no.kartverket.bordergo

Class TangoService

java.lang.Object

android.content.Context

android.content.ContextWrapper

android.app.Service

no.kartverket.bordergo.TangoService

All Implemented Interfaces:

android.content.ComponentCallbacks, android.content.ComponentCallbacks2

public class TangoService
extends android.app.Service

Independent service handling the tango system, and the transformations between the tango system and external geographic coordinates. The TangoService should be independent of specific activities, as it us used by several, and we would like the Tango reference frames to persist when activities are started and stopped - destroyed and recreated.

Created by runaas on 25.08.2017.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static interface	TangoService.FrameListener For rendering of camera images provided by Tango, should be implemented in the 3D view
class	TangoService.TangoBinder

Field Summary

Fields

Modifier and Type	Field and Description
private BorderGoApp	app
private android.os.IBinder	binder
private float	demSigma
private float	deviceHeight
private DTMGrid	dtmGrid
private TangoService.FrameListener	frameListener
private boolean	isConnected
private android.location.LocationManager	location_manager
private android.location.LocationListener	locationListener The Location listener is used for collecting GPS positions for the PositionOrientationProvider where thy are matched with corresponding positions in the Tango coordiante system to estimate the transform between Tango and the geographic coordiante system
private float	mapCalibrationSigma
private float	pointCloudSigma
private TangoPositionOrientationProvider	positionOrientationProvider
private android.hardware.SensorEventListener	rotationListener Rotation listener is used to find the angular difference between the Tango coordinate system and geographical north
private android.hardware.Sensor	rotationVectorSensor
private android.hardware.SensorManager	sensor_manager
private boolean	snapCloud
static java.lang.String	TAG
private com.google.atap.tangoservice.Tango	tango
private com.google.atap.tangoservice.TangoConfig	tangoConfig
private java.lang.Object	tangoLock

Fields inherited from class android.app.Service

START_CONTINUATION_MASK, START_FLAG_REDELIVERY, START_FLAG_RETRY, START_NOT_STICKY, START_REDELIVER_INTENT, START_STICKY, START_STICKY_COMPATIBILITY, STOP_FOREGROUND_DETACH, STOP_FOREGROUND_REMOVE

Fields inherited from class android.content.Context

ACCESSIBILITY_SERVICE, ACCOUNT_SERVICE, ACTIVITY_SERVICE, ALARM_SERVICE, APP_OPS_SERVICE, APPWIDGET_SERVICE, AUDIO_SERVICE, BATTERY_SERVICE, BIND_ABOVE_CLIENT, BIND_ADJUST_WITH_ACTIVITY, BIND_ALLOW_OOM_MANAGEMENT, BIND_AUTO_CREATE, BIND_DEBUG_UNBIND, BIND_EXTERNAL_SERVICE, BIND_IMPORTANT, BIND_NOT_FOREGROUND, BIND_WAIVE_PRIORITY, BLUETOOTH_SERVICE, CAMERA_SERVICE, CAPTIONING_SERVICE, CARRIER_CONFIG_SERVICE, CLIPBOARD_SERVICE, CONNECTIVITY_SERVICE, CONSUMER_IR_SERVICE, CONTEXT_IGNORE_SECURITY, CONTEXT_INCLUDE_CODE, CONTEXT_RESTRICTED, DEVICE_POLICY_SERVICE, DISPLAY_SERVICE, DOWNLOAD_SERVICE, DROPBOX_SERVICE, FINGERPRINT_SERVICE, HARDWARE_PROPERTIES_SERVICE, INPUT_METHOD_SERVICE, INPUT_SERVICE, JOB_SCHEDULER_SERVICE, KEYGUARD_SERVICE, LAUNCHER_APPS_SERVICE, LAYOUT_INFLATER_SERVICE, LOCATION_SERVICE, MEDIA_PROJECTION_SERVICE, MEDIA_ROUTER_SERVICE, MEDIA_SESSION_SERVICE, MIDI_SERVICE, MODE_APPEND, MODE_ENABLE_WRITE_AHEAD_LOGGING, MODE_MULTI_PROCESS, MODE_NO_LOCALIZED_COLLATORS, MODE_PRIVATE, MODE_WORLD_READABLE, MODE_WORLD_WRITEABLE, NETWORK_STATS_SERVICE, NFC_SERVICE, NOTIFICATION_SERVICE, NSD_SERVICE, POWER_SERVICE, PRINT_SERVICE, RESTRICTIONS_SERVICE, SEARCH_SERVICE, SENSOR_SERVICE, SHORTCUT_SERVICE, STORAGE_SERVICE, SYSTEM_HEALTH_SERVICE, TELECOM_SERVICE, TELEPHONY_SERVICE, TELEPHONY_SUBSCRIPTION_SERVICE, TEXT_SERVICES_MANAGER_SERVICE, TV_INPUT_SERVICE, UI_MODE_SERVICE, USAGE_STATS_SERVICE, USB_SERVICE, USER_SERVICE, VIBRATOR_SERVICE, WALLPAPER_SERVICE, WIFI_P2P_SERVICE, WIFI_SERVICE, WINDOW_SERVICE

