Merge branch 'feature/multi-pointNav'

Conflicts:
	IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/MapFragment.java
	IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/NavigationActivity.java

Change-Id: If4178355445843f8bf082747942e3be547e3bfa8
Signed-off-by: Ricky Barrette <rickbarrette@gmail.com>

IOIOTruck/assets/exceptionhandler.properties

@@ -13,7 +13,7 @@
 # get is the path to your json retrieval script
 # app is the redmine project name
 # tracker is the redmine tracker
-server = http://rickbarrette.dyndns.org:8080/redmine/exceptionhandler
+server = http://rickbarrette.dyndns.org:8888
 app = IOIO Truck
 tracker = Development Bug
 

IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/Main.java

@@ -47,6 +47,8 @@ public class Main extends Activity implements OnClickListener {
         Thread.setDefaultUncaughtExceptionHandler(new ExceptionHandler(this));
         setContentView(R.layout.main);
         
+//        Integer.parseInt("poop");
+        
         findViewById(R.id.test_activity_button).setOnClickListener(this);
         findViewById(R.id.nav_activity_button).setOnClickListener(this);
         findViewById(R.id.camera_activity_button).setOnClickListener(this);

IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/MapFragment.java

@@ -21,10 +21,18 @@
  */
 package com.TwentyCodes.android.IOIOTruck;
 
+import java.io.IOException;
+
+import org.apache.http.client.ClientProtocolException;
+import org.json.JSONException;
+
 import android.util.Log;
 
+import com.TwentyCodes.android.fragments.UserOverlayMapFragment;
 import com.TwentyCodes.android.location.MapView;
 import com.TwentyCodes.android.location.OnLocationSelectedListener;
+import com.TwentyCodes.android.overlays.DirectionsOverlay;
+import com.TwentyCodes.android.overlays.DirectionsOverlay.OnDirectionsCompleteListener;
 import com.TwentyCodes.android.overlays.RadiusOverlay;
 import com.google.android.maps.GeoPoint;
 
@@ -34,12 +42,13 @@ import com.google.android.maps.GeoPoint;
  * Specifically this map view will allow user to select a point on the map via RadiusOverlay
  * @author ricky barrette
  */
-public class MapFragment extends com.TwentyCodes.android.fragments.UserOverlayMapFragment implements OnLocationSelectedListener {
+public class MapFragment extends UserOverlayMapFragment implements OnLocationSelectedListener, OnDirectionsCompleteListener {
 	
 	private final String TAG = "MapFragment";
-
 	private RadiusOverlay mRadiusOverlay;
 	private OnLocationSelectedListener mLocationSelectedListener;
+	private OnDirectionsCompleteListener mDirectionsCompleteListener;
+	private DirectionsOverlay mDirectionsOverlay;
 
 	/**
 	 * Creates a new MapFragment
@@ -49,13 +58,49 @@ public class MapFragment extends com.TwentyCodes.android.fragments.UserOverlayMa
 		super();
 	}
 
+	/**
+	 * Called whrn the directions overlay is finished getting the directions.
+	 * (non-Javadoc)
+	 * @see com.TwentyCodes.android.overlays.DirectionsOverlay.OnDirectionsCompleteListener#onDirectionsComplete(com.TwentyCodes.android.overlays.DirectionsOverlay)
+	 */
+	@Override
+	public void onDirectionsComplete(DirectionsOverlay directionsOverlay) {
+		mDirectionsOverlay = directionsOverlay;
+		if(mDirectionsCompleteListener != null)
+			mDirectionsCompleteListener.onDirectionsComplete(directionsOverlay);
+	}
+
 	/**
 	 * Called when a point is selected on the map 
 	 * (non-Javadoc)
 	 * @see com.TwentyCodes.android.location.LocationSelectedListener#onLocationSelected(com.google.android.maps.GeoPoint)
 	 */
 	@Override
-	public void onLocationSelected(GeoPoint point) {
+	public void onLocationSelected(final GeoPoint point) {
+		
+		if(mDirectionsCompleteListener != null)
+			new Thread( new Runnable(){
+				@Override
+				public void run(){
+					try {
+						new DirectionsOverlay(getMap(), getUserLocation(), point, MapFragment.this);
+					} catch (IllegalStateException e) {
+						// TODO Auto-generated catch block
+						e.printStackTrace();
+					} catch (ClientProtocolException e) {
+						// TODO Auto-generated catch block
+						e.printStackTrace();
+					} catch (IOException e) {
+						// TODO Auto-generated catch block
+						e.printStackTrace();
+					} catch (JSONException e) {
+						// TODO Auto-generated catch block
+						e.printStackTrace();
+					}
+				}
+			}).start();
+		
+		removePath();
 		
 		setDestination(point);
 		
