Added location feature and made fake stream create movement

androidgcs/AndroidManifest.xml

@@ -4,10 +4,14 @@
 	android:versionName="1.0">
 	<uses-sdk android:minSdkVersion="7" />
 
+	<uses-permission android:name="android.permission.INTERNET" />
+
 	<uses-permission android:name="android.permission.BLUETOOTH" />
 	<uses-permission android:name="android.permission.BLUETOOTH_ADMIN" />
 
 	<application android:icon="@drawable/icon" android:label="@string/app_name">
+		<!-- for map overlay -->
+		<uses-library android:name="com.google.android.maps" />
 
 		<!-- Object browser - main activity at the moment -->
 		<activity android:name="HomePage" android:label="@string/app_name">
@@ -16,13 +20,15 @@
 				<category android:name="android.intent.category.LAUNCHER" />
 			</intent-filter>
 		</activity>
-		
+
-		
+
 		<activity android:name="ObjectBrowser" android:label="@string/object_browser_name" />
- 		<activity android:name="PFD" android:label="PFD"/>
+		<activity android:name="PFD" android:label="PFD" />
- 		<activity android:name="Preferences" android:label="@string/preference_title"/>
+		<activity android:name="Preferences" android:label="@string/preference_title" />
- 		<activity android:name="ObjectEditor" android:label="ObjectEditor" android:theme="@android:style/Theme.Dialog"/>
+		<activity android:name="UAVLocation" android:label="@string/location_name" />
- 		
+		<activity android:name="ObjectEditor" android:label="ObjectEditor"
+			android:theme="@android:style/Theme.Dialog" />
+
 		<receiver android:name="TelemetryWidget">
 			<intent-filter>
 				<action android:name="android.appwidget.action.APPWIDGET_UPDATE" />

androidgcs/default.properties

@@ -8,4 +8,4 @@
 # project structure.
 
 # Project target.
-target=android-10
+target=Google Inc.:Google APIs:8

androidgcs/res/layout/gcs_home.xml

@@ -11,4 +11,5 @@
     	android:id="@+id/launch_object_browser" 
     	android:drawableLeft="@drawable/browser_icon" android:layout_centerHorizontal="true"/>
     <Button android:layout_width="wrap_content" android:layout_height="wrap_content" android:text="@string/pfd_name" android:id="@+id/launch_pfd" android:drawableLeft="@drawable/browser_icon" android:layout_below="@+id/launch_object_browser" android:layout_alignLeft="@+id/launch_object_browser" android:layout_alignRight="@+id/launch_object_browser"></Button>
+    <Button android:layout_width="wrap_content" android:layout_height="wrap_content" android:text="@string/location_name" android:id="@+id/launch_location" android:drawableLeft="@drawable/browser_icon" android:layout_below="@+id/launch_pfd" android:layout_alignLeft="@+id/launch_object_browser" android:layout_alignRight="@+id/launch_object_browser"></Button>
 </RelativeLayout>

androidgcs/res/layout/map_layout.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+	android:orientation="vertical" android:layout_width="fill_parent"
+	android:layout_height="fill_parent">
+	<com.google.android.maps.MapView
+		android:id="@+id/map_view" android:layout_width="fill_parent"
+		android:layout_height="fill_parent" android:enabled="true"
+		android:clickable="true" android:apiKey="0wrDHCybTiyzQZNBmbMVW9UU-8kzQfF7Ar1KhNw" />
+</LinearLayout>
+		

