Merge branch 'master' into beta

Android/AndroidManifest.xml

@@ -2,7 +2,7 @@
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:tools="http://schemas.android.com/tools"
           package="org.droidplanner"
-          android:versionCode="107"
+          android:versionCode="108"
           android:versionName="please run version.sh to get the version name">
 
     <uses-sdk

Android/res/layout/fragment_editor_detail_camera_trigger.xml

@@ -80,7 +80,7 @@
 
         <TextView
             style="@style/ModeDetailText"
-            android:layout_width="wrap_content"
+            android:layout_width="match_parent"
             android:layout_height="wrap_content"
             android:background="@drawable/mode_desc_rectangle"
             android:padding="12dp"

Android/res/layout/fragment_editor_detail_epm_grabber.xml

@@ -0,0 +1,84 @@
+<?xml version="1.0" encoding="utf-8"?>
+<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
+    style="@style/missionItemDetailLayout" >
+
+    <org.droidplanner.android.widgets.spinners.SpinnerSelfSelect
+        android:id="@+id/spinnerWaypointType"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_alignParentTop="true"
+        android:layout_margin="5dp"
+        android:entries="@array/ExampleWaypointType" />
+
+    <RelativeLayout
+        android:id="@+id/title_rect"
+        android:layout_width="match_parent"
+        android:layout_height="64dp"
+        android:layout_alignParentTop="true"
+        android:background="@drawable/wp_title_rectangle" >
+
+        <TextView
+            android:id="@+id/WaypointIndex"
+            style="@style/largeMissionDetailText"
+            android:layout_width="64dp"
+            android:layout_height="wrap_content"
+            android:layout_centerVertical="true"
+            tools:text="22" />
+
+        <View
+            android:id="@+id/title_div"
+            android:layout_width="1dp"
+            android:layout_height="54dp"
+            android:layout_alignParentTop="true"
+            android:layout_marginTop="5dp"
+            android:layout_toRightOf="@id/WaypointIndex"
+            android:background="@drawable/wp_title_div" />
+
+        <RelativeLayout
+            android:id="@+id/title_content"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:layout_centerVertical="true"
+            android:layout_toRightOf="@id/title_div"
+            android:orientation="vertical" >
+
+            <TextView
+                android:id="@+id/WaypointType"
+                style="@style/missionHeaderTitle"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="12dp"
+                android:text="@string/waypointType_EPM" />
+
+            <TextView
+                android:id="@+id/DistanceLabel"
+                style="@style/missionHeaderlabel"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_alignLeft="@id/WaypointType"
+                android:layout_below="@id/WaypointType" />
+        </RelativeLayout>
+    </RelativeLayout>
+
+    <ImageView
+        android:id="@+id/menuHint"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_alignBottom="@id/title_rect"
+        android:layout_alignParentRight="true"
+        android:layout_margin="10dp"
+        android:src="@drawable/ic_menu_hint"
+        tools:ignore="ContentDescription" />
+
+
+        <TextView
+            style="@style/ModeDetailText"
+            android:layout_width="match_parent"
+            android:layout_below="@id/title_rect"
+            android:layout_height="wrap_content"
+            android:background="@drawable/mode_desc_rectangle"
+            android:padding="12dp"
+            android:text="@string/waypointInfo_EpmGrabber" />
+
+</RelativeLayout>

