Merge pull request #286 from dronekit/release-1.4.2

Release 1.4.2

Author: m4gr3d

ClientLib/build.gradle

@@ -3,7 +3,7 @@ apply plugin: 'com.android.library'
 ext {
     VERSION_MAJOR = 2
     VERSION_MINOR = 6
-    VERSION_PATCH = 3
+    VERSION_PATCH = 6
     VERSION_BUILD = 0
 
     PUBLISH_ARTIFACT_ID = 'dronekit-android'

ClientLib/src/main/java/com/o3dr/android/client/Drone.java

@@ -40,6 +40,7 @@
 import com.o3dr.services.android.lib.drone.property.VehicleMode;
 import com.o3dr.services.android.lib.gcs.follow.FollowState;
 import com.o3dr.services.android.lib.gcs.follow.FollowType;
+import com.o3dr.services.android.lib.gcs.returnToMe.ReturnToMeState;
 import com.o3dr.services.android.lib.mavlink.MavlinkMessageWrapper;
 import com.o3dr.services.android.lib.model.AbstractCommandListener;
 import com.o3dr.services.android.lib.model.IDroneApi;
@@ -359,6 +360,9 @@ private <T extends Parcelable> T getAttributeDefaultValue(String attributeType)
             case AttributeType.MAGNETOMETER_CALIBRATION_STATUS:
                 return (T) new MagnetometerCalibrationStatus();
 
+            case AttributeType.RETURN_TO_ME_STATE:
+                return (T) new ReturnToMeState();
+
             case AttributeType.CAMERA:
             case SoloAttributes.SOLO_STATE:
             case SoloAttributes.SOLO_GOPRO_STATE:

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

@@ -5,9 +5,7 @@
 import com.o3dr.android.client.Drone;
 import com.o3dr.services.android.lib.coordinate.LatLong;
 import com.o3dr.services.android.lib.coordinate.LatLongAlt;
-import com.o3dr.services.android.lib.drone.attribute.AttributeType;
 import com.o3dr.services.android.lib.drone.connection.ConnectionParameter;
-import com.o3dr.services.android.lib.drone.property.Gps;
 import com.o3dr.services.android.lib.drone.property.Parameters;
 import com.o3dr.services.android.lib.drone.property.VehicleMode;
 import com.o3dr.services.android.lib.model.AbstractCommandListener;
@@ -22,10 +20,12 @@
 import static com.o3dr.services.android.lib.drone.action.ParameterActions.ACTION_WRITE_PARAMETERS;
 import static com.o3dr.services.android.lib.drone.action.ParameterActions.EXTRA_PARAMETERS;
 import static com.o3dr.services.android.lib.drone.action.StateActions.ACTION_ARM;
+import static com.o3dr.services.android.lib.drone.action.StateActions.ACTION_ENABLE_RETURN_TO_ME;
 import static com.o3dr.services.android.lib.drone.action.StateActions.ACTION_SET_VEHICLE_HOME;
 import static com.o3dr.services.android.lib.drone.action.StateActions.ACTION_SET_VEHICLE_MODE;
 import static com.o3dr.services.android.lib.drone.action.StateActions.EXTRA_ARM;
 import static com.o3dr.services.android.lib.drone.action.StateActions.EXTRA_EMERGENCY_DISARM;
+import static com.o3dr.services.android.lib.drone.action.StateActions.EXTRA_IS_RETURN_TO_ME_ENABLED;
 import static com.o3dr.services.android.lib.drone.action.StateActions.EXTRA_VEHICLE_HOME_LOCATION;
 import static com.o3dr.services.android.lib.drone.action.StateActions.EXTRA_VEHICLE_MODE;
 
@@ -158,54 +158,49 @@ public void writeParameters(Parameters parameters) {
      */
 
     /**
+     * @param altitude altitude in meters
      * @deprecated Use {@link ControlApi#takeoff(double, AbstractCommandListener)} instead.
      * Perform a guided take off.
-     *
-     * @param altitude altitude in meters
      */
     public void takeoff(double altitude) {
         controlApi.takeoff(altitude, null);
     }
 
     /**
-     * @deprecated Use {@link ControlApi#takeoff(double, AbstractCommandListener)} instead.
-     * Perform a guided take off.
-     *
      * @param altitude altitude in meters
      * @param listener Register a callback to receive update of the command execution state.
+     * @deprecated Use {@link ControlApi#takeoff(double, AbstractCommandListener)} instead.
+     * Perform a guided take off.
      */
     public void takeoff(double altitude, AbstractCommandListener listener) {
         controlApi.takeoff(altitude, listener);
     }
 
