7.0.0

ArsdkEngine.podspec

@@ -1,17 +1,18 @@
 
 Pod::Spec.new do |s|
     s.name                  = "ArsdkEngine"
-    s.version               = "1.8.0"
+    s.version               = "7.0.0"
     s.summary               = "Parrot Drone SDK, arsdk based engine"
     s.homepage              = "https://developer.parrot.com"
     s.license               = "{ :type => 'BSD 3-Clause License', :file => 'LICENSE' }"
     s.author                = 'Parrot Drone SAS'
-    s.source                = { :git => 'https://github.com/Parrot-Developers/pod_arsdkengine.git', :tag => "1.8.0" }
+    s.source                = { :git => 'https://github.com/Parrot-Developers/pod_arsdkengine.git', :tag => "7.0.0" }
     s.platform              = :ios
-    s.ios.deployment_target = '10.0'
+    s.ios.deployment_target = '12.0'
     s.source_files          = 'ArsdkEngine/**/*'
-    s.dependency            'GroundSdk', '1.8.0'
-    s.swift_version         = '4.2'
-    s.pod_target_xcconfig   = {'SWIFT_VERSION' => '4.2'}
+    s.dependency            'GroundSdk', '7.0.0'
+    s.dependency            'SwiftProtobuf', '1.13.0'
+    s.swift_version         = '5'
+    s.pod_target_xcconfig   = {'SWIFT_VERSION' => '5'}
     s.xcconfig              = { 'ONLY_ACTIVE_ARCH' => 'YES' }
 end

ArsdkEngine/Arsdk.swift

@@ -138,6 +138,8 @@ private class ArsdkDeviceProvider: DeviceProvider {
         case .mux:
             return ArsdkDeviceProvider.usb
         case .unknown:
+            fallthrough
+        @unknown default:
             return nil
         }
     }
@@ -262,14 +264,16 @@ class ArsdkDeviceCtrlBackend: NSObject, DeviceControllerBackend {
             deviceHandle, deviceType: model.internalId, port: UInt16(port), completion: completion)
     }
 
-    func destroyTcpProxy(block: @escaping () -> Void) {
-        arsdk.arsdkCore.dispatch_sync {
-            block()
-        }
+    func createVideoSourceLive(cameraType: ArsdkSourceLiveCameraType) -> ArsdkSourceLive {
+        return arsdk.arsdkCore.createVideoSourceLive(deviceHandle, cameraType: cameraType)
+    }
+
+    func createVideoSourceMedia(url: String, trackName: String?) -> ArsdkSourceMedia {
+        return arsdk.arsdkCore.createVideoSourceMedia(deviceHandle, url: url, trackName: trackName)
     }
 
-    func createVideoStream(url: String, track: String, listener: SdkCoreStreamListener) -> ArsdkStream {
-        return arsdk.arsdkCore.createVideoStream(deviceHandle, url: url, track: track, listener: listener)
+    func createVideoStream(listener: ArsdkStreamListener) -> ArsdkStream {
+        return arsdk.arsdkCore.createVideoStream(listener)
     }
 
     func browseMedia(model: DeviceModel, completion: @escaping ArsdkMediaListCompletion) -> ArsdkRequest {
@@ -363,6 +367,8 @@ extension ArsdkDeviceCtrlBackend: ArsdkCoreDeviceListener {
             cause = .failure
         case .reject:
             cause = .refused
+        @unknown default:
+            cause = .failure
         }
         deviceController.linkDidCancelConnect(cause: cause, removing: removing)
         if removing {

ArsdkEngine/ArsdkEngine.swift

@@ -60,6 +60,9 @@ public class ArsdkEngine: EngineBaseCore {
         arsdk = Arsdk(engine: self)
         persistentStore = createPersistentStore()
         AppDefaults.importTo(persistentStore: persistentStore)
+
+        // Publish utilities by the engine initiative.
+        publishUtility(FileReplayBackendProviderCore())
     }
 
     public override func startEngine() {
@@ -125,11 +128,6 @@ public class ArsdkEngine: EngineBaseCore {
             backendController.append(ArsdkMuxEaBackendController(
                 supportedDeviceTypes: Set<NSNumber>(usbModels.map { NSNumber(value: $0.internalId) })))
         }
-        if GroundSdkConfig.sharedInstance.enableUsbDebug {
-            let usbModels = DeviceModel.supportingTechnology(models: supportedDevices, technology: .usb)
-            backendController.append(ArsdkMuxIpBackendController(
-                supportedDeviceTypes: Set<NSNumber>(usbModels.map { NSNumber(value: $0.internalId) })))
-        }
         return backendController
     }
 
