Add experimental Android Module executed In-Process

android/examples/module-in-process/.gitignore

@@ -0,0 +1 @@
+/build

android/examples/module-in-process/README.md

@@ -0,0 +1,19 @@
+# Android Module In-Process Example (Experimental)
+
+This *experimental* version of a module allows you to run it in the same process as the Viam
+Android App (as a thread calling `main`). Right now this is beneficial for getting access to its
+ApplicationContext, something
+the normal module cannot yet fully construct itself due to it running as a library
+inside `app_process`. Use this at your own risk.
+
+How to use:
+
+* It's exactly the same as a normal module except in the `module` gradle configuration block, you
+  use `executeInProcess = true`. This allows access to `Module.getParentContext()`.
+
+What's not tested:
+
+* Multiple modules running in-process
+* Logging
+
+See [examples/module](../module/README.md) for more info.

android/examples/module-in-process/build.gradle

@@ -0,0 +1,40 @@
+buildscript {
+    dependencies {
+        classpath 'com.android.tools.build:gradle:8.2.2'
+    }
+}
+
+plugins {
+    id 'com.viam.sdk.android.module' version '1.0-SNAPSHOT'
+}
+
+module {
+    mainEntryClass = "com.viam.sdk.android.examples.module.MyModuleInProcess"
+    executeInProcess = true
+}
+
+android {
+    namespace 'com.viam.sdk.android.examples.module'
+
+    defaultConfig {
+        minSdkVersion min_api
+        targetSdkVersion target_api
+        compileSdk target_api
+        versionCode 1
+        versionName "1.0"
+    }
+
+    buildTypes {
+        release {
+            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
+        }
+    }
+    compileOptions {
+        sourceCompatibility JavaVersion.VERSION_11
+        targetCompatibility JavaVersion.VERSION_11
+    }
+}
+
+dependencies {
+    implementation project(':android:viam-android-sdk')
+}

android/examples/module-in-process/proguard-rules.pro

@@ -0,0 +1,21 @@
+# Add project specific ProGuard rules here.
+# You can control the set of applied configuration files using the
+# proguardFiles setting in build.gradle.
+#
+# For more details, see
+#   http://developer.android.com/guide/developing/tools/proguard.html
+
+# If your project uses WebView with JS, uncomment the following
+# and specify the fully qualified class name to the JavaScript interface
+# class:
+#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
+#   public *;
+#}
+
+# Uncomment this to preserve the line number information for
+# debugging stack traces.
+#-keepattributes SourceFile,LineNumberTable
+
+# If you keep the line number information, uncomment this to
+# hide the original source file name.
+#-renamesourcefileattribute SourceFile

android/examples/module-in-process/src/main/AndroidManifest.xml

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<manifest>
+
+</manifest>

android/examples/module-in-process/src/main/java/com/viam/sdk/android/examples/module/MyModuleInProcess.java

@@ -0,0 +1,51 @@
+package com.viam.sdk.android.examples.module;
+
+
+import com.google.protobuf.Struct;
+import com.google.protobuf.Value;
+import com.viam.common.v1.Common;
+import com.viam.sdk.android.module.Module;
+import com.viam.sdk.core.component.generic.Generic;
+import com.viam.sdk.core.resource.Model;
+import com.viam.sdk.core.resource.ModelFamily;
+import com.viam.sdk.core.resource.Registry;
+import com.viam.sdk.core.resource.Resource;
+import com.viam.sdk.core.resource.ResourceCreatorRegistration;
+import java.util.HashSet;
+import java.util.Map;
+import java.util.Set;
+import viam.app.v1.Robot.ComponentConfig;
+
+public class MyModuleInProcess {
+
+  public static void main(String[] args) {
+    Registry.registerResourceCreator(
+        Generic.SUBTYPE,
+        MyGeneric.MODEL,
+        new ResourceCreatorRegistration(MyGeneric::new, MyGeneric::validateConfig)
+    );
+    final Module module = new Module(args);
+    module.start();
+  }
+
+  public static class MyGeneric extends Generic {
+
+    public static final Model MODEL = new Model(new ModelFamily("viam", "generic"), "mygeneric");
+
+    public MyGeneric(ComponentConfig config, Map<Common.ResourceName, Resource> dependencies) {
+      super(config.getName());
+    }
+
+    public static Set<String> validateConfig(final ComponentConfig config) {
+      return new HashSet<>();
+    }
+
+    @Override
+    public Struct doCommand(Map<String, Value> command) {
+      final Struct.Builder builder = Struct.newBuilder();
+      return builder.putFields("hello",
+              Value.newBuilder().setStringValue(Module.getParentContext().getPackageName()).build())
+          .build();
+    }
+  }
+}

