Added a simple PFD

androidgcs/AndroidManifest.xml

@@ -18,13 +18,8 @@
 		</activity>
 		
 		
-		<activity android:name="ObjectBrowser" android:label="@string/object_browser_name">
-			<intent-filter>
-				<action android:name="org.openpilot.intent.action.CONNECTED" />
-				<action android:name="org.openpilot.intent.action.DISCONNECTED" />
-			</intent-filter>
-		</activity>
-
+		<activity android:name="ObjectBrowser" android:label="@string/object_browser_name" />
+ 		<activity android:name="PFD" android:label="PFD"/>
  		<activity android:name="Preferences" android:label="@string/preference_title"/>
  		<activity android:name="ObjectEditor" android:label="ObjectEditor" android:theme="@android:style/Theme.Dialog"/>
  		

androidgcs/res/layout/gcs_home.xml

@@ -3,5 +3,12 @@
   xmlns:android="http://schemas.android.com/apk/res/android"
   android:layout_width="match_parent"
   android:layout_height="match_parent">
-    <Button android:layout_alignParentTop="true" android:layout_height="wrap_content" android:text="@string/object_browser_name" android:layout_width="wrap_content" android:id="@+id/launch_object_browser"></Button>
+    <Button 
+    	android:layout_alignParentTop="true" 
+    	android:layout_height="wrap_content" 
+    	android:text="@string/object_browser_name" 
+    	android:layout_width="wrap_content" 
+    	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>
 </RelativeLayout>

androidgcs/res/layout/pfd.xml

@@ -0,0 +1,8 @@
+<?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">
+    <org.openpilot.androidgcs.CompassView android:id="@+id/compass_view" android:layout_height="wrap_content" android:layout_width="wrap_content"></org.openpilot.androidgcs.CompassView>
+    <org.openpilot.androidgcs.AttitudeView android:id="@+id/attitude_view" android:layout_height="fill_parent" android:layout_width="fill_parent"></org.openpilot.androidgcs.AttitudeView>
+</LinearLayout>

androidgcs/res/values/colors.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+	<color name="background_color">#F555</color> 
+	<color name="marker_color">#AFFF</color> 
+	<color name="text_color">#AFFF</color>
+</resources>

androidgcs/res/values/strings.xml

@@ -2,6 +2,7 @@
 <resources>
     <string name="app_name">OpenPilot GCS Home</string>
     <string name="object_browser_name">OpenPilot Object Browser</string>
+    <string name="pfd_name">OpenPilot PFD</string>
     <string name="menu_item_settings">Settings</string>
     <string name="menu_item_connect">Connect</string>
     <string name="menu_item_disconnect">Disconnect</string>
@@ -10,4 +11,9 @@
     <string name="preference_checkbox_connection_type">Connection Type</string>
     <string name="preference_checkbox_bluetooth">Bluetooth</string>
     <string name="preference_connection_method_summary">Select the connection method</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>    
 </resources>

