Issues #32, #2 and #4: We have NFC tags reading for the two types of …

…tags we have so far.

It works on nexus tablet and galaxy 3 phone.
I didn't create a library as #4 request, but a simple activity. I will do if we need to complexify the code.
Expected tag format follows the one used on QR codes, but as explained in issue #33 wireless configuration doesn't work.
The format is yaml with the following parameters:
 * URL (ROS master URI)
 * CURL (control URI, no idea what is this used for)
 * WIFI (SSID)
 * WIFIENC (WIFI encoding)
 * WIFIPW (WIFI password)
Maybe is time to update this, following issue #33.

robot_remocon/src/main/AndroidManifest.xml

@@ -11,6 +11,7 @@
     <uses-permission android:name="android.permission.CHANGE_WIFI_STATE" />
     <uses-permission android:name="android.permission.INTERNET" />
     <uses-permission android:name="android.permission.WAKE_LOCK" />
+    <uses-permission android:name="android.permission.NFC" />
 
     <application android:label="@string/app_name" android:icon="@drawable/ic_launcher">
         <provider
@@ -32,6 +33,22 @@
         </activity>
         <activity android:name="com.github.rosjava.android_remocons.robot_remocon.RobotMasterChooser" />
         <activity android:name="org.ros.android.MasterChooser" />
+        <activity android:name="com.github.rosjava.android_remocons.robot_remocon.nfc.ForegroundDispatch"
+            android:label="NFC tag scan">
+            <intent-filter>
+                <action android:name="android.intent.action.MAIN" />
+                <category android:name="android.intent.category.LAUNCHER" />
+            </intent-filter>
+
+            <!-- Add a technology filter -->
+            <intent-filter>
+                <action android:name="android.nfc.action.TECH_DISCOVERED" />
+            </intent-filter>
+
+            <meta-data android:name="android.nfc.action.TECH_DISCOVERED"
+                android:resource="@xml/filter_nfc_tech"
+            />
+        </activity>
 
         <service android:name="AppLauncher" />
         <service android:name="org.ros.android.NodeMainExecutorService" >

robot_remocon/src/main/java/com/github/rosjava/android_remocons/robot_remocon/RobotMasterChooser.java

@@ -34,16 +34,6 @@
 
 package com.github.rosjava.android_remocons.robot_remocon;
 
-import java.util.ArrayList;
-import java.util.HashMap;
-import java.util.Iterator;
-import java.util.List;
-import java.util.Map;
-import java.util.Timer;
-import java.util.TimerTask;
-
-import com.github.rosjava.zeroconf_jmdns_suite.jmdns.DiscoveredService;
-
 import android.app.Activity;
 import android.app.AlertDialog;
 import android.app.Dialog;
@@ -74,16 +64,24 @@
 import android.widget.TextView;
 import android.widget.Toast;
 
-import com.google.zxing.IntentIntegrator;
-import com.google.zxing.IntentResult;
-
 import com.github.rosjava.android_apps.application_management.RobotDescription;
 import com.github.rosjava.android_apps.application_management.RobotId;
 import com.github.rosjava.android_apps.application_management.RobotsContentProvider;
 import com.github.rosjava.android_remocons.robot_remocon.zeroconf.MasterSearcher;
+import com.github.rosjava.zeroconf_jmdns_suite.jmdns.DiscoveredService;
+import com.google.zxing.IntentIntegrator;
+import com.google.zxing.IntentResult;
 
 import org.yaml.snakeyaml.Yaml;
 
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.Iterator;
+import java.util.List;
+import java.util.Map;
+import java.util.Timer;
+import java.util.TimerTask;
+
 /**
  * @author [email protected]
  * @author [email protected] (Kazuto Murase)
@@ -94,6 +92,9 @@ public class RobotMasterChooser extends Activity {
 	private static final int ADD_DELETION_DIALOG_ID = 1;
 	private static final int ADD_SEARCH_ROBOT_DIALOG_ID = 2;
 
+    private static final int QR_CODE_SCAN_REQUEST_CODE = 101;
+    private static final int NFC_TAG_SCAN_REQUEST_CODE = 102;
+
 	private List<RobotDescription> robots;
 	private boolean[] selections;
 	private MasterSearcher masterSearcher;
@@ -282,25 +283,49 @@ protected void onCreate(Bundle savedInstanceState) {
 
 	@Override
 	public void onActivityResult(int requestCode, int resultCode, Intent intent) {
-		IntentResult scanResult = IntentIntegrator.parseActivityResult(
-				requestCode, resultCode, intent);
-		if (scanResult != null && scanResult.getContents() != null) {
-			Yaml yaml = new Yaml();
-			Map<String, Object> data = (Map<String, Object>) yaml
-					.load(scanResult.getContents().toString());
-			Log.d("RobotRemocon", "RobotMasterChooser OBJECT: " + data.toString());
-			try {
-				addMaster(new RobotId(data), false);
-			} catch (Exception e) {
-				Toast.makeText(this,
-						"Invalid robot description: " + e.getMessage(),
-						Toast.LENGTH_SHORT).show();
-			}
-		} else {
-			Toast.makeText(this, "Scan failed", Toast.LENGTH_SHORT).show();
-		}
+        // Sub-activity to gather robot connection data completed: can be QR code or NFC tag scan
+        // TODO: cannot unify both calls?
 