androidgcs/res/values/strings.xml

@@ -1,19 +1,24 @@
 <?xml version="1.0" encoding="utf-8"?>
 <resources>
-    <string name="app_name">OpenPilot GCS Home</string>
+	<string name="app_name">OpenPilot GCS Home</string>
-    <string name="object_browser_name">OpenPilot Object Browser</string>
+	<string name="object_browser_name">OpenPilot Object Browser</string>
-    <string name="pfd_name">OpenPilot PFD</string>
+	<string name="pfd_name">OpenPilot PFD</string>
-    <string name="menu_item_settings">Settings</string>
+	<string name="location_name">OpenPilot Location</string>
-    <string name="menu_item_connect">Connect</string>
+	
-    <string name="menu_item_disconnect">Disconnect</string>
+	<string name="menu_item_settings">Settings</string>
-    <string name="preference_title">Settings</string>
+	<string name="menu_item_connect">Connect</string>
-    <string name="preference_checkbox_autoconnect">Automatically Connect</string>
+	<string name="menu_item_disconnect">Disconnect</string>
-    <string name="preference_checkbox_connection_type">Connection Type</string>
+	
-    <string name="preference_checkbox_bluetooth">Bluetooth</string>
+	<string name="preference_title">Settings</string>
-    <string name="preference_connection_method_summary">Select the connection method</string>
+	<string name="preference_checkbox_autoconnect">Automatically Connect</string>
-    <string name="compass_name">Compass</string> 
+	<string name="preference_checkbox_connection_type">Connection Type</string>
-    <string name="cardinal_north">N</string> 
+	<string name="preference_checkbox_bluetooth">Bluetooth</string>
-    <string name="cardinal_east">E</string> 
+	<string name="preference_connection_method_summary">Select the connection method</string>
-    <string name="cardinal_south">S</string> 
+	
-    <string name="cardinal_west">W</string>    
+	<string name="compass_name">Compass</string>
+	<string name="cardinal_north">N</string>
+	<string name="cardinal_east">E</string>
+	<string name="cardinal_south">S</string>
+	<string name="cardinal_west">W</string>
+	<string name="connected">Connected</string>
 </resources>

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

@@ -27,6 +27,12 @@ public class HomePage extends ObjectManagerActivity {
 			}			
 		});
 
+		Button location = (Button) findViewById(R.id.launch_location);
+		location.setOnClickListener(new OnClickListener() {
+			public void onClick(View arg0) {
+				startActivity(new Intent(HomePage.this, UAVLocation.class));	
+			}			
+		});
 	}
 
 }

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

@@ -212,18 +212,45 @@ public class OPTelemetryService extends Service {
 			//toastMessage("Started fake telemetry thread");
 			UAVDataObject systemStats = (UAVDataObject) objMngr.getObject("SystemStats");
 			UAVDataObject attitudeActual = (UAVDataObject) objMngr.getObject("AttitudeActual");
+			UAVDataObject homeLocation = (UAVDataObject) objMngr.getObject("HomeLocation");
+			UAVDataObject positionActual = (UAVDataObject) objMngr.getObject("PositionActual");
+
+			homeLocation.getField("Latitude").setDouble(379420315);
+			homeLocation.getField("Longitude").setDouble(-88330078);
+			homeLocation.getField("ECEF").setDouble(497665694,0);
+			homeLocation.getField("ECEF").setDouble(-77336320,1);
+			homeLocation.getField("ECEF").setDouble(390037169,2);
+			homeLocation.getField("RNE").setDouble(-0.60757166,0);
+			homeLocation.getField("RNE").setDouble(0.09441550,1);
+			homeLocation.getField("RNE").setDouble(0.78863323,2);
+			homeLocation.getField("RNE").setDouble(0.15355512,3);
+			homeLocation.getField("RNE").setDouble(0.98814011,4);
+			homeLocation.getField("RNE").setDouble(0,5);
+			homeLocation.getField("RNE").setDouble(-0.77928013,6);
+			homeLocation.getField("RNE").setDouble(0.12109867,7);
+			homeLocation.getField("RNE").setDouble(-0.61486387,8);
+			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 yaw = 0;
+			double north = 0;
+			double east = 0;
 			while( !terminate ) {
 				attitudeActual.getField("Roll").setDouble(roll);
 				attitudeActual.getField("Pitch").setDouble(pitch);
 				attitudeActual.getField("Yaw").setDouble(yaw);
+				positionActual.getField("North").setDouble(north += 100);
+				positionActual.getField("East").setDouble(east += 100);
 				roll = (roll + 10) % 180;
 				pitch = (pitch + 10) % 180;
 				yaw = (yaw + 10) % 360;
 				systemStats.updated();
 				attitudeActual.updated();
+				positionActual.updated();
 				try {
 					Thread.sleep(1000);
 				} catch (InterruptedException e) {

