@Override
public void disconnect() {
stop();
landing();
manager.close();
if (videoManager != null) videoManager.close();
if (navdataManager != null) navdataManager.close();
}
/** connect to AR.Drone */
@Override
public boolean connect() {
if (inetaddr == null) {
inetaddr = getInetAddress(ipaddr);
}
manager = new CommandManager(inetaddr);
return manager.connect(ARDroneUtils.PORT);
}
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);
}
}
@Override
public void down(int speed) {
if (manager != null) manager.down(speed);
}
@Override
public void up(int speed) {
if (manager != null) manager.up(speed);
}
@Override
public void down() {
if (manager != null) manager.down();
}
@Override
public void move3D(int speedX, int speedY, int speedZ, int speedSpin) {
if (manager != null) manager.move3D(speedX, speedY, speedZ, speedSpin);
}
@Override
public void setVerticalCameraWithHorizontal() {
if (manager != null) manager.setVerticalCameraWithHorizontal();
}
@Override
public void setSpeed(int speed) {
if (manager != null) manager.setSpeed(speed);
}
/**
* 0.01-1.0 -> 1-100%
*
* @return 1-100%
*/
@Override
public int getSpeed() {
if (manager == null) return -1;
return manager.getSpeed();
}
@Override
public void forward(int speed) {
if (manager != null) manager.forward(speed);
}
@Override
public void backward() {
if (manager != null) manager.backward();
}
@Override
public void reset() {
if (manager != null) manager.reset();
}
@Override
public void forward() {
if (manager != null) manager.forward();
}
@Override
public void takeOff() {
if (manager != null) manager.takeOff();
}
@Override
public void landing() {
if (manager != null) manager.landing();
}
@Override
public void toggleCamera() {
if (manager != null) manager.toggleCamera();
}
@Override
public void goLeft() {
if (manager != null) manager.goLeft();
}
@Override
public void backward(int speed) {
if (manager != null) manager.backward(speed);
}
@Override
public void goLeft(int speed) {
if (manager != null) manager.goLeft(speed);
}
@Override
public void setHorizontalCamera() {
if (manager != null) manager.setHorizontalCamera();
}
@Override
public void stop() {
if (manager != null) manager.stop();
}
@Override
public void spinLeft(int speed) {
if (manager != null) manager.spinLeft(speed);
}
@Override
public void setMinAltitude(int altitude) {
if (manager != null) manager.setMinAltitude(altitude);
}
@Override
public void up() {
if (manager != null) manager.up();
}
@Override
public void spinLeft() {
if (manager != null) manager.spinLeft();
}
@Override
public void setVerticalCamera() {
if (manager != null) manager.setVerticalCamera();
}