AndroidGCS: Add copyright header of the other files

androidgcs/src/org/openpilot/androidgcs/AttitudeView.java

@@ -1,3 +1,26 @@
+/**
+ ******************************************************************************
+ * @file       AttitudeView.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      A view for UAV attitude.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import android.content.Context;
@@ -14,75 +37,75 @@ public class AttitudeView extends View {
 		initAttitudeView();
 	}
 
-	public AttitudeView(Context context, AttributeSet ats, int defaultStyle) { 
+	public AttitudeView(Context context, AttributeSet ats, int defaultStyle) {
 		super(context, ats, defaultStyle);
 		initAttitudeView();
 	}
 
-	public AttitudeView(Context context, AttributeSet ats) { 
+	public AttitudeView(Context context, AttributeSet ats) {
 		super(context, ats);
 		initAttitudeView();
 	}
 
-	protected void initAttitudeView() { 
+	protected void initAttitudeView() {
 		setFocusable(true);
 
-		circlePaint = new Paint(Paint.ANTI_ALIAS_FLAG); 
+		circlePaint = new Paint(Paint.ANTI_ALIAS_FLAG);
-		circlePaint.setColor(R.color.background_color); 
+		circlePaint.setColor(getResources().getColor(R.color.background_color));
-		circlePaint.setStrokeWidth(1); 
+		circlePaint.setStrokeWidth(1);
 		circlePaint.setStyle(Paint.Style.FILL_AND_STROKE);
-		Resources r = this.getResources(); 
+		Resources r = this.getResources();
-		textPaint = new Paint(Paint.ANTI_ALIAS_FLAG); 
+		textPaint = new Paint(Paint.ANTI_ALIAS_FLAG);
 		textPaint.setColor(r.getColor(R.color.text_color));
-		markerPaint = new Paint(Paint.ANTI_ALIAS_FLAG); 
+		markerPaint = new Paint(Paint.ANTI_ALIAS_FLAG);
-		markerPaint.setColor(r.getColor(R.color.marker_color));		
+		markerPaint.setColor(r.getColor(R.color.marker_color));
 	}
 
 	@Override protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) {
-		int measuredWidth = measure(widthMeasureSpec); 
+		int measuredWidth = measure(widthMeasureSpec);
 		int measuredHeight = measure(heightMeasureSpec);
-		int d = Math.min(measuredWidth, measuredHeight); 
+		int d = Math.min(measuredWidth, measuredHeight);
 		setMeasuredDimension(d/2, d/2);
 	}
 
-	private int measure(int measureSpec) { 
+	private int measure(int measureSpec) {
 		int result = 0;
-		// Decode the measurement specifications. 
+		// Decode the measurement specifications.
 
-		int specMode = MeasureSpec.getMode(measureSpec); 
+		int specMode = MeasureSpec.getMode(measureSpec);
 		int specSize = MeasureSpec.getSize(measureSpec);
 
-		if (specMode == MeasureSpec.UNSPECIFIED) { // Return a default size of 200 if no bounds are specified. 
+		if (specMode == MeasureSpec.UNSPECIFIED) { // Return a default size of 200 if no bounds are specified.
 			result = 200;
-		} else { 
+		} else {
-			// As you want to fill the available space 
+			// As you want to fill the available space
-			// always return the full available bounds. 
+			// always return the full available bounds.
 			result = specSize;
 		}
 		return result;
 	}
 
 	private double roll;
-	public void setRoll(double roll) { 
+	public void setRoll(double roll) {
 		this.roll = roll;
-	} 
+	}
 	private double pitch;
-	public void setPitch(double d) { 
+	public void setPitch(double d) {
 		this.pitch = d;
-	} 
+	}
 
 	// Drawing related code
-	private Paint markerPaint; 
+	private Paint markerPaint;
-	private Paint textPaint; 
+	private Paint textPaint;
-	private Paint circlePaint; 
+	private Paint circlePaint;
 
 	@Override
 	protected void onDraw(Canvas canvas) {
-		int px = getMeasuredWidth() / 2; 
+		int px = getMeasuredWidth() / 2;
 		int py = getMeasuredHeight() /2 ;
 		int radius = Math.min(px, py);
-		
+
-		canvas.drawLine(px,py, (int) (px+radius * Math.cos(roll)), (int) (py + radius * Math.sin(roll)), markerPaint);		
+		canvas.drawLine(px,py, (int) (px+radius * Math.cos(roll)), (int) (py + radius * Math.sin(roll)), markerPaint);
 		canvas.drawLine(px,py, (int) (px+radius * Math.cos(pitch)), (int) (py + radius * Math.sin(pitch)), markerPaint);
 	}
 

androidgcs/src/org/openpilot/androidgcs/BluetoothDevicePreference.java

@@ -1,12 +1,38 @@
+/**
+ ******************************************************************************
+ * @file       BluetoothDevicePreference.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      A dialog in the preferences options that shows the paired BT
+ *             devices.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
 package org.openpilot.androidgcs;
 
-import android.bluetooth.*;
+import java.util.Set;
+
+import android.bluetooth.BluetoothAdapter;
+import android.bluetooth.BluetoothDevice;
 import android.content.Context;
 import android.preference.ListPreference;
 import android.util.AttributeSet;
 
-import java.util.Set;
-
 public class BluetoothDevicePreference extends ListPreference {
 
     public BluetoothDevicePreference(Context context, AttributeSet attrs) {

androidgcs/src/org/openpilot/androidgcs/BluetoothUAVTalk.java

@@ -1,3 +1,27 @@
+/**
+ ******************************************************************************
+ * @file       BluetoothUAVTalk.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Telemetry over bluetooth.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
 package org.openpilot.androidgcs;
 
 import java.io.IOException;
@@ -24,19 +48,19 @@ import android.util.Log;
 	public static int LOGLEVEL = 2;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
-	
+
 	// Temporarily define fixed device name
 	private String device_name = "RN42-222D";
 	private final static UUID MY_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");
-	
+
 	private BluetoothAdapter mBluetoothAdapter;
 	private BluetoothSocket socket;
 	private BluetoothDevice device;
 	private UAVTalk uavTalk;
-	private boolean connected; 
+	private boolean connected;
-	
+
 	public BluetoothUAVTalk(Context caller) {
-		
+
 		SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(caller);
 		device_name = prefs.getString("bluetooth_mac","");
 
@@ -44,52 +68,52 @@ import android.util.Log;
 
         connected = false;
         device = null;
-        
+
         mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
         if (mBluetoothAdapter == null) {
             // Device does not support Bluetooth
         	Log.e(TAG, "Device does not support Bluetooth");
         	return;
         }
-        
+
         if (!mBluetoothAdapter.isEnabled()) {
         	// Enable bluetooth if it isn't already
             Intent enableBtIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
             caller.sendOrderedBroadcast(enableBtIntent, "android.permission.BLUETOOTH_ADMIN", new BroadcastReceiver() {
 				@Override
 				public void onReceive(Context context, Intent intent) {
-					Log.e(TAG,"Received " + context + intent);		
+					Log.e(TAG,"Received " + context + intent);
 					//TODO: some logic here to see if it worked
 					queryDevices();
-				}            	
+				}
             }, null, Activity.RESULT_OK, null, null);
         } else {
         	queryDevices();
-        }        		
+        }
     }
-	
+
 	public boolean connect(UAVObjectManager objMngr) {
-		if( getConnected() ) 
+		if( getConnected() )
 			return true;
 		if( !getFoundDevice() )
-			return false;		
+			return false;
 		if( !openTelemetryBluetooth(objMngr) )
 			return false;
-		return true;		
+		return true;
 	}
 
 	public boolean getConnected() {
 		return connected;
 	}
-    
+
 	public boolean getFoundDevice() {
 		return (device != null);
 	}
-	
+
 	public UAVTalk getUavtalk() {
 		return uavTalk;
 	}
-	
+
     private void queryDevices() {
     	Log.d(TAG, "Searching for devices");
 		Set<BluetoothDevice> pairedDevices = mBluetoothAdapter.getBondedDevices();
@@ -107,7 +131,7 @@ import android.util.Log;
 		    	}
 		    }
 		}
-    	
+
     }
 
 	private boolean openTelemetryBluetooth(UAVObjectManager objMngr) {
@@ -119,11 +143,11 @@ import android.util.Log;
 		} catch (IOException e) {
 			Log.e(TAG,"Unable to create Rfcomm socket");
 			return false;
-			//e.printStackTrace();			
+			//e.printStackTrace();
 		}
-		
+
 		mBluetoothAdapter.cancelDiscovery();
-		
+
 		try {
 			socket.connect();
 		}
@@ -138,7 +162,7 @@ import android.util.Log;
 		}
 
 		connected = true;
-		
+
 		try {
 			uavTalk = new UAVTalk(socket.getInputStream(), socket.getOutputStream(), objMngr);
 		} catch (IOException e) {
@@ -147,7 +171,7 @@ import android.util.Log;
 			//e.printStackTrace();
 			return false;
 		}
-				
+
 		return true;
 	}
 

androidgcs/src/org/openpilot/androidgcs/CompassView.java

@@ -1,3 +1,27 @@
+/**
+ ******************************************************************************
+ * @file       CompassView.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      A view of the compass heading.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
 package org.openpilot.androidgcs;
 
 import android.content.Context;
@@ -14,104 +38,104 @@ public class CompassView extends View {
 		initCompassView();
 	}
 
