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libqi-java's Issues

cast byte[] to serializable Object; communicate with audio device

I want to be able to send binary audio data remotely to a pepper robot. While I was able to do so using Naoqi's sendRemoteBufferToOutput() method with qi framework and C++ SDK (2.5.5), I can't find a simple way to call that method in Java.

In C++, sendRemoteBufferToOutput() accepts an ALValue constructed from a binary buffer (ALValue.setBinary()); in Java it's even more ambiguous. According to jnaoqi's API, it accepts merely an Object. I tried passing a byte array or a list of bytes or a byteBuffer, none of which works, and I constantly get this error:
qimessaging.jni: Cannot serialize return value: Unable to convert JObject in AnyValue

(Additionally, when I was using qimessaging's API I got this error:
qimessaging.remoteobject: no promise found for req id:162 obj: 60 func: 2 type: Reply)

I looked into old documentations, and in version 1.14 there is a binding class for ALValue, called Variant, that I can't find in the new API. Qimessaging seemed to support customizable serializers, but I don't think it was included in the 2.5.5 release. So I ran out of ideas. Another way I can think of now is to wrap either ALValue or my entire C++ application in JNI, but I'd like to know the right way to call sendRemoteBufferToOutput() in Java before going that route.

In conclusion, my issue is: is it possible to pass a byte buffer to sendRemoteBufferToOutput() in Java?

CMake 3.16 or higher is required. You are running version 3.5.1

Hi,

I started over again, hence a new Issue.

I use Ubuntu 16.04 as virtual machine:

lsb_release -a
LSB Version:	core-9.20160110ubuntu0.2-amd64:core-9.20160110ubuntu0.2-noarch:printing-9.20160110ubuntu0.2-amd64:printing-9.20160110ubuntu0.2-noarch:security-9.20160110ubuntu0.2-amd64:security-9.20160110ubuntu0.2-noarch
Distributor ID:	Ubuntu
Description:	Ubuntu 16.04.7 LTS
Release:	16.04
Codename:	xenial

I installed python2.7 and pip:

python --version
Python 2.7.12

pip --version
pip 20.3.4 from /home/nao/.local/lib/python2.7/site-packages/pip (python 2.7)

I have a Pepper with NAOqi 2.5, so I used this guide:

https://developer.softbankrobotics.com/pepper-naoqi-25/naoqi-developer-guide/sdks/c-sdk/c-sdk-installation-guide

sudo apt-get install build-essential

My compilers are:

g++ --version
g++ (Ubuntu 5.4.0-6ubuntu1~16.04.12) 5.4.0 20160609
Copyright (C) 2015 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

gcc --version
gcc (Ubuntu 5.4.0-6ubuntu1~16.04.12) 5.4.0 20160609
Copyright (C) 2015 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

cmake --version
cmake version 3.5.1

CMake suite maintained and supported by Kitware (kitware.com/cmake).

Maybe I also have to need lower versions.

Then I run pip install qibuild --user.

After that I run (again) the qibuild config --wizard:

qibuild config --wizard
Found CMake: /usr/bin/cmake
:: Please choose a generator
   1 Unix Makefiles 	(default)
   2 Ninja
   3 Watcom WMake
   4 CodeBlocks - Ninja
   5 CodeBlocks - Unix Makefiles
   6 CodeLite - Ninja
   7 CodeLite - Unix Makefiles
   8 Eclipse CDT4 - Ninja
   9 Eclipse CDT4 - Unix Makefiles
   10 KDevelop3
   11 KDevelop3 - Unix Makefiles
   12 Kate - Ninja
   13 Kate - Unix Makefiles
   14 Sublime Text 2 - Ninja
   15 Sublime Text 2 - Unix Makefiles
> 1
:: Please choose an IDE
   1 None 	(default)
   2 QtCreator
   3 Eclipse CDT
> 1