@@ -170,12 +168,12 @@ public class ArsdkEngine: EngineBaseCore {
         switch model {
         case .drone(let droneModel):
             switch droneModel {
-            case .anafi4k, .anafiThermal, .anafiUa, .anafiUsa:
+            case .anafi4k, .anafiThermal, .anafi2, .anafiUa, .anafiUsa:
                 return AnafiFamilyDroneController(engine: self, deviceUid: uid, name: name, model: droneModel)
             }
         case .rc(let rcModel):
             switch rcModel {
-            case .skyCtrl3, .skyCtrlUA:
+            case .skyCtrl3, .skyCtrl4, .skyCtrlUA:
                 return SkyControllerFamilyController(engine: self, deviceUid: uid, model: rcModel, name: name)
             }
         }

ArsdkEngine/BlackBox/BlackBoxContext.swift

@@ -43,15 +43,21 @@ class BlackBoxContext {
     /// Remote control session, nil if it has not been opened
     private var rcSession: BlackBoxRcSession?
 
+    /// Black box buffer capacity in seconds
+    private var blackBoxBufferCapacity: Int
+
     /// Constructor
     ///
     /// - Parameters:
+    ///   - blackBoxBufferCapacity: black box buffer capacity in seconds
     ///   - blackBoxReadyCb: block that will be called when the black box is ready to be archived
     ///   - blackBox: the black box data to archive
     ///   - closeCb: block that will be called when the context is about to be closed
-    init(blackBoxReadyCb: @escaping (_ blackBox: BlackBoxData) -> Void, closeCb: @escaping () -> Void) {
+    init(blackBoxBufferCapacity: Int,
+         blackBoxReadyCb: @escaping (_ blackBox: BlackBoxData) -> Void, closeCb: @escaping () -> Void) {
         self.blackBoxReadyCb = blackBoxReadyCb
         self.closeCb = closeCb
+        self.blackBoxBufferCapacity = blackBoxBufferCapacity
     }
 
     /// Creates a drone session
@@ -61,7 +67,7 @@ class BlackBoxContext {
     func createDroneSession(drone: DroneCore) -> BlackBoxDroneSession {
         precondition(droneSession == nil, "Drone session is already existing.")
 
-        droneSession = BlackBoxDroneSession(drone: drone) {
+        droneSession = BlackBoxDroneSession(blackBoxBufferCapacity: blackBoxBufferCapacity, drone: drone) {
             if let rcSession = self.rcSession {
                 self.droneSession!.setRemoteControlData(rcSession.rcData)
             }

ArsdkEngine/BlackBox/BlackBoxData.swift

@@ -47,16 +47,20 @@ struct BlackBoxData: Encodable {
     private var events: [BlackBoxEvent] = []
 
     /// Flight data sample buffer (limited to the last 1 minute datas)
-    private var flightDatas = BlackBoxCircularArray<BlackBoxFlightData>(size: 5 * 60)
+    private var flightDatas: BlackBoxCircularArray<BlackBoxFlightData>
 
     /// Environment data sample buffer (limited to the last 1 minute datas)
-    private var environmentDatas = BlackBoxCircularArray<BlackBoxEnvironmentData>(size: 60)
+    private var environmentDatas: BlackBoxCircularArray<BlackBoxEnvironmentData>
 
