Merge pull request #132 from DroidPlanner/feature_magnetometer_calibr…

…ation Feature magnetometer calibration
dronekit · May 5, 2015 · 0341be4 · 0341be4
2 parents b3ae2b4 + 6b0ae07
commit 0341be4
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Showing 29 changed files with 895 additions and 553 deletions.
diff --git a/ClientLib/build.gradle b/ClientLib/build.gradle
@@ -2,7 +2,7 @@ apply plugin: 'com.android.library'
 
 ext {
     PUBLISH_ARTIFACT_ID = 'dronekit-android'
-    PUBLISH_VERSION = '2.3.13'
+    PUBLISH_VERSION = '2.3.25'
     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 14
         targetSdkVersion 21
-        versionCode 20313
+        versionCode 20325
         versionName PUBLISH_VERSION
     }
 
@@ -40,7 +40,7 @@ android {
         variant.outputs.each { output ->
             def file = output.outputFile
             if (file != null && file.name.endsWith('.aar')) {
-                output.outputFile = new File(file.parent,  "${PUBLISH_ARTIFACT_ID}.${PUBLISH_VERSION}.aar")
+                output.outputFile = new File(file.parent, "${PUBLISH_ARTIFACT_ID}.${PUBLISH_VERSION}.aar")
             }
         }
     }

diff --git a/ClientLib/src/main/java/com/o3dr/android/client/Drone.java b/ClientLib/src/main/java/com/o3dr/android/client/Drone.java
@@ -1,5 +1,6 @@
 package com.o3dr.android.client;
 
+import android.content.Context;
 import android.os.Bundle;
 import android.os.Handler;
 import android.os.IBinder;
@@ -20,6 +21,7 @@
 import com.o3dr.services.android.lib.coordinate.LatLong;
 import com.o3dr.services.android.lib.drone.attribute.AttributeEvent;
 import com.o3dr.services.android.lib.drone.attribute.AttributeType;
+import com.o3dr.services.android.lib.drone.calibration.magnetometer.MagnetometerCalibrationStatus;
 import com.o3dr.services.android.lib.drone.camera.GoPro;
 import com.o3dr.services.android.lib.drone.connection.ConnectionParameter;
 import com.o3dr.services.android.lib.drone.connection.ConnectionResult;
@@ -109,7 +111,11 @@ public void binderDied() {
     private long startTime = 0;
     private long elapsedFlightTime = 0;
 
-    public Drone(){}
+    private final Context context;
+
+    public Drone(Context context){
+        this.context = context;
+    }
 
     void init(ControlTower controlTower, Handler handler){
         this.handler = handler;
@@ -232,7 +238,7 @@ public <T extends Parcelable> T getAttribute(String type) {
         }
 
         if (carrier != null) {
-            ClassLoader classLoader = getAttributeClassLoader(type);
+            ClassLoader classLoader = this.context.getClassLoader();
             if (classLoader != null) {
                 carrier.setClassLoader(classLoader);
                 attribute = carrier.getParcelable(type);
@@ -317,59 +323,10 @@ private <T extends Parcelable> T getAttributeDefaultValue(String attributeType)
             case AttributeType.GOPRO:
                 return (T) new GoPro();
 
-            case AttributeType.CAMERA:
-            default:
-                return null;
-        }
-    }
-
-    private ClassLoader getAttributeClassLoader(String attributeType) {
-        switch (attributeType) {
-            case AttributeType.ALTITUDE:
-                return Altitude.class.getClassLoader();
-
-            case AttributeType.GPS:
-                return Gps.class.getClassLoader();
-
-            case AttributeType.STATE:
-                return State.class.getClassLoader();
-
-            case AttributeType.PARAMETERS:
-                return Parameters.class.getClassLoader();
-
-            case AttributeType.SPEED:
-                return Speed.class.getClassLoader();
+            case AttributeType.MAGNETOMETER_CALIBRATION_STATUS:
+                return (T) new MagnetometerCalibrationStatus();
 
