main

package com.airdurance.onboard;

import android.os.Handler;
import android.support.v7.app.AppCompatActivity;
import android.os.Bundle;
import android.view.View;
import android.widget.AdapterView;
import android.widget.ArrayAdapter;
import android.widget.Button;
import android.widget.Spinner;
import android.widget.TextView;
import android.widget.Toast;

import com.google.android.gms.common.ConnectionResult;
import com.o3dr.android.client.ControlTower;
import com.o3dr.android.client.Drone;
import com.o3dr.android.client.interfaces.DroneListener;
import com.o3dr.android.client.interfaces.TowerListener;
import com.o3dr.services.android.lib.coordinate.LatLong;
import com.o3dr.services.android.lib.coordinate.LatLongAlt;
import com.o3dr.services.android.lib.drone.attribute.AttributeEvent;
import com.o3dr.services.android.lib.drone.attribute.AttributeType;
import com.o3dr.services.android.lib.drone.connection.ConnectionParameter;
import com.o3dr.services.android.lib.drone.connection.ConnectionType;
import com.o3dr.services.android.lib.drone.property.Altitude;
import com.o3dr.services.android.lib.drone.property.Gps;
import com.o3dr.services.android.lib.drone.property.Home;
import com.o3dr.services.android.lib.drone.property.Speed;
import com.o3dr.services.android.lib.drone.property.State;
import com.o3dr.services.android.lib.drone.property.Type;
import com.o3dr.services.android.lib.drone.property.VehicleMode;

import java.util.List;

public class MainActivity extends AppCompatActivity implements DroneListener, TowerListener {

    private ControlTower controlTower;

    private Drone drone;
    private int droneType = Type.TYPE_UNKNOWN;
    private final Handler handler = new Handler();
    Spinner modeSelector;

    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);

        // Initialize the service manager
        this.controlTower = new ControlTower(getApplicationContext());
       // this.serviceManager = new ServiceManager(getApplicationContext());
        this.drone = new Drone(this);

        this.modeSelector = (Spinner)findViewById(R.id.modeSelect);
        this.modeSelector.setOnItemSelectedListener(new Spinner.OnItemSelectedListener() {
            @Override
            public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
                onFlightModeSelected(view);
            }
            @Override
            public void onNothingSelected(AdapterView<?> parent) {
                // Do nothing
            }
        });
    }


    public void onBtnConnectTap(View view) {
        if(this.drone.isConnected()) {
            this.drone.disconnect();
        } else {
            Bundle extraParams = new Bundle();
            extraParams.putInt(ConnectionType.EXTRA_UDP_SERVER_PORT, 14550); // Set default port to 14550

            //ConnectionParameter connectionParams = new ConnectionParameter(ConnectionType.TYPE_UDP, extraParams);
            ConnectionParameter connectionParameter = ConnectionParameter.newUdpConnection(14550, null);
            //ConnectionParameter connectionParameter = new ConnectionParameter()
            this.drone.connect(connectionParameter);
        }
    }

    protected void alertUser(String message) {
        Toast.makeText(getApplicationContext(), message, Toast.LENGTH_LONG).show();
    }

    protected void updateConnectedButton(Boolean isConnected) {
        Button connectButton = (Button)findViewById(R.id.btnConnect);
        if (isConnected) {
            connectButton.setText("Disconnect");
        } else {
            connectButton.setText("Connect");
        }
    }


    @Override
    public void onStart() {
        super.onStart();
        this.controlTower.connect(this);

    }

    @Override
    public void onStop() {
        super.onStop();

        if (this.drone.isConnected()) {
            this.drone.disconnect();
            updateConnectedButton(false);
        }
        this.controlTower.unregisterDrone(this.drone);

        this.controlTower.disconnect();
    }

    // 3DR Services Listener
    @Override
    public void onTowerConnected() {
        this.controlTower.registerDrone(this.drone, this.handler);
        this.drone.registerDroneListener(this);
    }

