Merge branch 'master' into beta

Author: arthurbenemann

Android/AndroidManifest.xml

@@ -2,7 +2,7 @@
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:tools="http://schemas.android.com/tools"
           package="org.droidplanner"
-          android:versionCode="109"
+          android:versionCode="110"
           android:versionName="please run version.sh to get the version name">
 
     <uses-sdk

Android/res/values/preferences_keys.xml

@@ -35,6 +35,7 @@ This file is used to store the preferences keys so that it's accessible and modi
     <string name="pref_permanent_notification_key">pref_permanent_notification</string>
     <string name="pref_ui_gps_hdop_key">pref_ui_gps_hdop</string>
     <string name="pref_ui_language_english_key">pref_ui_language_english</string>
+    <string name="pref_ui_realtime_footprints_key">pref_ui_realtime_footprints_key</string>
     <string name="pref_dshare_username_key">dshare_username</string>
     <string name="pref_dshare_password_key">dshare_password</string>
     <string name="pref_dshare_enabled_key">dshare_enabled</string>

Android/res/values/strings.xml

@@ -459,6 +459,8 @@
     <string name="pref_title_osm">Open Street Map Preferences</string>
     <string name="pref_title_mapbox">MapBox Preferences</string>
     <string name="activity_title_map_provider_preferences">Map Provider Preferences</string>
+    <string name="pref_ui_realtime_footprints_title">Realtime camera footprint</string>
+    <string name="pref_ui_realtime_footprints_summary">Display the camera projection on the ground in realtime</string>
 
     <!-- Others (when possible move to a grouping above) -->
     <string name="tune_roll">Manual adjustment of roll and pitch tuning. Rate_P is the primary value to adjust.</string>

Android/res/xml/preferences.xml

@@ -48,6 +48,12 @@
                     android:key="@string/pref_map_provider_settings_key"
                     android:summary="@string/pref_map_provider_settings_summary"
                     android:title="@string/pref_map_provider_settings_title" />
+                
+                <CheckBoxPreference
+                    android:defaultValue="false"
+                    android:key="@string/pref_ui_realtime_footprints_key"
+                    android:summary="@string/pref_ui_realtime_footprints_summary"
+                    android:title="@string/pref_ui_realtime_footprints_title" />
             </PreferenceCategory>
             <PreferenceCategory android:title="@string/pref_title_notifications" >
                 <CheckBoxPreference

Android/src/org/droidplanner/android/fragments/DroneMap.java

@@ -17,14 +17,21 @@
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
 import org.droidplanner.core.helpers.coordinates.Coord2D;
+import org.droidplanner.core.helpers.units.Altitude;
 import org.droidplanner.core.model.Drone;
+import org.droidplanner.core.survey.CameraInfo;
+import org.droidplanner.core.survey.Footprint;
+
+import com.MAVLink.Messages.ardupilotmega.msg_camera_feedback;
+import com.google.android.gms.internal.ln;
 
 import android.app.Activity;
 import android.content.Context;
 import android.os.Bundle;
 import android.os.Handler;
 import android.support.v4.app.Fragment;
 import android.support.v4.app.FragmentManager;
+import android.util.Log;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
@@ -94,6 +101,8 @@ public void run() {
 
 	protected Context context;
 
+	private CameraInfo camera = new CameraInfo();
+
 	protected abstract boolean isMissionDraggable();
 
 	@Override
@@ -181,6 +190,15 @@ public void onDroneEvent(DroneEventsType event, Drone drone) {
 			}
 			break;
 
+		case ATTITUDE:
+			if (((DroidPlannerApp) getActivity().getApplication()).getPreferences()
+					.isRealtimeFootprintsEnabled()) {
+				if (drone.getGps().isPositionValid()) {
+					mMapFragment.updateRealTimeFootprint(drone.getCamera().getCurrentFieldOfView());
+				}
+
+			}
+			break;
 		case GUIDEDPOINT:
 			mMapFragment.updateMarker(guided);
 			mMapFragment.updateDroneLeashPath(guided);
@@ -195,6 +213,9 @@ public void onDroneEvent(DroneEventsType event, Drone drone) {
 		case HEARTBEAT_TIMEOUT:
 			mMapFragment.updateMarker(graphicDrone);
 			break;
+		case FOOTPRINT:
+				mMapFragment.addCameraFootprint(drone.getCamera().getLastFootprint());
+			break;
 		default:
 			break;
 		}

Android/src/org/droidplanner/android/maps/DPMap.java

@@ -9,6 +9,7 @@
 import org.droidplanner.core.drone.DroneInterfaces;
 import org.droidplanner.core.gcs.location.Location;
 import org.droidplanner.core.helpers.coordinates.Coord2D;
+import org.droidplanner.core.survey.Footprint;
 
 import android.graphics.Color;
 import android.location.LocationListener;
@@ -35,6 +36,10 @@ public interface DPMap extends DroneInterfaces.OnDroneListener {
 	public static final int POLYGONS_PATH_DEFAULT_COLOR = Color.RED;
 	public static final int POLYGONS_PATH_DEFAULT_WIDTH = 4;
 
+	public static final int FOOTPRINT_DEFAULT_COLOR = 0;
+	public static final int FOOTPRINT_DEFAULT_WIDTH = 2;
+	public static final int FOOTPRINT_FILL_COLOR = Color.argb(80, 0, 0, 200);
+	
 	public static final String PREF_LAT = "pref_map_lat";
 	public static final float DEFAULT_LATITUDE = 37.8575523f;
 
@@ -137,6 +142,12 @@ interface OnMarkerDragListener {
 	 */
 	public void addFlightPathPoint(Coord2D coord);
 
