Contains the android application project where it is possible to visualize in AR the state of agents inside a connected swarm. It is also able to send command to those swarm agents and to observe their information in real time.
Android Studio 4.1+to open android project with gradle dependencies.- Android smartphone or emulator. (emulator has some limitation linked to serial communication)
- (optionnal, but mandatory for augmented reality features) 'ARCore' installed from Google Play Store.
First, clone the repo with command:
git clone --recursive https://github.com/SwarmUS/HiveAR
Recursive argument will also clone the project's submodules. In the case where recursive argument is forgotten, it is possible to load the submodule with command:
git submodule update --init
Then open HiveAR folder into Android Studio. (Not the repository folder, but the HiveAR folder with the project)
To update a submodule to its latest commit in its master branch, do this:
cd [submodule directory]
git checkout master
git pull
Then, to commit the change in the main repo:
cd [to repo directory]
git add [submodule directory]
git commit -m "move submodule to latest commit in its master"
git push
This project is meant to deploy the application to an android device and to debug it.
To install HiveAR on an android device, it is possible to deploy from source by using android studio, or to directly use an apk from github.
Some warnings can be triggered while installing HiveAR from file: this is normal. The application wasn't design to be deployed on the Google Play Store, which makes the device warn you that file wasn't verified. Accept to install, or refuse to abort the installation.
First, make sure the desired project version is cloned from github and is the directory opened inside android studio.
There are two popular options to install applications through android studio. First, if the android device is connected and selected, pressing the play button beside the selected device will install and launch automatically the application. It will remain installed afterwards.
The second option would be to build the project at first. This create an apk that can be installed. It can later be found from folder: (path_to_project)/app/build/outputs/apk/(configuration)/app-(configuration).apk Building and generating apk can be performed through this menu:
Apk file is now available. You can then transfer the file to the android device. Once done, select to install.
When creating pull requests, the CICD generate artifacts containing an apk. This can be download and transferred to the desired android device. When a pull request is selected, simply go into "Checks" to select apk artifact.
Then, from the android device, simply go into file explorer to find the apk and click on it to start the installation.
It is recommanded to debug with a real android device, but in the case where none are available, the android emulator can be a good alternative. Those are the basics steps, but haven't be thoroughly tested, which might results in steps not docummented here.
In order to be able to run the app, ArCore needs to be installed on emulator. Refer to this link for installation steps.
In order to be able to connect to a server running in the emulator, you will need the redirect the port from your system to the one on the emulator. To do this you will need to telnet in the emulator. First, get the token in the file /home/<USER>/.emulator_console_auth_token. Then run the following commands after starting the emulator:
telnet localhost 5554
auth <TOKEN>
redir add tcp:<SYSTEM_PORT>:<EMULATOR_PORT>This will route any packet sent to the host's TCP port SYSTEM_PORT to TCP port EMULATOR_PORT of the emulated android device.
- The original AprilTag project repository: https://github.com/AprilRobotics/apriltag
- Pre-generated tag images: https://github.com/AprilRobotics/apriltag-imgs