Skip to content
Projects
Groups
Snippets
Help
Loading...
Help
Support
Submit feedback
Contribute to GitLab
Sign in
Toggle navigation
Q
qgroundcontrol
Project
Project
Details
Activity
Releases
Cycle Analytics
Repository
Repository
Files
Commits
Branches
Tags
Contributors
Graph
Compare
Charts
Issues
0
Issues
0
List
Boards
Labels
Milestones
Merge Requests
0
Merge Requests
0
CI / CD
CI / CD
Pipelines
Jobs
Schedules
Charts
Wiki
Wiki
Snippets
Snippets
Members
Members
Collapse sidebar
Close sidebar
Activity
Graph
Charts
Create a new issue
Jobs
Commits
Issue Boards
Open sidebar
Valentin Platzgummer
qgroundcontrol
Commits
cf8b2675
Commit
cf8b2675
authored
Dec 27, 2018
by
Matej Frančeškin
Browse files
Options
Browse Files
Download
Email Patches
Plain Diff
Support for TaiSync on Android
parent
4515b8d4
Changes
5
Hide whitespace changes
Inline
Side-by-side
Showing
5 changed files
with
357 additions
and
13 deletions
+357
-13
android.pri
android.pri
+2
-1
AndroidManifest.xml
android/AndroidManifest.xml
+8
-5
device_filter.xml
android/res/xml/device_filter.xml
+1
-0
QGCActivity.java
android/src/org/mavlink/qgroundcontrol/QGCActivity.java
+106
-7
TaiSync.java
android/src/org/mavlink/qgroundcontrol/TaiSync.java
+240
-0
No files found.
android.pri
View file @
cf8b2675
...
...
@@ -15,7 +15,8 @@ OTHER_FILES += \
$$PWD/android/src/com/hoho/android/usbserial/driver/UsbSerialProber.java \
$$PWD/android/src/com/hoho/android/usbserial/driver/UsbSerialRuntimeException.java \
$$PWD/android/src/org/mavlink/qgroundcontrol/QGCActivity.java \
$$PWD/android/src/org/mavlink/qgroundcontrol/UsbIoManager.java
$$PWD/android/src/org/mavlink/qgroundcontrol/UsbIoManager.java \
$$PWD/android/src/org/mavlink/qgroundcontrol/TaiSync.java
DISTFILES += \
$$PWD/android/gradle/wrapper/gradle-wrapper.jar \
...
...
android/AndroidManifest.xml
View file @
cf8b2675
...
...
@@ -7,10 +7,12 @@
<category
android:name=
"android.intent.category.LAUNCHER"
/>
<action
android:name=
"android.hardware.usb.action.USB_DEVICE_ATTACHED"
/>
<action
android:name=
"android.hardware.usb.action.USB_DEVICE_DETACHED"
/>
<action
android:name=
"android.hardware.usb.action.USB_ACCESSORY_ATTACHED"
/>
</intent-filter>
<meta-data
android:resource=
"@xml/device_filter"
android:name=
"android.hardware.usb.action.USB_DEVICE_ATTACHED"
/>
<meta-data
android:resource=
"@xml/device_filter"
android:name=
"android.hardware.usb.action.USB_DEVICE_DETACHED"
/>
<meta-data
android:resource=
"@xml/device_filter"
android:name=
"android.hardware.usb.action.USB_ACCESSORY_ATTACHED"
/>
<!-- Rest of Standard Manifest -->
<meta-data
android:name=
"android.app.lib_name"
android:value=
"-- %%INSERT_APP_LIB_NAME%% --"
/>
<meta-data
android:name=
"android.app.qt_sources_resource_id"
android:resource=
"@array/qt_sources"
/>
...
...
