vcs.maemo.org Git - mardrone/blob - mardrone/ARDrone_SDK_Version_1_8_20110726/ControlEngine/iPhone/Classes/Menus/HUD.m

   1 #import "HUD.h"
   2 #import <CoreMotion/CoreMotion.h>
   3
   4 // Ratio to activate control yaw and gaz
   5 #define CONTROL_RATIO   (1.0 / 3.0)
   6 #define CONTROL_RATIO_IPAD (1.0 / 6.0)
   7
   8 #define ACCELERO_THRESHOLD      0.1
   9 #define ACCELERO_NORM_THRESHOLD 0.0
  10 #define ACCELERO_FASTMOVE_THRESHOLD     1.3
  11
  12 // Determine if a point within the boundaries of the joystick.
  13 static bool_t isPointInCircle(CGPoint point, CGPoint center, float radius) {
  14         float dx = (point.x - center.x);
  15         float dy = (point.y - center.y);
  16         return (radius >= sqrt( (dx * dx) + (dy * dy) ));
  17 }
  18
  19 static float sign(float value)
  20 {
  21         float result = 1.0;
  22         if(value < 0)
  23                 result = -1.0;
  24
  25         return result;
  26 }
  27
  28 static float Normalize(float x, float y, float z)
  29 {
  30         return sqrt(x * x + y * y + z * z);
  31 }
  32
  33 static float Clamp(float v, float min, float max)
  34 {
  35         float result = v;
  36         if(v > max)
  37                 result = max;
  38         else if(v < min)
  39                 result = min;
  40
  41         return result;
  42 }
  43
  44 static CONTROLS controls_table[CONTROL_MODE_MAX] =
  45 {
  46         [CONTROL_MODE1] = { {FALSE, inputPitch, inputYaw}, {FALSE, inputGaz, inputRoll} },
  47         [CONTROL_MODE2] = { {FALSE, inputGaz, inputYaw}, {TRUE, inputPitch, inputRoll} },
  48         [CONTROL_MODE3] = { {TRUE, inputPitch, inputRoll}, {FALSE, inputGaz, inputYaw} },
  49         [CONTROL_MODE4] = { {FALSE, inputGaz, inputRoll}, {FALSE, inputPitch, inputYaw} }
  50 };
  51
  52 @interface HUD ()
  53 ControlData *controlData;
  54 ARDroneHUDConfiguration config;
  55 bool_t acceleroEnabled, combinedYawEnabled;
  56 CONTROL_MODE controlMode;
  57 float accelero[3];
  58 float accelero_rotation[3][3];
  59 UIAccelerationValue lastX, lastY, lastZ;
  60 double lowPassFilterConstant, highPassFilterConstant;
  61 BOOL accelerometer_started;
  62 CGPoint joystickRightCurrentPosition, joystickLeftCurrentPosition;
  63 CGPoint joystickRightInitialPosition, joystickLeftInitialPosition;
  64 BOOL buttonRightPressed, buttonLeftPressed;
  65 CGPoint rightCenter, leftCenter;
  66 float tmp_phi, tmp_theta;
  67 BOOL screenOrientationRight;
  68 float alpha;
  69 SystemSoundID plop_id, batt_id;
  70 FILE *mesures_file;
  71 BOOL running;
  72
  73 BOOL compiledForIPad;
  74 BOOL usingIPad;
  75 BOOL using2xInterface;
  76
  77
  78 #if TARGET_IPHONE_SIMULATOR == 1
  79 NSTimer *timer;
  80 - (void)simulate_accelerometer:(id)sender;
  81 #else
  82
  83 - (void)accelerometer:(UIAccelerometer *)accelerometer didAccelerate:(UIAcceleration *)acceleration;
  84 #endif
  85 - (void)setAcceleroRotationWithPhi:(float)phi withTheta:(float)theta withPsi:(float)psi;
  86 - (void)refreshJoystickRight;
  87 - (void)refreshJoystickLeft;
  88 - (void)updateVelocity:(CGPoint)point isRight:(BOOL)isRight;
  89 - (void)hideInfos;
  90 - (void)showInfos;
  91 - (void)refreshControlInterface;
  92 @end
  93
  94 @implementation HUD
  95 @synthesize firePressed;
  96 @synthesize settingsPressed;
  97 @synthesize mainMenuPressed;
  98
  99 - (id)initWithFrame:(CGRect)frame withState:(BOOL)inGame withHUDConfiguration:(ARDroneHUDConfiguration)hudconfiguration withControlData:(ControlData*)data
 100 {
 101         NSArray *targetArray = [[[NSBundle mainBundle] infoDictionary] objectForKey:@"UIDeviceFamily"];
 102         compiledForIPad = NO;
 103         for (int i = 0; i < [targetArray count]; i++)
 104         {
 105                 NSNumber* num = (NSNumber*)[targetArray objectAtIndex:i];
 106                 int value;
 107                 [num getValue:&value];
 108                 if (2 == value)
 109                 {
 110                         compiledForIPad = YES;
 111                         break;
 112                 }
 113         }
 114
 115         usingIPad = NO;
 116         if (UI_USER_INTERFACE_IDIOM() == UIUserInterfaceIdiomPad)
 117         {
 118                 usingIPad = YES;
 119         }
 120
 121         using2xInterface = NO;
 122         if ([UIScreen instancesRespondToSelector:@selector(scale)]) {
 123                 CGFloat scale = [[UIScreen mainScreen] scale];
 124                 if (scale > 1.0) {
 125                         using2xInterface = YES;
 126                 }
 127         }
 128
 129         if (usingIPad && compiledForIPad)
 130         {
 131                 self = [super initWithNibName:@"HUD-iPad" bundle:nil];
 132         }
 133         else
 134         {
 135                 self = [super initWithNibName:@"HUD" bundle:nil];
 136         }
 137         NSLog(@"HUD frame => w : %f, h : %f", data, frame.size.width, frame.size.height);
 138         if(self)
 139         {
 140                 controlData = data;
 141                 running = inGame;
 142                 firePressed = NO;
 143                 settingsPressed = NO;
 144                 mainMenuPressed = NO;
 145
 146                 vp_os_memcpy(&config, &hudconfiguration, sizeof(ARDroneHUDConfiguration));
 147
 148                 acceleroEnabled = TRUE;
 149                 combinedYawEnabled = FALSE;
 150                 controlMode = CONTROL_MODE3;
