Follow me api update.

fixed invalid behavior in GuidedPoint when trying to trigger `pauseAtCurrentLocation`.
Made roi estimation dependant upon the selected follow algorithm.
Completed back-end implementation for the 'GuidedScan' follow mode.

AidlLib/build.gradle

@@ -7,8 +7,8 @@ android {
     defaultConfig {
         minSdkVersion 14
         targetSdkVersion 21
-        versionCode 20039
-        versionName '2.0.39'
+        versionCode 20043
+        versionName '2.0.43'
     }
 
     defaultPublishConfig "release"

AidlLib/src/com/o3dr/services/android/lib/gcs/action/FollowMeActions.java

@@ -10,8 +10,7 @@ public class FollowMeActions {
     public static final String ACTION_ENABLE_FOLLOW_ME = Utils.PACKAGE_NAME + ".action.ENABLE_FOLLOW_ME";
     public static final String EXTRA_FOLLOW_TYPE = "extra_follow_type";
 
-    public static final String ACTION_UPDATE_FOLLOW_ME_RADIUS = Utils.PACKAGE_NAME + ".action.UPDATE_FOLLOW_ME_RADIUS";
-    public static final String EXTRA_FOLLOW_ME_RADIUS = "extra_follow_me_radius";
+    public static final String ACTION_UPDATE_FOLLOW_PARAMS = Utils.PACKAGE_NAME + ".action.UPDATE_FOLLOW_PARAMS";
 
     public static final String ACTION_DISABLE_FOLLOW_ME = Utils.PACKAGE_NAME + ".action.DISABLE_FOLLOW_ME";
 

AidlLib/src/com/o3dr/services/android/lib/gcs/follow/FollowState.java

@@ -1,5 +1,6 @@
 package com.o3dr.services.android.lib.gcs.follow;
 
+import android.os.Bundle;
 import android.os.Parcel;
 import android.os.Parcelable;
 
@@ -16,35 +17,31 @@ public class FollowState implements Parcelable {
     public static final int STATE_END = 5;
 
     private int state;
-    private double radius;
+    private Bundle modeParams;
     private FollowType mode;
 
     public FollowState(){}
 
-    public FollowState(int state, double radius, FollowType mode) {
+    public FollowState(int state, FollowType mode, Bundle modeParams) {
         this.state = state;
-        this.radius = radius;
+        this.modeParams = modeParams;
         this.mode = mode;
     }
 
     public void setState(int state) {
         this.state = state;
     }
 
-    public void setRadius(double radius) {
-        this.radius = radius;
-    }
-
     public void setMode(FollowType mode) {
         this.mode = mode;
     }
 
-    public int getState() {
-        return state;
+    public Bundle getParams(){
+        return modeParams;
     }
 
-    public double getRadius() {
-        return radius;
+    public int getState() {
+        return state;
     }
 
     public FollowType getMode() {
@@ -63,14 +60,15 @@ public int describeContents() {
     @Override
     public void writeToParcel(Parcel dest, int flags) {
         dest.writeInt(this.state);
-        dest.writeDouble(this.radius);
-        dest.writeParcelable(this.mode, 0);
+        dest.writeBundle(modeParams);
+        dest.writeInt(this.mode == null ? -1 : this.mode.ordinal());
     }
 
     private FollowState(Parcel in) {
         this.state = in.readInt();
-        this.radius = in.readDouble();
-        this.mode = in.readParcelable(FollowType.class.getClassLoader());
+        modeParams = in.readBundle();
+        int tmpMode = in.readInt();
+        this.mode = tmpMode == -1 ? null : FollowType.values()[tmpMode];
     }
 
     public static final Parcelable.Creator<FollowState> CREATOR = new Parcelable.Creator<FollowState>() {

