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Follow UI improvements #1124

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merged 6 commits into from
Oct 3, 2014
Merged

Follow UI improvements #1124

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b535da2
Android: When entering follow-me update the mode fragment
arthurbenemann Oct 3, 2014
6665786
Follow-me: Disable follow-me when the pause button is pressed.
arthurbenemann Oct 3, 2014
acf1d27
Follow-me: When follow-me is enable do not highlight the pause button
arthurbenemann Oct 3, 2014
543d925
Follow-me: Create a state variable on the follow-me class
arthurbenemann Oct 3, 2014
9952bd3
Follow-me: Make the follow-me button statefull
arthurbenemann Oct 3, 2014
5652897
Follow-me: Stop the copter when commanded from the pebble, instead of…
arthurbenemann Oct 3, 2014
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40 changes: 31 additions & 9 deletions Android/src/org/droidplanner/android/fragments/FlightActionsFragment.java
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
import org.droidplanner.core.model.Drone;

import android.app.Activity;
import android.graphics.Color;
import android.os.Bundle;
import android.support.v4.app.Fragment;
import android.view.LayoutInflater;
Expand Down Expand Up @@ -156,6 +157,9 @@ public void onClick(View v) {
break;

case R.id.mc_pause:
if (followMe.isEnabled()) {
followMe.toggleFollowMeState();
}
drone.getGuidedPoint().pauseAtCurrentLocation();
eventBuilder.setAction("Changed flight mode").setLabel("Pause");
break;
Expand All @@ -172,26 +176,30 @@ public void onClick(View v) {
break;

case R.id.mc_follow:
final int result = followMe.toggleFollowMeState();
followMe.toggleFollowMeState();
String eventLabel = null;
switch (result) {
case Follow.FOLLOW_START:
switch (followMe.getState()) {
case FOLLOW_START:
eventLabel = "FollowMe enabled";
break;

case FOLLOW_RUNNING:
eventLabel = "FollowMe running";
break;

case Follow.FOLLOW_END:
case FOLLOW_END:
eventLabel = "FollowMe disabled";
break;

case Follow.FOLLOW_INVALID_STATE:
case FOLLOW_INVALID_STATE:
eventLabel = "FollowMe error: invalid state";
break;

case Follow.FOLLOW_DRONE_DISCONNECTED:
case FOLLOW_DRONE_DISCONNECTED:
eventLabel = "FollowMe error: drone not connected";
break;

case Follow.FOLLOW_DRONE_NOT_ARMED:
case FOLLOW_DRONE_NOT_ARMED:
eventLabel = "FollowMe error: drone not armed";
break;
}
Expand Down Expand Up @@ -249,6 +257,8 @@ public void onDroneEvent(DroneEventsType event, Drone drone) {

case FOLLOW_START:
case FOLLOW_STOP:
case FOLLOW_UPDATE:
updateFlightModeButtons();
updateFollowButton();
break;

Expand All @@ -267,7 +277,7 @@ private void updateFlightModeButtons() {
break;

case ROTOR_GUIDED:
if (drone.getGuidedPoint().isIdle()) {
if (drone.getGuidedPoint().isIdle() && !followMe.isEnabled()) {
pauseBtn.setActivated(true);
}
break;
Expand All @@ -292,7 +302,19 @@ private void resetFlightModeButtons() {
}

private void updateFollowButton() {
followBtn.setActivated(followMe.isEnabled());
switch (followMe.getState()) {
case FOLLOW_START:
followBtn.setBackgroundColor(Color.RED);
break;
case FOLLOW_RUNNING:
followBtn.setActivated(true);
followBtn.setBackgroundResource(R.drawable.flight_action_row_bg_selector);
break;
default:
followBtn.setActivated(false);
followBtn.setBackgroundResource(R.drawable.flight_action_row_bg_selector);
break;
}
}

private void resetButtonsContainerVisibility() {
Expand Down
2 changes: 2 additions & 0 deletions Android/src/org/droidplanner/android/fragments/mode/FlightModePanel.java
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Original file line number Diff line number Diff line change
Expand Up @@ -82,6 +82,8 @@ public void onDroneEvent(DroneInterfaces.DroneEventsType event, Drone drone) {
case DISCONNECTED:
case MODE:
case TYPE:
case FOLLOW_START:
case FOLLOW_STOP:
// Update the mode info panel
onModeUpdate(drone.getState().getMode());
break;
Expand Down
18 changes: 9 additions & 9 deletions Android/src/org/droidplanner/android/notifications/PebbleNotificationProvider.java
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Original file line number Diff line number Diff line change
Expand Up @@ -150,26 +150,27 @@ public void receiveData(Context context, int transactionId, PebbleDictionary dat
switch (request) {

case KEY_REQUEST_MODE_FOLLOW:
final int result = followMe.toggleFollowMeState();
followMe.toggleFollowMeState();
String eventLabel = null;
switch (result) {
case Follow.FOLLOW_START:
switch (followMe.getState()) {
case FOLLOW_START:
case FOLLOW_RUNNING:
eventLabel = "FollowMe enabled";
break;

case Follow.FOLLOW_END:
case FOLLOW_END:
eventLabel = "FollowMe disabled";
break;

