Example #1
0
 private void updateDials(
     Waypoint actual, Waypoint desired, ErrorVector error, Location location) {
   System.out.println("Updating Dials");
   compassView.setBearing(location.getBearing());
   compassView.setGlide(error.magVert);
   compassView.setCourseBearing(ErrorVector.courseBearing(desired));
   compassView.setCourseDeviation(error.XTE);
   compassView.setATE(error.ATE);
   compassView.setDistance(error.magHorz);
   compassView.setDesiredVelocity(ErrorVector.velocityRequired(actual, desired)[0]);
   compassView.setDVelocityAngle(ErrorVector.velocityRequired(actual, desired)[1]);
   compassView.setVelocityExcess(location.getSpeed());
   compassView.setVelocityExcessAngle(location.getBearing());
   compassView.setTime(actual.time);
   compassView.setCurrent((int) desired.time);
   compassView.invalidate();
 }
Example #2
0
  private void updatePosition(Location location) {
    System.out.println("Updating position");
    currentTime = System.currentTimeMillis() / 1000.0 - startTime + timeBuffer - offset;
    System.out.println("current time nearest" + currentTime);
    Waypoint desiredLocation = Waypoint.getNearestWaypoint(course, currentTime);
    System.out.println("nearest waypoint: " + desiredLocation.toString());
    double lat = location.getLatitude();
    double lon = location.getLongitude();
    System.out.println("longitude: " + lon);
    double alt = location.getAltitude();
    System.out.println("altitude: " + alt);
    Waypoint actual = new Waypoint(lat, lon, alt, currentTime, null, null);

    log.add(actual.toString());
    // write log to file each time, or get rid of log entirely
    System.out.println("theta before" + desiredLocation.time);
    ErrorVector currentError = ErrorVector.errorVector(actual, desiredLocation);
    updateDials(actual, desiredLocation, currentError, location);
  }
Example #3
0
  @Override
  public void onCreate(Bundle icicle) {
    super.onCreate(icicle);
    setContentView(R.layout.main);
    compassView = (CompassView) this.findViewById(R.id.compassView1);
    log = new ArrayList<String>();
    locMan = (LocationManager) getSystemService(Context.LOCATION_SERVICE);
    try {
      String root = Environment.getExternalStorageDirectory().toString();
      File myDir = new File(root + "/HSI/inputs");
      myDir.mkdirs();
      File input = new File(myDir, filename);
      if (input.exists()) {
        DataInputStream dataIO = new DataInputStream(new FileInputStream(input));
        String line;
        if ((line = dataIO.readLine()) != null) {
          System.out.println("got header: " + line);
          String[] gdata = line.split(",");
          offset = Double.valueOf(gdata[0]);
          int vForward = Integer.valueOf(gdata[1]);
          ErrorVector.setVelocityForward(vForward);
          dataIO.close();
          course = Waypoint.getWaypoints(this, filename);
        } else {
          System.out.println("file empty, idiot!");
        }
      } else {
        System.out.println("file doesn't exist, idiot!");
        AssetManager am = getAssets();
        InputStream is = am.open(filename);
        DataInputStream dataIO = new DataInputStream(is);
        String strLine = null;
        if ((strLine = dataIO.readLine()) == null) {
          System.out.println("file is empty, idiot!");
        } else {
          String[] gdata = strLine.split(",");
          offset = Double.valueOf(gdata[0]);
          int vForward = Integer.valueOf(gdata[1]);
          ErrorVector.setVelocityForward(vForward);
          dataIO.close();
          course = Waypoint.getWaypoints(this, filename);
        }
      }
    } catch (IOException e) {
      // TODO Auto-generated catch block
      e.printStackTrace();
    }

    course = Waypoint.getWaypoints(this, filename);
    timeBuffer = (course.get(0).time);
    System.out.println("nearest buffer" + timeBuffer + " ," + course.size());
    //		course.remove(0);
    startTime = System.currentTimeMillis() / 1000.0;

    criteria = new Criteria();
    criteria.setSpeedRequired(true);
    criteria.setBearingRequired(true);
    criteria.setAltitudeRequired(true);
    compassView.invalidate();
    // try to sleep this each iteration
    while ((bestProvider = locMan.getBestProvider(criteria, false)) == null) {
      System.out.println("Searching for provider.");
      continue;
    }
    loclis =
        new LocationListener() {
          @Override
          public void onLocationChanged(Location location) {
            System.out.println("about to update position");
            updatePosition(location);
          }

          @Override
          public void onProviderDisabled(String provider) {}

          @Override
          public void onProviderEnabled(String provider) {}

          @Override
          public void onStatusChanged(String provider, int status, Bundle extras) {}
        };

    locMan.requestLocationUpdates(bestProvider, minTime, minDistance, loclis);
  }