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1.4.9
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Added multicast support, i.e. No FTS instance ncessary, video streaming doesn't work in multicast mode, yet.
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@niccellular
niccellular committed Aug 28, 2021
1 parent 3001385 commit c5f60b8
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Showing 6 changed files with 309 additions and 106 deletions.
6 changes: 3 additions & 3 deletions app/build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@ def droneName = properties.getProperty('DRONENAME')

def versionMajor = 1
def versionMinor = 4
def versionPatch = 8
def versionPatch = 9

android {
compileSdkVersion 30
Expand All @@ -38,8 +38,8 @@ android {
buildConfigField "String", "FTSAPIKEY", ftsAPIKey
buildConfigField "String", "RTMPIP", rtmpIP
buildConfigField "String", "DRONENAME", droneName
buildConfigField "boolean", "RELEASE", "false" // true when making Play Store APK
minSdkVersion 23
buildConfigField "boolean", "RELEASE", "true" // true when making Play Store APK
minSdkVersion 26
targetSdkVersion 30
multiDexEnabled true
vectorDrawables.useSupportLibrary = true
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152 changes: 111 additions & 41 deletions app/src/main/java/org/FreeTak/FreeTAKUAS/CompleteWidgetActivity.java
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Original file line number Diff line number Diff line change
Expand Up @@ -45,14 +45,19 @@
import org.tensorflow.lite.task.vision.detector.ObjectDetector;

import java.io.InputStream;
import java.net.InetAddress;
import java.net.MulticastSocket;
import java.net.NetworkInterface;
import java.nio.ByteBuffer;
import java.util.ArrayList;
import java.util.Collection;
import java.util.Dictionary;
import java.util.Enumeration;
import java.util.Hashtable;
import java.util.Iterator;
import java.util.List;
import java.util.ListIterator;
import java.util.UUID;
import java.util.concurrent.atomic.AtomicBoolean;

import dji.common.airlink.PhysicalSource;
Expand Down Expand Up @@ -117,7 +122,7 @@ public class CompleteWidgetActivity extends Activity {
int stream_delay = 3000;

public String RTMP_URL = "";
public boolean rtmp_hd, object_detect, od_75;
public boolean rtmp_hd, object_detect, od_75, multicast;
public String FTS_IP, FTS_APIKEY, drone_name, rtmp_ip;
public double droneLocationLat, droneLocationLng, droneDistance, droneHeading;
public double homeLocationLat, homeLocationLng;
Expand All @@ -127,6 +132,7 @@ public class CompleteWidgetActivity extends Activity {
public boolean stream_enabled = false;
// this holds the geoobj names count
private Dictionary names = new Hashtable();
private Dictionary droneFoVs = new Hashtable();

// ML stuff
private final Handler objectDetector_handler = new Handler();
Expand All @@ -136,11 +142,41 @@ public class CompleteWidgetActivity extends Activity {
private MultiBoxTracker tracker;
private long timestamp = 0;

// Multicast stuff
private InetAddress multicastGroup;
private MulticastSocket mcs;
private String MulticastUID;

@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_default_widgets);

droneFoVs.put("UNKNOWN_AIRCRAFT","0");
droneFoVs.put("INSPIRE_1","72");
droneFoVs.put("INSPIRE_1_PRO","72");
droneFoVs.put("INSPIRE_1_RAW","72");
droneFoVs.put("INSPIRE_2","72");
droneFoVs.put("PHANTOM_3_PROFESSIONAL","94");
droneFoVs.put("PHANTOM_3_ADVANCED","94");
droneFoVs.put("PHANTOM_3_STANDARD","94");
droneFoVs.put("Phantom_3_4K","94");
droneFoVs.put("PHANTOM_4","94");
droneFoVs.put("PHANTOM_4_PRO","94");
droneFoVs.put("PHANTOM_4_PRO_V2","94");
droneFoVs.put("P_4_MULTISPECTRAL","62.7");
droneFoVs.put("MAVIC_AIR_2","84");
droneFoVs.put("MAVIC_2_ENTERPRISE_ADVANCED","84");
droneFoVs.put("MAVIC_PRO","78.8");
droneFoVs.put("Spark","81.9");
droneFoVs.put("MAVIC_AIR","85");
droneFoVs.put("MAVIC_2_PRO","77");
droneFoVs.put("MAVIC_2_ZOOM","83");
droneFoVs.put("MAVIC_2","77");
droneFoVs.put("MAVIC_2_ENTERPRISE","82.6");
droneFoVs.put("MAVIC_2_ENTERPRISE_DUAL","85");
droneFoVs.put("MAVIC_MINI","83");