Android/res/layout/fragment_editor_detail_set_servo.xml

@@ -0,0 +1,117 @@
+<?xml version="1.0" encoding="utf-8"?>
+<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
+    style="@style/missionItemDetailLayout" >
+
+    <org.droidplanner.android.widgets.spinners.SpinnerSelfSelect
+        android:id="@+id/spinnerWaypointType"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_alignParentTop="true"
+        android:layout_margin="5dp"
+        android:entries="@array/ExampleWaypointType" />
+
+    <RelativeLayout
+        android:id="@+id/title_rect"
+        android:layout_width="match_parent"
+        android:layout_height="64dp"
+        android:layout_alignParentTop="true"
+        android:background="@drawable/wp_title_rectangle" >
+
+        <TextView
+            android:id="@+id/WaypointIndex"
+            style="@style/largeMissionDetailText"
+            android:layout_width="64dp"
+            android:layout_height="wrap_content"
+            android:layout_centerVertical="true"
+            tools:text="22" />
+
+        <View
+            android:id="@+id/title_div"
+            android:layout_width="1dp"
+            android:layout_height="54dp"
+            android:layout_alignParentTop="true"
+            android:layout_marginTop="5dp"
+            android:layout_toRightOf="@id/WaypointIndex"
+            android:background="@drawable/wp_title_div" />
+
+        <RelativeLayout
+            android:id="@+id/title_content"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:layout_centerVertical="true"
+            android:layout_toRightOf="@id/title_div"
+            android:orientation="vertical" >
+
+            <TextView
+                android:id="@+id/WaypointType"
+                style="@style/missionHeaderTitle"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginLeft="12dp"
+                android:text="@string/waypointType_Set_Servo" />
+
+            <TextView
+                android:id="@+id/DistanceLabel"
+                style="@style/missionHeaderlabel"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_alignLeft="@id/WaypointType"
+                android:layout_below="@id/WaypointType" />
+        </RelativeLayout>
+    </RelativeLayout>
+
+    <ImageView
+        android:id="@+id/menuHint"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_alignBottom="@id/title_rect"
+        android:layout_alignParentRight="true"
+        android:layout_margin="10dp"
+        android:src="@drawable/ic_menu_hint"
+        tools:ignore="ContentDescription" />
+
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_below="@id/title_rect"
+        android:orientation="vertical"
+        android:paddingBottom="5dp" >
+
+        <TextView
+            style="@style/ModeDetailText"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:background="@drawable/mode_desc_rectangle"
+            android:padding="12dp"
+            android:text="@string/waypointInfo_SetServo" />
+
+        <org.droidplanner.android.widgets.spinnerWheel.CardWheelHorizontalView
+            android:id="@+id/picker1"
+            style="@style/missionItemDetailCard"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:orientation="vertical"
+            android:text="@string/channel_label" />
+
+        <TextView
+            style="@style/ModeDetailText"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_gravity="left"
+            android:text="@string/pwm"
+            android:textAppearance="?android:attr/textAppearanceMedium" />
+
+        <EditText 
+            android:id="@+id/PwmEditText"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:inputType="number"
+            android:imeOptions="actionDone"
+            android:paddingLeft="16dp"
+            android:paddingRight="16dp"
+            />
+
+    </LinearLayout>
+
+</RelativeLayout>

Android/res/layout/fragment_editor_detail_survey.xml

@@ -115,29 +115,10 @@
                 android:layout_toRightOf="@id/staticText"
                 android:entries="@array/ExampleCameraArray" />
 
-            <CheckBox
-                android:id="@+id/checkBoxInnerWPs"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:layout_alignParentLeft="true"
-                android:layout_below="@id/cameraFileSpinner"
-                android:text="@string/inner_wps"
-                android:visibility="gone" />
-
-            <CheckBox
-                android:id="@+id/CheckBoxFootprints"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:layout_alignParentRight="false"
-                android:layout_below="@id/cameraFileSpinner"
-                android:layout_toRightOf="@id/checkBoxInnerWPs"
-                android:text="@string/footprint"
-                android:visibility="gone" />
-
             <LinearLayout
                 android:layout_width="match_parent"
                 android:layout_height="wrap_content"
-                android:layout_below="@id/checkBoxInnerWPs"
+                android:layout_below="@id/cameraFileSpinner"
                 android:orientation="vertical" >
 
                 <HorizontalScrollView

Android/res/menu/menu_super_activiy.xml

@@ -20,6 +20,19 @@
             android:id="@+id/menu_load_mission"
             android:showAsAction="never"
             android:title="@string/load_mission"/>
+
+        <item
+            android:id="@+id/menu_triggerCamera"
+            android:showAsAction="never"
+            android:title="Picture"/>
+        <item
+            android:id="@+id/menu_epm_release"
+            android:showAsAction="never"
+            android:title="Release"/>
+        <item
+            android:id="@+id/menu_epm_grab"
+            android:showAsAction="never"
+            android:title="Grab"/>
     </group>
 
     <item

Android/res/values/strings.xml

@@ -182,6 +182,8 @@
     <string name="waypointType_Land">Land</string>
     <string name="waypointType_Change_Speed">Change Speed</string>
     <string name="waypointType_Camera_Trigger">Camera Trigger</string>
+    <string name="waypointType_Set_Servo">Set Servo</string>
+    <string name="waypointType_EPM">EPM</string>
     <string name="waypointType_Circle">Circle</string>
     <string name="waypointType_Loiter">Loiter</string>
     <string name="waypointType_ROI">Region of Interest</string>
@@ -203,8 +205,13 @@
     <string name="waypointInfo_SetHome">Changes the home location either to the current location or a specified location.</string>
     <string name="waypointInfo_SetSpeed">Change vehicle speed until the end of this mission.</string>
     <string name="waypointInfo_CameraTrigger">Trigger the camera shutter at regular distance intervals.</string>
+    <string name="waypointInfo_SetServo">Move a servo to a particular PWM value.</string>
+    <string name="waypointInfo_EpmGrabber">Release the payload of the EPM grabber</string>
     <string name="waypointInfo_ROI">Sets a location and altitude to point copter towards and to aim an optional camera.</string>
     <string name="waypointInfo_SetJump">Repeat waypoint</string>
+
+    <!-- Custom waypoint info -->
+    <string name="pwm">PWM:</string>
 
