package com.multiwii.multiwiiremote;
import view.joystick.DualJoystickView;
import view.joystick.JoystickView;
import com.multiwii.Utilities.Utilities;
import com.multiwii.communication.DeviceListActivity;
import android.os.Bundle;
import android.app.Activity;
import android.content.Intent;
import android.util.Log;
import android.view.KeyEvent;
import android.view.MenuItem;
import android.view.View;
import android.widget.Button;
import android.widget.CheckBox;
import android.widget.TextView;
import android.widget.ToggleButton;
import static com.multiwii.multiwiiremote.RCSignals.*;
public class MainActivity extends BaseActivity {
private long requestStartTime;
private boolean isReceived = true;
private long lastRequestTime = 0;
private enum InputMode {
ACCELEROMETER, TOUCH
}
private InputMode inputMode = InputMode.TOUCH;
private DualJoystickView dualJoystickView;
private ToggleButton auxBtn[] = new ToggleButton[4];
private TextView txtHeader;
private TextView txtStatus;
private TextView txtUIDebug;
private long lastHeadingRefreshTime = 0;
private int thisHeading = 0;
private int mwcHeading = 0;
private int lastValidateHeading =0;
private String debugTextTemplate = "%sPhone Heading: %d\nMWC Heading:%d\nDelay: %dms";
private long delayTime = 0;
private long [] delayTimeRaw = new long[5];
private boolean isDelayTimeAvailable = false;
private int delayTimeIdx = 0;
public CheckBox getChkUsePhoneHeading() {
return chkUsePhoneHeading;
}
public void setChkUsePhoneHeading(CheckBox chkUsePhoneHeading) {
this.chkUsePhoneHeading = chkUsePhoneHeading;
}
private CheckBox chkUsePhoneHeading;
public RCSignals rc;
// private byte timer = 0;
// private Camera mCam;
MainActivityEvents mEvents;
private MainActivityCommunicationHandler mHandler;
private final int BLUETOOTH_SEARCH_RETURN = 1;
private final int SETTINGS_MODIFY = 2;
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
//KeepScreenOn(app.KeepScreenOn);
KeepScreenOn(true);
rc = new RCSignals();
// mCam = new Camera((MjpegView) this.findViewById(R.id.webcamView));
mEvents = new MainActivityEvents(this);
mHandler = new MainActivityCommunicationHandler(this);
txtStatus = (TextView) findViewById(R.id.status);
txtHeader = (TextView) findViewById(R.id.throttleView);
txtUIDebug = (TextView) findViewById(R.id.debugTxt);
for (int x = 0; x < auxBtn.length; x++)
auxBtn[x] = (ToggleButton) findViewById(getResources().getIdentifier("aux" + (x + 1) + "Btn", "id", getPackageName()));
dualJoystickView = (DualJoystickView) findViewById(R.id.DualJoystickView);
chkUsePhoneHeading = (CheckBox) findViewById(R.id.chkUsePhoneHeading);
Init();
}
private void Init() {
app.SetHandler(mHandler); //App class will automatically bind to commMW
app.setMainActivity(this);
chkUsePhoneHeading.setOnCheckedChangeListener(mEvents.mCheckChangeListener);
((Button) findViewById(R.id.switchModes)).setOnClickListener(mEvents.mClickListener);
//joystick.setOnJostickMovedListener(mEvents._listener);
dualJoystickView.stickR.setOnJostickMovedListener(mEvents._listener);
dualJoystickView.stickL.setOnJostickMovedListener(mEvents._throttleListener);
dualJoystickView.stickL.setAutoReturnToCenter(false);
dualJoystickView.stickL.setAutoReturnToMid(true);
for (int x = 0; x < auxBtn.length; x++)
auxBtn[x].setOnClickListener(mEvents.mClickListener);
settingsModified();
}
public void FrequentTasks() {
mHandler.sendEmptyMessage(7);
//send RC signal
if(app.commMW.Connected) {
//Create payload TODO
//new cycle begin if an ATTITUDE ACK is received or 300ms passed(package lost)
long currentTime = System.currentTimeMillis();
if(app.protocol.isIs_ATTITUDE_received() == true){
app.protocol.setIs_ATTITUDE_received(false);
delayTimeRaw[delayTimeIdx++] = app.protocol.attitudeReceivedTime - lastRequestTime;
if(delayTimeIdx == delayTimeRaw.length){
delayTimeIdx = 0;
isDelayTimeAvailable = true;
}
if(isDelayTimeAvailable == true){
long sum = 0;
for(long i : delayTimeRaw){
sum += i;
}
delayTime = sum / delayTimeRaw.length;
}
lastRequestTime = currentTime;
app.protocol.SendRequestMSP_ATTITUDE();
mwcHeading = app.protocol.head;
}
//we consider it as a package lost, resend package
else if(currentTime - lastRequestTime > 300){
app.protocol.SendRequestMSP_ATTITUDE();
}
app.protocol.SendRequestMSP_SET_RAW_RC(rc.get()); //TODO Check that delay isnt too big from other tasks
if (chkUsePhoneHeading.isChecked()){
//refresh heading in every 500 mili seconds
if( currentTime - lastHeadingRefreshTime > 500 ){
thisHeading = app.sensors.heading;
app.protocol.SendRequestMSP_SET_HEAD(thisHeading);
lastHeadingRefreshTime = currentTime;
}
}
//SONG BO ADD BEGIN---------------------------------
//data transmitted from MWC to Phone is processed in ProcessSerialData() in ConnectedThread
