private void stopGroundStationTask() {
DJIDrone.getDjiGroundStation()
.pauseGroundStationTask(
new DJIGroundStationExecuteCallBack() {
@Override
public void onResult(DJIGroundStationTypeDef.GroundStationResult result) {
// TODO Auto-generated method stub
String ResultsString = "return code =" + result.toString();
handler.sendMessage(handler.obtainMessage(SHOWTOAST, ResultsString));
DJIDrone.getDjiGroundStation()
.closeGroundStation(
new DJIGroundStationExecuteCallBack() {
@Override
public void onResult(DJIGroundStationTypeDef.GroundStationResult result) {
// TODO Auto-generated method stub
String ResultsString = "return code =" + result.toString();
handler.sendMessage(handler.obtainMessage(SHOWTOAST, ResultsString));
}
});
}
});
mGroundStationTask.RemoveAllWaypoint();
}
private void uploadGroundStationTask() {
DJIDrone.getDjiGroundStation()
.openGroundStation(
new DJIGroundStationExecuteCallBack() {
@Override
public void onResult(DJIGroundStationTypeDef.GroundStationResult result) {
// TODO Auto-generated method stub
String ResultsString = "return code =" + result.toString();
handler.sendMessage(handler.obtainMessage(SHOWTOAST, ResultsString));
if (result == DJIGroundStationTypeDef.GroundStationResult.GS_Result_Success) {
DJIDrone.getDjiGroundStation()
.uploadGroundStationTask(
mGroundStationTask,
new DJIGroundStationExecuteCallBack() {
@Override
public void onResult(
DJIGroundStationTypeDef.GroundStationResult result) {
// TODO Auto-generated method stub
String ResultsString = "return code =" + result.toString();
handler.sendMessage(handler.obtainMessage(SHOWTOAST, ResultsString));
}
});
}
}
});
}
@Override
public void run() {
if (mFlightMode == GroundStationFlightMode.GS_Mode_Pause_1
|| mFlightMode == GroundStationFlightMode.GS_Mode_Pause_2
|| mFlightMode == GroundStationFlightMode.GS_Mode_Gps_Atti) {
if (checkGetHomePoint()) {
DJIDrone.getDjiGroundStation()
.pauseGroundStationTask(
new DJIGroundStationExecuteCallBack() {
@Override
public void onResult(GroundStationResult result) {
// TODO Auto-generated method stub
String ResultsString = "pause result =" + result.toString();
handler.sendMessage(handler.obtainMessage(SHOWTOAST, ResultsString));
if (result == GroundStationResult.GS_Result_Success) {
if (mCheckModeForPauseTimer != null) {
mCheckModeForPauseTimer.cancel();
mCheckModeForPauseTimer.purge();
mCheckModeForPauseTimer = null;
DealSuccessWithVibrate();
}
}
}
});
}
return;
}
// if(mFlightMode == GroundStationFlightMode.GS_Mode_Waypoint){
// if(checkGetHomePoint()){
// DJIDrone.getDjiGroundStation().pauseGroundStationTask(new
// DJIGroundStationHoverCallBack(){
//
// @Override
// public void onResult(GroundStationHoverResult result) {
// // TODO Auto-generated method stub
// String ResultsString = "pause return code =" + result.value();
// handler.sendMessage(handler.obtainMessage(SHOWTOAST,
// ResultsString));
//
// if(result == GroundStationHoverResult.GS_Hover_Successed){
// if(mCheckModeForPauseTimer != null){
// mCheckModeForPauseTimer.cancel();
// mCheckModeForPauseTimer.purge();
// mCheckModeForPauseTimer = null;
//
// DealSuccessWithVibrate();
// }
// }
// }
// });
// }
//
// }
Log.d(TAG, "mFlightMode==========>" + mFlightMode);
}
@Override
protected void onResume() {
// TODO Auto-generated method stub
mTimer = new Timer();
Task task = new Task();
mTimer.schedule(task, 0, 500);
DJIDrone.getDjiMC().startUpdateTimer(1000);
DJIDrone.getDjiGroundStation().startUpdateTimer(1000);
super.onResume();
