--- /dev/null
+/*
+ * AR Drone demo
+ * This file is based on the NDK sample app "San Angeles"
+ */
+package com.parrot.ARDrone;
+
+
+
+import android.app.Activity;
+import android.content.Context;
+import android.opengl.GLSurfaceView;
+import android.os.Bundle;
+import android.text.Layout;
+import android.util.Log;
+import android.view.MotionEvent;
+import android.view.View;
+import android.view.ViewGroup;
+import android.view.WindowManager;
+import android.hardware.Sensor;
+import android.hardware.SensorEvent;
+import android.hardware.SensorEventListener;
+import android.hardware.SensorManager;
+import android.widget.Button;
+
+public class DemoActivity extends Activity implements SensorEventListener {
+ private static final String LOG_TAG = "ARDrone Activity";
+ private SensorManager mSensorManager;
+ private DemoGLSurfaceView mGLView;
+ private Sensor mSensor;
+ private Button mMoveUpButton;
+ private Button mMoveDownButton;
+ private Button mTakeOffButton;
+ private Button mEmergLandButton;
+ private ViewGroup mLayoutView;
+ // private GLSurfaceView mLayoutView;
+
+ // Used for toggle the takeoff/landing button text
+ private boolean mFlyingState = false;
+
+ public final static int COMMAND_TAKEOFF = 1;
+ public final static int COMMAND_EMERGLAND = 2;
+ public final static int COMMAND_MOVEUP = 3;
+ public final static int COMMAND_MOVEDOWN = 4;
+ public final static int COMMAND_USE_ACCELEROMETER = 5;
+
+ @Override
+ protected void onCreate(Bundle savedInstanceState) {
+ super.onCreate(savedInstanceState);
+
+ setContentView( R.layout.main );
+
+ mGLView = (DemoGLSurfaceView) findViewById(R.id.glsurfaceview);
+
+ mGLView.initialize( this );
+
+ // Map initialize control buttons
+ mTakeOffButton = (Button) findViewById( R.id.takeOffButton );
+ mTakeOffButton.setOnTouchListener( new View.OnTouchListener() {
+ @Override
+ public boolean onTouch(View v, MotionEvent event) {
+ // Log.d(LOG_TAG, event.toString() );
+ if( event.getAction() == MotionEvent.ACTION_DOWN ) {
+ DemoActivity.nativeCommand(COMMAND_TAKEOFF, 0, 0, 0, 0, 0);
+ if( mFlyingState == false ) {
+ mTakeOffButton.setText( "Land");
+ }
+ else {
+ mTakeOffButton.setText( "Take off");
+ }
+ mFlyingState = !mFlyingState;
+ }
+
+ return false;
+ }
+ });
+
+ mEmergLandButton = (Button) findViewById( R.id.emergLandingButton );
+ mEmergLandButton.setOnTouchListener( new View.OnTouchListener() {
+ @Override
+ public boolean onTouch(View v, MotionEvent event) {
+ // Log.d(LOG_TAG, event.toString() );
+ if( event.getAction() == MotionEvent.ACTION_DOWN ) {
+ DemoActivity.nativeCommand(COMMAND_EMERGLAND, 0, 0, 0, 0, 0);
+ }
+
+ return false;
+ }
+ });
+
+ mMoveUpButton = (Button) findViewById( R.id.moveUpButton );
+ mMoveUpButton.setOnTouchListener( new View.OnTouchListener() {
+ @Override
+ public boolean onTouch(View v, MotionEvent event) {
+ // Log.d(LOG_TAG, event.toString() );
+ if( event.getAction() == MotionEvent.ACTION_DOWN ) {
+ DemoActivity.nativeCommand(COMMAND_MOVEUP, 1, 0, 0, 0, 0);
+ DemoActivity.nativeCommand(COMMAND_USE_ACCELEROMETER, 1, 0, 0, 0, 0);
+ }
+ else if( event.getAction() == MotionEvent.ACTION_UP) {
