7.2.0

GroundSdk.podspec

@@ -1,17 +1,17 @@
 
 Pod::Spec.new do |s|
     s.name                  = "GroundSdk"
-    s.version               = "7.1.0"
+    s.version               = "7.2.0"
     s.summary               = "Parrot Drone SDK"
     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_groundsdk.git', :tag => "7.1.0" }
+    s.source                = { :git => 'https://github.com/Parrot-Developers/pod_groundsdk.git', :tag => "7.2.0" }
     s.platform              = :ios
     s.ios.deployment_target = '12.0'
     s.source_files          = 'GroundSdk/**/*.{swift,h,m}'
     s.resources             = 'GroundSdk/**/*.{vsh,fsh,txt,png}'
-    s.dependency            'SdkCore', '7.1.0'
+    s.dependency            'SdkCore', '7.2.0'
     s.public_header_files   = ["GroundSdk/GroundSdk.h"]
     s.swift_version         = '5'
     s.pod_target_xcconfig   = {'SWIFT_VERSION' => '5'}

GroundSdk/Device/Instrument/Alarms.swift

@@ -162,6 +162,11 @@ public class Alarm: NSObject {
         /// direction.
         case obstacleAvoidanceBlindMotionDirection
 
+        /// Obstacle avoidance is frozen.
+        /// The drone does not respond to PCMD.
+        /// Obstacle avoidance mode needs to be set to disabled for the drone to move again.
+        case obstacleAvoidanceFreeze
+
         /// Drone inclination is to high to fly safely.
         case inclinationTooHigh
 
@@ -171,6 +176,12 @@ public class Alarm: NSObject {
         /// Vertical geofence reached.
         case verticalGeofenceReached
 
+        /// Free fall detected.
+        case freeFallDetected
+
+        /// Stereo camera is decalibrated.
+        case stereoCameraDecalibrated
+
         /// Debug description.
         public var description: String {
             switch self {
@@ -208,6 +219,9 @@ public class Alarm: NSObject {
             case .inclinationTooHigh:                            return "inclinationTooHigh"
             case .horizontalGeofenceReached:                     return "horizontalGeofenceReached"
             case .verticalGeofenceReached:                       return "verticalGeofenceReached"
+            case .obstacleAvoidanceFreeze:                       return "obstacleAvoidanceFreeze"
+            case .freeFallDetected:                              return "freeFallDetected"
+            case .stereoCameraDecalibrated:                      return "stereoCameraDecalibrated"
             }
         }
 
@@ -222,7 +236,8 @@ public class Alarm: NSObject {
             .obstacleAvoidanceDisabledTooDark, .obstacleAvoidanceDisabledEstimationUnreliable,
             .obstacleAvoidanceDisabledCalibrationFailure, .obstacleAvoidanceStrongWind, .obstacleAvoidancePoorGps,
             .obstacleAvoidanceComputationalError, .obstacleAvoidanceBlindMotionDirection,
-            .inclinationTooHigh, .horizontalGeofenceReached, .verticalGeofenceReached]
+            .inclinationTooHigh, .horizontalGeofenceReached, .verticalGeofenceReached,
+            .obstacleAvoidanceFreeze, .freeFallDetected, .stereoCameraDecalibrated]
     }
 
     /// Alarm level.
@@ -258,6 +273,11 @@ public class Alarm: NSObject {
     /// Level of the alarm.
     public internal(set) var level: Level
 
+    /// Delay related to this alarm.
+    /// Used only by Obstacle avoidance.
+    /// This delay indicates the time after which the obstacle avoidance is deactivated.
+    public internal(set) var timer: TimeInterval?
+
     /// Constructor.
     ///
     /// - Parameters:

GroundSdk/GroundSdkConfig.swift

@@ -338,7 +338,7 @@ public class GroundSdkConfig: NSObject {
         }
     }
 
-    /// Maximum memroy size used by cellular log messages, in kilobytes.
+    /// Maximum memory size used by cellular log messages, in kilobytes.
     public var cellularCellularLogsKb: UInt? {
         willSet(newValue) {
             checkLocked()

