public void emergency() { // Emergency button
mScheduleTaskExecutor.shutdownNow();
mScheduleTaskExecutor = Executors.newSingleThreadScheduledExecutor();
mThreads.bWatchDog = true;
mThreads.StartEmergency();
AttenteMs(50);
}
/**
* This function stops the steering threads using a boolean, it stops the
*
* <p>timer and starts the Atterissage and Watchdog threads (the emergency landing
*
* <p>function is the same, only the thread and thus the associated command
*
* <p>change).
*/
public void atterissage() {
mScheduleTaskExecutor.shutdownNow();
mScheduleTaskExecutor = Executors.newSingleThreadScheduledExecutor();
mThreads.bWatchDog = true;
AttenteMs(50);
mThreads.StartAtterissage();
AttenteMs(50);
mThreads.StartWatchDog();
}
/**
* This function resets the variables (chronometer sequence, flight’s
*
* <p>Boolean ..) and then start Piloting threads, which use
*
* <p>EnvoiTrameUDP() function to send the AT command.
*/
public void decollage() {
mThreads.bWatchDog = false;
iVal = 1;
iSecondeU = 0;
iSecondeD = 0;
iMinuteU = 0;
iMinuteD = 0;
icSecondeU = 0;
icSecondeD = 0;
AttenteMs(50);
mThreads.Startdecollage();
AttenteMs(50);
mThreads.StartPilotage();
mScheduleTaskExecutor.scheduleAtFixedRate(mThreads.mTaskChrono, 0, 10, TimeUnit.MILLISECONDS);
}
/**
* This constructor receives as parameter the address and port of the drone
*
* <p>to instantiate and a command to send.
*
* <p>It instantiates GereThreads class that manages most of the necessary
*
* <p>threads in the application and NavdataReceiver class that get drone status and
*
* <p>data.
*
* <p>It also creates the socket and packet with CreationSocketPacket ()
*
* <p>function, and starts immediatly WatchDog thread to avoid losing the
*
* <p>connection.
*/
public DroneManager(
String CommandeStart,
String Adresse,
int iPort,
Drone_UI joyActivity) { // CONSTRUCTEUR RECOI l'objet de classe MainActivity en parametre
sAdresse = Adresse;
iPortDrone = iPort;
CommandeGenere = CommandeStart;
mJoy = joyActivity;
mThreads = new ThreadsManager(this);
udp_socket = CreationSocketPacket(CommandeStart, iPort, Adresse); // Socket creation
NavRec = new SensorData_Receiver(udp_socket);
mThreads.StartDonnee();
mThreads.StartWatchDog();
}