-	public CompassView(Context context, AttributeSet ats, int defaultStyle) { 
+	public CompassView(Context context, AttributeSet ats, int defaultStyle) {
 		super(context, ats, defaultStyle);
 		initCompassView();
 	}
 
-	public CompassView(Context context, AttributeSet ats) { 
+	public CompassView(Context context, AttributeSet ats) {
 		super(context, ats);
 		initCompassView();
 	}
 
-	protected void initCompassView() { 
+	protected void initCompassView() {
 		setFocusable(true);
 
-		circlePaint = new Paint(Paint.ANTI_ALIAS_FLAG); 
+		circlePaint = new Paint(Paint.ANTI_ALIAS_FLAG);
-		circlePaint.setColor(R.color.background_color); 
+		circlePaint.setColor(getResources().getColor(R.color.background_color));
-		circlePaint.setStrokeWidth(1); 
+		circlePaint.setStrokeWidth(1);
 		circlePaint.setStyle(Paint.Style.FILL_AND_STROKE);
-		Resources r = this.getResources(); 
+		Resources r = this.getResources();
-		northString = r.getString(R.string.cardinal_north); 
+		northString = r.getString(R.string.cardinal_north);
-		eastString = r.getString(R.string.cardinal_east); 
+		eastString = r.getString(R.string.cardinal_east);
-		southString = r.getString(R.string.cardinal_south); 
+		southString = r.getString(R.string.cardinal_south);
 		westString = r.getString(R.string.cardinal_west);
-		textPaint = new Paint(Paint.ANTI_ALIAS_FLAG); 
+		textPaint = new Paint(Paint.ANTI_ALIAS_FLAG);
 		textPaint.setColor(r.getColor(R.color.text_color));
 		textHeight = (int)textPaint.measureText("yY");
-		markerPaint = new Paint(Paint.ANTI_ALIAS_FLAG); 
+		markerPaint = new Paint(Paint.ANTI_ALIAS_FLAG);
-		markerPaint.setColor(r.getColor(R.color.marker_color));		
+		markerPaint.setColor(r.getColor(R.color.marker_color));
 	}
 
 	@Override protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) {
-		int measuredWidth = measure(widthMeasureSpec); 
+		int measuredWidth = measure(widthMeasureSpec);
 		int measuredHeight = measure(heightMeasureSpec);
-		int d = Math.min(measuredWidth, measuredHeight); 
+		int d = Math.min(measuredWidth, measuredHeight);
 		setMeasuredDimension(d/2, d/2);
 	}
 
-	private int measure(int measureSpec) { 
+	private int measure(int measureSpec) {
 		int result = 0;
-		// Decode the measurement specifications. 
+		// Decode the measurement specifications.
 
-		int specMode = MeasureSpec.getMode(measureSpec); 
+		int specMode = MeasureSpec.getMode(measureSpec);
 		int specSize = MeasureSpec.getSize(measureSpec);
 
-		if (specMode == MeasureSpec.UNSPECIFIED) { // Return a default size of 200 if no bounds are specified. 
+		if (specMode == MeasureSpec.UNSPECIFIED) { // Return a default size of 200 if no bounds are specified.
 			result = 200;
-		} else { 
+		} else {
-			// As you want to fill the available space 
+			// As you want to fill the available space
-			// always return the full available bounds. 
+			// always return the full available bounds.
 			result = specSize;
 		}
 		return result;
 	}
 
 	private double bearing;
-	public void setBearing(double bearing) { 
+	public void setBearing(double bearing) {
 		this.bearing = bearing;
-	} 
+	}
 
 	// Drawing related code
-	private Paint markerPaint; 
+	private Paint markerPaint;
-	private Paint textPaint; 
+	private Paint textPaint;
-	private Paint circlePaint; 
+	private Paint circlePaint;
-	private String northString; 
+	private String northString;
-	private String eastString; 
+	private String eastString;
-	private String southString; 
+	private String southString;
-	private String westString; 
+	private String westString;
 	private int textHeight;
 
 	@Override
 	protected void onDraw(Canvas canvas) {
-		int px = getMeasuredWidth() / 2; 
+		int px = getMeasuredWidth() / 2;
 		int py = getMeasuredHeight() /2 ;
 		int radius = Math.min(px, py);
-		// Draw the background 
+		// Draw the background
 		canvas.drawCircle(px, py, radius, circlePaint);
 
-		// Rotate our perspective so that the ÔtopÕ is 
+		// Rotate our perspective so that the ÔtopÕ is
-		// facing the current bearing. 
+		// facing the current bearing.
-		canvas.save(); 
+		canvas.save();
 		canvas.rotate((float) -bearing, px, py);
 
-		int textWidth = (int)textPaint.measureText("W"); 
+		int textWidth = (int)textPaint.measureText("W");
-		int cardinalX = px-textWidth/2; 
+		int cardinalX = px-textWidth/2;
 		int cardinalY = py-radius+textHeight;
 
-		// Draw the marker every 15 degrees and text every 45. 
+		// Draw the marker every 15 degrees and text every 45.
 		for (int i = 0; i < 24; i++) {
-			// Draw a marker. 
+			// Draw a marker.
 			canvas.drawLine(px, py-radius, px, py-radius+10, markerPaint);
-			canvas.save(); 
+			canvas.save();
 			canvas.translate(0, textHeight);
-			// Draw the cardinal points 
+			// Draw the cardinal points
 			if (i % 6 == 0) {
 				String dirString = null;
 				switch (i) {
 				case 0 : {
-					dirString = northString; 
+					dirString = northString;
-					int arrowY = 2*textHeight; 
+					int arrowY = 2*textHeight;
 					canvas.drawLine(px, arrowY, px-5, 3*textHeight, markerPaint);
 					canvas.drawLine(px, arrowY, px+5, 3*textHeight, markerPaint);
 					break;
@@ -122,18 +146,18 @@ public class CompassView extends View {
 				}
 				canvas.drawText(dirString, cardinalX, cardinalY, textPaint);
 			}
-			else if (i % 3 == 0) { 
+			else if (i % 3 == 0) {
-				// Draw the text every alternate 45deg 
+				// Draw the text every alternate 45deg
-				String angle = String.valueOf(i*15); 
+				String angle = String.valueOf(i*15);
 				float angleTextWidth = textPaint.measureText(angle);
 
-				int angleTextX = (int)(px-angleTextWidth/2); 
+				int angleTextX = (int)(px-angleTextWidth/2);
-				int angleTextY = py-radius+textHeight; 
+				int angleTextY = py-radius+textHeight;
 				canvas.drawText(angle, angleTextX, angleTextY, textPaint);
 			}
 			canvas.restore();
 			canvas.rotate(15, px, py);
 		}
-		canvas.restore();		
+		canvas.restore();
 	}
 }

androidgcs/src/org/openpilot/androidgcs/Controller.java

@@ -1,3 +1,28 @@
+/**
+ ******************************************************************************
+ * @file       Controller.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Allows controlling the UAV over telemetry.  This activity
+ *             pushes the appropriate settings to the remote device for it to
+ *             listen to the GCSReceiver.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import java.util.Observable;
@@ -9,16 +34,16 @@ import org.openpilot.uavtalk.UAVDataObject;
 import org.openpilot.uavtalk.UAVObject;
 import org.openpilot.uavtalk.UAVObjectField;
 
-import com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView;
-import com.MobileAnarchy.Android.Widgets.Joystick.JoystickMovedListener;
-import com.MobileAnarchy.Android.Widgets.Joystick.JoystickView;
-
 import android.os.Bundle;
 import android.os.Handler;
 import android.util.Log;
 import android.widget.TextView;
 import android.widget.Toast;
 
+import com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView;
+import com.MobileAnarchy.Android.Widgets.Joystick.JoystickMovedListener;
+import com.MobileAnarchy.Android.Widgets.Joystick.JoystickView;
+
 public class Controller extends ObjectManagerActivity {
 	private final String TAG = "Controller";
 