GroundSdk/Internal/Device/Instrument/AlarmsCore.swift

@@ -74,6 +74,26 @@ extension AlarmsCore {
         let alarm = getAlarm(kind: kind)
         if alarm.level != level {
             alarm.level = level
+            if alarm.level == .off {
+                alarm.timer = nil
+            }
+            markChanged()
+        }
+
+        return self
+    }
+
+    /// Changes the timer of a given alarm.
+    ///
+    /// - Parameters:
+    ///    - timer: the timer of the alarm
+    ///    - forAlarm: kind of the alarm
+    /// - Returns: self to allow call chaining
+    /// - Note: Changes are not notified until notifyUpdated() is called.
+    @discardableResult public func update(timer: TimeInterval, forAlarm kind: Alarm.Kind) -> AlarmsCore {
+        let alarm = getAlarm(kind: kind)
+        if alarm.timer != timer {
+            alarm.timer = timer
             markChanged()
         }
 

GroundSdk/Device/Peripheral/FlightCameraRecorder.swift → GroundSdk/Internal/Device/Peripheral/FlightCameraRecorder.swift

@@ -29,57 +29,13 @@
 
 import Foundation
 
-/// Flight camera recording setting.
-public protocol FlightCameraRecorderSetting: AnyObject {
+/// Setting to change the flight camera recording pipelines configuration.
+public protocol FlightCameraRecorderPipelinesSetting: AnyObject {
     /// Tells if setting value has been changed and is waiting for change confirmation.
     var updating: Bool { get }
 
-    /// Supported modes.
-    var supportedValues: Set<FlightCameraRecorderPipeline> { get }
-
-    /// Flight camera recorder pipelines.
-    var value: Set<FlightCameraRecorderPipeline> { get set }
-}
-
-/// Type of pipeline.
-public enum FlightCameraRecorderPipeline: Int, RawRepresentable, Hashable, CaseIterable, CustomStringConvertible {
-    /// Drone left stereo camera pipeline.
-    case fstcamLeftTimelapse
-    /// Drone right stereo camera pipeline.
-    case fstcamRightTimelapse
-    /// Drone front camera pipeline.
-    case fcamTimelapse
-    /// Drone left stereo camera last frames pipeline.
-    case fstcamLeftEmergency
-    /// Drone right stereo camera last frames pipeline.
-    case fstcamRightEmergency
-    /// Drone front camera last frames pipeline.
-    case fcamEmergency
-    /// Drone front camera follow me pipeline.
-    case fcamFollowme
-    /// Drone vertical camera precise home pipeline.
-    case vcamPrecisehome
-    /// Drone left stereo camera obstacle avoidance pipeline.
-    case fstcamLeftObstacleavoidance
-    /// Drone right stereo camera obstacle avoidance pipeline.
-    case fstcamRightObstacleavoidance
-    /// Drone vertical camera precise hovering pipeline.
-    case vcamPrecisehovering
-    /// Drone left stereo camera love calibration pipeline.
-    case fstcamLeftCalibration
-    /// Drone right stereo camera love calibration pipeline.
-    case fstcamRightCalibration
-    /// Drone right stereo camera precise hovering pipeline.
-    case fstcamRightPrecisehovering
-    /// Drone left stereo camera specific events pipeline.
-    case fstcamLeftEvent
-    /// Drone right stereo camera specific events pipeline.
-    case fstcamRightEvent
-    /// Drone front camera specific events pipeline.
-    case fcamEvent
-
-    /// Debug description.
-    public var description: String { "(\rawValue)" }
+    /// Flight camera recorder pipelines configuration identifier.
+    var id: UInt64 { get set }
 }
 
 /// Flight camera recorder peripheral interface for anafi2 drones.
@@ -92,10 +48,10 @@ public enum FlightCameraRecorderPipeline: Int, RawRepresentable, Hashable, CaseI
 /// device.getPeripheral(Peripherals.flightCameraRecorder)
 /// ```
 public protocol FlightCameraRecorder: Peripheral {
-    /// Gives access to the active pipelines setting.
-    /// This setting allows to select which recording pipelines are active for flight camera recording.
+    /// Gives access to the flight camera recording pipelines configuration setting.
+    /// This setting allows to select current flight camera recording pipelines configuration.
     /// - Note: This setting remains available when the drone is not connected.
-    var activePipelines: FlightCameraRecorderSetting { get }
+    var pipelines: FlightCameraRecorderPipelinesSetting { get }
 }
 
