Merge branch 'master' into beta

Author: arthurbenemann

Android/src/org/droidplanner/android/fragments/FlightActionsFragment.java

@@ -13,6 +13,7 @@
 import org.droidplanner.core.model.Drone;
 
 import android.app.Activity;
+import android.graphics.Color;
 import android.os.Bundle;
 import android.support.v4.app.Fragment;
 import android.view.LayoutInflater;
@@ -156,6 +157,9 @@ public void onClick(View v) {
 			break;
 
 		case R.id.mc_pause:
+			if (followMe.isEnabled()) {
+				followMe.toggleFollowMeState();
+			}
 			drone.getGuidedPoint().pauseAtCurrentLocation();
 			eventBuilder.setAction("Changed flight mode").setLabel("Pause");
 			break;
@@ -172,26 +176,30 @@ public void onClick(View v) {
 			break;
 
 		case R.id.mc_follow:
-			final int result = followMe.toggleFollowMeState();
+			followMe.toggleFollowMeState();
 			String eventLabel = null;
-			switch (result) {
-			case Follow.FOLLOW_START:
+			switch (followMe.getState()) {
+			case FOLLOW_START:
 				eventLabel = "FollowMe enabled";
 				break;
+				
+			case FOLLOW_RUNNING:
+				eventLabel = "FollowMe running";
+				break;
 
-			case Follow.FOLLOW_END:
+			case FOLLOW_END:
 				eventLabel = "FollowMe disabled";
 				break;
 
-			case Follow.FOLLOW_INVALID_STATE:
+			case FOLLOW_INVALID_STATE:
 				eventLabel = "FollowMe error: invalid state";
 				break;
 
-			case Follow.FOLLOW_DRONE_DISCONNECTED:
+			case FOLLOW_DRONE_DISCONNECTED:
 				eventLabel = "FollowMe error: drone not connected";
 				break;
 
-			case Follow.FOLLOW_DRONE_NOT_ARMED:
+			case FOLLOW_DRONE_NOT_ARMED:
 				eventLabel = "FollowMe error: drone not armed";
 				break;
 			}
@@ -249,6 +257,8 @@ public void onDroneEvent(DroneEventsType event, Drone drone) {
 
 		case FOLLOW_START:
 		case FOLLOW_STOP:
+		case FOLLOW_UPDATE:
+			updateFlightModeButtons();
 			updateFollowButton();
 			break;
 
@@ -267,7 +277,7 @@ private void updateFlightModeButtons() {
 			break;
 
 		case ROTOR_GUIDED:
-			if (drone.getGuidedPoint().isIdle()) {
+			if (drone.getGuidedPoint().isIdle() && !followMe.isEnabled()) {
 				pauseBtn.setActivated(true);
 			}
 			break;
@@ -292,7 +302,19 @@ private void resetFlightModeButtons() {
 	}
 
 	private void updateFollowButton() {
-		followBtn.setActivated(followMe.isEnabled());
+		switch (followMe.getState()) {
+		case FOLLOW_START:
+			followBtn.setBackgroundColor(Color.RED);
+			break;
+		case FOLLOW_RUNNING:
+			followBtn.setActivated(true);
+			followBtn.setBackgroundResource(R.drawable.flight_action_row_bg_selector);
+			break;
+		default:
+			followBtn.setActivated(false);
+			followBtn.setBackgroundResource(R.drawable.flight_action_row_bg_selector);
+			break;
+		}
 	}
 
 	private void resetButtonsContainerVisibility() {

Android/src/org/droidplanner/android/fragments/mode/FlightModePanel.java

@@ -82,6 +82,8 @@ public void onDroneEvent(DroneInterfaces.DroneEventsType event, Drone drone) {
 		case DISCONNECTED:
 		case MODE:
 		case TYPE:
+		case FOLLOW_START:
+		case FOLLOW_STOP:
 			// Update the mode info panel
 			onModeUpdate(drone.getState().getMode());
 			break;

Android/src/org/droidplanner/android/notifications/PebbleNotificationProvider.java

@@ -150,26 +150,27 @@ public void receiveData(Context context, int transactionId, PebbleDictionary dat
 			switch (request) {
 
 			case KEY_REQUEST_MODE_FOLLOW:
-				final int result = followMe.toggleFollowMeState();
+				followMe.toggleFollowMeState();
 				String eventLabel = null;
-				switch (result) {
-				case Follow.FOLLOW_START:
+				switch (followMe.getState()) {
+				case FOLLOW_START:
+				case FOLLOW_RUNNING:
 					eventLabel = "FollowMe enabled";
 					break;
 
-				case Follow.FOLLOW_END:
+				case FOLLOW_END:
 					eventLabel = "FollowMe disabled";
 					break;
 
-				case Follow.FOLLOW_INVALID_STATE:
+				case FOLLOW_INVALID_STATE:
 					eventLabel = "FollowMe error: invalid state";
 					break;
 
-				case Follow.FOLLOW_DRONE_DISCONNECTED:
+				case FOLLOW_DRONE_DISCONNECTED:
 					eventLabel = "FollowMe error: drone not connected";
 					break;
 
