Merge pull request #337 from dronekit/support_bebop_flight_modes

Expand support of mavlink navigation commands.

Author: m4gr3d

ClientLib/build.gradle

@@ -4,7 +4,7 @@ ext {
     VERSION_MAJOR = 2
     VERSION_MINOR = 6
     VERSION_PATCH = 9
-    VERSION_SUFFIX = "release"
+    VERSION_SUFFIX = "alpha2"
 
     PUBLISH_ARTIFACT_ID = 'dronekit-android'
     PUBLISH_VERSION = generateVersionName("", VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH, VERSION_SUFFIX)

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/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(){}
 

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

@@ -1,4 +1,4 @@
 <?xml version="1.0" encoding="utf-8"?>
 <resources>
-    <integer name="core_lib_version">20508</integer>
+    <integer name="core_lib_version">20509</integer>
 </resources>

ServiceApp/src/org/droidplanner/services/android/api/DroidPlannerService.java

@@ -38,7 +38,6 @@
 import org.droidplanner.services.android.communication.connection.usb.UsbConnection;
 import org.droidplanner.services.android.core.drone.DroneManager;
 import org.droidplanner.services.android.exception.ConnectionException;
-import org.droidplanner.services.android.core.drone.DroneEventsListener;
 import org.droidplanner.services.android.ui.activity.MainActivity;
 import org.droidplanner.services.android.utils.Utils;
 import org.droidplanner.services.android.utils.analytics.GAUtils;
@@ -193,7 +192,7 @@ void releaseDroneApi(String appId) {
      * @return A DroneManager instance which acts as router between the connected vehicle and the listeneing client(s).
      * @throws ConnectionException
      */
-    DroneManager connectDroneManager(ConnectionParameter connParams, String appId, DroneEventsListener listener) throws ConnectionException {
+    DroneManager connectDroneManager(ConnectionParameter connParams, String appId, DroneApi listener) throws ConnectionException {
         if (connParams == null || TextUtils.isEmpty(appId) || listener == null)
             return null;
 
@@ -214,15 +213,16 @@ DroneManager connectDroneManager(ConnectionParameter connParams, String appId, D
      * Disconnect the given client from the vehicle managed by the given drone manager.
      *
      * @param droneMgr Handler for the connected vehicle.
-     * @param appId    Application id of the disconnecting client.
+     * @param clientInfo    Info of the disconnecting client.
      * @throws ConnectionException
      */
-    void disconnectDroneManager(DroneManager droneMgr, String appId) throws ConnectionException {
-        if (droneMgr == null || TextUtils.isEmpty(appId))
+    void disconnectDroneManager(DroneManager droneMgr, DroneApi.ClientInfo clientInfo) throws ConnectionException {
+        if (droneMgr == null || clientInfo == null || TextUtils.isEmpty(clientInfo.appId))
             return;
 
+        String appId = clientInfo.appId;
         Timber.d("Drone manager disconnection for " + appId);
-        droneMgr.disconnect(appId);
+        droneMgr.disconnect(clientInfo);
         if (droneMgr.getConnectedAppsCount() == 0) {
             Timber.d("Destroying drone manager.");
             droneMgr.destroy();