}
@Override
protected void onPause() {
// TODO Auto-generated method stub
if (mTimer != null) {
mTimer.cancel();
mTimer.purge();
mTimer = null;
}
DJIDrone.getDjiMC().stopUpdateTimer();
DJIDrone.getDjiGroundStation().stopUpdateTimer();
super.onPause();
}
@Override
public void run() {
DJIDrone.getDjiGroundStation()
.pauseGroundStationTask(
new DJIGroundStationExecuteCallBack() {
@Override
public void onResult(DJIGroundStationTypeDef.GroundStationResult result) {
// TODO Auto-generated method stub
String ResultsString = "pause result =" + result.toString();
handler.sendMessage(handler.obtainMessage(SHOWTOAST, ResultsString));
if (result == DJIGroundStationTypeDef.GroundStationResult.GS_Result_Success) {
if (mCheckModeForPauseTimer != null) {
mCheckModeForPauseTimer.cancel();
mCheckModeForPauseTimer.purge();
mCheckModeForPauseTimer = null;
}
}
}
});
}
private void startGroundStationTask() {
// DJIDrone.getDjiMainController().getAircraftIocType(new DJIMcIocTypeCallBack(){
//
// @Override
// public void onResult(DJIMcIocType result) {
// // TODO Auto-generated method stub
// String ResultsString = "return code =" + result.toString();
// handler.sendMessage(handler.obtainMessage(SHOWTOAST, ResultsString));
// }
//
// });
DJIDrone.getDjiGroundStation()
.startGroundStationTask(
new DJIGroundStationExecuteCallBack() {
@Override
public void onResult(DJIGroundStationTypeDef.GroundStationResult result) {
// TODO Auto-generated method stub
String ResultsString = "return code =" + result.toString();
handler.sendMessage(handler.obtainMessage(SHOWTOAST, ResultsString));
}
});
}
private void aircraftTakeOff() {
DJIDrone.getDjiGroundStation()
.openGroundStation(
new DJIGroundStationExecuteCallBack() {
@Override
public void onResult(DJIGroundStationTypeDef.GroundStationResult result) {
// TODO Auto-generated method stub
String ResultsString = "opens result =" + result.toString();
handler.sendMessage(handler.obtainMessage(SHOWTOAST, ResultsString));
DJIDrone.getDjiGroundStation()
.oneKeyFly(
new DJIGroundStationExecuteCallBack() {
@Override
public void onResult(DJIGroundStationTypeDef.GroundStationResult result) {
// TODO Auto-generated method stub
String ResultsString = "one key fly result =" + result.toString();
handler.sendMessage(handler.obtainMessage(SHOWTOAST, ResultsString));
if (result
== DJIGroundStationTypeDef.GroundStationResult.GS_Result_Success) {
if (DJIDrone.getDroneType()
== DJIDroneTypeDef.DJIDroneType.DJIDrone_Vision) {
mCheckModeForPauseTimer = new Timer();
CheckModeForPauseTask mCheckTask = new CheckModeForPauseTask();
mCheckModeForPauseTimer.schedule(mCheckTask, 100, 1000);
}
}
}
});
}
});
}
@Override
public void onClick(View v) {
// TODO Auto-generated method stub
switch (v.getId()) {
case R.id.OpenGsButton:
if (!checkGetHomePoint()) return;
DJIDrone.getDjiGroundStation()
.openGroundStation(
new DJIGroundStationExecuteCallBack() {
@Override
public void onResult(GroundStationResult result) {
// TODO Auto-generated method stub
String ResultsString = "result =" + result.toString();
handler.sendMessage(handler.obtainMessage(SHOWTOAST, ResultsString));
}
});
break;
case R.id.AddWaypointButton:
if (!checkGetHomePoint()) return;
if (DJIDrone.getDroneType() == DJIDroneType.DJIDrone_Vision) {
// north
DJIGroundStationWaypoint mWayPoint1 =
new DJIGroundStationWaypoint(
homeLocationLatitude + 0.0000899322, homeLocationLongitude);
mWayPoint1.altitude = 15f;
mWayPoint1.speed = 2; // slow 2
mWayPoint1.heading = 0;