     <!-- Waypoint editor -->
     <string name="editor_err_land_rtl_added">One cannot add new waypoints after LAND or RTL</string>
@@ -344,6 +351,7 @@
     <string name="speed_unit">m/s</string>
     <string name="speed_label">Speed</string>
     <string name="length_label">Length</string>
+    <string name="channel_label">Channel</string>
     <string name="ground_speed_label">Ground Speed</string>
     <string name="air_speed_label">Air Speed</string>
     <string name="default_angle_value">--°</string>

Android/src/org/droidplanner/android/activities/FlightActivity.java

@@ -325,6 +325,14 @@ public void onDroneEvent(DroneEventsType event, Drone drone) {
             enableSlidingUpPanel(drone);
             break;
 
+        case FOLLOW_START:
+            //Extend the sliding drawer if collapsed.
+            if(!mSlidingPanelCollapsing.get() && mSlidingPanel.isSlidingEnabled() &&
+                    !mSlidingPanel.isPanelExpanded()){
+                mSlidingPanel.expandPanel();
+            }
+            break;
+
 		default:
 			break;
 		}

Android/src/org/droidplanner/android/activities/helpers/SuperUI.java

@@ -10,6 +10,7 @@
 import org.droidplanner.android.utils.Utils;
 import org.droidplanner.android.utils.prefs.DroidPlannerPrefs;
 import org.droidplanner.android.widgets.actionProviders.InfoBarActionProvider;
+import org.droidplanner.core.MAVLink.MavLinkROI;
 import org.droidplanner.core.drone.DroneInterfaces.DroneEventsType;
 import org.droidplanner.core.drone.DroneInterfaces.OnDroneListener;
 import org.droidplanner.core.gcs.GCSHeartbeat;
@@ -234,11 +235,18 @@ public void onNo() {
 		case R.id.menu_load_mission:
 			drone.getWaypointManager().getWaypoints();
 			return true;
-
+		case R.id.menu_triggerCamera:
+			MavLinkROI.triggerCamera(drone);
+			return true;
+		case R.id.menu_epm_grab:
+			MavLinkROI.empCommand(drone, false);
+			return true;
+		case R.id.menu_epm_release:
+			MavLinkROI.empCommand(drone, true);
+			return true;
 		case android.R.id.home:
 			NavUtils.navigateUpFromSameTask(this);
 			return true;
-
 		default:
 			return super.onOptionsItemSelected(item);
 		}

Android/src/org/droidplanner/android/dialogs/openfile/OpenFileDialog.java

@@ -59,8 +59,9 @@ private static class OpenFileAsyncTask extends AsyncTask<String, Void, Boolean>
         public OpenFileAsyncTask(OpenFileDialog dialog){
             containerRef = new WeakReference<OpenFileDialog>(dialog);
             progressDialog = new ProgressDialog(dialog.context);
+            progressDialog.setTitle("Processing...");
+            progressDialog.setMessage("Please wait.");
             progressDialog.setIndeterminate(true);
-            progressDialog.setProgressStyle(ProgressDialog.STYLE_HORIZONTAL);
         }
 
         @Override

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

@@ -335,7 +335,7 @@ private void updateFlightModeButtons() {
                 break;
 
             case ROTOR_GUIDED:
-                if (drone.getGuidedPoint().isIdle() && !followMe.isEnabled()) {
+                if (drone.getGuidedPoint().isInitialized() && !followMe.isEnabled()) {
                     pauseBtn.setActivated(true);
                 }
                 break;

Android/src/org/droidplanner/android/proxy/mission/item/fragments/MissionDetailFragment.java

@@ -104,6 +104,12 @@ public static MissionDetailFragment newInstance(MissionItemType itemType) {
 		case CAMERA_TRIGGER:
 			fragment = new MissionCameraTriggerFragment();
 			break;
+		case EPM_GRIPPER:
+			fragment = new MissionEpmGrabberFragment();
+			break;
+		case SET_SERVO:
+			fragment = new SetServoFragment();
+			break;
 		default:
 			fragment = null;
 			break;