    @Override
    public void onTowerDisconnected() {

    }

    @Override
    public void onDroneEvent(String event, Bundle extras) {
        switch (event) {
            case AttributeEvent.STATE_CONNECTED:
                alertUser("Drone Connected");
                updateConnectedButton(this.drone.isConnected());
                break;

            case AttributeEvent.STATE_DISCONNECTED:
                alertUser("Drone Disconnected");
                updateConnectedButton(this.drone.isConnected());
                break;

            case AttributeEvent.STATE_VEHICLE_MODE:
                updateVehicleMode();
                break;

            case AttributeEvent.TYPE_UPDATED:
                Type newDroneType = this.drone.getAttribute(AttributeType.TYPE);
                if (newDroneType.getDroneType() != this.droneType) {
                    this.droneType = newDroneType.getDroneType();
                    updateVehicleModesForType(this.droneType);
                }
                break;


            case AttributeEvent.SPEED_UPDATED:
                updateAltitude();
                updateSpeed();
                break;

            case AttributeEvent.HOME_UPDATED:
                updateDistanceFromHome();
                break;

            default:
                break;
        }
    }

   // @Override
    public void onDroneConnectionFailed(ConnectionResult result) {

    }

    @Override
    public void onDroneServiceInterrupted(String errorMsg) {

    }


    public void onFlightModeSelected(View view) {
        VehicleMode vehicleMode = (VehicleMode) this.modeSelector.getSelectedItem();
        State vehicleState = this.drone.getAttribute(AttributeType.STATE);
       // ve.changeVehicleMode(vehicleMode);
        vehicleState.setVehicleMode(vehicleMode);

    }

    protected void updateVehicleModesForType(int droneType) {
        List<VehicleMode> vehicleModes =  VehicleMode.getVehicleModePerDroneType(droneType);
        ArrayAdapter<VehicleMode> vehicleModeArrayAdapter = new ArrayAdapter<VehicleMode>(this, android.R.layout.simple_spinner_item, vehicleModes);
        vehicleModeArrayAdapter.setDropDownViewResource(android.R.layout.simple_spinner_dropdown_item);
        this.modeSelector.setAdapter(vehicleModeArrayAdapter);
    }

    protected void updateVehicleMode() {
        State vehicleState = this.drone.getAttribute(AttributeType.STATE);
        VehicleMode vehicleMode = vehicleState.getVehicleMode();
        ArrayAdapter arrayAdapter = (ArrayAdapter)this.modeSelector.getAdapter();
        this.modeSelector.setSelection(arrayAdapter.getPosition(vehicleMode));
    }

    protected void updateAltitude() {
        TextView altitudeTextView = (TextView)findViewById(R.id.altitudeValueTextView);
        Altitude droneAltitude = this.drone.getAttribute(AttributeType.ALTITUDE);
        altitudeTextView.setText(String.format("%3.1f", droneAltitude.getAltitude()) + "m");
    }

    protected void updateSpeed() {
        TextView speedTextView = (TextView)findViewById(R.id.speedValueTextView);
        Speed droneSpeed = this.drone.getAttribute(AttributeType.SPEED);
        speedTextView.setText(String.format("%3.1f", droneSpeed.getGroundSpeed()) + "m/s");
    }

    protected void updateDistanceFromHome() {
        TextView distanceTextView = (TextView)findViewById(R.id.distanceValueTextView);
        Altitude droneAltitude = this.drone.getAttribute(AttributeType.ALTITUDE);
        double vehicleAltitude = droneAltitude.getAltitude();
        Gps droneGps = this.drone.getAttribute(AttributeType.GPS);
        LatLong vehiclePosition = droneGps.getPosition();

        double distanceFromHome =  0;

        if (droneGps.isValid()) {
            LatLongAlt vehicle3DPosition = new LatLongAlt(vehiclePosition.getLatitude(), vehiclePosition.getLongitude(), vehicleAltitude);
            Home droneHome = this.drone.getAttribute(AttributeType.HOME);
            distanceFromHome = distanceBetweenPoints(droneHome.getCoordinate(), vehicle3DPosition);
        } else {
            distanceFromHome = 0;
        }

        distanceTextView.setText(String.format("%3.1f", distanceFromHome) + "m");
    }

    protected double distanceBetweenPoints(LatLongAlt pointA, LatLongAlt pointB) {
        if (pointA == null || pointB == null) {
            return 0;
        }
        double dx = pointA.getLatitude() - pointB.getLatitude();
        double dy  = pointA.getLongitude() - pointB.getLongitude();
        double dz = pointA.getAltitude() - pointB.getAltitude();
        return Math.sqrt(dx*dx + dy*dy + dz*dz);
    }


}