@@ -29,18 +54,18 @@ public class Controller extends ObjectManagerActivity {
 	private final int PITCH_CHANNEL = 2;
 	private final int YAW_CHANNEL = 3;
 	private final int FLIGHTMODE_CHANNEL = 4;
-	
+
 	private final int CHANNEL_MIN = 1000;
 	private final int CHANNEL_MAX = 2000;
 	private final int CHANNEL_NEUTRAL = 1500;
 	private final int CHANNEL_NEUTRAL_THROTTLE = 1100;
-	
+
 	private double throttle = 0.1, roll = 0.1, pitch = -0.1, yaw = 0;
 	private boolean updated;
 	private boolean leftJoystickHeld, rightJoystickHeld;
-	
+
 	Timer sendTimer = new Timer();
-	
+
 	/** Called when the activity is first created. */
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
@@ -63,7 +88,7 @@ public class Controller extends ObjectManagerActivity {
 			}
 		}
 	};
-	
+
 	@Override
 	void onOPConnected() {
 		super.onOPConnected();
@@ -74,43 +99,48 @@ public class Controller extends ObjectManagerActivity {
 			manualControl.addUpdatedObserver(updatedObserver);
 		}
 
-		
+
 		UAVDataObject manualControlSettings = (UAVDataObject) objMngr.getObject("ManualControlSettings");
 		if(manualControlSettings != null) {
 			Log.d(TAG, "Requested settings update");
 			manualControlSettings.addUpdatedObserver(updatedObserver);
 			manualControlSettings.updateRequested();
-		}		
+		}
-		
+
 		final double MOVEMENT_RANGE = 50.0;
 		DualJoystickView joystick = (DualJoystickView) findViewById(R.id.dualjoystickView);
 		joystick.setMovementConstraint(JoystickView.CONSTRAIN_BOX);
 		joystick.setMovementRange((int)MOVEMENT_RANGE, (int)MOVEMENT_RANGE);
-		
+
 		// Hardcode a Mode 1 listener for now
 		joystick.setOnJostickMovedListener(new JoystickMovedListener() {
+			@Override
 			public void OnMoved(int pan, int tilt) {
-				pitch = (double) tilt / MOVEMENT_RANGE;
+				pitch = tilt / MOVEMENT_RANGE;
-				yaw = (double) pan / MOVEMENT_RANGE;
+				yaw = pan / MOVEMENT_RANGE;
 				leftJoystickHeld = true;
 			}
+			@Override
 			public void OnReleased() { leftJoystickHeld = false; throttle = -1; updated = true; }
 			@Override
 			public void OnReturnedToCenter() { }
 		}, new JoystickMovedListener() {
+			@Override
 			public void OnMoved(int pan, int tilt) {
-				throttle = (double) (-tilt + (MOVEMENT_RANGE -5)) / (MOVEMENT_RANGE - 5);
+				throttle = (-tilt + (MOVEMENT_RANGE -5)) / (MOVEMENT_RANGE - 5);
 				throttle *= 0.5;
 				if (throttle < 0)
 					throttle = -1;
-				roll = (double) pan / MOVEMENT_RANGE;
+				roll = pan / MOVEMENT_RANGE;
 				rightJoystickHeld = true;
 			}
+			@Override
 			public void OnReleased() { rightJoystickHeld = false; throttle = -1; updated = true; }
 			@Override
 			public void OnReturnedToCenter() { }
 		}) ;
 		TimerTask controllerTask = new TimerTask() {
+			@Override
 			public void run() {
 				uavobjHandler.post(new Runnable() {
 					@Override
@@ -152,17 +182,19 @@ public class Controller extends ObjectManagerActivity {
 	 * The callbacks from the UAVOs must run in the correct thread to update the
 	 * UI.  This is what using a runnable does.
 	 */
-	final Handler uavobjHandler = new Handler(); 
+	final Handler uavobjHandler = new Handler();
 	final Runnable updateText = new Runnable() {
+		@Override
 		public void run() {
 			updateManualControl();
 		}
 	};
-	
+
 	private final Observer updatedObserver = new Observer() {
+		@Override
 		public void update(Observable observable, Object data) {
 			uavobjHandler.post(updateText);
-		}				
+		}
 	};
 
 	/**
@@ -174,33 +206,33 @@ public class Controller extends ObjectManagerActivity {
 		if (manualView != null && manualControl != null)
 			manualView.setText(manualControl.toStringData());
 	}
-	
+
 	/**
 	 * Active GCS receiver mode
 	 */
 	private void activateGcsReceiver() {
 		UAVObject manualControlSettings = objMngr.getObject("ManualControlSettings");
-		
+
 		if (manualControlSettings == null) {
 			Toast.makeText(this, "Failed to get manual control settings", Toast.LENGTH_SHORT).show();
 			return;
 		}
-		
+
 		UAVObjectField channelGroups = manualControlSettings.getField("ChannelGroups");
 		UAVObjectField channelNumber = manualControlSettings.getField("ChannelNumber");
 		UAVObjectField channelMax = manualControlSettings.getField("ChannelMax");
 		UAVObjectField channelNeutral = manualControlSettings.getField("ChannelNeutral");
 		UAVObjectField channelMin = manualControlSettings.getField("ChannelMin");
-		if (channelGroups == null || channelMax == null || channelNeutral == null || 
+		if (channelGroups == null || channelMax == null || channelNeutral == null ||
 				channelMin == null || channelNumber == null) {
 			Toast.makeText(this,  "Manual control settings not formatted correctly", Toast.LENGTH_SHORT).show();
 			return;
 		}
-		
+
 		/* Configure the manual control module how the GCS controller expects
-		 * This order MUST correspond to the enumeration order of ChannelNumber in 
+		 * This order MUST correspond to the enumeration order of ChannelNumber in
 		 * ManualControlSettings.
-		 */ 
+		 */
 		int channels[] = { THROTTLE_CHANNEL, ROLL_CHANNEL, PITCH_CHANNEL, YAW_CHANNEL, FLIGHTMODE_CHANNEL };
 		for (int i = 0; i < channels.length; i++) {
 			channelGroups.setValue("GCS", channels[i]);
@@ -216,23 +248,23 @@ public class Controller extends ObjectManagerActivity {
 			break;
 			}
 		}
-		
+
 		// Send settings to the UAV
 		manualControlSettings.updated();
-		
+
-		
+
 	}
-	
+
 	/**
 	 * Scale the channels to the output range the flight controller expects
 	 */
-	private float scaleChannel(double in, double neutral) {	
+	private float scaleChannel(double in, double neutral) {
 		// Check bounds
-		if (in > 1) 
+		if (in > 1)
 			in = 1;
 		if (in < -1)
 			in = -1;
-		
+
 		if (in >= 0)
 			return (float) (neutral + (CHANNEL_MAX - neutral) * in);
 		return (float) (neutral + (neutral - CHANNEL_MIN) * in);

androidgcs/src/org/openpilot/androidgcs/HomePage.java

@@ -1,3 +1,26 @@
+/**
+ ******************************************************************************
+ * @file       HomePage.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Main launch page for the Android GCS actitivies
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import android.content.Intent;
@@ -10,48 +33,54 @@ public class HomePage extends ObjectManagerActivity {
 	/** Called when the activity is first created. */
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
-		super.onCreate(savedInstanceState);		
+		super.onCreate(savedInstanceState);
-		setContentView(R.layout.gcs_home);		
+		setContentView(R.layout.gcs_home);
-		
+
 		Button objectBrowser = (Button) findViewById(R.id.launch_object_browser);
 		objectBrowser.setOnClickListener(new OnClickListener() {
+			@Override
 			public void onClick(View arg0) {
-				startActivity(new Intent(HomePage.this, ObjectBrowser.class));	
+				startActivity(new Intent(HomePage.this, ObjectBrowser.class));
-			}			
+			}
 		});
-		
+
 		Button pfd = (Button) findViewById(R.id.launch_pfd);
 		pfd.setOnClickListener(new OnClickListener() {
+			@Override
 			public void onClick(View arg0) {
-				startActivity(new Intent(HomePage.this, PFD.class));	
+				startActivity(new Intent(HomePage.this, PFD.class));
-			}			
+			}
 		});
 
 		Button location = (Button) findViewById(R.id.launch_location);
 		location.setOnClickListener(new OnClickListener() {
+			@Override
 			public void onClick(View arg0) {
-				startActivity(new Intent(HomePage.this, UAVLocation.class));	
+				startActivity(new Intent(HomePage.this, UAVLocation.class));
-			}			
+			}
 		});
 
 		Button controller = (Button) findViewById(R.id.launch_controller);
 		controller.setOnClickListener(new OnClickListener() {
+			@Override
 			public void onClick(View arg0) {
-				startActivity(new Intent(HomePage.this, Controller.class));	
+				startActivity(new Intent(HomePage.this, Controller.class));
-			}			
+			}
 		});
 
 		Button logger = (Button) findViewById(R.id.launch_logger);
 		logger.setOnClickListener(new OnClickListener() {
+			@Override
 			public void onClick(View arg0) {
-				startActivity(new Intent(HomePage.this, Logger.class));	
+				startActivity(new Intent(HomePage.this, Logger.class));
 			}
 		});
 
