From fcb3e8c15274b41e203edf4d2ff7bc6507421104 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 8 Aug 2012 16:24:30 -0500
Subject: [PATCH] AndroidGCS: Check in a FragmentTester class and add it to the
 home page. Use it to the beginnings of the MapPosition fragment.

---
 androidgcs/AndroidManifest.xml                |   1 +
 androidgcs/res/layout/gcs_home.xml            |  16 +-
 androidgcs/res/layout/map_positioner.xml      |  20 ++
 androidgcs/res/values/strings.xml             |   1 +
 .../openpilot/androidgcs/FragmentTester.java  |  57 +++++
 .../org/openpilot/androidgcs/HomePage.java    |   8 +
 .../androidgcs/fragments/MapPositioner.java   | 229 ++++++++++++++++++
 7 files changed, 330 insertions(+), 2 deletions(-)
 create mode 100644 androidgcs/res/layout/map_positioner.xml
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/FragmentTester.java
 create mode 100644 androidgcs/src/org/openpilot/androidgcs/fragments/MapPositioner.java

diff --git a/androidgcs/AndroidManifest.xml b/androidgcs/AndroidManifest.xml
index 1fbb16f55..ae46a8752 100644
--- a/androidgcs/AndroidManifest.xml
+++ b/androidgcs/AndroidManifest.xml
@@ -33,6 +33,7 @@
 			android:theme="@android:style/Theme.Dialog" />
 		<activity android:name="Logger" android:label="Logger"
 		    android:theme="@android:style/Theme.Dialog" />
+		<activity android:name="FragmentTester" android:label="FragmentTester" />
 
 		<receiver android:name="TelemetryWidget">
 			<intent-filter>
diff --git a/androidgcs/res/layout/gcs_home.xml b/androidgcs/res/layout/gcs_home.xml
index 82f638b98..2819cf29a 100644
--- a/androidgcs/res/layout/gcs_home.xml
+++ b/androidgcs/res/layout/gcs_home.xml
@@ -65,7 +65,7 @@
         android:drawableTop="@drawable/ic_logging"
         android:text="@string/logger_name" />
 
-        <Button
+    <Button
         android:id="@+id/launch_alarms"
         android:layout_width="132dp"
         android:layout_height="wrap_content"
@@ -76,7 +76,19 @@
         android:background="@android:color/transparent"
         android:drawableTop="@drawable/ic_alarms"
         android:text="@string/alarms" />
-    
+
+    <Button
+        android:id="@+id/launch_tester"
+        android:layout_width="132dp"
+        android:layout_height="wrap_content"
+        android:layout_column="0"
+        android:layout_gravity="right"
+        android:layout_row="6"
+        android:layout_rowSpan="2"
+        android:background="@android:color/transparent"
+        android:drawableTop="@drawable/ic_alarms"
+        android:text="@string/tester" />
+
     <Space
         android:layout_width="1dp"
         android:layout_height="32dp"
diff --git a/androidgcs/res/layout/map_positioner.xml b/androidgcs/res/layout/map_positioner.xml
new file mode 100644
index 000000000..7cbce13ac
--- /dev/null
+++ b/androidgcs/res/layout/map_positioner.xml
@@ -0,0 +1,20 @@
+<?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" >
+
+    <SeekBar
+        android:id="@+id/altitude_slider"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:max="50" />
+    
+    <FrameLayout
+        android:id="@+id/map_view"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        android:background="@drawable/map_positioner_background" >
+    </FrameLayout>
+
+</LinearLayout>
\ No newline at end of file
diff --git a/androidgcs/res/values/strings.xml b/androidgcs/res/values/strings.xml
index 18de8b766..b7fd43909 100644
--- a/androidgcs/res/values/strings.xml
+++ b/androidgcs/res/values/strings.xml
@@ -32,4 +32,5 @@
 	<string name="alarms">Alarms</string>
 	<string name="txrate">TxRate: </string>
 	<string name="rxrate">RxRate: </string>
+	<string name="tester">Tester</string>
 </resources>
diff --git a/androidgcs/src/org/openpilot/androidgcs/FragmentTester.java b/androidgcs/src/org/openpilot/androidgcs/FragmentTester.java
new file mode 100644
index 000000000..1ed1f6c7e
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/FragmentTester.java
@@ -0,0 +1,57 @@
+/**
+ ******************************************************************************
+ * @file       FragmentTester.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      An activity that displays the SystemAlarmsFragment.
+ * @see        The GNU Public License (GPL) Version 3
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+package org.openpilot.androidgcs;
+
+import org.openpilot.androidgcs.fragments.MapPositioner;
+
+import android.app.FragmentTransaction;
+import android.os.Bundle;
+import android.view.View;
+import android.widget.AbsListView;
+import android.widget.LinearLayout;
+
+public class FragmentTester extends ObjectManagerActivity {
+	@Override
+	public void onCreate(Bundle savedInstanceState) {
+		super.onCreate(savedInstanceState);
+		setContentView(createUI());
+	}
+
+	private View createUI() {
+		LinearLayout layout = new LinearLayout(this);
+
+		layout.setOrientation(LinearLayout.HORIZONTAL);
+		layout.setLayoutParams(new LinearLayout.LayoutParams(
+				AbsListView.LayoutParams.MATCH_PARENT,
+				AbsListView.LayoutParams.MATCH_PARENT));
+		layout.setId(0x101);
+		{
+			FragmentTransaction fragmentTransaction = getFragmentManager()
+					.beginTransaction();
+			fragmentTransaction.add(0x101, new MapPositioner());
+			fragmentTransaction.commit();
+		}
+		return layout;
+	}
+}
+
diff --git a/androidgcs/src/org/openpilot/androidgcs/HomePage.java b/androidgcs/src/org/openpilot/androidgcs/HomePage.java
index 12833df2f..44d50b3b3 100644
--- a/androidgcs/src/org/openpilot/androidgcs/HomePage.java
+++ b/androidgcs/src/org/openpilot/androidgcs/HomePage.java
@@ -83,6 +83,14 @@ public class HomePage extends ObjectManagerActivity {
 				startActivity(new Intent(HomePage.this, SystemAlarmActivity.class));
 			}
 		});
+
+		Button tester = (Button) findViewById(R.id.launch_tester);
+		tester.setOnClickListener(new OnClickListener() {
+			@Override
+			public void onClick(View arg0) {
+				startActivity(new Intent(HomePage.this, FragmentTester.class));
+			}
+		});
 	}
 
