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);
}