     /// Constructor
     ///
-    /// - Parameter drone: drone that this black box is recorded for
-    init(drone: DroneCore) {
+    /// - Parameters:
+    ///   - blackBoxBufferCapacity: buffer capacity for blackbox in seconds
+    ///   - drone: drone that this black box is recorded for
+    init(blackBoxBufferCapacity: Int, drone: DroneCore) {
         header = BlackBoxHeaderData(drone: drone)
+        flightDatas = BlackBoxCircularArray<BlackBoxFlightData>(size: 5 * blackBoxBufferCapacity)
+        environmentDatas = BlackBoxCircularArray<BlackBoxEnvironmentData>(size: blackBoxBufferCapacity)
     }
 
     /// Records an event in the blackbox

ArsdkEngine/BlackBox/BlackBoxDroneSession.swift

@@ -60,10 +60,11 @@ class BlackBoxDroneSession: NSObject, BlackBoxSession {
     /// Constructor
     ///
     /// - Parameters:
+    ///   - blackBoxBufferCapacity: buffer capacity for blackbox in seconds
     ///   - drone: drone to record a black box from
     ///   - didClose: block that will be called when the session is about to close
-    init(drone: DroneCore, didClose: @escaping () -> Void) {
-        blackBox = BlackBoxData(drone: drone)
+    init(blackBoxBufferCapacity: Int, drone: DroneCore, didClose: @escaping () -> Void) {
+        blackBox = BlackBoxData(blackBoxBufferCapacity: blackBoxBufferCapacity, drone: drone)
         self.didClose = didClose
 
         super.init()
@@ -151,6 +152,8 @@ class BlackBoxDroneSession: NSObject, BlackBoxSession {
             ArsdkFeatureCommonSettingsstate.decode(command, callback: self)
         case kArsdkFeatureFollowMeUid:
             ArsdkFeatureFollowMe.decode(command, callback: self)
+        case kArsdkFeatureMotorsUid:
+            ArsdkFeatureMotors.decode(command, callback: self)
         default:
             break
         }
@@ -322,3 +325,9 @@ extension BlackBoxDroneSession: ArsdkFeatureFollowMeCallback {
         blackBox.add(event: BlackBoxEvent.followMeModeChange(mode: mode.rawValue))
     }
 }
+
+extension BlackBoxDroneSession: ArsdkFeatureMotorsCallback {
+    func onThreeMotorsFlightStarted(id: ArsdkFeatureMotorsMotorId, reason: ArsdkFeatureMotorsThreeMotorsReason) {
+        blackBox.add(event: BlackBoxEvent.threeMotorsFlight(reason.rawValue))
+    }
+}

ArsdkEngine/BlackBox/BlackBoxRcSession.swift

@@ -31,7 +31,7 @@ import Foundation
 import GroundSdk
 
 /// Remote control session delegate
-protocol BlackBoxRcSessionDelegate: class {
+protocol BlackBoxRcSessionDelegate: AnyObject {
     /// Called when a button has been triggered
     ///
     /// - Parameter action: the button action

ArsdkEngine/BlackBox/BlackBoxRecorder.swift

@@ -39,13 +39,17 @@ class BlackBoxRecorder {
     /// Live black box contexts, by master uid
     private var sessions: [String: BlackBoxContext] = [:]
 
+    /// Blackbox circular buffers capacity, in seconds.
+    private var blackBoxBufferCapacity: Int
+
     /// Constructor
     ///
     /// - Parameters:
     ///   - engine: arsdk engine
     ///   - blackBoxStorage: black box storage utility
     init(engine: ArsdkEngine, blackBoxStorage: BlackBoxStorageCore) {
         self.blackBoxStorage = blackBoxStorage
+        self.blackBoxBufferCapacity = GroundSdkConfig.sharedInstance.blackboxBufferCapacity ?? 60
     }
 
     /// Opens a session to record drone black box data
@@ -82,7 +86,7 @@ class BlackBoxRecorder {
     private func obtainContext(masterUid: String) -> BlackBoxContext {
         var session = sessions[masterUid]
         if session == nil {
-            session = BlackBoxContext(blackBoxReadyCb: { blackBox in
+            session = BlackBoxContext(blackBoxBufferCapacity: blackBoxBufferCapacity, blackBoxReadyCb: { blackBox in
                 self.blackBoxStorage.notifyBlackBoxDataReady(blackBoxData: blackBox)
             }, closeCb: {
                 self.sessions[masterUid] = session

