From fc18dac90be3750c9d2690d234bb49829e29182d Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 5 Aug 2012 18:41:07 -0500
Subject: [PATCH] AndroidGCS: Joystick can now control UAV

---
 androidgcs/AndroidManifest.xml                |  2 +-
 androidgcs/res/values/strings.xml             |  2 +-
 .../org/openpilot/androidgcs/Controller.java  | 44 +++++++++++++++----
 .../openpilot/uavtalk/TelemetryMonitor.java   |  2 +-
 4 files changed, 38 insertions(+), 12 deletions(-)

diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index 3c99cff0d..132e91c39 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -23,7 +23,7 @@
 
 		<activity android:name="ObjectBrowser" android:label="@string/object_browser_name" />
 		<activity android:name="PFD" android:label="PFD" />
-		<activity android:name="Controller" android:label="@string/object_browser_name" />
+		<activity android:name="Controller" android:label="@string/controller_name" />
 		<activity android:name="Preferences" android:label="@string/preference_title" />
 		<activity android:name="UAVLocation" android:label="@string/location_name"/>
 		<activity android:name="ObjectEditor" android:label="ObjectEditor"
diff --git a/androidgcs/res/values/strings.xml b/androidgcs/res/values/strings.xml
index 02c3d3923..58a54cc04 100644
--- a/androidgcs/res/values/strings.xml
+++ b/androidgcs/res/values/strings.xml
@@ -2,6 +2,7 @@
 <resources>
 	<string name="app_name">OpenPilot GCS Home</string>
 	<string name="object_browser_name">Browser</string>
+	<string name="controller_name">Controller</string>
 	<string name="pfd_name">PFD</string>
 	<string name="location_name">Map</string>
 	<string name="logger_name">Logging</string>
@@ -25,6 +26,5 @@
 	<string name="update_button">Update</string>
 	<string name="save_button">Save</string>
 	<string name="send_button">Send</string>
-	<string name="controller_name">Controller</string>
 	<string name="manual_control_values_">Manual control values:</string>
 </resources>
diff --git a/androidgcs/src/org/openpilot/androidgcs/Controller.java b/androidgcs/src/org/openpilot/androidgcs/Controller.java
index 91f046afa..d87bb5c06 100644
--- a/androidgcs/src/org/openpilot/androidgcs/Controller.java
+++ b/androidgcs/src/org/openpilot/androidgcs/Controller.java
@@ -11,6 +11,7 @@ import org.openpilot.uavtalk.UAVObjectField;
 
 import com.MobileAnarchy.Android.Widgets.Joystick.DualJoystickView;
 import com.MobileAnarchy.Android.Widgets.Joystick.JoystickMovedListener;
+import com.MobileAnarchy.Android.Widgets.Joystick.JoystickView;
 
 import android.os.Bundle;
 import android.os.Handler;
@@ -50,6 +51,18 @@ public class Controller extends ObjectManagerActivity {
 			manualView.setText("Hello");
 	}
 
+	Observer settingsUpdated = new Observer() {
+		@Override
+		public void update(Observable observable, Object data) {
+			// Once we have updated settings we can active the GCS receiver mode
+			Log.d(TAG,"Got update from settings");
+			activateGcsReceiver();
+			UAVDataObject manualControlSettings = (UAVDataObject) objMngr.getObject("ManualControlSettings");
+			if(manualControlSettings != null) {
+				manualControlSettings.removeUpdatedObserver(this);
+			}
+		}
+	};
 	
 	@Override
 	void onOPConnected() {
@@ -60,16 +73,25 @@ public class Controller extends ObjectManagerActivity {
 		if(manualControl != null) {
 			manualControl.addUpdatedObserver(updatedObserver);
 		}
-		
-		activateGcsReceiver();
-		
-		DualJoystickView joystick = (DualJoystickView) findViewById(R.id.dualjoystickView);
 
+		
+		UAVDataObject manualControlSettings = (UAVDataObject) objMngr.getObject("ManualControlSettings");
+		if(manualControlSettings != null) {
+			Log.d(TAG, "Requested settings update");
+			manualControlSettings.addUpdatedObserver(updatedObserver);
+			manualControlSettings.updateRequested();
+		}		
+		
+		final double MOVEMENT_RANGE = 50.0;
+		DualJoystickView joystick = (DualJoystickView) findViewById(R.id.dualjoystickView);
+		joystick.setMovementConstraint(JoystickView.CONSTRAIN_BOX);
+		joystick.setMovementRange((int)MOVEMENT_RANGE, (int)MOVEMENT_RANGE);
+		
 		// 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;
+				pitch = (double) tilt / MOVEMENT_RANGE;
+				yaw = (double) pan / MOVEMENT_RANGE;
 				updated = true;
 				leftJoystickHeld = true;
 			}
@@ -78,8 +100,11 @@ public class Controller extends ObjectManagerActivity {
 			public void OnReturnedToCenter() { }
 		}, new JoystickMovedListener() {
 			public void OnMoved(int pan, int tilt) {
-				throttle = (double) (tilt + 10) / 20.0;
-				roll = (double) pan / 10.0;
+				throttle = (double) (-tilt + (MOVEMENT_RANGE -5)) / (MOVEMENT_RANGE - 5);
+				throttle *= 0.5;
+				if (throttle < 0)
+					throttle = -1;
+				roll = (double) pan / MOVEMENT_RANGE;
 				updated = true;
 				rightJoystickHeld = true;
 			}
@@ -120,7 +145,7 @@ public class Controller extends ObjectManagerActivity {
 				});
 			}
 		};
-		sendTimer.schedule(controllerTask, 500, 50);
+		sendTimer.schedule(controllerTask, 500, 100);
 	}
 
 	/**
@@ -155,6 +180,7 @@ public class Controller extends ObjectManagerActivity {
 	 */
 	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;
diff --git a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
index d1d7a9c44..5f80ff779 100644
--- a/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
+++ b/androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java
@@ -159,7 +159,7 @@ public class TelemetryMonitor extends Observable{
 //	    objPending = null;
 	    
 	    if(!success) {
-	    	Log.e(TAG, "Transaction failed: " + obj.getName() + " sending again.");
+	    	//Log.e(TAG, "Transaction failed: " + obj.getName() + " sending again.");
 	    	return;
 	    }