@@ -60,13 +62,14 @@
<!-- Support devices without USB host mode since there are other connection types -->
<uses-feature
android:name=
"android.hardware.usb.host"
android:required=
"false"
/>
<!-- Support devices without Bluetooth since there are other connection types -->
<uses-feature
android:name=
"android.hardware.bluetooth"
android:required=
"false"
/>
<!-- Support devices without Bluetooth since there are other connection types -->
<uses-feature
android:name=
"android.hardware.bluetooth"
android:required=
"false"
/>
<!-- Support devices that don't have location services -->
<!-- Support devices that don't have location services -->
<uses-feature
android:name=
"android.hardware.location.gps"
android:required=
"false"
/>
<uses-feature
android:name=
"android.hardware.location.network"
android:required=
"false"
/>
<uses-feature
android:name=
"android.hardware.location"
android:required=
"false"
/>
<uses-feature
android:name=
"android.hardware.location.network"
android:required=
"false"
/>
<uses-feature
android:name=
"android.hardware.location"
android:required=
"false"
/>
<uses-feature
android:name=
"android.hardware.usb.accessory"
/>
<!-- The following comment will be replaced upon deployment with default features based on the dependencies of the application.
Remove the comment if you do not require these default features. -->
...
...
android/res/xml/device_filter.xml
View file @
cf8b2675
...
...
@@ -2,5 +2,6 @@
<resources>
<!-- Allow anything connected -->
<usb-device
/>
<usb-accessory
/>
</resources>
android/src/org/mavlink/qgroundcontrol/QGCActivity.java
View file @
cf8b2675
...
...
@@ -29,10 +29,13 @@ package org.mavlink.qgroundcontrol;
//
////////////////////////////////////////////////////////////////////////////////////////////
import
java.util.ArrayList
;
import
java.util.HashMap
;
import
java.util.List
;
import
java.util.concurrent.ExecutorService
;
import
java.util.concurrent.Executors
;
import
java.util.Timer
;
import
java.util.TimerTask
;
import
java.io.IOException
;
import
android.app.Activity
;
...
...
@@ -40,12 +43,16 @@ import android.content.BroadcastReceiver;
import
android.content.Context
;
import
android.content.Intent
;
import
android.content.IntentFilter
;
import
android.hardware.usb.*
;
import
android.hardware.usb.UsbAccessory
;
import
android.hardware.usb.UsbDevice
;
import
android.hardware.usb.UsbDeviceConnection
;
import
android.hardware.usb.UsbManager
;
import
android.widget.Toast
;
import
android.util.Log
;
import
android.os.PowerManager
;
import
android.view.WindowManager
;
import
android.os.Bundle
;
import
android.app.PendingIntent
;
import
android.view.WindowManager
;
import
com.hoho.android.usbserial.driver.*
;
import
org.qtproject.qt5.android.bindings.QtActivity
;
...
...
@@ -65,6 +72,8 @@ public class QGCActivity extends QtActivity
private
final
static
ExecutorService
m_Executor
=
Executors
.
newSingleThreadExecutor
();
private
static
final
String
TAG
=
"QGC_QGCActivity"
;
private
static
PowerManager
.
WakeLock
m_wl
;
private
static
String
USB_ACTION
=
"org.mavlink.qgroundcontrol.action.USB_PERMISSION"
;
private
TaiSync
taiSync
=
null
;
public
static
Context
m_context
;
...
...
@@ -85,6 +94,26 @@ public class QGCActivity extends QtActivity
}
};
private
final
BroadcastReceiver
mOpenAccessoryReceiver
=
new
BroadcastReceiver
()
{
@Override
public
void
onReceive
(
Context
context
,
Intent
intent
)
{
String
action
=
intent
.
getAction
();
if
(
USB_ACTION
.
equals
(
action
))
{
UsbAccessory
accessory
=
intent
.
getParcelableExtra
(
UsbManager
.
EXTRA_ACCESSORY
);
if
(
intent
.
getBooleanExtra
(
UsbManager
.
EXTRA_PERMISSION_GRANTED
,
false
))
{
openAccessory
(
accessory
);
}
}
else
if
(
UsbManager
.
ACTION_USB_ACCESSORY_DETACHED
.
equals
(
action
))
{
UsbAccessory
accessory
=
intent
.
getParcelableExtra
(
UsbManager
.