ArsdkEngine/BlackBox/Data/BlackBoxEvent.swift

@@ -81,6 +81,14 @@ struct BlackBoxEvent: Encodable {
         return BlackBoxEvent(type: "product_motor_error", value: error)
     }
 
+    /// Obtains a three motors flight event
+    ///
+    /// - Parameter reason: three motors flight reason
+    /// - Returns: three motors flight event
+    static func threeMotorsFlight(_ reason: Int) -> BlackBoxEvent {
+        return BlackBoxEvent(type: "product_three_motors_flight", value: reason)
+    }
+
     /// Obtains a battery alert event
     ///
     /// - Parameters:

ArsdkEngine/DeviceControllers/AnafiFamilyDroneController.swift

@@ -30,7 +30,7 @@
 import Foundation
 import GroundSdk
 
-/// Anafi 4k specific drone controller
+/// Anafi specific drone controller
 class AnafiFamilyDroneController: DroneController {
 
     /// Shared last known state of the tracking function at the drone level
@@ -62,12 +62,18 @@ class AnafiFamilyDroneController: DroneController {
         componentControllers.append(AnafiPoiPilotingItf(
             activationController: pilotingItfActivationController))
 
+        componentControllers.append(AutoLookAtPilotingItf(
+            activationController: pilotingItfActivationController))
+        componentControllers.append(AutoFollowPilotingItf(
+            activationController: pilotingItfActivationController))
         componentControllers.append(FollowFeatureLookAtPilotingItf(
             activationController: pilotingItfActivationController, trackingSharing: trackingSharing))
         componentControllers.append(FollowFeatureFollowMePilotingItf(
             activationController: pilotingItfActivationController, trackingSharing: trackingSharing))
+
         // Not activable piloting Itfs
-        componentControllers.append(AnimFeaturePilotingItfController(droneController: self))
+        componentControllers.append(AnimFeaturePilotingItfController(
+            activationController: pilotingItfActivationController))
         // Instruments
         componentControllers.append(AnafiFlyingIndicators(deviceController: self))
         componentControllers.append(AnafiAlarms(deviceController: self))
@@ -80,13 +86,27 @@ class AnafiFamilyDroneController: DroneController {
         componentControllers.append(CommonBatteryInfo(deviceController: self))
         componentControllers.append(AnafiFlightMeter(deviceController: self))
         componentControllers.append(CameraFeatureExposureValues(deviceController: self))
+        componentControllers.append(AnafiFlightInfo(deviceController: self))
+        if model == .anafi2 {
+            componentControllers.append(Anafi2CellularLogs(deviceController: self))
+        }
         // Peripherals
         componentControllers.append(AnafiMagnetometer(deviceController: self))
-        componentControllers.append(StreamServerController(deviceController: self))
+        let streamServer = (model == .anafi4k || model == .anafiThermal || model == .anafiUa || model == .anafiUsa) ?
+            StreamServerMonoController(deviceController: self) :
+            StreamServerMultiController(deviceController: self)
+        componentControllers.append(streamServer)
         componentControllers.append(CameraFeatureCameraRouter(deviceController: self))
-        componentControllers.append(CameraFeatureAntiflicker(deviceController: self))
+        if model == .anafi2 {
+            componentControllers.append(Anafi2Antiflicker(deviceController: self))
+        } else {
+            componentControllers.append(CameraFeatureAntiflicker(deviceController: self))
+        }
+        componentControllers.append(Camera2Router(deviceController: self))
         componentControllers.append(HttpMediaStore(deviceController: self))
         componentControllers.append(AnafiSystemInfo(deviceController: self))
+
+        componentControllers.append(MissionUpdaterController(deviceController: self))
         if let firmwareStore = engine.utilities.getUtility(Utilities.firmwareStore),
             let firmwareDownloader = engine.utilities.getUtility(Utilities.firmwareDownloader) {
             componentControllers.append(
@@ -103,29 +123,47 @@ class AnafiFamilyDroneController: DroneController {
             componentControllers.append(
                 HttpFlightDataDownloader(deviceController: self, flightDataStorage: flightDataStorage))
         }