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

@@ -0,0 +1,273 @@
+package org.openpilot.androidgcs;
+
+import java.util.List;
+import java.util.Observable;
+import java.util.Observer;
+
+import org.openpilot.androidgcs.OPTelemetryService.LocalBinder;
+import org.openpilot.androidgcs.OPTelemetryService.TelemTask;
+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 android.content.BroadcastReceiver;
+import android.content.ComponentName;
+import android.content.Context;
+import android.content.Intent;
+import android.content.IntentFilter;
+import android.content.ServiceConnection;
+import android.graphics.Canvas;
+import android.graphics.Paint;
+import android.graphics.Point;
+import android.graphics.RectF;
+import android.os.Bundle;
+import android.os.IBinder;
+import android.util.Log;
+import android.view.Menu;
+import android.view.MenuInflater;
+import android.view.MenuItem;
+
+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 MapController mapController;
+
+	UAVObjectManager objMngr;
+    boolean mBound = false;
+    boolean mConnected = false;
+    LocalBinder binder;
+
+    GeoPoint homeLocation;
+    GeoPoint uavLocation;
+
+    @Override public void onCreate(Bundle icicle) {
+		super.onCreate(icicle); 
+		setContentView(R.layout.map_layout); 
+		mapView = (MapView)findViewById(R.id.map_view);
+		mapController = mapView.getController();
+
+		mapView.displayZoomControls(true);
+		Double lat = 37.422006*1E6; 
+		Double lng = -122.084095*1E6; 
+		homeLocation = new GeoPoint(lat.intValue(), lng.intValue());
+		uavLocation = homeLocation;
+		mapController.setCenter(homeLocation); 
+		mapController.setZoom(18);
+		
+		List<Overlay> overlays = mapView.getOverlays();
+		UAVOverlay myOverlay = new UAVOverlay(); 
+		overlays.add(myOverlay); 
+		mapView.postInvalidate();
+
+		// ObjectManager related stuff (can't inherit standard class)
+		BroadcastReceiver connectedReceiver = new BroadcastReceiver() {
+			@Override
+			public void onReceive(Context context, Intent intent) {
+				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)
+						return;
+					objMngr = task.getObjectManager();
+					mConnected = true;
+					onOPConnected();
+					Log.d(TAG, "Connected()");
+				} else if (intent.getAction().compareTo(OPTelemetryService.INTENT_ACTION_DISCONNECTED) == 0) {
+					objMngr = null;
+					mConnected = false;
+					onOPDisconnected();
+					Log.d(TAG, "Disonnected()");
+				}
+			}			
+		};
+		
+		IntentFilter filter = new IntentFilter();
+		filter.addCategory(OPTelemetryService.INTENT_CATEGORY_GCS);
+		filter.addAction(OPTelemetryService.INTENT_ACTION_CONNECTED);
+		filter.addAction(OPTelemetryService.INTENT_ACTION_DISCONNECTED);
+		registerReceiver(connectedReceiver, filter);
+	}
+
+	//@Override 
+	protected boolean isRouteDisplayed() {
+		// IMPORTANT: This method must return true if your Activity // is displaying driving directions. Otherwise return false. 
+		return false;
+	}
+
+	public class UAVOverlay extends Overlay {
+		@Override 
+		public void draw(Canvas canvas, MapView mapView, boolean shadow) {
+			
+			Projection projection = mapView.getProjection();
+			
+			if (shadow == false) { 
+				Point myPoint = new Point(); 
+				projection.toPixels(uavLocation, myPoint);
+				
+				//// Draw UAV
+				// Create and setup your paint brush 
+				Paint paint = new Paint(); 
+				paint.setARGB(250, 255, 0, 0); 
+				paint.setAntiAlias(true); 
+				paint.setFakeBoldText(true);
+				
+				// Create the circle 
