Merge pull request #332 from dronekit/release-1.4.4

Release 1.4.4

Author: m4gr3d

ClientLib/build.gradle

@@ -3,13 +3,12 @@ apply plugin: 'com.android.library'
 ext {
     VERSION_MAJOR = 2
     VERSION_MINOR = 6
-    VERSION_PATCH = 8
-    VERSION_BUILD = 0
+    VERSION_PATCH = 9
     VERSION_SUFFIX = "release"
 
     PUBLISH_ARTIFACT_ID = 'dronekit-android'
     PUBLISH_VERSION = generateVersionName("", VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH, VERSION_SUFFIX)
-    PUBLISH_VERSION_CODE = computeVersionCode(VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH, VERSION_BUILD)
+    PUBLISH_VERSION_CODE = computeVersionCode(VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH)
     PROJECT_DESCRIPTION = "Android DroneKit client library."
     PROJECT_LABELS = ['3DR', '3DR Services', 'DroneAPI', 'Android', 'DroneKit']
     PROJECT_LICENSES = ['Apache-2.0']
@@ -41,6 +40,10 @@ android {
         abortOnError false
     }
 
+    testOptions {
+        unitTests.returnDefaultValues = true
+    }
+
     android.libraryVariants.all { variant ->
         variant.outputs.each { output ->
             def file = output.outputFile

ClientLib/src/main/java/com/o3dr/android/client/apis/ControlApi.java

@@ -1,27 +1,25 @@
 package com.o3dr.android.client.apis;
 
 import android.os.Bundle;
-import android.support.annotation.IntDef;
 
 import com.o3dr.android.client.Drone;
 import com.o3dr.services.android.lib.coordinate.LatLong;
 import com.o3dr.services.android.lib.drone.attribute.AttributeType;
 import com.o3dr.services.android.lib.drone.attribute.error.CommandExecutionError;
-import com.o3dr.services.android.lib.drone.property.Attitude;
 import com.o3dr.services.android.lib.drone.property.Gps;
 import com.o3dr.services.android.lib.model.AbstractCommandListener;
 import com.o3dr.services.android.lib.model.action.Action;
 
-import java.lang.annotation.Retention;
-import java.lang.annotation.RetentionPolicy;
 import java.util.concurrent.ConcurrentHashMap;
 
 import static com.o3dr.services.android.lib.drone.action.ControlActions.ACTION_DO_GUIDED_TAKEOFF;
+import static com.o3dr.services.android.lib.drone.action.ControlActions.ACTION_ENABLE_MANUAL_CONTROL;
 import static com.o3dr.services.android.lib.drone.action.ControlActions.ACTION_SEND_GUIDED_POINT;
 import static com.o3dr.services.android.lib.drone.action.ControlActions.ACTION_SET_CONDITION_YAW;
 import static com.o3dr.services.android.lib.drone.action.ControlActions.ACTION_SET_GUIDED_ALTITUDE;
 import static com.o3dr.services.android.lib.drone.action.ControlActions.ACTION_SET_VELOCITY;
 import static com.o3dr.services.android.lib.drone.action.ControlActions.EXTRA_ALTITUDE;
+import static com.o3dr.services.android.lib.drone.action.ControlActions.EXTRA_DO_ENABLE;
 import static com.o3dr.services.android.lib.drone.action.ControlActions.EXTRA_FORCE_GUIDED_POINT;
 import static com.o3dr.services.android.lib.drone.action.ControlActions.EXTRA_GUIDED_POINT;
 import static com.o3dr.services.android.lib.drone.action.ControlActions.EXTRA_VELOCITY_X;
@@ -33,20 +31,13 @@
 
 /**
  * Provides access to the vehicle control functionality.
- *
+ * <p/>
  * Use of this api might required the vehicle to be in a specific flight mode (i.e: GUIDED)
- *
+ * <p/>
  * Created by Fredia Huya-Kouadio on 9/7/15.
  */
 public class ControlApi extends Api {
 
