Merge pull request #228 from dronekit/release-1.3.2

Release 1.3.2

Author: m4gr3d

ClientLib/build.gradle

@@ -2,7 +2,7 @@ apply plugin: 'com.android.library'
 
 ext {
     PUBLISH_ARTIFACT_ID = 'dronekit-android'
-    PUBLISH_VERSION = '2.5.9'
+    PUBLISH_VERSION = '2.5.15'
     PROJECT_DESCRIPTION = "Android DroneKit client library."
     PROJECT_LABELS = ['3DR', '3DR Services', 'DroneAPI', 'Android', 'DroneKit']
     PROJECT_LICENSES = ['Apache-2.0']
@@ -17,7 +17,7 @@ android {
     defaultConfig {
         minSdkVersion Integer.parseInt(project.ANDROID_BUILD_MIN_SDK_VERSION)
         targetSdkVersion Integer.parseInt(project.ANDROID_BUILD_TARGET_SDK_VERSION)
-        versionCode 20509
+        versionCode 20515
         versionName PUBLISH_VERSION
     }
 

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

@@ -48,6 +48,7 @@
 import java.util.concurrent.ConcurrentLinkedQueue;
 import java.util.concurrent.ExecutorService;
 import java.util.concurrent.Executors;
+import java.util.concurrent.atomic.AtomicReference;
 
 /**
  * Created by fhuya on 11/4/14.
@@ -99,7 +100,7 @@ public void binderDied() {
     private DroneObserver droneObserver;
     private DroneApiListener apiListener;
 
-    private IDroneApi droneApi;
+    private final AtomicReference<IDroneApi> droneApiRef = new AtomicReference<>(null);
     private ConnectionParameter connectionParameter;
     private ExecutorService asyncScheduler;
 
@@ -132,34 +133,39 @@ Context getContext(){
         return this.context;
     }
 
-    void start() {
+    synchronized void start() {
         if (!serviceMgr.isTowerConnected())
             throw new IllegalStateException("Service manager must be connected.");
 
-        if (isStarted())
+        IDroneApi droneApi = droneApiRef.get();
+        if (isStarted(droneApi))
             return;
 
         try {
-            this.droneApi = serviceMgr.get3drServices().registerDroneApi(this.apiListener, serviceMgr.getApplicationId());
-            this.droneApi.asBinder().linkToDeath(binderDeathRecipient, 0);
+            droneApi = serviceMgr.get3drServices().registerDroneApi(this.apiListener, serviceMgr.getApplicationId());
+            droneApi.asBinder().linkToDeath(binderDeathRecipient, 0);
         } catch (RemoteException e) {
             throw new IllegalStateException("Unable to retrieve a valid drone handle.");
         }
 
         if (asyncScheduler == null || asyncScheduler.isShutdown())
             asyncScheduler = Executors.newFixedThreadPool(1);
 
-        addAttributesObserver(this.droneObserver);
+        addAttributesObserver(droneApi, this.droneObserver);
         resetFlightTimer();
+
+        droneApiRef.set(droneApi);
     }
 
-    void destroy() {
-        removeAttributesObserver(this.droneObserver);
+    synchronized void destroy() {
+        IDroneApi droneApi = droneApiRef.get();
+
+        removeAttributesObserver(droneApi, this.droneObserver);
 
         try {
-            if (isStarted()) {
-                this.droneApi.asBinder().unlinkToDeath(binderDeathRecipient, 0);
-                serviceMgr.get3drServices().releaseDroneApi(this.droneApi);
+            if (isStarted(droneApi)) {
+                droneApi.asBinder().unlinkToDeath(binderDeathRecipient, 0);
+                serviceMgr.get3drServices().releaseDroneApi(droneApi);
             }
         } catch (RemoteException | NoSuchElementException e) {
             Log.e(TAG, e.getMessage(), e);
@@ -170,7 +176,7 @@ void destroy() {
             asyncScheduler = null;
         }
 
