public void execute(BaseActivity activity) throws InterruptedException {
YADroneApplication app = (YADroneApplication) activity.getApplication();
ARDrone drone = app.getARDrone();
final CommandManager cm = drone.getCommandManager();
final NavDataManager nm = drone.getNavDataManager();
if (mSound.length() > 0) {
int resId = activity.getResources().getIdentifier(mSound, "raw", activity.getPackageName());
if (resId != 0) {
activity.setVolumeControlStream(AudioManager.STREAM_MUSIC);
activity.soundPlayer.loadAndPlaySound(resId);
}
}
int repetitions = mRepetitions > 0 ? mRepetitions : 1;
for (int i = 0; i < repetitions; i++) {
Log.d("FlyRoute", mCommand.toString());
nm.setStateListener(
new StateListener() {
private boolean done = false;
@Override
public synchronized void stateChanged(DroneState state) {
if (!done && state.isEmergency()) {
cm.emergency();
}
nm.setStateListener(null);
done = true;
}
@Override
public void controlStateChanged(ControlState state) {
// ignore
}
});
cm.setCommand(mCommand);
Thread.sleep(mDuration / repetitions);
}
}