 		Button alarms = (Button) findViewById(R.id.launch_alarms);
 		alarms.setOnClickListener(new OnClickListener() {
+			@Override
 			public void onClick(View arg0) {
-				startActivity(new Intent(HomePage.this, SystemAlarmActivity.class));	
+				startActivity(new Intent(HomePage.this, SystemAlarmActivity.class));
 			}
 		});
 	}

androidgcs/src/org/openpilot/androidgcs/Logger.java

@@ -1,3 +1,27 @@
+/**
+ ******************************************************************************
+ * @file       Logger.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Controller for logging data as well as interface for getting that
+ *             data on and off the tablet.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import java.io.File;
@@ -16,17 +40,17 @@ import android.widget.TextView;
 
 
 public class Logger extends ObjectManagerActivity {
-	
+
 	final String TAG = "Logger";
 
 	final boolean VERBOSE = false;
 	final boolean DEBUG = true;
-	
+
 	private File file;
 	private boolean logging;
 	private FileOutputStream fileStream;
 	private UAVTalk uavTalk;
-	
+
 	private int writtenBytes;
 	private int writtenObjects;
 
@@ -36,15 +60,15 @@ public class Logger extends ObjectManagerActivity {
 		super.onCreate(savedInstanceState);
 		setContentView(R.layout.logger);
 	}
-	
+
 	private void onStartLogging() {
-		
+
 		File root = Environment.getExternalStorageDirectory();
-		
+
 		Date d = new Date();
 		String date = (new SimpleDateFormat("yyyyMMdd_hhmmss")).format(d);
 		String fileName = "/logs/logs_" + date + ".opl";
-		
+
 		file = new File(root, fileName);
 		if (DEBUG) Log.d(TAG, "Trying for file: " + file.getAbsolutePath());
 		try {
@@ -60,10 +84,10 @@ public class Logger extends ObjectManagerActivity {
 		} catch (IOException e) {
 			Log.e(TAG, "Could not write file " + e.getMessage());
 		}
-		
+
 		// TODO: if logging succeeded then retrieve all settings
 	}
-	
+
 	private void onStopLogging() {
 		if (DEBUG) Log.d(TAG, "Stop logging");
 		logging = false;
@@ -74,11 +98,11 @@ public class Logger extends ObjectManagerActivity {
 			e.printStackTrace();
 		}
 	}
-	
+
 	@Override
 	void onOPConnected() {
 		super.onOPConnected();
-		
+
 		if (DEBUG) Log.d(TAG, "onOPConnected()");
 		onStartLogging();
 		registerObjectUpdates(objMngr.getObjects());
@@ -104,7 +128,7 @@ public class Logger extends ObjectManagerActivity {
 	    onStartLogging();
 	}
 	/**
-	 * Called whenever any objects subscribed to via registerObjects 
+	 * Called whenever any objects subscribed to via registerObjects
 	 */
 	@Override
 	protected void objectUpdated(UAVObject obj) {
@@ -126,18 +150,18 @@ public class Logger extends ObjectManagerActivity {
 				fileStream.write((byte)(size & 0x0000ff0000000000l) >> 40);
 				fileStream.write((byte)(size & 0x00ff000000000000l) >> 48);
 				fileStream.write((byte)(size & 0xff00000000000000l) >> 56);
-				
+
 				uavTalk.sendObject(obj, false, false);
 			} catch (IOException e) {
 				// TODO Auto-generated catch block
 				e.printStackTrace();
 			}
-			
+
 			writtenBytes += obj.getNumBytes();
 			writtenObjects ++;
 
 			((TextView) findViewById(R.id.logger_number_of_bytes)).setText(Integer.valueOf(writtenBytes).toString());
-			((TextView) findViewById(R.id.logger_number_of_objects)).setText(Integer.valueOf(writtenObjects).toString());			
+			((TextView) findViewById(R.id.logger_number_of_objects)).setText(Integer.valueOf(writtenObjects).toString());
 		}
 	}
 }

androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java

@@ -1,3 +1,29 @@
+/**
+ ******************************************************************************
+ * @file       OPTelemetryService.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Provides UAVTalk telemetry over multiple physical links.  The
+ *             details of each of these are in their respective connection
+ *             classes.  This mostly creates those threads based on the selected
+ *             preferences.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import java.io.IOException;
@@ -67,7 +93,7 @@ public class OPTelemetryService extends Service {
 			case MSG_START:
 				stopSelf(msg.arg2);
 				break;
-			case MSG_CONNECT:	
+			case MSG_CONNECT:
 				terminate = false;
 				int connection_type;
 				SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(OPTelemetryService.this);
@@ -111,7 +137,7 @@ public class OPTelemetryService extends Service {
 				Intent intent = new Intent();
 				intent.setAction(INTENT_ACTION_DISCONNECTED);
 				sendBroadcast(intent,null);
-				
+
 				stopSelf();
 
 				break;
@@ -131,14 +157,14 @@ public class OPTelemetryService extends Service {
 	 */
 	public void startup() {
 		Toast.makeText(getApplicationContext(), "Telemetry service starting", Toast.LENGTH_SHORT).show();
-		
+
 		thread = new HandlerThread("TelemetryServiceHandler", Process.THREAD_PRIORITY_BACKGROUND);
 		thread.start();
 
-		// Get the HandlerThread's Looper and use it for our Handler 
+		// Get the HandlerThread's Looper and use it for our Handler
 		mServiceLooper = thread.getLooper();
 		mServiceHandler = new ServiceHandler(mServiceLooper);
-	
+
 		SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(OPTelemetryService.this);
 		if(prefs.getBoolean("autoconnect", false)) {
 			Message msg = mServiceHandler.obtainMessage();
@@ -148,7 +174,7 @@ public class OPTelemetryService extends Service {
 		}
 
 	}
-	
+
 	@Override
 	public void onCreate() {
 		startup();
@@ -157,19 +183,19 @@ public class OPTelemetryService extends Service {
 	@Override
 	public int onStartCommand(Intent intent, int flags, int startId) {
 		// Currently only using as bound service
-		
+
 		// If we get killed, after returning from here, restart
 		return START_STICKY;
 	}
 
 	@Override
-	public IBinder onBind(Intent intent) {		
+	public IBinder onBind(Intent intent) {
 		return mBinder;
 	}
 
 	@Override
 	public void onDestroy() {
-		Toast.makeText(this, "Telemetry service done", Toast.LENGTH_SHORT).show(); 
+		Toast.makeText(this, "Telemetry service done", Toast.LENGTH_SHORT).show();
 	}
 
 	public class LocalBinder extends Binder {
@@ -206,9 +232,10 @@ public class OPTelemetryService extends Service {
 		public UAVObjectManager getObjectManager();
 	};
 
-	// Fake class for testing, simply emits periodic updates on 
+	// Fake class for testing, simply emits periodic updates on
 	private class FakeTelemetryThread extends Thread implements TelemTask  {
-		private UAVObjectManager objMngr;
+		private final UAVObjectManager objMngr;
+		@Override
 		public UAVObjectManager getObjectManager() { return objMngr; };
 
 		FakeTelemetryThread() {
@@ -216,6 +243,7 @@ public class OPTelemetryService extends Service {
 			UAVObjectsInitialize.register(objMngr);
 		}
 
+		@Override
 		public void run() {
 			System.out.println("Running fake thread");
 
@@ -229,22 +257,22 @@ public class OPTelemetryService extends Service {
 			UAVDataObject homeLocation = (UAVDataObject) objMngr.getObject("HomeLocation");
 			UAVDataObject positionActual = (UAVDataObject) objMngr.getObject("PositionActual");
 			UAVDataObject systemAlarms = (UAVDataObject) objMngr.getObject("SystemAlarms");
-			
+
 			systemAlarms.getField("Alarm").setValue("Warning",0);
 			systemAlarms.getField("Alarm").setValue("OK",1);
 			systemAlarms.getField("Alarm").setValue("Critical",2);
 			systemAlarms.getField("Alarm").setValue("Error",3);
 			systemAlarms.updated();
-			
+
 			homeLocation.getField("Latitude").setDouble(379420315);
 			homeLocation.getField("Longitude").setDouble(-88330078);
 			homeLocation.getField("Be").setDouble(26702.78710938,0);
 			homeLocation.getField("Be").setDouble(-1468.33605957,1);
 			homeLocation.getField("Be").setDouble(34181.78515625,2);
-			
+
-			
+
 			double roll = 0;
-			double pitch = 0; 
+			double pitch = 0;
 			double yaw = 0;
 			double north = 0;
 			double east = 0;
@@ -257,7 +285,7 @@ public class OPTelemetryService extends Service {
 				roll = (roll + 10) % 180;
 				pitch = (pitch + 10) % 180;
 				yaw = (yaw + 10) % 360;
-				
+
 				systemStats.updated();
 				attitudeActual.updated();
 				positionActual.updated();
@@ -269,13 +297,14 @@ public class OPTelemetryService extends Service {
 			}
 		}
 	}
-	private class BTTelemetryThread extends Thread implements TelemTask { 
+	private class BTTelemetryThread extends Thread implements TelemTask {
 