mWayPoint1.maxReachTime = 999;
mWayPoint1.stayTime = 10;
mWayPoint1.turnMode = 1;
// east
DJIGroundStationWaypoint mWayPoint2 =
new DJIGroundStationWaypoint(
homeLocationLatitude, homeLocationLongitude + 0.0000899322);
mWayPoint2.altitude = 5f;
mWayPoint2.speed = 2; // slow 2
mWayPoint2.heading = 80;
mWayPoint2.maxReachTime = 999;
mWayPoint2.stayTime = 20;
mWayPoint2.turnMode = 1;
mTask.addWaypoint(mWayPoint2);
// south
DJIGroundStationWaypoint mWayPoint3 =
new DJIGroundStationWaypoint(
homeLocationLatitude - 0.0000899322, homeLocationLongitude);
mWayPoint3.altitude = 30f;
mWayPoint3.speed = 2; // slow 2
mWayPoint3.heading = -60;
mWayPoint3.maxReachTime = 999;
mWayPoint3.stayTime = 25;
mWayPoint3.turnMode = 1;
mTask.addWaypoint(mWayPoint3);
mTask.wayPointCount = mTask.getAllWaypoint().size();
} else {
// north
DJIGroundStationWaypoint mWayPoint1 =
new DJIGroundStationWaypoint(
homeLocationLatitude + 0.0000899322, homeLocationLongitude);
mWayPoint1.action.actionRepeat = 1;
mWayPoint1.altitude = 15f;
mWayPoint1.heading = 0;
mWayPoint1.actionTimeout = 10;
mWayPoint1.turnMode = 1;
mWayPoint1.dampingDistance = 1.5f;
mWayPoint1.hasAction = true;
mWayPoint1.addAction(GroundStationOnWayPointAction.Way_Point_Action_Simple_Shot, 1);
mWayPoint1.addAction(GroundStationOnWayPointAction.Way_Point_Action_Video_Start, 0);
mWayPoint1.addAction(GroundStationOnWayPointAction.Way_Point_Action_Video_Stop, 0);
mTask.addWaypoint(mWayPoint1);
// east
DJIGroundStationWaypoint mWayPoint2 =
new DJIGroundStationWaypoint(
homeLocationLatitude, homeLocationLongitude + 0.0000899322);
mWayPoint2.action.actionRepeat = 1;
mWayPoint2.altitude = 20f;
mWayPoint2.heading = 80;
mWayPoint2.actionTimeout = 20;
mWayPoint2.turnMode = 1;
mWayPoint2.dampingDistance = 2.5f;
mWayPoint2.hasAction = true;
mWayPoint2.addAction(GroundStationOnWayPointAction.Way_Point_Action_Craft_Yaw, -130);
mTask.addWaypoint(mWayPoint2);
// south
DJIGroundStationWaypoint mWayPoint3 =
new DJIGroundStationWaypoint(
homeLocationLatitude - 0.0000899322, homeLocationLongitude);
mWayPoint3.action.actionRepeat = 1;
mWayPoint3.altitude = 30f;
mWayPoint3.heading = -60;
mWayPoint3.actionTimeout = 25;
mWayPoint3.turnMode = 1;
mWayPoint3.dampingDistance = 1.0f;
mWayPoint3.hasAction = true;
mWayPoint3.addAction(GroundStationOnWayPointAction.Way_Point_Action_Gimbal_Pitch, -89);
mTask.addWaypoint(mWayPoint3);
mTask.finishAction = DJIGroundStationFinishAction.Go_Home;
mTask.movingMode = DJIGroundStationMovingMode.GSHeadingUsingWaypointHeading;
mTask.pathMode = DJIGroundStationPathMode.Point_To_Point;
mTask.wayPointCount = mTask.getAllWaypoint().size();
}
break;
case R.id.UploadWaypointButton:
if (!checkGetHomePoint()) return;
DJIDrone.getDjiGroundStation()
.uploadGroundStationTask(
mTask,
new DJIGroundStationExecuteCallBack() {
@Override
public void onResult(GroundStationResult result) {
// TODO Auto-generated method stub
String ResultsString = "result =" + result.toString();
handler.sendMessage(handler.obtainMessage(SHOWTOAST, ResultsString));
}
});
break;
case R.id.TakeOffButton:
if (!checkGetHomePoint()) return;
DJIDrone.getDjiGroundStation()
.startGroundStationTask(
new DJIGroundStationExecuteCallBack() {
@Override
public void onResult(GroundStationResult result) {
// TODO Auto-generated method stub
String ResultsString = "result =" + result.toString();
handler.sendMessage(handler.obtainMessage(SHOWTOAST, ResultsString));
}
});
break;
case R.id.GohomeButton:
if (!checkGetHomePoint()) return;
