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Merged conflicts.
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@mkheck
mkheck committed Aug 29, 2015
2 parents 31a7ff9 + 6630505 commit cec4d31
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Showing 21 changed files with 1,863 additions and 109 deletions.
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138 changes: 93 additions & 45 deletions src/org/autonomous4j/control/A4jBrain.java → src/org/autonomous4j/control/A4jBrainA.java
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Expand Up @@ -23,6 +23,7 @@
*/
package org.autonomous4j.control;

import org.autonomous4j.interfaces.A4jBrain3D;
import com.dronecontrol.droneapi.DroneController;
import com.dronecontrol.droneapi.ParrotDroneController;
import com.dronecontrol.droneapi.commands.composed.PlayLedAnimationCommand;
Expand All @@ -32,35 +33,36 @@
import java.util.List;
import java.util.logging.Level;
import java.util.logging.Logger;
import org.autonomous4j.listeners.A4jErrorListener;
import org.autonomous4j.listeners.A4jNavDataListener;
import org.autonomous4j.listeners.A4jReadyStateChangeListener;
import org.autonomous4j.listeners.A4jVideoDataListener;
import org.autonomous4j.tracking.A4jFlightRecorder;
import org.autonomous4j.tracking.A4jFlightRecorder.Movement;
import org.autonomous4j.listeners.xyz.A4jErrorListener;
import org.autonomous4j.listeners.xyz.A4jNavDataListener;
import org.autonomous4j.listeners.xyz.A4jReadyStateChangeListener;
import org.autonomous4j.listeners.xyz.A4jVideoDataListener;
import org.autonomous4j.tracking.A4jBlackBox;
import org.autonomous4j.tracking.A4jBlackBox.Movement;

/**
*
* @author Mark Heckler (mark.heckler@gmail.com, @mkheck)
*/
public class A4jBrain {
private static final A4jBrain brain = new A4jBrain();
public class A4jBrainA implements A4jBrain3D {
private static final A4jBrainA brain = new A4jBrainA();
private DroneController controller;
private Config cfg;
//private NavData currentNav;
private final A4jFlightRecorder recorder;
private final A4jBlackBox recorder;
private boolean isRecording;

private A4jBrain() {
private A4jBrainA() {
cfg = new Config("Autonomous4j Test", "My Profile", 0);
this.recorder = new A4jFlightRecorder();
this.recorder = new A4jBlackBox();
isRecording = true;
}

public static A4jBrain getInstance() {
public static A4jBrainA getInstance() {
return brain;
}

@Override
public boolean connect() {
return connect("192.168.1.1");
}
Expand All @@ -82,6 +84,7 @@ public boolean connect(String ipAddress) {
return true;
}

@Override
public void disconnect() {
if (controller != null) {
controller.stop();
Expand All @@ -92,14 +95,16 @@ public void disconnect() {
/**
* Convenience (pass-through) method for more fluent API.
* @param ms Long variable specifying a number of milliseconds.
* @return A4jBrain object (allows command chaining/fluency.
* @return A4jBrainA object (allows command chaining/fluency.
* @see #hold(long)
*/
public A4jBrain doFor(long ms) {
@Override
public A4jBrainA doFor(long ms) {
return hold(ms);
}

public A4jBrain hold(long ms) {
@Override
public A4jBrainA hold(long ms) {
System.out.println("Hold for " + ms + " milliseconds...");
try {
Thread.sleep(ms);
Expand All @@ -108,17 +113,23 @@ public A4jBrain hold(long ms) {
}
} catch (InterruptedException e) {
e.printStackTrace();
Logger.getLogger(A4jBrain.class.getName()).log(Level.SEVERE, null, e);
Logger.getLogger(A4jBrainA.class.getName()).log(Level.SEVERE, null, e);
}

return this;
}

@Override
public A4jBrainA stay() {
return hover();
}

public A4jBrain hover() {
@Deprecated
public A4jBrainA hover() {
System.out.println("--Hover--");
controller.move(0, 0, 0, 0);
if (isRecording) {
recorder.recordAction(A4jFlightRecorder.Action.HOVER);
recorder.recordAction(A4jBlackBox.Action.STAY);
}

return this;
Expand All @@ -128,96 +139,116 @@ public void land() {
System.out.println("Land.");
controller.land();
if (isRecording) {
recorder.recordAction(A4jFlightRecorder.Action.LAND);
recorder.recordAction(A4jBlackBox.Action.LAND);
}
}

public A4jBrain takeoff() {
public A4jBrainA takeoff() {
System.out.println("Takeoff!");
controller.takeOff();
if (isRecording) {
recorder.recordAction(A4jFlightRecorder.Action.TAKEOFF);
recorder.recordAction(A4jBlackBox.Action.TAKEOFF);
}

return this;
}

public A4jBrain forward(int speed) {
@Override
public A4jBrainA forward() {
return forward(100);
}

public A4jBrainA forward(int speed) {
System.out.println("Forward @" + speed);
if (isRecording) {
recorder.recordAction(A4jFlightRecorder.Action.FORWARD, speed);
recorder.recordAction(A4jBlackBox.Action.FORWARD, speed);
}