-    public static final int EARTH_NED_COORDINATE_FRAME = 0;
-    public static final int VEHICLE_COORDINATE_FRAME = 1;
-
-    @IntDef({EARTH_NED_COORDINATE_FRAME, VEHICLE_COORDINATE_FRAME})
-    @Retention(RetentionPolicy.SOURCE)
-    public @interface CoordinateFrame{}
-
     private static final ConcurrentHashMap<Drone, ControlApi> apiCache = new ConcurrentHashMap<>();
     private static final Builder<ControlApi> apiBuilder = new Builder<ControlApi>() {
         @Override
@@ -57,16 +48,17 @@ public ControlApi build(Drone drone) {
 
     /**
      * Retrieves a control api instance.
+     *
      * @param drone
      * @return
      */
-    public static ControlApi getApi(final Drone drone){
+    public static ControlApi getApi(final Drone drone) {
         return getApi(drone, apiCache, apiBuilder);
     }
 
     private final Drone drone;
 
-    private ControlApi(Drone drone){
+    private ControlApi(Drone drone) {
         this.drone = drone;
     }
 
@@ -123,13 +115,14 @@ public void climbTo(double altitude) {
 
     /**
      * Instructs the vehicle to turn to the specified target angle
+     *
      * @param targetAngle Target angle in degrees [0-360], with 0 == north.
-     * @param turnRate Turning rate normalized to the range [-1.0f, 1.0f]. Positive values for clockwise turns, and negative values for counter-clockwise turns.
-     * @param isRelative True is the target angle is relative to the current vehicle attitude, false otherwise if it's absolute.
-     * @param listener Register a callback to receive update of the command execution state.
+     * @param turnRate    Turning rate normalized to the range [-1.0f, 1.0f]. Positive values for clockwise turns, and negative values for counter-clockwise turns.
+     * @param isRelative  True is the target angle is relative to the current vehicle attitude, false otherwise if it's absolute.
+     * @param listener    Register a callback to receive update of the command execution state.
      */
-    public void turnTo(float targetAngle, float turnRate, boolean isRelative, AbstractCommandListener listener){
-        if(!isWithinBounds(targetAngle, 0, 360) || !isWithinBounds(turnRate, -1.0f, 1.0f)){
+    public void turnTo(float targetAngle, float turnRate, boolean isRelative, AbstractCommandListener listener) {
+        if (!isWithinBounds(targetAngle, 0, 360) || !isWithinBounds(turnRate, -1.0f, 1.0f)) {
             postErrorEvent(CommandExecutionError.COMMAND_FAILED, listener);
             return;
         }
@@ -141,7 +134,21 @@ public void turnTo(float targetAngle, float turnRate, boolean isRelative, Abstra
         drone.performAsyncActionOnDroneThread(new Action(ACTION_SET_CONDITION_YAW, params), listener);
     }
 
-    private void moveAtVelocity(float vx, float vy, float vz, AbstractCommandListener listener){
+    /**
+     * Move the vehicle along the specified normalized velocity vector.
+     *
+     * @param vx       x velocity normalized to the range [-1.0f, 1.0f]. Generally correspond to the pitch of the vehicle.
+     * @param vy       y velocity normalized to the range [-1.0f, 1.0f]. Generally correspond to the roll of the vehicle.
+     * @param vz       z velocity normalized to the range [-1.0f, 1.0f]. Generally correspond to the thrust of the vehicle.
+     * @param listener Register a callback to receive update of the command execution state.
+     * @since 2.6.9
+     */
+    public void manualControl(float vx, float vy, float vz, AbstractCommandListener listener) {
+        if (!isWithinBounds(vx, -1f, 1f) || !isWithinBounds(vy, -1f, 1f) || !isWithinBounds(vz, -1f, 1f)) {
+            postErrorEvent(CommandExecutionError.COMMAND_FAILED, listener);
+            return;
+        }
+
         Bundle params = new Bundle();
         params.putFloat(EXTRA_VELOCITY_X, vx);
         params.putFloat(EXTRA_VELOCITY_Y, vy);
@@ -150,41 +157,63 @@ private void moveAtVelocity(float vx, float vy, float vz, AbstractCommandListene
     }
 