names.put("Alpha", 0);
names.put("Bravo", 0);
names.put("Charlie", 0);
Expand Down Expand Up @@ -179,6 +215,7 @@ protected void onCreate(Bundle savedInstanceState) {
rtmp_hd = PreferenceManager.getDefaultSharedPreferences(this).getBoolean("rtmp_hd", false);
object_detect = PreferenceManager.getDefaultSharedPreferences(this).getBoolean("object_detect", false);
od_75 = PreferenceManager.getDefaultSharedPreferences(this).getBoolean("od_75", false);
multicast = PreferenceManager.getDefaultSharedPreferences(this).getBoolean("no_server", false);

String rtmp_path = "/live/UAS-" + drone_name;
RTMP_URL = "rtmp://" + rtmp_ip + rtmp_path;
Expand Down Expand Up @@ -241,12 +278,15 @@ protected void onCreate(Bundle savedInstanceState) {
List<String> allowedLabels = new ArrayList<>();
allowedLabels.add("car");
allowedLabels.add("truck");
allowedLabels.add("bus");
allowedLabels.add("airplane");
allowedLabels.add("boat");
allowedLabels.add("person");

// Leave at least 2 cores open for the OS
int numThreads = (Runtime.getRuntime().availableProcessors() * 2) - 2;
if (numThreads <= 0)
numThreads = 1;

// 42% score threshold default
float thresholdScore = 0.42f;
Expand All @@ -261,6 +301,32 @@ protected void onCreate(Bundle savedInstanceState) {
Toast.makeText(getApplicationContext(), String.format("Failed to load Tensorflow model: %s", e),Toast.LENGTH_SHORT).show();
}
}

if (multicast) {
try {
boolean found = false;
MulticastUID = UUID.randomUUID().toString();
multicastGroup = InetAddress.getByName("239.2.3.1");
mcs = new MulticastSocket(6969);
mcs.setBroadcast(true);
for(Enumeration<NetworkInterface> list = NetworkInterface.getNetworkInterfaces(); list.hasMoreElements();) {
NetworkInterface i = list.nextElement();
String interfaceName = i.getDisplayName();
Log.i(TAG, String.format("Interface: %s", interfaceName));
if (interfaceName.startsWith("wlan")) {
mcs.setNetworkInterface(i);
mcs.joinGroup(multicastGroup);
found = true;
Toast.makeText(getApplicationContext(), String.format("Multicasting on %s interface", interfaceName),Toast.LENGTH_SHORT).show();
break;
}
}
if (!found)
Toast.makeText(getApplicationContext(), String.format("Unable to find WIFI interface"),Toast.LENGTH_SHORT).show();
} catch (Exception e) {
Toast.makeText(getApplicationContext(), String.format("Failed to join Multicast group: %s", e),Toast.LENGTH_SHORT).show();
}
}
}

private void onViewClick(View view) {
Expand Down Expand Up @@ -359,7 +425,8 @@ protected void onResume() {

l = DJISDKManager.getInstance().getLiveStreamManager();
stream_toggle = findViewById(R.id.stream_toggle);
stream_toggle.setOnCheckedChangeListener((buttonView, isChecked) -> {
if (!multicast)
stream_toggle.setOnCheckedChangeListener((buttonView, isChecked) -> {
if (isChecked) {
stream_toggle.setChecked(true);
stream_enabled = true;
Expand All @@ -369,8 +436,7 @@ protected void onResume() {
if (!l.isStreaming() && stream_enabled) {
Log.i(TAG,String.format("RTMP URL: %s", RTMP_URL));