EXTRA_ACCESSORY
);
if
(
accessory
!=
null
)
{
closeAccessory
(
accessory
);
}
}
}
};
// NATIVE C++ FUNCTION THAT WILL BE CALLED IF THE DEVICE IS UNPLUGGED
private
static
native
void
nativeDeviceHasDisconnected
(
int
userDataA
);
private
static
native
void
nativeDeviceException
(
int
userDataA
,
String
messageA
);
...
...
@@ -120,10 +149,27 @@ public class QGCActivity extends QtActivity
Log
.
i
(
TAG
,
"SCREEN_BRIGHT_WAKE_LOCK not acquired!!!"
);
}
m_instance
.
getWindow
().
addFlags
(
WindowManager
.
LayoutParams
.
FLAG_KEEP_SCREEN_ON
);
if
(
m_manager
==
null
)
{
try
{
m_manager
=
(
UsbManager
)
m_instance
.
getSystemService
(
Context
.
USB_SERVICE
);
taiSync
=
new
TaiSync
();
IntentFilter
filter
=
new
IntentFilter
(
USB_ACTION
);
filter
.
addAction
(
UsbManager
.
ACTION_USB_ACCESSORY_DETACHED
);
registerReceiver
(
mOpenAccessoryReceiver
,
filter
);
probeAccessories
();
}
catch
(
Exception
e
)
{
Log
.
e
(
TAG
,
"Exception getCurrentDevices(): "
+
e
);
}
}
}
@Override
protected
void
onDestroy
()
{
protected
void
onDestroy
()
{
unregisterReceiver
(
mOpenAccessoryReceiver
);
try
{
if
(
m_wl
!=
null
)
{
m_wl
.
release
();
...
...
@@ -149,9 +195,6 @@ public class QGCActivity extends QtActivity
if
(
m_instance
==
null
)
return
false
;
if
(
m_manager
==
null
)
m_manager
=
(
UsbManager
)
m_instance
.
getSystemService
(
Context
.
USB_SERVICE
);
if
(
m_devices
!=
null
)
m_devices
.
clear
();
...
...
@@ -193,7 +236,7 @@ public class QGCActivity extends QtActivity
int
countL
=
0
;
int
iL
;
// CHECK FOR ALREADY OPENED DEVICES AND DON
"
T INCLUDE THEM IN THE COUNT
// CHECK FOR ALREADY OPENED DEVICES AND DON
'
T INCLUDE THEM IN THE COUNT
for
(
iL
=
0
;
iL
<
m_devices
.
size
();
iL
++)
{
if
(
m_openedDevices
.
get
(
m_devices
.
get
(
iL
).
getDevice
().
getDeviceId
())
!=
null
)
...
...
@@ -668,5 +711,61 @@ public class QGCActivity extends QtActivity
{
return
m_openedDevices
.
get
(
idA
);
}
UsbAccessory
openUsbAccessory
=
null
;
Object
openAccessoryLock
=
new
Object
();
private
void
openAccessory
(
UsbAccessory
usbAccessory
)
{
Log
.
i
(
TAG
,
"openAccessory: "
+
usbAccessory
.
getSerial
());
try
{
synchronized
(
openAccessoryLock
)
{
if
((
openUsbAccessory
!=
null
&&
!
taiSync
.
isRunning
())
||
openUsbAccessory
==
null
)
{
openUsbAccessory
=
usbAccessory
;
taiSync
.
open
(
m_manager
.
openAccessory
(
usbAccessory
));
}
}
}
catch
(
IOException
e
)
{
Log
.
e
(
TAG
,
"openAccessory exception: "
+
e
);
taiSync
.
close
();
closeAccessory
(
openUsbAccessory
);
}
}
private
void
closeAccessory
(
UsbAccessory
usbAccessory
)
{
Log
.
i
(
TAG
,
"closeAccessory"
);
synchronized
(
openAccessoryLock
)
{
if
(
openUsbAccessory
!=
null
&&
usbAccessory
==
openUsbAccessory
&&
taiSync
.
