@Override
protected void onDestroy() {
// TODO Auto-generated method stub
if (DJIDrone.getDjiCamera() != null) DJIDrone.getDjiCamera().setReceivedVideoDataCallBack(null);
mDjiGLSurfaceView.destroy();
if (mCheckModeForPauseTimer != null) {
mCheckModeForPauseTimer.cancel();
mCheckModeForPauseTimer.purge();
mCheckModeForPauseTimer = null;
}
super.onDestroy();
}
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_gs_protocol_joystick_demo);
mDjiGLSurfaceView = (DjiGLSurfaceView) findViewById(R.id.DjiSurfaceView_gs);
mOpenGsButton = (Button) findViewById(R.id.OpenGsButton);
mAddOneWaypointButton = (Button) findViewById(R.id.AddWaypointButton);
mUploadWaypointButton = (Button) findViewById(R.id.UploadWaypointButton);
mTakeOffButton = (Button) findViewById(R.id.TakeOffButton);
mGohomeButton = (Button) findViewById(R.id.GohomeButton);
mCloseGsButton = (Button) findViewById(R.id.CloseGsButton);
mPauseButton = (Button) findViewById(R.id.PauseButton);
mResumeButton = (Button) findViewById(R.id.ResumeButton);
mConnectStateTextView = (TextView) findViewById(R.id.ConnectStateGsTextView);
mScreenJoystickRight = (OnScreenJoystick) findViewById(R.id.directionJoystickRight);
mScreenJoystickLeft = (OnScreenJoystick) findViewById(R.id.directionJoystickLeft);
mOneKeyFlyButton = (Button) findViewById(R.id.OneKeyFlyButton);
mOpenGsButton.setOnClickListener(this);
mAddOneWaypointButton.setOnClickListener(this);
mUploadWaypointButton.setOnClickListener(this);
mTakeOffButton.setOnClickListener(this);
mGohomeButton.setOnClickListener(this);
mCloseGsButton.setOnClickListener(this);
mPauseButton.setOnClickListener(this);
mResumeButton.setOnClickListener(this);
mOneKeyFlyButton.setOnClickListener(this);
mScreenJoystickLeft.setJoystickListener(
new OnScreenJoystickListener() {
@Override
public void onTouch(OnScreenJoystick joystick, float pX, float pY) {
// TODO Auto-generated method stub
// Log.d(TAG ,"mScreenJoystickLeft "+pX+" "+pY);
int YawJoyControlMaxSpeed = 500;
yaw = (int) (YawJoyControlMaxSpeed * pX);
throttle = 0;
if (pY > 0) {
throttle = 1;
} else if (pY <= -0.9) {
// if(pY == -1){
// throttle = 2;
// }
throttle = 2;
}
// new Thread()
// {
// public void run()
// {
DJIDrone.getDjiGroundStation()
.setAircraftJoystick(
yaw,
pitch,
roll,
throttle,
new DJIGroundStationExecuteCallBack() {
@Override
public void onResult(GroundStationResult result) {
// TODO Auto-generated method stub
}
});
// }
// }.start();
}
});
mScreenJoystickRight.setJoystickListener(
new OnScreenJoystickListener() {
@Override
public void onTouch(OnScreenJoystick joystick, float pX, float pY) {
// TODO Auto-generated method stub
// Log.d(TAG ,"mScreenJoystickRight "+pX+" "+pY);
int PitchJoyControlMaxSpeed = 1000;
int RollJoyControlMaxSpeed = 1000;
pitch = (int) (PitchJoyControlMaxSpeed * pY);
roll = (int) (RollJoyControlMaxSpeed * pX);
// Log.d(TAG ,"mScreenJoystickRight pitch="+pitch);
// Log.d(TAG ,"mScreenJoystickRight roll="+roll);
// new Thread()
// {
// public void run()
// {
DJIDrone.getDjiGroundStation()
.setAircraftJoystick(
yaw,
pitch,
roll,
throttle,
new DJIGroundStationExecuteCallBack() {
@Override
public void onResult(GroundStationResult result) {
// TODO Auto-generated method stub
}
});
// }
// }.start();
}
});
mDjiGLSurfaceView.start();
mReceivedVideoDataCallBack =
new DJIReceivedVideoDataCallBack() {
@Override
public void onResult(byte[] videoBuffer, int size) {
// TODO Auto-generated method stub
mDjiGLSurfaceView.setDataToDecoder(videoBuffer, size);
}
};
DJIDrone.getDjiCamera().setReceivedVideoDataCallBack(mReceivedVideoDataCallBack);
mMcuUpdateStateCallBack =
new DJIMcuUpdateStateCallBack() {
@Override
public void onResult(DJIMainControllerSystemState state) {
// TODO Auto-generated method stub
// Log.e(TAG, "DJIMainControllerSystemState homeLocationLatitude "
// +state.homeLocationLatitude);
// Log.e(TAG, "DJIMainControllerSystemState homeLocationLongitude "
// +state.homeLocationLongitude);
homeLocationLatitude = state.homeLocationLatitude;
homeLocationLongitude = state.homeLocationLongitude;
aircraftLocationLatitude = state.droneLocationLatitude;
aircraftLocationLongitude = state.droneLocationLongitude;
isFlying = state.isFlying;
if (homeLocationLatitude != -1
&& homeLocationLongitude != -1
&& homeLocationLatitude != 0
&& homeLocationLongitude != 0) {
getHomePiontFlag = true;
} else {
getHomePiontFlag = false;
}
}
};
DJIDrone.getDjiMC().setMcuUpdateStateCallBack(mMcuUpdateStateCallBack);
mGroundStationFlyingInfoCallBack =
new DJIGroundStationFlyingInfoCallBack() {
@Override
public void onResult(DJIGroundStationFlyingInfo flyingInfo) {
// TODO Auto-generated method stub
// Log.e(TAG, "DJIGroundStationFlyingInfo homeLocationLatitude "
// +flyingInfo.homeLocationLatitude);
// Log.e(TAG, "DJIGroundStationFlyingInfo homeLocationLongitude "
// +flyingInfo.homeLocationLongitude);
mFlightMode = flyingInfo.flightMode;
}
};
DJIDrone.getDjiGroundStation()
.setGroundStationFlyingInfoCallBack(mGroundStationFlyingInfoCallBack);
mTask = new DJIGroundStationTask();
vibrator = (Vibrator) getSystemService(Context.VIBRATOR_SERVICE);
}