AidlLib/src/com/o3dr/services/android/lib/gcs/follow/FollowType.java

@@ -16,26 +16,52 @@ public enum FollowType implements Parcelable {
     RIGHT("Right"),
     LEFT("Left"),
     CIRCLE("Circle"),
-    ABOVE("Above", false),
+    ABOVE("Above"){
+        @Override
+        public boolean hasParam(String paramKey){
+            return false;
+        }
+    },
     SPLINE_LEASH("Vector Leash"),
-    SPLINE_ABOVE("Vector Above", false),
-    GUIDED_SCAN("Guided Scan", false);
+    SPLINE_ABOVE("Vector Above"){
+        @Override
+        public boolean hasParam(String paramKey){
+            return false;
+        }
+    },
+    GUIDED_SCAN("Guided Scan"){
+        @Override
+        public boolean hasParam(String paramKey){
+            switch(paramKey){
+                case EXTRA_FOLLOW_ROI_TARGET:
+                    return true;
+
+                default:
+                    return false;
+            }
+        }
+    };
+
+    public static final String EXTRA_FOLLOW_RADIUS = "extra_follow_radius";
+    public static final String EXTRA_FOLLOW_ROI_TARGET = "extra_follow_roi_target";
 
     private final String typeLabel;
-    private final boolean hasRadius;
 
     private FollowType(String typeLabel){
         this.typeLabel = typeLabel;
-        this.hasRadius = true;
     }
 
-    private FollowType(String typeLabel, boolean hasRadius) {
-        this.typeLabel = typeLabel;
-        this.hasRadius = hasRadius;
-    }
+    public boolean hasParam(String paramKey){
+        switch(paramKey){
+            case EXTRA_FOLLOW_RADIUS:
+                return true;
 
-    public boolean hasRadius() {
-        return hasRadius;
+            case EXTRA_FOLLOW_ROI_TARGET:
+                return false;
+
+            default:
+                return false;
+        }
     }
 
     public String getTypeLabel() {
@@ -65,11 +91,11 @@ public static List<FollowType> getFollowTypes(boolean includeAdvanced){
         followTypes.add(LEFT);
         followTypes.add(CIRCLE);
         followTypes.add(ABOVE);
+        followTypes.add(GUIDED_SCAN);
 
         if(includeAdvanced){
             followTypes.add(SPLINE_LEASH);
             followTypes.add(SPLINE_ABOVE);
-            followTypes.add(GUIDED_SCAN);
         }
 
         return followTypes;

ClientLib/mobile/build.gradle

@@ -2,7 +2,7 @@ apply plugin: 'com.android.library'
 
 ext {
     PUBLISH_ARTIFACT_ID = '3dr-services-lib'
-    PUBLISH_VERSION = '2.2.2'
+    PUBLISH_VERSION = '2.2.6'
     PROJECT_DESCRIPTION = "3DR Services Client Library"
     PROJECT_LABELS = ['3DR', '3DR Services', 'DroneAPI', 'Android']
     PROJECT_LICENSES = ['Apache-2.0']
@@ -15,7 +15,7 @@ android {
     defaultConfig {
         minSdkVersion 14
         targetSdkVersion 21
-        versionCode 20202
+        versionCode 20206
         versionName PUBLISH_VERSION
     }
 

ClientLib/mobile/src/main/java/com/o3dr/android/client/Drone.java

@@ -556,10 +556,6 @@ public void enableFollowMe(FollowType followType) {
         FollowApi.enableFollowMe(this, followType);
     }
 
-    public void setFollowMeRadius(double radius) {
-        FollowApi.updateFollowMeRadius(this, radius);
-    }
-
     public void disableFollowMe() {
         FollowApi.disableFollowMe(this);
     }

ClientLib/mobile/src/main/java/com/o3dr/android/client/apis/gcs/FollowApi.java

@@ -8,8 +8,7 @@
 
 import static com.o3dr.services.android.lib.gcs.action.FollowMeActions.ACTION_DISABLE_FOLLOW_ME;
 import static com.o3dr.services.android.lib.gcs.action.FollowMeActions.ACTION_ENABLE_FOLLOW_ME;
-import static com.o3dr.services.android.lib.gcs.action.FollowMeActions.ACTION_UPDATE_FOLLOW_ME_RADIUS;
-import static com.o3dr.services.android.lib.gcs.action.FollowMeActions.EXTRA_FOLLOW_ME_RADIUS;
+import static com.o3dr.services.android.lib.gcs.action.FollowMeActions.*;
 import static com.o3dr.services.android.lib.gcs.action.FollowMeActions.EXTRA_FOLLOW_TYPE;
 