//l.setLiveVideoBitRate(LiveVideoBitRateMode.AUTO.getValue());
l.setLiveVideoBitRate(LiveVideoBitRateMode.AUTO.getValue());
l.setAudioStreamingEnabled(false);
l.setAudioMuted(true);
l.setVideoEncodingEnabled(true);
Expand All @@ -379,12 +445,12 @@ protected void onResume() {

if (rtmp_hd) {
Log.i(TAG, "Streaming in 1080p");
//l.setLiveVideoResolution(LiveVideoResolution.VIDEO_RESOLUTION_1920_1080 );
//VideoFeeder.getInstance().setTranscodingDataRate(20.0f);
l.setLiveVideoResolution(LiveVideoResolution.VIDEO_RESOLUTION_1920_1080 );
VideoFeeder.getInstance().setTranscodingDataRate(20.0f);
} else {
Log.i(TAG, "Streaming in 480p");
//l.setLiveVideoResolution(LiveVideoResolution.VIDEO_RESOLUTION_480_360 );
//VideoFeeder.getInstance().setTranscodingDataRate(0.3f);
l.setLiveVideoResolution(LiveVideoResolution.VIDEO_RESOLUTION_480_360 );
VideoFeeder.getInstance().setTranscodingDataRate(0.3f);
}

int rc = 0;
Expand Down Expand Up @@ -422,6 +488,7 @@ protected void onResume() {
});

crossHairView = findViewById(R.id.crosshair);

crossHairView.setOnTouchListener((v, event) -> {

if (event.getAction() == MotionEvent.ACTION_DOWN) {
Expand Down Expand Up @@ -495,7 +562,10 @@ protected void onResume() {
// update the count for this name
names.put(pickedName[0], howMany[0]+1);

new SendCotTask(CompleteWidgetActivity.this).execute("geoObject", FTS_IP, FTS_APIKEY, geoObjLatLng[0], geoObjLatLng[1], pickedAttitude[0], String.format("%s-%d", pickedName[0], howMany[0]), droneHeading);
if (multicast)
new SendCotTask(CompleteWidgetActivity.this).execute("geoObject", String.format("%s-%d_%s", pickedName[0], howMany[0],pickedAttitude[0]), droneLocationAlt, geoObjLatLng[0], geoObjLatLng[1], droneDistance, droneHeading, getCameraFov(), gimbalPitch, MulticastUID);
else
new SendCotTask(CompleteWidgetActivity.this).execute("geoObject", FTS_IP, FTS_APIKEY, geoObjLatLng[0], geoObjLatLng[1], pickedAttitude[0], String.format("%s-%d", pickedName[0], howMany[0]), droneHeading);
popupWindow.dismiss();
});
}
Expand All @@ -520,34 +590,7 @@ protected void onResume() {
boolean gimbal_status = initGimbal();
if (controller_status) {
if (gimbal_status) {
Dictionary droneFoVs = new Hashtable();
droneFoVs.put("UNKNOWN_AIRCRAFT","0");
droneFoVs.put("INSPIRE_1","72");
droneFoVs.put("INSPIRE_1_PRO","72");
droneFoVs.put("INSPIRE_1_RAW","72");
droneFoVs.put("INSPIRE_2","72");
droneFoVs.put("PHANTOM_3_PROFESSIONAL","94");
droneFoVs.put("PHANTOM_3_ADVANCED","94");
droneFoVs.put("PHANTOM_3_STANDARD","94");
droneFoVs.put("Phantom_3_4K","94");
droneFoVs.put("PHANTOM_4","94");
droneFoVs.put("PHANTOM_4_PRO","94");
droneFoVs.put("PHANTOM_4_PRO_V2","94");
droneFoVs.put("P_4_MULTISPECTRAL","62.7");
droneFoVs.put("MAVIC_AIR_2","84");
droneFoVs.put("MAVIC_2_ENTERPRISE_ADVANCED","84");
droneFoVs.put("MAVIC_PRO","78.8");
droneFoVs.put("Spark","81.9");
droneFoVs.put("MAVIC_AIR","85");
droneFoVs.put("MAVIC_2_PRO","77");
droneFoVs.put("MAVIC_2_ZOOM","83");
droneFoVs.put("MAVIC_2","77");
droneFoVs.put("MAVIC_2_ENTERPRISE","82.6");
droneFoVs.put("MAVIC_2_ENTERPRISE_DUAL","85");
droneFoVs.put("MAVIC_MINI","83");

// dynamically determine what the camera lenses FoV is
String camera_fov = droneFoVs.get(DJISDKManager.getInstance().getProduct().getModel().toString()).toString();


