Merge pull request #3 from ototadana/feature/improve-state-management

improve state management
ototadana · Dec 30, 2022 · 7b6d878 · 7b6d878
2 parents 3e79e61 + 956b99e
commit 7b6d878
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Showing 6 changed files with 72 additions and 17 deletions.
diff --git a/build.gradle b/build.gradle
@@ -3,7 +3,7 @@ plugins {
 }
 
 group 'com.xpfriend.tydrone'
-version '1.0.0'
+version '1.1.0'
 sourceCompatibility = 1.8
 targetCompatibility = 1.8
 

diff --git a/src/main/java/com/xpfriend/tydrone/core/Facade.java b/src/main/java/com/xpfriend/tydrone/core/Facade.java
@@ -37,6 +37,19 @@ public String getStates() {
         return info.getStates();
     }
 
+    public String getState(String key) {
+        return info.getState(key);
+    }
+
+    public void setEnabled(String name, boolean enabled) {
+        info.setEnabled(name, enabled);
+    }
+
+    public boolean isEnabled(String name) {
+        return info.isEnabled(name);
+    }
+
+
     public byte[] pickImage() {
         return info.pickImage();
     }

diff --git a/src/main/java/com/xpfriend/tydrone/core/Info.java b/src/main/java/com/xpfriend/tydrone/core/Info.java
@@ -1,14 +1,17 @@
 package com.xpfriend.tydrone.core;
 
+import java.util.HashMap;
+import java.util.Map;
+
 public class Info {
+    private final Map<String, String> states = new HashMap<>();
+    private final Map<String, Boolean> enabled = new HashMap<>();
     private byte[] image;
     private boolean active = true;
-    private String states;
     private String command;
     private String notice;
     private String sentCommand;
     private boolean recording = false;
-
     @SuppressWarnings("rawtypes")
     private VideoFrame frame;
     private boolean richStates;
@@ -30,11 +33,28 @@ public void stop() {
     }
 
     public String getStates() {
-        return states;
+        StringBuilder sb = new StringBuilder();
+        states.forEach((k, v) -> sb.append(k).append(':').append(v).append(';'));
+        if (sb.length() > 0) {
+            sb.deleteCharAt(sb.length() - 1);
+        }
+        return sb.toString();
+    }
+
+    public String getState(String key) {
+        return states.get(key);
+    }
+
+    public void setState(String key, String value) {
+        states.put(key, value);
+    }
+
+    public void setEnabled(String name, boolean enabled) {
+        this.enabled.put(name, enabled);
     }
 
-    public void setStates(String states) {
-        this.states = states;
+    public boolean isEnabled(String name) {
+        return this.enabled.getOrDefault(name, false);
     }
 
     public boolean isRecording() {

diff --git a/src/main/java/com/xpfriend/tydrone/telloio/FFmpegVideoReceiver.java b/src/main/java/com/xpfriend/tydrone/telloio/FFmpegVideoReceiver.java
@@ -35,9 +35,7 @@ public void start(Info info) throws Exception {
                         continue;
                     }
 
-                    if (info.isRecording()) {
-                        info.setFrame(new VideoFrame<>(frame.clone()));
-                    }
+                    info.setFrame(new VideoFrame<>(frame.clone()));
 
                     if (!info.hasImage()) {
                         info.setImage(toByteArray(frame));

diff --git a/src/main/java/com/xpfriend/tydrone/telloio/handlers/State.java b/src/main/java/com/xpfriend/tydrone/telloio/handlers/State.java
@@ -1,5 +1,7 @@
 package com.xpfriend.tydrone.telloio.handlers;
 
+import com.xpfriend.tydrone.core.Info;
+
 import java.io.IOException;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
@@ -185,12 +187,35 @@ public void setWifi(ByteBuffer buffer) {
         wifi = buffer.get();
         byte wil = buffer.get();  // Wifi Interference level (percentage)
     }
+
+    public void updateStates(Info info) {
+        info.setState("bat", Byte.toString(bat));
+        info.setState("lit", Byte.toString(lit));
+        info.setState("wifi", Byte.toString(wifi));
+        info.setState("yaw", Integer.toString(yaw));
+        if (!info.isRichStates()) {
+            return;
+        }
 
-    public String getDefaultStates() {
-        return String.format("bat:%d;lit:%d;wifi:%d;yaw:%d", bat, lit, wifi, yaw);
-    }
-
-    public String getRichStates() {
-        return "bat:" + bat + ";" + "lit:" + lit + ";" + "wifi:" + wifi + ";" + "yaw:" + yaw + ";" + "pitch:" + pitch + ";" + "roll:" + roll + ";" + "h:" + h + ";" + "time:" + time + ";" + "ax:" + ax + ";" + "ay:" + ay + ";" + "az:" + az + ";" + "gx:" + gx + ";" + "gy:" + gy + ";" + "gz:" + gz + ";" + "px:" + px + ";" + "py:" + py + ";" + "pz:" + pz + ";" + "vx:" + vx + ";" + "vy:" + vy + ";" + "vz:" + vz + ";" + "vn:" + vn + ";" + "ve:" + ve + ";" + "vd:" + vd + ";";
+        info.setState("pitch", Integer.toString(pitch));
+        info.setState("roll", Integer.toString(roll));
+        info.setState("h", Short.toString(h));
+        info.setState("time", Short.toString(time));
+
+        info.setState("ax", Float.toString(ax));
+        info.setState("ay", Float.toString(ay));
+        info.setState("az", Float.toString(az));
+        info.setState("gx", Float.toString(gx));
+        info.setState("gy", Float.toString(gy));
+        info.setState("gz", Float.toString(gz));
+        info.setState("px", Float.toString(px));
+        info.setState("py", Float.toString(py));
+        info.setState("pz", Float.toString(pz));
+        info.setState("vx", Short.toString(vx));
+        info.setState("vy", Short.toString(vy));
+        info.setState("vz", Short.toString(vz));
+        info.setState("vn", Float.toString(vn));
+        info.setState("ve", Float.toString(ve));
+        info.setState("vd", Float.toString(vd));
     }
 }
diff --git a/src/main/java/com/xpfriend/tydrone/telloio/handlers/StateHandler.java b/src/main/java/com/xpfriend/tydrone/telloio/handlers/StateHandler.java
@@ -37,8 +37,7 @@ public void handleMessage(Message message, Info info) throws IOException {
             state.setLight(message.getBuffer());
         }
 
-        String states = info.isRichStates() ? state.getRichStates() : state.getDefaultStates();
-        info.setStates(states);
+        state.updateStates(info);
     }
 
     private void sendAckLog(short id) throws IOException {