 151                 buttonRightPressed = buttonLeftPressed = NO;
 152
 153                 rightCenter = CGPointZero;
 154                 leftCenter = CGPointZero;
 155                 lowPassFilterConstant = 0.2;
 156                 highPassFilterConstant = (1.0 / 5.0) / ((1.0 / kAPS) + (1.0 / 5.0));
 157
 158                 joystickRightInitialPosition = CGPointZero;
 159                 joystickRightCurrentPosition = CGPointZero;
 160                 joystickLeftInitialPosition = CGPointZero;
 161                 joystickLeftCurrentPosition = CGPointZero;
 162
 163                 accelero[0] = 0.0;
 164                 accelero[1] = 0.0;
 165                 accelero[2] = 0.0;
 166
 167                 tmp_phi = 0.0;
 168                 tmp_theta = 0.0;
 169
 170                 [self setAcceleroRotationWithPhi:0.0 withTheta:0.0 withPsi:0.0];
 171
 172                 accelerometer_started = NO;
 173
 174 #if TARGET_IPHONE_SIMULATOR == 1
 175                 [NSTimer scheduledTimerWithTimeInterval:(NSTimeInterval)(1.0 / kAPS) target:self selector:@selector(simulate_accelerometer:) userInfo:nil repeats:YES];
 176 #else
 177                 [[UIAccelerometer sharedAccelerometer] setUpdateInterval: (NSTimeInterval)(1.0 / kAPS)];
 178                 [[UIAccelerometer sharedAccelerometer] setDelegate:self];
 179 #endif
 180
 181 #ifdef WRITE_DEBUG_ACCELERO
 182                 char filename[128];
 183                 NSString *documentsDirectory = [NSSearchPathForDirectoriesInDomains(NSDocumentDirectory,NSUserDomainMask, YES) objectAtIndex:0];
 184                 sprintf(filename, "%s/accelero_iphones_mesures.txt",
 185                                 [documentsDirectory cStringUsingEncoding:NSUTF8StringEncoding]);
 186                 mesures_file = fopen(filename, "wb");
 187                 fprintf(mesures_file, "ARDrone\nNumSamples;AccEnable;AccXbrut;AccYbrut;AccZbrut;AccX;AccY;AccZ;PhiAngle;ThetaAngle;AlphaAngle\n");
 188 #endif
 189         }
 190
 191         return self;
 192 }
 193
 194 - (void) setAcceleroRotationWithPhi:(float)phi withTheta:(float)theta withPsi:(float)psi
 195 {
 196         accelero_rotation[0][0] = cosf(psi)*cosf(theta);
 197         accelero_rotation[0][1] = -sinf(psi)*cosf(phi) + cosf(psi)*sinf(theta)*sinf(phi);
 198         accelero_rotation[0][2] = sinf(psi)*sinf(phi) + cosf(psi)*sinf(theta)*cosf(phi);
 199         accelero_rotation[1][0] = sinf(psi)*cosf(theta);
 200         accelero_rotation[1][1] = cosf(psi)*cosf(phi) + sinf(psi)*sinf(theta)*sinf(phi);
 201         accelero_rotation[1][2] = -cosf(psi)*sinf(phi) + sinf(psi)*sinf(theta)*cosf(phi);
 202         accelero_rotation[2][0] = -sinf(theta);
 203         accelero_rotation[2][1] = cosf(theta)*sinf(phi);
 204         accelero_rotation[2][2] = cosf(theta)*cosf(phi);
 205
 206 #ifdef WRITE_DEBUG_ACCELERO
 207         NSLog(@"Accelero rotation matrix changed :");
 208         NSLog(@"%0.1f %0.1f %0.1f", accelero_rotation[0][0], accelero_rotation[0][1], accelero_rotation[0][2]);
 209         NSLog(@"%0.1f %0.1f %0.1f", accelero_rotation[1][0], accelero_rotation[1][1], accelero_rotation[1][2]);
 210         NSLog(@"%0.1f %0.1f %0.1f", accelero_rotation[2][0], accelero_rotation[2][1], accelero_rotation[2][2]);
 211 #endif
 212 }
 213
 214 #if TARGET_IPHONE_SIMULATOR == 1
 215 - (void)simulate_accelerometer:(id)sender
 216 {
 217         UIAcceleration *acceleration = [[UIAcceleration alloc] init];
 218 #else
 219 - (void)accelerometer:(UIAccelerometer *)accelerometer didAccelerate:(UIAcceleration *)acceleration
 220 {
 221 #endif
 222         static double highPassFilterX = 0.0, highPassFilterY = 0.0, highPassFilterZ = 0.0;
 223         static bool_t prev_accelero_enabled = TRUE;
 224         float norm, alpha;
 225         float accelerox, acceleroy, acceleroz;
 226         highPassFilterX = highPassFilterConstant * (highPassFilterX + acceleration.x - lastX);
 227         highPassFilterY = highPassFilterConstant * (highPassFilterY + acceleration.y - lastY);
 228         highPassFilterZ = highPassFilterConstant * (highPassFilterZ + acceleration.z - lastZ);
 229         lastX = acceleration.x;
 230         lastY = acceleration.y;
 231         lastZ = acceleration.z;
 232
 233         if(running)
 234         {
 235                 if(fabs(highPassFilterX) > ACCELERO_FASTMOVE_THRESHOLD ||
 236                    fabs(highPassFilterY) > ACCELERO_FASTMOVE_THRESHOLD ||
 237                    fabs(highPassFilterZ) > ACCELERO_FASTMOVE_THRESHOLD)
 238                 {
 239                         firePressed = YES;
 240                 }
 241                 else
 242                 {
 243                         firePressed = NO;
 244
 245                         if(acceleroEnabled)
 246                         {
 247                                 if(screenOrientationRight)
 248                                 {
 249                                         accelerox = acceleration.x;
 250                                         acceleroy = -acceleration.y;
 251                                 }
 252                                 else
 253                                 {
 254                                         accelerox = -acceleration.x;
 255                                         acceleroy = acceleration.y;
 256                                 }
 257                                 acceleroz = -acceleration.z;
 258
