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AndroidGCS: Controller gadget that uses virtual joypad to control UAV
This commit is contained in:
James Cotton
parent
8982765307
commit
410aec8c94
28
androidgcs/res/layout/controller.xml
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28
androidgcs/res/layout/controller.xml
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<?xml version="1.0" encoding="utf-8"?>
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<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
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android:layout_width="match_parent"
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android:layout_height="match_parent"
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android:orientation="vertical" >
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<TextView
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android:id="@+id/textView1"
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:text="@string/manual_control_values_"
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android:textAppearance="?android:attr/textAppearanceLarge" />
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<TextView
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android:id="@+id/manualControlValues"
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android:layout_width="wrap_content"
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android:layout_height="240dp"
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android:text=""
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android:textAppearance="?android:attr/textAppearanceLarge" />
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<com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView
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android:id="@+id/dualjoystickView"
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android:layout_width="fill_parent"
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android:layout_height="175dip"
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android:layout_marginTop="5dip" >
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</com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView>
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</LinearLayout>
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37
androidgcs/res/layout/dualjoystick.xml
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37
androidgcs/res/layout/dualjoystick.xml
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<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
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android:orientation="vertical" android:layout_width="fill_parent"
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android:layout_height="fill_parent">
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<com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView
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android:id="@+id/dualjoystickView" android:layout_gravity="center_horizontal"
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android:layout_marginTop="5dip" android:layout_width="fill_parent"
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android:layout_height="175dip" />
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<TableLayout android:layout_width="wrap_content"
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android:layout_height="wrap_content" android:layout_gravity="center_horizontal"
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android:layout_marginTop="10dip">
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<TableRow>
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<TextView android:text="X" android:layout_width="50dip"
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android:layout_height="wrap_content"></TextView>
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<TextView android:text="" android:id="@+id/TextViewX1"
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android:layout_width="150dip" android:layout_height="wrap_content"></TextView>
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<TextView android:text="X" android:layout_width="50dip"
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android:layout_height="wrap_content"></TextView>
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<TextView android:text="" android:id="@+id/TextViewX2"
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android:layout_width="100dip" android:layout_height="wrap_content"></TextView>
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</TableRow>
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<TableRow>
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<TextView android:text="Y" android:layout_width="wrap_content"
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android:layout_height="wrap_content"></TextView>
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<TextView android:text="" android:id="@+id/TextViewY1"
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android:layout_width="wrap_content" android:layout_height="wrap_content"></TextView>
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<TextView android:text="Y" android:layout_width="wrap_content"
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android:layout_height="wrap_content"></TextView>
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<TextView android:text="" android:id="@+id/TextViewY2"
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android:layout_width="wrap_content" android:layout_height="wrap_content"></TextView>
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</TableRow>
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</TableLayout>
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</LinearLayout>
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187
androidgcs/src/org/openpilot/androidgcs/Controller.java
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187
androidgcs/src/org/openpilot/androidgcs/Controller.java
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package org.openpilot.androidgcs;
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import java.util.Observable;
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import java.util.Observer;
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import java.util.Timer;
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import java.util.TimerTask;
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import org.openpilot.uavtalk.UAVDataObject;
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import org.openpilot.uavtalk.UAVObject;
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import org.openpilot.uavtalk.UAVObjectField;
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import com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView;
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import android.os.Bundle;
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import android.os.Handler;
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import android.util.Log;
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import android.widget.TextView;
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import android.widget.Toast;
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public class Controller extends ObjectManagerActivity {
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private final String TAG = "Controller";
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private final int THROTTLE_CHANNEL = 0;
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private final int ROLL_CHANNEL = 1;
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private final int PITCH_CHANNEL = 2;
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private final int YAW_CHANNEL = 3;
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private final int FLIGHTMODE_CHANNEL = 4;
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private final int CHANNEL_MIN = 1000;
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private final int CHANNEL_MAX = 2000;
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private final int CHANNEL_NEUTRAL = 1500;
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private final int CHANNEL_NEUTRAL_THROTTLE = 1100;
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private double throttle = 0.1, roll = 0.1, pitch = -0.1, yaw = 0;
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private boolean updated;
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Timer sendTimer = new Timer();
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/** Called when the activity is first created. */
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@Override
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public void onCreate(Bundle savedInstanceState) {
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super.onCreate(savedInstanceState);
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setContentView(R.layout.controller);
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TextView manualView = (TextView) findViewById(R.id.manualControlValues);
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if(manualView != null)
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manualView.setText("Hello");
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}
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@Override
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void onOPConnected() {
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Log.d(TAG, "onOPConnected()");
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// Subsribe to updates from ManualControlCommand and show the values for crude feedback
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UAVDataObject manualControl = (UAVDataObject) objMngr.getObject("ManualControlCommand");