+ DemoActivity.nativeCommand(COMMAND_MOVEUP, 0, 0, 0, 0, 0);
+ // Enable accelerometer use for steering
+ DemoActivity.nativeCommand(COMMAND_USE_ACCELEROMETER, 0, 0, 0, 0, 0);
+ }
+
+ return false;
+ }
+ });
+
+ mMoveDownButton = (Button) findViewById( R.id.moveDownButton );
+ mMoveDownButton.setOnTouchListener( new View.OnTouchListener() {
+ @Override
+ public boolean onTouch(View v, MotionEvent event) {
+ // Log.d(LOG_TAG, event.toString() );
+ if( event.getAction() == MotionEvent.ACTION_DOWN ) {
+ DemoActivity.nativeCommand(COMMAND_MOVEDOWN, 1, 0, 0, 0, 0);
+ DemoActivity.nativeCommand(COMMAND_USE_ACCELEROMETER, 1, 0, 0, 0, 0);
+ }
+ else if( event.getAction() == MotionEvent.ACTION_UP) {
+ DemoActivity.nativeCommand(COMMAND_MOVEDOWN, 0, 0, 0, 0, 0);
+ // Enable accelerometer use for steering
+ DemoActivity.nativeCommand(COMMAND_USE_ACCELEROMETER, 0, 0, 0, 0, 0);
+ }
+
+ return false;
+ }
+ });
+
+
+ mLayoutView = (ViewGroup) findViewById( R.id.layoutView );
+ mLayoutView.setOnTouchListener( new View.OnTouchListener() {
+ @Override
+ public boolean onTouch(View v, MotionEvent event) {
+ // Log.d(LOG_TAG, event.toString() );
+ if( event.getAction() == MotionEvent.ACTION_DOWN ) {
+ // Disable accelerometer use for steering
+ DemoActivity.nativeCommand(COMMAND_USE_ACCELEROMETER, 1, 0, 0, 0, 0);
+ }
+ else if( event.getAction() == MotionEvent.ACTION_UP) {
+ // Enable accelerometer use for steering
+ DemoActivity.nativeCommand(COMMAND_USE_ACCELEROMETER, 0, 0, 0, 0, 0);
+ }
+ return true;
+ }
+ });
+
+ // Set flags to keep screen from dimming
+ getWindow().setFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON,
+ WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
+
+
+ // Get Sensor Manager
+ mSensorManager = (SensorManager)getSystemService(Context.SENSOR_SERVICE);
+ mSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_ORIENTATION);
+ }
+
+ @Override
+ protected void onPause() {
+ super.onPause();
+ mGLView.onPause();
+ mSensorManager.unregisterListener(this);
+ }
+
+ @Override
+ protected void onResume() {
+ super.onResume();
+ mGLView.onResume();
+ // update every 200 ms (NORMAL), 60 ms (UI) or 20 ms (GAME)
+ mSensorManager.registerListener(this, mSensor, SensorManager.SENSOR_DELAY_GAME);
+ }
+
+ @Override
+ protected void onStop() {
+ super.onStop();
+ nativeStop();
+ }
+
+ public void onAccuracyChanged(Sensor sensor, int accuracy) {
+ /* do nothing ? */
+ }
+
+ public void onSensorChanged(final SensorEvent ev) {
+
+ //Log.d(LOG_TAG, "azimuth= " + ev.values[0] + " pitch= " + ev.values[1] + "roll= " + ev.values[2] );
+ nativeSensorEvent(ev.values[0],ev.values[1],ev.values[2]);
+ }
+
+ static {
+ System.loadLibrary("ardrone");
+ }
+
+
+ /**
+ * Method for pass enumerated commands to native layer
+ *
+ * @param commandId
+ * @param iparam1
+ * @param fparam1
+ * @param fparam2
+ * @param fparam3
+ * @param fparam4
+ */
+ private static native void nativeCommand(int commandId, int iparam1, float fparam1, float fparam2, float fparam3, float fparam4);
+
+ private static native void nativeStop();
+ private static native void nativeSensorEvent(float x, float y, float z);
+}
+
+
+
projects / mardrone / blobdiff