:: Found a worktree in /home/nao/work/aldebaran
:: Do you want to configure settings for this worktree? (y/N)
> y
:: Found the following build configs:  android-x86_64, cross-atom, android-x86, myconfig, linux64, win32-vs2013, android-arm, mac64
:: Use one of these build configs by default (Y/n)
> y
:: Choose a build config to use by default
   1 android-x86_64 	(default)
   2 cross-atom
   3 android-x86
   4 myconfig
   5 linux64
   6 win32-vs2013
   7 android-arm
   8 mac64
> 7
:: Do you want to use a unique build dir? (mandatory when using Eclipse) (y/N)
> n

I got the toolchains with:

qitoolchain create --feed-name android-arm android-arm https://github.com/aldebaran/toolchains.git
qitoolchain create --feed-name android-x86 android-x86 https://github.com/aldebaran/toolchains.git
qitoolchain create --feed-name android-x86_64 android-x86_64 https://github.com/aldebaran/toolchains.git
qitoolchain create --feed-name linux64 linux64 https://github.com/aldebaran/toolchains.git
qitoolchain create --feed-name mac64 mac64 https://github.com/aldebaran/toolchains.git
qitoolchain create --feed-name win32-vs2013 win32-vs2013 https://github.com/aldebaran/toolchains.git

To /etc/environment I added:

ANDROID_HOME=/home/nao/Android/Sdk
ANDROID_NDK_HOME=/home/nao/Android/Sdk/ndk-bundle
ANDROID_NDK_ROOT=/home/nao/Android/Sdk/ndk-bundle

I installed Android Studio with the Ubuntu Software Center and donwloaded NDK manually and unzipped it to the directory above.

Then I added the qibuild configs:

qibuild add-config android-arm -t android-arm
qibuild add-config android-x86 -t android-x86
qibuild add-config android-x86_64 -t android-x86_64
qibuild add-config linux64 -t linux64
qibuild add-config mac64 -t mac64
qibuild add-config win32-vs2013 -t win32-vs2013

And fetched the sources:

mkdir -p ~/work/aldebaran
cd ~/work/aldebaran
qisrc init https://github.com/aldebaran/manifest.git

Because qisrc init [email protected]:aldebaran/manifest.git does not work.

And then I tried to configure my qibuild:

cd ~/work/aldebaran/sdk/libqi-java/jni
qibuild configure -c android-arm

I got following error:

* (1/3) Configuring gtest
-- Adjusting Android API level 'android-17' to 'android-14'
-- Using qibuild 3.17
-- Library: gtest
-- Library: gtest_main
-- Configuring done
-- Generating done
CMake Warning:
  Manually-specified variables were not used by the project:

    WITH_QIBUILD


-- Build files have been written to: /home/nao/work/aldebaran/sdk/libgtest/build-android-arm
* (2/3) Configuring libqi
CMake Error at CMakeLists.txt:5 (cmake_minimum_required):
  CMake 3.16 or higher is required.  You are running version 3.5.1


-- Configuring incomplete, errors occurred!
[ERROR]: ConfigureFailed

I tried it with this solution:
https://askubuntu.com/questions/355565/how-do-i-install-the-latest-version-of-cmake-from-the-command-line

Then I received following errors:

Using toolchain: android-arm
* (1/3) Configuring gtest
CMake Deprecation Warning at CMakeLists.txt:3 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.


CMake Deprecation Warning at /home/nao/.local/share/qi/toolchains/android-arm/ndk/toolchain.cmake:187 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.
Call Stack (most recent call first):
  /home/nao/.local/share/qi/toolchains/android-arm/toolchain-android-arm.cmake:5 (include)
  /usr/share/cmake-3.20/Modules/CMakeDetermineSystem.cmake:123 (include)
  CMakeLists.txt:4 (project)