DJIDrone.getDjiGroundStation()
.goHome(
new DJIGroundStationExecuteCallBack() {
@Override
public void onResult(GroundStationResult result) {
// TODO Auto-generated method stub
String ResultsString = "result =" + result.toString();
handler.sendMessage(handler.obtainMessage(SHOWTOAST, ResultsString));
}
});
break;
case R.id.CloseGsButton:
if (!checkGetHomePoint()) return;
DJIDrone.getDjiGroundStation()
.closeGroundStation(
new DJIGroundStationExecuteCallBack() {
@Override
public void onResult(GroundStationResult result) {
// TODO Auto-generated method stub
String ResultsString = "result =" + result.toString();
handler.sendMessage(handler.obtainMessage(SHOWTOAST, ResultsString));
}
});
break;
case R.id.PauseButton:
if (!checkGetHomePoint()) return;
DJIDrone.getDjiGroundStation()
.pauseGroundStationTask(
new DJIGroundStationExecuteCallBack() {
@Override
public void onResult(GroundStationResult result) {
// TODO Auto-generated method stub
String ResultsString = "result =" + result.toString();
handler.sendMessage(handler.obtainMessage(SHOWTOAST, ResultsString));
}
});
break;
case R.id.ResumeButton:
if (!checkGetHomePoint()) return;
DJIDrone.getDjiGroundStation()
.continueGroundStationTask(
new DJIGroundStationExecuteCallBack() {
@Override
public void onResult(GroundStationResult result) {
// TODO Auto-generated method stub
String ResultsString = "result =" + result.toString();
handler.sendMessage(handler.obtainMessage(SHOWTOAST, ResultsString));
}
});
break;
case R.id.OneKeyFlyButton:
if (!checkGetHomePoint()) {
// DealErrorWithVibrate();
return;
}
if (!isFlying) {
DJIDrone.getDjiGroundStation()
.openGroundStation(
new DJIGroundStationExecuteCallBack() {
@Override
public void onResult(GroundStationResult result) {
// TODO Auto-generated method stub
String ResultsString = "opengs result =" + result.toString();
handler.sendMessage(handler.obtainMessage(SHOWTOAST, ResultsString));
if (result == GroundStationResult.GS_Result_Success) {
// one key fly
DJIDrone.getDjiGroundStation()
.oneKeyFly(
new DJIGroundStationExecuteCallBack() {
@Override
public void onResult(GroundStationResult result) {
// TODO Auto-generated method stub
String ResultsString =
"one key fly result =" + result.toString();
handler.sendMessage(
handler.obtainMessage(SHOWTOAST, ResultsString));
if (result == GroundStationResult.GS_Result_Success) {
if (DJIDrone.getDroneType() == DJIDroneType.DJIDrone_Vision) {
mCheckModeForPauseTimer = new Timer();
CheckModeForPauseTask mCheckTask =
new CheckModeForPauseTask();
mCheckModeForPauseTimer.schedule(mCheckTask, 100, 1000);
} else {
DealSuccessWithVibrate();
}
} else {
DealErrorWithVibrate();
}
}
});
} else {
DealErrorWithVibrate();
}
}
});
} else {
DJIDrone.getDjiGroundStation()
.openGroundStation(
new DJIGroundStationExecuteCallBack() {
@Override
public void onResult(GroundStationResult result) {
// TODO Auto-generated method stub
String ResultsString = "opengs result =" + result.toString();
handler.sendMessage(handler.obtainMessage(SHOWTOAST, ResultsString));
if (result == GroundStationResult.GS_Result_Success) {
if (DJIDrone.getDroneType() == DJIDroneType.DJIDrone_Vision) {
mCheckModeForPauseTimer = new Timer();
CheckModeForPauseTask mCheckTask = new CheckModeForPauseTask();
mCheckModeForPauseTimer.schedule(mCheckTask, 100, 1000);
} else {
DealSuccessWithVibrate();
}
} else {
DealErrorWithVibrate();
}
}
});
}
break;
default:
break;
}
}
@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);
}