 /**
@@ -28,15 +27,8 @@ public static void enableFollowMe(Drone drone, FollowType followType) {
         drone.performAsyncAction(new Action(ACTION_ENABLE_FOLLOW_ME, params));
     }
 
-    /**
-     * Sets the follow-me radius.
-     *
-     * @param radius radius in meters.
-     */
-    public static void updateFollowMeRadius(Drone drone, double radius) {
-        Bundle params = new Bundle();
-        params.putDouble(EXTRA_FOLLOW_ME_RADIUS, radius);
-        drone.performAsyncAction(new Action(ACTION_UPDATE_FOLLOW_ME_RADIUS, params));
+    public static void updateFollowParams(Drone drone, Bundle params){
+        drone.performAsyncAction(new Action(ACTION_UPDATE_FOLLOW_PARAMS, params));
     }
 
     /**

ServiceApp/build.gradle

@@ -27,7 +27,7 @@ android {
         applicationId 'org.droidplanner.services.android'
         minSdkVersion 14
         targetSdkVersion 21
-        versionCode 10108
+        versionCode 10109
         versionName getGitVersion()
     }
 

ServiceApp/src/org/droidplanner/services/android/api/DroneApi.java

@@ -90,6 +90,7 @@
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
+import java.util.Set;
 import java.util.concurrent.ConcurrentLinkedQueue;
 
 import ellipsoidFit.FitPoints;
@@ -104,6 +105,7 @@ public final class DroneApi extends IDroneApi.Stub implements DroneEventsListene
 
     private final SoftReference<DroidPlannerService> serviceRef;
     private final Context context;
+    private final DroneInterfaces.Handler droneHandler;
 
     private final ConcurrentLinkedQueue<IObserver> observersList;
     private final ConcurrentLinkedQueue<IMavlinkObserver> mavlinkObserversList;
@@ -113,9 +115,26 @@ public final class DroneApi extends IDroneApi.Stub implements DroneEventsListene
 
     private List<CameraDetail> cachedCameraDetails;
 
-    DroneApi(DroidPlannerService dpService, Handler handler, MavLinkServiceApi mavlinkApi, IApiListener listener,
+    DroneApi(DroidPlannerService dpService, final Handler handler, MavLinkServiceApi mavlinkApi, IApiListener listener,
              String ownerId) {
+
         this.context = dpService.getApplicationContext();
+        this.droneHandler =  new DroneInterfaces.Handler() {
+            @Override
+            public void removeCallbacks(Runnable thread) {
+                handler.removeCallbacks(thread);
+            }
+
+            @Override
+            public void post(Runnable thread) {
+                handler.post(thread);
+            }
+
+            @Override
+            public void postDelayed(Runnable thread, long timeout) {
+                handler.postDelayed(thread, timeout);
+            }
+        };
 
         this.ownerId = ownerId;
 
@@ -666,13 +685,15 @@ public void enableFollowMe(FollowType followType) {
             if (!followMe.isEnabled())
                 followMe.toggleFollowMeState();
 
-            followMe.setType(selectedMode);
+            FollowAlgorithm currentAlg = followMe.getFollowAlgorithm();
+            if(currentAlg.getType() != selectedMode) {
+                followMe.setAlgorithm(selectedMode.getAlgorithmType(droneMgr.getDrone(), droneHandler));
+            }
         }
     }
 
     private FollowState getFollowState() {
         final Follow followMe = this.droneMgr.getFollowMe();
-        final double radius = followMe.getRadius().valueInMeters();
 
         final int state;
         switch (followMe.getState()) {
@@ -703,7 +724,26 @@ private FollowState getFollowState() {
                 break;
         }
 