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

@@ -0,0 +1,89 @@
+package org.openpilot.androidgcs;
+
+import android.content.Context;
+import android.content.res.Resources;
+import android.graphics.Canvas;
+import android.graphics.Paint;
+import android.util.AttributeSet;
+import android.view.View;
+
+public class AttitudeView extends View {
+
+	public AttitudeView(Context context) {
+		super(context);
+		initAttitudeView();
+	}
+
+	public AttitudeView(Context context, AttributeSet ats, int defaultStyle) { 
+		super(context, ats, defaultStyle);
+		initAttitudeView();
+	}
+
+	public AttitudeView(Context context, AttributeSet ats) { 
+		super(context, ats);
+		initAttitudeView();
+	}
+
+	protected void initAttitudeView() { 
+		setFocusable(true);
+
+		circlePaint = new Paint(Paint.ANTI_ALIAS_FLAG); 
+		circlePaint.setColor(R.color.background_color); 
+		circlePaint.setStrokeWidth(1); 
+		circlePaint.setStyle(Paint.Style.FILL_AND_STROKE);
+		Resources r = this.getResources(); 
+		textPaint = new Paint(Paint.ANTI_ALIAS_FLAG); 
+		textPaint.setColor(r.getColor(R.color.text_color));
+		markerPaint = new Paint(Paint.ANTI_ALIAS_FLAG); 
+		markerPaint.setColor(r.getColor(R.color.marker_color));		
+	}
+
+	@Override protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) {
+		int measuredWidth = measure(widthMeasureSpec); 
+		int measuredHeight = measure(heightMeasureSpec);
+		int d = Math.min(measuredWidth, measuredHeight); 
+		setMeasuredDimension(d/2, d/2);
+	}
+
+	private int measure(int measureSpec) { 
+		int result = 0;
+		// Decode the measurement specifications. 
+
+		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. 
+			result = 200;
+		} else { 
+			// As you want to fill the available space 
+			// always return the full available bounds. 
+			result = specSize;
+		}
+		return result;
+	}
+
+	private double roll;
+	public void setRoll(double roll) { 
+		this.roll = roll;
+	} 
+	private double pitch;
+	public void setPitch(double d) { 
+		this.pitch = d;
+	} 
+
+	// Drawing related code
+	private Paint markerPaint; 
+	private Paint textPaint; 
+	private Paint circlePaint; 
+
+	@Override
+	protected void onDraw(Canvas canvas) {
+		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(pitch)), (int) (py + radius * Math.sin(pitch)), markerPaint);
+	}
+
+}

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

@@ -0,0 +1,139 @@
+package org.openpilot.androidgcs;
+
+import android.content.Context;
+import android.content.res.Resources;
+import android.graphics.Canvas;
+import android.graphics.Paint;
+import android.util.AttributeSet;
+import android.view.View;
+
+public class CompassView extends View {
+
+	public CompassView(Context context) {
+		super(context);
+		initCompassView();
+	}
+
+	public CompassView(Context context, AttributeSet ats, int defaultStyle) { 
+		super(context, ats, defaultStyle);
+		initCompassView();
+	}
+
+	public CompassView(Context context, AttributeSet ats) { 
+		super(context, ats);
+		initCompassView();
+	}
+
+	protected void initCompassView() { 
+		setFocusable(true);
+
+		circlePaint = new Paint(Paint.ANTI_ALIAS_FLAG); 
+		circlePaint.setColor(R.color.background_color); 
+		circlePaint.setStrokeWidth(1); 
+		circlePaint.setStyle(Paint.Style.FILL_AND_STROKE);
+		Resources r = this.getResources(); 
+		northString = r.getString(R.string.cardinal_north); 
+		eastString = r.getString(R.string.cardinal_east); 
+		southString = r.getString(R.string.cardinal_south); 
+		westString = r.getString(R.string.cardinal_west);
+		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.setColor(r.getColor(R.color.marker_color));		
+	}
+
+	@Override protected void onMeasure(int widthMeasureSpec, int heightMeasureSpec) {
+		int measuredWidth = measure(widthMeasureSpec); 
+		int measuredHeight = measure(heightMeasureSpec);
+		int d = Math.min(measuredWidth, measuredHeight); 
+		setMeasuredDimension(d/2, d/2);
+	}
+
+	private int measure(int measureSpec) { 
+		int result = 0;
+		// Decode the measurement specifications. 
+
+		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. 
+			result = 200;
+		} else { 
+			// As you want to fill the available space 
+			// always return the full available bounds. 
+			result = specSize;
+		}
+		return result;
+	}
+
+	private double bearing;
+	public void setBearing(double bearing) { 
+		this.bearing = bearing;
+	} 
+
+	// Drawing related code
+	private Paint markerPaint; 
+	private Paint textPaint; 
+	private Paint circlePaint; 
+	private String northString; 
+	private String eastString; 
+	private String southString; 
+	private String westString; 
+	private int textHeight;
+
+	@Override
+	protected void onDraw(Canvas canvas) {
+		int px = getMeasuredWidth() / 2; 
+		int py = getMeasuredHeight() /2 ;
+		int radius = Math.min(px, py);
+		// Draw the background 
+		canvas.drawCircle(px, py, radius, circlePaint);
+
+		// Rotate our perspective so that the ÔtopÕ is 
+		// facing the current bearing. 
+		canvas.save(); 
+		canvas.rotate((float) -bearing, px, py);
+
+		int textWidth = (int)textPaint.measureText("W"); 
+		int cardinalX = px-textWidth/2; 
+		int cardinalY = py-radius+textHeight;
+
+		// Draw the marker every 15 degrees and text every 45. 
+		for (int i = 0; i < 24; i++) {
+			// Draw a marker. 
+			canvas.drawLine(px, py-radius, px, py-radius+10, markerPaint);
+			canvas.save(); 
+			canvas.translate(0, textHeight);
+			// Draw the cardinal points 
+			if (i % 6 == 0) {
+				String dirString = null;
+				switch (i) {
+				case 0 : {
+					dirString = northString; 
+					int arrowY = 2*textHeight; 
+					canvas.drawLine(px, arrowY, px-5, 3*textHeight, markerPaint);
+					canvas.drawLine(px, arrowY, px+5, 3*textHeight, markerPaint);
+					break;
+				}
+				case 6: dirString = eastString; break;
+				case 12: dirString = southString; break;
+				case 18: dirString = westString; break;
+				}
+				canvas.drawText(dirString, cardinalX, cardinalY, textPaint);
+			}
+			else if (i % 3 == 0) { 
+				// Draw the text every alternate 45deg 
+				String angle = String.valueOf(i*15); 
+				float angleTextWidth = textPaint.measureText(angle);
+
+				int angleTextX = (int)(px-angleTextWidth/2); 
+				int angleTextY = py-radius+textHeight; 
+				canvas.drawText(angle, angleTextX, angleTextY, textPaint);
+			}
+			canvas.restore();
+			canvas.rotate(15, px, py);
+		}
+		canvas.restore();		
+	}
+}

