Location: a widget to publish phone's location to ROS

app/src/main/AndroidManifest.xml

@@ -9,6 +9,8 @@
     <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
     <uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
     <uses-permission android:name="android.permission.SYSTEM_ALERT_WINDOW"/>
+    <uses-permission android:name="android.permission.ACCESS_BACKGROUND_LOCATION" />
+
 
     <application
         android:allowBackup="false"
@@ -35,6 +37,8 @@
                 <action android:name="org.ros.android.NodeMainExecutorService" />
             </intent-filter>
         </service>
-    </application>
+
+
+</application>
 
 </manifest>

app/src/main/java/com/schneewittchen/rosandroid/widgets/location/LocationData.java

@@ -0,0 +1,46 @@
+package com.schneewittchen.rosandroid.widgets.location;
+
+import com.schneewittchen.rosandroid.model.repositories.rosRepo.node.BaseData;
+import com.schneewittchen.rosandroid.model.entities.widgets.BaseEntity;
+
+import org.ros.internal.message.Message;
+import org.ros.node.topic.Publisher;
+
+import sensor_msgs.NavSatFix;
+
+
+/**
+ * TODO: Description
+ *
+ * @author Gennaro Raiola
+ * @version 0.0.1
+ * @created on 19.11.22
+ */
+
+public class LocationData extends BaseData {
+
+    public double latitude;
+    public double longitude;
+    public double altitude;
+    public String type;
+
+    public LocationData(double latitude, double longitude, double altitude, String type) {
+        this.latitude = latitude;
+        this.longitude = longitude;
+        this.altitude = altitude;
+        this.type = type;
+    }
+
+    @Override
+    public Message toRosMessage(Publisher<Message> publisher, BaseEntity widget) {
+
+        sensor_msgs.NavSatFix message = (NavSatFix) publisher.newMessage();
+
+        message.getHeader().setFrameId(type);
+        message.setLatitude(latitude);
+        message.setLongitude(longitude);
+        message.setAltitude(altitude);
+
+        return message;
+    }
+}

app/src/main/java/com/schneewittchen/rosandroid/widgets/location/LocationDetailVH.java

@@ -0,0 +1,66 @@
+package com.schneewittchen.rosandroid.widgets.location;
+
+import android.view.View;
+import android.widget.ArrayAdapter;
+import android.widget.EditText;
+import android.widget.Spinner;
+
+import com.schneewittchen.rosandroid.R;
+import com.schneewittchen.rosandroid.model.entities.widgets.BaseEntity;
+import com.schneewittchen.rosandroid.ui.views.details.PublisherWidgetViewHolder;
+import com.schneewittchen.rosandroid.utility.Utils;
+
+import java.util.Collections;
+import java.util.List;
+
+import sensor_msgs.NavSatFix;
+
+/**
+ * TODO: Description
+ *
+ * @author Gennaro Raiola
+ * @version 0.0.1
+ * @created on 19.11.22
+ */
+public class LocationDetailVH extends PublisherWidgetViewHolder {
+
+    private EditText textText;
+    private Spinner rotationSpinner;
+    private ArrayAdapter<CharSequence> rotationAdapter;
+
+    @Override
+    public void initView(View view) {
+        textText = view.findViewById(R.id.btnTextTypeText);
+        rotationSpinner = view.findViewById(R.id.btnTextRotation);
+
+        // Init spinner
+        rotationAdapter = ArrayAdapter.createFromResource(view.getContext(),
+                R.array.button_rotation, android.R.layout.simple_spinner_dropdown_item);
+
+        rotationSpinner.setAdapter(rotationAdapter);
+    }
+
+    @Override
+    public void bindEntity(BaseEntity entity) {
+        LocationEntity locationEntity = (LocationEntity) entity;
+
+        textText.setText(locationEntity.text);
+        String degrees = Utils.numberToDegrees(locationEntity.rotation);
+        rotationSpinner.setSelection(rotationAdapter.getPosition(degrees));
+    }
+
+    @Override
+    public void updateEntity(BaseEntity entity) {
+        LocationEntity locationEntity = (LocationEntity) entity;
+
+        locationEntity.text = textText.getText().toString();
+        String degrees = rotationSpinner.getSelectedItem().toString();
+        locationEntity.rotation = Utils.degreesToNumber(degrees);
+    }
+
+    @Override
+    public List<String> getTopicTypes() {
+        return Collections.singletonList(NavSatFix._TYPE);
+    }
+
+}

app/src/main/java/com/schneewittchen/rosandroid/widgets/location/LocationEntity.java

@@ -0,0 +1,32 @@
+package com.schneewittchen.rosandroid.widgets.location;
+
+import com.schneewittchen.rosandroid.model.entities.widgets.PublisherWidgetEntity;
+import com.schneewittchen.rosandroid.model.repositories.rosRepo.message.Topic;
+
+import sensor_msgs.NavSatFix;
+
+/**
+ * TODO: Description
+ *
+ * @author Gennaro Raiola
+ * @version 0.0.1
+ * @created on 19.11.22
+ */
+
+public class LocationEntity extends PublisherWidgetEntity {
+
+    public String text;
+    public int rotation;
+    public boolean buttonPressed;
+
+    public LocationEntity() {
+        this.width = 4;
+        this.height = 4;
+        this.topic = new Topic("location", NavSatFix._TYPE);
+        this.immediatePublish = true;
+        //this.publishRate = 20f;
+        this.text = "Publish phone's location to ROS";
+        this.rotation = 0;
+        this.buttonPressed = false;
+    }
+}