-				case Follow.FOLLOW_DRONE_NOT_ARMED:
+				case FOLLOW_DRONE_NOT_ARMED:
 					eventLabel = "FollowMe error: drone not armed";
 					break;
 				}
@@ -184,8 +185,7 @@ public void receiveData(Context context, int transactionId, PebbleDictionary dat
 				break;
 
 			case KEY_REQUEST_MODE_LOITER:
-				((DroidPlannerApp) applicationContext).getDrone().getState()
-						.changeFlightMode(ApmModes.ROTOR_LOITER);
+				((DroidPlannerApp) applicationContext).getDrone().getGuidedPoint().pauseAtCurrentLocation();
 				break;
 
 			case KEY_REQUEST_MODE_RTL:

Core/src/org/droidplanner/core/drone/DroneInterfaces.java

@@ -181,6 +181,11 @@ public enum DroneEventsType {
 		 * 'Follow' mode has been disabled.
 		 */
 		FOLLOW_STOP,
+		
+		/**
+		 * 'Follow' state has been updated.
+		 */
+		FOLLOW_UPDATE,
 
 		/**
          * 

Core/src/org/droidplanner/core/gcs/follow/Follow.java

@@ -17,14 +17,12 @@
 
 public class Follow implements OnDroneListener, LocationReceiver {
 
-	// Set of return value for the 'toggleFollowMeState' method.
-	public static final int FOLLOW_INVALID_STATE = -1;
-	public static final int FOLLOW_DRONE_NOT_ARMED = -2;
-	public static final int FOLLOW_DRONE_DISCONNECTED = -3;
-	public static final int FOLLOW_START = 0;
-	public static final int FOLLOW_END = 1;
-
-	private boolean followMeEnabled = false;
+	/** Set of return value for the 'toggleFollowMeState' method.*/
+	public enum FollowStates {
+		FOLLOW_INVALID_STATE, FOLLOW_DRONE_NOT_ARMED, FOLLOW_DRONE_DISCONNECTED, FOLLOW_START, FOLLOW_RUNNING, FOLLOW_END,
+	};
+
+	private FollowStates state = FollowStates.FOLLOW_INVALID_STATE;
 	private Drone drone;
 
 	private ROIEstimator roiEstimator;
@@ -40,48 +38,49 @@ public Follow(Drone drone, Handler handler, LocationFinder locationFinder) {
 		drone.addDroneListener(this);
 	}
 
-	public int toggleFollowMeState() {
+	public void toggleFollowMeState() {
 		final State droneState = drone.getState();
 		if (droneState == null) {
-			return FOLLOW_INVALID_STATE;
+			state = FollowStates.FOLLOW_INVALID_STATE;
+			return;
 		}
 
 		if (isEnabled()) {
 			disableFollowMe();
-			drone.getState().changeFlightMode(ApmModes.ROTOR_LOITER);
-			return FOLLOW_END;
 		} else {
 			if (drone.getMavClient().isConnected()) {
 				if (drone.getState().isArmed()) {
 					drone.getState().changeFlightMode(ApmModes.ROTOR_GUIDED);
 					enableFollowMe();
-					return FOLLOW_START;
 				} else {
-					return FOLLOW_DRONE_NOT_ARMED;
+					state = FollowStates.FOLLOW_DRONE_NOT_ARMED;
 				}
 			} else {
-				return FOLLOW_DRONE_DISCONNECTED;
+				state = FollowStates.FOLLOW_DRONE_DISCONNECTED;
+				
 			}
 		}
+		return;
 	}
 
 	private void enableFollowMe() {
 		locationFinder.enableLocationUpdates();
-		followMeEnabled = true;
+		state = FollowStates.FOLLOW_START;
 		drone.notifyDroneEvent(DroneEventsType.FOLLOW_START);
 	}
 
 	private void disableFollowMe() {
 		locationFinder.disableLocationUpdates();
-		if (followMeEnabled) {
-			followMeEnabled = false;
+		if (isEnabled()) {
+			state = FollowStates.FOLLOW_END;
 			MavLinkROI.resetROI(drone);
+			drone.getGuidedPoint().pauseAtCurrentLocation();
 			drone.notifyDroneEvent(DroneEventsType.FOLLOW_STOP);
 		}
 	}
 
 	public boolean isEnabled() {
-		return followMeEnabled;
+		return state == FollowStates.FOLLOW_RUNNING || state == FollowStates.FOLLOW_START;
 	}
 
 	@Override
@@ -106,8 +105,12 @@ public Length getRadius() {
 	@Override
 	public void onLocationChanged(Location location) {
 		if (location.getAccuracy() < 10.0) {
+			state = FollowStates.FOLLOW_RUNNING;
 			followAlgorithm.processNewLocation(location);
+		}else{
+			state = FollowStates.FOLLOW_START;
 		}
+		drone.notifyDroneEvent(DroneEventsType.FOLLOW_UPDATE);
 		roiEstimator.onLocationChanged(location);
 	}
 
@@ -127,4 +130,8 @@ public void cycleType() {
 	public FollowModes getType() {
 		return followAlgorithm.getType();
 	}
+
+	public FollowStates getState() {
+		return state;
+	}
 }