     /**
-     * Move the vehicle along the specified velocity vector.
-     *
-     * @param referenceFrame Reference frame to use. Can be one of
-     *                       {@link #EARTH_NED_COORDINATE_FRAME},
-     *                       {@link #VEHICLE_COORDINATE_FRAME}
+     * [Dis|En]able manual control on the vehicle.
+     * The result of the action will be conveyed through the passed listener.
      *
-     * @param vx             x velocity normalized to the range [-1.0f, 1.0f].
-     * @param vy             y velocity normalized to the range [-1.0f, 1.0f].
-     * @param vz             z velocity normalized to the range [-1.0f, 1.0f].
-     * @param listener       Register a callback to receive update of the command execution state.
+     * @param enable   True to enable manual control, false to disable.
+     * @param listener Register a callback to receive the result of the operation.
+     * @since 2.6.9
      */
-    public void moveAtVelocity(@CoordinateFrame int referenceFrame, float vx, float vy, float vz, AbstractCommandListener listener){
-        if(!isWithinBounds(vx, -1f, 1f) || !isWithinBounds(vy, -1f, 1f) || !isWithinBounds(vz, -1f, 1f)){
-            postErrorEvent(CommandExecutionError.COMMAND_FAILED, listener);
-            return;
-        }
-
-        float projectedX = vx;
-        float projectedY = vy;
-
-        if(referenceFrame == VEHICLE_COORDINATE_FRAME) {
-            Attitude attitude = drone.getAttribute(AttributeType.ATTITUDE);
-            double attitudeInRad = Math.toRadians(attitude.getYaw());
+    public void enableManualControl(final boolean enable, final ManualControlStateListener listener) {
+        AbstractCommandListener listenerWrapper = listener == null ? null
+                : new AbstractCommandListener() {
+            @Override
+            public void onSuccess() {
+                if (enable) {
+                    listener.onManualControlEnabled();
+                } else {
+                    listener.onManualControlDisabled();
+                }
+            }
 
-            final double cosAttitude = Math.cos(attitudeInRad);
-            final double sinAttitude = Math.sin(attitudeInRad);
+            @Override
+            public void onError(int executionError) {
+                if (enable) {
+                    listener.onManualControlDisabled();
+                }
+            }
 
-            projectedX = (float) (vx * cosAttitude) - (float) (vy * sinAttitude);
-            projectedY = (float) (vx * sinAttitude) + (float) (vy * cosAttitude);
-        }
+            @Override
+            public void onTimeout() {
+                if (enable) {
+                    listener.onManualControlDisabled();
+                }
+            }
+        };
 
-        moveAtVelocity(projectedX, projectedY, vz, listener);
+        Bundle params = new Bundle();
+        params.putBoolean(EXTRA_DO_ENABLE, enable);
+        drone.performAsyncActionOnDroneThread(new Action(ACTION_ENABLE_MANUAL_CONTROL, params), listenerWrapper);
     }
 
-    private static boolean isWithinBounds(float value, float lowerBound, float upperBound){
+    private static boolean isWithinBounds(float value, float lowerBound, float upperBound) {
         return value <= upperBound && value >= lowerBound;
     }
+
+    /**
+     * Used to monitor the state of manual control for the vehicle.
+     *
+     * @since 2.6.9
+     */
+    public interface ManualControlStateListener {
+        /**
+         * Manual control is enabled on the vehicle.
+         */
+        void onManualControlEnabled();
+
+        /**
+         * Manual control is disabled on the vehicle.
+         */
+        void onManualControlDisabled();
+    }
 }

ClientLib/src/main/java/com/o3dr/android/client/utils/geotag/GeoTagAsyncTask.java

@@ -1,10 +1,7 @@
 package com.o3dr.android.client.utils.geotag;
 
-import android.content.Context;
 import android.media.ExifInterface;
 import android.os.AsyncTask;
-import android.os.Build;
-import android.os.Environment;
 
 import com.MAVLink.ardupilotmega.msg_camera_feedback;
 import com.o3dr.android.client.utils.data.tlog.TLogParser;
@@ -15,8 +12,10 @@
 import java.io.IOException;
 import java.io.InputStream;
 import java.io.OutputStream;
+import java.text.SimpleDateFormat;
 import java.util.ArrayList;
 import java.util.Collection;
+import java.util.Date;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
@@ -25,8 +24,9 @@
  * GeoTagAsyncTask images based on camera mavlink messages.
  */
 public abstract class GeoTagAsyncTask extends AsyncTask<Void, Integer, GeoTagAsyncTask.ResultObject> {
-    private static final String STORE_PHOTO_DIR_NAME = "GeoTag";
-    private final Context context;
+    private static final String STORE_PHOTO_PREFIX = "GeoTag";
+    private static final SimpleDateFormat formatter = new SimpleDateFormat("MM-dd-yy-HH");
+    private final File rootDir;
     private final List<TLogParser.Event> events;
     private final ArrayList<File> photos;
 