isRunning
())
{
taiSync
.
close
();
openUsbAccessory
=
null
;
}
}
}
private
void
probeAccessories
()
{
final
PendingIntent
pendingIntent
=
PendingIntent
.
getBroadcast
(
this
,
0
,
new
Intent
(
USB_ACTION
),
0
);
Timer
timer
=
new
Timer
();
timer
.
schedule
(
new
TimerTask
()
{
@Override
public
void
run
()
{
// Log.i(TAG, "probeAccessories");
UsbAccessory
[]
accessories
=
m_manager
.
getAccessoryList
();
if
(
accessories
!=
null
)
{
for
(
UsbAccessory
usbAccessory
:
accessories
)
{
if
(
m_manager
.
hasPermission
(
usbAccessory
))
{
openAccessory
(
usbAccessory
);
}
else
{
Log
.
i
(
TAG
,
"requestPermission"
);
m_manager
.
requestPermission
(
usbAccessory
,
pendingIntent
);
}
}
}
}
},
0
,
3000
);
}
}
android/src/org/mavlink/qgroundcontrol/TaiSync.java
0 → 100644
View file @
cf8b2675
package
org
.
mavlink
.
qgroundcontrol
;
import
java.util.concurrent.ExecutorService
;
import
java.util.concurrent.Executors
;
import
java.io.FileDescriptor
;
import
java.io.FileInputStream
;
import
java.io.FileOutputStream
;
import
java.io.IOException
;
import
java.net.DatagramPacket
;
import
java.net.DatagramSocket
;
import
java.net.InetAddress
;
import
android.os.ParcelFileDescriptor
;
import
android.util.Log
;
public
class
TaiSync
{
private
static
final
int
PROTOCOL_VERSION
=
0x1
;
private
static
final
int
PROTOCOL_CHANNEL
=
0x02
;
private
static
final
int
PROTOCOL_DATA
=
0x03
;
private
static
final
int
TELEM_PORT
=
14550
;
private
static
final
int
VIDEO_PORT
=
5000
;
private
boolean
running
=
false
;
private
DatagramSocket
socket
=
null
;
private
ParcelFileDescriptor
mParcelFileDescriptor
;
private
FileInputStream
mFileInputStream
;
private
FileOutputStream
mFileOutputStream
;
private
ExecutorService
mThreadPool
;
private
byte
[]
mBytes
=
new
byte
[
32
*
1024
];
private
byte
vMaj
=
0
;
public
TaiSync
()
{
mThreadPool
=
Executors
.
newFixedThreadPool
(
2
);
}
public
boolean
isRunning
()
{
synchronized
(
this
)
{
return
running
;
}
}
public
void
open
(
ParcelFileDescriptor
parcelFileDescriptor
)
throws
IOException
{
// Log.i("QGC_TaiSync", "Open");
synchronized
(
this
)
{
if
(
running
)
{
return
;
}
running
=
true
;
}
mParcelFileDescriptor
=
parcelFileDescriptor
;
if
(
mParcelFileDescriptor
==
null
)
{
throw
new
IOException
(
"parcelFileDescriptor is null"
);
}
FileDescriptor
fileDescriptor
=
mParcelFileDescriptor
.
getFileDescriptor
();
mFileInputStream
=
new
FileInputStream
(
fileDescriptor
);
mFileOutputStream
=
new
FileOutputStream
(
fileDescriptor
);
socket
=
new
DatagramSocket
();
final
InetAddress
address
=
InetAddress
.
getByName
(
"localhost"
);
// Request connection packet
byte
[]
conn
=
{
0x00
,
0x00
,
0x00
,
0x00
,
// uint32 - protocol
0x00
,
0x00
,
0x00
,
0x00
,
// uint32 - dport
0x00
,
0x00
,
0x00
,
0x1C
,
// uint32 - length
0x00
,
0x00
,
0x00
,
0x00
,
// uint32 - magic
0x00
,
0x00
,
0x00
,
0x00
,
// uint32 - version major
0x00
,
0x00
,
0x00
,
0x00
,
// uint32 - version minor
0x00
,
0x00
,
0x00
,
0x00
};
// uint32 - padding
mFileOutputStream
.
