Auto mission assistant

Android/build.gradle

@@ -7,6 +7,7 @@ dependencies {
     compile 'com.google.android.gms:play-services-analytics:7.5.0'
 
     compile 'com.sothree.slidinguppanel:library:2.0.2'
+    compile 'com.github.traex.rippleeffect:library:1.3'
 
     compile 'com.android.support:support-v4:22.2.0'
     compile 'com.android.support:appcompat-v7:22.2.0'
@@ -15,8 +16,8 @@ dependencies {
     compile 'com.android.support:design:22.2.1'
 
     //DroneKit-Android client library.
-    compile 'com.o3dr.android:dronekit-android:2.5.4'
-
+//    compile 'com.o3dr.android:dronekit-android:2.5.6'
+    compile (name: 'dronekit-android.2.5.7', ext:'aar')
     compile 'me.grantland:autofittextview:0.2.1'
     compile(name:'shimmer-android-release', ext:'aar')
 

Android/res/layout/fragment_mode_auto.xml

@@ -1,10 +1,92 @@
 <?xml version="1.0" encoding="utf-8"?>
-<TextView
+<LinearLayout
     xmlns:android="http://schemas.android.com/apk/res/android"
-    android:id="@+id/ModeDetail"
-    style="@style/ModeDetailText"
-    android:background="@drawable/mode_desc_rectangle"
     android:layout_width="match_parent"
-    android:layout_height="wrap_content"
-    android:text="@string/mode_auto"/>
+    android:layout_height="match_parent"
+    android:gravity="center_horizontal"
+    android:orientation="vertical">
+
+    <TextView
+        android:id="@+id/ModeDetail"
+        style="@style/ModeDetailText"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:background="@drawable/mode_desc_rectangle"
+        android:text="@string/mode_auto" />
+
+    <ProgressBar
+        android:id="@+id/mission_progress"
+        style="?android:attr/progressBarStyleHorizontal"
+        android:layout_width="match_parent"
+        android:layout_height="20dp"
+        android:layout_marginBottom="10dp"
+        android:animationResolution="@android:integer/config_shortAnimTime"
+        android:indeterminate="false"
+        android:max="100"
+        android:progress="0"
+        android:progressBackgroundTint="@android:color/holo_blue_dark"
+        android:progressTint="@android:color/holo_blue_dark" />
+
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="48dp"
+        android:layout_margin="5dp"
+        android:background="@drawable/button_blue"
+        android:gravity="center"
+        android:orientation="horizontal">
+
+        <com.andexert.library.RippleView
+            android:layout_width="80dp"
+            android:layout_height="match_parent">
+
+            <ImageView
+                android:id="@+id/mc_prev"
+                android:layout_width="match_parent"
+                android:layout_height="match_parent"
+                android:clickable="true"
+                android:scaleType="fitCenter"
+                android:src="@drawable/ic_skip_previous_white_24dp" />
+        </com.andexert.library.RippleView>
+
+        <com.andexert.library.RippleView
+            android:layout_width="80dp"
+            android:layout_height="match_parent">
+
+            <ImageView
+                android:id="@+id/mc_pause"
+                android:layout_width="match_parent"
+                android:layout_height="match_parent"
+                android:clickable="true"
+                android:scaleType="fitCenter"
+                android:src="@drawable/ic_pause_white_24dp" />
+        </com.andexert.library.RippleView>
+
+        <com.andexert.library.RippleView
+            android:layout_width="80dp"
+            android:layout_height="match_parent">
+
+            <ImageView
+                android:id="@+id/mc_restart"
+                android:layout_width="match_parent"
+                android:layout_height="match_parent"
+                android:clickable="true"
+                android:scaleType="fitCenter"
+                android:src="@drawable/ic_replay_white_24dp" />
+        </com.andexert.library.RippleView>
+
+        <com.andexert.library.RippleView
+            android:layout_width="80dp"
+            android:layout_height="match_parent">
+
+            <ImageView
+                android:id="@+id/mc_next"
+                android:layout_width="match_parent"
+                android:layout_height="match_parent"
+                android:clickable="true"
+                android:scaleType="fitCenter"
+                android:src="@drawable/ic_skip_next_white_24dp" />
+        </com.andexert.library.RippleView>
+    </LinearLayout>
+
+</LinearLayout>
 

Android/res/values/strings.xml

@@ -583,6 +583,11 @@
     <string name="label_type_plane">Plane</string>
     <string name="label_type_rover">Rover</string>
     <string name="label_type_unknown">Unknown</string>
+    <string name="mode_auto_current_command">Current command:</string>
+    <string name="mode_auto_estimated_finish">Estimated to finish:</string>
+    <string name="mission_control_label">Mission control:</string>
+    <string name="wp_speed">WP Speed:</string>
+    <string name="mission_progress">Mission progress:</string>
     <string name="imu_calibration_start_error">Unable to start imu calibration</string>
     <string name="horizontal_speed_empty">hs: —</string>
     <string name="horizontal_speed_telem">hs: %s</string>

Android/src/org/droidplanner/android/fragments/mode/ModeAutoFragment.java

@@ -1,17 +1,169 @@
 package org.droidplanner.android.fragments.mode;
 
