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examples/android-client/app/src/main/java/io/dronecore/dronecoreclient/MainActivity.java
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examples/android-client/app/src/main/java/io/dronecore/dronecoreclient/MapsActivity.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,214 @@ | ||
| package io.dronecore.dronecoreclient; | ||
|
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| import android.arch.lifecycle.Observer; | ||
| import android.arch.lifecycle.ViewModelProviders; | ||
| import android.os.Bundle; | ||
| import android.support.annotation.Nullable; | ||
| import android.support.design.widget.FloatingActionButton; | ||
| import android.support.v7.app.AppCompatActivity; | ||
| import android.util.Log; | ||
| import android.view.Menu; | ||
| import android.view.MenuItem; | ||
|
|
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| import com.google.android.gms.maps.CameraUpdateFactory; | ||
| import com.google.android.gms.maps.GoogleMap; | ||
| import com.google.android.gms.maps.OnMapReadyCallback; | ||
| import com.google.android.gms.maps.SupportMapFragment; | ||
| import com.google.android.gms.maps.model.BitmapDescriptorFactory; | ||
| import com.google.android.gms.maps.model.LatLng; | ||
| import com.google.android.gms.maps.model.Marker; | ||
| import com.google.android.gms.maps.model.MarkerOptions; | ||
|
|
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| import java.util.ArrayList; | ||
| import java.util.List; | ||
|
|
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| import io.dronecode_sdk.action.Action; | ||
| import io.dronecode_sdk.mission.Mission; | ||
| import io.dronecode_sdk.telemetry.Telemetry; | ||
| import io.reactivex.disposables.Disposable; | ||
|
|
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| import static com.google.android.gms.maps.GoogleMap.MAP_TYPE_HYBRID; | ||
|
|
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| /** | ||
| * Main Activity to display map and create missions. | ||
| * 1. Take off | ||
| * 2. Long click on map to add a waypoint | ||
| * 3. Touch an existing waypoint to delete it | ||
| * 4. Hit play to start mission. | ||
| */ | ||
| public class MapsActivity extends AppCompatActivity implements OnMapReadyCallback, GoogleMap.OnMarkerDragListener { | ||
|
|
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| public static final String TAG = "MapsActivity"; | ||
| public static final String BACKEND_IP_ADDRESS = "10.42.0.65"; // todo update this to ip address of device running the backend. remove this once the backend is included in the app | ||
|
|
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| private GoogleMap map = null; | ||
| private MapsViewModel viewModel; | ||
| private Marker currentPositionMarker; | ||
| private final List<Marker> markers = new ArrayList<>(); | ||
| private Action action; | ||
| private Mission mission; | ||
| private Telemetry telemetry; | ||
| private final List<Disposable> disposables = new ArrayList<>(); | ||
|
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| private Observer<LatLng> currentPositionObserver = this::updateVehiclePosition; | ||
| private Observer<List<LatLng>> currentMissionPlanObserver = this::updateMarkers; | ||
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| @Override | ||
| public void onCreate(Bundle savedInstanceState) { | ||
| super.onCreate(savedInstanceState); | ||
| setContentView(R.layout.activity_maps); | ||
| viewModel = ViewModelProviders.of(this).get(MapsViewModel.class); | ||
|
|
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| // Obtain the SupportMapFragment and get notified when the map is ready to be used. | ||
| SupportMapFragment mapFragment = (SupportMapFragment) getSupportFragmentManager().findFragmentById(R.id.map); | ||
| mapFragment.getMapAsync(this); | ||
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| FloatingActionButton floatingActionButton = findViewById(R.id.fab); | ||
| floatingActionButton.setOnClickListener(v -> viewModel.startMission(mission)); | ||
| } | ||
|
|
||
| @Override | ||
| public void onResume() { | ||
| super.onResume(); | ||
| viewModel.currentPositionLiveData.observe(this, currentPositionObserver); | ||
| viewModel.currentMissionPlanLiveData.observe(this, currentMissionPlanObserver); | ||
| action = new Action(BACKEND_IP_ADDRESS, 50051); // TODO: 4/4/19 50051 should be a constant in the sdk somewhere | ||
| mission = new Mission(BACKEND_IP_ADDRESS, 50051); | ||
| telemetry = new Telemetry(BACKEND_IP_ADDRESS, 50051); | ||
| disposables.add(telemetry.getFlightMode().distinct() | ||
| .subscribe(flightMode -> Log.d(TAG, "flight mode: " + flightMode))); | ||
| disposables.add(telemetry.getArmed().distinct() | ||