     /**
-     * @deprecated Use {@link ControlApi#goTo(LatLong, boolean, AbstractCommandListener)} instead.
-     * Send a guided point to the connected drone.
-     *
      * @param point guided point location
      * @param force true to enable guided mode is required.
+     * @deprecated Use {@link ControlApi#goTo(LatLong, boolean, AbstractCommandListener)} instead.
+     * Send a guided point to the connected drone.
      */
     public void sendGuidedPoint(LatLong point, boolean force) {
         controlApi.goTo(point, force, null);
     }
 
     /**
-     * @deprecated Use {@link ControlApi#goTo(LatLong, boolean, AbstractCommandListener)} instead.
-     * Send a guided point to the connected drone.
-     *
      * @param point    guided point location
      * @param force    true to enable guided mode is required.
      * @param listener Register a callback to receive update of the command execution state.
+     * @deprecated Use {@link ControlApi#goTo(LatLong, boolean, AbstractCommandListener)} instead.
+     * Send a guided point to the connected drone.
      */
     public void sendGuidedPoint(LatLong point, boolean force, AbstractCommandListener listener) {
         controlApi.goTo(point, force, listener);
     }
 
     /**
+     * @param altitude altitude in meters
      * @deprecated Use {@link ControlApi#climbTo(double)} instead.
      * Set the altitude for the guided point.
-     *
-     * @param altitude altitude in meters
      */
     public void setGuidedAltitude(double altitude) {
         controlApi.climbTo(altitude);
@@ -220,23 +215,34 @@ public void pauseAtCurrentLocation() {
     }
 
     /**
+     * @param listener Register a callback to receive update of the command execution state.
      * @deprecated Use {@link ControlApi#pauseAtCurrentLocation(AbstractCommandListener)} instead.
      * Pause the vehicle at its current location.
-     *
-     * @param listener Register a callback to receive update of the command execution state.
      */
     public void pauseAtCurrentLocation(final AbstractCommandListener listener) {
         controlApi.pauseAtCurrentLocation(listener);
     }
 
     /**
      * Changes the vehicle home location.
+     *
      * @param homeLocation New home coordinate
-     * @param listener Register a callback to receive update of the command execution state.
+     * @param listener     Register a callback to receive update of the command execution state.
      */
-    public void setVehicleHome(final LatLongAlt homeLocation, final AbstractCommandListener listener){
+    public void setVehicleHome(final LatLongAlt homeLocation, final AbstractCommandListener listener) {
         Bundle params = new Bundle();
         params.putParcelable(EXTRA_VEHICLE_HOME_LOCATION, homeLocation);
         drone.performAsyncActionOnDroneThread(new Action(ACTION_SET_VEHICLE_HOME, params), listener);
     }
+
+    /**
+     * Enables 'return to me'
+     * @param isEnabled
+     * @param listener
+     */
+    public void enableReturnToMe(boolean isEnabled, final AbstractCommandListener listener){
+        Bundle params = new Bundle();
+        params.putBoolean(EXTRA_IS_RETURN_TO_ME_ENABLED, isEnabled);
+        drone.performAsyncActionOnDroneThread(new Action(ACTION_ENABLE_RETURN_TO_ME, params), listener);
+    }
 }

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

@@ -17,6 +17,9 @@ public class StateActions {
     public static final String ACTION_SET_VEHICLE_HOME = Utils.PACKAGE_NAME + ".action.SET_VEHICLE_HOME";
     public static final String EXTRA_VEHICLE_HOME_LOCATION = "extra_vehicle_home_location";
 
+    public static final String ACTION_ENABLE_RETURN_TO_ME = Utils.PACKAGE_NAME + ".action.ENABLE_RETURN_TO_ME";
+    public static final String EXTRA_IS_RETURN_TO_ME_ENABLED = "extra_is_return_to_me_enabled";
+
     //Private to prevent instantiation
     private StateActions(){}
 }

ClientLib/src/main/java/com/o3dr/services/android/lib/drone/attribute/AttributeEvent.java

@@ -207,4 +207,10 @@ private AttributeEvent() {
      */
     public static final String GIMBAL_ORIENTATION_UPDATED = PACKAGE_NAME + ".GIMBAL_ORIENTATION_UPDATED";
 