-        droneListeners.clear();
+        droneApiRef.set(null);
     }
 
     private void checkForGroundCollision() {
@@ -193,6 +199,7 @@ private void checkForGroundCollision() {
     }
 
     private void handleRemoteException(RemoteException e) {
+        final IDroneApi droneApi = droneApiRef.get();
         if (droneApi != null && !droneApi.asBinder().pingBinder()) {
             final String errorMsg = e.getMessage();
             Log.e(TAG, errorMsg, e);
@@ -245,7 +252,8 @@ public long getFlightTime() {
     }
 
     public <T extends Parcelable> T getAttribute(String type) {
-        if (!isStarted() || type == null)
+        final IDroneApi droneApi = droneApiRef.get();
+        if (!isStarted(droneApi) || type == null)
             return this.getAttributeDefaultValue(type);
 
         T attribute = null;
@@ -273,7 +281,8 @@ public <T extends Parcelable> void getAttributeAsync(final String attributeType,
         if (callback == null)
             throw new IllegalArgumentException("Callback must be non-null.");
 
-        if (!isStarted()) {
+        final IDroneApi droneApi = droneApiRef.get();
+        if (!isStarted(droneApi)) {
             handler.post(new Runnable() {
                 @Override
                 public void run() {
@@ -414,7 +423,8 @@ public boolean performActionOnDroneThread(Action action, AbstractCommandListener
     }
 
     public boolean performActionOnHandler(Action action, final Handler handler, final AbstractCommandListener listener) {
-        if (isStarted()) {
+        final IDroneApi droneApi = droneApiRef.get();
+        if (isStarted(droneApi)) {
             try {
                 droneApi.executeAction(action, wrapListener(handler, listener));
                 return true;
@@ -435,7 +445,8 @@ public boolean performAsyncActionOnDroneThread(Action action, AbstractCommandLis
     }
 
     public boolean performAsyncActionOnHandler(Action action, Handler handler, AbstractCommandListener listener) {
-        if (isStarted()) {
+        final IDroneApi droneApi = droneApiRef.get();
+        if (isStarted(droneApi)) {
             try {
                 droneApi.executeAsyncAction(action, wrapListener(handler, listener));
                 return true;
@@ -447,13 +458,18 @@ public boolean performAsyncActionOnHandler(Action action, Handler handler, Abstr
         return false;
     }
 
-    public boolean isStarted() {
+    private boolean isStarted(IDroneApi droneApi) {
         return droneApi != null && droneApi.asBinder().pingBinder();
     }
 
+    public boolean isStarted(){
+        return isStarted(droneApiRef.get());
+    }
+
     public boolean isConnected() {
+        final IDroneApi droneApi = droneApiRef.get();
         State droneState = getAttribute(AttributeType.STATE);
-        return isStarted() && droneState.isConnected();
+        return isStarted(droneApi) && droneState.isConnected();
     }
 
     public ConnectionParameter getConnectionParameter() {
@@ -492,18 +508,19 @@ public void registerDroneListener(DroneListener listener) {
             droneListeners.add(listener);
     }
 
-    private void addAttributesObserver(IObserver observer) {
-        if (isStarted()) {
+    private void addAttributesObserver(IDroneApi droneApi, IObserver observer) {
+        if (isStarted(droneApi)) {
             try {
-                this.droneApi.addAttributesObserver(observer);
+                droneApi.addAttributesObserver(observer);
             } catch (RemoteException e) {
                 handleRemoteException(e);
             }
         }
     }
 
     public void addMavlinkObserver(MavlinkObserver observer) {
-        if (isStarted()) {
+        final IDroneApi droneApi = droneApiRef.get();
+        if (isStarted(droneApi)) {
             try {
                 droneApi.addMavlinkObserver(observer);
             } catch (RemoteException e) {
@@ -513,7 +530,8 @@ public void addMavlinkObserver(MavlinkObserver observer) {
     }
 
     public void removeMavlinkObserver(MavlinkObserver observer) {
-        if (isStarted()) {
+        final IDroneApi droneApi = droneApiRef.get();
+        if (isStarted(droneApi)) {
             try {
                 droneApi.removeMavlinkObserver(observer);
             } catch (RemoteException e) {
@@ -529,10 +547,10 @@ public void unregisterDroneListener(DroneListener listener) {
         droneListeners.remove(listener);
     }
 
