public static CameraProxy getCameraProxy(MavLinkDrone drone, List<CameraDetail> cameraDetails) {
final CameraDetail camDetail;
final FootPrint currentFieldOfView;
final List<FootPrint> proxyPrints = new ArrayList<>();
if (drone == null) {
camDetail = new CameraDetail();
currentFieldOfView = new FootPrint();
} else {
Camera droneCamera = drone.getCamera();
camDetail = ProxyUtils.getCameraDetail(droneCamera.getCamera());
List<Footprint> footprints = droneCamera.getFootprints();
for (Footprint footprint : footprints) {
proxyPrints.add(CommonApiUtils.getProxyCameraFootPrint(footprint));
}
Gps droneGps = (Gps) drone.getAttribute(AttributeType.GPS);
currentFieldOfView =
droneGps != null && droneGps.isValid()
? CommonApiUtils.getProxyCameraFootPrint(droneCamera.getCurrentFieldOfView())
: new FootPrint();
}
return new CameraProxy(camDetail, currentFieldOfView, proxyPrints, cameraDetails);
}
public static void enableFollowMe(
DroneManager droneMgr,
Handler droneHandler,
FollowType followType,
ICommandListener listener) {
if (droneMgr == null) return;
final FollowAlgorithm.FollowModes selectedMode =
CommonApiUtils.followTypeToMode(droneMgr.getDrone(), followType);
if (selectedMode != null) {
final Follow followMe = droneMgr.getFollowMe();
if (followMe == null) return;
if (!followMe.isEnabled()) followMe.toggleFollowMeState();
FollowAlgorithm currentAlg = followMe.getFollowAlgorithm();
if (currentAlg.getType() != selectedMode) {
if (selectedMode == FollowAlgorithm.FollowModes.SOLO_SHOT
&& !SoloApiUtils.isSoloLinkFeatureAvailable(droneMgr, listener)) return;
followMe.setAlgorithm(selectedMode.getAlgorithmType(droneMgr, droneHandler));
postSuccessEvent(listener);
}
}
}
public static FollowState getFollowState(Follow followMe) {
if (followMe == null) return new FollowState();
final int state;
switch (followMe.getState()) {
default:
case FOLLOW_INVALID_STATE:
state = FollowState.STATE_INVALID;
break;
case FOLLOW_DRONE_NOT_ARMED:
state = FollowState.STATE_DRONE_NOT_ARMED;
break;
case FOLLOW_DRONE_DISCONNECTED:
state = FollowState.STATE_DRONE_DISCONNECTED;
break;
case FOLLOW_START:
state = FollowState.STATE_START;
break;
case FOLLOW_RUNNING:
state = FollowState.STATE_RUNNING;
break;
case FOLLOW_END:
state = FollowState.STATE_END;
break;
}
final FollowAlgorithm currentAlg = followMe.getFollowAlgorithm();
Map<String, Object> modeParams = currentAlg.getParams();
Bundle params = new Bundle();
for (Map.Entry<String, Object> entry : modeParams.entrySet()) {
switch (entry.getKey()) {
case FollowType.EXTRA_FOLLOW_ROI_TARGET:
LatLongAlt target = (LatLongAlt) entry.getValue();
if (target != null) {
params.putParcelable(entry.getKey(), target);
}
break;
case FollowType.EXTRA_FOLLOW_RADIUS:
Double radius = (Double) entry.getValue();
if (radius != null) params.putDouble(entry.getKey(), radius);
break;
}
}
return new FollowState(state, CommonApiUtils.followModeToType(currentAlg.getType()), params);
}
public static State getState(MavLinkDrone drone, boolean isConnected, Vibration vibration) {
if (drone == null) return new State();
org.droidplanner.services.android.core.drone.variables.State droneState = drone.getState();
ApmModes droneMode = droneState.getMode();
AccelCalibration accelCalibration = drone.getCalibrationSetup();
String calibrationMessage =
accelCalibration != null && accelCalibration.isCalibrating()
? accelCalibration.getMessage()
: null;
final msg_ekf_status_report ekfStatus = droneState.getEkfStatus();
final EkfStatus proxyEkfStatus =
ekfStatus == null
? new EkfStatus()
: new EkfStatus(
ekfStatus.flags,
ekfStatus.compass_variance,
ekfStatus.pos_horiz_variance,
ekfStatus.terrain_alt_variance,
ekfStatus.velocity_variance,
ekfStatus.pos_vert_variance);
return new State(
isConnected,
CommonApiUtils.getVehicleMode(droneMode),
droneState.isArmed(),
droneState.isFlying(),
droneState.getErrorId(),
drone.getMavlinkVersion(),
calibrationMessage,
droneState.getFlightStartTime(),
proxyEkfStatus,
isConnected && drone.isConnectionAlive(),
vibration);
}
public static Type getType(MavLinkDrone drone) {
if (drone == null) return new Type();
return new Type(CommonApiUtils.getDroneProxyType(drone.getType()), drone.getFirmwareVersion());
}