case Follow.FOLLOW_INVALID_STATE:
case FOLLOW_INVALID_STATE:
eventLabel = "FollowMe error: invalid state";
break;

case Follow.FOLLOW_DRONE_DISCONNECTED:
case FOLLOW_DRONE_DISCONNECTED:
eventLabel = "FollowMe error: drone not connected";
break;

case Follow.FOLLOW_DRONE_NOT_ARMED:
case FOLLOW_DRONE_NOT_ARMED:
eventLabel = "FollowMe error: drone not armed";
break;
}
Expand All @@ -184,8 +185,7 @@ public void receiveData(Context context, int transactionId, PebbleDictionary dat
break;

case KEY_REQUEST_MODE_LOITER:
((DroidPlannerApp) applicationContext).getDrone().getState()
.changeFlightMode(ApmModes.ROTOR_LOITER);
((DroidPlannerApp) applicationContext).getDrone().getGuidedPoint().pauseAtCurrentLocation();
break;

case KEY_REQUEST_MODE_RTL:
Expand Down
5 changes: 5 additions & 0 deletions Core/src/org/droidplanner/core/drone/DroneInterfaces.java
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Original file line number Diff line number Diff line change
Expand Up @@ -181,6 +181,11 @@ public enum DroneEventsType {
* 'Follow' mode has been disabled.
*/
FOLLOW_STOP,

/**
* 'Follow' state has been updated.
*/
FOLLOW_UPDATE,

/**
*
Expand Down
45 changes: 26 additions & 19 deletions Core/src/org/droidplanner/core/gcs/follow/Follow.java
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -17,14 +17,12 @@

public class Follow implements OnDroneListener, LocationReceiver {

// Set of return value for the 'toggleFollowMeState' method.
public static final int FOLLOW_INVALID_STATE = -1;
public static final int FOLLOW_DRONE_NOT_ARMED = -2;
public static final int FOLLOW_DRONE_DISCONNECTED = -3;
public static final int FOLLOW_START = 0;
public static final int FOLLOW_END = 1;

private boolean followMeEnabled = false;
/** Set of return value for the 'toggleFollowMeState' method.*/
public enum FollowStates {
FOLLOW_INVALID_STATE, FOLLOW_DRONE_NOT_ARMED, FOLLOW_DRONE_DISCONNECTED, FOLLOW_START, FOLLOW_RUNNING, FOLLOW_END,
};

private FollowStates state = FollowStates.FOLLOW_INVALID_STATE;
private Drone drone;

private ROIEstimator roiEstimator;
Expand All @@ -40,48 +38,49 @@ public Follow(Drone drone, Handler handler, LocationFinder locationFinder) {
drone.addDroneListener(this);
}

public int toggleFollowMeState() {
public void toggleFollowMeState() {
final State droneState = drone.getState();
if (droneState == null) {
return FOLLOW_INVALID_STATE;
state = FollowStates.FOLLOW_INVALID_STATE;
return;
}

if (isEnabled()) {
disableFollowMe();
drone.getState().changeFlightMode(ApmModes.ROTOR_LOITER);
return FOLLOW_END;
} else {
if (drone.getMavClient().isConnected()) {
if (drone.getState().isArmed()) {
drone.getState().changeFlightMode(ApmModes.ROTOR_GUIDED);
enableFollowMe();
return FOLLOW_START;
} else {
return FOLLOW_DRONE_NOT_ARMED;
state = FollowStates.FOLLOW_DRONE_NOT_ARMED;
}
} else {
return FOLLOW_DRONE_DISCONNECTED;
state = FollowStates.FOLLOW_DRONE_DISCONNECTED;

}
}
return;
}

private void enableFollowMe() {
locationFinder.enableLocationUpdates();
followMeEnabled = true;
state = FollowStates.FOLLOW_START;
drone.notifyDroneEvent(DroneEventsType.FOLLOW_START);
}

private void disableFollowMe() {
locationFinder.disableLocationUpdates();
if (followMeEnabled) {
followMeEnabled = false;
if (isEnabled()) {
state = FollowStates.FOLLOW_END;
MavLinkROI.resetROI(drone);
drone.getGuidedPoint().pauseAtCurrentLocation();
drone.notifyDroneEvent(DroneEventsType.FOLLOW_STOP);
}
}

public boolean isEnabled() {
return followMeEnabled;
return state == FollowStates.FOLLOW_RUNNING || state == FollowStates.FOLLOW_START;
}

@Override
Expand All @@ -106,8 +105,12 @@ public Length getRadius() {
@Override
public void onLocationChanged(Location location) {
if (location.getAccuracy() < 10.0) {
state = FollowStates.FOLLOW_RUNNING;
followAlgorithm.processNewLocation(location);
}else{
state = FollowStates.FOLLOW_START;
}
drone.notifyDroneEvent(DroneEventsType.FOLLOW_UPDATE);
roiEstimator.onLocationChanged(location);
}

Expand All @@ -127,4 +130,8 @@ public void cycleType() {
public FollowModes getType() {
return followAlgorithm.getType();
}

public FollowStates getState() {
return state;
}
}