Dronie update

Android/res/values/preferences_keys.xml

@@ -44,6 +44,7 @@ This file is used to store the preferences keys so that it's accessible and modi
     <string name="pref_warn_on_arm_key">pref_warn_on_arm</string>
     <string name="pref_auto_insert_mission_takeoff_rtl_land_key">pref_auto_insert_mission_takeoff_rtl_land</string>
     <string name="pref_warn_on_takeoff_in_auto_key">pref_warn_on_takeoff_in_auto</string>
+    <string name="pref_warn_on_dronie_creation_key">pref_warn_on_dronie_creation</string>
 
     <string name="pref_enable_tts_key">pref_enable_tts</string>
     <string name="pref_tts_periodic_key">tts_periodic</string>

Android/res/values/strings.xml

@@ -498,7 +498,7 @@
     <!-- Drone locator strings -->
     <string name="locator">Locator</string>
     <string name="open_tlog_file">Open Log File</string>
-    <string name="status_waiting_for_gps">Waiting for GPS...</string>
+    <string name="status_waiting_for_gps">Waiting for GPS…</string>
 
     <!-- Preference dialogs -->
     <string name="pref_misc_title">Miscellaneous</string>
@@ -512,5 +512,8 @@
     <string name="pref_dialog_selection_reset_desc"><![CDATA[Reset selection through: Settings -> User Interface -> Preference Dialogs]]></string>
     <string name="dialog_confirm_take_off_in_auto_title">Take off in Auto?</string>
     <string name="dialog_confirm_take_off_in_auto_msg">Warning! The drone will now take off and start the mission.</string>
+    <string name="pref_dronie_creation_title">Create dronie?</string>
+    <string name="pref_dronie_creation_message">Please stand back 8m before starting the
+        dronie.</string>
 
 </resources>

Android/res/xml/preferences.xml

@@ -168,6 +168,14 @@
                         android:defaultValue="@string/pref_dialog_entry_ask"
                         android:entryValues="@array/preference_dialog_entry"/>
 
+                    <ListPreference
+                        android:key="@string/pref_warn_on_dronie_creation_key"
+                        android:title="@string/pref_dronie_creation_title"
+                        android:entries="@array/preference_dialog_entry"
+                        android:entryValues="@array/preference_dialog_entry"
+                        android:defaultValue="@string/pref_dialog_entry_ask"
+                        />
+
                 </PreferenceScreen>
             </PreferenceCategory>
         </PreferenceScreen>

Android/src/org/droidplanner/android/activities/FlightActivity.java

@@ -119,9 +119,7 @@ public void onDrawerOpened() {
         resetMapBearing.setOnClickListener(new View.OnClickListener() {
             @Override
             public void onClick(View v) {
-                if(mapFragment != null) {
-                    mapFragment.updateMapBearing(0);
-                }
+                updateMapBearing(0);
             }
         });
 
@@ -237,6 +235,11 @@ private void updateMapLocationButtons(AutoPanMode mode) {
 		}
 	}
 
+    public void updateMapBearing(float bearing){
+        if(mapFragment != null)
+            mapFragment.updateMapBearing(bearing);
+    }
+
 	/**
 	 * Ensures that the device has the correct version of the Google Play
 	 * Services.

Android/src/org/droidplanner/android/fragments/CopterFlightActionsFragment.java

@@ -1,5 +1,6 @@
 package org.droidplanner.android.fragments;
 
+import android.app.Activity;
 import android.graphics.Color;
 import android.os.Bundle;
 import android.support.v4.app.Fragment;
@@ -14,9 +15,11 @@
 
 import org.droidplanner.R;
 import org.droidplanner.android.DroidPlannerApp;
+import org.droidplanner.android.activities.FlightActivity;
 import org.droidplanner.android.activities.helpers.SuperUI;
 import org.droidplanner.android.dialogs.YesNoDialog;
 import org.droidplanner.android.dialogs.YesNoWithPrefsDialog;
+import org.droidplanner.android.proxy.mission.MissionProxy;
 import org.droidplanner.android.utils.analytics.GAUtils;
 import org.droidplanner.core.MAVLink.MavLinkArm;
 import org.droidplanner.core.drone.DroneInterfaces;
@@ -35,7 +38,7 @@ public class CopterFlightActionsFragment extends Fragment implements View.OnClic
     private static final double TAKEOFF_ALTITUDE = 10.0;
 
     private Drone drone;
-
+    private MissionProxy missionProxy;
     private Follow followMe;
 
     private View mDisconnectedButtons;
@@ -49,13 +52,23 @@ public class CopterFlightActionsFragment extends Fragment implements View.OnClic
     private Button pauseBtn;
     private Button autoBtn;
 