 259                                 // Initialize previous values of acceleros
 260                                 if(accelerometer_started == NO)
 261                                 {
 262                                         accelerometer_started = YES;
 263                                         accelero[0] = accelerox;
 264                                         accelero[1] = acceleroy;
 265                                         accelero[2] = acceleroz;
 266                                 }
 267
 268                                 // Apply low pass filter on acceleros
 269                                 accelero[0] = accelerox * lowPassFilterConstant + accelero[0] * (1.0 - lowPassFilterConstant);
 270                                 accelero[1] = acceleroy * lowPassFilterConstant + accelero[1] * (1.0 - lowPassFilterConstant);
 271                                 accelero[2] = acceleroz * lowPassFilterConstant + accelero[2] * (1.0 - lowPassFilterConstant);
 272
 273                                 // Apply rotation matrix and Clamp
 274                                 accelerox = Clamp((accelero_rotation[0][0] * accelero[0]) + (accelero_rotation[0][1] * accelero[1]) + (accelero_rotation[0][2] * accelero[2]), -1.0, 1.0);
 275                                 acceleroy = Clamp((accelero_rotation[1][0] * accelero[0]) + (accelero_rotation[1][1] * accelero[1]) + (accelero_rotation[1][2] * accelero[2]), -1.0, 1.0);
 276                                 acceleroz = Clamp((accelero_rotation[2][0] * accelero[0]) + (accelero_rotation[2][1] * accelero[1]) + (accelero_rotation[2][2] * accelero[2]), -1.0, 1.0);
 277
 278                                 // compute
 279                                 if(fabs(acceleroy) < ACCELERO_THRESHOLD)
 280                                 {
 281                                         if(accelerox >= 0.0)
 282                                                 alpha = M_PI_2;
 283                                         else
 284                                                 alpha = -M_PI_2;
 285                                 }
 286                                 else
 287                                 {
 288                                         alpha = atan2(accelerox, acceleroy);
 289                                 }
 290
 291                                 norm = Normalize(accelerox, acceleroy, 0.0);
 292                                 if(norm > ACCELERO_NORM_THRESHOLD)
 293                                 {
 294                                         float tmp = (norm - ACCELERO_NORM_THRESHOLD) * (norm - ACCELERO_NORM_THRESHOLD);
 295                                         controlData->accelero_phi = tmp * cosf(alpha);
 296                                         controlData->accelero_theta = -tmp * sinf(alpha);
 297                                 }
 298                                 else
 299                                 {
 300                                         controlData->accelero_phi = 0.0;
 301                                         controlData->accelero_theta = 0.0;
 302                                 }
 303                         }
 304                         else if(prev_accelero_enabled != acceleroEnabled)
 305                         {
 306                                 controlData->accelero_phi = 0.0;
 307                                 controlData->accelero_theta = 0.0;
 308                         }
 309
 310                         prev_accelero_enabled = acceleroEnabled;
 311                         sendControls();
 312                 }
 313         }
 314 }
 315
 316 - (void)refreshJoystickRight
 317 {
 318         CGRect frame = joystickRightBackgroundImageView.frame;
 319         frame.origin = joystickRightCurrentPosition;
 320         joystickRightBackgroundImageView.frame = frame;
 321 }
 322
 323 - (void)refreshJoystickLeft
 324 {
 325         CGRect frame = joystickLeftBackgroundImageView.frame;
 326         frame.origin = joystickLeftCurrentPosition;
 327         joystickLeftBackgroundImageView.frame = frame;
 328 }
 329
 330 - (void)refreshControlInterface
 331 {
 332         if(acceleroEnabled)
 333         {
 334                 switch (controlMode) {
 335                         case CONTROL_MODE2:
 336                                 joystickLeftBackgroundImageView.hidden = NO;
 337                                 joystickRightBackgroundImageView.hidden = YES;
 338                                 break;
 339
 340                         case CONTROL_MODE3:
 341                         default:
 342                                 joystickLeftBackgroundImageView.hidden = YES;
 343                                 joystickRightBackgroundImageView.hidden = NO;
 344                                 break;
 345                 }
 346         }
 347         else
 348         {
 349                 joystickLeftBackgroundImageView.hidden = NO;
 350                 joystickRightBackgroundImageView.hidden = NO;
 351         }
 352
 353         [self refreshJoystickRight];
 354         [self refreshJoystickLeft];
 355 }
 356
 357 - (void)changeState:(BOOL)inGame
 358 {
 359         printf("%s - running : %d, inGame : %d\n", __FUNCTION__, running, inGame);
 360         running = inGame;
 361         if(!inGame)
 362         {
 363                 if(buttonRightPressed)
 364                         [joystickRightButton sendActionsForControlEvents:UIControlEventTouchCancel];