-		private UAVObjectManager objMngr;
+		private final UAVObjectManager objMngr;
 		private UAVTalk uavTalk;
 		private Telemetry tel;
 		private TelemetryMonitor mon;
 
+		@Override
 		public UAVObjectManager getObjectManager() { return objMngr; };
 
 		BTTelemetryThread() {
@@ -283,10 +312,11 @@ public class OPTelemetryService extends Service {
 			UAVObjectsInitialize.register(objMngr);
 		}
 
-		public void run() {			
+		@Override
+		public void run() {
 			if (DEBUG) Log.d(TAG, "Telemetry Thread started");
 
-			Looper.prepare();						
+			Looper.prepare();
 
 			BluetoothUAVTalk bt = new BluetoothUAVTalk(OPTelemetryService.this);
 			for( int i = 0; i < 10; i++ ) {
@@ -318,14 +348,15 @@ public class OPTelemetryService extends Service {
 			tel = new Telemetry(uavTalk, objMngr);
 			mon = new TelemetryMonitor(objMngr,tel);
 			mon.addObserver(new Observer() {
+				@Override
 				public void update(Observable arg0, Object arg1) {
 					System.out.println("Mon updated. Connected: " + mon.getConnected() + " objects updated: " + mon.getObjectsUpdated());
 					if(mon.getConnected() /*&& mon.getObjectsUpdated()*/) {
 						Intent intent = new Intent();
 						intent.setAction(INTENT_ACTION_CONNECTED);
-						sendBroadcast(intent,null);					
+						sendBroadcast(intent,null);
 					}
-				}				
+				}
 			});
 
 
@@ -345,13 +376,14 @@ public class OPTelemetryService extends Service {
 
 	};
 
-	private class TcpTelemetryThread extends Thread implements TelemTask { 
+	private class TcpTelemetryThread extends Thread implements TelemTask {
 
-		private UAVObjectManager objMngr;
+		private final UAVObjectManager objMngr;
 		private UAVTalk uavTalk;
 		private Telemetry tel;
 		private TelemetryMonitor mon;
 
+		@Override
 		public UAVObjectManager getObjectManager() { return objMngr; };
 
 		TcpTelemetryThread() {
@@ -359,7 +391,8 @@ public class OPTelemetryService extends Service {
 			UAVObjectsInitialize.register(objMngr);
 		}
 
-		public void run() {			
+		@Override
+		public void run() {
 			if (DEBUG) Log.d(TAG, "Telemetry Thread started");
 
 			Looper.prepare();
@@ -371,7 +404,7 @@ public class OPTelemetryService extends Service {
 				tcp.connect(objMngr);
 
 				if( tcp.getConnected() )
-					
+
 					break;
 
 				try {
@@ -394,6 +427,7 @@ public class OPTelemetryService extends Service {
 			tel = new Telemetry(uavTalk, objMngr);
 			mon = new TelemetryMonitor(objMngr,tel);
 			mon.addObserver(new Observer() {
+				@Override
 				public void update(Observable arg0, Object arg1) {
 					System.out.println("Mon updated. Connected: " + mon.getConnected() + " objects updated: " + mon.getObjectsUpdated());
 					if(mon.getConnected() /*&& mon.getObjectsUpdated()*/) {
@@ -401,7 +435,7 @@ public class OPTelemetryService extends Service {
 						intent.setAction(INTENT_ACTION_CONNECTED);
 						sendBroadcast(intent,null);
 					}
-				}	
+				}
 			});
 
 
@@ -417,16 +451,16 @@ public class OPTelemetryService extends Service {
 				}
 			}
 			Looper.myLooper().quit();
-			
+
 			// Shut down all the attached
 			mon.stopMonitor();
 			mon = null;
 			tel.stopTelemetry();
 			tel = null;
-			
+
 			// Finally close the stream if it is still open
 			tcp.disconnect();
-			
+
 			if (DEBUG) Log.d(TAG, "UAVTalk stream disconnected");
 			toastMessage("TCP Thread finished");
 		}

androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java

@@ -1,3 +1,27 @@
+/**
+ ******************************************************************************
+ * @file       ObjectBrowser.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      A simple object browser for UAVOs that allows viewing, editing,
+ *             loading and saving.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import java.util.ArrayList;
@@ -6,6 +30,9 @@ import java.util.ListIterator;
 import java.util.Observable;
 import java.util.Observer;
 
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObject;
+
 import android.content.Intent;
 import android.content.SharedPreferences;
 import android.content.SharedPreferences.OnSharedPreferenceChangeListener;
@@ -16,6 +43,7 @@ import android.util.Log;
 import android.view.View;
 import android.view.View.OnClickListener;
 import android.widget.AdapterView;
+import android.widget.AdapterView.OnItemClickListener;
 import android.widget.ArrayAdapter;
 import android.widget.Button;
 import android.widget.CheckBox;
@@ -23,10 +51,6 @@ import android.widget.CompoundButton;
 import android.widget.CompoundButton.OnCheckedChangeListener;
 import android.widget.ListView;
 import android.widget.TextView;
-import android.widget.AdapterView.OnItemClickListener;
-
-import org.openpilot.uavtalk.UAVDataObject;
-import org.openpilot.uavtalk.UAVObject;
 
 public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPreferenceChangeListener {
 
@@ -36,24 +60,26 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 	SharedPreferences prefs;
 	ArrayAdapter<UAVDataObject> adapter;
 	List<UAVDataObject> allObjects;
-	
+
-	final Handler uavobjHandler = new Handler(); 
+	final Handler uavobjHandler = new Handler();
 	final Runnable updateText = new Runnable() {
+		@Override
 		public void run() {
 			updateObject();
 		}
 	};
-	
+
 	private final Observer updatedObserver = new Observer() {
+		@Override
 		public void update(Observable observable, Object data) {
 			uavobjHandler.post(updateText);
-		}				
+		}
 	};
 
 	/** Called when the activity is first created. */
 	@Override
 	public void onCreate(Bundle savedInstanceState) {
-		setContentView(R.layout.object_browser);		
+		setContentView(R.layout.object_browser);
 		prefs = PreferenceManager.getDefaultSharedPreferences(this);
 		prefs.registerOnSharedPreferenceChangeListener(this);
 		super.onCreate(savedInstanceState);
@@ -63,7 +89,7 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 	void onOPConnected() {
 		super.onOPConnected();
 		Log.d(TAG, "onOPConnected()");
-		
+
 		OnCheckedChangeListener checkListener = new OnCheckedChangeListener() {
 			@Override
 			public void onCheckedChanged(CompoundButton buttonView,
@@ -71,10 +97,10 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 				updateList();
 			}
 		};
-		
+
 		((CheckBox) findViewById(R.id.dataCheck)).setOnCheckedChangeListener(checkListener);
 		((CheckBox) findViewById(R.id.settingsCheck)).setOnCheckedChangeListener(checkListener);
-		
+
 		((Button) findViewById(R.id.editButton)).setOnClickListener(new OnClickListener() {
 			@Override
 			public void onClick(View v) {
@@ -87,7 +113,7 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 				}
 			}
 		});
-		
+
 		((Button) findViewById(R.id.object_load_button)).setOnClickListener(new OnClickListener() {
 			@Override
 			public void onClick(View v) {
@@ -100,7 +126,7 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 					objPer.getField("ObjectID").setValue(allObjects.get(selected_index).getObjID());
 					objPer.getField("InstanceID").setValue(0);
 					objPer.updated();
-					
+
 					allObjects.get(selected_index).updateRequested();
 				}
 			}
@@ -137,6 +163,7 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 		objects.setAdapter(adapter);
 
 		objects.setOnItemClickListener(new OnItemClickListener() {
+			@Override
 			public void onItemClick(AdapterView<?> parent, View view,
 					int position, long id) {
 
@@ -149,9 +176,9 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 				updateObject();
 			}
 		});
-		
+
 	}
-	
+
 	private void updateObject() {
 		//adapter.notifyDataSetChanged();
 		TextView text = (TextView) findViewById(R.id.object_information);
@@ -161,6 +188,7 @@ public class ObjectBrowser extends ObjectManagerActivity implements OnSharedPref
 			Log.d(TAG,"Update called but invalid index: " + selected_index);
 	}
 