-        return new FollowState(state, radius, followModeToType(followMe.getType()));
+        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:
+                    Coord2D target = (Coord2D) entry.getValue();
+                    if(target != null){
+                        params.putParcelable(entry.getKey(), new LatLong(target.getLat(), target.getLng()));
+                    }
+                    break;
+
+                case FollowType.EXTRA_FOLLOW_RADIUS:
+                    Double radius = (Double) entry.getValue();
+                    if(radius != null)
+                        params.putDouble(entry.getKey(), radius);
+                    break;
+            }
+        }
+        return new FollowState(state, followModeToType(currentAlg.getType()), params);
     }
 
     private List<CameraDetail> getCameraDetails() {
@@ -952,9 +992,27 @@ public void performAction(Action action) throws RemoteException {
                 enableFollowMe(followType);
                 break;
 
-            case FollowMeActions.ACTION_UPDATE_FOLLOW_ME_RADIUS:
-                double radius = data.getDouble(FollowMeActions.EXTRA_FOLLOW_ME_RADIUS);
-                setFollowMeRadius(radius);
+            case FollowMeActions.ACTION_UPDATE_FOLLOW_PARAMS:
+                data.setClassLoader(LatLong.class.getClassLoader());
+
+                final FollowAlgorithm followAlgorithm = this.droneMgr.getFollowMe().getFollowAlgorithm();
+                if(followAlgorithm != null){
+                    Map<String, Object> paramsMap = new HashMap<>();
+                    Set<String> dataKeys = data.keySet();
+                    for(String key: dataKeys){
+                        if(FollowType.EXTRA_FOLLOW_ROI_TARGET.equals(key)){
+                            LatLong target = data.getParcelable(key);
+                            if(target != null) {
+                                Coord2D roiTarget = new Coord2D(target.getLatitude(), target.getLongitude());
+                                paramsMap.put(key, roiTarget);
+                            }
+                        }
+                        else
+                            paramsMap.put(key, data.get(key));
+                    }
+
+                    followAlgorithm.updateAlgorithmParams(paramsMap);
+                }
                 break;
 
             case FollowMeActions.ACTION_DISABLE_FOLLOW_ME:
@@ -1111,10 +1169,6 @@ private static FollowType followModeToType(FollowAlgorithm.FollowModes followMod
         return followType;
     }
 
-    public void setFollowMeRadius(double radius) {
-        this.droneMgr.getFollowMe().changeRadius(radius);
-    }
-
     public void disableFollowMe() {
         Follow follow = this.droneMgr.getFollowMe();
         if (follow.isEnabled())

ServiceApp/src/org/droidplanner/services/android/api/MavLinkServiceApi.java

@@ -7,17 +7,18 @@
 import org.droidplanner.core.MAVLink.connection.MavLinkConnectionListener;
 import org.droidplanner.services.android.communication.connection.AndroidMavLinkConnection;
 
+import java.lang.ref.SoftReference;
 import java.lang.ref.WeakReference;
 
 /**
  * MavLinkService app api.
  */
 public class MavLinkServiceApi {
 
-    private final WeakReference<DroidPlannerService> mServiceRef;
+    private final SoftReference<DroidPlannerService> mServiceRef;
 
     public MavLinkServiceApi(DroidPlannerService service) {
-        mServiceRef = new WeakReference<DroidPlannerService>(service);
+        mServiceRef = new SoftReference<>(service);
     }
 
     private DroidPlannerService getService() {

ServiceApp/src/org/droidplanner/services/android/drone/DroneManager.java

@@ -156,6 +156,9 @@ public void connect() throws ConnectionException {
     }
 
     public void disconnect() throws ConnectionException {
+        if(followMe.isEnabled())
+            followMe.toggleFollowMeState();
+
         MAVLinkClient mavClient = (MAVLinkClient) drone.getMavClient();
         if (mavClient.isConnected())
             mavClient.closeConnection();