@@ -86,6 +131,24 @@ public class MapFragment extends com.TwentyCodes.android.fragments.UserOverlayMa
 		super.onMapViewCreate(map);
 	}
 	
+	/**
+	 * Removes the path if displayed 
+	 * @author ricky barrette
+	 */
+	public void removePath(){
+		if(mDirectionsOverlay != null)
+			mDirectionsOverlay.removePath();
+	}
+	
+	/**
+	 * sets the distener for the directions overlay
+	 * @param listener
+	 * @author ricky barrette
+	 */
+	public void setDirectionsCompleteListener(OnDirectionsCompleteListener listener){
+		mDirectionsCompleteListener = listener;
+	}
+	
 	/**
 	 * @param listener
 	 * @author ricky barrette

IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/NavigationActivity.java

@@ -21,7 +21,10 @@
  */
 package com.TwentyCodes.android.IOIOTruck;
 
+import java.util.ArrayList;
+
 import android.content.Context;
+import android.graphics.Color;
 import android.os.Bundle;
 import android.os.PowerManager;
 import android.os.PowerManager.WakeLock;
@@ -43,6 +46,9 @@ import com.TwentyCodes.android.location.CompassListener;
 import com.TwentyCodes.android.location.GeoPointLocationListener;
 import com.TwentyCodes.android.location.GeoUtils;
 import com.TwentyCodes.android.location.OnLocationSelectedListener;
+import com.TwentyCodes.android.overlays.DirectionsOverlay;
+import com.TwentyCodes.android.overlays.DirectionsOverlay.OnDirectionsCompleteListener;
+import com.TwentyCodes.android.overlays.PathOverlay;
 import com.google.android.maps.GeoPoint;
 
 
@@ -57,28 +63,7 @@ import com.google.android.maps.GeoPoint;
  *  + drive the truck forward or reverse to best navigate to the selected point
  * @author ricky barrette
  */
-public class NavigationActivity extends FragmentActivity implements CompassListener, GeoPointLocationListener, OnLocationSelectedListener, OnClickListener, OnCheckedChangeListener, IOIOTruckThreadListener {
-	
-	private static final String TAG = "NavigationActivity";
-	private IOIOTruckManager mIOIOManager;
-	private MapFragment mMap;
-	private TextView mLog;
-	private GeoPoint mPoint;
-	private ProgressBar mProgress;
-	private int mMaxDistance = 0; //meters
-	private boolean isRunning = false;
-	private Button mGoButton;
-	private float mBearing;
-	private ScrollView mScrollView;
-
-	private boolean isScrollingEnabled = true;
-	private int mDistance;
-	private LogUpdater mLoggerThread;
-	private TextView mAccuracyTextView;
-	private TextView mLastUpdateTextView;
-	private long mLast;
-	private WakeLock mWakeLock;
-	private int mCount;
+public class NavigationActivity extends FragmentActivity implements CompassListener, GeoPointLocationListener, OnLocationSelectedListener, OnClickListener, OnCheckedChangeListener, IOIOTruckThreadListener, OnDirectionsCompleteListener {
 	
 	/**
 	 * This thread will be used to update all the informational displays
@@ -92,23 +77,21 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
 		 * aborts the thread 
 		 * @author ricky barrette
 		 */
-		public void abort() {
+		public synchronized void abort() {
 			isAborted = true;
 		}
 		