+    @Override
+    public void onAttach(Activity activity){
+        super.onAttach(activity);
+        if(!(activity instanceof FlightActivity)){
+            throw new IllegalStateException("Parent activity must be an instance of " +
+                    FlightActivity.class.getName());
+        }
+    }
+
     @Override
     public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
         View view = inflater.inflate(R.layout.fragment_copter_mission_control, container, false);
 
         DroidPlannerApp droidPlannerApp = (DroidPlannerApp) getActivity().getApplication();
         drone = droidPlannerApp.getDrone();
         followMe = droidPlannerApp.getFollowMe();
+        missionProxy = droidPlannerApp.getMissionProxy();
         return view;
     }
 
@@ -208,7 +221,7 @@ public void onClick(View v) {
                 break;
 
             case R.id.mc_dronieBtn:
-                drone.getMission().makeAndUploadDronie();
+                getDronieConfirmation();
                 eventBuilder.setAction(ACTION_FLIGHT_ACTION_BUTTON).setLabel("Dronie uploaded");
                 break;
 
@@ -223,6 +236,31 @@ public void onClick(View v) {
 
     }
 
+    private void getDronieConfirmation() {
+        YesNoWithPrefsDialog ynd = YesNoWithPrefsDialog.newInstance(getActivity()
+                .getApplicationContext(), getString(R.string.pref_dronie_creation_title),
+                getString(R.string.pref_dronie_creation_message), new YesNoDialog.Listener() {
+            @Override
+            public void onYes() {
+                final float bearing = missionProxy.makeAndUploadDronie();
+                if(bearing >= 0){
+                    final FlightActivity flightActivity = (FlightActivity) getActivity();
+                    if(flightActivity != null){
+                        flightActivity.updateMapBearing(bearing);
+                    }
+                }
+            }
+
+            @Override
+            public void onNo() {
+            }
+        }, getString(R.string.pref_warn_on_dronie_creation_key));
+
+        if(ynd != null){
+            ynd.show(getChildFragmentManager(), "Confirm dronie creation");
+        }
+    }
+
     private void getTakeOffInAutoConfirmation() {
         YesNoWithPrefsDialog ynd = YesNoWithPrefsDialog.newInstance(getActivity()
                 .getApplicationContext(), getString(R.string.dialog_confirm_take_off_in_auto_title),

Android/src/org/droidplanner/android/proxy/mission/MissionProxy.java

@@ -25,6 +25,7 @@
 import org.droidplanner.core.mission.waypoints.SpatialCoordItem;
 import org.droidplanner.core.mission.waypoints.SplineWaypoint;
 import org.droidplanner.core.mission.waypoints.Waypoint;
+import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.util.Pair;
 
 /**
@@ -223,16 +224,6 @@ public void addTakeoff() {
 		mMission.addMissionItem(takeoff);
 	}
 
-	public void addDronie(Coord2D start, Coord2D end) {
-		clear();
-
-		List<MissionItem> dronieItems = Mission.createDronie(mMission,start, end);		
-
-		addMissionItems(dronieItems);	
-	}
-
-
-
     public void addTakeOffAndRTL(){
         if(!mMission.isFirstItemTakeoff()){
             final Takeoff takeOff = new Takeoff(mMission, new Altitude(Takeoff.DEFAULT_TAKEOFF_ALTITUDE));
@@ -569,4 +560,10 @@ public Length getMissionLength() {
 			return new Length(0);
 		}
 	}
+
+    public float makeAndUploadDronie() {
+        final double bearing = mMission.makeAndUploadDronie();
+        refresh();
+        return (float) bearing;
+    }
 }

Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionChangeSpeedFragment.java

@@ -28,7 +28,7 @@ public void onViewCreated(View view, Bundle savedInstanceState) {
 
 		final NumericWheelAdapter adapter = new NumericWheelAdapter(getActivity()
 				.getApplicationContext(), R.layout.wheel_text_centered, 1,
-                20, "%d m");
+                20, "%d m/s");
 		final CardWheelHorizontalView cardAltitudePicker = (CardWheelHorizontalView) view
 				.findViewById(R.id.picker1);
 		cardAltitudePicker.setViewAdapter(adapter);

Core/src/org/droidplanner/core/mission/Mission.java

@@ -1,8 +1,8 @@
 package org.droidplanner.core.mission;
 
-import java.util.ArrayList;
-import java.util.Collections;
-import java.util.List;
+import com.MAVLink.Messages.ardupilotmega.msg_mission_ack;
+import com.MAVLink.Messages.ardupilotmega.msg_mission_item;
+import com.MAVLink.Messages.enums.MAV_CMD;
 
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneVariable;
@@ -11,6 +11,7 @@
 import org.droidplanner.core.helpers.geoTools.GeoTools;
 import org.droidplanner.core.helpers.units.Altitude;
 import org.droidplanner.core.helpers.units.Length;
+import org.droidplanner.core.helpers.units.Speed;
 import org.droidplanner.core.mission.commands.ChangeSpeed;
 import org.droidplanner.core.mission.commands.ReturnToHome;
 import org.droidplanner.core.mission.commands.Takeoff;
@@ -23,9 +24,9 @@
 import org.droidplanner.core.model.Drone;
 import org.droidplanner.core.util.Pair;
 
-import com.MAVLink.Messages.ardupilotmega.msg_mission_ack;
-import com.MAVLink.Messages.ardupilotmega.msg_mission_item;
-import com.MAVLink.Messages.enums.MAV_CMD;
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.List;
 
 /**
  * This implements a mavlink mission. A mavlink mission is a set of
@@ -105,10 +106,10 @@ public void addMissionItem(MissionItem missionItem) {
 		notifyMissionUpdate();
 	}
 
-    public void addMissionItem(int index, MissionItem missionItem){
-        items.add(index, missionItem);
-        notifyMissionUpdate();
-    }
+	public void addMissionItem(int index, MissionItem missionItem) {
+		items.add(index, missionItem);
+		notifyMissionUpdate();
+	}
 
 	/**
 	 * Signals that this mission object was updated. //TODO: maybe move outside
@@ -142,39 +143,39 @@ public Altitude getLastAltitude() {
 	 */
 	public void replace(MissionItem oldItem, MissionItem newItem) {
 		final int index = items.indexOf(oldItem);
-        if(index == -1){
-            return;
-        }
+		if (index == -1) {
+			return;
+		}
 
 		items.remove(index);
 		items.add(index, newItem);
 		notifyMissionUpdate();
 	}
 
-    public void replaceAll(List<Pair<MissionItem, MissionItem>> updatesList){
-        if(updatesList == null || updatesList.isEmpty()){
-            return;
-        }
+	public void replaceAll(List<Pair<MissionItem, MissionItem>> updatesList) {
+		if (updatesList == null || updatesList.isEmpty()) {
+			return;
+		}
 
-        boolean wasUpdated = false;
-        for(Pair<MissionItem, MissionItem> updatePair : updatesList){
-            final MissionItem oldItem = updatePair.first;
-            final int index = items.indexOf(oldItem);
-            if(index == -1){
-                continue;
-            }
+		boolean wasUpdated = false;
+		for (Pair<MissionItem, MissionItem> updatePair : updatesList) {
+			final MissionItem oldItem = updatePair.first;
+			final int index = items.indexOf(oldItem);
+			if (index == -1) {
+				continue;
+			}
 
-            final MissionItem newItem = updatePair.second;
-            items.remove(index);
-            items.add(index, newItem);
+			final MissionItem newItem = updatePair.second;
+			items.remove(index);
+			items.add(index, newItem);
 