-	}
+        if (resultCode == RESULT_CANCELED) {
+            Toast.makeText(this, "Cancelled", Toast.LENGTH_SHORT).show();
+            return;
+        }
+
+        String scanned_data = null;
+
+        if (requestCode == QR_CODE_SCAN_REQUEST_CODE) {
+            IntentResult scanResult = IntentIntegrator.parseActivityResult(
+                    requestCode, resultCode, intent);
+            if (scanResult != null && scanResult.getContents() != null) {
+                scanned_data = scanResult.getContents().toString();
+            }
+        }
+        else if (requestCode == NFC_TAG_SCAN_REQUEST_CODE && resultCode == RESULT_OK) {
+            if (intent.hasExtra("tag_data")) {
+                scanned_data = intent.getExtras().getString("tag_data");
+            }
+        }
+        else {
+            Log.w("RobotRemocon", "Unknown activity request code: " + requestCode);
+            return;
+        }
+
+        if (scanned_data == null) {
+            Toast.makeText(this, "Scan failed", Toast.LENGTH_SHORT).show();
+        }
+        else {
+            try {
+                Yaml yaml = new Yaml();
+                Map<String, Object> data = (Map<String, Object>) yaml.load(scanned_data);
+                Log.d("RobotRemocon", "RobotMasterChooser OBJECT: " + data.toString());
+                addMaster(new RobotId(data), false);
+            } catch (Exception e) {
+                Toast.makeText(this,
+                        "Invalid robot description: " + e.getMessage(),
+                        Toast.LENGTH_SHORT).show();
+            }
+        }
+    }
 
 	@Override
 	protected Dialog onCreateDialog(int id) {
@@ -328,13 +353,20 @@ public void onClick(View v) {
 					removeDialog(ADD_URI_DIALOG_ID);
 				}
 			});
-			button = (Button) dialog.findViewById(R.id.scan_robot_button);
-			button.setOnClickListener(new View.OnClickListener() {
-				@Override
-				public void onClick(View v) {
-					scanRobotClicked(v);
-				}
-			});
+            button = (Button) dialog.findViewById(R.id.qr_code_button);
+            button.setOnClickListener(new View.OnClickListener() {
+                @Override
+                public void onClick(View v) {
+                    scanQRCodeClicked(v);
+                }
+            });
+            button = (Button) dialog.findViewById(R.id.nfc_tag_button);
+            button.setOnClickListener(new View.OnClickListener() {
+                @Override
+                public void onClick(View v) {
+                    scanNFCTagClicked(v);
+                }
+            });
 			button = (Button) dialog.findViewById(R.id.search_master_button);
 			button.setOnClickListener(new View.OnClickListener() {
 				@Override
@@ -542,12 +574,20 @@ public void refreshClicked(View view) {
 		refresh();
 	}
 
-	public void scanRobotClicked(View view) {
-		dismissDialog(ADD_URI_DIALOG_ID);
-		IntentIntegrator.initiateScan(this, IntentIntegrator.DEFAULT_TITLE,
-				IntentIntegrator.DEFAULT_MESSAGE, IntentIntegrator.DEFAULT_YES,
-				IntentIntegrator.DEFAULT_NO, IntentIntegrator.QR_CODE_TYPES);
-	}
+    public void scanQRCodeClicked(View view) {
+        dismissDialog(ADD_URI_DIALOG_ID);
+        IntentIntegrator.initiateScan(this, IntentIntegrator.DEFAULT_TITLE,
+                IntentIntegrator.DEFAULT_MESSAGE, IntentIntegrator.DEFAULT_YES,
+                IntentIntegrator.DEFAULT_NO, IntentIntegrator.QR_CODE_TYPES);
+    }
+
+    public void scanNFCTagClicked(View view) {
+        dismissDialog(ADD_URI_DIALOG_ID);
+        Intent i = new Intent(this,
+                com.github.rosjava.android_remocons.robot_remocon.nfc.ForegroundDispatch.class);
+        // Set the request code so we can identify the callback via this code
+        startActivityForResult(i, NFC_TAG_SCAN_REQUEST_CODE);
+    }
 
 	public void searchRobotClicked(View view) {
 		removeDialog(ADD_URI_DIALOG_ID);

robot_remocon/src/main/java/com/github/rosjava/android_remocons/robot_remocon/nfc/ForegroundDispatch.java