 		@Override
 		public void run(){
-			while (true) {
-					if (isAborted) 
-						break;
+			while (!isAborted) {
 					updateLog("\nDistance: "+ mDistance +getString(R.string.m)
 							+"\nDrive: "+mIOIOManager.getDriveValue()
 							+"\nSteering: "+mIOIOManager.getSteerValue()
 							+"\nBearing: "+mBearing
 							+"\nisRunning: "+isRunning);
-					
-					updateLastUpdateTextView();
-					
+							if(mPoints != null)
+								updateLog("Point = "+mIndex +" of "+ mPoints.size());
+							updateLastUpdateTextView();
 					try {
 						sleep(1000);
 					} catch (InterruptedException e) {
@@ -133,6 +116,27 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
 		}
 			
 	}
+	private static final String TAG = "NavigationActivity";
+	private IOIOTruckManager mIOIOManager;
+	private MapFragment mMap;
+	private TextView mLog;
+	private ProgressBar mProgress;
+	private boolean isRunning = false;
+	private Button mGoButton;
+	private float mBearing;
+	private ScrollView mScrollView;
+	private boolean isScrollingEnabled = true;
+	private int mDistance;
+	private LogUpdater mLoggerThread;
+	private TextView mAccuracyTextView;
+	private TextView mLastUpdateTextView;
+	private long mLast;
+	private WakeLock mWakeLock;
+	private int mCount = 0;
+	private ArrayList<GeoPoint> mPoints;
+	private int mIndex = 0;
+	private GeoPoint mDestPoint;
+	private ArrayList<PathOverlay> mWayPoints;
 
 	/**
 	 * Called when the scrolling switch is checked
@@ -161,7 +165,7 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
 				break;
 				
 			case R.id.mark_my_lcoation_button:
-				GeoPoint point = mMap.getUserLocation();
+				final GeoPoint point = mMap.getUserLocation();
 				
 				if(point != null){
 					mMap.onLocationSelected(point);
@@ -170,7 +174,7 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
 				break;
 				
 			case R.id.my_location_button:
-				GeoPoint user = mMap.getUserLocation();
+				final GeoPoint user = mMap.getUserLocation();
 				
 				if(user != null){
 					mMap.setMapCenter(user);
@@ -181,44 +185,6 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
 		}
 	}
 
-	/**
-	 * updates the go/stop button based on isRunning
-	 * thread safe 
-	 * @author ricky barrette
-	 */
-	private void updateGoButton() {
-		updateGoButton(isRunning);
-	}
-	
-	/**
-	 * Sets the go/stop button to the provided value
-	 * thread safe
-	 * @param isRunnuing true = stop, false = go
-	 * @author ricky barrette
-	 */
-	private void updateGoButton(final boolean isRun) {
-		mIOIOManager.setStatLedEnabled(!isRun);
-		runOnUiThread(new Runnable() {
-			@Override
-			public void run(){
-				if(isRun){
-					mCount = 0;
-					mGoButton.setText(R.string.go);
-					isRunning = false;
-					updateLog(R.string.stop);
-					if(mLoggerThread != null)
-						mLoggerThread.abort();
-				} else {
-					mGoButton.setText(R.string.stop);
-					isRunning = true;
-					updateLog(R.string.go);
-					mLoggerThread = new LogUpdater();
-					mLoggerThread.start();
-				}
-			}
-		});
-	}
-
 	/**
 	 * Called when there is an update from the compass
 	 * (non-Javadoc)
@@ -226,7 +192,7 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
 	 */
 	@Override
 	public void onCompassUpdate(float bearing) {
-		bearing = GeoUtils.calculateBearing(mMap.getUserLocation(), mPoint, bearing);
+		bearing = GeoUtils.calculateBearing(mMap.getUserLocation(), mMap.getDestination(), bearing);
 
 		if(bearing > 355 || bearing < 5)
 			mIOIOManager.setSteerValue(IOIOTruckValues.STEER_STRAIGHT);
@@ -269,40 +235,105 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
 		findViewById(R.id.map_button).setOnClickListener(this);
 	}
 