write
(
conn
);
mThreadPool
.
execute
(
new
Runnable
()
{
@Override
public
void
run
()
{
int
bytesRead
=
0
;
try
{
while
(
bytesRead
>=
0
)
{
synchronized
(
this
)
{
if
(!
running
)
{
break
;
}
}
bytesRead
=
mFileInputStream
.
read
(
mBytes
);
if
(
bytesRead
>
0
)
{
if
(
mBytes
[
3
]
==
PROTOCOL_VERSION
)
{
vMaj
=
mBytes
[
19
];
Log
.
i
(
"QGC_TaiSync"
,
"Got protocol version message vMaj = "
+
mBytes
[
19
]);
byte
[]
data
=
{
0x00
,
0x00
,
0x00
,
0x01
,
// uint32 - protocol
0x00
,
0x00
,
0x00
,
0x00
,
// uint32 - dport
0x00
,
0x00
,
0x00
,
0x1C
,
// uint32 - length
0x00
,
0x00
,
0x00
,
0x00
,
// uint32 - magic
0x00
,
0x00
,
0x00
,
vMaj
,
// uint32 - version major
0x00
,
0x00
,
0x00
,
0x00
,
// uint32 - version minor
0x00
,
0x00
,
0x00
,
0x00
};
// uint32 - padding
mFileOutputStream
.
write
(
data
);
}
else
if
(
mBytes
[
3
]
==
PROTOCOL_CHANNEL
)
{
int
dPort
=
((
mBytes
[
4
]
&
0xff
)<<
24
)
|
((
mBytes
[
5
]&
0xff
)
<<
16
)
|
((
mBytes
[
6
]&
0xff
)
<<
8
)
|
(
mBytes
[
7
]
&
0xff
);
int
dLength
=
((
mBytes
[
8
]
&
0xff
)<<
24
)
|
((
mBytes
[
9
]&
0xff
)
<<
16
)
|
((
mBytes
[
10
]&
0xff
)
<<
8
)
|
(
mBytes
[
11
]
&
0xff
);
Log
.
i
(
"QGC_TaiSync"
,
"Read 2 port = "
+
dPort
+
" length = "
+
dLength
);
byte
[]
data
=
{
0x00
,
0x00
,
0x00
,
0x02
,
// uint32 - protocol
0x00
,
0x00
,
mBytes
[
6
],
mBytes
[
7
],
// uint32 - dport
0x00
,
0x00
,
0x00
,
0x1C
,
// uint32 - length
0x00
,
0x00
,
0x00
,
0x00
,
// uint32 - magic
0x00
,
0x00
,
0x00
,
vMaj
,
// uint32 - version major
0x00
,
0x00
,
0x00
,
0x00
,
// uint32 - version minor
0x00
,
0x00
,
0x00
,
0x00
};
// uint32 - padding
mFileOutputStream
.
write
(
data
);
}
else
if
(
mBytes
[
3
]
==
PROTOCOL_DATA
)
{
int
dPort
=
((
mBytes
[
4
]
&
0xff
)<<
24
)
|
((
mBytes
[
5
]&
0xff
)
<<
16
)
|
((
mBytes
[
6
]&
0xff
)
<<
8
)
|
(
mBytes
[
7
]
&
0xff
);
int
dLength
=
((
mBytes
[
8
]
&
0xff
)<<
24
)
|
((
mBytes
[
9
]&
0xff
)
<<
16
)
|
((
mBytes
[
10
]&
0xff
)
<<
8
)
|
(
mBytes
[
11
]
&
0xff
);
int
payloadOffset
=
28
;
int
payloadLength
=
bytesRead
-
payloadOffset
;
if
(
dPort
==
8000
)
{
// Video
byte
[]
sBytes
=
new
byte
[
payloadLength
];
System
.