 /// :nodoc:

GroundSdk/Internal/Device/Peripheral/FlightCameraRecorderCore.swift

@@ -31,15 +31,15 @@ import Foundation
 
 /// Flight camera recorder backend part.
 public protocol FlightCameraRecorderBackend: AnyObject {
-    /// Sets active pipelines.
+    /// Sets flight camera recorder pipeline configuration identifier.
     ///
-    /// - Parameter activePipelines: the new set of active pipelines
+    /// - Parameter pipelineConfigId: the new flight camera recorder pipeline configuration identifier.
     /// - Returns: true if the command has been sent, false if not connected and the value has been changed immediately
-    func set(activePipelines: Set<FlightCameraRecorderPipeline>) -> Bool
+    func set(pipelineConfigId: UInt64) -> Bool
 }
 
-/// Core implementation of FlightCameraRecorderSetting.
-class FlightCameraRecorderSettingCore: FlightCameraRecorderSetting, CustomDebugStringConvertible {
+/// Core implementation of FlightCameraRecorderPipelinesSetting.
+class FlightCameraRecorderPipelinesSettingCore: FlightCameraRecorderPipelinesSetting, CustomDebugStringConvertible {
     /// Delegate called when the setting value is changed by setting properties
     private unowned let didChangeDelegate: SettingChangeDelegate
 
@@ -51,24 +51,20 @@ class FlightCameraRecorderSettingCore: FlightCameraRecorderSetting, CustomDebugS
     /// Tells if the setting value has been changed and is waiting for change confirmation
     var updating: Bool { return timeout.isScheduled }
 
-    /// Supported pipeline values
-    private(set) var supportedValues: Set<FlightCameraRecorderPipeline> = []
-
-    /// Flight camera recorder value.
-    var value: Set<FlightCameraRecorderPipeline> {
+    /// Flight camera recorder pipeline configuration identifier.
+    var id: UInt64 {
         get {
-            return _value
+            return _id
         }
 
         set {
-            if _value != newValue {
-                let newSupportedValue = supportedValues.intersection(newValue)
-                if backend(newSupportedValue) {
-                    let oldValue = _value
+            if _id != newValue {
+                if backend(newValue) {
+                    let oldValue = _id
                     // value sent to the backend, update setting value and mark it updating
-                    _value = newSupportedValue
+                    _id = newValue
                     timeout.schedule { [weak self] in
-                        if let `self` = self, self.update(activePipelines: oldValue) {
+                        if let `self` = self, self.update(newId: oldValue) {
                             self.didChangeDelegate.userDidChangeSetting()
                         }
                     }
@@ -78,41 +74,29 @@ class FlightCameraRecorderSettingCore: FlightCameraRecorderSetting, CustomDebugS
         }
     }
 
-    /// Flight camera recorder set of pipelines.
-    private var _value: Set<FlightCameraRecorderPipeline> = []
+    /// Flight camera recorder pipeline configuration identifier.
+    private var _id = UInt64(0)
 
     /// Closure to call to change the value
-    private let backend: ((Set<FlightCameraRecorderPipeline>) -> Bool)
+    private let backend: ((UInt64) -> Bool)
 
     /// Constructor
     ///
     /// - Parameters:
     ///   - didChangeDelegate: delegate called when the setting value is changed by setting properties
     ///   - backend: closure to call to change the setting value
-    init(didChangeDelegate: SettingChangeDelegate, backend: @escaping (Set<FlightCameraRecorderPipeline>) -> Bool) {
+    init(didChangeDelegate: SettingChangeDelegate, backend: @escaping (UInt64) -> Bool) {
         self.didChangeDelegate = didChangeDelegate
         self.backend = backend
     }
 
