Add DO_SET_SERVO mission item

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/values/strings.xml

@@ -182,6 +182,7 @@
     <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>
@@ -204,9 +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>
@@ -346,6 +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/proxy/mission/item/fragments/MissionDetailFragment.java

@@ -107,6 +107,9 @@ public static MissionDetailFragment newInstance(MissionItemType itemType) {
 		case EPM_GRIPPER:
 			fragment = new MissionEpmGrabberFragment();
 			break;
+		case SET_SERVO:
+			fragment = new SetServoFragment();
+			break;
 		default:
 			fragment = null;
 			break;

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

@@ -0,0 +1,83 @@
+package org.droidplanner.android.proxy.mission.item.fragments;
+
+import org.droidplanner.R;
+import org.droidplanner.android.widgets.spinnerWheel.CardWheelHorizontalView;
+import org.droidplanner.android.widgets.spinnerWheel.adapters.NumericWheelAdapter;
+import org.droidplanner.core.mission.MissionItem;
+import org.droidplanner.core.mission.MissionItemType;
+import org.droidplanner.core.mission.commands.SetServo;
+
+import android.os.Bundle;
+import android.text.Editable;
+import android.text.TextWatcher;
+import android.view.View;
+import android.widget.EditText;
+
+public class SetServoFragment extends MissionDetailFragment implements
+		CardWheelHorizontalView.OnCardWheelChangedListener, TextWatcher {
+
+	@Override
+	protected int getResource() {
+		return R.layout.fragment_editor_detail_set_servo;
+	}
+
+	@Override
+	public void onViewCreated(View view, Bundle savedInstanceState) {
+		super.onViewCreated(view, savedInstanceState);
+		typeSpinner.setSelection(commandAdapter
+				.getPosition(MissionItemType.SET_SERVO));
+
+		SetServo item = (SetServo) getMissionItems().get(0);
+
+		final NumericWheelAdapter adapter = new NumericWheelAdapter(
+				getActivity().getApplicationContext(),
+				R.layout.wheel_text_centered, 1, 8, "%d");
+		final CardWheelHorizontalView cardChannelPicker = (CardWheelHorizontalView) view
+				.findViewById(R.id.picker1);
+		final EditText pwmEditText = (EditText) view
+				.findViewById(R.id.PwmEditText);
+
+		cardChannelPicker.setViewAdapter(adapter);
+		cardChannelPicker.addChangingListener(this);
+		cardChannelPicker.setCurrentValue((int) item.getChannel());
+
+		pwmEditText.setText(Integer.toString(item.getPwm()));
+		pwmEditText.addTextChangedListener(this);
+
+	}
+
+	@Override
+	public void onChanged(CardWheelHorizontalView wheel, int oldValue,
+			int newValue) {
+		switch (wheel.getId()) {
+		case R.id.picker1:
+			for (MissionItem missionItem : getMissionItems()) {
+				SetServo item = (SetServo) missionItem;
+				item.setChannel(newValue);
+			}
+			break;
+		}
+	}
+
+	@Override
+	public void afterTextChanged(Editable editable) {
+
+	}
+
+	@Override
+	public void beforeTextChanged(CharSequence arg0, int arg1, int arg2,
+			int arg3) {
+
+	}
+
+	@Override
+	public void onTextChanged(CharSequence s, int arg1, int arg2, int arg3) {
+		if (!s.toString().isEmpty()) {
+			for (MissionItem missionItem : getMissionItems()) {
+				SetServo item = (SetServo) missionItem;
+				item.setPwm(Integer.valueOf(s.toString()));
+			}
+		}
+
+	}
+}

Core/src/org/droidplanner/core/mission/Mission.java

@@ -16,6 +16,7 @@
 import org.droidplanner.core.mission.commands.ChangeSpeed;
 import org.droidplanner.core.mission.commands.EpmGripper;
 import org.droidplanner.core.mission.commands.ReturnToHome;
+import org.droidplanner.core.mission.commands.SetServo;
 import org.droidplanner.core.mission.commands.Takeoff;
 import org.droidplanner.core.mission.waypoints.Circle;
 import org.droidplanner.core.mission.waypoints.Land;
@@ -257,6 +258,9 @@ private List<MissionItem> processMavLinkMessages(List<msg_mission_item> msgs) {
 
 		for (msg_mission_item msg : msgs) {
 			switch (msg.command) {
+			case MAV_CMD.MAV_CMD_DO_SET_SERVO:
+				received.add(new SetServo(msg, this));
+				break;
 			case MAV_CMD.MAV_CMD_NAV_WAYPOINT:
 				received.add(new Waypoint(msg, this));
 				break;

