscribing battery state on: $key")
this.declareSubscriber(key).res().onSuccess { sub ->
this.declareSubscriber(key, Channel()).onSuccess { sub ->
mBatterySubscriber = sub
mBatterySubJob = GlobalScope.launch(Dispatchers.IO) {
sub.receiver?.apply {
sub.receiver.apply {
val iterator = this.iterator()
while (iterator.hasNext()) {
val sample = iterator.next()
Log.v(TAG, "Received data from Zenoh")
val inputStream =
CDRInputStream(ByteBuffer.wrap(sample.value.payload))
CDRInputStream(ByteBuffer.wrap(sample.payload.toBytes()))
Log.v(TAG, "Size from Zenoh is: ${inputStream.buffer.capacity()} - Position: ${inputStream.buffer.position()}")
val battery = Battery(inputStream)
Log.v(TAG, "Battery percentage: ${battery.percentage}")
Expand Down