android/module-plugin/src/main/groovy/com/viam/sdk/android/module/android-module-plugin.groovy

@@ -15,6 +15,8 @@ interface AndroidModulePluginExtension {
     Property<String> getMainEntryClass()
 
     Property<Boolean> getForce32Bit()
+
+    Property<Boolean> getExecuteInProcess()
 }
 
 abstract class CopyModuleTask extends DefaultTask {
@@ -37,6 +39,7 @@ abstract class CopyModuleTask extends DefaultTask {
 class AndroidModulePlugin implements Plugin<Project> {
     void apply(Project project) {
         def extension = project.extensions.create('module', AndroidModulePluginExtension)
+
         // Note(erd): based on research, going the route of an android library makes it *very*
         // difficult to maintain the logic of how to create a "fat AAR" such that we have all
         // dependencies (including transitive) in one package. Using application naturally gets
@@ -49,6 +52,7 @@ class AndroidModulePlugin implements Plugin<Project> {
             if (!extension.mainEntryClass.isPresent()) {
                 throw new Exception("Must set module.mainEntryClass")
             }
+            def executeInProcess = extension.executeInProcess.getOrElse(false)
 
             project.android.applicationVariants.all { variant ->
                 def outputFile = variant.outputs.first().outputFile
@@ -57,7 +61,9 @@ class AndroidModulePlugin implements Plugin<Project> {
 
                 def tmpModDir = "${project.layout.buildDirectory.get()}/tmp/module"
                 project.file(tmpModDir).mkdirs()
-                def modScript = getClass().getResourceAsStream("/mod.sh").getText()
+                def modScript = executeInProcess ?
+                        getClass().getResourceAsStream("/mod-in-process.sh").getText() :
+                        getClass().getResourceAsStream("/mod.sh").getText()
 