Core/src/org/droidplanner/core/mission/MissionItemType.java

@@ -7,6 +7,7 @@
 import org.droidplanner.core.mission.commands.ChangeSpeed;
 import org.droidplanner.core.mission.commands.EpmGripper;
 import org.droidplanner.core.mission.commands.ReturnToHome;
+import org.droidplanner.core.mission.commands.SetServo;
 import org.droidplanner.core.mission.commands.Takeoff;
 import org.droidplanner.core.mission.survey.Survey;
 import org.droidplanner.core.mission.waypoints.Circle;
@@ -19,7 +20,7 @@
 public enum MissionItemType {
 	WAYPOINT("Waypoint"), SPLINE_WAYPOINT("Spline Waypoint"), TAKEOFF("Takeoff"), RTL(
 			"Return to Launch"), LAND("Land"), CIRCLE("Circle"), ROI("Region of Interest"), SURVEY(
-			"Survey"), CYLINDRICAL_SURVEY("Structure Scan"), CHANGE_SPEED("Change Speed"), CAMERA_TRIGGER("Camera Trigger"), EPM_GRIPPER("EPM");
+			"Survey"), CYLINDRICAL_SURVEY("Structure Scan"), CHANGE_SPEED("Change Speed"), CAMERA_TRIGGER("Camera Trigger"), EPM_GRIPPER("EPM"), SET_SERVO("Set Servo");
 
 	private final String name;
 
@@ -57,6 +58,8 @@ public MissionItem getNewItem(MissionItem referenceItem) throws IllegalArgumentE
 			return new Survey(referenceItem.getMission(), Collections.<Coord2D> emptyList());
 		case CYLINDRICAL_SURVEY:
 			return new StructureScanner(referenceItem);
+		case SET_SERVO:
+			return new SetServo(referenceItem);
 		default:
 			throw new IllegalArgumentException("Unrecognized mission item type (" + name + ")"
 					+ ".");

Core/src/org/droidplanner/core/mission/commands/SetServo.java

@@ -0,0 +1,72 @@
+package org.droidplanner.core.mission.commands;
+
+import java.util.List;
+
+import org.droidplanner.core.helpers.units.Altitude;
+import org.droidplanner.core.mission.Mission;
+import org.droidplanner.core.mission.MissionItem;
+import org.droidplanner.core.mission.MissionItemType;
+
+import com.MAVLink.Messages.ardupilotmega.msg_mission_item;
+import com.MAVLink.Messages.enums.MAV_CMD;
+
+public class SetServo extends MissionCMD {
+
+	private int pwm;
+	private int channel;
+
+	public SetServo(MissionItem item) {
+		super(item);
+	}
+
+	public SetServo(msg_mission_item msg, Mission mission) {
+		super(mission);
+		unpackMAVMessage(msg);
+	}
+
+	public SetServo(Mission mission, int channel, int pwm) {
+		super(mission);
+		this.channel = channel;
+		this.pwm = pwm;
+	}
+
+
+	@Override
+	public void unpackMAVMessage(msg_mission_item mavMsg) {
+		channel = (int) mavMsg.param1;
+		pwm = (int) mavMsg.param2;
+
+	}
+
+	@Override
+	public MissionItemType getType() {
+		return MissionItemType.SET_SERVO;
+	}
+
+	@Override
+	public List<msg_mission_item> packMissionItem() {
+		List<msg_mission_item> list = super.packMissionItem();
+		msg_mission_item mavMsg = list.get(0);
+		mavMsg.command = MAV_CMD.MAV_CMD_DO_SET_SERVO;
+		mavMsg.param1 = channel;
+		mavMsg.param2 = pwm;
+		return list;
+	}
+
+	public int getPwm() {
+		return pwm;
+	}
+
+	public int getChannel() {
+		return channel;
+	}
+
+	public void setPwm(int pwm) {
+		this.pwm = pwm;
+	}
+
+	public void setChannel(int channel) {
+		this.channel = channel;
+	}
+
+}