+    /**
+     * Signals an update to the return to me state.
+     * Retrieves the current state via {@link AttributeEventExtra#EXTRA_RETURN_TO_ME_STATE}
+     */
+    public static final String RETURN_TO_ME_STATE_UPDATE = PACKAGE_NAME + ".RETURN_TO_ME_STATE_UPDATE";
+
 }

ClientLib/src/main/java/com/o3dr/services/android/lib/drone/attribute/AttributeEventExtra.java

@@ -110,4 +110,10 @@ private AttributeEventExtra() {
      */
     public static final String EXTRA_GIMBAL_ORIENTATION_YAW = PACKAGE_NAME + ".EXTRA_GIMBAL_ORIENTATION_YAW";
 
+    /**
+     * Used to retrieve the return to me state.
+     * @see {@link AttributeEvent#RETURN_TO_ME_STATE_UPDATE}
+     */
+    public static final String EXTRA_RETURN_TO_ME_STATE = PACKAGE_NAME + ".EXTRA_RETURN_TO_ME_STATE";
+
 }

ClientLib/src/main/java/com/o3dr/services/android/lib/drone/attribute/AttributeType.java

@@ -101,4 +101,10 @@ private AttributeType(){}
      */
     public static final String MAGNETOMETER_CALIBRATION_STATUS = PACKAGE_NAME + ".MAGNETOMETER_CALIBRATION_STATUS";
 
+    /**
+     * Used to retrieve the 'return to me' state.
+     * @see {@link com.o3dr.services.android.lib.gcs.returnToMe.ReturnToMeState}
+     */
+    public static final String RETURN_TO_ME_STATE = PACKAGE_NAME + ".RETURN_TO_ME_STATE";
+
 }

ClientLib/src/main/java/com/o3dr/services/android/lib/drone/property/State.java

@@ -3,12 +3,18 @@
 import android.os.Parcel;
 import android.os.Parcelable;
 import android.text.TextUtils;
+import android.util.Log;
+
+import org.json.JSONException;
+import org.json.JSONObject;
 
 /**
  * Created by fhuya on 10/28/14.
  */
 public class State implements DroneAttribute {
 
+    private static final String TAG = State.class.getSimpleName();
+
     public static final int INVALID_MAVLINK_VERSION = -1;
 
     private boolean isConnected;
@@ -25,15 +31,18 @@ public class State implements DroneAttribute {
 
     private Vibration vehicleVibration = new Vibration();
 
-    private String vehicleUid;
+    private final JSONObject vehicleUid;
 
     public State() {
+        this.vehicleUid = new JSONObject();
     }
 
     public State(boolean isConnected, VehicleMode mode, boolean armed, boolean flying,
                  String autopilotErrorId, int mavlinkVersion, String calibrationStatus,
                  long flightStartTime, EkfStatus ekfStatus, boolean isTelemetryLive,
                  Vibration vibration) {
+        this.vehicleUid  = new JSONObject();
+
         this.isConnected = isConnected;
         this.armed = armed;
         this.isFlying = flying;
@@ -146,12 +155,16 @@ public Vibration getVehicleVibration() {
         return vehicleVibration;
     }
 
-    public String getVehicleUid() {
+    public JSONObject getVehicleUid() {
         return vehicleUid;
     }
 
-    public void setVehicleUid(String vehicleUid) {
-        this.vehicleUid = vehicleUid;
+    public void addToVehicleUid(String uidLabel, String uid) {
+        try {
+            this.vehicleUid.put(uidLabel, uid);
+        } catch (JSONException e) {
+            Log.e(TAG, e.getMessage(), e);
+        }
     }
 
     @Override
@@ -172,7 +185,7 @@ public void writeToParcel(Parcel dest, int flags) {
         dest.writeParcelable(this.ekfStatus, 0);
         dest.writeByte(isTelemetryLive ? (byte) 1 : (byte) 0);
         dest.writeParcelable(this.vehicleVibration, 0);
-        dest.writeString(this.vehicleUid);
+        dest.writeString(this.vehicleUid.toString());
     }
 
     private State(Parcel in) {
@@ -187,7 +200,15 @@ private State(Parcel in) {
         this.ekfStatus = in.readParcelable(EkfStatus.class.getClassLoader());
         this.isTelemetryLive = in.readByte() != 0;
         this.vehicleVibration = in.readParcelable(Vibration.class.getClassLoader());
-        this.vehicleUid = in.readString();
+
+        JSONObject temp;
+        try {
+            temp = new JSONObject(in.readString());
+        } catch (JSONException e) {
+            temp = new JSONObject();
+        }
+
+        this.vehicleUid = temp;
     }
 
     public static final Creator<State> CREATOR = new Creator<State>() {

ClientLib/src/main/java/com/o3dr/services/android/lib/gcs/returnToMe/ReturnToMeState.aidl