-            wasUpdated = true;
-        }
+			wasUpdated = true;
+		}
 
-        if(wasUpdated) {
-            notifyMissionUpdate();
-        }
-    }
+		if (wasUpdated) {
+			notifyMissionUpdate();
+		}
+	}
 
 	/**
 	 * Reverse the order of the mission items.
@@ -302,28 +303,50 @@ public List<msg_mission_item> getMsgMissionItems() {
 		return data;
 	}
 
-	public void makeAndUploadDronie() {
+	/**
+	 * Create and upload a dronie mission to the drone
+	 * 
+	 * @return the bearing in degrees the drone trajectory will take.
+	 */
+	public double makeAndUploadDronie() {
 		Coord2D currentPosition = myDrone.getGps().getPosition();
-		if(currentPosition == null || myDrone.getGps().getSatCount()<=5){
+		if (currentPosition == null || myDrone.getGps().getSatCount() <= 5) {
 			myDrone.notifyDroneEvent(DroneEventsType.WARNING_NO_GPS);
-			return;
+			return -1;
 		}
+
+		final double bearing = 180 + myDrone.getOrientation().getYaw();
 		items.clear();
-		items.addAll(createDronie(this, currentPosition, GeoTools.newCoordFromBearingAndDistance(
-				currentPosition, 180 + myDrone.getOrientation().getYaw(), 50.0)));
+		items.addAll(createDronie(currentPosition,
+				GeoTools.newCoordFromBearingAndDistance(currentPosition, bearing, 50.0)));
 		sendMissionToAPM();
 		notifyMissionUpdate();
+
+		return bearing;
 	}
 
-	public static List<MissionItem> createDronie(Mission mMission,Coord2D start, Coord2D end) {
+	public List<MissionItem> createDronie(Coord2D start, Coord2D end) {
 		final int startAltitude = 4;
-
+		final int roiDistance = -8;
+		Coord2D slowDownPoint = GeoTools.pointAlongTheLine(start, end, 5);
+
+		Speed defaultSpeed = myDrone.getSpeed().getSpeedParameter();
+		if (defaultSpeed == null) {
+			defaultSpeed = new Speed(5);
+		}
+
 		List<MissionItem> dronieItems = new ArrayList<MissionItem>();
-		dronieItems.add(new Takeoff(mMission, new Altitude(startAltitude)));
-		dronieItems.add(new RegionOfInterest(mMission,new Coord3D(GeoTools.pointAlongTheLine(start, end, -8), new Altitude(1.0))));
-		dronieItems.add(new Waypoint(mMission, new Coord3D(end, new Altitude(startAltitude+GeoTools.getDistance(start, end).valueInMeters()/2.0))));
-		dronieItems.add(new Waypoint(mMission, new Coord3D(start, new Altitude(startAltitude))));
-		dronieItems.add(new Land(mMission,start));
+		dronieItems.add(new Takeoff(this, new Altitude(startAltitude)));
+		dronieItems.add(new RegionOfInterest(this, new Coord3D(GeoTools.pointAlongTheLine(start,
+				end, roiDistance), new Altitude(1.0))));
+		dronieItems.add(new Waypoint(this, new Coord3D(end, new Altitude(startAltitude
+				+ GeoTools.getDistance(start, end).valueInMeters() / 2.0))));
+		dronieItems.add(new Waypoint(this, new Coord3D(slowDownPoint, new Altitude(startAltitude
+				+ GeoTools.getDistance(start, slowDownPoint).valueInMeters() / 2.0))));
+		dronieItems.add(new ChangeSpeed(this, new Speed(1.0)));
+		dronieItems.add(new Waypoint(this, new Coord3D(start, new Altitude(startAltitude))));
+		dronieItems.add(new ChangeSpeed(this, defaultSpeed));
+		dronieItems.add(new Land(this, start));
 		return dronieItems;
 	}
 
@@ -341,7 +364,7 @@ public boolean isFirstItemTakeoff() {
 	}
 
 	public boolean isLastItemLandOrRTL() {
-		MissionItem last = items.get(items.size()-1);
+		MissionItem last = items.get(items.size() - 1);
 		return (last instanceof ReturnToHome) || (last instanceof Land);
 	}
 }