private void configGroundStationTask() {
mGroundStationTask.isLoop = repeatGSTask;
mGroundStationTask.finishAction = actionAfterFinishTask;
mGroundStationTask.movingMode = heading;
for (int i = 0; i < mGroundStationTask.wayPointCount; i++) {
mGroundStationTask.getWaypointAtIndex(i).speed = speedGSTask;
mGroundStationTask.getWaypointAtIndex(i).altitude = altitude;
}
}
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();
}
/**
* Called when a view has been clicked.
*
* @param v The view that was clicked.
*/
@Override
public void onClick(View v) {
switch (v.getId()) {
case R.id.locate:
{
updateDroneLocation();
cameraUpdate(); // Locate the drone's place
break;
}
case R.id.add:
{
enableDisableAdd();
break;
}
case R.id.clear:
{
runOnUiThread(
new Runnable() {
@Override
public void run() {
aMap.clear();
}
});
mGroundStationTask.RemoveAllWaypoint(); // Remove all the waypoints added to the task
break;
}
case R.id.config:
{
showSettingDialog();
break;
}
case R.id.upload:
{
uploadGroundStationTask();
break;
}
case R.id.start:
{
startGroundStationTask();
mTimer.schedule(mTask, 0, 1000);
break;
}
case R.id.stop:
{
stopGroundStationTask();
mTimer.cancel();
break;
}
case R.id.takeoff:
{
aircraftTakeOff();
break;
}
default:
break;
}
}
@Override
public void onMapClick(LatLng point) {
if (isAdd == true) {
markWaypoint(point);
DJIGroundStationWaypoint mDJIGroundStationWaypoint =
new DJIGroundStationWaypoint(point.latitude, point.longitude);
mGroundStationTask.addWaypoint(mDJIGroundStationWaypoint);
// Add waypoints to Waypoint arraylist;
} else {
// Do not add waypoint;
}
}
@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;
}
}