-- Adjusting Android API level 'android-17' to 'android-14'
CMake Deprecation Warning at /usr/share/cmake-3.20/Modules/CMakeForceCompiler.cmake:75 (message):
  The CMAKE_FORCE_C_COMPILER macro is deprecated.  Instead just set
  CMAKE_C_COMPILER and allow CMake to identify the compiler.
Call Stack (most recent call first):
  /home/nao/.local/share/qi/toolchains/android-arm/ndk/toolchain.cmake:1162 (CMAKE_FORCE_C_COMPILER)
  /home/nao/.local/share/qi/toolchains/android-arm/toolchain-android-arm.cmake:5 (include)
  /usr/share/cmake-3.20/Modules/CMakeDetermineSystem.cmake:123 (include)
  CMakeLists.txt:4 (project)


CMake Deprecation Warning at /usr/share/cmake-3.20/Modules/CMakeForceCompiler.cmake:89 (message):
  The CMAKE_FORCE_CXX_COMPILER macro is deprecated.  Instead just set
  CMAKE_CXX_COMPILER and allow CMake to identify the compiler.
Call Stack (most recent call first):
  /home/nao/.local/share/qi/toolchains/android-arm/ndk/toolchain.cmake:1174 (CMAKE_FORCE_CXX_COMPILER)
  /home/nao/.local/share/qi/toolchains/android-arm/toolchain-android-arm.cmake:5 (include)
  /usr/share/cmake-3.20/Modules/CMakeDetermineSystem.cmake:123 (include)
  CMakeLists.txt:4 (project)


CMake Deprecation Warning at /home/nao/.local/share/qi/toolchains/android-arm/ndk/toolchain.cmake:187 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.
Call Stack (most recent call first):
  /home/nao/.local/share/qi/toolchains/android-arm/toolchain-android-arm.cmake:5 (include)
  build-android-arm/CMakeFiles/3.20.5/CMakeSystem.cmake:6 (include)
  CMakeLists.txt:4 (project)


CMake Error: CMake was unable to find a build program corresponding to "Unix Makefiles".  CMAKE_MAKE_PROGRAM is not set.  You probably need to select a different build tool.
-- Configuring incomplete, errors occurred!
See also "/home/nao/work/aldebaran/sdk/libgtest/build-android-arm/CMakeFiles/CMakeOutput.log".
[ERROR]: ConfigureFailed

As suggested I changed cmake_minimum_required to 2.8.12. Before that it was set to 2.6.x.

Then I got errors like CMAKE_FORCE_C_COMPILER macro is deprecated or CMAKE_FORCE_CXX_COMPILER macro is deprecated. I found a solution here:

https://stackoverflow.com/questions/66329704/cmake-deprecation-warning-messagedeprecation-the-cmake-force-c-compiler-mac

I remove it by commenting it out.

And if I run qibuild configure -c android-arm again I got:

Using toolchain: android-arm
* (1/3) Configuring gtest
-- Adjusting Android API level 'android-17' to 'android-14'
CMake Error: CMake was unable to find a build program corresponding to "Unix Makefiles".  CMAKE_MAKE_PROGRAM is not set.  You probably need to select a different build tool.
-- Configuring incomplete, errors occurred!
See also "/home/nao/work/aldebaran/sdk/libgtest/build-android-arm/CMakeFiles/CMakeOutput.log".
[ERROR]: ConfigureFailed

A solution which I have found is that you have to install sudo apt install build-essential. It is installed so I purged it and install it again. But the error still exists.

Specified toolchain "arm-linux-androideabi-4.9" is missing in your NDK or broken

Hi,

I tried to use the toolchain for android-arm but I got this error:

Using toolchain: android-arm
* (1/1) Configuring qimessaging-jni
CMake Error at /home/nao/.local/share/qi/toolchains/android-arm/ndk/toolchain.cmake:773 (message):
  Specified toolchain "arm-linux-androideabi-4.9" is missing in your NDK or
  broken.  Please verify that your NDK is working or select another compiler
  toolchain.

