Code Clean and Speed up

enovations · Aug 21, 2014 · af71bf2 · af71bf2
1 parent c5e8bf0
commit af71bf2
Show file tree

Hide file tree

Showing 16 changed files with 594 additions and 643 deletions.
diff --git a/src/com/muhavision/Main.java b/src/com/muhavision/Main.java
diff --git a/src/com/muhavision/SplashScreen.java b/src/com/muhavision/SplashScreen.java
@@ -8,38 +8,45 @@
 import javax.swing.JFrame;
 import javax.swing.JLabel;
 
-public class SplashScreen extends JFrame{
+public class SplashScreen extends JFrame {
 
-    //Very nice loading screen
+	/**
+	 * 
+	 */
+	private static final long serialVersionUID = 1L;
+
+	public static void main(String[] args) {
+		new SplashScreen();
+	}
+
+	// Very nice loading screen
 	public SplashScreen() {
 
-        //Some graphic magic I don't want to know what it does.
+		// Some graphic magic I don't want to know what it does.
 		setUndecorated(true);
 		setSize(600, 200);
 		Dimension dim = Toolkit.getDefaultToolkit().getScreenSize();
-		setLocation(dim.width/2-getSize().width/2, 
-					dim.height/2-getSize().height/2);	
+		setLocation(dim.width / 2 - getSize().width / 2, dim.height / 2
+				- getSize().height / 2);
 		add(new JLabel(new ImageIcon("./res/logo.png")));
 		setVisible(true);
 		for (int i = 0; i < 5; i++) {
 			setLocation(
-					(dim.width/2-getSize().width/2)+((int)(Math.random()*1000)-500), 
-					(dim.height/2-getSize().height/2)+((int)(Math.random()*1000)-500));
+					(dim.width / 2 - getSize().width / 2)
+							+ ((int) (Math.random() * 1000) - 500),
+					(dim.height / 2 - getSize().height / 2)
+							+ ((int) (Math.random() * 1000) - 500));
 			try {
 				Thread.sleep(200);
 			} catch (InterruptedException e) {
 				e.printStackTrace();
 			}
 		}
-		setLocation(dim.width/2-getSize().width/2, 
-					dim.height/2-getSize().height/2);	
+		setLocation(dim.width / 2 - getSize().width / 2, dim.height / 2
+				- getSize().height / 2);
 		add(new JLabel(new ImageIcon("./res/logo.png")));
 		setVisible(false);
 	}
-
-	public static void main(String[] args) {
-		new SplashScreen();
-	}
-
+
 }
-//Done with graphics (for now).
+// Done with graphics (for now).
diff --git a/src/com/muhavision/control/DroneController.java b/src/com/muhavision/control/DroneController.java
@@ -14,53 +14,54 @@
 import com.muhavision.pid.PID;
 
 public class DroneController {
-	
+
 	PID roll = new PID(1, 1, 0, 10, PID.Direction.NORMAL);
-	
+
 	OpticalFlowCalculator calc = new OpticalFlowCalculator();
-	
+
 	ARDrone drone = null;
 	NavData data = null;
-	
+
 	public DroneController(final VisualRenderer visual) {
 		System.out.println("Drone controller loading...");
 		try {
-			
+
 			drone = new ARDrone();
 			drone.connect();
 
 			drone.addImageListener(new BufferedImageVideoListener() {
-				
+
 				@Override
 				public void imageReceived(BufferedImage image) {
 					QuadrantFlowSpeed speed = null;
 					EulerAngles angle = null;
-					
-					if(visual.global_main.flightMode.getMode()==FlightMode.eMode.MUHA_MODE)
+
+					if (visual.global_main.flightMode.getMode() == FlightMode.eMode.MUHA_MODE)
 						speed = calc.getFlowData(image);
-					else if(visual.global_main.flightMode.getMode()==FlightMode.eMode.TAG_MODE)
-						angle = MarkerControl.getControlDataAndPictureDataBasedOnNavData(data);
-
+					else if (visual.global_main.flightMode.getMode() == FlightMode.eMode.TAG_MODE)
+						angle = MarkerControl
+								.getControlDataAndPictureDataBasedOnNavData(data);
+
 					visual.reloadDatas(image, speed, data, angle);
 				}
 			});
-			
+
 			drone.addNavDataListener(new NavDataListener() {
 