 365
 366                 if(buttonLeftPressed)
 367                         [joystickLeftButton sendActionsForControlEvents:UIControlEventTouchCancel];
 368         }
 369 }
 370
 371 - (void)acceleroValueChanged:(bool_t)enabled
 372 {
 373         acceleroEnabled = enabled;
 374         [self performSelectorOnMainThread:@selector(refreshControlInterface) withObject:nil waitUntilDone:YES];
 375 }
 376
 377 - (void)combinedYawValueChanged:(bool_t)enabled
 378 {
 379         combinedYawEnabled = enabled;
 380         [self performSelectorOnMainThread:@selector(refreshControlInterface) withObject:nil waitUntilDone:YES];
 381 }
 382
 383 - (void)interfaceAlphaValueChanged:(CGFloat)value
 384 {
 385         joystickRightThumbImageView.alpha = value;
 386         joystickRightBackgroundImageView.alpha = value;
 387         joystickLeftThumbImageView.alpha = value;
 388         joystickLeftBackgroundImageView.alpha = value;
 389         alpha = value;
 390 }
 391
 392 - (void)controlModeChanged:(CONTROL_MODE)mode
 393 {
 394         controlMode = mode;
 395         [self performSelectorOnMainThread:@selector(refreshControlInterface) withObject:nil waitUntilDone:YES];
 396 }
 397
 398 - (void)updateVelocity:(CGPoint)point isRight:(BOOL)isRight
 399 {
 400         CGPoint nextpoint = CGPointMake(point.x, point.y);
 401         CGPoint center = (isRight ? rightCenter : leftCenter);
 402         UIImageView *backgroundImage = (isRight ? joystickRightBackgroundImageView : joystickLeftBackgroundImageView);
 403         UIImageView *thumbImage = (isRight ? joystickRightThumbImageView : joystickLeftThumbImageView);
 404
 405         // Calculate distance and angle from the center.
 406         float dx = nextpoint.x - center.x;
 407         float dy = nextpoint.y - center.y;
 408
 409         float distance = sqrt(dx * dx + dy * dy);
 410         float angle = atan2(dy, dx); // in radians
 411
 412         // NOTE: Velocity goes from -1.0 to 1.0.
 413         // BE CAREFUL: don't just cap each direction at 1.0 since that
 414         // doesn't preserve the proportions.
 415         float joystick_radius = backgroundImage.frame.size.width / 2;
 416         if (distance > joystick_radius) {
 417                 dx = cos(angle) * joystick_radius;
 418                 dy = sin(angle) * joystick_radius;
 419         }
 420
 421         // Constrain the thumb so that it stays within the joystick
 422         // boundaries.  This is smaller than the joystick radius in
 423         // order to account for the size of the thumb.
 424         float thumb_radius = thumbImage.frame.size.width / 2;
 425         if (distance > thumb_radius) {
 426                 nextpoint.x = center.x + (cos(angle) * thumb_radius);
 427                 nextpoint.y = center.y + (sin(angle) * thumb_radius);
 428         }
 429
 430         // Update the thumb's position
 431         CGRect frame = thumbImage.frame;
 432         frame.origin.x = nextpoint.x - (thumbImage.frame.size.width / 2);
 433         frame.origin.y = nextpoint.y - (thumbImage.frame.size.height / 2);
 434         thumbImage.frame = frame;
 435 }
 436
 437 - (void)setMessageBox:(NSString*)str
 438 {
 439         static int prevSound = 0;
 440         [messageBoxLabel performSelectorOnMainThread:@selector(setText:) withObject:str waitUntilDone:YES];
 441
 442         struct timeval nowSound;
 443         gettimeofday(&nowSound, NULL);
 444         if (([str compare:ARDroneEngineLocalizeString(@"BATTERY LOW ALERT")] == NSOrderedSame) &&
 445                 2 < (nowSound.tv_sec - prevSound))
 446         {
 447                 AudioServicesPlaySystemSound(batt_id);
 448                 prevSound = nowSound.tv_sec;
 449         }
 450 }
 451
 452 - (void)setTakeOff:(NSString*)str
 453 {
 454         UIImage *image = [UIImage imageNamed:[str stringByAppendingString:@".png"]];
 455         [takeOffButton setImage:image forState:UIControlStateNormal];
 456 }
 457
 458 - (void)setEmergency:(NSString*)str
 459 {
 460         if([str length] != 0)
 461         {
 462                 UIImage *image = [UIImage imageNamed:[str stringByAppendingString:@".png"]];
 463                 emergencyButton.enabled = TRUE;
 464                 emergencyButton.alpha = 1.0;
 465                 [emergencyButton setImage:image forState:UIControlStateNormal];
 466         }
 467         else
 468         {
 469                 emergencyButton.enabled = FALSE;
 470                 emergencyButton.alpha = 0.5;
 471         }
 472 }
 473
 474 - (void)hideInfos
 475 {
 476         batteryLevelLabel.hidden = YES;
 477         batteryImageView.hidden = YES;
 478 }
 479
 480 - (void)showInfos
 481 {
 482         batteryLevelLabel.hidden = (config.enableBatteryPercentage == NO);
 483         batteryImageView.hidden = NO;
 484 }
 485
 486
 487 - (void)enableBackToMainMenu
 488 {
 489         backToMainMenuButton.enabled = YES;
 490         backToMainMenuButton.alpha = 1.0;
 491 }
 492
 493 - (void)disableBackToMainMenu
 494 {
 495         backToMainMenuButton.enabled = NO;
 496         backToMainMenuButton.alpha = 0.0;
 497 }
 498
 499 - (void)showBackToMainMenu:(BOOL)show
 500 {
 501         if(show)
 502                 [self performSelectorOnMainThread:@selector(enableBackToMainMenu) withObject:nil waitUntilDone:YES];
 503         else