-    private void removeAttributesObserver(IObserver observer) {
-        if (isStarted()) {
+    private void removeAttributesObserver(IDroneApi droneApi, IObserver observer) {
+        if (isStarted(droneApi)) {
             try {
-                this.droneApi.removeAttributesObserver(observer);
+                droneApi.removeAttributesObserver(observer);
             } catch (RemoteException e) {
                 handleRemoteException(e);
             }

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

@@ -32,7 +32,7 @@ public GimbalApi build() {
         });
     }
 
-    private interface GimbalOrientationListener {
+    public interface GimbalOrientationListener {
         /**
          * Called when the gimbal orientation is updated.
          * @param orientation GimbalOrientation object
@@ -88,7 +88,7 @@ public GimbalOrientation getGimbalOrientation(){
     }
 
     /**
-     * Enables control of the gimbal. After calling this method, use {@link GimbalApi#updateGimbalOrientation(double, double, double, GimbalOrientationListener)}
+     * Enables control of the gimbal. After calling this method, use {@link GimbalApi#updateGimbalOrientation(float, float, float, GimbalOrientationListener)}
      * to update the gimbal orientation.
      * @param listener non-null GimbalStatusListener callback.
      */
@@ -129,7 +129,7 @@ public void onError(int error){
     }
 
     /**
-     * Disables control of the gimbal. After calling this method, no call to {@link GimbalApi#updateGimbalOrientation(double, double, double, GimbalOrientationListener)}
+     * Disables control of the gimbal. After calling this method, no call to {@link GimbalApi#updateGimbalOrientation(float, float, float, GimbalOrientationListener)}
      * will be allowed.
      * @param listener non-null GimbalStatusListener callback.
      */
@@ -169,7 +169,7 @@ public void onError(int error){
      * @param yaw       the desired gimbal yaw in degrees
      * @param listener Register a callback to receive update of the command execution state. Must be non-null.
      */
-    public void updateGimbalOrientation(double pitch, double roll, double yaw, final GimbalOrientationListener listener){
+    public void updateGimbalOrientation(float pitch, float roll, float yaw, final GimbalOrientationListener listener){
         if(listener == null)
             throw new NullPointerException("Listener must be non-null.");
 
@@ -184,9 +184,9 @@ public void run() {
         }
 
         Bundle params = new Bundle();
-        params.putDouble(GIMBAL_PITCH, pitch);
-        params.putDouble(GIMBAL_ROLL, roll);
-        params.putDouble(GIMBAL_YAW, yaw);
+        params.putFloat(GIMBAL_PITCH, pitch);
+        params.putFloat(GIMBAL_ROLL, roll);
+        params.putFloat(GIMBAL_YAW, yaw);
         drone.performAsyncActionOnDroneThread(new Action(ACTION_SET_GIMBAL_ORIENTATION, params), new SimpleCommandListener(){
             @Override
             public void onTimeout(){

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

@@ -94,6 +94,17 @@ public void updateControllerMode(@SoloControllerMode.ControllerMode int controll
         drone.performAsyncActionOnDroneThread(new Action(ACTION_UPDATE_CONTROLLER_MODE, params), listener);
     }
 