+	/**
+	 * called when the directions overlay is generated
+	 * (non-Javadoc)
+	 * @see com.TwentyCodes.android.overlays.DirectionsOverlay.OnDirectionsCompleteListener#onDirectionsComplete(com.TwentyCodes.android.overlays.DirectionsOverlay)
+	 */
+	@Override
+	public void onDirectionsComplete(DirectionsOverlay directionsOverlay) {
+		ArrayList<PathOverlay> path = directionsOverlay.getPath();
+		
+		if(path.size() > 0){
+			mWayPoints = new ArrayList<PathOverlay>();
+			ArrayList<GeoPoint> points = new ArrayList<GeoPoint>();
+			points.add(path.get(0).getStartPoint());
+			for(PathOverlay item : path)
+				if(item.getEndPoint() != null) {
+					points.add(item.getEndPoint());
+					mWayPoints.add(new PathOverlay(item.getEndPoint(), 5, Color.GRAY));
+				}
+		
+			mPoints = points;
+			mMap.setDestination(points.get(0));
+			mWayPoints.add(new PathOverlay(points.get(0), 5, Color.MAGENTA));
+			mMap.getMap().getOverlays().addAll(mWayPoints);
+			mWayPoints.addAll(path);
+		}
+	}
+
+	@Override
+	public void onFirstFix(boolean isFirstFix) {
+		mMap.disableGPSProgess();
+	}
+	
 	/**
 	 * Called when android's location services have an update
 	 * (non-Javadoc)
 	 * @see com.TwentyCodes.android.location.GeoPointLocationListener#onLocationChanged(com.google.android.maps.GeoPoint, int)
 	 */
 	@Override
-	public void onLocationChanged(GeoPoint point, int accuracy) {
+	public synchronized void onLocationChanged(final GeoPoint point, final int accuracy) {
 		mLast = System.currentTimeMillis();
 		mAccuracyTextView.setText(accuracy+getString(R.string.m));
-		
 		mDistance = updateProgress(point);
+		final GeoPoint currentDest = mMap.getDestination();
 		
 		/*
-		 * here we will update the progress bar
-		 * 
+		 * if we have a destination, check to see if we are there yet
+		 * if we are then increment mCount
 		 */
-		if(mPoint != null)
-			if(GeoUtils.isIntersecting(point, (float) (accuracy / 1E3), mPoint, Debug.RADIUS, Debug.FUDGE_FACTOR)) {
+		if(point != null)
+			if(currentDest != null)
 				
-				mCount++;
 				
-				if(mCount > 5){
-					Log.v(TAG, "Dest Reached, Stopping");
-					mIOIOManager.setDriveValue(IOIOTruckValues.DRIVE_STOP);
-					updateGoButton(true);
-					updateLog(R.string.dest_reached);
+				/*
+				 * are we closer than 15 feet?
+				 */
+				if (GeoUtils.distanceKm(point, currentDest) < 0.009144) {
+//				if(GeoUtils.isIntersecting(point, (float) (accuracy / 1E3), currentDest, Debug.RADIUS, Debug.FUDGE_FACTOR)) {
+					updateLog("Count = "+ (++mCount));
+					/*
+					 * if we get 6 positives, we are problay at our waypoint/dest
+					 */
+					if(mCount == 6){
+						
+						mCount = 0;
+						
+						/*
+						 * if the points list is null, or there are no more waypoints
+						 */
+						if(mPoints == null || mIndex == mPoints.size()){
+							mIOIOManager.setDriveValue(IOIOTruckValues.DRIVE_STOP);
+							updateGoButton(true);
+							updateLog(R.string.dest_reached);
+							mMap.setDestination(null);
+						} else {
+								updateLog("Index = " + (++mIndex));
+							
+							/*
+							 * if there are more waypoints, then move on to the next
+							 * otherwise move on to the dest
+							 */
+							if(mIndex < mPoints.size()) {
+								updateLog("Waypoint reached, moving to next");
+								mMap.setDestination(mPoints.get(mIndex));
+							} else {
+								updateLog("last Waypoint reached, moving to dest");
+								mMap.setDestination(mDestPoint);
+							}
+							
+							updateLog("New dest = "+ mMap.getDestination().toString());
+						}
+					}
+					
+				} else {
+					Log.v(TAG, "Driving Forward");
+					mCount = 0;
+					mIOIOManager.setDriveValue(IOIOTruckValues.DRIVE_FORWARD);
 				}
-			} else {
-				Log.v(TAG, "Driving Forward");
-				mCount = 0;
-				mIOIOManager.setDriveValue(IOIOTruckValues.DRIVE_FORWARD);
-			}
-		else{
-			Log.v(TAG, "Lost GPS signal, stopping");
+		else {
+			updateLog("Lost GPS signal (point was null), stopping");
 			mIOIOManager.setDriveValue(IOIOTruckValues.DRIVE_STOP);
 		}
 