| .subscribe(armed -> Log.d(TAG, "armed: " + armed))); | ||
| disposables.add(telemetry.getPosition().subscribe(position -> { | ||
| LatLng latLng = new LatLng(position.getLatitudeDeg(), position.getLongitudeDeg()); | ||
| viewModel.currentPositionLiveData.postValue(latLng); | ||
| })); | ||
| } | ||
|
|
||
| @Override | ||
| public void onPause() { | ||
| super.onPause(); | ||
| viewModel.currentPositionLiveData.removeObserver(currentPositionObserver); | ||
| viewModel.currentMissionPlanLiveData.removeObserver(currentMissionPlanObserver); | ||
| for (Disposable disposable : disposables) { | ||
| disposable.dispose(); | ||
| } | ||
|
|
||
| // TODO: 4/10/19 close these channels properly | ||
| action = null; | ||
| mission = null; | ||
| telemetry = null; | ||
| } | ||
|
|
||
| @Override | ||
| public boolean onCreateOptionsMenu(Menu menu) { | ||
| getMenuInflater().inflate(R.menu.menu_maps, menu); | ||
| return true; | ||
| } | ||
|
|
||
| @Override | ||
| public boolean onOptionsItemSelected(MenuItem item) { | ||
| // Handle item selection | ||
| switch (item.getItemId()) { | ||
| case R.id.disarm: | ||
| action.kill().subscribe(); | ||
| break; | ||
| case R.id.land: | ||
| action.land().subscribe(); | ||
| break; | ||
| case R.id.return_home: | ||
| action.returnToLaunch().subscribe(); | ||
| break; | ||
| case R.id.takeoff: | ||
| action.arm().andThen(action.takeoff()).subscribe(); | ||
| default: | ||
| return super.onOptionsItemSelected(item); | ||
| } | ||
| return true; | ||
| } | ||
|
|
||
| /** | ||
| * Update [currentPositionMarker] position with a new [position] | ||
| * | ||
| * @param newLatLng new position of the vehicle | ||
| */ | ||
| private void updateVehiclePosition(@Nullable LatLng newLatLng) { | ||
| if (newLatLng != null && map != null) { | ||
| // Add a vehicle marker and move the camera | ||
| if (currentPositionMarker == null) { | ||
| currentPositionMarker = map.addMarker(new MarkerOptions().position(newLatLng) | ||
| .icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_CYAN))); | ||
| map.moveCamera(CameraUpdateFactory.newLatLngZoom(newLatLng, 20.0f)); | ||
| } else { | ||
| currentPositionMarker.setPosition(newLatLng); | ||
| } | ||
| } | ||
| } | ||
|
|
||
| /** | ||
| * Update the [map] with the current mission plan waypoints | ||
| * | ||
| * @param latLngs current mission waypoints | ||
| */ | ||
| private void updateMarkers(@Nullable List<LatLng> latLngs) { | ||
| if (map == null) { | ||
| return; | ||
| } | ||
| for (Marker marker : markers) { | ||
| marker.remove(); | ||
| } | ||
| markers.clear(); | ||
| if (latLngs != null) { | ||
| Log.d("Waypoints", "received mission plan with size " + latLngs.size()); | ||
| for (LatLng latLng : latLngs) { | ||
| markers.add(map.addMarker(new MarkerOptions() | ||
| .position(latLng) | ||
| .draggable(true))); | ||
| } | ||
| } | ||
| } | ||
|
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| @Override | ||
| public void onMarkerDragEnd(Marker marker) { | ||
| if (marker == null) { | ||
| return; | ||
| } | ||
|
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| int index = markers.indexOf(marker); | ||
| viewModel.replaceWaypoint(index, marker.getPosition()); | ||
| } | ||
|
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| @Override | ||
| public void onMarkerDragStart(Marker marker) { | ||
| } | ||
|
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| @Override | ||
| public void onMarkerDrag(Marker marker) { | ||
| } | ||
|
|
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| /** | ||
| * Manipulates the map once available. | ||
| * This callback is triggered when the map is ready to be used. | ||
| * This is where we can add markers or lines, add listeners or move the camera. | ||
| * If Google Play services is not installed on the device, the user will be prompted to install | ||
| * it inside the SupportMapFragment. This method will only be triggered once the user has | ||
| * installed Google Play services and returned to the app. | ||
| */ | ||
| @Override | ||
| public void onMapReady(GoogleMap googleMap) { | ||
| map = googleMap; | ||
| map.setOnMapLongClickListener(latLng -> viewModel.addWaypoint(markers.size(), latLng)); | ||
|
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| map.setOnMarkerClickListener(marker -> { | ||
| int index = markers.indexOf(marker); | ||
| if (index != -1) { | ||
| viewModel.removeWaypoint(index); | ||
| } | ||
| return true; | ||
| }); | ||
|
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| map.setMapType(MAP_TYPE_HYBRID); | ||
| map.setOnMarkerDragListener(this); | ||
| updateMarkers(viewModel.currentMissionPlanLiveData.getValue()); | ||
| } | ||
| } |
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