 504                 [self performSelectorOnMainThread:@selector(disableBackToMainMenu) withObject:nil waitUntilDone:YES];
 505 }
 506
 507 - (void)setBattery:(int)percent
 508 {
 509         if(percent < 0)
 510         {
 511                 [self performSelectorOnMainThread:@selector(hideInfos) withObject:nil waitUntilDone:YES];
 512         }
 513         else
 514         {
 515                 UIImage *image = [UIImage imageNamed:[NSString stringWithFormat:@"battery%d.png", ((percent < 10) ? 0 : (int)((percent / 33.4) + 1))]];
 516                 [batteryImageView performSelectorOnMainThread:@selector(setImage:) withObject:image waitUntilDone:YES];
 517
 518                 [self performSelectorOnMainThread:@selector(showInfos) withObject:nil waitUntilDone:YES];
 519
 520                 [batteryLevelLabel performSelectorOnMainThread:@selector(setTextColor:) withObject:((percent < 10) ? [UIColor colorWithRed:1.0 green:0.0 blue:0.0 alpha:0.7] : [UIColor colorWithRed:0.0 green:0.65 blue:0.0 alpha:0.7]) waitUntilDone:YES];
 521                 [batteryLevelLabel performSelectorOnMainThread:@selector(setText:) withObject:[NSString stringWithFormat:@"%d %%", percent] waitUntilDone:YES];
 522         }
 523 }
 524
 525 - (IBAction)buttonPress:(id)sender forEvent:(UIEvent *)event
 526 {
 527         UITouch *touch = [[event touchesForView:sender] anyObject];
 528         CGPoint point = [touch locationInView:self.view];
 529         bool_t acceleroModeOk = NO;
 530
 531         if(sender == joystickRightButton)
 532         {
 533                 buttonRightPressed = YES;
 534                 // Start only if the first touch is within the pad's boundaries.
 535                 // Allow touches to be tracked outside of the pad as long as the
 536                 // screen continues to be pressed.
 537                 BOOL joystickIsOutside =  ((point.x + (joystickRightBackgroundImageView.frame.size.width / 2) > (joystickRightButton.frame.origin.x + joystickRightButton.frame.size.width)) ||
 538                                                                    (point.x - (joystickRightBackgroundImageView.frame.size.width / 2) < joystickRightButton.frame.origin.x) ||
 539                                                                    (point.y + (joystickRightBackgroundImageView.frame.size.height / 2) > (joystickRightButton.frame.origin.y + joystickRightButton.frame.size.height)) ||
 540                                                                    (point.y - (joystickRightBackgroundImageView.frame.size.height / 2) < joystickRightButton.frame.origin.y));
 541
 542                 if(joystickIsOutside)
 543                 {
 544                         AudioServicesPlaySystemSound(plop_id);
 545                 }
 546
 547                 joystickRightCurrentPosition.x = point.x - (joystickRightBackgroundImageView.frame.size.width / 2);
 548                 joystickRightCurrentPosition.y = point.y - (joystickRightBackgroundImageView.frame.size.height / 2);
 549
 550                 joystickRightBackgroundImageView.alpha = joystickRightThumbImageView.alpha = 1.0;
 551
 552                 // Refresh Joystick
 553                 [self refreshJoystickRight];
 554
 555                 // Update center
 556                 rightCenter = CGPointMake(joystickRightBackgroundImageView.frame.origin.x + (joystickRightBackgroundImageView.frame.size.width / 2), joystickRightBackgroundImageView.frame.origin.y + (joystickRightBackgroundImageView.frame.size.height / 2));
 557
 558                 // Update velocity
 559                 [self updateVelocity:rightCenter isRight:YES];
 560
 561                 acceleroModeOk = controls_table[controlMode].Right.can_use_accelero;
 562
 563                 if(combinedYawEnabled && buttonLeftPressed)
 564                         controlData->accelero_flag |= (1 << ARDRONE_PROGRESSIVE_CMD_COMBINED_YAW_ACTIVE);
 565         }
 566         else if(sender == joystickLeftButton)
 567         {
 568                 buttonLeftPressed = YES;
 569
 570                 joystickLeftCurrentPosition.x = point.x - (joystickLeftBackgroundImageView.frame.size.width / 2);
 571                 joystickLeftCurrentPosition.y = point.y - (joystickLeftBackgroundImageView.frame.size.height / 2);
 572
 573                 joystickLeftBackgroundImageView.alpha = joystickLeftThumbImageView.alpha = 1.0;
 574
 575                 // Refresh Joystick
 576                 [self refreshJoystickLeft];
 577
 578                 // Update center
 579                 leftCenter = CGPointMake(joystickLeftBackgroundImageView.frame.origin.x + (joystickLeftBackgroundImageView.frame.size.width / 2), joystickLeftBackgroundImageView.frame.origin.y + (joystickLeftBackgroundImageView.frame.size.height / 2));
 580
 581                 // Update velocity
 582                 [self updateVelocity:leftCenter isRight:NO];
 583
 584                 acceleroModeOk = controls_table[controlMode].Left.can_use_accelero;
 585                 if(combinedYawEnabled && buttonRightPressed)
 586                         controlData->accelero_flag |= (1 << ARDRONE_PROGRESSIVE_CMD_COMBINED_YAW_ACTIVE);
 587         }
 588
 589         if(acceleroModeOk)
 590         {
 591                 controlData->accelero_flag |= (1 << ARDRONE_PROGRESSIVE_CMD_ENABLE);
 592                 if(acceleroEnabled)
 593                 {
 594                         // Start only if the first touch is within the pad's boundaries.
