@Override
protected void onAttachedToWindow() {
super.onAttachedToWindow();
DJIBaseProduct product = DJISampleApplication.getProductInstance();
if (product == null || !product.isConnected()) {
Utils.setResultToToast(mContext, "Disconnect");
mMissionManager = null;
mFlightController = null;
return;
} else {
mMissionManager = product.getMissionManager();
if (product instanceof DJIAircraft) {
mFlightController = ((DJIAircraft) product).getFlightController();
}
if (mMissionManager != null) {
// The callback method is implemented in the subclasses
mMissionManager.setMissionProgressStatusCallback(this);
}
if (mFlightController != null) {
mFlightController.setUpdateSystemStateCallback(
new DJIFlightControllerDelegate.FlightControllerUpdateSystemStateCallback() {
@Override
public void onResult(
DJIFlightControllerDataType.DJIFlightControllerCurrentState state) {
mHomeLatitude = state.getHomeLocation().getLatitude();
mHomeLongitude = state.getHomeLocation().getLongitude();
flightState = state.getFlightMode();
Utils.setResultToText(
mContext,
mFCPushInfoTV,
"home point latitude: "
+ mHomeLatitude
+ "\nhome point longitude: "
+ mHomeLongitude
+ "\nFlight state: "
+ flightState.name());
}
});
}
}
}
@Override
protected void onAttachedToWindow() {
super.onAttachedToWindow();
if (DJIModuleVerificationUtil.isFlightControllerAvailable()) {
flightController =
((DJIAircraft) DJISampleApplication.getProductInstance()).getFlightController();
intelligentFlightAssistant = flightController.getIntelligentFlightAssistant();
if (intelligentFlightAssistant != null) {
intelligentFlightAssistant.setVisionDetectionStateUpdatedCallback(
new DJIIntelligentFlightAssistant.VisionDetectionStateUpdatedCallback() {
@Override
public void onStateUpdated(
DJIIntelligentFlightAssistant.DJIVisionDetectionState djiVisionDetectionState) {
if (null != djiVisionDetectionState) {
mStringBuffer.delete(0, mStringBuffer.length());
List<DJIIntelligentFlightAssistant.DJIVisionDetectionSector>
visionDetectionSectorList = djiVisionDetectionState.getDetectionSectors();
for (DJIIntelligentFlightAssistant.DJIVisionDetectionSector
visionDetectionSector : visionDetectionSectorList) {
visionDetectionSector.getObstacleDistanceInMeters();
visionDetectionSector.getWarningLevel();
mStringBuffer
.append("Obstacle distance: ")
.append(visionDetectionSector.getObstacleDistanceInMeters())
.append("\n");
mStringBuffer
.append("Distance warning: ")
.append(visionDetectionSector.getWarningLevel())
.append("\n");
}
mStringBuffer
.append("WarningLevel: ")
.append(djiVisionDetectionState.getWarningLevel().toString())
.append("\n");
mStringBuffer
.append("Braking state: ")
.append(djiVisionDetectionState.isBraking())
.append("\n");
mStringBuffer
.append("Sensor state: ")
.append(djiVisionDetectionState.isSensorWorking())
.append("\n");
mHandler.sendEmptyMessage(SET_CHANGE_STATUS);
}
}
});
}
} else {
Log.i("$$$$$$$$$$$$$$$$$$$", "onAttachedToWindow FC NOT Available");
}
}
@Override
public void onClick(View v) {
mMissionManager = DJIMissionManager.getInstance();
if (DJISampleApplication.getProductInstance() instanceof DJIAircraft
&& !Utils.checkGpsCoordinate(mHomeLatitude, mHomeLongitude)
&& mFlightController != null) {
final CountDownLatch cdl = new CountDownLatch(1);
mFlightController.getHomeLocation(
new DJIBaseComponent.DJICompletionCallbackWith<
DJIFlightControllerDataType.DJILocationCoordinate2D>() {
@Override
public void onSuccess(DJIFlightControllerDataType.DJILocationCoordinate2D t) {
mHomeLatitude = t.getLatitude();
mHomeLongitude = t.getLongitude();
Utils.setResultToText(
mContext,
mFCPushInfoTV,
"home point latitude: "
+ mHomeLatitude
+ "\nhome point longitude: "
+ mHomeLongitude
+ "\nFlight state: "
+ (flightState == null ? "" : flightState.name()));
}
@Override
public void onFailure(DJIError error) {
cdl.countDown();
}
});
try {
cdl.await(500, TimeUnit.MILLISECONDS);
} catch (InterruptedException e) {
e.printStackTrace();
}
if (!Utils.checkGpsCoordinate(mHomeLatitude, mHomeLongitude)) {
Utils.setResultToToast(mContext, "Home coordinates not yet set...");
return;
}
}
switch (v.getId()) {
case R.id.btn_prepare:
mDJIMission = initMission();
if (mDJIMission == null) {
Utils.setResultToToast(mContext, "Please choose a mission type...");
}
mMissionManager.prepareMission(
mDJIMission,
new DJIMission.DJIMissionProgressHandler() {
@Override
public void onProgress(DJIMission.DJIProgressType type, float progress) {
setProgressBar((int) (progress * 100f));
}
},
new DJICompletionCallback() {
@Override
public void onResult(DJIError error) {
if (error == null) {
Utils.setResultToToast(mContext, "Success!");
} else {
Utils.setResultToToast(mContext, "Prepare: " + error.getDescription());
}
}
});
break;
case R.id.btn_start:
if (mDJIMission != null) {
mMissionManager.setMissionExecutionFinishedCallback(
new DJICompletionCallback() {
@Override
public void onResult(DJIError error) {
Utils.setResultToToast(
mContext,
"Mission executing result: "
+ (error == null ? "Success" : error.getDescription()));
if (mDJIMission instanceof DJIPanoramaMission) {
try {
Thread.sleep(1500);
} catch (InterruptedException e) {
e.printStackTrace();
}
((DJIPanoramaMission) mDJIMission)
.getPanoramaMediaFile(
new DJIBaseComponent.DJICompletionCallbackWith<DJIMedia>() {
@Override
public void onSuccess(DJIMedia djiMedia) {
Utils.setResultToToast(mContext, "Index: " + djiMedia.getId());
}
@Override
public void onFailure(DJIError djiError) {
Utils.setResultToToast(mContext, "Get panorama media file failed!");
}
});
}
}
});
}
// For the panorama mission, there will be no callback in some cases, we will fix it in next
// version.