Fields inherited from interface android.content.ComponentCallbacks2

TRIM_MEMORY_BACKGROUND, TRIM_MEMORY_COMPLETE, TRIM_MEMORY_MODERATE, TRIM_MEMORY_RUNNING_CRITICAL, TRIM_MEMORY_RUNNING_LOW, TRIM_MEMORY_RUNNING_MODERATE, TRIM_MEMORY_UI_HIDDEN

Constructor Summary

Constructors

Constructor and Description
TangoService()

Method Summary

Modifier and Type	Method and Description
void	addFrameListener(TangoService.FrameListener frameListener)
private void	bindTangoService() Initialize Tango Service as a normal Android Service.
float	getDemSigma()
float	getDeviceHeight()
DTMGrid	getDtmGrid()
float	getMapCalibrationSigma()
float	getPointCloudSigma()
PositionOrientationProvider	getPositionOrientationProvider()
com.google.atap.tangoservice.Tango	getTango()
java.lang.Object	getTangoLock()
boolean	isConnected()
android.os.IBinder	onBind(android.content.Intent intent)
void	onCreate()
void	onDestroy()
private void	requestLocationUpdatesFromProvider()
void	setDemSigma(float demSigma)
void	setDeviceHeight(float deviceHeight)
void	setDtmGrid(DTMGrid dtmGrid)
void	setMapCalibrationSigma(float mapCalibrationSigma)
void	setPointCloudSigma(float pointCloudSigma)
private com.google.atap.tangoservice.TangoConfig	setupTangoConfig(com.google.atap.tangoservice.Tango tango) Sets up the tango configuration object.
void	snapCloud()
private void	startupTango() Set up the callback listeners for the Tango Service and obtain other parameters required after Tango connection.

Methods inherited from class android.app.Service

dump, getApplication, onConfigurationChanged, onLowMemory, onRebind, onStart, onStartCommand, onTaskRemoved, onTrimMemory, onUnbind, startForeground, stopForeground, stopForeground, stopSelf, stopSelf, stopSelfResult

Methods inherited from class android.content.ContextWrapper

attachBaseContext, bindService, checkCallingOrSelfPermission, checkCallingOrSelfUriPermission, checkCallingPermission, checkCallingUriPermission, checkPermission, checkSelfPermission, checkUriPermission, checkUriPermission, clearWallpaper, createConfigurationContext, createDeviceProtectedStorageContext, createDisplayContext, createPackageContext, databaseList, deleteDatabase, deleteFile, deleteSharedPreferences, enforceCallingOrSelfPermission, enforceCallingOrSelfUriPermission, enforceCallingPermission, enforceCallingUriPermission, enforcePermission, enforceUriPermission, enforceUriPermission, fileList, getApplicationContext, getApplicationInfo, getAssets, getBaseContext, getCacheDir, getClassLoader, getCodeCacheDir, getContentResolver, getDatabasePath, getDataDir, getDir, getExternalCacheDir, getExternalCacheDirs, getExternalFilesDir, getExternalFilesDirs, getExternalMediaDirs, getFilesDir, getFileStreamPath, getMainLooper, getNoBackupFilesDir, getObbDir, getObbDirs, getPackageCodePath, getPackageManager, getPackageName, getPackageResourcePath, getResources, getSharedPreferences, getSystemService, getSystemServiceName, getTheme, getWallpaper, getWallpaperDesiredMinimumHeight, getWallpaperDesiredMinimumWidth, grantUriPermission, isDeviceProtectedStorage, isRestricted, moveDatabaseFrom, moveSharedPreferencesFrom, openFileInput, openFileOutput, openOrCreateDatabase, openOrCreateDatabase, peekWallpaper, registerReceiver, registerReceiver, removeStickyBroadcast, removeStickyBroadcastAsUser, revokeUriPermission, sendBroadcast, sendBroadcast, sendBroadcastAsUser, sendBroadcastAsUser, sendOrderedBroadcast, sendOrderedBroadcast, sendOrderedBroadcastAsUser, sendStickyBroadcast, sendStickyBroadcastAsUser, sendStickyOrderedBroadcast, sendStickyOrderedBroadcastAsUser, setTheme, setWallpaper, setWallpaper, startActivities, startActivities, startActivity, startActivity, startInstrumentation, startIntentSender, startIntentSender, startService, stopService, unbindService, unregisterReceiver

