synchronized void start() {
if (!serviceMgr.isTowerConnected())
throw new IllegalStateException("Service manager must be connected.");
IDroneApi droneApi = droneApiRef.get();
if (isStarted(droneApi)) return;
try {
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(droneApi, this.droneObserver);
resetFlightTimer();
droneApiRef.set(droneApi);
}
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);
notifyDroneServiceInterrupted(errorMsg);
}
}
public void removeMavlinkObserver(MavlinkObserver observer) {
final IDroneApi droneApi = droneApiRef.get();
if (isStarted(droneApi)) {
try {
droneApi.removeMavlinkObserver(observer);
} catch (RemoteException e) {
handleRemoteException(e);
}
}
}
public boolean performAsyncActionOnHandler(
Action action, Handler handler, AbstractCommandListener listener) {
final IDroneApi droneApi = droneApiRef.get();
if (isStarted(droneApi)) {
try {
droneApi.executeAsyncAction(action, wrapListener(handler, listener));
return true;
} catch (RemoteException e) {
handleRemoteException(e);
}
}
return false;
}
private void removeAttributesObserver(IDroneApi droneApi, IObserver observer) {
if (isStarted(droneApi)) {
try {
droneApi.removeAttributesObserver(observer);
} catch (RemoteException e) {
handleRemoteException(e);
}
}
}
synchronized void destroy() {
IDroneApi droneApi = droneApiRef.get();
removeAttributesObserver(droneApi, this.droneObserver);
try {
if (isStarted(droneApi)) {
droneApi.asBinder().unlinkToDeath(binderDeathRecipient, 0);
serviceMgr.get3drServices().releaseDroneApi(droneApi);
}
} catch (RemoteException | NoSuchElementException e) {
Log.e(TAG, e.getMessage(), e);
}
if (asyncScheduler != null) {
asyncScheduler.shutdownNow();
asyncScheduler = null;
}
droneApiRef.set(null);
}
public <T extends Parcelable> T getAttribute(String type) {
final IDroneApi droneApi = droneApiRef.get();
if (!isStarted(droneApi) || type == null) return this.getAttributeDefaultValue(type);
T attribute = null;
Bundle carrier = null;
try {
carrier = droneApi.getAttribute(type);
} catch (RemoteException e) {
handleRemoteException(e);
}
if (carrier != null) {
try {
carrier.setClassLoader(contextClassLoader);
attribute = carrier.getParcelable(type);
} catch (Exception e) {
Log.e(TAG, e.getMessage(), e);
}
}
return attribute == null ? this.<T>getAttributeDefaultValue(type) : attribute;
}
private boolean isStarted(IDroneApi droneApi) {
return droneApi != null && droneApi.asBinder().pingBinder();
}