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Fix issue 1176 #1195

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merged 4 commits into from
Oct 22, 2014
Merged

Fix issue 1176 #1195

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062d249
adding logging to track the issue with the follow me speed check bug.
m4gr3d Oct 22, 2014
3685d31
Merge branch 'master' of https://github.com/DroidPlanner/droidplanner…
m4gr3d Oct 22, 2014
bf550e9
Updated google map location provider implementation. Seems to fix the…
m4gr3d Oct 22, 2014
c3278b5
fixed issue #1119
m4gr3d Oct 22, 2014
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9 changes: 9 additions & 0 deletions Android/src/org/droidplanner/android/fragments/DroneMap.java
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@ public void run() {

final boolean isThereMissionMarkers = !missionMarkerInfos.isEmpty();
final boolean isHomeValid = home.isValid();
final boolean isGuidedVisible = guided.isVisible();

// Get the list of markers currently on the map.
final Set<MarkerInfo> markersOnTheMap = mMapFragment.getMarkerInfoList();
Expand All @@ -51,6 +52,10 @@ public void run() {
markersOnTheMap.remove(home);
}

if(isGuidedVisible){
markersOnTheMap.remove(guided);
}

if (isThereMissionMarkers) {
markersOnTheMap.removeAll(missionMarkerInfos);
}
Expand All @@ -62,6 +67,10 @@ public void run() {
mMapFragment.updateMarker(home);
}

if(isGuidedVisible){
mMapFragment.updateMarker(guided);
}

if (isThereMissionMarkers) {
mMapFragment.updateMarkers(missionMarkerInfos, isMissionDraggable());
}
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88 changes: 47 additions & 41 deletions Android/src/org/droidplanner/android/gcs/location/FusedLocation.java
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Original file line number Diff line number Diff line change
@@ -1,32 +1,35 @@
package org.droidplanner.android.gcs.location;

import org.droidplanner.android.utils.GoogleApiClientManager;
import org.droidplanner.android.utils.GoogleApiClientManager.GoogleApiClientTask;
import org.droidplanner.core.gcs.location.Location.LocationFinder;
import org.droidplanner.core.gcs.location.Location.LocationReceiver;
import org.droidplanner.core.helpers.coordinates.Coord2D;

import android.content.Context;
import android.location.Location;
import android.os.Bundle;
import android.util.Log;

import com.google.android.gms.common.ConnectionResult;
import com.google.android.gms.common.GooglePlayServicesClient;
import com.google.android.gms.location.LocationClient;
import com.google.android.gms.location.LocationRequest;
import com.google.android.gms.location.LocationServices;

/**
* Feeds Location Data from Android's FusedLocation LocationProvider
*
*/
public class FusedLocation implements LocationFinder, GooglePlayServicesClient.ConnectionCallbacks,
GooglePlayServicesClient.OnConnectionFailedListener,
com.google.android.gms.location.LocationListener {
public class FusedLocation implements LocationFinder, com.google.android.gms.location.LocationListener {

private static final long MIN_TIME_MS = 500;
private static final String TAG = FusedLocation.class.getSimpleName();

private static final long MIN_TIME_MS = 1000;
private static final float MIN_DISTANCE_M = 0.0f;
private static final float LOCATION_ACCURACY_THRESHOLD = 10.0f;
private static final float LOCATION_ACCURACY_THRESHOLD = 15.0f;
private static final float JUMP_FACTOR = 4.0f;

private LocationClient mLocationClient;
private final GoogleApiClientManager gApiMgr;
private final GoogleApiClientTask requestLocationUpdate;
private final GoogleApiClientTask removeLocationUpdate;

private LocationReceiver receiver;

private Location mLastLocation;
Expand All @@ -35,43 +38,42 @@ public class FusedLocation implements LocationFinder, GooglePlayServicesClient.C
private long mSpeedReadings;

public FusedLocation(Context context) {
mLocationClient = new LocationClient(context, this, this);
mLocationClient.connect();
gApiMgr = new GoogleApiClientManager(context, LocationServices.API);

requestLocationUpdate = gApiMgr.new GoogleApiClientTask() {
@Override
protected void doRun() {
final LocationRequest locationRequest = LocationRequest.create();
locationRequest.setPriority(LocationRequest.PRIORITY_HIGH_ACCURACY);
locationRequest.setInterval(MIN_TIME_MS);
locationRequest.setFastestInterval(MIN_TIME_MS);
locationRequest.setSmallestDisplacement(MIN_DISTANCE_M);
LocationServices.FusedLocationApi.requestLocationUpdates(getGoogleApiClient(),
locationRequest, FusedLocation.this);
}
};

removeLocationUpdate = gApiMgr.new GoogleApiClientTask() {
@Override
protected void doRun() {
LocationServices.FusedLocationApi.removeLocationUpdates(getGoogleApiClient(),
FusedLocation.this);
}
};

gApiMgr.start();
}

@Override
public void enableLocationUpdates() {
mSpeedReadings = 0;
mTotalSpeed = 0f;

