Desktop: Extract Clock and Handler implementations to new classes

DroidPlanner · Oct 13, 2014 · 24cd3bb · 24cd3bb
1 parent ce1b124
commit 24cd3bb
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Showing 5 changed files with 49 additions and 53 deletions.
diff --git a/Core/src/org/droidplanner/core/drone/variables/helpers/MagnetometerCalibration.java b/Core/src/org/droidplanner/core/drone/variables/helpers/MagnetometerCalibration.java
@@ -51,7 +51,7 @@ void fit(int[] magVector) {
 		}
 
 
-		if (!fitComplete && ellipsoidFit.getFitness() > 0.95 && points.size() > 100) {
+		if (!fitComplete && ellipsoidFit.getFitness() > 0.98 && points.size() > 100) {
 			fitComplete  = true;
 			if (listner!=null) {
 				listner.finished(ellipsoidFit);

diff --git a/Desktop/src/org/droidplanner/desktop/logic/Clock.java b/Desktop/src/org/droidplanner/desktop/logic/Clock.java
@@ -0,0 +1,8 @@
+package org.droidplanner.desktop.logic;
+
+public class Clock implements org.droidplanner.core.drone.DroneInterfaces.Clock {
+	@Override
+	public long elapsedRealtime() {
+		return System.currentTimeMillis();
+	}
+};
diff --git a/Desktop/src/org/droidplanner/desktop/logic/FakeFactory.java b/Desktop/src/org/droidplanner/desktop/logic/FakeFactory.java
@@ -1,15 +1,5 @@
 package org.droidplanner.desktop.logic;
 
-import java.util.HashMap;
-import java.util.Map;
-import java.util.Stack;
-import java.util.concurrent.Executors;
-import java.util.concurrent.ScheduledExecutorService;
-import java.util.concurrent.ScheduledFuture;
-import java.util.concurrent.TimeUnit;
-
-import org.droidplanner.core.drone.DroneInterfaces.Clock;
-import org.droidplanner.core.drone.DroneInterfaces.Handler;
 import org.droidplanner.core.drone.Preferences;
 import org.droidplanner.core.drone.profiles.VehicleProfile;
 import org.droidplanner.core.firmware.FirmwareType;
@@ -38,42 +28,4 @@ public Rates getRates() {
 		};
 	}
 
-	static Handler fakeHandler() {
-		return new Handler() {
-
-			private final ScheduledExecutorService scheduler = Executors.newSingleThreadScheduledExecutor();
-			private final Map<Runnable, ScheduledFuture<?>> futureThreads = new HashMap<Runnable, ScheduledFuture<?>>();
-
-			@Override
-			public void removeCallbacks(Runnable thread) {
-				if (futureThreads.containsKey(thread)) {
-					boolean mayInterruptIfRunning = false;
-					futureThreads.get(thread).cancel(mayInterruptIfRunning);
-					System.out.println("Canceled");
-				}
-			}
-
-			@Override
-			public void post(Runnable thread){
-				scheduler.execute(thread);
-			}
-
-			@Override
-			public void postDelayed(Runnable thread, long timeout) {
-				ScheduledFuture<?> future = scheduler.schedule(thread, timeout, TimeUnit.MILLISECONDS);
-				futureThreads.put(thread, future);
-				System.out.println("PostDelayed");
-			}
-		};
-	}
-
-	static Clock fakeClock() {
-		return new Clock() {
-			@Override
-			public long elapsedRealtime() {
-				return System.currentTimeMillis();
-			}
-		};
-	}
-
 }
diff --git a/Desktop/src/org/droidplanner/desktop/logic/Handler.java b/Desktop/src/org/droidplanner/desktop/logic/Handler.java
@@ -0,0 +1,36 @@
+package org.droidplanner.desktop.logic;
+
+import java.util.HashMap;
+import java.util.Map;
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.ScheduledFuture;
+import java.util.concurrent.TimeUnit;
+
+public class Handler implements
+		org.droidplanner.core.drone.DroneInterfaces.Handler {
+
+	private final ScheduledExecutorService scheduler = Executors
+			.newSingleThreadScheduledExecutor();
+	private final Map<Runnable, ScheduledFuture<?>> futureThreads = new HashMap<Runnable, ScheduledFuture<?>>();
+
+	@Override
+	public void removeCallbacks(Runnable thread) {
+		if (futureThreads.containsKey(thread)) {
+			boolean mayInterruptIfRunning = false;
+			futureThreads.get(thread).cancel(mayInterruptIfRunning);
+		}
+	}
+
+	@Override
+	public void post(Runnable thread) {
+		scheduler.execute(thread);
+	}
+
+	@Override
+	public void postDelayed(Runnable thread, long timeout) {
+		ScheduledFuture<?> future = scheduler.schedule(thread, timeout,
+				TimeUnit.MILLISECONDS);
+		futureThreads.put(thread, future);
+	}
+}
diff --git a/Desktop/src/org/droidplanner/desktop/logic/Logic.java b/Desktop/src/org/droidplanner/desktop/logic/Logic.java
@@ -5,7 +5,7 @@
 
 import org.droidplanner.core.MAVLink.MavLinkMsgHandler;
 import org.droidplanner.core.drone.DroneImpl;
-import org.droidplanner.core.drone.variables.helpers.MagnetometerCalibration;
+import org.droidplanner.core.drone.DroneInterfaces.Handler;
 import org.droidplanner.core.gcs.follow.Follow;
 import org.droidplanner.core.model.Drone;
 import org.droidplanner.desktop.communication.Connection;
@@ -22,10 +22,10 @@ public class Logic implements Runnable {
 
 
 	public Logic() {
-		drone = new DroneImpl(link, FakeFactory.fakeClock(), FakeFactory.fakeHandler(),
-				FakeFactory.fakePreferences());
+		Handler handler = new org.droidplanner.desktop.logic.Handler();
+		drone = new DroneImpl(link, new Clock(), handler,FakeFactory.fakePreferences());
 		mavlinkHandler = new MavLinkMsgHandler(drone);
-		follow = new Follow(drone, FakeFactory.fakeHandler(), new FakeLocation());
+		follow = new Follow(drone, handler, new FakeLocation());
 	}
 
 	@Override