Android APP with DroneKit-Android connects to PX4 SITL JMAVSim fails

[seantobe]

Dear all: I am trying to use Dronekit-Android to develop an Android APP that can take off the plane on JMAVSim simulator. However, I cannot even connect the drone. If anybody knows, please reply, thanks. I posted my code as below. When I run the APP and click on the button, it crashes on the socket connection part. Am I using it right?

1. run JMAVSim on ubuntu sucessfully #2. run my APP and press the button to connect package com.o3dr.hellodrone; import android.os.Bundle; import android.os.Handler; import android.support.design.widget.FloatingActionButton; import android.support.design.widget.Snackbar; import android.support.v7.app.ActionBarActivity; import android.support.v7.app.AppCompatActivity; import android.support.v7.widget.Toolbar; import android.view.View; import android.view.Menu; import android.view.MenuItem; import android.widget.Button; import android.widget.Toast; import com.o3dr.android.client.ControlTower; import com.o3dr.android.client.Drone; import com.o3dr.android.client.interfaces.DroneListener; import com.o3dr.android.client.interfaces.TowerListener; import com.o3dr.services.android.lib.drone.attribute.AttributeEvent; import com.o3dr.services.android.lib.drone.connection.ConnectionParameter; import com.o3dr.services.android.lib.drone.connection.ConnectionResult; import com.o3dr.services.android.lib.drone.connection.ConnectionType; import com.o3dr.services.android.lib.drone.property.Type; import java.io.IOException; import java.net.InetSocketAddress; import java.net.ServerSocket; import java.net.Socket; //listen for events sent from the Drone library to APP public class MainActivity extends ActionBarActivity implements DroneListener, TowerListener { ``` @Override public void onDroneEvent(String event, Bundle extras) { switch (event) { case AttributeEvent.STATE_CONNECTED: alertUser("Drone Connected"); updateConnectedButton(this.drone.isConnected()); break; case AttributeEvent.STATE_DISCONNECTED: alertUser("Drone Disconnected"); updateConnectedButton(this.drone.isConnected()); break; default: break; } } ``` /* @Override public void onDroneConnectionFailed(ConnectionResult result) { ``` } ``` */ @Override public void onDroneServiceInterrupted(String errorMsg) { ``` } private ControlTower controlTower; private Drone drone; private int droneType = Type.TYPE_UNKNOWN; //In order to register with the control tower, the drone instance needs a generic Android handler. //Go ahead and add a handler where you declare your instance variables. private final Handler handler = new Handler(); @Override protected void onCreate(Bundle savedInstanceState) { super.onCreate(savedInstanceState); setContentView(R.layout.activity_main); // Initialize the service manager, to manage the communication to the Client library this.controlTower = new ControlTower(getApplicationContext()); this.drone = new Drone(getApplicationContext()); Toast.makeText(getApplicationContext(), "onCreate", Toast.LENGTH_LONG).show(); } @Override public void onStart() { super.onStart(); this.controlTower.connect(this); Toast.makeText(getApplicationContext(), "onStart", Toast.LENGTH_LONG).show(); } @Override public void onStop() { super.onStop(); if (this.drone.isConnected()) { this.drone.disconnect(); updateConnectedButton(false); } this.controlTower.unregisterDrone(this.drone); this.controlTower.disconnect(); Toast.makeText(getApplicationContext(), "onStop", Toast.LENGTH_LONG).show(); } // DroneKit-Android Listener @Override public void onTowerConnected() { this.controlTower.registerDrone(this.drone, this.handler); this.drone.registerDroneListener(this); Toast.makeText(getApplicationContext(), "onTowerConnected", Toast.LENGTH_LONG).show(); } @Override public void onTowerDisconnected() { Toast.makeText(getApplicationContext(), "onTowerDisconnected", Toast.LENGTH_LONG).show(); } //1. If the drone is connected, use this button to disconnect. //2. If the drone isn’t connected, build a set of connection parameters and connect. public void onBtnConnectTap(View view) { if(this.drone.isConnected()) { this.drone.disconnect(); Toast.makeText(getApplicationContext(), "onBtnConnectTap, drone disconnect", Toast.LENGTH_LONG).show(); } else { int timeout = 10000; System.out.printf("Attempting: %s port: %s ....\n", "127.0.0.1", "14550" ); Socket socket = new Socket(); InetSocketAddress endPoint = new InetSocketAddress( "127.0.0.1", Integer.parseInt( "14550" ) ); if ( endPoint.isUnresolved() ) { System.out.println("Failure " + endPoint ); } else try { socket.connect( endPoint , timeout ); System.out.printf("Success: %s \n", endPoint ); } catch( IOException ioe ) { System.out.printf("Failure: %s message: %s - %s \n", endPoint , ioe.getClass().getSimpleName(), ioe.getMessage()); } finally { if ( socket != null ) try { socket.close(); } catch( IOException ioe ) {} } //Bundle extraParams = new Bundle(); //set to 14560, same as in PX4 code "sitl_run.sh", and "simulator_mavlink.cpp" //set to 14550, same as in PX4 code, mavlink_main.cpp DEFAULT_REMOTE_PORT_UDP = _remote_port //set to 14540, mavlink_main.cpp has set _remote_port to 14540 //extraParams.putInt(ConnectionType.EXTRA_UDP_SERVER_PORT, ConnectionType.DEFAULT_UDP_SERVER_PORT/*14550*//*14560*//*14550*/); // Set default port to 14550 //ConnectionParameter connectionParams = new ConnectionParameter(ConnectionType.TYPE_UDP, extraParams, null);//--->this line compile error /*ConnectionParameter connectionParams = selectedConnectionType == ConnectionType.TYPE_USB ? ConnectionParameter.newUsbConnection(null) : ConnectionParameter.newUdpConnection(null);*/ ConnectionParameter connectionParams = ConnectionParameter.newUdpConnection(ConnectionType.DEFAULT_UDP_SERVER_PORT, null); //ConnectionParameter connectionParams = ConnectionParameter.newTcpConnection("127.0.0.1", null); //ConnectionParameter connectionParams = ConnectionParameter.newUdpConnection(ConnectionType.DEFAULT_UDP_SERVER_PORT, null, 10000); this.drone.connect(connectionParams); Toast.makeText(getApplicationContext(), "onBtnConnectTap, drone connect", Toast.LENGTH_LONG).show(); } } protected void alertUser(String message) { Toast.makeText(getApplicationContext(), message, Toast.LENGTH_LONG).show(); } protected void updateConnectedButton(Boolean isConnected) { Button connectButton = (Button)findViewById(R.id.btnConnect); if (isConnected) { connectButton.setText("Disconnect"); } else { connectButton.setText("Connect"); } Toast.makeText(getApplicationContext(), "updateConnectedButton", Toast.LENGTH_LONG).show(); } ``` }

[abencomo]

@seantobe, were you able to get it to work?