+				int rad = 5; 
+				RectF oval = new RectF(myPoint.x-rad, myPoint.y-rad, myPoint.x+rad, myPoint.y+rad);
+				
+				// Draw on the canvas 
+				canvas.drawOval(oval, paint); 
+				canvas.drawText("UAV", myPoint.x+rad, myPoint.y, paint);								
+
+				//// Draw Home
+				myPoint = new Point();
+				projection.toPixels(homeLocation, myPoint);
+
+				// Create and setup your paint brush 
+				paint.setARGB(250, 0, 0, 0); 
+				paint.setAntiAlias(true); 
+				paint.setFakeBoldText(true);
+				
+				// Create the circle 
+				rad = 5; 
+				oval = new RectF(myPoint.x-rad, myPoint.y-rad, myPoint.x+rad, myPoint.y+rad);
+				
+				// Draw on the canvas 
+				canvas.drawOval(oval, paint); 
+				canvas.drawText("Home", myPoint.x+rad, myPoint.y, paint);								
+
+			} 
+		}
+
+		@Override
+		public boolean onTap(GeoPoint point, MapView mapView1) {
+			// Return true if screen tap is handled by this overlay
+			return false; 
+		}
+	}
+	
+	void onOPConnected() {
+		UAVObject obj = objMngr.getObject("HomeLocation");
+		if(obj != null)
+			obj.addUpdatedObserver(new Observer() {
+				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() {
+						public void run() {
+							mapController.setCenter(homeLocation);							
+						}						
+					});
+					System.out.println("HomeLocation: " + homeLocation.toString());
+				}				
+			});
+		// Hacky - trigger an update
+		obj.updated();
+		
+		obj = objMngr.getObject("PositionActual");
+		if(obj != null)
+			obj.addUpdatedObserver(new Observer() {
+				public void update(Observable observable, Object data) {
+					UAVDataObject obj = (UAVDataObject) data;
+					Double north = obj.getField("North").getDouble();
+					Double east = obj.getField("East").getDouble();
+					// TODO: Correct convertion from NED to LLA.  This is erroneous conversion from cm to deg
+					uavLocation = new GeoPoint((int) (homeLocation.getLatitudeE6() + north / 100 * 1e6 / 78847),
+							(int) (homeLocation.getLongitudeE6() + east / 100 * 1e6 / 78847));
+					runOnUiThread(new Runnable() {
+						public void run() {
+							mapView.invalidate();
+						}
+					});
+				}				
+			});
+
+	}
+	
+	void onOPDisconnected() {
+		
+	}
+	
+	@Override
+	public boolean onOptionsItemSelected(MenuItem item) {
+		switch(item.getItemId()) {
+		case R.id.menu_connect:
+			binder.openConnection();
+			return true;
+		case R.id.menu_disconnect:
+			binder.stopConnection();
+			return true;
+		case R.id.menu_settings:
+			startActivity(new Intent(this, Preferences.class));
+			return true;
+		default:
+			return super.onOptionsItemSelected(item);
+		}
+
+	}
+
+	@Override
+	public boolean onCreateOptionsMenu(Menu menu) {
+		MenuInflater inflater = getMenuInflater();
+		inflater.inflate(R.menu.options_menu, menu);
+		return true;
+	}
+
+	@Override
+	public void onStart() {
+		super.onStart();
+		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() {
+		public void onServiceConnected(ComponentName arg0, IBinder service) {
+			// 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;
+			
+			if(binder.isConnected()) {
+				TelemTask task;
+				if((task = binder.getTelemTask(0)) != null) {
+					objMngr = task.getObjectManager();
+					mConnected = true;
+					onOPConnected();
+				}
+			
+			}
+		}
+
+		public void onServiceDisconnected(ComponentName name) {
+			mBound = false;
+			binder = null;
+			mConnected = false;
+			objMngr = null;
+			objMngr = null;
+			mConnected = false;
+			onOPDisconnected();
+		}
+	};
+}