arraycopy
(
mBytes
,
payloadOffset
,
sBytes
,
0
,
payloadLength
);
DatagramPacket
packet
=
new
DatagramPacket
(
sBytes
,
sBytes
.
length
,
address
,
VIDEO_PORT
);
socket
.
send
(
packet
);
}
else
if
(
dPort
==
8200
)
{
// Command
/*
StringBuilder sb = new StringBuilder();
for (int i = 0; i < dLength; i++) {
sb.append(String.format("%02X ", mBytes[i]));
}
Log.i("QGC_TaiSync", "Read 3 port = " + dPort + " length = " + dLength + " - " + sb.toString());
*/
}
else
if
(
dPort
==
8400
)
{
// Telemetry
byte
[]
sBytes
=
new
byte
[
payloadLength
];
System
.
arraycopy
(
mBytes
,
payloadOffset
,
sBytes
,
0
,
payloadLength
);
DatagramPacket
packet
=
new
DatagramPacket
(
sBytes
,
sBytes
.
length
,
address
,
TELEM_PORT
);
socket
.
send
(
packet
);
}
}
}
}
}
catch
(
IOException
e
)
{
Log
.
e
(
"QGC_TaiSync"
,
"Exception: "
+
e
);
e
.
printStackTrace
();
}
finally
{
close
();
}
}
});
mThreadPool
.
execute
(
new
Runnable
()
{
@Override
public
void
run
()
{
byte
[]
inbuf
=
new
byte
[
256
];
try
{
while
(
true
)
{
synchronized
(
this
)
{
if
(!
running
)
{
break
;
}
}
DatagramPacket
packet
=
new
DatagramPacket
(
inbuf
,
inbuf
.
length
);
socket
.
receive
(
packet
);
int
dataPort
=
8400
;
byte
portMSB
=
(
byte
)((
dataPort
>>
8
)
&
0xFF
);
byte
portLSB
=
(
byte
)(
dataPort
&
0xFF
);
byte
[]
lA
=
new
byte
[
4
];
int
len
=
28
+
packet
.
getLength
();
byte
[]
buffer
=
new
byte
[
len
];
for
(
int
i
=
3
;
i
>=
0
;
i
--)
{
lA
[
i
]
=
(
byte
)(
len
&
0xFF
);
len
>>=
8
;
}
byte
[]
header
=
{
0x00
,
0x00
,
0x00
,
PROTOCOL_DATA
,
// uint32 - protocol
0x00
,
0x00
,
portMSB
,
portLSB
,
// uint32 - dport
lA
[
0
],
lA
[
1
],
lA
[
2
],
lA
[
3
],
// uint32 - length
0x00
,
0x00
,
0x00
,
0x00
,
// uint32 - magic
0x00
,
0x00
,
0x00
,
vMaj
,
// uint32 - version major
0x00
,
0x00
,
0x00
,
0x00
,
// uint32 - version minor
0x00
,
0x00
,
0x00
,
0x00
};
// uint32 - padding
System
.
arraycopy
(
header
,
0
,
buffer
,
0
,
header
.
length
);
System
.
arraycopy
(
packet
.
getData
(),
0
,
buffer
,
header
.
length
,
packet
.
getLength
());
mFileOutputStream
.
write
(
buffer
);
}
}
catch
(
IOException
e
)
{
Log
.
e
(
"QGC_TaiSync"
,
"Exception: "
+
e
);
e
.
printStackTrace
();
}
finally
{
close
();
}
}
});
}
public
void
close
()
{
// Log.i("QGC_TaiSync", "Close");
synchronized
(
this
)
{
running
=
false
;
}
try
{
if
(
socket
!=
null
)
{
socket
.
close
();
socket
=
null
;
}
if
(
mParcelFileDescriptor
!=
null
)
{
mParcelFileDescriptor
.
close
();
mParcelFileDescriptor
=
null
;
}
}
catch
(
Exception
e
)
{
}
socket
=
null
;
}
}
Write
Preview
Markdown
is supported
0%
Try again
or
attach a new file
Attach a file
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment