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Better way to initialize ChannelBuffer object #281

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Better way to initialize ChannelBuffer object #281

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7 changes: 6 additions & 1 deletion android_15/src/org/ros/android/view/visualization/layer/CompressedOccupancyGridLayer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -22,12 +22,15 @@
import android.graphics.Bitmap;
import android.graphics.BitmapFactory;
import org.jboss.netty.buffer.ChannelBuffer;
import org.jboss.netty.buffer.ChannelBuffers;
import org.ros.android.view.visualization.TextureBitmap;
import org.ros.message.MessageListener;
import org.ros.namespace.GraphName;
import org.ros.node.ConnectedNode;
import org.ros.rosjava_geometry.Transform;

import java.nio.channels.Channel;

import javax.microedition.khronos.opengles.GL10;

/**
Expand Down Expand Up @@ -91,7 +94,9 @@ public void onNewMessage(nav_msgs.OccupancyGrid message) {
}

void update(nav_msgs.OccupancyGrid message) {
ChannelBuffer buffer = message.getData();
// final ChannelBuffer buffer;
// buffer.setBytes(0,message.getData());
final ChannelBuffer buffer = ChannelBuffers.wrappedBuffer(message.getData());
Bitmap bitmap =
BitmapFactory.decodeByteArray(buffer.array(), buffer.arrayOffset(), buffer.readableBytes());
int stride = bitmap.getWidth();
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5 changes: 4 additions & 1 deletion android_15/src/org/ros/android/view/visualization/layer/OccupancyGridLayer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
import com.google.common.collect.Lists;

import org.jboss.netty.buffer.ChannelBuffer;
import org.jboss.netty.buffer.ChannelBuffers;
import org.ros.android.view.visualization.TextureBitmap;
import org.ros.android.view.visualization.VisualizationView;
import org.ros.internal.message.MessageBuffers;
Expand Down Expand Up @@ -201,7 +202,9 @@ private void update(nav_msgs.OccupancyGrid message) {

int x = 0;
int y = 0;
final ChannelBuffer buffer = message.getData();
// final ChannelBuffer buffer;
// buffer.setBytes(0,message.getData());
final ChannelBuffer buffer = ChannelBuffers.wrappedBuffer(message.getData());
while (buffer.readable()) {
Preconditions.checkState(y < height);
final int tileIndex = (y / TextureBitmap.STRIDE) * numTilesWide + x / TextureBitmap.STRIDE;
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