Methods inherited from class android.content.Context

getColor, getColorStateList, getDrawable, getString, getString, getSystemService, getText, obtainStyledAttributes, obtainStyledAttributes, obtainStyledAttributes, obtainStyledAttributes, registerComponentCallbacks, unregisterComponentCallbacks

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

TAG

public static final java.lang.String TAG

app

private BorderGoApp app

tangoLock

private java.lang.Object tangoLock

tango

private com.google.atap.tangoservice.Tango tango

tangoConfig

private com.google.atap.tangoservice.TangoConfig tangoConfig

isConnected

private boolean isConnected

positionOrientationProvider

private TangoPositionOrientationProvider positionOrientationProvider

dtmGrid

private DTMGrid dtmGrid

location_manager

private android.location.LocationManager location_manager

sensor_manager

private android.hardware.SensorManager sensor_manager

rotationVectorSensor

private android.hardware.Sensor rotationVectorSensor

deviceHeight

private float deviceHeight

demSigma

private float demSigma

mapCalibrationSigma

private float mapCalibrationSigma

pointCloudSigma

private float pointCloudSigma

snapCloud

private volatile boolean snapCloud

frameListener

private TangoService.FrameListener frameListener

binder

private final android.os.IBinder binder

rotationListener

private final android.hardware.SensorEventListener rotationListener

Rotation listener is used to find the angular difference between the Tango coordinate system and geographical north

locationListener

private final android.location.LocationListener locationListener

The Location listener is used for collecting GPS positions for the PositionOrientationProvider where thy are matched with corresponding positions in the Tango coordiante system to estimate the transform between Tango and the geographic coordiante system

Constructor Detail

TangoService

public TangoService()

Method Detail

snapCloud

public void snapCloud()

isConnected

public boolean isConnected()

getDeviceHeight

public float getDeviceHeight()

setDeviceHeight

public void setDeviceHeight(float deviceHeight)

getDemSigma

public float getDemSigma()

setDemSigma

public void setDemSigma(float demSigma)

getMapCalibrationSigma

public float getMapCalibrationSigma()

setMapCalibrationSigma

public void setMapCalibrationSigma(float mapCalibrationSigma)

getPointCloudSigma

public float getPointCloudSigma()

setPointCloudSigma

public void setPointCloudSigma(float pointCloudSigma)

addFrameListener

public void addFrameListener(TangoService.FrameListener frameListener)

onCreate

public void onCreate()

Overrides:

onCreate in class android.app.Service

onDestroy

public void onDestroy()

Overrides:

onDestroy in class android.app.Service

onBind

@Nullable
public android.os.IBinder onBind(android.content.Intent intent)

Specified by:

onBind in class android.app.Service

getTango

public com.google.atap.tangoservice.Tango getTango()

getTangoLock

public java.lang.Object getTangoLock()

getDtmGrid

public DTMGrid getDtmGrid()

setDtmGrid

public void setDtmGrid(DTMGrid dtmGrid)

requestLocationUpdatesFromProvider

private void requestLocationUpdatesFromProvider()

bindTangoService

private void bindTangoService()

Initialize Tango Service as a normal Android Service.

startupTango

private void startupTango()

Set up the callback listeners for the Tango Service and obtain other parameters required after Tango connection. Listen to updates from the RGB camera.

setupTangoConfig

private com.google.atap.tangoservice.TangoConfig setupTangoConfig(com.google.atap.tangoservice.Tango tango)

Sets up the tango configuration object. Make sure mTango object is initialized before making this call.

getPositionOrientationProvider

public PositionOrientationProvider getPositionOrientationProvider()