+	@Override
 	public void onSharedPreferenceChanged(SharedPreferences sharedPreferences,
 			String key) {
 		// TODO Auto-generated method stub

androidgcs/src/org/openpilot/androidgcs/ObjectEditor.java

@@ -1,3 +1,26 @@
+/**
+ ******************************************************************************
+ * @file       ObjectEditor.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      A popup dialog for editing the contents of a UAVO.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import java.util.List;
@@ -17,7 +40,7 @@ import android.widget.Toast;
 
 public class ObjectEditor extends ObjectManagerActivity {
 
-	static final String TAG = "ObjectEditor"; 
+	static final String TAG = "ObjectEditor";
 	String objectName;
 	long objectID;
 	long instID;
@@ -58,6 +81,7 @@ public class ObjectEditor extends ObjectManagerActivity {
 		});
 	}
 
+	@Override
 	public void onOPConnected() {
 		UAVObject obj = objMngr.getObject(objectID, instID);
 		if (obj == null) {
@@ -86,15 +110,15 @@ public class ObjectEditor extends ObjectManagerActivity {
 			Toast.makeText(this, "Save failed", Toast.LENGTH_LONG).show();
 			return;
 		}
-		
+
-		long thisId = objectID < 0 ? ((Long) 0x100000000l) + objectID : objectID; 
+		long thisId = objectID < 0 ? 0x100000000l + objectID : objectID;
 		objPer.getField("Operation").setValue("Save");
 		objPer.getField("Selection").setValue("SingleObject");
 		Log.d(TAG,"Saving with object id: " + objectID + " swapped to " + thisId);
 		objPer.getField("ObjectID").setValue(thisId);
 		objPer.getField("InstanceID").setValue(instID);
 		objPer.updated();
-		
+
 		Toast.makeText(this, "Save succeeded", Toast.LENGTH_LONG).show();
 	}
 
@@ -125,7 +149,7 @@ public class ObjectEditor extends ObjectManagerActivity {
 				default:
 					String val = ((EditText) editView.fields.get(field_idx)).getText().toString();
 					Double num = Double.parseDouble(val);
-					
+
 					Log.e(TAG, "Updating field: " + field.getName() + " value: " + num);
 					field.setValue(num, i);
 					break;

androidgcs/src/org/openpilot/androidgcs/ObjectManagerActivity.java

@@ -1,3 +1,32 @@
+/**
+ ******************************************************************************
+ * @file       ObjectManagerActivity.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Base object for all activies that use the UAVObjectManager.
+ *             This class takes care of binding to the service and getting the
+ *             object manager as well as setting up callbacks to the objects of
+ *             interest that run on the UI thread.
+ *             Implements a new Android lifecycle: onOPConnected() / onOPDisconnected()
+ *             which indicates when a valid telemetry is established as well as a
+ *             valid object manager handle.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import java.util.List;

androidgcs/src/org/openpilot/androidgcs/ObjectManagerFragment.java

@@ -1,3 +1,29 @@
+/**
+ ******************************************************************************
+ * @file       ObjectManagerFragment.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Base class for all fragments that use the UAVObjectManager.  This
+ *             supports all the extensions the ObjectManagerActivity does, namely
+ *             access to the UAVObjectManager and callbacks in the UI thread for
+ *             object updates.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import org.openpilot.uavtalk.UAVObject;
@@ -9,12 +35,12 @@ import android.os.Bundle;
 import android.util.Log;
 
 public class ObjectManagerFragment extends Fragment {
-	
+
 	private static final String TAG = ObjectManagerFragment.class.getSimpleName();
 	private static int LOGLEVEL = 1;
 //	private static boolean WARN = LOGLEVEL > 1;
 	private static boolean DEBUG = LOGLEVEL > 0;
-    
+
 	UAVObjectManager objMngr;
 
 	/** Called when the activity is first created. */
@@ -25,15 +51,16 @@ public class ObjectManagerFragment extends Fragment {
 		// For an activity this registers against the telemetry service intents.  Fragments must be notified by their
 		// parent activity
 	}
-    
+
 	/**
 	 * Attach to the parent activity so it can notify us when the connection
 	 * changed
 	 */
-    public void onAttach(Activity activity) {
+    @Override
+	public void onAttach(Activity activity) {
         super.onAttach(activity);
         if (DEBUG) Log.d(TAG,"onAttach");
-        
+
         ObjectManagerActivity castActivity = null;
         try {
         	castActivity = (ObjectManagerActivity)activity;
@@ -44,25 +71,25 @@ public class ObjectManagerFragment extends Fragment {
         }
         castActivity.addOnConnectionListenerFragment(this);
     }
-    
+
-    
+
 	// The below methods should all be called by the parent activity at the appropriate times
     protected void onOPConnected(UAVObjectManager objMngr) {
 		this.objMngr = objMngr;
 		if (DEBUG) Log.d(TAG,"onOPConnected");
 	}
-	
+
 	protected void onOPDisconnected() {
 		objMngr = null;
 		if (DEBUG) Log.d(TAG,"onOPDisconnected");
 	}
-		
+
 	/**
-	 * Called whenever any objects subscribed to via registerObjects 
+	 * Called whenever any objects subscribed to via registerObjects
 	 */
 	protected void objectUpdated(UAVObject obj) {
-		
+
-	}	
+	}
 
 	/**
 	 * Register on the activities object monitor handler so that updates
@@ -72,5 +99,5 @@ public class ObjectManagerFragment extends Fragment {
 	protected void registerObjectUpdates(UAVObject object) {
 		((ObjectManagerActivity) getActivity()).registerObjectUpdates(object, this);
 	}
-	
+
 }

androidgcs/src/org/openpilot/androidgcs/PFD.java

@@ -1,3 +1,26 @@
+/**
+ ******************************************************************************
+ * @file       PFD.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Shows the PFD activity.
+ * @see        The GNU Public License (GPL) Version 3
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
 package org.openpilot.androidgcs;
 
 import org.openpilot.uavtalk.UAVObject;
@@ -15,6 +38,7 @@ public class PFD extends ObjectManagerActivity {
 	/**
 	 * Update the UI whenever the attitude is updated
 	 */
+	@Override
 	protected void objectUpdated(UAVObject obj) {
 		// Throttle the UI redraws.  Eventually this should maybe come from a periodic task
 		if ((System.currentTimeMillis() - lastUpdateMs) < MIN_UPDATE_PERIOD)
@@ -22,7 +46,7 @@ public class PFD extends ObjectManagerActivity {
 		if (obj.getName().compareTo("AttitudeActual") != 0)
 			return;
 
-		lastUpdateMs = System.currentTimeMillis(); 
+		lastUpdateMs = System.currentTimeMillis();
 
 		heading = obj.getField("Yaw").getDouble();
 		pitch = obj.getField("Pitch").getDouble();
@@ -42,7 +66,7 @@ public class PFD extends ObjectManagerActivity {
 	public void onCreate(Bundle savedInstanceState) {
 		super.onCreate(savedInstanceState);
 		setContentView(R.layout.pfd);
-	}	
+	}
 
 	@Override
 	void onOPConnected() {
@@ -52,5 +76,5 @@ public class PFD extends ObjectManagerActivity {
 		UAVObject obj = objMngr.getObject("AttitudeActual");
 		if (obj != null)
 			registerObjectUpdates(obj);
-	}				
+	}
 }

androidgcs/src/org/openpilot/androidgcs/Preferences.java

@@ -1,3 +1,27 @@
+/**
+ ******************************************************************************
+ * @file       Preferences.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Displays the preferences dialog.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
 package org.openpilot.androidgcs;
 
 import android.os.Bundle;

androidgcs/src/org/openpilot/androidgcs/SystemAlarmActivity.java

@@ -1,3 +1,26 @@
+/**
+ ******************************************************************************
+ * @file       SystemAlarmActivity.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      An activity that displays the SystemAlarmsFragment.
+ * @see        The GNU Public License (GPL) Version 3
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
 package org.openpilot.androidgcs;
 
 import android.os.Bundle;

androidgcs/src/org/openpilot/androidgcs/SystemAlarmsFragment.java

@@ -1,3 +1,26 @@
+/**
+ ******************************************************************************
+ * @file       SystemAlarmsFragment.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      A fragment that will connect to the SystemAlarms and visualize them.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import java.util.List;
@@ -14,28 +37,30 @@ import android.view.ViewGroup;
 import android.widget.TextView;
 
 public class SystemAlarmsFragment extends ObjectManagerFragment {
-	
+
 	private static final String TAG = SystemAlarmsFragment.class.getSimpleName();
 
