FxController.java

package com.dronecontrol.intelcontrol.ui;

import com.google.common.collect.Sets;
import com.dronecontrol.droneapi.data.NavData;
import com.dronecontrol.droneapi.listeners.NavDataListener;
import com.dronecontrol.droneapi.listeners.VideoDataListener;
import com.dronecontrol.intelcontrol.helpers.RaceTimer;
import com.dronecontrol.intelcontrol.ui.data.UIAction;
import com.dronecontrol.intelcontrol.ui.listeners.UIActionListener;
import com.dronecontrol.perceptual.data.body.Hands;
import com.dronecontrol.perceptual.data.events.DetectionData;
import com.dronecontrol.perceptual.data.events.HandsDetectionData;
import com.dronecontrol.perceptual.helpers.CoordinateListener;
import com.dronecontrol.perceptual.listeners.DetectionListener;
import javafx.application.Platform;
import javafx.embed.swing.SwingFXUtils;
import javafx.event.ActionEvent;
import javafx.event.EventHandler;
import javafx.fxml.FXML;
import javafx.scene.control.Button;
import javafx.scene.control.CheckBox;
import javafx.scene.control.Label;
import javafx.scene.control.Slider;
import javafx.scene.image.ImageView;
import javafx.scene.image.WritableImage;
import javafx.scene.layout.GridPane;
import javafx.scene.layout.VBox;
import javafx.scene.paint.Paint;

import java.awt.image.BufferedImage;
import java.util.Set;

@SuppressWarnings({"UnusedParameters", "UnusedDeclaration"})
public class FxController implements VideoDataListener, NavDataListener,
        EventHandler<ActionEvent>, DetectionListener<Hands>, CoordinateListener {
    private final Set<UIActionListener> uiActionListeners;

    private boolean bothHandsVisible = false;

    @FXML
    private Button takeOffButton;

    @FXML
    private ImageView imageView;

    @FXML
    private VBox vbox;

    @FXML
    private GridPane imageContainer;

    @FXML
    private Label labelBattery;

    @FXML
    private Label labelTimer;

    @FXML
    private Slider slideRoll;

    @FXML
    private Slider slidePitch;

    @FXML
    private Slider slideYaw;

    private WritableImage image;

    private RaceTimer raceTimer;

    public FxController() {
        uiActionListeners = Sets.newHashSet();
    }

    public void init() {
    }

    public void addUIActionListener(UIActionListener uiActionlistener) {
        if (!uiActionListeners.contains(uiActionlistener)) {
            uiActionListeners.add(uiActionlistener);
        }
    }

    @SuppressWarnings("UnusedDeclaration")
    public void removeUIActionListener(UIActionListener uiActionlistener) {
        if (uiActionListeners.contains(uiActionlistener)) {
            uiActionListeners.remove(uiActionlistener);
        }
    }

    public void onApplicationClose() {
        emitUIAction(UIAction.CLOSE_APPLICATION);
    }

    @FXML
    protected void onButtonTakeOffAction(ActionEvent event) {
        emitUIAction(UIAction.TAKE_OFF);
    }

    @FXML
    public void onButtonLandAction(ActionEvent actionEvent) {
        emitUIAction(UIAction.LAND);
    }

    @FXML
    public void onButtonFlatTrimAction(ActionEvent actionEvent) {
        emitUIAction(UIAction.FLAT_TRIM);
    }

    @FXML
    public void onButtonEmergencyAction(ActionEvent actionEvent) {
        emitUIAction(UIAction.EMERGENCY);
    }

    @FXML
    public void onButtonSwitchCameraAction(ActionEvent actionEvent) {
        emitUIAction(UIAction.SWITCH_CAMERA);
    }

    @FXML
    public void onButtonLedAnimationAction(ActionEvent actionEvent) {
        emitUIAction(UIAction.PLAY_LED_ANIMATION);
    }

    @FXML
    public void onButtonFlightAnimationAction(ActionEvent actionEvent) {
        emitUIAction(UIAction.PLAY_FLIGHT_ANIMATION);
    }

    @FXML
    public void onCheckBoxExpertModeAction(ActionEvent actionEvent) {
        CheckBox checkBox = (CheckBox) actionEvent.getSource();

        emitUIAction(checkBox.isSelected() ? UIAction.ENABLE_EXPERT_MODE
                : UIAction.DISABLE_EXPERT_MODE);
    }

    public void emitUIAction(UIAction action) {
        for (UIActionListener listener : uiActionListeners) {
            listener.onAction(action);
        }
    }

    private void runOnFxThread(Runnable runnable) {
        Platform.runLater(runnable);
    }

    @Override
    public void onNavData(final NavData navData) {
        runOnFxThread(new Runnable() {
            @Override
            public void run() {
                setBatteryLabel(navData);
            }
        });
    }

    public void setBatteryLabel(NavData navData) {
        String batteryLevelText = "Battery: " + navData.getBatteryLevel() + "%";
        labelBattery.setText(batteryLevelText);

        if (navData.getState().isBatteryTooLow()) {
            labelBattery.setTextFill(Paint.valueOf("red"));
        } else {
            labelBattery.setTextFill(Paint.valueOf("white"));
        }
    }

    @Override
    public void onVideoData(final BufferedImage droneImage) {
        runOnFxThread(new Runnable() {
            @Override
            public void run() {
                imageView.setFitWidth(vbox.getWidth() - 40);
                imageView.setFitHeight(vbox.getHeight() - 220);

                image = SwingFXUtils.toFXImage(droneImage, image);
                if (imageView.getImage() != image) {
                    imageView.setImage(image);
                }
            }
        });
    }

    // Timer event
    @Override
    public void handle(ActionEvent actionEvent) {
        if (raceTimer != null) {
            long totalMillis = raceTimer.getElapsedTime();
            long seconds = totalMillis / 1000;
            long millis = totalMillis % 1000;

            labelTimer.setText(String.format("Time: %d,%03d", seconds, millis));
        }
    }

    public void setRaceTimer(RaceTimer raceTimer) {
        this.raceTimer = raceTimer;
    }

    public void setHandsDetected(HandsDetectionData data) {
        bothHandsVisible = data.getLeftHand().isActive() && data.getRightHand().isActive();
        takeOffButton.setDisable(!bothHandsVisible);

        String borderColor = bothHandsVisible ? "green" : "red";
        imageContainer.setStyle(String.format("-fx-border-color: %s;", borderColor));
    }

    @Override
    public void onCoordinate(final float roll, final float pitch, final float yaw, float heightDelta) {
        //Slider einstellen
        runOnFxThread(new Runnable() {
            @Override
            public void run() {
                slideRoll.setValue(roll);
                slidePitch.setValue(pitch);
                slideYaw.setValue(yaw);
            }
        });
    }

    @Override
    public void onDetection(DetectionData<Hands> data) {
        final HandsDetectionData handsDetectionData = (HandsDetectionData) data;
        runOnFxThread(new Runnable() {
            @Override
            public void run() {
                setHandsDetected(handsDetectionData);
            }
        });
    }
}