-        if let flightLogStorage = engine.utilities.getUtility(Utilities.flightLogStorage) {
+        if let flightLogConverterStorage = engine.utilities.getUtility(Utilities.flightLogConverterStorage) {
             componentControllers.append(
-                HttpFlightLogDownloader(deviceController: self, flightLogStorage: flightLogStorage,
-                                        converter: GutmaLogProducer.create(deviceController: self)))
+                HttpFlightLogDownloader(deviceController: self, flightLogConverterStorage: flightLogConverterStorage))
+        } else if let flightLogStorage =  engine.utilities.getUtility(Utilities.flightLogStorage) {
+            componentControllers.append(
+                HttpFlightLogDownloader(deviceController: self, flightLogStorage: flightLogStorage))
+        }
+        if let flightCameraRecordStorage = engine.utilities.getUtility(Utilities.flightCameraRecordStorage) {
+            componentControllers.append(
+                HttpFlightCameraRecordDownloader(deviceController: self,
+                                        flightCameraRecordStorage: flightCameraRecordStorage))
         }
         componentControllers.append(WifiFeatureWifiAccessPoint(deviceController: self))
-        componentControllers.append(UserStorageRemovableUserStorage(deviceController: self))
+        componentControllers.append(RemovableUserStorageController(deviceController: self))
+        componentControllers.append(InternalUserStorageController(deviceController: self))
         componentControllers.append(AnafiBeeper(deviceController: self))
         componentControllers.append(GimbalFeatureGimbal(deviceController: self))
+        componentControllers.append(GimbalFeatureFrontStereoGimbal(deviceController: self))
         componentControllers.append(TargetTrackerController(deviceController: self))
         componentControllers.append(AnafiGeofence(deviceController: self))
         componentControllers.append(PreciseHomeController(deviceController: self))
         componentControllers.append(ThermalController(deviceController: self))
         componentControllers.append(LedsController(deviceController: self))
         componentControllers.append(PhotoProgressIndicatorController(deviceController: self))
         componentControllers.append(AnafiPilotingControl(deviceController: self))
+        componentControllers.append(OnboardTrackerController(deviceController: self))
         componentControllers.append(BatteryGaugeUpdaterController(deviceController: self))
         componentControllers.append(DriController(deviceController: self))
+        componentControllers.append(AnafiStereoVisionSensor(deviceController: self))
         componentControllers.append(LogControlController(deviceController: self))
-        componentControllers.append(CertificateUploaderController(deviceController: self))
+        componentControllers.append(CellularController(deviceController: self))
+        componentControllers.append(ObstacleAvoidanceController(deviceController: self))
         if GroundSdkConfig.sharedInstance.enableDevToolbox {
             componentControllers.append(AnafiDevToolbox(deviceController: self))
         }
+        componentControllers.append(MissionManagerController(deviceController: self))
+        componentControllers.append(CertificateUploaderController(deviceController: self))
+        componentControllers.append(NetworkController(deviceController: self))
+        componentControllers.append(FlightCameraRecorderController(deviceController: self))
+        componentControllers.append(SecureElementController(deviceController: self))
+        componentControllers.append(AnafiTakeoffChecklist(deviceController: self))
         sendDateAndTime = { [weak self] in
             let dateFormatter = DateFormatter()
             dateFormatter.timeZone = NSTimeZone.system
@@ -136,6 +174,10 @@ class AnafiFamilyDroneController: DroneController {
             dateFormatter.dateFormat = "yyyyMMdd'T'HHmmssZZZ"
             let currentDateStr = dateFormatter.string(from: currentDate)
             self?.sendCommand(ArsdkFeatureCommonCommon.currentDateTimeEncoder(datetime: currentDateStr))
+
+            if let eventLogger = self?.engine.utilities.getUtility(Utilities.eventLogger) {
+                eventLogger.log("EVT:SEND_TIME;time='\(currentDateStr)'")
+            }
         }
     }