 }
diff --git a/androidgcs/src/org/openpilot/androidgcs/fragments/MapPositioner.java b/androidgcs/src/org/openpilot/androidgcs/fragments/MapPositioner.java
new file mode 100644
index 000000000..e4d2b266e
--- /dev/null
+++ b/androidgcs/src/org/openpilot/androidgcs/fragments/MapPositioner.java
@@ -0,0 +1,229 @@
+/**
+ ******************************************************************************
+ * @file       MapPositioner.java
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @brief      A fragmenet to move the UAV around by dragging
+ * @see        The GNU Public License (GPL) Version 3
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+ package org.openpilot.androidgcs.fragments;
+
+import org.openpilot.androidgcs.R;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVObjectManager;
+
+import android.content.Context;
+import android.graphics.Canvas;
+import android.graphics.Color;
+import android.graphics.Paint;
+import android.graphics.drawable.Drawable;
+import android.os.Bundle;
+import android.util.Log;
+import android.view.LayoutInflater;
+import android.view.MotionEvent;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.FrameLayout;
+import android.widget.SeekBar;
+
+public class MapPositioner extends ObjectManagerFragment {
+
+	private static final String TAG = ObjectManagerFragment.class
+			.getSimpleName();
+	private static final int LOGLEVEL = 0;
+	private static final boolean DEBUG = LOGLEVEL > 0;
+
+	private final float MAX_DISTANCE_M = 50.0f;
+
+	float px_to_m(View v, float px) {
+		final float MAX_DISTANCE_PX = Math.max(v.getMeasuredHeight(),
+				v.getMeasuredWidth());
+		float scale = MAX_DISTANCE_M / MAX_DISTANCE_PX;
+		return px * scale;
+	}
+
+	float m_to_px(View v, float m) {
+		final float MAX_DISTANCE_PX = Math.max(v.getMeasuredHeight(),
+				v.getMeasuredWidth());
+		float scale = MAX_DISTANCE_M / MAX_DISTANCE_PX;
+		return m / scale;
+	}
+
+	@Override
+	public View onCreateView(LayoutInflater inflater, ViewGroup container,
+			Bundle savedInstanceState) {
+
+		super.onCreate(savedInstanceState);
+		return inflater.inflate(R.layout.map_positioner, container, false);
+	}
+
+	private float pos_x = 0, pos_y = 0;
+	private float desired_x = 0, desired_y = 0, desired_z = 0;
+	//private final float poi_x = 1, poi_y = 1;
+	private UAVOverlay uav = null;
+
+	public class UAVOverlay extends View {
+
+		Paint paint = null;
+
+		public UAVOverlay(Context context) {
+			super(context);
+			paint = new Paint();
+			paint.setColor(Color.WHITE);
+			paint.setTextSize(20);
+		}
+
+		private void draw(Canvas canvas, int resource, float x, float y) {
+			Drawable icon = getContext().getResources().getDrawable(resource);
+			final int offset_x = canvas.getWidth() / 2;
+			final int offset_y = canvas.getHeight() / 2;
+			final int SIZE = 50 / 2;
+			icon.setBounds((int) x - SIZE + offset_x, (int) y - SIZE + offset_y,
+					(int) x + SIZE + offset_x, (int) y + SIZE + offset_y);
+			icon.draw(canvas);
+
+		}
+
+		@Override
+		/**
+		 * Draw the UAV, the position desired, and the camera POI
+		 */
+		protected void onDraw(Canvas canvas) {
+			draw(canvas, R.drawable.map_positioner_uav, (int) m_to_px(this, pos_x), (int) m_to_px(this, pos_y));
+			draw(canvas, R.drawable.map_positioner_waypoint, (int) m_to_px(this, desired_x), (int) -m_to_px(this, desired_y));
+			//draw(canvas, R.drawable.map_positioner_poi, (int) m_to_px(this, poi_x), (int) -m_to_px(this, poi_y));
+