             case AttributeType.CAMERA:
-                return CameraProxy.class.getClassLoader();
-
-            case AttributeType.ATTITUDE:
-                return Attitude.class.getClassLoader();
-
-            case AttributeType.HOME:
-                return Home.class.getClassLoader();
-
-            case AttributeType.BATTERY:
-                return Battery.class.getClassLoader();
-
-            case AttributeType.MISSION:
-                return Mission.class.getClassLoader();
-
-            case AttributeType.SIGNAL:
-                return Signal.class.getClassLoader();
-
-            case AttributeType.GUIDED_STATE:
-                return GuidedState.class.getClassLoader();
-
-            case AttributeType.TYPE:
-                return Type.class.getClassLoader();
-
-            case AttributeType.FOLLOW_STATE:
-                return FollowState.class.getClassLoader();
-
-            case AttributeType.GOPRO:
-                return GoPro.class.getClassLoader();
-
             default:
                 return null;
         }
@@ -527,18 +484,16 @@ public void arm(boolean arm) {
         DroneStateApi.arm(this, arm);
     }
 
-    public void startMagnetometerCalibration(double[] startPointsX, double[] startPointsY, double[] startPointsZ) {
-        CalibrationApi.startMagnetometerCalibration(this, startPointsX, startPointsY, startPointsZ);
-    }
-
-    public void stopMagnetometerCalibration() {
-        CalibrationApi.stopMagnetometerCalibration(this);
-    }
-
+    /**
+     * @deprecated Use {@link CalibrationApi#startIMUCalibration(Drone)} instead.
+     */
     public void startIMUCalibration() {
         CalibrationApi.startIMUCalibration(this);
     }
 
+    /**
+     * @deprecated Use {@link CalibrationApi#sendIMUAck(Drone, int)} instead.
+     */
     public void sendIMUCalibrationAck(int step) {
         CalibrationApi.sendIMUAck(this, step);
     }
@@ -597,6 +552,10 @@ public void run() {
     }
 
     void notifyAttributeUpdated(final String attributeEvent, final Bundle extras) {
+        //Update the bundle classloader
+        if(extras != null)
+            extras.setClassLoader(context.getClassLoader());
+
         if (AttributeEvent.STATE_UPDATED.equals(attributeEvent)) {
             getAttributeAsync(AttributeType.STATE, new OnAttributeRetrievedCallback<State>() {
                 @Override

diff --git a/ClientLib/src/main/java/com/o3dr/android/client/apis/gcs/CalibrationApi.java b/ClientLib/src/main/java/com/o3dr/android/client/apis/gcs/CalibrationApi.java
@@ -5,14 +5,15 @@
 import com.o3dr.android.client.Drone;
 import com.o3dr.services.android.lib.model.action.Action;
 
+import static com.o3dr.services.android.lib.gcs.action.CalibrationActions.ACTION_ACCEPT_MAGNETOMETER_CALIBRATION;
+import static com.o3dr.services.android.lib.gcs.action.CalibrationActions.ACTION_CANCEL_MAGNETOMETER_CALIBRATION;
 import static com.o3dr.services.android.lib.gcs.action.CalibrationActions.ACTION_SEND_IMU_CALIBRATION_ACK;
 import static com.o3dr.services.android.lib.gcs.action.CalibrationActions.ACTION_START_IMU_CALIBRATION;
 import static com.o3dr.services.android.lib.gcs.action.CalibrationActions.ACTION_START_MAGNETOMETER_CALIBRATION;
-import static com.o3dr.services.android.lib.gcs.action.CalibrationActions.ACTION_STOP_MAGNETOMETER_CALIBRATION;
 import static com.o3dr.services.android.lib.gcs.action.CalibrationActions.EXTRA_IMU_STEP;
-import static com.o3dr.services.android.lib.gcs.action.CalibrationActions.EXTRA_MAGNETOMETER_START_X;
-import static com.o3dr.services.android.lib.gcs.action.CalibrationActions.EXTRA_MAGNETOMETER_START_Y;
-import static com.o3dr.services.android.lib.gcs.action.CalibrationActions.EXTRA_MAGNETOMETER_START_Z;
+import static com.o3dr.services.android.lib.gcs.action.CalibrationActions.EXTRA_RETRY_ON_FAILURE;
+import static com.o3dr.services.android.lib.gcs.action.CalibrationActions.EXTRA_SAVE_AUTOMATICALLY;
+import static com.o3dr.services.android.lib.gcs.action.CalibrationActions.EXTRA_START_DELAY;
 
 /**
  * Created by Fredia Huya-Kouadio on 1/19/15.
@@ -37,22 +38,36 @@ public static void sendIMUAck(Drone drone, int step) {
 
