Merge pull request #445 from billbonney/mavlinkdrone-fix-crash

MavLinkDrone: Fixes #443 and makes sysid/compid use the expected shor…

Author: m4gr3d

ClientLib/build.gradle

@@ -4,8 +4,8 @@ apply plugin: 'com.getkeepsafe.dexcount'
 ext {
     VERSION_MAJOR = 3
     VERSION_MINOR = 0
-    VERSION_PATCH = 1
-    VERSION_SUFFIX = "release"
+    VERSION_PATCH = 2
+    VERSION_SUFFIX = "beta1"
 
     PUBLISH_ARTIFACT_ID = 'dronekit-android'
     PUBLISH_VERSION = generateVersionName("", VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH, VERSION_SUFFIX)

ClientLib/src/main/java/org/droidplanner/services/android/impl/core/MAVLink/MavLinkStreamRates.java

@@ -7,7 +7,7 @@
 
 public class MavLinkStreamRates {
 
-	public static void setupStreamRates(DataLinkProvider MAVClient, byte sysid, byte compid,
+	public static void setupStreamRates(DataLinkProvider MAVClient, short sysid, short compid,
 			int extendedStatus, int extra1, int extra2, int extra3, int position, int rcChannels,
 			int rawSensors, int rawControler) {
 		requestMavlinkDataStream(MAVClient, sysid, compid, MAV_DATA_STREAM.MAV_DATA_STREAM_EXTENDED_STATUS,
@@ -22,8 +22,8 @@ public static void setupStreamRates(DataLinkProvider MAVClient, byte sysid, byte
 		requestMavlinkDataStream(MAVClient, sysid, compid, MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, rcChannels);
 	}
 
-	private static void requestMavlinkDataStream(DataLinkProvider mAVClient, byte sysid,
-			byte compid, int stream_id, int rate) {
+	private static void requestMavlinkDataStream(DataLinkProvider mAVClient, short sysid,
+			short compid, int stream_id, int rate) {
 		msg_request_data_stream msg = new msg_request_data_stream();
 		msg.target_system = sysid;
 		msg.target_component = compid;

ClientLib/src/main/java/org/droidplanner/services/android/impl/core/drone/DroneVariable.java

@@ -9,6 +9,10 @@
 import timber.log.Timber;
 
 public class DroneVariable<T extends MavLinkDrone> {
+
+	static int UNSIGNED_BYTE_MIN_VALUE = 0;
+	static int UNSIGNED_BYTE_MAX_VALUE = 255;
+
 	protected T myDrone;
 
 	public DroneVariable(T myDrone) {
@@ -75,4 +79,13 @@ public void run() {
 			});
 		}
 	}
+
+	public static short validateToUnsignedByteRange(int id){
+		if(id < UNSIGNED_BYTE_MIN_VALUE || id > UNSIGNED_BYTE_MAX_VALUE){
+			throw new IllegalArgumentException("Value is outside of the range of an sysid/compid byte: " + id);
+		}
+		return (short)id;
+	}
+
+
 }

ClientLib/src/main/java/org/droidplanner/services/android/impl/core/drone/autopilot/MavLinkDrone.java

@@ -27,9 +27,9 @@ public interface MavLinkDrone extends Drone {
 
     void onMavLinkMessageReceived(MAVLinkMessage message);
 
-    public byte getSysid();
+    public short getSysid();
 
-    public byte getCompid();
+    public short getCompid();
 
     public State getState();
 

ClientLib/src/main/java/org/droidplanner/services/android/impl/core/drone/autopilot/generic/GenericMavLinkDrone.java

@@ -237,12 +237,13 @@ public boolean isConnectionAlive() {
     }
 
     @Override
-    public byte getSysid() {
+    public short getSysid() {
+
         return heartbeat.getSysid();
     }
 
     @Override
-    public byte getCompid() {
+    public short getCompid() {
         return heartbeat.getCompid();
     }
 

ClientLib/src/main/java/org/droidplanner/services/android/impl/core/drone/variables/HeartBeat.java

@@ -24,8 +24,8 @@ public class HeartBeat extends DroneVariable implements OnDroneListener<MavLinkD
     protected static final int NORMAL_HEARTBEAT = 2;
 
     protected int heartbeatState = FIRST_HEARTBEAT;
-    private byte sysid = 1;
-    private byte compid = 1;
+    private short sysid = 1;
+    private short compid = 1;
 
     /**
      * Stores the version of the mavlink protocol.
@@ -46,11 +46,11 @@ public HeartBeat(MavLinkDrone myDrone, Handler handler) {
         myDrone.addDroneListener(this);
     }
 
-    public byte getSysid() {
+    public short getSysid() {
         return sysid;
     }
 
-    public byte getCompid() {
+    public short getCompid() {
         return compid;
     }
 
@@ -64,8 +64,8 @@ public short getMavlinkVersion() {
     public void onHeartbeat(MAVLinkMessage msg) {
         msg_heartbeat heartBeatMsg = msg instanceof msg_heartbeat ? (msg_heartbeat) msg : null;
         if(heartBeatMsg != null){
-            sysid = (byte) msg.sysid;
-            compid = (byte) msg.compid;
+            sysid  = validateToUnsignedByteRange(msg.sysid);
+            compid = validateToUnsignedByteRange(msg.compid);
             mMavlinkVersion = heartBeatMsg.mavlink_version;
         }