  To configure the toolchain set CMake variable ANDROID_TOOLCHAIN_NAME to one
  of the following values:

    * arm-linux-androideabi-4.4.3
    * arm-linux-androideabi-4.6
    * arm-linux-androideabi-4.7
    * arm-linux-androideabi-clang3.1
    * arm-linux-androideabi-clang3.2
    * mipsel-linux-android-4.4.3
    * mipsel-linux-android-4.6
    * mipsel-linux-android-4.7
    * mipsel-linux-android-clang3.1
    * mipsel-linux-android-clang3.2
    * x86-4.4.3
    * x86-4.6
    * x86-4.7
    * x86-clang3.1
    * x86-clang3.2

Call Stack (most recent call first):
  /home/nao/.local/share/qi/toolchains/android-arm/toolchain-android-arm.cmake:5 (include)
  /usr/share/cmake-3.5/Modules/CMakeDetermineSystem.cmake:98 (include)
  CMakeLists.txt:2 (project)


CMake Error: CMAKE_C_COMPILER not set, after EnableLanguage
CMake Error: CMAKE_CXX_COMPILER not set, after EnableLanguage
-- Configuring incomplete, errors occurred!

So, one step after another...

I created a Ubuntu 16.04 virtual machine. I installed Python 2.7 and pip for Python 2.7. Then I installed the Python SDK. After that I installed the C++ SDK and qibuild. Then I downloaded the Java SDK and the JavaScript SDK. With all this I have written basic examples for a Pepper with NAOqi 2.5. Then I tried to use the Java SDK in my Android Project. Sadly this does not work. After that I have seen in libqi-java that there could be a possibility.

java -version
openjdk version "1.8.0_292"
OpenJDK Runtime Environment (build 1.8.0_292-8u292-b10-0ubuntu1~16.04.1-b10)
OpenJDK 64-Bit Server VM (build 25.292-b10, mixed mode)

I installed Android Studio by using the Ubuntu Software Center. At first I have installed NDK by going to Tools --> SDK Manager --> SDK Tools. But sadly this was NDK 24.x. Then I uninstalled this version. The oldest version I can find inside SDK Tools was 16.x. I then downloaded android-ndk-r8e. I unzipped it to the location where Android Studio normally would install Android NDK.

For better understandig... This are my enviroment variables:

export PYTHONPATH=$PYTHONPATH:/home/nao/naoqi/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/site-packages:/home/nao/naoqi/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/dist-packages:/home/nao/.local/lib/python2.7/site-packages

PATH="/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/nao/.local/bin:/usr/lib/jvm/java-8-openjdk-amd64/bin:/home/nao/Android/Sdk:/home/nao/Android/Sdk/ndk-bundle"
JAVA_HOME=/usr/lib/jvm/java-8-openjdk-amd64
ROS_HOSTNAME="$(hostname -f)"
ROS_MASTER_URI=http://$ROS_HOSTNAME:11311
ROS_IP="$(hostname -I | awk '{print $1;}')"
ANDROID_HOME=/home/nao/Android/Sdk
ANDROID_NDK_HOME=/home/nao/Android/Sdk/ndk-bundle
ANDROID_NDK_ROOT=/home/nao/Android/Sdk/ndk-bundle

You have written in your README.md that ANDROID_NDK_HOME should point to /path/to/android-ndk-r8e. If I run qibuild the ANDROID_NDK_ROOT should point to that location. I fixed it. But inside of the android-ndk-r8e there is no arm-linux-androideabi-4.9. I then edited /home/nao/.local/share/qi/toolchains/android-arm/ndk/toolchain.cmake by adding:

set(ANDROID_TOOLCHAIN_NAME "arm-linux-androideabi-4.4.3")

After that I run into the next error:

* (1/1) Configuring qimessaging-jni
-- Adjusting Android API level 'android-17' to 'android-14'
-- Using qibuild 3.17
-- Library: qimessagingjni
CMake Error at /home/nao/.local/share/cmake/qibuild/internal/uselib.cmake:80 (find_package):
  By not providing "FindQI.cmake" in CMAKE_MODULE_PATH this project has asked
  CMake to find a package configuration file provided by "QI", but CMake did
  not find one.