     /**
      * Start the magnetometer calibration process.
-     *
-     * @param startPoints points to start the calibration with.
      */
-    public static void startMagnetometerCalibration(Drone drone, double[] pointsX, double[] pointsY, double[] pointsZ) {
+    public static void startMagnetometerCalibration(Drone drone) {
+        startMagnetometerCalibration(drone, false, true, 0);
+    }
+
+    /**
+     * Start the magnetometer calibration process
+     * @param drone vehicle to calibrate
+     * @param retryOnFailure if true, automatically retry the magnetometer calibration if it fails
+     * @param saveAutomatically if true, save the calibration automatically without user input.
+     * @param startDelay positive delay in seconds before starting the calibration
+     */
+    public static void startMagnetometerCalibration(Drone drone, boolean retryOnFailure, boolean saveAutomatically,
+                                                    int startDelay){
         Bundle params = new Bundle();
-        params.putDoubleArray(EXTRA_MAGNETOMETER_START_X, pointsX);
-        params.putDoubleArray(EXTRA_MAGNETOMETER_START_Y, pointsY);
-        params.putDoubleArray(EXTRA_MAGNETOMETER_START_Z, pointsZ);
+        params.putBoolean(EXTRA_RETRY_ON_FAILURE, retryOnFailure);
+        params.putBoolean(EXTRA_SAVE_AUTOMATICALLY, saveAutomatically);
+        params.putInt(EXTRA_START_DELAY, startDelay);
 
         drone.performAsyncAction(new Action(ACTION_START_MAGNETOMETER_CALIBRATION, params));
     }
 
+    public static void acceptMagnetometerCalibration(Drone drone) {
+        drone.performAsyncAction(new Action(ACTION_ACCEPT_MAGNETOMETER_CALIBRATION));
+    }
+
     /**
-     * Stop the magnetometer calibration is one if running.
+     * Cancel the magnetometer calibration is one if running.
      */
-    public static void stopMagnetometerCalibration(Drone drone) {
-        drone.performAsyncAction(new Action(ACTION_STOP_MAGNETOMETER_CALIBRATION));
+    public static void cancelMagnetometerCalibration(Drone drone) {
+        drone.performAsyncAction(new Action(ACTION_CANCEL_MAGNETOMETER_CALIBRATION));
     }
 }
diff --git a/ClientLib/src/main/java/com/o3dr/services/android/lib/drone/attribute/AttributeEvent.java b/ClientLib/src/main/java/com/o3dr/services/android/lib/drone/attribute/AttributeEvent.java
@@ -26,20 +26,21 @@ public class AttributeEvent {
     public static final String AUTOPILOT_MESSAGE = PACKAGE_NAME + ".AUTOPILOT_MESSAGE";
 
     /**
-     * Signals the start of magnetometer calibration.
+     * Event to signal cancellation of the magnetometer calibration process.
      */
-    public static final String CALIBRATION_MAG_STARTED = PACKAGE_NAME +
-            ".CALIBRATION_MAG_STARTED";
+    public static final String CALIBRATION_MAG_CANCELLED = PACKAGE_NAME + ".CALIBRATION_MAG_CANCELLED";
+
     /**
-     * Signals a magnetometer calibration fitness update.
+     * Signals completion of the magnetometer calibration.
+     * @see {@link AttributeEventExtra#EXTRA_CALIBRATION_MAG_RESULT}
      */
-    public static final String CALIBRATION_MAG_ESTIMATION = PACKAGE_NAME +
-            ".CALIBRATION_MAG_ESTIMATION";
+    public static final String CALIBRATION_MAG_COMPLETED = PACKAGE_NAME + ".CALIBRATION_MAG_COMPLETED";
+
     /**
-     * Signals completion of the magnetometer calibration.
+     * Provides progress updates for the magnetometer calibration.
+     * @see {@link AttributeEventExtra#EXTRA_CALIBRATION_MAG_PROGRESS}
      */
-    public static final String CALIBRATION_MAG_COMPLETED = PACKAGE_NAME +
-            ".CALIBRATION_MAG_COMPLETED";
+    public static final String CALIBRATION_MAG_PROGRESS = PACKAGE_NAME + ".CALIBRATION_MAG_PROGRESS";
 
     public static final String CALIBRATION_IMU = PACKAGE_NAME + ".CALIBRATION_IMU";
     public static final String CALIBRATION_IMU_ERROR = PACKAGE_NAME + ".CALIBRATION_IMU_ERROR";

diff --git a/...tLib/src/main/java/com/o3dr/services/android/lib/drone/attribute/AttributeEventExtra.java b/...tLib/src/main/java/com/o3dr/services/android/lib/drone/attribute/AttributeEventExtra.java
@@ -28,34 +28,16 @@ public class AttributeEventExtra {
     public static final String EXTRA_CALIBRATION_IMU_MESSAGE = PACKAGE_NAME + ".CALIBRATION_IMU_MESSAGE";
 