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

@@ -12,12 +12,21 @@ public class HomePage extends ObjectManagerActivity {
 	public void onCreate(Bundle savedInstanceState) {
 		super.onCreate(savedInstanceState);		
 		setContentView(R.layout.gcs_home);		
+		
 		Button objectBrowser = (Button) findViewById(R.id.launch_object_browser);
 		objectBrowser.setOnClickListener(new OnClickListener() {
 			public void onClick(View arg0) {
 				startActivity(new Intent(HomePage.this, ObjectBrowser.class));	
 			}			
 		});
+		
+		Button pfd = (Button) findViewById(R.id.launch_pfd);
+		pfd.setOnClickListener(new OnClickListener() {
+			public void onClick(View arg0) {
+				startActivity(new Intent(HomePage.this, PFD.class));	
+			}			
+		});
+
 	}
 
 }

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

@@ -0,0 +1,51 @@
+package org.openpilot.androidgcs;
+
+import java.util.Observable;
+import java.util.Observer;
+
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObject;
+
+import android.os.Bundle;
+
+public class PFD extends ObjectManagerActivity {
+
+	double heading;
+	double roll;
+	double pitch;
+
+	Runnable update = new Runnable() {
+		public void run() {
+			CompassView compass = (CompassView) findViewById(R.id.compass_view);
+			compass.setBearing((int) heading);
+			compass.invalidate();
+
+			AttitudeView attitude = (AttitudeView) findViewById(R.id.attitude_view);
+			attitude.setRoll(roll / 180 * Math.PI);
+			attitude.setPitch(pitch / 180 * Math.PI);
+			attitude.invalidate();
+		}		
+	};
+
+	@Override
+	public void onCreate(Bundle savedInstanceState) {
+		super.onCreate(savedInstanceState);
+		setContentView(R.layout.pfd);
+	}	
+
+	@Override
+	void onOPConnected() {
+
+		UAVObject obj = objMngr.getObject("AttitudeActual");
+		if(obj != null)
+			obj.addUpdatedObserver(new Observer() {				
+				public void update(Observable observable, Object data) {
+					UAVDataObject obj = (UAVDataObject) data;
+					heading = obj.getField("Yaw").getDouble();
+					pitch = obj.getField("Pitch").getDouble();
+					roll = obj.getField("Roll").getDouble();
+					runOnUiThread(update);
+				}
+			});
+	}				
+}