+			// Annotate the desired position
+			canvas.drawText("(" + String.format("%.1f",desired_x) + "," + String.format("%.1f",desired_y) + "," + String.format("%.1f",desired_z) + ")",
+					m_to_px(this, desired_x) + canvas.getWidth() / 2 + 25,
+					-m_to_px(this, desired_y) + canvas.getHeight() / 2, paint);
+		}
+
+	};
+
+	public void connectTouch() {
+		if (DEBUG)
+			Log.d(TAG, "Connected touch listener()");
+		View v = getActivity().findViewById(R.id.map_view);
+		if (v != null)
+			v.setOnTouchListener(new View.OnTouchListener() {
+				@Override
+				public boolean onTouch(View v, MotionEvent event) {
+					switch (event.getActionMasked()) {
+					case MotionEvent.ACTION_DOWN:
+					case MotionEvent.ACTION_MOVE:
+						UAVObject desired = objMngr.getObject("PathDesired");
+						if (desired != null) {
+							if (DEBUG) Log.d(TAG, "Updating path desired");
+							desired.getField("End").setDouble(px_to_m(v, (int) event.getX() - v.getMeasuredWidth() / 2), 1);
+							desired.getField("End").setDouble(px_to_m(v, -(event.getY() - v.getMeasuredHeight() / 2)), 0);
+							desired.updated();
+							if (uav != null)
+								uav.invalidate();
+						}
+						break;
+					}
+					return true;
+				}
+			});
+		else
+			if (DEBUG)
+				Log.d(TAG, "No view");
+
+		FrameLayout f = (FrameLayout) getActivity().findViewById(R.id.map_view);
+		uav = new UAVOverlay(getActivity().getBaseContext());
+		f.addView(uav);
+	}
+
+	@Override
+	public void onStart() {
+		super.onStart();
+		if (DEBUG)
+			Log.d(TAG, "onStart()");
+		connectTouch();
+
+		SeekBar altitudeBar = (SeekBar) getActivity().findViewById(R.id.altitude_slider);
+		if(altitudeBar != null)
+			altitudeBar.setOnSeekBarChangeListener(new SeekBar.OnSeekBarChangeListener() {
+
+				@Override
+				public void onProgressChanged(SeekBar seekBar, int progress,
+						boolean fromUser) {
+					UAVObject desired = objMngr.getObject("PathDesired");
+					if (desired != null) {
+						if (DEBUG) Log.d(TAG, "Updating path desired");
+						desired.getField("End").setDouble(-progress, 2);
+						desired.updated();
+						if (uav != null)
+							uav.invalidate();
+					}
+
+				}
+
+				@Override
+				public void onStartTrackingTouch(SeekBar seekBar) {
+					// TODO Auto-generated method stub
+
+				}
+
+				@Override
+				public void onStopTrackingTouch(SeekBar seekBar) {
+					// TODO Auto-generated method stub
+
+				}
+
+			});
+	}
+
+	@Override
+	public void onOPConnected(UAVObjectManager objMngr) {
+		super.onOPConnected(objMngr);
+		if (DEBUG)
+			Log.d(TAG, "On connected");
+
+		UAVObject obj = objMngr.getObject("PositionActual");
+		if (obj != null)
+			registerObjectUpdates(obj);
+		objectUpdated(obj);
+
+		obj = objMngr.getObject("PathDesired");
+		if (obj != null)
+			registerObjectUpdates(obj);
+		objectUpdated(obj);
+	}
+
+	/**
+	 * Called whenever any objects subscribed to via registerObjects. Store the
+	 * local copy of the information.
+	 */
+	@Override
+	public void objectUpdated(UAVObject obj) {
+		if (obj.getName().compareTo("PositionActual") == 0) {
+			pos_x = (int) obj.getField("East").getDouble();
+			pos_y = (int) obj.getField("North").getDouble();
+			uav.invalidate();
+		}
+		if (obj.getName().compareTo("PathDesired") == 0) {
+			desired_x = (float) obj.getField("End").getDouble(1);
+			desired_y = (float) obj.getField("End").getDouble(0);
+			desired_z = (float) obj.getField("End").getDouble(2);
+			uav.invalidate();
+		}
+	}
+
+
+}