@@ -0,0 +1,3 @@
+package com.o3dr.services.android.lib.gcs.returnToMe;
+
+parcelable ReturnToMeState;

ClientLib/src/main/java/com/o3dr/services/android/lib/gcs/returnToMe/ReturnToMeState.java

@@ -0,0 +1,96 @@
+package com.o3dr.services.android.lib.gcs.returnToMe;
+
+import android.os.Parcel;
+import android.support.annotation.IntDef;
+
+import com.o3dr.services.android.lib.coordinate.LatLongAlt;
+import com.o3dr.services.android.lib.drone.property.DroneAttribute;
+
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+
+/**
+ * Created by Fredia Huya-Kouadio on 9/22/15.
+ */
+public class ReturnToMeState implements DroneAttribute {
+
+    @IntDef({STATE_IDLE, STATE_USER_LOCATION_UNAVAILABLE, STATE_USER_LOCATION_INACCURATE,
+            STATE_WAITING_FOR_VEHICLE_GPS, STATE_UPDATING_HOME, STATE_ERROR_UPDATING_HOME})
+    @Retention(RetentionPolicy.SOURCE)
+    public @interface ReturnToMeStates{}
+
+    public static final int STATE_IDLE = 0;
+    public static final int STATE_USER_LOCATION_UNAVAILABLE = 1;
+    public static final int STATE_USER_LOCATION_INACCURATE = 2;
+    public static final int STATE_WAITING_FOR_VEHICLE_GPS = 3;
+    public static final int STATE_UPDATING_HOME = 4;
+    public static final int STATE_ERROR_UPDATING_HOME = 5;
+
+    private LatLongAlt originalHomeLocation;
+    private LatLongAlt currentHomeLocation;
+
+    @ReturnToMeStates
+    private int state = STATE_IDLE;
+
+    public ReturnToMeState(){}
+
+    public ReturnToMeState(@ReturnToMeStates int state){
+        this.state = state;
+    }
+
+    @ReturnToMeStates
+    public int getState() {
+        return state;
+    }
+
+    public void setState(@ReturnToMeStates int state) {
+        this.state = state;
+    }
+
+    public LatLongAlt getCurrentHomeLocation() {
+        return currentHomeLocation;
+    }
+
+    public void setCurrentHomeLocation(LatLongAlt currentHomeLocation) {
+        this.currentHomeLocation = currentHomeLocation;
+    }
+
+    public LatLongAlt getOriginalHomeLocation() {
+        return originalHomeLocation;
+    }
+
+    public void setOriginalHomeLocation(LatLongAlt originalHomeLocation) {
+        this.originalHomeLocation = originalHomeLocation;
+    }
+
+    @Override
+    public int describeContents() {
+        return 0;
+    }
+
+    @Override
+    public void writeToParcel(Parcel dest, int flags) {
+        dest.writeInt(this.state);
+
+        dest.writeParcelable(this.originalHomeLocation, 0);
+        dest.writeParcelable(this.currentHomeLocation, 0);
+    }
+
+    protected ReturnToMeState(Parcel in) {
+        @ReturnToMeStates final int temp = in.readInt();
+        this.state = temp;
+
+        this.originalHomeLocation = in.readParcelable(LatLongAlt.class.getClassLoader());
+        this.currentHomeLocation = in.readParcelable(LatLongAlt.class.getClassLoader());
+    }
+
+    public static final Creator<ReturnToMeState> CREATOR = new Creator<ReturnToMeState>() {
+        public ReturnToMeState createFromParcel(Parcel source) {
+            return new ReturnToMeState(source);
+        }
+
+        public ReturnToMeState[] newArray(int size) {
+            return new ReturnToMeState[size];
+        }
+    };
+}

ClientLib/src/main/res/values/version.xml

@@ -1,4 +1,4 @@
 <?xml version="1.0" encoding="utf-8"?>
 <resources>
-    <integer name="core_lib_version">20503</integer>
+    <integer name="core_lib_version">20505</integer>
 </resources>

ServiceApp/AndroidManifest.xml

@@ -39,6 +39,7 @@
         android:allowBackup="true"
         android:theme="@style/AppTheme"
         android:icon="@drawable/ic_launcher"
+        android:largeHeap="true"
         android:label="@string/app_title">
 
         <meta-data