 595                         // Allow touches to be tracked outside of the pad as long as the
 596                         // screen continues to be pressed.
 597                         float phi, theta;
 598                         phi = (float)atan2f(accelero[1], accelero[2]);
 599                         theta = -(float)atan2f(accelero[0] * cosf(phi), accelero[2]);
 600                         [self setAcceleroRotationWithPhi:phi withTheta:theta withPsi:0.0];
 601                 }
 602         }
 603 }
 604
 605 - (IBAction)buttonRelease:(id)sender forEvent:(UIEvent *)event
 606 {
 607         bool_t acceleroModeOk = NO;
 608         if(sender == joystickRightButton)
 609         {
 610                 buttonRightPressed = NO;
 611
 612                 // Reinitialize joystick position
 613                 joystickRightCurrentPosition = joystickRightInitialPosition;
 614                 joystickRightBackgroundImageView.alpha = joystickRightThumbImageView.alpha = alpha;
 615
 616                 // Refresh joystick
 617                 [self refreshJoystickRight];
 618
 619                 // Update center
 620                 rightCenter = CGPointMake(joystickRightBackgroundImageView.frame.origin.x + (joystickRightBackgroundImageView.frame.size.width / 2), joystickRightBackgroundImageView.frame.origin.y + (joystickRightBackgroundImageView.frame.size.height / 2));
 621
 622                 // reset joystick
 623                 [self updateVelocity:rightCenter isRight:YES];
 624
 625                 controls_table[controlMode].Right.up_down(0.0);
 626                 controls_table[controlMode].Right.left_right(0.0);
 627
 628                 acceleroModeOk = controls_table[controlMode].Right.can_use_accelero;
 629
 630                 if(combinedYawEnabled)
 631                         controlData->accelero_flag &= ~(1 << ARDRONE_PROGRESSIVE_CMD_COMBINED_YAW_ACTIVE);
 632         }
 633         else if(sender == joystickLeftButton)
 634         {
 635                 //printf("button left released\n");
 636                 buttonLeftPressed = NO;
 637                 // Reinitialize joystick position
 638                 joystickLeftCurrentPosition = joystickLeftInitialPosition;
 639                 joystickLeftBackgroundImageView.alpha = joystickLeftThumbImageView.alpha = alpha;
 640
 641                 // Refresh joystick
 642                 [self refreshJoystickLeft];
 643
 644                 // Update center
 645                 leftCenter = CGPointMake(joystickLeftBackgroundImageView.frame.origin.x + (joystickLeftBackgroundImageView.frame.size.width / 2), joystickLeftBackgroundImageView.frame.origin.y + (joystickLeftBackgroundImageView.frame.size.height / 2));
 646
 647                 // reset joystick
 648                 [self updateVelocity:leftCenter isRight:NO];
 649
 650                 controls_table[controlMode].Left.up_down(0.0);
 651                 controls_table[controlMode].Left.left_right(0.0);
 652
 653                 acceleroModeOk = controls_table[controlMode].Left.can_use_accelero;
 654
 655                 if(combinedYawEnabled)
 656                         controlData->accelero_flag &= ~(1 << ARDRONE_PROGRESSIVE_CMD_COMBINED_YAW_ACTIVE);
 657         }
 658
 659         if(acceleroModeOk)
 660         {
 661                 controlData->accelero_flag &= ~(1 << ARDRONE_PROGRESSIVE_CMD_ENABLE);
 662                 if(acceleroEnabled)
 663                 {
 664                         [self setAcceleroRotationWithPhi:0.0 withTheta:0.0 withPsi:0.0];
 665                 }
 666         }
 667 }
 668
 669 - (IBAction)buttonDrag:(id)sender forEvent:(UIEvent *)event
 670 {
 671         UITouch *touch = [[event touchesForView:sender] anyObject];
 672         CGPoint point = [touch locationInView:self.view];
 673         bool_t acceleroModeOk = NO;
 674
 675
 676         float controlRatio = 0.5 - (CONTROL_RATIO / 2.0);
 677         if (usingIPad && compiledForIPad)
 678         {
 679                 controlRatio = 0.5 - (CONTROL_RATIO_IPAD / 2.0);
 680         }
 681
 682
 683
 684         if(sender == joystickRightButton)
 685         {
 686                 if((rightCenter.x - point.x) > ((joystickRightBackgroundImageView.frame.size.width / 2) - (controlRatio * joystickRightBackgroundImageView.frame.size.width)))
 687                 {
 688                         float percent = ((rightCenter.x - point.x) - ((joystickRightBackgroundImageView.frame.size.width / 2) - (controlRatio * joystickRightBackgroundImageView.frame.size.width))) / ((controlRatio * joystickRightBackgroundImageView.frame.size.width));
 689                         //NSLog(@"Percent (left)  : %f\n", percent);
 690                         if(percent > 1.0)
 691                                 percent = 1.0;
 692                         controls_table[controlMode].Right.left_right(-percent);
 693                 }
 694                 else if((point.x - rightCenter.x) > ((joystickRightBackgroundImageView.frame.size.width / 2) - (controlRatio * joystickRightBackgroundImageView.frame.size.width)))
 695                 {
