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);
}
}
public CCPanel(final ARDrone ardrone) {
super(new GridBagLayout());
setBackground(Color.BLUE);
video = new VideoPanel(ardrone);
battery = new BatteryPanel();
state = new StatePanel();
attitude = new AttitudePanel();
add(
video,
new GridBagConstraints(
0,
0,
1,
1,
0.7,
1,
GridBagConstraints.FIRST_LINE_START,
GridBagConstraints.BOTH,
new Insets(0, 0, 0, 0),
0,
0));
add(
new JScrollPane(state),
new GridBagConstraints(
1,
0,
1,
2,
0.3,
1,
GridBagConstraints.FIRST_LINE_START,
GridBagConstraints.VERTICAL,
new Insets(0, 0, 0, 0),
0,
0));
add(
attitude.getPane(),
new GridBagConstraints(
0,
1,
1,
1,
1,
1,
GridBagConstraints.FIRST_LINE_START,
GridBagConstraints.BOTH,
new Insets(0, 0, 0, 0),
0,
0));
// add(battery, new GridBagConstraints(0, 1, 1, 1, 1, 1,
// GridBagConstraints.FIRST_LINE_START, GridBagConstraints.BOTH, new
// Insets(0,0,0,0), 0, 0));
// CommandManager handles (keyboard) input and dispatches events to the
// drone
System.out.println("CCPanel.KeyEventDispatcher: grab the whole keyboard input from now on ...");
KeyboardFocusManager manager = KeyboardFocusManager.getCurrentKeyboardFocusManager();
manager.addKeyEventDispatcher(
new KeyEventDispatcher() {
private KeyboardCommandManager cmdManager = new KeyboardCommandManager(ardrone, 45);
public boolean dispatchKeyEvent(KeyEvent e) {
if (e.getID() == KeyEvent.KEY_PRESSED) {
cmdManager.keyPressed(e);
} else if (e.getID() == KeyEvent.KEY_RELEASED) {
cmdManager.keyReleased(e);
}
return true;
}
});
VideoManager vm = ardrone.getVideoManager();
vm.setImageListener(this);
NavDataManager m = ardrone.getNavDataManager();
m.setStateListener(this);
m.setAttitudeListener(this);
m.setBatteryListener(this);
}