+	/**
+	 * Draw the footprint of the camera in the ground
+	 * @param footprintToBeDraw
+	 */
+	public void addCameraFootprint(Footprint footprintToBeDraw);
+
 	/**
 	 * Remove all markers from the map.
 	 */
@@ -372,5 +383,7 @@ interface OnMarkerDragListener {
      * @param skip if it should skip further events
      */
     public void skipMarkerClickEvents(boolean skip);
+
+	public void updateRealTimeFootprint(Footprint footprint);
 
 }

Android/src/org/droidplanner/android/maps/providers/google_map/GoogleMapFragment.java

@@ -21,6 +21,7 @@
 import org.droidplanner.android.utils.prefs.AutoPanMode;
 import org.droidplanner.android.utils.prefs.DroidPlannerPrefs;
 import org.droidplanner.core.model.Drone;
+import org.droidplanner.core.survey.Footprint;
 import org.droidplanner.core.drone.DroneInterfaces;
 import org.droidplanner.core.helpers.coordinates.Coord2D;
 
@@ -79,6 +80,7 @@ public class GoogleMapFragment extends SupportMapFragment implements DPMap, Loca
 
     private static final float GO_TO_MY_LOCATION_ZOOM = 19f;
 
+
     private final HashBiMap<MarkerInfo, Marker> mBiMarkersMap = new HashBiMap<MarkerInfo, Marker>();
 
     private Drone mDrone;
@@ -114,6 +116,8 @@ public class GoogleMapFragment extends SupportMapFragment implements DPMap, Loca
 
 	private List<Polygon> polygonsPaths = new ArrayList<Polygon>();
 
+	private Polygon footprintPoly;
+
     @Override
     public View onCreateView(LayoutInflater inflater, ViewGroup viewGroup,
                              Bundle bundle) {
@@ -523,6 +527,26 @@ public void updateMissionPath(PathSource pathSource) {
 
 
     @Override
+	public void updateRealTimeFootprint(Footprint footprint) {
+    	if (footprintPoly == null) {
+    		PolygonOptions pathOptions = new PolygonOptions();
+    		pathOptions.strokeColor(FOOTPRINT_DEFAULT_COLOR).strokeWidth(FOOTPRINT_DEFAULT_WIDTH);
+    		pathOptions.fillColor(FOOTPRINT_FILL_COLOR);
+
+    		for (Coord2D vertex : footprint.getVertexInGlobalFrame()) {
+    			pathOptions.add(DroneHelper.CoordToLatLang(vertex));
+    		}
+    		footprintPoly = getMap().addPolygon(pathOptions);
+    	}else{
+    		List<LatLng> list = new ArrayList<LatLng>();
+    		for (Coord2D vertex : footprint.getVertexInGlobalFrame()) {
+    			list.add(DroneHelper.CoordToLatLang(vertex));
+    		}
+    		footprintPoly.setPoints(list);
+    	}
+	}
+
+	@Override
     public void updatePolygonsPaths(List<List<Coord2D>> paths){
         for (Polygon poly : polygonsPaths) {
 			poly.remove();
@@ -542,7 +566,20 @@ public void updatePolygonsPaths(List<List<Coord2D>> paths){
 
     }
 
-    /**
+	@Override
+	public void addCameraFootprint(Footprint footprintToBeDraw) {
+		PolygonOptions pathOptions = new PolygonOptions();
+		pathOptions.strokeColor(FOOTPRINT_DEFAULT_COLOR).strokeWidth(FOOTPRINT_DEFAULT_WIDTH);
+		pathOptions.fillColor(FOOTPRINT_FILL_COLOR);
+
+		for (Coord2D vertex : footprintToBeDraw.getVertexInGlobalFrame()) {
+			pathOptions.add(DroneHelper.CoordToLatLang(vertex));
+		}
+		getMap().addPolygon(pathOptions);
+
+	}
+
+	/**
      * Save the map camera state on a preference file
      * http://stackoverflow.com/questions
      * /16697891/google-maps-android-api-v2-restoring

Android/src/org/droidplanner/android/maps/providers/mapbox/MapBoxFragment.java

@@ -19,6 +19,7 @@
 import org.droidplanner.core.drone.DroneInterfaces;
 import org.droidplanner.core.helpers.coordinates.Coord2D;
 import org.droidplanner.core.model.Drone;
+import org.droidplanner.core.survey.Footprint;
 
 import android.app.Activity;
 import android.content.SharedPreferences;
@@ -609,4 +610,16 @@ public void updatePolygonsPaths(List<List<Coord2D>> paths) {
 		// TODO Auto-generated method stub
 
 	}
+
+	@Override
+	public void addCameraFootprint(Footprint footprintToBeDraw) {
+		// TODO Auto-generated method stub
+		
+	}
+
+	@Override
+	public void updateRealTimeFootprint(Footprint footprint) {
+		// TODO Auto-generated method stub
+		
+	}
 }

Android/src/org/droidplanner/android/proxy/mission/item/adapters/CamerasAdapter.java

@@ -2,7 +2,7 @@
 
 import org.droidplanner.R;
 import org.droidplanner.android.utils.file.help.CameraInfoLoader;
-import org.droidplanner.core.mission.survey.CameraInfo;
+import org.droidplanner.core.survey.CameraInfo;
 
 import android.content.Context;
 import android.view.View;

Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionStructureScannerFragment.java

@@ -10,8 +10,8 @@
 import org.droidplanner.android.widgets.spinners.SpinnerSelfSelect;
 import org.droidplanner.core.helpers.units.Altitude;
 import org.droidplanner.core.mission.MissionItemType;
-import org.droidplanner.core.mission.survey.CameraInfo;
 import org.droidplanner.core.mission.waypoints.StructureScanner;
+import org.droidplanner.core.survey.CameraInfo;
 
 import android.content.Context;
 import android.os.Bundle;