 696                         float percent = ((point.x - rightCenter.x) - ((joystickRightBackgroundImageView.frame.size.width / 2) - (controlRatio * joystickRightBackgroundImageView.frame.size.width))) / ((controlRatio * joystickRightBackgroundImageView.frame.size.width));
 697                         //NSLog(@"Percent (right) : %f\n", percent);
 698                         if(percent > 1.0)
 699                                 percent = 1.0;
 700                         controls_table[controlMode].Right.left_right(percent);
 701                 }
 702                 else
 703                 {
 704                         controls_table[controlMode].Right.left_right(0.0);
 705                 }
 706
 707                 if((point.y - rightCenter.y) > ((joystickRightBackgroundImageView.frame.size.height / 2) - (controlRatio * joystickRightBackgroundImageView.frame.size.height)))
 708                 {
 709                         float percent = ((point.y - rightCenter.y) - ((joystickRightBackgroundImageView.frame.size.height / 2) - (controlRatio * joystickRightBackgroundImageView.frame.size.height))) / ((controlRatio * joystickRightBackgroundImageView.frame.size.height));
 710                         //NSLog(@"Percent (down)  : %f\n", percent);
 711                         if(percent > 1.0)
 712                                 percent = 1.0;
 713                         controls_table[controlMode].Right.up_down(-percent);
 714                 }
 715                 else if((rightCenter.y - point.y) > ((joystickRightBackgroundImageView.frame.size.height / 2) - (controlRatio * joystickRightBackgroundImageView.frame.size.height)))
 716                 {
 717                         float percent = ((rightCenter.y - point.y) - ((joystickRightBackgroundImageView.frame.size.height / 2) - (controlRatio * joystickRightBackgroundImageView.frame.size.height))) / ((controlRatio * joystickRightBackgroundImageView.frame.size.height));
 718                         //NSLog(@"Percent (top)   : %f\n", percent);
 719                         if(percent > 1.0)
 720                                 percent = 1.0;
 721                         controls_table[controlMode].Right.up_down(percent);
 722                 }
 723                 else
 724                 {
 725                         controls_table[controlMode].Right.up_down(0.0);
 726                 }
 727
 728                 acceleroModeOk = controls_table[controlMode].Right.can_use_accelero;
 729         }
 730         else if(sender == joystickLeftButton)
 731         {
 732                 if((leftCenter.x - point.x) > ((joystickLeftBackgroundImageView.frame.size.width / 2) - (controlRatio * joystickLeftBackgroundImageView.frame.size.width)))
 733                 {
 734                         float percent = ((leftCenter.x - point.x) - ((joystickLeftBackgroundImageView.frame.size.width / 2) - (controlRatio * joystickLeftBackgroundImageView.frame.size.width))) / ((controlRatio * joystickLeftBackgroundImageView.frame.size.width));
 735                         if(percent > 1.0)
 736                                 percent = 1.0;
 737                         controls_table[controlMode].Left.left_right(-percent);
 738                 }
 739                 else if((point.x - leftCenter.x) > ((joystickLeftBackgroundImageView.frame.size.width / 2) - (controlRatio * joystickLeftBackgroundImageView.frame.size.width)))
 740                 {
 741                         float percent = ((point.x - leftCenter.x) - ((joystickLeftBackgroundImageView.frame.size.width / 2) - (controlRatio * joystickLeftBackgroundImageView.frame.size.width))) / ((controlRatio * joystickLeftBackgroundImageView.frame.size.width));
 742                         if(percent > 1.0)
 743                                 percent = 1.0;
 744                         controls_table[controlMode].Left.left_right(percent);
 745                 }
 746                 else
 747                 {
 748                         controls_table[controlMode].Left.left_right(0.0);
 749                 }
 750
 751                 if((point.y - leftCenter.y) > ((joystickLeftBackgroundImageView.frame.size.height / 2) - (controlRatio * joystickLeftBackgroundImageView.frame.size.height)))
 752                 {
 753                         float percent = ((point.y - leftCenter.y) - ((joystickLeftBackgroundImageView.frame.size.height / 2) - (controlRatio * joystickLeftBackgroundImageView.frame.size.height))) / ((controlRatio * joystickLeftBackgroundImageView.frame.size.height));
 754                         if(percent > 1.0)
 755                                 percent = 1.0;
 756                         controls_table[controlMode].Left.up_down(-percent);
 757                 }
 758                 else if((leftCenter.y - point.y) > ((joystickLeftBackgroundImageView.frame.size.height / 2) - (controlRatio * joystickLeftBackgroundImageView.frame.size.height)))
 759                 {
 760                         float percent = ((leftCenter.y - point.y) - ((joystickLeftBackgroundImageView.frame.size.height / 2) - (controlRatio * joystickLeftBackgroundImageView.frame.size.height))) / ((controlRatio * joystickLeftBackgroundImageView.frame.size.height));