+    /**
+     * Updates the EU tx power compliance.
+     * @param isCompliant true for the controller to be made compliant, false otherwise.
+     * @param listener Register a callback to receive update of the command execution status.
+     */
+    public void updateEUTxPowerCompliance(boolean isCompliant, AbstractCommandListener listener) {
+        Bundle params = new Bundle();
+        params.putBoolean(EXTRA_EU_TX_POWER_COMPLIANT, isCompliant);
+        drone.performAsyncActionOnDroneThread(new Action(ACTION_UPDATE_EU_TX_POWER_COMPLIANCE, params), listener);
+    }
+
     /**
      * Take a photo with the connected gopro.
      * @param listener Register a callback to receive update of the command execution status.
@@ -132,6 +143,26 @@ public void onTimeout() {
      * @param listener Register a callback to receive update of the command execution status.
      */
     public void toggleVideoRecording(final AbstractCommandListener listener){
+        sendVideoRecordingCommand(SoloGoproRecord.TOGGLE_RECORDING, listener);
+    }
+
+    /**
+     * Starts video recording on the connected gopro.
+     * @param listener Register a callback to receive update of the command execution status.
+     */
+    public void startVideoRecording(final AbstractCommandListener listener){
+        sendVideoRecordingCommand(SoloGoproRecord.START_RECORDING, listener);
+    }
+
+    /**
+     * Stops video recording on the connected gopro.
+     * @param listener Register a callback to receive update of the command execution status.
+     */
+    public void stopVideoRecording(final AbstractCommandListener listener){
+        sendVideoRecordingCommand(SoloGoproRecord.STOP_RECORDING, listener);
+    }
+
+    private void sendVideoRecordingCommand(@SoloGoproRecord.RecordCommand final int recordCommand, final AbstractCommandListener listener){
         //Set the gopro to video mode
         final SoloGoproSetRequest videoModeRequest = new SoloGoproSetRequest(SoloGoproSetRequest.CAPTURE_MODE,
                 SoloGoproSetRequest.CAPTURE_MODE_VIDEO);
@@ -140,20 +171,20 @@ public void toggleVideoRecording(final AbstractCommandListener listener){
             @Override
             public void onSuccess() {
                 //Send the command to toggle video recording
-                final SoloGoproRecord videoToggle = new SoloGoproRecord(SoloGoproRecord.TOGGLE_RECORDING);
+                final SoloGoproRecord videoToggle = new SoloGoproRecord(recordCommand);
                 sendMessage(videoToggle, listener);
             }
 
             @Override
             public void onError(int executionError) {
-                if(listener != null){
+                if (listener != null) {
                     listener.onError(executionError);
                 }
             }
 
             @Override
             public void onTimeout() {
-                if(listener != null){
+                if (listener != null) {
                     listener.onTimeout();
                 }
             }

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

@@ -204,11 +204,17 @@ public class AttributeEvent {
      */
     public static final String SOLOLINK_MESSAGE_RECEIVED = PACKAGE_NAME + ".SOLOLINK_MESSAGE_RECEIVED";
 
+    /**
+     * Triggers upon updates to the EU tx power compliance.
+     */
+    public static final String SOLOLINK_EU_TX_POWER_COMPLIANCE_UPDATED = PACKAGE_NAME + ".SOLOLINK_EU_TX_POWER_COMPLIANCE_UPDATED";
+
     /**
      * Signals the gimbal orientation was updated.
      * @see {@link AttributeEventExtra#EXTRA_GIMBAL_ORIENTATION_PITCH}
      * @see {@link AttributeEventExtra#EXTRA_GIMBAL_ORIENTATION_ROLL}
      * @see {@link AttributeEventExtra#EXTRA_GIMBAL_ORIENTATION_YAW}
      */
     public static final String GIMBAL_ORIENTATION_UPDATED = PACKAGE_NAME + ".GIMBAL_ORIENTATION_UPDATED";
+
 }

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

@@ -106,4 +106,9 @@ public class AttributeEventExtra {
      */
     public static final String EXTRA_GIMBAL_ORIENTATION_YAW = PACKAGE_NAME + ".EXTRA_GIMBAL_ORIENTATION_YAW";
 
+    /**
+     * Used to retrieve the boolean value specifying whether the controller is compliant with the EU tx power levels.
+     * @see {@link AttributeEvent#SOLOLINK_EU_TX_POWER_COMPLIANCE_UPDATED}
+     */
+    public static final String EXTRA_SOLOLINK_EU_TX_POWER_COMPLIANT = PACKAGE_NAME + ".EXTRA_SOLOLINK_EU_TX_POWER_COMPLIANT";
 }