  Could not find a package configuration file provided by "QI" with any of
  the following names:

    QIConfig.cmake
    qi-config.cmake

  Add the installation prefix of "QI" to CMAKE_PREFIX_PATH or set "QI_DIR" to
  a directory containing one of the above files.  If "QI" provides a separate
  development package or SDK, be sure it has been installed.
Call Stack (most recent call first):
  /home/nao/.local/share/cmake/qibuild/internal/uselib.cmake:197 (_qi_use_lib_get_deps)
  /home/nao/.local/share/cmake/qibuild/stage.cmake:247 (_qi_use_lib_internal)
  /home/nao/.local/share/cmake/qibuild/target.cmake:277 (qi_use_lib)
  CMakeLists.txt:59 (qi_create_lib)


-- Configuring incomplete, errors occurred!
See also "/home/nao/worktree/libqi-java/jni/build-android-arm/CMakeFiles/CMakeOutput.log".

I can locate it:

locate qi-config.cmake
/home/nao/naoqi/ctc-linux64-atom-2.5.10.7/libqi/share/cmake/qi/qi-config.cmake
/home/nao/naoqi/naoqi-sdk-2.5.7.1-linux64/share/cmake/qi/qi-config.cmake

Maybe you have a solution for this issue.

What I have done before was doing following steps:

qitoolchain create --feed-name android-arm android-arm https://github.com/aldebaran/toolchains.git
qitoolchain create --feed-name android-x86 android-x86 https://github.com/aldebaran/toolchains.git
qitoolchain create --feed-name android-x86_64 android-x86_64 https://github.com/aldebaran/toolchains.git
qitoolchain create --feed-name linux64 linux64 https://github.com/aldebaran/toolchains.git
qitoolchain create --feed-name mac64 mac64 https://github.com/aldebaran/toolchains.git
qitoolchain create --feed-name win32-vs2013 win32-vs2013 https://github.com/aldebaran/toolchains.git


qitoolchain list
Known toolchains:
* android-arm
* android-x86
* android-x86_64
* cross-atom
* linux64
* mac64
* mytoolchain
* win32-vs2013



qibuild add-config android-arm -t android-arm
qibuild add-config android-x86 -t android-x86
qibuild add-config android-x86_64 -t android-x86_64
qibuild add-config linux64 -t linux64
qibuild add-config mac64 -t mac64
qibuild add-config win32-vs2013 -t win32-vs2013

The next step would not work:

mkdir -p ~/work/aldebaran
cd ~/work/aldebaran
qisrc init [email protected]:aldebaran/manifest.git

You can find this issue here:

aldebaran/manifest#2

A workaround is to clone it from github directly.

I also does not use ~/work. I will use ~/worktree. Because this was described so in the installation guide for the C++ SDK.

The next steps would be:

cd /home/nao/worktree/libqi-java/jni
qibuild configure --release -c android-arm
qibuild make -j4 -c android-arm
mkdir -p ../qimessaging/lib/armeabi-v7a
mkdir -p /tmp/libqi-java/android-arm/
qibuild install --runtime -c android-arm

cd /tmp/libqi-java/android-arm/

for file in $(find -name [*](https://github.com/aldebaran/libqi-java#id1).so) do
    cp $file ~/work/aldebaran/sdk/libqi-java/qimessaging/lib/armeabi-v7a
done

cd ~/work/aldebaran/sdk/libqi-java
rm -rf /tmp/libqi-java/android-arm/
cp -f jni/build-android-arm/sdk/lib/libgnustl_shared.so qimessaging/lib/armeabi-v7a
cd qimessaging
mvn install -DskipTests=true # use -f pom-android.xml version=$(cat pom-android.xml | grep -oPm1 "(?<=<version>)[^<]+")
zip -r target/libqi-java-$version.jar lib/

Perhaps in the further procedure would be even more errors that I become aware of.

Thanks in advance.

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