mMissionManager.startMissionExecution(
new DJICompletionCallback() {
@Override
public void onResult(DJIError mError) {
if (mError == null) {
if (mDJIMission instanceof DJIFollowMeMission && mUpdateSimLocateThread == null) {
mUpdateSimLocateThread =
new UpdateFollowmeSimLocationThread(
mDJIMission, mHomeLatitude, mHomeLongitude);
mUpdateSimLocateThread.start();
}
} else {
Utils.setResultToToast(mContext, "Start: " + mError.getDescription());
}
}
});
break;
case R.id.btn_stop:
mMissionManager.stopMissionExecution(
new DJICompletionCallback() {
@Override
public void onResult(DJIError mError) {
if (mError == null) {
Utils.setResultToToast(mContext, "Success!");
if (mUpdateSimLocateThread != null) {
mUpdateSimLocateThread.stopRunning();
mUpdateSimLocateThread = null;
}
} else {
Utils.setResultToToast(mContext, "Stop: " + mError.getDescription());
}
}
});
break;
case R.id.btn_pause:
mMissionManager.pauseMissionExecution(
new DJICompletionCallback() {
@Override
public void onResult(DJIError mError) {
if (mError == null) {
Utils.setResultToToast(mContext, "Success!");
if (mUpdateSimLocateThread != null) {
mUpdateSimLocateThread.setIsPause(true);
}
} else {
Utils.setResultToToast(mContext, "Pause: " + mError.getDescription());
}
}
});
break;
case R.id.btn_resume:
mMissionManager.resumeMissionExecution(
new DJICompletionCallback() {
@Override
public void onResult(DJIError mError) {
if (mError == null) {
Utils.setResultToToast(mContext, "Success!");
if (mUpdateSimLocateThread != null) {
mUpdateSimLocateThread.setIsPause(false);
}
} else {
Utils.setResultToToast(mContext, "Resume" + mError.getDescription());
}
}
});
break;
case R.id.btn_download:
// download action only downloads the currently executing missions' data
mMissionManager.downloadMission(
new DJIMission.DJIMissionProgressHandler() {
@Override
public void onProgress(DJIMission.DJIProgressType type, float progress) {
setProgressBar((int) (progress * 100f));
}
},
new DJIBaseComponent.DJICompletionCallbackWith<DJIMission>() {
@Override
public void onSuccess(DJIMission mission) {
StringBuffer sb = new StringBuffer();
// we do this check to ensure the download data is only for the
// currently executing mission and is independent of the
// view the user is looking at
if (mission instanceof DJIWaypointMission) {
Utils.addLineToSB(sb, "Repeat num", ((DJIWaypointMission) mission).repeatNum);
Utils.addLineToSB(sb, "Heading mode", ((DJIWaypointMission) mission).headingMode);
Utils.addLineToSB(
sb, "Finish action", ((DJIWaypointMission) mission).finishedAction);
Utils.addLineToSB(
sb, "Flight path mode", ((DJIWaypointMission) mission).flightPathMode);
Utils.addLineToSB(
sb, "Max flight speed", ((DJIWaypointMission) mission).maxFlightSpeed);
Utils.addLineToSB(
sb, "Auto flight speed", ((DJIWaypointMission) mission).autoFlightSpeed);
} else if (mission instanceof DJIHotPointMission) {
Utils.addLineToSB(sb, "Latitude", ((DJIHotPointMission) mission).latitude);
Utils.addLineToSB(sb, "Longitude", ((DJIHotPointMission) mission).longitude);
Utils.addLineToSB(sb, "Altitude", ((DJIHotPointMission) mission).altitude);
Utils.addLineToSB(sb, "Surround radius", ((DJIHotPointMission) mission).radius);
Utils.addLineToSB(
sb, "Angular velocity", ((DJIHotPointMission) mission).angularVelocity);
Utils.addLineToSB(sb, "Is clockwise", ((DJIHotPointMission) mission).isClockwise);
Utils.addLineToSB(sb, "Entry point", ((DJIHotPointMission) mission).startPoint);
Utils.addLineToSB(sb, "Heading mode", ((DJIHotPointMission) mission).heading);
} else if (mission instanceof DJIFollowMeMission) {
Utils.addLineToSB(sb, "Heading mode", ((DJIFollowMeMission) mission).heading);
} else {
sb.append("Unknown mission instance!");
}
Utils.setResultToToast(mContext, sb.toString());
}
public void onFailure(DJIError error) {
Utils.setResultToToast(mContext, "Download: " + error.getDescription());
}
});
break;
default:
break;
}
}