@@ -35,12 +35,12 @@ public abstract class GeoTagAsyncTask extends AsyncTask<Void, Integer, GeoTagAsy
      *
      * Warning: this copies data to external storage
      *
-     * @param context  {@link Context}
+     * @param rootDir  {@link File}
      * @param events   {@link List<com.o3dr.android.client.utils.data.tlog.TLogParser.Event>} list of events to geotag photos.
      * @param photos   {@link List<File>} list of files of photos to geotag.
      */
-    public GeoTagAsyncTask(Context context, List<TLogParser.Event> events, ArrayList<File> photos) {
-        this.context = context;
+    public GeoTagAsyncTask(File rootDir, List<TLogParser.Event> events, ArrayList<File> photos) {
+        this.rootDir = rootDir;
         this.events = events;
         this.photos = photos;
     }
@@ -50,8 +50,6 @@ protected ResultObject doInBackground(Void... params) {
         ResultObject resultObject = new ResultObject();
 
         try {
-            File saveDir = new File(getSaveRootDir(context), STORE_PHOTO_DIR_NAME);
-
             HashMap<File, File> geoTaggedFiles = new HashMap<>();
             HashMap<File, Exception> failedFiles = new HashMap<>();
             resultObject.setResult(geoTaggedFiles, failedFiles);
@@ -60,7 +58,13 @@ protected ResultObject doInBackground(Void... params) {
                 return resultObject;
             }
 
-            if (!saveDir.exists() && !saveDir.mkdir()) {
+            File saveDir = findNextDirName(rootDir);
+
+            if (isCancelled()) {
+                return resultObject;
+            }
+
+            if (!saveDir.mkdirs()) {
                 resultObject.setException(new IllegalStateException("Failed to create directory for images"));
                 return resultObject;
             }
@@ -184,22 +188,6 @@ public void setException(Exception exception) {
         }
     }
 
-    private static File getSaveRootDir(Context context) {
-        File saveDir = context.getExternalFilesDir(null);
-
-        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.LOLLIPOP) {
-            File dirs[] = context.getExternalFilesDirs(null);
-            for (File dir : dirs) {
-                // dir can be null if the device contains an external SD card slot but no SD card is present.
-                if (dir != null && Environment.isExternalStorageRemovable(dir)) {
-                    saveDir = dir;
-                    break;
-                }
-            }
-        }
-        return saveDir;
-    }
-
     private static boolean hasEnoughMemory(File file, Collection<File> photos) {
         long freeBytes = file.getUsableSpace();
         long bytesNeeded = 0;
@@ -260,4 +248,17 @@ private static String convertLatLngToDMS(double coord) {
     protected interface GeoTagAlgorithm {
         HashMap<TLogParser.Event, File> match(List<TLogParser.Event> events, ArrayList<File> photos);
     }
+
+    private static File findNextDirName(File rootDir) {
+        Date date = new Date();
+        File file;
+        int i = 0;
+        do {
+            String dirName = STORE_PHOTO_PREFIX + "_" + formatter.format(date) + "_" + i;
+            file = new File(rootDir, dirName);
+            i++;
+        } while (file.exists());
+
+        return file;
+    }
 }

ClientLib/src/main/java/com/o3dr/services/android/lib/drone/action/ControlActions.java

@@ -40,6 +40,10 @@ public class ControlActions {
      */
     public static final String EXTRA_VELOCITY_Z = "extra_velocity_z";
 
+    public static final String ACTION_ENABLE_MANUAL_CONTROL = PACKAGE_NAME + ".ENABLE_MANUAL_CONTROL";
+
+    public static final String EXTRA_DO_ENABLE = "extra_do_enable";
+
     //Private to prevent instantiation
     private ControlActions(){}