 761                         if(percent > 1.0)
 762                                 percent = 1.0;
 763                         controls_table[controlMode].Left.up_down(percent);
 764                 }
 765                 else
 766                 {
 767                         controls_table[controlMode].Left.up_down(0.0);
 768                 }
 769
 770                 acceleroModeOk = controls_table[controlMode].Left.can_use_accelero;
 771         }
 772
 773         if(acceleroModeOk)
 774         {
 775                 if(!acceleroEnabled)
 776                 {
 777                         // Update joystick velocity
 778                         [self updateVelocity:point isRight:(sender == joystickRightButton)];
 779                 }
 780         }
 781         else
 782         {
 783                 // Update joystick velocity
 784                 [self updateVelocity:point isRight:(sender == joystickRightButton)];
 785         }
 786
 787 }
 788
 789 - (IBAction)buttonClick:(id)sender forEvent:(UIEvent *)event
 790 {
 791         static ARDRONE_VIDEO_CHANNEL channel = ARDRONE_VIDEO_CHANNEL_FIRST;
 792         if(sender == settingsButton)
 793                 settingsPressed = YES;
 794         else if(sender == backToMainMenuButton)
 795                 mainMenuPressed = YES;
 796         else if(sender == switchScreenButton)
 797         {
 798                 if(channel++ == ARDRONE_VIDEO_CHANNEL_LAST)
 799                         channel = ARDRONE_VIDEO_CHANNEL_FIRST;
 800
 801                 ARDRONE_TOOL_CONFIGURATION_ADDEVENT(video_channel, (int32_t*)&channel, NULL);
 802         }
 803         else if(sender == takeOffButton)
 804         {
 805                 switchTakeOff();
 806         }
 807         else if(sender == emergencyButton)
 808         {
 809                 emergency();
 810         }
 811 }
 812
 813 - (void)viewDidLoad
 814 {
 815         switchScreenButton.hidden = (config.enableSwitchScreen == NO);
 816         backToMainMenuButton.hidden = (config.enableBackToMainMenu == NO);
 817         batteryLevelLabel.hidden = (config.enableBatteryPercentage == NO);
 818
 819         rightCenter = CGPointMake(joystickRightThumbImageView.frame.origin.x + (joystickRightThumbImageView.frame.size.width / 2), joystickRightThumbImageView.frame.origin.y + (joystickRightThumbImageView.frame.size.height / 2));
 820         joystickRightInitialPosition = CGPointMake(rightCenter.x - (joystickRightBackgroundImageView.frame.size.width / 2), rightCenter.y - (joystickRightBackgroundImageView.frame.size.height / 2));
 821         leftCenter = CGPointMake(joystickLeftThumbImageView.frame.origin.x + (joystickLeftThumbImageView.frame.size.width / 2), joystickLeftThumbImageView.frame.origin.y + (joystickLeftThumbImageView.frame.size.height / 2));
 822         joystickLeftInitialPosition = CGPointMake(leftCenter.x - (joystickLeftBackgroundImageView.frame.size.width / 2), leftCenter.y - (joystickLeftBackgroundImageView.frame.size.height / 2));
 823
 824         joystickLeftCurrentPosition = joystickLeftInitialPosition;
 825         joystickRightCurrentPosition = joystickRightInitialPosition;
 826
 827         alpha = MIN(joystickRightBackgroundImageView.alpha, joystickRightThumbImageView.alpha);
 828         joystickRightBackgroundImageView.alpha = joystickRightThumbImageView.alpha = alpha;
 829         joystickLeftBackgroundImageView.alpha = joystickLeftThumbImageView.alpha = alpha;
 830
 831     // Get the URL to the sound file to play
 832         CFURLRef batt_url  = CFBundleCopyResourceURL (CFBundleGetMainBundle(),
 833                                                                                                    CFSTR ("battery"),
 834                                                                                                    CFSTR ("wav"),
 835                                                                                                   NULL);
 836     CFURLRef plop_url  = CFBundleCopyResourceURL (CFBundleGetMainBundle(),
 837                                                                                                    CFSTR ("plop"),
 838                                                                                                    CFSTR ("wav"),
 839                                                                                                    NULL);
 840
 841     // Create a system sound object representing the sound file
 842     AudioServicesCreateSystemSoundID (plop_url, &plop_id);
 843     AudioServicesCreateSystemSoundID (batt_url, &batt_id);
 844         CFRelease(plop_url);
 845         CFRelease(batt_url);
 846
 847         [self setBattery:-1];
 848 }
 849
 850 - (void) dealloc
 851 {
 852 #ifdef WRITE_DEBUG_ACCELERO
 853         fclose(mesures_file);
 854 #endif
 855         AudioServicesDisposeSystemSoundID (plop_id);
 856         AudioServicesDisposeSystemSoundID (batt_id);
 857         [super dealloc];
 858 }
 859
 860 @end