DiegoAPP–整体架构介绍

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1.开发环境

RobotCA是采用Eclipse进行开发&＃xff0c;在DiegoAPP中将整个项目迁移到了Android Studio 3.4开发&＃xff0c;有兴趣的同学可以到https://www.diegorobot.com下载试用。

Android Studio中Gradle 和Gradle Plugin的版本入下图&＃xff0c;Gradle和Gradle Plugin的版本非常重要&＃xff0c;其他的版本会出现一些编译错误。

Diego APP支持了Android8.0&＃xff0c;Android8.1&＃xff0c;Android9.0版本&＃xff0c;适应现在主流的Android手机&＃xff0c;其他版本的也可以下载最新的Android SDK进行编译&＃xff0c;但有由于Android升级过程中接口函数会有所变化&＃xff0c;故可能会影响正常的运行&＃xff0c;如闪退等异常。

2.项目架构
Diego APP的目录组织结构符合Android Studio APP的项目组织规范

com.diegorobot.app是主要的程序目录

Core&＃xff1a;主要的控制逻辑代码&＃xff0c;包括Robot的控制&＃xff0c;Map&＃xff0c;导航等。
Dialogs&＃xff1a;对话框的逻辑代码&＃xff0c;对应res中的对话框资源
Fragments&＃xff1a;对应与res中视图的控制代码
Layers&＃xff1a;针对需要渲染的层的逻辑代码&＃xff0c;现在只有针对激光雷达数据的渲染代码
Views&＃xff1a;对应res的视图文件的控制代码
ControlAPP&＃xff1a;主要的控制Activity&＃xff0c;APP在连接进入控制模式后&＃xff0c;运行此Activity
RobotChooser&＃xff1a;APP启动时的Activity&＃xff0c;用来配置连接信息&＃xff0c;显示Robot列表
ToolbarActionItemTarget&＃xff1a;Robot列表中的工具条对应的类

2.Build.gradle
App的编译配置文件中定义了App支持的版本&＃xff0c;依赖的包等信息&＃xff0c;特别是编译时所涉及到包&＃xff0c;一定要正确&＃xff0c;否则会出现编译异常, build.gradle代码如下

apply plugin: &＃39;com.android.application&＃39;android {compileSdkVersion 28buildToolsVersion &＃39;28.0.3&＃39;defaultConfig {applicationId "com.diegorobot.app"minSdkVersion 26targetSdkVersion 28multiDexEnabled trueversionCode 1versionName "1.0"testInstrumentationRunner "android.support.test.runner.AndroidJUnitRunner"}buildTypes {release {minifyEnabled falseproguardFiles getDefaultProguardFile(&＃39;proguard-android.txt&＃39;), &＃39;proguard-rules.pro&＃39;}}lintOptions {checkReleaseBuilds false// Or, if you prefer, you can continue to check for errors in release builds,// but continue the build even when errors are found:abortOnError false}dexOptions {javaMaxHeapSize "4g"}
}configurations {all*.exclude group: &＃39;org.ros.rosjava_bootstrap&＃39;, module: &＃39;gradle_plugins&＃39;
}
repositories {mavenLocal()mavenCentral()maven {url "https://github.com/rosjava/rosjava_mvn_repo/raw/master"}//maven { url "https://jitpack.io" }}dependencies {implementation fileTree(include: [&＃39;*.jar&＃39;], dir: &＃39;libs&＃39;)implementation &＃39;com.android.support:appcompat-v7:28.0.0&＃39;implementation &＃39;com.android.support:support-v4:28.0.0&＃39;implementation &＃39;com.android.support:design:28.0.0&＃39;implementation &＃39;com.android.support:cardview-v7:28.0.0&＃39;implementation &＃39;com.android.support.constraint:constraint-layout:1.1.3&＃39;implementation &＃39;com.android.support:recyclerview-v7:28.0.0&＃39;implementation &＃39;org.ros.android_core:android_core_components:0.4.0&＃39;implementation &＃39;com.github.rosjava.android_extras:gingerbread:[0.3,0.4)&＃39;implementation &＃39;org.ros.rosjava_messages:tf2_msgs:[0.5,0.6)&＃39;implementation &＃39;com.google.code.gson:gson:2.8.5&＃39;implementation &＃39;org.apache.commons:commons-lang3:3.9&＃39;implementation &＃39;com.squareup.okhttp:okhttp:2.7.5&＃39;implementation &＃39;com.github.amlcurran.showcaseview:library:5.4.3&＃39;//testCompile &＃39;junit:junit:4.12&＃39;
}dependencies {// Required -- JUnit 4 frameworktestImplementation &＃39;junit:junit:4.12&＃39;// Optional -- Mockito frameworktestImplementation &＃39;org.mockito:mockito-core:2.27.0&＃39;androidTestImplementation &＃39;com.android.support:support-annotations:28.0.0&＃39;androidTestImplementation &＃39;com.android.support.test:runner:1.0.2&＃39;androidTestImplementation &＃39;com.android.support.test:rules:1.0.2&＃39;// Optional -- Hamcrest libraryandroidTestImplementation &＃39;org.hamcrest:hamcrest-library:2.1&＃39;// Optional -- UI testing with EspressoandroidTestImplementation &＃39;com.android.support.test.espresso:espresso-core:3.0.2&＃39;// Optional -- UI testing with UI Automator
// androidTestCompile &＃39;com.android.support.test.uiautomator:uiautomator-v15&＃39;
}configurations.all {resolutionStrategy.force &＃39;com.google.code.findbugs:jsr305:1.3.9&＃39;resolutionStrategy.force &＃39;junit:junit:4.12&＃39;
}