Merge pull request #457 from dronekit/version_3.0.2

Version 3.0.2

Author: m4gr3d

ClientLib/build.gradle

@@ -4,7 +4,7 @@ apply plugin: 'com.getkeepsafe.dexcount'
 ext {
     VERSION_MAJOR = 3
     VERSION_MINOR = 0
-    VERSION_PATCH = 1
+    VERSION_PATCH = 2
     VERSION_SUFFIX = "release"
 
     PUBLISH_ARTIFACT_ID = 'dronekit-android'
@@ -94,6 +94,7 @@ android {
     testOptions {
         unitTests.returnDefaultValues = true
     }
+    buildToolsVersion '24.0.1'
 }
 
 dependencies {

ClientLib/src/main/java/org/droidplanner/services/android/impl/core/MAVLink/MavLinkStreamRates.java

@@ -7,7 +7,7 @@
 
 public class MavLinkStreamRates {
 
-	public static void setupStreamRates(DataLinkProvider MAVClient, byte sysid, byte compid,
+	public static void setupStreamRates(DataLinkProvider MAVClient, short sysid, short compid,
 			int extendedStatus, int extra1, int extra2, int extra3, int position, int rcChannels,
 			int rawSensors, int rawControler) {
 		requestMavlinkDataStream(MAVClient, sysid, compid, MAV_DATA_STREAM.MAV_DATA_STREAM_EXTENDED_STATUS,
@@ -22,8 +22,8 @@ public static void setupStreamRates(DataLinkProvider MAVClient, byte sysid, byte
 		requestMavlinkDataStream(MAVClient, sysid, compid, MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, rcChannels);
 	}
 
-	private static void requestMavlinkDataStream(DataLinkProvider mAVClient, byte sysid,
-			byte compid, int stream_id, int rate) {
+	private static void requestMavlinkDataStream(DataLinkProvider mAVClient, short sysid,
+			short compid, int stream_id, int rate) {
 		msg_request_data_stream msg = new msg_request_data_stream();
 		msg.target_system = sysid;
 		msg.target_component = compid;

ClientLib/src/main/java/org/droidplanner/services/android/impl/core/drone/DroneVariable.java

@@ -9,6 +9,10 @@
 import timber.log.Timber;
 
 public class DroneVariable<T extends MavLinkDrone> {
+
+	static int UNSIGNED_BYTE_MIN_VALUE = 0;
+	static int UNSIGNED_BYTE_MAX_VALUE = 255;
+
 	protected T myDrone;
 
 	public DroneVariable(T myDrone) {
@@ -75,4 +79,13 @@ public void run() {
 			});
 		}
 	}
+
+	public static short validateToUnsignedByteRange(int id){
+		if(id < UNSIGNED_BYTE_MIN_VALUE || id > UNSIGNED_BYTE_MAX_VALUE){
+			throw new IllegalArgumentException("Value is outside of the range of an sysid/compid byte: " + id);
+		}
+		return (short)id;
+	}
+
+
 }

ClientLib/src/main/java/org/droidplanner/services/android/impl/core/drone/autopilot/MavLinkDrone.java

@@ -27,9 +27,9 @@ public interface MavLinkDrone extends Drone {
 
     void onMavLinkMessageReceived(MAVLinkMessage message);
 
-    public byte getSysid();
+    public short getSysid();
 
-    public byte getCompid();
+    public short getCompid();
 
     public State getState();
 

ClientLib/src/main/java/org/droidplanner/services/android/impl/core/drone/autopilot/apm/ArduPilot.java

@@ -385,6 +385,12 @@ protected boolean performTakeoff(Bundle data, ICommandListener listener) {
 
     @Override
     public void onMavLinkMessageReceived(MAVLinkMessage message) {
+
+        if (message.sysid != this.getSysid()) {
+            // Reject Messages that are not for the system id
+            return;
+        }
+
         int compId = message.compid;
         if (compId != AUTOPILOT_COMPONENT_ID
                 && compId != ARTOO_COMPONENT_ID

ClientLib/src/main/java/org/droidplanner/services/android/impl/core/drone/autopilot/generic/GenericMavLinkDrone.java

@@ -237,12 +237,13 @@ public boolean isConnectionAlive() {
     }
 
     @Override
-    public byte getSysid() {
+    public short getSysid() {
+
         return heartbeat.getSysid();
     }
 
     @Override
-    public byte getCompid() {
+    public short getCompid() {
         return heartbeat.getCompid();
     }
 
@@ -574,6 +575,11 @@ private void onHeartbeat(MAVLinkMessage msg) {
     @Override
     public void onMavLinkMessageReceived(MAVLinkMessage message) {
 
+        if (message.sysid != this.getSysid()) {
+            // Reject Messages that are not for the system id
+            return;
+        }
+
         onHeartbeat(message);
 
         switch (message.msgid) {

ClientLib/src/main/java/org/droidplanner/services/android/impl/core/drone/variables/HeartBeat.java

@@ -24,8 +24,8 @@ public class HeartBeat extends DroneVariable implements OnDroneListener<MavLinkD
     protected static final int NORMAL_HEARTBEAT = 2;
 
     protected int heartbeatState = FIRST_HEARTBEAT;
-    private byte sysid = 1;
-    private byte compid = 1;
+    private short sysid = 1;
+    private short compid = 1;
 
     /**
      * Stores the version of the mavlink protocol.
@@ -46,11 +46,11 @@ public HeartBeat(MavLinkDrone myDrone, Handler handler) {
         myDrone.addDroneListener(this);
     }
 