// while(!app.protocol.is_SET_RAW_RC_received ){
// app.protocol.ProcessSerialData(false);
// if (app.protocol.is_SET_HEAD_received){
// lastValidateHeading = thisHeading;
// app.protocol.is_SET_HEAD_received = false;
// }
// delayTime = System.currentTimeMillis() - requestStartTime;
// }
// app.protocol.is_SET_RAW_RC_received = false;
//SONG BO ADD END
}
app.FrequentTasks();
}
public void setStatus(String status) {
this.txtStatus.setText(status);
app.Status = status;
}
@Override
protected void onActivityResult(int requestCode, int resultCode, Intent data) {
super.onActivityResult(requestCode, resultCode, data);
switch (requestCode) {
case BLUETOOTH_SEARCH_RETURN:
if (resultCode == Activity.RESULT_OK) {
String address = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_ADDRESS);
app.protocol.Connect(address, app.BaudRate, app.BluetoothConnectionStartDelay);
}
break;
case SETTINGS_MODIFY:
settingsModified();
break;
}
}
private void settingsModified() {
rc.ThrottleResolution = app.ThrottleResolution;
rc.TrimRoll = app.TrimRoll;
rc.TrimPitch = app.TrimPitch;
rc.RollPitchLimit = app.RollPitchLimit;
if (app.AuxTextChanged) {
setAuxbtnTxt(auxBtn[0], app.Aux1Txt);
setAuxbtnTxt(auxBtn[1], app.Aux2Txt);
setAuxbtnTxt(auxBtn[2], app.Aux3Txt);
setAuxbtnTxt(auxBtn[3], app.Aux4Txt);
app.AuxTextChanged = false;
}
setStatus("Ready " + app.comMode.toString());
}
private void setAuxbtnTxt(ToggleButton mButton, String text) {
mButton.setText(text);
mButton.setTextOn(text);
mButton.setTextOff(text);
}
public void Connect() {
switch (app.comMode) {
case BLUETOOTH:
Intent searchBtDevices = new Intent(this, DeviceListActivity.class);
startActivityForResult(searchBtDevices, BLUETOOTH_SEARCH_RETURN);
break;
case WIFI:
app.protocol.Connect(app.IpAddress, app.IpPort, app.WifiConnectionStartDelay);
break;
}
}
public void UpdateUI() {
txtHeader.setText(rc.adjustMode.getValue() + rc.get(rc.adjustMode.getId()));
txtUIDebug.setText(app.UIDebug ? String.format(debugTextTemplate, rc.toStringNoThrottle(), app.sensors.heading, mwcHeading, delayTime) : "");
txtStatus.setText(app.Status);
}
// int requests[] = new int[] { MultirotorData.MSP_DEBUG,
// MultirotorData.MSP_ALTITUDE, MultirotorData.MSP_RC };
public void onSensorsStateChangeRotate() {
if (inputMode == InputMode.ACCELEROMETER) {
float xCoordinate = (float) Utilities.mapCons(-app.sensors.pitch,
app.sensors.getMinValue(),
app.sensors.getMaxValue(),
-dualJoystickView.stickR.getMovementRange()/2, dualJoystickView.stickR.getMovementRange()/2);
float yCoordinate = (float) Utilities.mapCons(-app.sensors.roll,
app.sensors.getMinValue(),
app.sensors.getMaxValue(),
-dualJoystickView.stickR.getMovementRange()/2, dualJoystickView.stickR.getMovementRange()/2);
dualJoystickView.stickR.setCoordinates(xCoordinate, yCoordinate);
}
}
public void aux1_Click(View v) {
// Replaced with When Throttle >= 1030
rc.set(AUX1, ((ToggleButton) v).isChecked());
}
public void aux2_Click(View v) {
rc.set(AUX2, ((ToggleButton) v).isChecked());
}
public void aux3_Click(View v) {
rc.set(AUX3, ((ToggleButton) v).isChecked());
}
public void aux4_Click(View v) {
rc.set(AUX4, ((ToggleButton) v).isChecked());
}
@Override
protected void onStop() {
super.onStop();
app.stop();
}
// ///////////////////Menu///////////////////
@Override
public boolean onOptionsItemSelected(MenuItem item) {
switch (item.getItemId()) {
case R.id.connect:
Connect();
break;
case R.id.accelOn:
if (!app.sensors.isRotateSensorSupported())
Utilities.showToast("Sorry, your device does not have an accelerometer", this);
else {
switch (inputMode) {
case TOUCH:
inputMode = InputMode.ACCELEROMETER;
break;
case ACCELEROMETER:
inputMode = InputMode.TOUCH;
dualJoystickView.stickR.returnHandleToCenter();
break;
}
}
break;
case R.id.menu_settings:
if (rc.isFlying()) {
Utilities.showToast(
"Set throttle under 1100 to access settings", this);
} else {
this.startActivityForResult(new Intent(this, Settings.class), SETTINGS_MODIFY);
}
break;
}
return super.onContextItemSelected(item);
}
// /////////////////////////////End Menu/////////////////////////////
@Override
public boolean dispatchKeyEvent(KeyEvent event) {
if(app.PreventExitWhenFlying && rc.isFlying() && (event.getKeyCode() == KeyEvent.KEYCODE_BACK || event.getKeyCode() == KeyEvent.KEYCODE_APP_SWITCH || event.getKeyCode() == KeyEvent.KEYCODE_HOME))
{
Utilities.showToast("Detected flying. Please put throttle under 1100.", this);
return true;
}
if (event.getAction() == KeyEvent.ACTION_DOWN)
switch (event.getKeyCode()) {
case KeyEvent.KEYCODE_VOLUME_UP:
rc.adjustRcValue(-1);
return true;
case KeyEvent.KEYCODE_VOLUME_DOWN:
rc.adjustRcValue(1);
return true;
case KeyEvent.KEYCODE_SEARCH:
app.setManualModeOn(!app.getManualMode());
return true;
}
return super.dispatchKeyEvent(event);
}
}
