Tango: added asking Motion Tracking permission

introlab · Mar 18, 2016 · 1b4539a · 1b4539a
1 parent 3f48b39
commit 1b4539a
Showing 1 changed file with 42 additions and 10 deletions.
diff --git a/app/android/src/com/introlab/rtabmap/RTABMapActivity.java b/app/android/src/com/introlab/rtabmap/RTABMapActivity.java
@@ -35,6 +35,8 @@
 import android.widget.TextView;
 import android.widget.Toast;
 
+import com.google.atap.tangoservice.Tango;
+
 // The main activity of the application. This activity shows debug information
 // and a glSurfaceView that renders graphic content.
 public class RTABMapActivity extends Activity implements OnClickListener {
@@ -116,7 +118,7 @@ protected void onCreate(Bundle savedInstanceState) {
  Toast.makeText(this, "Tango Core out dated, please update in Play Store", Toast.LENGTH_LONG).show();
  finish();
  return;
- }
+ } 
 
  mOpenedDatabasePath = "";
  mTempDatabasePath = "";
@@ -149,21 +151,51 @@ protected void onCreate(Bundle savedInstanceState) {
  RTABMapLib.initialize(this);
  RTABMapLib.openDatabase(mTempDatabasePath);
  }
+
+ @Override
+ protected void onActivityResult(int requestCode, int resultCode, Intent data) {
+ // Check which request we're responding to
+ if (requestCode == Tango.TANGO_INTENT_ACTIVITYCODE) {
+ // Make sure the request was successful
+ if (resultCode == RESULT_CANCELED) {
+ Toast.makeText(this, "Motion Tracking Permissions Required!",
+ Toast.LENGTH_SHORT).show();
+ finish();
+ }
+ }
+ }
 
  @Override
  protected void onResume() {
  super.onResume();
- mGLView.onResume();
 
- mTotalLoopClosures = 0;
- if(mItemOpen != null)
- {
- mItemOpen.setEnabled(false);
- mItemPause.setChecked(false);
- mItemSave.setEnabled(false);
- mItemExport.setEnabled(false);
+ Log.i(TAG, String.format("onResume()"));
+
+ if (Tango.hasPermission(this, Tango.PERMISSIONTYPE_MOTION_TRACKING)) {
+
+ mGLView.onResume();
+
+ mTotalLoopClosures = 0;
+ if(mItemOpen != null)
+ {
+ mItemOpen.setEnabled(false);
+ mItemPause.setChecked(false);
+ mItemSave.setEnabled(false);
+ mItemExport.setEnabled(false);
+ }
+
+ if(RTABMapLib.onResume()!=0)
+ {
+ Toast.makeText(getApplicationContext(), 
+ String.format("Failed to connect with Tango!"), Toast.LENGTH_SHORT).show();
+ }
+
+ } else {
+ Log.i(TAG, String.format("Asking for motion tracking permission"));
+ startActivityForResult(
+ Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_MOTION_TRACKING),
+ Tango.TANGO_INTENT_ACTIVITYCODE);
  }
- RTABMapLib.onResume();
  }
 
  @Override