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Code Issues Releases Activity

AndroidGCS: Controller gadget that uses virtual joypad to control UAV

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This commit is contained in:
James Cotton 2012-08-05 16:10:20 -05:00
parent 8982765307
commit 410aec8c94
3 changed files with 252 additions and 0 deletions
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28
androidgcs/res/layout/controller.xml Normal file
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<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:orientation="vertical" >
<TextView
android:id="@+id/textView1"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="@string/manual_control_values_"
android:textAppearance="?android:attr/textAppearanceLarge" />
<TextView
android:id="@+id/manualControlValues"
android:layout_width="wrap_content"
android:layout_height="240dp"
android:text=""
android:textAppearance="?android:attr/textAppearanceLarge" />
<com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView
android:id="@+id/dualjoystickView"
android:layout_width="fill_parent"
android:layout_height="175dip"
android:layout_marginTop="5dip" >
</com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView>
</LinearLayout>

37
androidgcs/res/layout/dualjoystick.xml Normal file
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<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
android:orientation="vertical" android:layout_width="fill_parent"
android:layout_height="fill_parent">
<com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView
android:id="@+id/dualjoystickView" android:layout_gravity="center_horizontal"
android:layout_marginTop="5dip" android:layout_width="fill_parent"
android:layout_height="175dip" />
<TableLayout android:layout_width="wrap_content"
android:layout_height="wrap_content" android:layout_gravity="center_horizontal"
android:layout_marginTop="10dip">
<TableRow>
<TextView android:text="X" android:layout_width="50dip"
android:layout_height="wrap_content"></TextView>
<TextView android:text="" android:id="@+id/TextViewX1"
android:layout_width="150dip" android:layout_height="wrap_content"></TextView>
<TextView android:text="X" android:layout_width="50dip"
android:layout_height="wrap_content"></TextView>
<TextView android:text="" android:id="@+id/TextViewX2"
android:layout_width="100dip" android:layout_height="wrap_content"></TextView>
</TableRow>
<TableRow>
<TextView android:text="Y" android:layout_width="wrap_content"
android:layout_height="wrap_content"></TextView>
<TextView android:text="" android:id="@+id/TextViewY1"
android:layout_width="wrap_content" android:layout_height="wrap_content"></TextView>
<TextView android:text="Y" android:layout_width="wrap_content"
android:layout_height="wrap_content"></TextView>
<TextView android:text="" android:id="@+id/TextViewY2"
android:layout_width="wrap_content" android:layout_height="wrap_content"></TextView>
</TableRow>
</TableLayout>
</LinearLayout>

187
androidgcs/src/org/openpilot/androidgcs/Controller.java Normal file
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package org.openpilot.androidgcs;
import java.util.Observable;
import java.util.Observer;
import java.util.Timer;
import java.util.TimerTask;
import org.openpilot.uavtalk.UAVDataObject;
import org.openpilot.uavtalk.UAVObject;
import org.openpilot.uavtalk.UAVObjectField;
import com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView;
import android.os.Bundle;
import android.os.Handler;
import android.util.Log;
import android.widget.TextView;
import android.widget.Toast;
public class Controller extends ObjectManagerActivity {
private final String TAG = "Controller";
private final int THROTTLE_CHANNEL = 0;
private final int ROLL_CHANNEL = 1;
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;
Timer sendTimer = new Timer();
/** Called when the activity is first created. */
@Override
public void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.controller);
TextView manualView = (TextView) findViewById(R.id.manualControlValues);
if(manualView != null)
manualView.setText("Hello");
}
@Override
void onOPConnected() {
Log.d(TAG, "onOPConnected()");
// Subsribe to updates from ManualControlCommand and show the values for crude feedback
UAVDataObject manualControl = (UAVDataObject) objMngr.getObject("ManualControlCommand");
if(manualControl != null) {
manualControl.addUpdatedObserver(updatedObserver);
}
activateGcsReceiver();
TimerTask controllerTask = new TimerTask() {
public void run() {
uavobjHandler.post(new Runnable() {
@Override
public void run() {
//DualJoystickView joystick = (DualJoystickView) findViewById(R.id.dualjoystickView);
UAVObject gcsReceiver = objMngr.getObject("GCSReceiver");
if (gcsReceiver == null) {
Log.e(TAG, "No GCS Receiver object found");
return;
}
UAVObjectField channels = gcsReceiver.getField("Channel");
if(channels == null) {
Log.e(TAG, "GCS Receiver object ill formatted");
return;
}
channels.setValue(scaleChannel(throttle, CHANNEL_NEUTRAL_THROTTLE), THROTTLE_CHANNEL);
channels.setValue(scaleChannel(roll, CHANNEL_NEUTRAL), ROLL_CHANNEL);
channels.setValue(scaleChannel(pitch, CHANNEL_NEUTRAL), PITCH_CHANNEL);
channels.setValue(scaleChannel(yaw, CHANNEL_NEUTRAL), YAW_CHANNEL);
channels.setValue(scaleChannel(0, CHANNEL_NEUTRAL), FLIGHTMODE_CHANNEL);
gcsReceiver.updated();
Log.d(TAG, "Send update");
updated = false;
}
});
}
};
sendTimer.schedule(controllerTask, 500, 50);
}
/**
* 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 Runnable updateText = new Runnable() {
public void run() {
updateManualControl();
}
};
private final Observer updatedObserver = new Observer() {
public void update(Observable observable, Object data) {
uavobjHandler.post(updateText);
}
};
/**
* Show the string description of manual control command
*/
private void updateManualControl() {
UAVDataObject manualControl = (UAVDataObject) objMngr.getObject("ManualControlCommand");
TextView manualView = (TextView) findViewById(R.id.manualControlValues);
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 ||
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
* 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]);
channelNumber.setValue(1 + channels[i], i); // Add 1 because this uses 0 for "NONE"
channelMin.setValue(CHANNEL_MIN, channels[i]);
channelMax.setValue(CHANNEL_MAX, channels[i]);
switch(channels[i]) {
case THROTTLE_CHANNEL:
channelNeutral.setValue(CHANNEL_NEUTRAL_THROTTLE, channels[i]);
break;
default:
channelNeutral.setValue(CHANNEL_NEUTRAL, channels[i]);
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) {
// Check bounds
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);
}
}