     /**
-     * Used to access the points used to start the magnetometer calibration.
+     * Used to access the magnetometer calibration progress.
+     * @see {@link com.o3dr.services.android.lib.drone.calibration.magnetometer.MagnetometerCalibrationProgress}
      */
-    public static final String EXTRA_CALIBRATION_MAG_POINTS_X = PACKAGE_NAME + "" +
-            ".CALIBRATION_MAG_POINTS_X";
-    public static final String EXTRA_CALIBRATION_MAG_POINTS_Y = PACKAGE_NAME + "" +
-            ".CALIBRATION_MAG_POINTS_Y";
-    public static final String EXTRA_CALIBRATION_MAG_POINTS_Z = PACKAGE_NAME + "" +
-            ".CALIBRATION_MAG_POINTS_Z";
-    /**
-     * Used to access the magnetometer calibration fitness value.
-     */
-    public static final String EXTRA_CALIBRATION_MAG_FITNESS = PACKAGE_NAME + "" +
-            ".CALIBRATION_MAG_FITNESS";
-    /**
-     * Used to access the magnetometer calibration fit center values.
-     */
-    public static final String EXTRA_CALIBRATION_MAG_FIT_CENTER = PACKAGE_NAME + "" +
-            ".CALIBRATION_MAG_FIT_CENTER";
-    /**
-     * Used to access the magnetometer calibration fit radii values.
-     */
-    public static final String EXTRA_CALIBRATION_MAG_FIT_RADII = PACKAGE_NAME + "" +
-            ".CALIBRATION_MAG_FIT_RADII";
+    public static final String EXTRA_CALIBRATION_MAG_PROGRESS = PACKAGE_NAME + ".CALIBRATION_MAG_PROGRESS";
+
     /**
-     * Used to access the magnetometer calibration final offset values.
+     * Used to access the result from the magnetometer calibration.
+     * @see {@link com.o3dr.services.android.lib.drone.calibration.magnetometer.MagnetometerCalibrationResult}
      */
-    public static final String EXTRA_CALIBRATION_MAG_OFFSETS = PACKAGE_NAME + "" +
-            ".CALIBRATION_MAG_OFFSETS";
+    public static final String EXTRA_CALIBRATION_MAG_RESULT = PACKAGE_NAME + ".CALIBRATION_MAG_RESULT";
 
     /**
      * Used to access the mavlink version when the heartbeat is received for the first time or

diff --git a/ClientLib/src/main/java/com/o3dr/services/android/lib/drone/attribute/AttributeType.java b/ClientLib/src/main/java/com/o3dr/services/android/lib/drone/attribute/AttributeType.java
@@ -97,4 +97,10 @@ public class AttributeType {
      * @see {@link com.o3dr.services.android.lib.drone.camera.GoPro}
      */
     public static final String GOPRO = PACKAGE_NAME + ".GOPRO";
+
+    /**
+     * Used to retrieve the status of the currently or last running magnetometer calibration.
+     * @see {@link com.o3dr.services.android.lib.drone.calibration.magnetometer.MagnetometerCalibrationStatus}
+     */
+    public static final String MAGNETOMETER_CALIBRATION_STATUS = PACKAGE_NAME + ".MAGNETOMETER_CALIBRATION_STATUS";
 }
diff --git a/.../services/android/lib/drone/calibration/magnetometer/MagnetometerCalibrationProgress.aidl b/.../services/android/lib/drone/calibration/magnetometer/MagnetometerCalibrationProgress.aidl
@@ -0,0 +1,3 @@
+package com.o3dr.services.android.lib.drone.calibration.magnetometer;
+
+parcelable MagnetometerCalibrationProgress;
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,3 @@
		package com.o3dr.services.android.lib.drone.calibration.magnetometer;

		parcelable MagnetometerCalibrationProgress;