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Code Issues Releases Activity

AndroidGCS: Respond to the virtual pad movements and stop transmitting updates

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when they are released.
This commit is contained in:
James Cotton 2012-08-05 17:07:00 -05:00
parent 8b26696e77
commit 87f6700d74
2 changed files with 54 additions and 23 deletions
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5
androidgcs/src/com/MobileAnarchy/Android/Widgets/Joystick/JoystickView.java
View File

@ -497,8 +497,9 @@ public class JoystickView extends View {
public void run() { public void run() {
touchX += intervalsX; touchX += intervalsX;
touchY += intervalsY; touchY += intervalsY;
reportOnMoved(); // No longer reportOnMoved() in this method because we only
// want to receive inputs from the user
invalidate(); invalidate();
if (moveListener != null && j == numberOfFrames - 1) { if (moveListener != null && j == numberOfFrames - 1) {

72
androidgcs/src/org/openpilot/androidgcs/Controller.java
View File

@ -10,6 +10,7 @@ import org.openpilot.uavtalk.UAVObject;
import org.openpilot.uavtalk.UAVObjectField; import org.openpilot.uavtalk.UAVObjectField;
import com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView; import com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView;
import com.MobileAnarchy.Android.Widgets.Joystick.JoystickMovedListener;
import android.os.Bundle; import android.os.Bundle;
import android.os.Handler; import android.os.Handler;
@ -20,6 +21,8 @@ import android.widget.Toast;
public class Controller extends ObjectManagerActivity { public class Controller extends ObjectManagerActivity {
private final String TAG = "Controller"; private final String TAG = "Controller";
private final boolean DEBUG = false;
private final int THROTTLE_CHANNEL = 0; private final int THROTTLE_CHANNEL = 0;
private final int ROLL_CHANNEL = 1; private final int ROLL_CHANNEL = 1;
private final int PITCH_CHANNEL = 2; private final int PITCH_CHANNEL = 2;
@ -33,6 +36,7 @@ public class Controller extends ObjectManagerActivity {
private double throttle = 0.1, roll = 0.1, pitch = -0.1, yaw = 0; private double throttle = 0.1, roll = 0.1, pitch = -0.1, yaw = 0;
private boolean updated; private boolean updated;
private boolean leftJoystickHeld, rightJoystickHeld;
Timer sendTimer = new Timer(); Timer sendTimer = new Timer();
@ -59,32 +63,58 @@ public class Controller extends ObjectManagerActivity {
activateGcsReceiver(); activateGcsReceiver();
DualJoystickView joystick = (DualJoystickView) findViewById(R.id.dualjoystickView);
// Hardcode a Mode 1 listener for now
joystick.setOnJostickMovedListener(new JoystickMovedListener() {
public void OnMoved(int pan, int tilt) {
pitch = -(double) tilt / 10.0;
yaw = (double) pan / 10.0;
updated = true;
leftJoystickHeld = true;
}
public void OnReleased() { leftJoystickHeld = false; }
@Override
public void OnReturnedToCenter() { }
}, new JoystickMovedListener() {
public void OnMoved(int pan, int tilt) {
throttle = (double) (tilt + 10) / 20.0;
roll = (double) pan / 10.0;
updated = true;
rightJoystickHeld = true;
}
public void OnReleased() { rightJoystickHeld = false; }
@Override
public void OnReturnedToCenter() { }
}) ;
TimerTask controllerTask = new TimerTask() { TimerTask controllerTask = new TimerTask() {
public void run() { public void run() {
uavobjHandler.post(new Runnable() { uavobjHandler.post(new Runnable() {
@Override @Override
public void run() { public void run() {
UAVObject gcsReceiver = objMngr.getObject("GCSReceiver"); if (leftJoystickHeld && rightJoystickHeld) {
if (gcsReceiver == null) { UAVObject gcsReceiver = objMngr.getObject("GCSReceiver");
Log.e(TAG, "No GCS Receiver object found"); if (gcsReceiver == null) {
return; 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();
if (DEBUG) Log.d(TAG, "Send update" + gcsReceiver.toStringData());
} }
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; updated = false;
} }
}); });