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if(manualControl != null) {
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manualControl.addUpdatedObserver(updatedObserver);
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}
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activateGcsReceiver();
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TimerTask controllerTask = new TimerTask() {
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public void run() {
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uavobjHandler.post(new Runnable() {
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@Override
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public void run() {
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//DualJoystickView joystick = (DualJoystickView) findViewById(R.id.dualjoystickView);
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UAVObject gcsReceiver = objMngr.getObject("GCSReceiver");
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if (gcsReceiver == null) {
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Log.e(TAG, "No GCS Receiver object found");
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return;
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}
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UAVObjectField channels = gcsReceiver.getField("Channel");
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if(channels == null) {
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Log.e(TAG, "GCS Receiver object ill formatted");
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return;
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}
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channels.setValue(scaleChannel(throttle, CHANNEL_NEUTRAL_THROTTLE), THROTTLE_CHANNEL);
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channels.setValue(scaleChannel(roll, CHANNEL_NEUTRAL), ROLL_CHANNEL);
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channels.setValue(scaleChannel(pitch, CHANNEL_NEUTRAL), PITCH_CHANNEL);
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channels.setValue(scaleChannel(yaw, CHANNEL_NEUTRAL), YAW_CHANNEL);
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channels.setValue(scaleChannel(0, CHANNEL_NEUTRAL), FLIGHTMODE_CHANNEL);
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gcsReceiver.updated();
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Log.d(TAG, "Send update");
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updated = false;
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}
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});
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}
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};
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sendTimer.schedule(controllerTask, 500, 50);
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}
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/**
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* The callbacks from the UAVOs must run in the correct thread to update the
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* UI. This is what using a runnable does.
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*/
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final Handler uavobjHandler = new Handler();
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final Runnable updateText = new Runnable() {
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public void run() {
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updateManualControl();
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}
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};
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private final Observer updatedObserver = new Observer() {
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public void update(Observable observable, Object data) {
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uavobjHandler.post(updateText);
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}
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};
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/**
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* Show the string description of manual control command
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*/
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private void updateManualControl() {
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UAVDataObject manualControl = (UAVDataObject) objMngr.getObject("ManualControlCommand");
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TextView manualView = (TextView) findViewById(R.id.manualControlValues);
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if (manualView != null && manualControl != null)
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manualView.setText(manualControl.toStringData());
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}
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/**
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* Active GCS receiver mode
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*/
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private void activateGcsReceiver() {
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UAVObject manualControlSettings = objMngr.getObject("ManualControlSettings");
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if (manualControlSettings == null) {
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Toast.makeText(this, "Failed to get manual control settings", Toast.LENGTH_SHORT).show();
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return;
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}
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UAVObjectField channelGroups = manualControlSettings.getField("ChannelGroups");
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UAVObjectField channelNumber = manualControlSettings.getField("ChannelNumber");
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UAVObjectField channelMax = manualControlSettings.getField("ChannelMax");
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UAVObjectField channelNeutral = manualControlSettings.getField("ChannelNeutral");
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UAVObjectField channelMin = manualControlSettings.getField("ChannelMin");
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if (channelGroups == null || channelMax == null || channelNeutral == null ||
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channelMin == null || channelNumber == null) {
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Toast.makeText(this, "Manual control settings not formatted correctly", Toast.LENGTH_SHORT).show();
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return;
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}
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/* Configure the manual control module how the GCS controller expects
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* This order MUST correspond to the enumeration order of ChannelNumber in
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* ManualControlSettings.
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*/
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int channels[] = { THROTTLE_CHANNEL, ROLL_CHANNEL, PITCH_CHANNEL, YAW_CHANNEL, FLIGHTMODE_CHANNEL };
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for (int i = 0; i < channels.length; i++) {
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channelGroups.setValue("GCS", channels[i]);
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channelNumber.setValue(1 + channels[i], i); // Add 1 because this uses 0 for "NONE"
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channelMin.setValue(CHANNEL_MIN, channels[i]);
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channelMax.setValue(CHANNEL_MAX, channels[i]);
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switch(channels[i]) {
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case THROTTLE_CHANNEL:
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channelNeutral.setValue(CHANNEL_NEUTRAL_THROTTLE, channels[i]);
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break;
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default:
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channelNeutral.setValue(CHANNEL_NEUTRAL, channels[i]);
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break;
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}
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}
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// Send settings to the UAV
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manualControlSettings.updated();
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}
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/**
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* Scale the channels to the output range the flight controller expects
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*/
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private float scaleChannel(double in, double neutral) {
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// Check bounds
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if (in > 1)
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in = 1;
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if (in < -1)
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in = -1;
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if (in >= 0)
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return (float) (neutral + (CHANNEL_MAX - neutral) * in);
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return (float) (neutral + (neutral - CHANNEL_MIN) * in);
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}
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}
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