 	//@Override
-    public View onCreateView(LayoutInflater inflater, ViewGroup container,
+    @Override
+	public View onCreateView(LayoutInflater inflater, ViewGroup container,
                              Bundle savedInstanceState) {
         // Inflate the layout for this fragment
         return inflater.inflate(R.layout.system_alarms_fragment, container, false);
     }
-    
+
-    public void onOPConnected(UAVObjectManager objMngr) {
+    @Override
+	public void onOPConnected(UAVObjectManager objMngr) {
     	super.onOPConnected(objMngr);
     	Log.d(TAG,"On connected");
-    	
+
     	UAVObject obj = objMngr.getObject("SystemAlarms");
 		if (obj != null)
 			registerObjectUpdates(obj);
 		objectUpdated(obj);
     }
-    
+
 	/**
-	 * Called whenever any objects subscribed to via registerObjects 
+	 * Called whenever any objects subscribed to via registerObjects
 	 */
     @Override
 	protected void objectUpdated(UAVObject obj) {
@@ -46,7 +71,7 @@ public class SystemAlarmsFragment extends ObjectManagerFragment {
 			List<String> names = a.getElementNames();
 			String contents = new String();
 			List <String> options = a.getOptions();
-			
+
 			// Rank the alarms by order of severity, skip uninitialized
 			for (int j = options.size() - 1; j > 0; j--) {
 				for (int i = 0; i < names.size(); i++) {
@@ -57,6 +82,6 @@ public class SystemAlarmsFragment extends ObjectManagerFragment {
 			alarms.setText(contents);
 		}
 	}
-	
+
 
 }

androidgcs/src/org/openpilot/androidgcs/TcpUAVTalk.java

@@ -1,9 +1,33 @@
+/**
+ ******************************************************************************
+ * @file       TcpUAVTalk.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      UAVTalk over TCP.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import java.io.IOException;
 import java.net.InetAddress;
 import java.net.Socket;
 import java.net.UnknownHostException;
+
 import org.openpilot.uavtalk.UAVObjectManager;
 import org.openpilot.uavtalk.UAVTalk;
 
@@ -17,17 +41,17 @@ public class TcpUAVTalk {
 	public static int LOGLEVEL = 2;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
-	
+
 	// Temporarily define fixed device name
 	private String ip_address = "1";
 	private int port = 9001;
-	
+
 	private UAVTalk uavTalk;
-	private boolean connected; 
+	private boolean connected;
 	private Socket socket;
-	
+
 	/**
-	 * Construct a TcpUAVTalk object attached to the OPTelemetryService.  Gets the 
+	 * Construct a TcpUAVTalk object attached to the OPTelemetryService.  Gets the
 	 * connection settings from the preferences.
 	 */
 	public TcpUAVTalk(Context caller) {
@@ -41,21 +65,21 @@ public class TcpUAVTalk {
 
 		if (DEBUG) Log.d(TAG, "Trying to open UAVTalk with " + ip_address);
 
-        connected = false;         
+        connected = false;
     }
-	
+
 	/**
 	 * Connect a TCP object to an object manager.  Returns true if already
 	 * connected, otherwise returns true if managed a successful socket.
 	 */
 	public boolean connect(UAVObjectManager objMngr) {
-		if( getConnected() ) 
+		if( getConnected() )
 			return true;
 		if( !openTelemetryTcp(objMngr) )
 			return false;
-		return true;		
+		return true;
 	}
-	
+
 	public void disconnect() {
 		try {
 			socket.close();
@@ -69,18 +93,18 @@ public class TcpUAVTalk {
 	public boolean getConnected() {
 		return connected;
 	}
-    	
+
 	public UAVTalk getUavtalk() {
 		return uavTalk;
 	}
-	
+
 	/**
 	 * Opens a TCP socket to the address determined on construction.  If successful
 	 * creates a UAVTalk stream connection this socket to the passed in object manager
 	 */
 	private boolean openTelemetryTcp(UAVObjectManager objMngr) {
 		Log.d(TAG, "Opening connection to " + ip_address + " at address " + port);
-		
+
 		InetAddress serverAddr = null;
 		try {
 			serverAddr = InetAddress.getByName(ip_address);
@@ -98,7 +122,7 @@ public class TcpUAVTalk {
 		}
 
 		connected = true;
-		
+
 		try {
 			uavTalk = new UAVTalk(socket.getInputStream(), socket.getOutputStream(), objMngr);
 		} catch (IOException e) {
@@ -107,7 +131,7 @@ public class TcpUAVTalk {
 			//e.printStackTrace();
 			return false;
 		}
-				
+
 		return true;
 	}
 

androidgcs/src/org/openpilot/androidgcs/TelemetryWidget.java

@@ -1,3 +1,25 @@
+/**
+ ******************************************************************************
+ * @file       TelemetryWidget.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      A widget that shows the status of telemetry.
+ * @see        The GNU Public License (GPL) Version 3
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
 package org.openpilot.androidgcs;
 
 import android.appwidget.AppWidgetManager;
@@ -8,7 +30,7 @@ import android.content.Intent;
 import android.widget.RemoteViews;
 
 public class TelemetryWidget extends AppWidgetProvider {
-	
+
 	@Override
 	public void onReceive(Context context, Intent intent) {
 		if(intent.getAction().equals(OPTelemetryService.INTENT_ACTION_CONNECTED)) {
@@ -16,11 +38,11 @@ public class TelemetryWidget extends AppWidgetProvider {
 		}
 		if(intent.getAction().equals(OPTelemetryService.INTENT_ACTION_DISCONNECTED)) {
 			changeStatus(context, false);
-		}		
+		}
-        
+
 		super.onReceive(context, intent);
 	}
-	
+
 	public void changeStatus(Context context, boolean status) {
 		RemoteViews updateViews =  new RemoteViews(context.getPackageName(), R.layout.telemetry_widget);
 		updateViews.setTextViewText(R.id.telemetryWidgetStatus, "Connection status: " + status);
@@ -30,6 +52,7 @@ public class TelemetryWidget extends AppWidgetProvider {
 
 	}
 
+	@Override
 	public void onUpdate(Context context, AppWidgetManager appWidgetManager, int[] appWidgetIds) {
         final int N = appWidgetIds.length;
 
@@ -44,6 +67,6 @@ public class TelemetryWidget extends AppWidgetProvider {
             appWidgetManager.updateAppWidget(appWidgetId, views);
         }
     }
-    
+
 
 }

androidgcs/src/org/openpilot/androidgcs/UAVLocation.java

@@ -1,3 +1,26 @@
+/**
+ ******************************************************************************
+ * @file       UAVLocation.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      Display the UAV location on google maps
+ * @see        The GNU Public License (GPL) Version 3
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
 package org.openpilot.androidgcs;
 
 import java.util.List;
@@ -10,14 +33,6 @@ import org.openpilot.uavtalk.UAVDataObject;
 import org.openpilot.uavtalk.UAVObject;
 import org.openpilot.uavtalk.UAVObjectManager;
 
-import com.google.android.maps.GeoPoint;
-import com.google.android.maps.MapActivity; 
-import com.google.android.maps.MapController; 
-import com.google.android.maps.MapView; 
-import com.google.android.maps.Overlay;
-import com.google.android.maps.Projection;
-import com.google.android.maps.MyLocationOverlay;
-
 import android.content.BroadcastReceiver;
 import android.content.ComponentName;
 import android.content.Context;
@@ -36,14 +51,22 @@ import android.view.Menu;
 import android.view.MenuInflater;
 import android.view.MenuItem;
 
-public class UAVLocation extends MapActivity 
+import com.google.android.maps.GeoPoint;
-{ 
+import com.google.android.maps.MapActivity;
+import com.google.android.maps.MapController;
+import com.google.android.maps.MapView;
+import com.google.android.maps.MyLocationOverlay;
+import com.google.android.maps.Overlay;
+import com.google.android.maps.Projection;
+
+public class UAVLocation extends MapActivity
+{
 	private final String TAG = "UAVLocation";
 	private static int LOGLEVEL = 0;
 //	private static boolean WARN = LOGLEVEL > 1;
 	private static boolean DEBUG = LOGLEVEL > 0;
 
-	private MapView mapView; 
+	private MapView mapView;
 	private MapController mapController;
 
 	UAVObjectManager objMngr;
@@ -55,28 +78,28 @@ public class UAVLocation extends MapActivity
     GeoPoint uavLocation;
 
     @Override public void onCreate(Bundle icicle) {
-		super.onCreate(icicle); 
+		super.onCreate(icicle);
-		setContentView(R.layout.map_layout); 
+		setContentView(R.layout.map_layout);
 		mapView = (MapView)findViewById(R.id.map_view);
 		mapController = mapView.getController();
 
 		mapView.displayZoomControls(true);
-		Double lat = 37.422006*1E6; 
+		Double lat = 37.422006*1E6;
-		Double lng = -122.084095*1E6; 
+		Double lng = -122.084095*1E6;
 		homeLocation = new GeoPoint(lat.intValue(), lng.intValue());
 		uavLocation = homeLocation;
-		mapController.setCenter(homeLocation); 
+		mapController.setCenter(homeLocation);
 		mapController.setZoom(18);
-		
+
 		List<Overlay> overlays = mapView.getOverlays();
-		UAVOverlay myOverlay = new UAVOverlay(); 
+		UAVOverlay myOverlay = new UAVOverlay();
-		overlays.add(myOverlay); 
+		overlays.add(myOverlay);
-		
+
 		MyLocationOverlay myLocationOverlay = new MyLocationOverlay(this, mapView);
 		myLocationOverlay.enableMyLocation();
 		myLocationOverlay.enableCompass();
 		overlays.add(myLocationOverlay);
-	    
+
 		mapView.postInvalidate();
 