-    public byte getSysid() {
+    public short getSysid() {
         return sysid;
     }
 
-    public byte getCompid() {
+    public short getCompid() {
         return compid;
     }
 
@@ -64,8 +64,8 @@ public short getMavlinkVersion() {
     public void onHeartbeat(MAVLinkMessage msg) {
         msg_heartbeat heartBeatMsg = msg instanceof msg_heartbeat ? (msg_heartbeat) msg : null;
         if(heartBeatMsg != null){
-            sysid = (byte) msg.sysid;
-            compid = (byte) msg.compid;
+            sysid  = validateToUnsignedByteRange(msg.sysid);
+            compid = validateToUnsignedByteRange(msg.compid);
             mMavlinkVersion = heartBeatMsg.mavlink_version;
         }
 

ClientLib/src/main/java/org/droidplanner/services/android/impl/core/mission/waypoints/StructureScannerImpl.java

@@ -2,6 +2,8 @@
 
 import com.MAVLink.common.msg_mission_item;
 import com.MAVLink.enums.MAV_CMD;
+import com.o3dr.services.android.lib.coordinate.LatLong;
+import com.o3dr.services.android.lib.coordinate.LatLongAlt;
 
 import org.droidplanner.services.android.impl.core.helpers.geoTools.GeoTools;
 import org.droidplanner.services.android.impl.core.mission.MissionImpl;
@@ -12,15 +14,13 @@
 import org.droidplanner.services.android.impl.core.survey.CameraInfo;
 import org.droidplanner.services.android.impl.core.survey.SurveyData;
 import org.droidplanner.services.android.impl.core.survey.grid.GridBuilder;
-import com.o3dr.services.android.lib.coordinate.LatLong;
-import com.o3dr.services.android.lib.coordinate.LatLongAlt;
 
 import java.util.ArrayList;
 import java.util.List;
 
 public class StructureScannerImpl extends SpatialCoordItem {
-    private double radius = (10.0);
-    private double heightStep = (5);
+    private double radius = 10.0;
+    private double heightStep = 5;
     private int numberOfSteps = 2;
     private boolean crossHatch = false;
     SurveyData survey = new SurveyData();
@@ -50,10 +50,12 @@ private void packROI(List<msg_mission_item> list) {
     }
 
     private void packCircles(List<msg_mission_item> list) {
-        for (double altitude = coordinate.getAltitude(); altitude <= getTopHeight(); altitude += heightStep) {
-            CircleImpl circleImpl = new CircleImpl(missionImpl, new LatLongAlt(coordinate, (altitude)));
+        double altitude = coordinate.getAltitude();
+        for (int iSteps = 0; iSteps < numberOfSteps; iSteps++) {
+            CircleImpl circleImpl = new CircleImpl(missionImpl, new LatLongAlt(coordinate, altitude));
             circleImpl.setRadius(radius);
             list.addAll(circleImpl.packMissionItem());
+            altitude+= heightStep;
         }
     }
 

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

@@ -1,4 +1,4 @@
 <?xml version="1.0" encoding="utf-8"?>
 <resources>
-    <integer name="core_lib_version">30000</integer>
+    <integer name="core_lib_version">30200</integer>
 </resources>

README.md

@@ -14,7 +14,7 @@ DroneKit-Android helps you create powerful Android apps for UAVs.
 
 [DroneKit-Android](http://android.dronekit.io/) is the implementation of [DroneKit](http://dronekit.io/) on Android.
 
-The API provides interfaces that apps can use to control copters, planes, and ground vehicles. It is compatible with vehicles that communicate using the MAVLink protocol (including most vehicles made by 3DR and other members of the DroneCode foundation), and is validated against the open-source [ArduPilot flight control platform](ardupilot.com).
+The API provides interfaces that apps can use to control copters, planes, and ground vehicles. It is compatible with vehicles that communicate using the MAVLink protocol (including most vehicles made by 3DR and other members of the DroneCode foundation), and is validated against the open-source [ArduPilot flight control platform](http://ardupilot.com).
 
 This project implements the [DroneKit-Android Client library](http://android.dronekit.io) which allows developers to leverage the DroneKit API.
 

build.gradle

@@ -15,7 +15,7 @@ buildscript {
     }
 
     dependencies {
-        classpath 'com.android.tools.build:gradle:1.5.0'
+        classpath 'com.android.tools.build:gradle:2.2.0'
 
         //Dexcount gradle plugin
         classpath 'com.getkeepsafe.dexcount:dexcount-gradle-plugin:0.4.4'

dependencyLibs/Mavlink/build.gradle

@@ -1,4 +1,6 @@
 apply plugin: 'java'
+sourceCompatibility = JavaVersion.VERSION_1_7
+targetCompatibility = JavaVersion.VERSION_1_7
 
 sourceSets {
     main {

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
-#Sun Nov 30 09:39:49 PST 2014
+#Sun Oct 09 17:42:15 PDT 2016
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-2.10-all.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-2.14.1-all.zip

samples/StarterApp/build.gradle

@@ -22,6 +22,12 @@ android {
         abortOnError false
     }
 
+    compileOptions {
+        sourceCompatibility JavaVersion.VERSION_1_7
+        targetCompatibility JavaVersion.VERSION_1_7
+    }
+
+    buildToolsVersion '24.0.1'
 }
 
 dependencies {