                 assembleTask.configure {
                     doLast {

android/module-plugin/src/main/resources/mod-in-process.sh

@@ -0,0 +1,62 @@
+#!/bin/sh
+
+CWD=`pwd`
+JAR_PATH=__MODULE_JAR_PATH__
+JAR_PARENT_PATH="$(realpath $(dirname "$JAR_PATH"))"
+
+# only copy the jar if it is not next to our script
+if [ "$JAR_PARENT_PATH" == "$CWD" ]; then
+  SAFE_JAR_PATH=$JAR_PATH
+else
+  SAFE_JAR_PATH=$(mktemp -d -p `pwd`)
+  cp $JAR_PATH $SAFE_JAR_PATH/module.jar
+  SAFE_JAR_PATH=$SAFE_JAR_PATH/module.jar
+fi
+
+ABI_LIST=`getprop ro.product.cpu.abilist`
+ABI_ARRAY=(${ABI_LIST//,/ })
+
+LIBRARY_PATH=
+for abi in "${ABI_ARRAY[@]}"
+do
+  NEXT_PATH_TMP=$SAFE_JAR_PATH!/lib/$abi
+  if [ -z "$LIBRARY_PATH" ]; then
+    LIBRARY_PATH=$NEXT_PATH_TMP
+  else
+    LIBRARY_PATH=$LIBRARY_PATH:$NEXT_PATH_TMP
+  fi
+done
+FORCE_32=__FORCE_32__
+if [ "${FORCE_32}" != "true" ] && [ `getconf LONG_BIT` == "64" ]; then
+  LIBRARY_PATH=$LIBRARY_PATH:/system/lib64:/system/product/lib64
+else
+  LIBRARY_PATH=$LIBRARY_PATH:/system/lib:/system/product/lib
+fi
+
+proc_file=$(mktemp -p $_VIAM_FG_TEMP_DIR)
+rm $proc_file
+trap 'rm -rf -- "$proc_file"' EXIT
+
+intentURI="intent:#Intent;action=com.viam.rdk.fgservice.START_MODULE"
+intentURI="$intentURI;S.secret=$_VIAM_FG_SECRET"
+intentURI="$intentURI;S.proc_file=$proc_file"
+intentURI="$intentURI;S.java_class_path=$SAFE_JAR_PATH"
+intentURI="$intentURI;S.java_library_path=$LIBRARY_PATH"
+intentURI="$intentURI;S.java_entry_point_class=__MAIN_ENTRY_CLASS__"
+saveIFS="$IFS"
+IFS=$'\n'
+intentURI="$intentURI;S.java_entry_point_args=$*"
+IFS=$saveIFS
+intentURI="$intentURI;end"
+
+# Note(erd):
+# user being -3 is USER_CURRENT_OR_SELF which works better than -2 (USER_CURRENT).
+# When passing nothing before or even the same UID as the Viam APK, this would fail with
+# a tautological message. -2 did not help. -3 allowed this new process (in the shell) to
+# execute as the self user from a user process. I assume user process is some other pid
+# that is not the app itself. Also, the "current" option is -2 and I found no human readable
+# option that is for -3.
+am broadcast --user -3 "$intentURI"
+
+while [ ! -f $proc_file ]; do sleep 0.1; done
+cat $proc_file

android/sdk/src/main/java/com/viam/sdk/android/module/Module.java

@@ -3,7 +3,6 @@
 import android.content.ContentResolver;
 import android.content.Context;
 import android.net.LocalSocketAddress;
-import android.os.Looper;
 import com.viam.sdk.android.module.fake.FakeContext;
 import com.viam.sdk.core.module.BaseModule;
 import com.viam.sdk.core.robot.RobotClient;
@@ -18,11 +17,14 @@
 import java.lang.reflect.InvocationTargetException;
 import java.nio.ByteBuffer;
 import java.util.List;
+import java.util.function.Supplier;
 import org.apache.commons.io.IOUtils;
 import org.webrtc.MediaStream;
 
 public class Module extends BaseModule {
 
+  private static Supplier<Context> parentContext;
+
   RobotClient parent;
 
   /**
@@ -34,7 +36,14 @@ public class Module extends BaseModule {
    */
   public Module(final String[] args) {
     super(args);
-    Looper.prepareMainLooper();
+  }
+
+  public static Context getParentContext() {
+    if (parentContext == null) {
+      throw new RuntimeException(
+          "invalid module state with no parent context (not running as in-process module?)");
+    }
+    return parentContext.get();
   }
 
   /**

settings.gradle

@@ -18,6 +18,7 @@ include ':core:sdk',
         ':android:module-plugin',
         ':android:examples:simple',
         ':android:examples:module',
+        ':android:examples:module-in-process',
         ':android:examples:mlmodel-module'
 
 project(':core:sdk').name = 'viam-core-sdk'
@@ -30,4 +31,5 @@ project(':android:services:mlmodel').name = 'viam-android-sdk-mlmodel-service'
 project(':android:module-plugin').name = 'viam-android-module'
 project(':android:examples:simple').name = 'viam-android-sdk-examples-simple'
 project(':android:examples:module').name = 'viam-android-sdk-examples-module'
+project(':android:examples:module-in-process').name = 'viam-android-sdk-examples-module-in-process'
 project(':android:examples:mlmodel-module').name = 'viam-android-sdk-examples-mlmodel-module'