-import org.droidplanner.android.R;
-
+import android.app.Activity;
+import android.content.BroadcastReceiver;
+import android.content.Context;
+import android.content.Intent;
+import android.content.IntentFilter;
 import android.os.Bundle;
 import android.support.v4.app.Fragment;
+import android.support.v4.content.LocalBroadcastManager;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
+import android.widget.ProgressBar;
+
+import com.o3dr.android.client.Drone;
+import com.o3dr.android.client.apis.MissionApi;
+import com.o3dr.android.client.apis.VehicleApi;
+import com.o3dr.services.android.lib.drone.attribute.AttributeEvent;
+import com.o3dr.services.android.lib.drone.attribute.AttributeEventExtra;
+import com.o3dr.services.android.lib.drone.attribute.AttributeType;
+import com.o3dr.services.android.lib.drone.mission.Mission;
+import com.o3dr.services.android.lib.drone.property.VehicleMode;
+import com.o3dr.services.android.lib.model.AbstractCommandListener;
+
+import org.droidplanner.android.DroidPlannerApp;
+import org.droidplanner.android.R;
+import org.droidplanner.android.proxy.mission.MissionProxy;
+
+public class ModeAutoFragment extends Fragment implements View.OnClickListener{
+    public static final String WPNAV_SPEED = "WPNAV_SPEED";
+    private Drone drone;
+
+    private static final IntentFilter eventFilter = new IntentFilter();
+    static{
+        eventFilter.addAction(AttributeEvent.MISSION_ITEM_UPDATED);
+        eventFilter.addAction(AttributeEvent.PARAMETER_RECEIVED);
+        eventFilter.addAction(AttributeEvent.GPS_POSITION);
+    }
+    private final BroadcastReceiver eventReceiver = new BroadcastReceiver() {
+        @Override
+        public void onReceive(Context context, Intent intent) {
+            final String action = intent.getAction();
+            switch (action){
+                case AttributeEvent.MISSION_ITEM_UPDATED:
+                    mission = drone.getAttribute(AttributeType.MISSION);
+                    int currentMissionItem = intent.getIntExtra(AttributeEventExtra.EXTRA_MISSION_CURRENT_MISSION_ITEM, 0);
+                    nextWaypoint = intent.getIntExtra(AttributeEventExtra.EXTRA_MISSION_CURRENT_WAYPOINT, 0);
+                    mission.setCurrentMissionItem(currentMissionItem);
+                    break;
+                case AttributeEvent.GPS_POSITION:
+                    remainingMissionLength = intent.getDoubleExtra(AttributeEventExtra.EXTRA_MISSION_REMAINING_DISTANCE, 0);
+                    updateMission();
+                    break;
+            }
+        }
+    };
+    private Mission mission;
+    private int nextWaypoint;
+    private ProgressBar missionProgress;
+    private double remainingMissionLength;
+    private boolean missionFinished;
 
-public class ModeAutoFragment extends Fragment {
 
 	@Override
 	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
 		return inflater.inflate(R.layout.fragment_mode_auto, container, false);
 	}
+
+    @Override
+    public void onViewCreated(View view, Bundle savedInstanceState) {
+        super.onViewCreated(view, savedInstanceState);
+        view.findViewById(R.id.mc_pause).setOnClickListener(this);
+        view.findViewById(R.id.mc_restart).setOnClickListener(this);
+        view.findViewById(R.id.mc_next).setOnClickListener(this);
+        view.findViewById(R.id.mc_prev).setOnClickListener(this);
+        missionProgress = (ProgressBar) view.findViewById(R.id.mission_progress);
+    }
+
+    @Override
+	public void onClick(View v) {
+        if(mission == null){
+            mission = drone.getAttribute(AttributeType.MISSION);
+        }
+		switch(v.getId()){
+			case R.id.mc_pause: {
+                drone.pauseAtCurrentLocation();
+                break;
+            }
+			case R.id.mc_restart: {
+                gotoMissionItem(0);
+                break;
+            }
+			case R.id.mc_next: {
+                gotoMissionItem(mission.getCurrentMissionItem() + 1);
+                break;
+            }
+			case R.id.mc_prev: {
+                gotoMissionItem(mission.getCurrentMissionItem() - 1);
+                break;
+            }
+		}
+	}
+
+    @Override
+    public void onStart() {
+        super.onStart();
+        LocalBroadcastManager.getInstance(getActivity().getApplicationContext()).registerReceiver(eventReceiver, eventFilter);
+    }
+
+    @Override
+    public void onStop() {
+        super.onStop();
+        LocalBroadcastManager.getInstance(getActivity().getApplicationContext()).unregisterReceiver(eventReceiver);
+    }
+
+    private void gotoMissionItem(final int waypoint){
+        if(missionFinished || waypoint == 0){
+            VehicleApi.getApi(drone).setVehicleMode(VehicleMode.COPTER_BRAKE, new AbstractCommandListener() {
+                @Override
+                public void onSuccess() {
+                    MissionApi.getApi(drone).startMission(true, true, new AbstractCommandListener() {
+                        @Override
+                        public void onSuccess() {
+                            MissionApi.getApi(drone).gotoMissionItem(waypoint,null);
+                        }
+
+                        @Override
+                        public void onError(int i) {
+
+                        }
+
+                        @Override
+                        public void onTimeout() {
+
+                        }
+                    });
+                    missionFinished = false;
+                }
+
+                @Override
+                public void onError(int i) {}
+
+                @Override
+                public void onTimeout() {}
+            });
+        }else{
+            MissionApi.getApi(drone).gotoMissionItem(waypoint,null);
+        }
+    }
+
+
+
+    private void updateMission(){
+        if(mission == null)
+            return;
+        MissionProxy proxy= ((DroidPlannerApp)getActivity().getApplication()).getMissionProxy();
+        double totalLength = proxy.getMissionLength();
+        missionProgress.setMax((int) totalLength);
+        missionProgress.setProgress((int) ((totalLength - remainingMissionLength)));
+        missionFinished = remainingMissionLength < 5;
+    }
+
+    @Override
+	public void onAttach(Activity activity) {
+		drone = ((DroidPlannerApp)activity.getApplication()).getDrone();
+		super.onAttach(activity);
+	}
 }