return move(0f, -perc2float(speed), 0f, 0f);
}

public A4jBrain backward(int speed) {
@Override
public A4jBrainA backward() {
return backward(100);
}

public A4jBrainA backward(int speed) {
System.out.println("Backward @" + speed);
if (isRecording) {
recorder.recordAction(A4jFlightRecorder.Action.BACKWARD, speed);
recorder.recordAction(A4jBlackBox.Action.BACKWARD, speed);
}

return move(0f, perc2float(speed), 0f, 0f);
}

// MAH: will need to revisit this to accommodate either 90 degree turns ONLY or odd angles.
// public A4jBrain spinRight(int speed) {
// public A4jBrainA spinRight(int speed) {
// System.out.println("spinRight @" + speed);
// //recorder.recordAction(A4jFlightRecorder.Action.FORWARD);
// //recorder.recordAction(A4jBlackBox.Action.FORWARD);
//
// return move(0f, 0f, 0f, perc2float(speed));
// }
//
// public A4jBrain spinLeft(int speed) {
// public A4jBrainA spinLeft(int speed) {
// System.out.println("spinLeft @" + speed);
// return move(0f, 0f, 0f, -perc2float(speed));
// }

@Override
public A4jBrain3D up() {
return up(100);
}

public A4jBrain up(int speed) {
public A4jBrainA up(int speed) {
System.out.println("up @" + speed);
if (isRecording) {
recorder.recordAction(A4jFlightRecorder.Action.UP, speed);
recorder.recordAction(A4jBlackBox.Action.UP, speed);
}

return move(0f, 0f, perc2float(speed), 0f);
}

public A4jBrain down(int speed) {
@Override
public A4jBrain3D down() {
return down(100);
}

public A4jBrainA down(int speed) {
System.out.println("down @" + speed);
if (isRecording) {
recorder.recordAction(A4jFlightRecorder.Action.DOWN, speed);
recorder.recordAction(A4jBlackBox.Action.DOWN, speed);
}

return move(0f, 0f, -perc2float(speed), 0f);
}

public A4jBrain goRight(int speed) {
public A4jBrainA goRight(int speed) {
System.out.println("goRight @" + speed);
if (isRecording) {
recorder.recordAction(A4jFlightRecorder.Action.RIGHT, speed);
recorder.recordAction(A4jBlackBox.Action.RIGHT, speed);
}

return move(perc2float(speed), 0f, 0f, 0f);
}

public A4jBrain goLeft(int speed) {
public A4jBrainA goLeft(int speed) {
System.out.println("goLeft @" + speed);
if (isRecording) {
recorder.recordAction(A4jFlightRecorder.Action.LEFT, speed);
recorder.recordAction(A4jBlackBox.Action.LEFT, speed);
}

return move(-perc2float(speed), 0f, 0f, 0f);
}

public A4jBrain playLedAnimation(float frequency, int durationSeconds) {
public A4jBrainA playLedAnimation(float frequency, int durationSeconds) {
// "Default" LED animation sequence is blank for now
playLedAnimation(LedAnimation.BLANK, frequency, durationSeconds);
return this;
}

public A4jBrain playLedAnimation(LedAnimation animation, float frequency, int durationSeconds) {
public A4jBrainA playLedAnimation(LedAnimation animation, float frequency, int durationSeconds) {
if (isRecording) {
recorder.recordAction(A4jFlightRecorder.Action.LIGHTS, (int) frequency);
recorder.recordAction(A4jBlackBox.Action.LIGHTS, (int) frequency);
}
controller.executeCommandsAsync(
new PlayLedAnimationCommand(cfg.getLoginData(),
Expand All @@ -231,17 +262,34 @@ public A4jBrain playLedAnimation(LedAnimation animation, float frequency, int du
return this;
}

public A4jBrain goHome() {
@Override
public A4jBrainA goHome() {
processRecordedMovements(recorder.home());
return this;
}

public A4jBrain replay() {
@Override
public A4jBrainA replay() {
processRecordedMovements(recorder.getRecording());
return this;
}

private void processRecordedMovements(List<Movement> moves) {
@Override
public A4jBrainA left() {
//throw new UnsupportedOperationException("Not supported yet."); //To change body of generated methods, choose Tools | Templates.
System.out.println("Turn to the left.");
return this;
}

@Override
public A4jBrainA right() {
//throw new UnsupportedOperationException("Not supported yet."); //To change body of generated methods, choose Tools | Templates.
System.out.println("Turn to the right.");
return this;
}

@Override
public void processRecordedMovements(List<Movement> moves) {
// Disable recording for playback
isRecording = false;

Expand All @@ -265,8 +313,8 @@ private void processRecordedMovements(List<Movement> moves) {
case DOWN:
down(curMov.getSpeed());
break;
case HOVER:
hover();
case STAY:
stay();
break;
case TAKEOFF:
takeoff();
Expand All @@ -290,7 +338,7 @@ private float limit(float f, float min, float max) {
return (f > max ? max : (f < min ? min : f));
}

public A4jBrain move(float roll ,float pitch, float gaz, float yaw) {
public A4jBrainA move(float roll ,float pitch, float gaz, float yaw) {
roll = limit(roll, -1f, 1f);
pitch = limit(pitch, -1f, 1f);
gaz = limit(gaz, -1f, 1f);
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