 				@Override
 				public void navDataReceived(NavData fdata) {
 					data = fdata;
 				}
 			});
-			
+
 		} catch (UnknownHostException e) {
 			e.printStackTrace();
 		} catch (IOException e) {
 			e.printStackTrace();
 		}
 	}
-	
-	public ARDrone getDrone(){
+
+	public ARDrone getDrone() {
 		return drone;
 	}
 

diff --git a/src/com/muhavision/control/EulerAngles.java b/src/com/muhavision/control/EulerAngles.java
@@ -3,11 +3,11 @@
 public class EulerAngles {
 
 	public float roll, pitch, yaw;
-	
+
 	public int picX, picY;
-	
+
 	public int dist;
-	
+
 	public boolean hasAngles = false;
-	
+
 }
diff --git a/src/com/muhavision/control/ExpoController.java b/src/com/muhavision/control/ExpoController.java
@@ -5,10 +5,11 @@
  */
 public class ExpoController {
 
-    //If it crashes it's because of this + mami ne dotikaj se.
-    public static double getExpo(int power){
-        if (power<0) return-(0.6 * Math.exp(-0.035*(double)power) - 0.6);
-        return 0.6 * Math.exp(0.035*(double)power) - 0.6;
-    }
-
+	// If it crashes it's because of this + mami ne dotikaj se.
+	public static double getExpo(int power) {
+		if (power < 0)
+			return -(0.6 * Math.exp(-0.035 * power) - 0.6);
+		return 0.6 * Math.exp(0.035 * power) - 0.6;
+	}
+
 }
diff --git a/src/com/muhavision/control/FlightMode.java b/src/com/muhavision/control/FlightMode.java
@@ -5,42 +5,37 @@
  */
 public class FlightMode {
 
-    public enum eMode {
+	public enum eMode {
 
-        NORMAL_MODE(0),
-        MUHA_MODE(1),
-        TAG_MODE(2);
+		NORMAL_MODE(0), MUHA_MODE(1), TAG_MODE(2);
 
-        int mode = 0;
+		int mode = 0;
 
-        eMode(int mode){
-            this.mode = mode;
-        }
+		eMode(int mode) {
+			this.mode = mode;
+		}
 
-    }
-
-    public static String getFlightModeName(eMode mode){
-    	if(mode == eMode.NORMAL_MODE)
-    		return "NORMAL";
-    	if(mode == eMode.MUHA_MODE)
-    		return "MUHA";
-    	if(mode == eMode.TAG_MODE)
-    		return "TAG";
-    	return "UNKNOWN";
-    }
+	}
 
-    private eMode mode = eMode.NORMAL_MODE;
-
-    public eMode getMode(){
-        return mode;
-    }
-
-    public void setMode(eMode mode){
-        this.mode = mode;
-        mode.toString();
-    }
+	public static String getFlightModeName(eMode mode) {
+		if (mode == eMode.NORMAL_MODE)
+			return "NORMAL";
+		if (mode == eMode.MUHA_MODE)
+			return "MUHA";
+		if (mode == eMode.TAG_MODE)
+			return "TAG";
+		return "UNKNOWN";
+	}
 
+	private eMode mode = eMode.NORMAL_MODE;
 
+	public eMode getMode() {
+		return mode;
+	}
 
+	public void setMode(eMode mode) {
+		this.mode = mode;
+		mode.toString();
+	}
 
 }
diff --git a/src/com/muhavision/control/JoystickController.java b/src/com/muhavision/control/JoystickController.java
@@ -5,8 +5,8 @@
  */
 public class JoystickController {
 
-    public static void readUSB() {
-        
-    }
+	public static void readUSB() {
+
+	}
 
 }
diff --git a/src/com/muhavision/control/MarkerControl.java b/src/com/muhavision/control/MarkerControl.java
@@ -1,21 +1,21 @@
 package com.muhavision.control;
 
-import java.util.ArrayList;
 import java.util.List;
 
 import com.codeminders.ardrone.NavData;
 import com.codeminders.ardrone.Point;
 import com.codeminders.ardrone.VisionTag;
 
 public class MarkerControl {
-
-	public static EulerAngles getControlDataAndPictureDataBasedOnNavData(NavData nav){
-
-		if(nav.isVisionEnabled()){
-			List<VisionTag> tags = (ArrayList<VisionTag>) nav.getVisionTags();
-			if(!tags.isEmpty()){
-			VisionTag tag = tags.get(0);
-				if(tag!=null){
+
+	public static EulerAngles getControlDataAndPictureDataBasedOnNavData(
+			NavData nav) {
+
+		if (nav.isVisionEnabled()) {
+			List<VisionTag> tags = nav.getVisionTags();
+			if (!tags.isEmpty()) {
+				VisionTag tag = tags.get(0);
+				if (tag != null) {
 					EulerAngles angles = new EulerAngles();
 					Point point = tag.getPosition();
 					angles.picX = point.getX();
@@ -26,7 +26,7 @@ public static EulerAngles getControlDataAndPictureDataBasedOnNavData(NavData nav
 				}
 			}
 		}
-		
+
 		return new EulerAngles();
 	}