LocationRequest mLocationRequest = LocationRequest.create();
mLocationRequest.setPriority(LocationRequest.PRIORITY_HIGH_ACCURACY);
mLocationRequest.setInterval(MIN_TIME_MS);
mLocationRequest.setFastestInterval(MIN_TIME_MS);
mLocationRequest.setSmallestDisplacement(MIN_DISTANCE_M);
mLocationClient.requestLocationUpdates(mLocationRequest, this);
gApiMgr.addTask(requestLocationUpdate);
}

@Override
public void disableLocationUpdates() {
if (mLocationClient.isConnected()) {
mLocationClient.removeLocationUpdates(this);
}
}

@Override
public void onConnectionFailed(ConnectionResult arg0) {

}

@Override
public void onConnected(Bundle arg0) {

}

@Override
public void onDisconnected() {

gApiMgr.addTask(removeLocationUpdate);
}

@Override
Expand All @@ -82,16 +84,19 @@ public void onLocationChanged(Location androidLocation) {

if(mLastLocation != null) {
distanceToLast = androidLocation.distanceTo(mLastLocation);
timeSinceLast = (androidLocation.getTime() - mLastLocation.getTime());
timeSinceLast = (androidLocation.getTime() - mLastLocation.getTime()) / 1000;
}

final float currentSpeed = distanceToLast > 0f && timeSinceLast > 0
? (distanceToLast / (timeSinceLast / 1000))
? (distanceToLast / timeSinceLast)
: 0f;
final boolean isLocationAccurate = isLocationAccurate(androidLocation.getAccuracy(),
currentSpeed);
Log.d(TAG, "Is location accurate: " + isLocationAccurate);

org.droidplanner.core.gcs.location.Location location = new org.droidplanner.core.gcs.location.Location(
new Coord2D(androidLocation.getLatitude(), androidLocation.getLongitude()),
androidLocation.getBearing(), androidLocation.getSpeed(), isLocationAccurate(androidLocation.getAccuracy(), currentSpeed));
androidLocation.getBearing(), androidLocation.getSpeed(), isLocationAccurate);

mLastLocation = androidLocation;
receiver.onLocationChanged(location);
Expand All @@ -100,6 +105,7 @@ public void onLocationChanged(Location androidLocation) {

private boolean isLocationAccurate(float accuracy, float currentSpeed){
if(accuracy >= LOCATION_ACCURACY_THRESHOLD){
Log.d(TAG, "High accuracy: " + accuracy);
return false;
}

Expand All @@ -112,6 +118,7 @@ private boolean isLocationAccurate(float accuracy, float currentSpeed){
if(avg >= 1.0){
//Reject unreasonable updates.
if(currentSpeed >= (avg * JUMP_FACTOR)){
Log.d(TAG, "High current speed: " + currentSpeed);
return false;
}
}
Expand All @@ -123,6 +130,5 @@ private boolean isLocationAccurate(float accuracy, float currentSpeed){
@Override
public void setLocationListener(LocationReceiver receiver) {
this.receiver = receiver;

}
}
6 changes: 3 additions & 3 deletions Android/src/org/droidplanner/android/maps/providers/google_map/GoogleMapFragment.java
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Original file line number Diff line number Diff line change
Expand Up @@ -69,9 +69,9 @@ public class GoogleMapFragment extends SupportMapFragment implements DPMap, Loca
public static final String MAP_TYPE_TERRAIN = "Terrain";

// TODO: update the interval based on the user's current activity.
private static final long USER_LOCATION_UPDATE_INTERVAL = 10000; // ms
private static final long USER_LOCATION_UPDATE_FASTEST_INTERVAL = 5000; // ms
private static final float USER_LOCATION_UPDATE_MIN_DISPLACEMENT = 10; // m
private static final long USER_LOCATION_UPDATE_INTERVAL = 30000; // ms
private static final long USER_LOCATION_UPDATE_FASTEST_INTERVAL = 10000; // ms
private static final float USER_LOCATION_UPDATE_MIN_DISPLACEMENT = 15; // m

private final HashBiMap<MarkerInfo, Marker> mBiMarkersMap = new HashBiMap<MarkerInfo, Marker>();

Expand Down