// send sensor CoTs while this activity is open and the drone has real gps data
sensor_handler.postDelayed(sensor_runnable = () -> {
Expand All @@ -556,8 +599,11 @@ protected void onResume() {
Log.i(TAG, String.format("Updating drone position: alt %f long %f lat %f distance %f heading %f", droneLocationAlt, droneLocationLng, droneLocationLat, droneDistance, droneHeading));
Log.i(TAG, String.format("gimbal stats: pitch: %f roll %f yaw %f", gimbalPitch, gimbalRoll, gimbalYaw));
Log.i(TAG, "Sending UAS Location CoT");
new SendCotTask(CompleteWidgetActivity.this).execute("sensor", FTS_IP, FTS_APIKEY, drone_name, droneLocationAlt, droneLocationLat, droneLocationLng, droneDistance, droneHeading, camera_fov, gimbalPitch, gimbalRoll, gimbalYaw, gimbalYawRelativeToAircraftHeading);
if (getDroneSPI() != null) {
if (multicast)
new SendCotTask(CompleteWidgetActivity.this).execute("sensor", drone_name, droneLocationAlt, droneLocationLat, droneLocationLng, droneDistance, droneHeading, getCameraFov(), gimbalPitch, MulticastUID);
else
new SendCotTask(CompleteWidgetActivity.this).execute("sensor", FTS_IP, FTS_APIKEY, drone_name, droneLocationAlt, droneLocationLat, droneLocationLng, droneDistance, droneHeading, getCameraFov(), gimbalPitch, gimbalRoll, gimbalYaw, gimbalYawRelativeToAircraftHeading);
if (getDroneSPI() != null || multicast) {
// the range to the target, using angle of depression
double range;
if (droneLocationAlt == 0)
Expand All @@ -574,7 +620,10 @@ protected void onResume() {

double[] spiLatLng = moveLatLng(droneLocationLat, droneLocationLng, range, droneHeading);
Log.i(TAG, String.format("Sending SPI lat: %f lng: %f",spiLatLng[0], spiLatLng[1]));
new SendCotTask(CompleteWidgetActivity.this).execute("SPI", FTS_IP, FTS_APIKEY, spiLatLng[0], spiLatLng[1], String.format("%s SPI",drone_name));
if (multicast)
new SendCotTask(CompleteWidgetActivity.this).execute("SPI", drone_name, droneLocationAlt, droneLocationLat, droneLocationLng, droneDistance, droneHeading, getCameraFov(), gimbalPitch, MulticastUID);
else
new SendCotTask(CompleteWidgetActivity.this).execute("SPI", FTS_IP, FTS_APIKEY, spiLatLng[0], spiLatLng[1], String.format("%s SPI",drone_name));
}
} else {
Log.i(TAG, "No GPS, retrying...");
Expand Down Expand Up @@ -635,6 +684,10 @@ public static boolean checkGpsCoordinates(double latitude, double longitude) {
return (latitude > -90 && latitude < 90 && longitude > -180 && longitude < 180) && (latitude != 0f && longitude != 0f);
}

public String getCameraFov() {
return droneFoVs.get(DJISDKManager.getInstance().getProduct().getModel().toString()).toString();
}

private boolean initFlightController() {
if (isFlightControllerSupported()) {
mFlightController = ((Aircraft) DJISDKManager.getInstance().getProduct()).getFlightController();
Expand Down Expand Up @@ -758,6 +811,14 @@ public String getDroneGUID() {
return FTS_DRONE_UID;
}

public MulticastSocket getMulticastSocket() {
return mcs;
}

public InetAddress getMutlicastGroup() {
return multicastGroup;
}

@Override
protected void onPause() {
// stop the sensor cot generation
Expand All @@ -772,7 +833,11 @@ protected void onPause() {
l.stopStream();
stream_handler.removeCallbacks(stream_runnable);
}

try {
mcs.leaveGroup(multicastGroup);
} catch (Exception e) {
Log.i(TAG, "Failed to leave multicast group");
}
mapWidget.onPause();
super.onPause();
}
Expand All @@ -792,6 +857,11 @@ protected void onDestroy() {
stream_handler.removeCallbacks(stream_runnable);
}

try {
mcs.leaveGroup(multicastGroup);
} catch (Exception e) {
Log.i(TAG, "Failed to leave multicast group");
}
mapWidget.onDestroy();
super.onDestroy();
}
Expand Down

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