@@ -0,0 +1,133 @@
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License
+ */
+
+package com.github.rosjava.android_remocons.robot_remocon.nfc;
+
+import android.app.Activity;
+import android.app.PendingIntent;
+import android.content.Intent;
+import android.content.IntentFilter;
+import android.content.IntentFilter.MalformedMimeTypeException;
+import android.nfc.NdefMessage;
+import android.nfc.NdefRecord;
+import android.nfc.NfcAdapter;
+import android.nfc.tech.*;
+import android.os.Bundle;
+import android.os.Parcelable;
+import android.util.Log;
+import android.widget.TextView;
+
+import com.github.rosjava.android_remocons.robot_remocon.R;
+
+/**
+ * An example of how to use the NFC foreground dispatch APIs. This will intercept any MIME data
+ * based NDEF dispatch as well as all dispatched for NfcF tags.
+ */
+public class ForegroundDispatch extends Activity {
+    private NfcAdapter mAdapter;
+    private PendingIntent mPendingIntent;
+    private IntentFilter[] mFilters;
+    private String[][] mTechLists;
+    private TextView mText;
+    private int mCount = 0;
+    private String tag_data = null;
+
+    @Override
+    public void onCreate(Bundle savedState) {
+        super.onCreate(savedState);
+
+        setContentView(R.layout.nfc_tag_scan);
+        mText = (TextView) findViewById(R.id.text);
+        mText.setText("Scan a NFC tag");
+
+        mAdapter = NfcAdapter.getDefaultAdapter(this);
+
+        // Create a generic PendingIntent that will be deliver to this activity. The NFC stack
+        // will fill in the intent with the details of the discovered tag before delivering to
+        // this activity.
+        mPendingIntent = PendingIntent.getActivity(this, 0,
+                new Intent(this, getClass()).addFlags(Intent.FLAG_ACTIVITY_SINGLE_TOP), 0);
+
+        // Setup an intent filter for all MIME based dispatches
+        IntentFilter ndef = new IntentFilter(NfcAdapter.ACTION_TECH_DISCOVERED);
+        try {
+            ndef.addDataType("text/plain");
+        } catch (MalformedMimeTypeException e) {
+            throw new RuntimeException("fail", e);
+        }
+        mFilters = new IntentFilter[] {
+                ndef,
+        };
+
+        // Setup a tech list for all NfcF tags
+        mTechLists = new String[][] { new String[] { NfcF.class.getName() },
+                                      new String[] { NfcA.class.getName(), MifareClassic.class.getName() },
+                                      new String[] { NfcA.class.getName(), MifareUltralight.class.getName() } };
+    }
+
+    @Override
+    public void onResume() {
+        super.onResume();
+        if (mAdapter != null) mAdapter.enableForegroundDispatch(this, mPendingIntent, mFilters,
+                mTechLists);
+    }
+
+    @Override
+    public void onNewIntent(Intent intent) {
+        Log.i("Foreground dispatch", "Discovered tag with intent: " + intent);
+        mText.setText("Discovered tag " + ++mCount + " with intent: " + intent);
+
+        if (NfcAdapter.ACTION_TECH_DISCOVERED.equals(intent.getAction())) {
+            Parcelable[] rawMsgs = intent.getParcelableArrayExtra(NfcAdapter.EXTRA_NDEF_MESSAGES);
+            if ((rawMsgs != null) && (rawMsgs.length > 0)) {
+                NdefMessage msg = (NdefMessage) rawMsgs[0];
+                NdefRecord[] records = msg.getRecords();
+                if ((records != null) && (records.length > 0)) {
+                    String payload = new String(records[0].getPayload());
+                    tag_data = payload.substring(3);  // Remove data type (1 byte) and language code (2 bytes)
+                    mText.append("\n\n\n" + tag_data);
+                    finish();  // TODO add ok/cancel buttons instead
+                }
+            }
+
+//            if (payload2[0] != NdefRecord.TNF_MIME_MEDIA)
+        }
+
+        mText.setText("Unrecognized NFC tag format");
+    }
+
+    @Override
+    public void onPause() {
+        super.onPause();
+        if (mAdapter != null) mAdapter.disableForegroundDispatch(this);
+    }
+
+    @Override
+    public void finish() {
+        // Prepare data in tent
+        Intent data = new Intent();
+        if (tag_data != null) {
+            // Activity finished ok, return the data
+            data.putExtra("tag_data", tag_data);
+            setResult(RESULT_OK, data);
+        }
+        else {
+            setResult(RESULT_CANCELED, data);
+        }
+
+        super.finish();
+    }
+}