@@ -315,9 +346,23 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
 	 */
 	@Override
 	public void onLocationSelected(GeoPoint point) {
-		mPoint = point;
+		if(mWayPoints != null)
+			mMap.getMap().getOverlays().removeAll(mWayPoints);
+		mDestPoint = point;
 		mDistance = updateProgress(mMap.getUserLocation());
 		updateLog(getString(R.string.point_selected)+point.toString());
+		mIndex = 0;
+		mCount = 0;
+	}
+
+	/**
+	 * Called when the IOIOTruckThread has a log it wants to display
+	 * (non-Javadoc)
+	 * @see com.TwentyCodes.android.IOIOTruck.IOIOTruckManager.IOIOTruckThreadListener#onLogUpdate(java.lang.String)
+	 */
+	@Override
+	public void onLogUpdate(String log) {
+		updateLog(log);
 	}
 
 	/**
@@ -353,7 +398,9 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
 		mMap.setCompassListener(this);
 		mMap.setGeoPointLocationListener(this);
 		mMap.setLocationSelectedListener(this);
+		mMap.setDirectionsCompleteListener(this);
 		mMap.setRadius((int) (Debug.RADIUS * 1E3));
+		mMap.enableGPSProgess();
 		mIOIOManager = new IOIOTruckManager(this, this);
 		mIOIOManager.start();
 		
@@ -362,6 +409,44 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
 		mWakeLock.acquire();
 	}
 
+	/**
+	 * updates the go/stop button based on isRunning
+	 * thread safe 
+	 * @author ricky barrette
+	 */
+	private void updateGoButton() {
+		updateGoButton(isRunning);
+	}
+
+	/**
+	 * Sets the go/stop button to the provided value
+	 * thread safe
+	 * @param isRunnuing true = stop, false = go
+	 * @author ricky barrette
+	 */
+	private void updateGoButton(final boolean isRun) {
+		mIOIOManager.setStatLedEnabled(!isRun);
+		runOnUiThread(new Runnable() {
+			@Override
+			public void run(){
+				if(isRun){
+					mCount = 0;
+					mGoButton.setText(R.string.go);
+					isRunning = false;
+					updateLog(R.string.stop);
+					if(mLoggerThread != null)
+						mLoggerThread.abort();
+				} else {
+					mGoButton.setText(R.string.stop);
+					isRunning = true;
+					updateLog(R.string.go);
+					mLoggerThread = new LogUpdater();
+					mLoggerThread.start();
+				}
+			}
+		});
+	}
+
 	/**
 	 * updates the log with the provided string res
 	 * thread safe
@@ -403,29 +488,10 @@ public class NavigationActivity extends FragmentActivity implements CompassListe
 	 * @author ricky barrette
 	 */
 	private int updateProgress(GeoPoint point) {
-		int distance = (int) (GeoUtils.distanceKm(point, mPoint) * 1000);
-		if (distance > mMaxDistance) {
-			mMaxDistance = distance;
+		int distance = (int) (GeoUtils.distanceKm(point, mMap.getDestination()) * 1000);
+		if (distance > mProgress.getMax())
 			mProgress.setMax(distance);
-		}		
 		mProgress.setProgress(distance);
 		return distance;
 	}
-
-	/**
-	 * Called when the IOIOTruckThread has a log it wants to display
-	 * (non-Javadoc)
-	 * @see com.TwentyCodes.android.IOIOTruck.IOIOTruckManager.IOIOTruckThreadListener#onLogUpdate(java.lang.String)
-	 */
-	@Override
-	public void onLogUpdate(String log) {
-		updateLog(log);
-	}
-
-	@Override
-	public void onFirstFix(boolean isFirstFix) {
-		// TODO Auto-generated method stub
-		
-	}
-	
 }