-    /// Changes flight camera recorder supported pipeline values.
-    ///
-    /// - Parameter supportedValues: new set of supported pipelines
-    /// - Returns: true if the setting has been changed, false otherwise
-    func update(supportedValues newSupportedValues: Set<FlightCameraRecorderPipeline>) -> Bool {
-        if supportedValues != newSupportedValues {
-            supportedValues = newSupportedValues
-            return true
-        }
-        return false
-    }
-
-    /// Changes flight camera recorder pipelines.
+    /// Changes flight camera recorder pipelines configuration identifier.
     ///
     /// - Parameter activePipelines: new set of active pipelines
     /// - Returns: true if the setting has been changed, false otherwise
-    func update(activePipelines newActivePipelines: Set<FlightCameraRecorderPipeline>) -> Bool {
-        if updating || _value != newActivePipelines {
-            _value = newActivePipelines
+    func update(newId: UInt64) -> Bool {
+        if updating || _id != newId {
+            _id = newId
             timeout.cancel()
             return true
         }
@@ -131,7 +115,7 @@ class FlightCameraRecorderSettingCore: FlightCameraRecorderSetting, CustomDebugS
 
     /// Debug description.
     var debugDescription: String {
-        return "\(value.description) [updating: \(updating)]"
+        return "\(id) [updating: \(updating)]"
     }
 
 }
@@ -146,12 +130,12 @@ public class FlightCameraRecorderCore: PeripheralCore, FlightCameraRecorder {
     /// Tells if the setting value has been changed and is waiting for change confirmation
     var updating: Bool { return timeout.isScheduled }
 
-    public var activePipelines: FlightCameraRecorderSetting {
-        return _activePipelines
+    public var pipelines: FlightCameraRecorderPipelinesSetting {
+        return _pipelines
     }
 
     /// Internal storage for active pipelines setting.
-    private var _activePipelines: FlightCameraRecorderSettingCore!
+    private var _pipelines: FlightCameraRecorderPipelinesSettingCore!
 
     /// Implementation backend
     private unowned let backend: FlightCameraRecorderBackend
@@ -164,35 +148,21 @@ public class FlightCameraRecorderCore: PeripheralCore, FlightCameraRecorder {
     public init(store: ComponentStoreCore, backend: FlightCameraRecorderBackend) {
         self.backend = backend
         super.init(desc: Peripherals.flightCameraRecorder, store: store)
-        _activePipelines = FlightCameraRecorderSettingCore(
-        didChangeDelegate: self) { [unowned self] newActivePipelines in
-            return self.backend.set(activePipelines: newActivePipelines)
+        _pipelines = FlightCameraRecorderPipelinesSettingCore(
+        didChangeDelegate: self) { [unowned self] id in
+            return self.backend.set(pipelineConfigId: id)
         }
     }
 }
 
 extension FlightCameraRecorderCore {
 
-    /// Called by the backend, set the supported pipeline values
-    ///
-    /// - Parameter supportedValues: new supported pipeline values
-    /// - Returns: self to allow call chaining
-    /// - Note: Changes are not notified until notifyUpdated() is called.
-    @discardableResult public func update(supportedValues
-        newSupportedValues: Set<FlightCameraRecorderPipeline>) -> FlightCameraRecorderCore {
-        if _activePipelines.update(supportedValues: newSupportedValues) {
-            markChanged()
-        }
-        return self
-    }
-
     /// Called by the backend, change the setting data
     ///
-    /// - Parameter activePipelines: new set of active pipelines
+    /// - Parameter pipelineConfigId: new pipeline configuration identifier
     /// - Returns: self to allow call chaining
-    @discardableResult public func update(activePipelines
-        newActivePipelines: Set<FlightCameraRecorderPipeline>) -> FlightCameraRecorderCore {
-        if _activePipelines.update(activePipelines: newActivePipelines) {
+    @discardableResult public func update(pipelineConfigId: UInt64) -> FlightCameraRecorderCore {
+        if _pipelines.update(newId: pipelineConfigId) {
             markChanged()
         }
         return self
@@ -203,7 +173,7 @@ extension FlightCameraRecorderCore {
     /// - Returns: self to allow call chaining
     /// - note: changes are not notified until notifyUpdated() is called
     @discardableResult public func cancelSettingsRollback() -> FlightCameraRecorderCore {
-        _activePipelines.cancelRollback { markChanged() }
+        _pipelines.cancelRollback { markChanged() }
         return self
     }
 }