 		// ObjectManager related stuff (can't inherit standard class)
@@ -86,7 +109,7 @@ public class UAVLocation extends MapActivity
 				Log.d(TAG, "Received intent");
 				TelemTask task;
 				if(intent.getAction().compareTo(OPTelemetryService.INTENT_ACTION_CONNECTED) == 0) {
-					
+
 					if(binder  == null)
 						return;
 					if((task = binder.getTelemTask(0)) == null)
@@ -101,9 +124,9 @@ public class UAVLocation extends MapActivity
 					onOPDisconnected();
 					Log.d(TAG, "Disonnected()");
 				}
-			}			
+			}
 		};
-		
+
 		IntentFilter filter = new IntentFilter();
 		filter.addCategory(OPTelemetryService.INTENT_CATEGORY_GCS);
 		filter.addAction(OPTelemetryService.INTENT_ACTION_CONNECTED);
@@ -111,103 +134,108 @@ public class UAVLocation extends MapActivity
 		registerReceiver(connectedReceiver, filter);
 	}
 
-	//@Override 
+	//@Override
+	@Override
 	protected boolean isRouteDisplayed() {
-		// IMPORTANT: This method must return true if your Activity // is displaying driving directions. Otherwise return false. 
+		// IMPORTANT: This method must return true if your Activity // is displaying driving directions. Otherwise return false.
 		return false;
 	}
 
 	public class UAVOverlay extends Overlay {
 		Bitmap homeSymbol = BitmapFactory.decodeResource(getResources(), R.drawable.ic_home);
 		Bitmap uavSymbol = BitmapFactory.decodeResource(getResources(), R.drawable.ic_uav);
-		@Override 
+		@Override
 		public void draw(Canvas canvas, MapView mapView, boolean shadow) {
-			
+
 			Projection projection = mapView.getProjection();
-			
+
 			if (shadow == false) {
 
-				Point myPoint = new Point(); 
+				Point myPoint = new Point();
 				projection.toPixels(uavLocation, myPoint);
-				
+
 				//// Draw UAV
-				// Create and setup your paint brush 
+				// Create and setup your paint brush
-				Paint paint = new Paint(); 
+				Paint paint = new Paint();
-				paint.setARGB(250, 255, 0, 0); 
+				paint.setARGB(250, 255, 0, 0);
-				paint.setAntiAlias(true); 
+				paint.setAntiAlias(true);
 				paint.setFakeBoldText(true);
-								
+
-				// Draw on the canvas 
+				// Draw on the canvas
-				canvas.drawBitmap(uavSymbol, myPoint.x - uavSymbol.getWidth() / 2, 
+				canvas.drawBitmap(uavSymbol, myPoint.x - uavSymbol.getWidth() / 2,
 						myPoint.y - uavSymbol.getHeight() / 2, paint);
-				canvas.drawText("UAV", myPoint.x+uavSymbol.getWidth() / 2, myPoint.y, paint);								
+				canvas.drawText("UAV", myPoint.x+uavSymbol.getWidth() / 2, myPoint.y, paint);
-				
+
 				//// Draw Home
 				myPoint = new Point();
 				projection.toPixels(homeLocation, myPoint);
 
-				// Create and setup your paint brush 
+				// Create and setup your paint brush
-				paint.setARGB(250, 0, 0, 0); 
+				paint.setARGB(250, 0, 0, 0);
-				paint.setAntiAlias(true); 
+				paint.setAntiAlias(true);
 				paint.setFakeBoldText(true);
-				
-				canvas.drawBitmap(homeSymbol, myPoint.x - homeSymbol.getWidth() / 2, 
-						myPoint.y - homeSymbol.getHeight() / 2, paint);
-				canvas.drawText("Home", myPoint.x+homeSymbol.getWidth(), myPoint.y, paint);								
 
-			} 
+				canvas.drawBitmap(homeSymbol, myPoint.x - homeSymbol.getWidth() / 2,
+						myPoint.y - homeSymbol.getHeight() / 2, paint);
+				canvas.drawText("Home", myPoint.x+homeSymbol.getWidth(), myPoint.y, paint);
+
+			}
 		}
 
 		@Override
 		public boolean onTap(GeoPoint point, MapView mapView1) {
 			// Return true if screen tap is handled by this overlay
-			return false; 
+			return false;
 		}
 	}
-	
+
 	void onOPConnected() {
 		UAVObject obj = objMngr.getObject("HomeLocation");
 		if(obj != null)
 			obj.addUpdatedObserver(new Observer() {
+				@Override
 				public void update(Observable observable, Object data) {
 					UAVDataObject obj = (UAVDataObject) data;
 					Double lat = obj.getField("Latitude").getDouble() / 10;
 					Double lon = obj.getField("Longitude").getDouble() / 10;
 					homeLocation = new GeoPoint(lat.intValue(), lon.intValue());
 					runOnUiThread(new Runnable() {
+						@Override
 						public void run() {
-							mapController.setCenter(homeLocation);							
+							mapController.setCenter(homeLocation);
-						}						
+						}
 					});
 					System.out.println("HomeLocation: " + homeLocation.toString());
-				}				
+				}
 			});
 		obj.updateRequested();
-		
+
 		obj = objMngr.getObject("PositionActual");
 		if(obj != null)
 			obj.addUpdatedObserver(new Observer() {
+				@Override
 				public void update(Observable observable, Object data) {
 					uavLocation = getUavLocation();
 					runOnUiThread(new Runnable() {
+						@Override
 						public void run() {
 							mapView.invalidate();
 						}
 					});
-				}				
+				}
 			});
 
 	}
 
 	private GeoPoint getUavLocation() {
-		UAVObject pos = (UAVObject) objMngr.getObject("PositionActual");
+		UAVObject pos = objMngr.getObject("PositionActual");
 		if (pos == null)
 			return new GeoPoint(0,0);
-		
+
-		UAVObject home = (UAVObject) objMngr.getObject("HomeLocation");
+		UAVObject home = objMngr.getObject("HomeLocation");
-		if (home == null) 
+		if (home == null)
 			return new GeoPoint(0,0);
-		
+
 		double lat, lon, alt;
 		lat = home.getField("Latitude").getDouble() / 10.0e6;
 		lon = home.getField("Longitude").getDouble() / 10.0e6;
@@ -217,23 +245,23 @@ public class UAVLocation extends MapActivity
 		double T0, T1;
 		T0 = alt+6.378137E6;
 		T1 = Math.cos(lat * Math.PI / 180.0)*(alt+6.378137E6);
-		
+
 		// Get the NED coordinates
 		double NED0, NED1;
 		NED0 = pos.getField("North").getDouble();
 		NED1 = pos.getField("East").getDouble();
-		
+
 		// Compute the LLA coordinates
 		lat = lat + (NED0 / T0) * 180.0 / Math.PI;
 		lon = lon + (NED1 / T1) * 180.0 / Math.PI;
 
 		return new GeoPoint((int) (lat * 1e6), (int) (lon * 1e6));
 	}
-	
+
 	void onOPDisconnected() {
-		
+
 	}
-	
+
 	@Override
 	public boolean onOptionsItemSelected(MenuItem item) {
 		switch(item.getItemId()) {
@@ -265,15 +293,16 @@ public class UAVLocation extends MapActivity
 		Intent intent = new Intent(this, OPTelemetryService.class);
 		bindService(intent, mConnection, Context.BIND_AUTO_CREATE);
 	}
-	
+
 	public void onBind() {
-		
+
 	}
 
 	/** Defines callbacks for service binding, passed to bindService() */
-	private ServiceConnection mConnection = new ServiceConnection() {
+	private final ServiceConnection mConnection = new ServiceConnection() {
+		@Override
 		public void onServiceConnected(ComponentName arg0, IBinder service) {
-			// We've bound to LocalService, cast the IBinder and attempt to open a connection			
+			// We've bound to LocalService, cast the IBinder and attempt to open a connection
 			if (DEBUG) Log.d(TAG,"Service bound");
 			mBound = true;
 			binder = (LocalBinder) service;
@@ -285,10 +314,11 @@ public class UAVLocation extends MapActivity
 					mConnected = true;
 					onOPConnected();
 				}
-			
+
 			}
 		}
 
+		@Override
 		public void onServiceDisconnected(ComponentName name) {
 			mBound = false;
 			binder = null;