Rtl button

flutter_app/lib/command_constructors/return_to_launch_constructor.dart

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+import 'package:dart_mavlink/dialects/common.dart';
+
+/// Constructs a MissionItem command to return to launch using MAV_CMD_NAV_RETURN_TO_LAUNCH (20).
+///
+/// @sequence The sequence number for the MAVLink frame.
+/// @systemId The MAVLink system ID of the vehicle (normally "1").
+/// @componentId The MAVLink component ID (normally "0").
+/// @latitude The latitude of the launchpad (Defaults to where it was armed).
+/// @longitude The longitude of the launchpad (Defaults to where it was armed).
+/// @altitude The altitude of the waypoint (Defaults to 15m)
+/// @param1 Unused
+/// @param2 Unused
+/// @param3 Unused
+/// @param4 Unused
+///
+/// @return A MissionItem representing the reutrn to launch command.
+
+MissionItem returnToLaunch(int sequence, int systemID, int componentID,
+ {double latitude = 0.0,
+ double longitude = 0.0,
+ double altitude = 15.0,
+ double param1 = 0,
+ double param2 = 0,
+ double param3 = 0,
+ double param4 = 0}) {
+ var missionItem = MissionItem(
+ targetSystem: systemID,
+ targetComponent: componentID,
+ seq: sequence,
+ frame: mavFrameGlobalRelativeAlt,
+ command: mavCmdNavReturnToLaunch,
+ current: 1,
+ autocontinue: 1,
+ param1: param1,
+ param2: param2,
+ param3: param3,
+ param4: param4,
+ x: latitude,
+ y: longitude,
+ z: altitude,
+ missionType: 0);
+ return missionItem;
+}

flutter_app/lib/modules/return_to_launch.dart

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+import 'package:dart_mavlink/dialects/common.dart';
+import 'package:dart_mavlink/mavlink.dart';
+import 'package:imacs/modules/mavlink_communication.dart';
+import 'dart:developer';
+
+const String moduleName = "Return To Launch";
+
+class ReturnToLaunch {
+ final MavlinkCommunication comm;
+ final MissionItem returnToLaunchConstructor;
+
+ // Requires both the constructor (Mission Item) and comm
+ ReturnToLaunch({required this.comm, required this.returnToLaunchConstructor});
+
+ // Skips the queues and forces the drone to return
+ void returnNoQueue() async {
+ if (comm.connectionType == MavlinkCommunicationType.tcp) {
+ await comm.tcpSocketInitializationFlag.future;
+ }
+
+ var frame = MavlinkFrame.v2(
+ returnToLaunchConstructor.seq,
+ returnToLaunchConstructor.targetSystem,
+ returnToLaunchConstructor.targetComponent,
+ returnToLaunchConstructor);
+
+ comm.sequence++;
+ comm.write(frame);
+
+ log('[$moduleName] Returning to Launch');
+ }
+}

flutter_app/lib/widgets/return_to_launch_widget.dart

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+import 'package:flutter/material.dart';
+import 'package:imacs/modules/return_to_launch.dart';
+
+class ReturnToLaunchButton extends StatelessWidget {
+ final ReturnToLaunch returnToLaunchCommand;
+
+ // Needs the ReturnToLaunch object from the return_to_launch dart
+ const ReturnToLaunchButton({Key? key, required this.returnToLaunchCommand})
+ : super(key: key);
+
+ // Returns a button that tells the drone to return to launch
+ @override
+ Widget build(BuildContext context) {
+ return ElevatedButton(
+ onPressed: () {
+ returnToLaunchCommand.returnNoQueue();
+ },
+ child: const Text("Return To Launch"));
+ }
+}

flutter_app/test/unit/return_to_launch_constructor_test.dart

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+import 'package:dart_mavlink/dialects/common.dart';
+import 'package:dart_mavlink/mavlink.dart';
+import 'package:imacs/command_constructors/return_to_launch_constructor.dart';
+import 'package:test/test.dart';
+
+void main() {
+ /// dialect: Selected MAVLink dialect
+ /// sequence: The sequence number for the MAVLink frame.
+ /// Each component counts up its send sequence.
+ /// Allows to detect packet loss.
+ /// systemId: The MAVLink system ID of the vehicle (normally "1").
+ /// componentId: The MAVLink component ID (normally "0").
+ var dialect = MavlinkDialectCommon();
+ const sequence = 0;
+ const systemID = 1;
+ const componentID = 0;
+
+ test("Return To Launch", () {
+ const createReturnToLaunchCommandNumber = mavCmdNavReturnToLaunch;
+ const latitude = 47.938;
+ const longitude = 8.545;
+ const altitude = 15.0;
+
+ var parser = MavlinkParser(dialect);
+ parser.stream.listen((MavlinkFrame frm) {
+ if (frm.message is MissionItem) {
+ var mi = frm.message as MissionItem;
+ expect(mi.command, equals(createReturnToLaunchCommandNumber));
+ expect(mi.x, equals(latitude));
+ expect(mi.y, equals(longitude));
+ expect(mi.z, equals(altitude));
+ }
+ });
+
+ var returnToLaunchCommand = returnToLaunch(sequence, systemID, componentID,
+ latitude: latitude, longitude: longitude, altitude: altitude);
+
+ parser.parse(returnToLaunchCommand.serialize().buffer.asUint8List());
+ });
+}

flutter_app/test/widget/return_to_launch_widget_test.dart

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+import 'package:flutter/material.dart';
+import 'package:flutter_test/flutter_test.dart';
+import 'package:imacs/modules/mavlink_communication.dart';
+import 'package:imacs/modules/return_to_launch.dart';
+import 'package:imacs/command_constructors/return_to_launch_constructor.dart';
+import 'package:imacs/widgets/return_to_launch_widget.dart';
+
+void main() {
+ group("Return to Launch Widget", () {
+ testWidgets("Return to Launch Button Generate",
+ (WidgetTester tester) async {
+ final mavlinkCommunication = MavlinkCommunication(
+ MavlinkCommunicationType.tcp, '127.0.0.1', 14550);
+ final ReturnToLaunch command = ReturnToLaunch(
+ comm: mavlinkCommunication,
+ returnToLaunchConstructor: returnToLaunch(0, 1, 0));
+
+ // Tests to see if the button renders
+ await tester.pumpWidget(MaterialApp(
+ home: Scaffold(
+ body: ReturnToLaunchButton(returnToLaunchCommand: command))));
+
+ // Waits for all frames and animations to settle
+ await tester.pumpAndSettle();
+
+ expect(find.byType(ElevatedButton), findsOneWidget);
+ expect(find.text("Return To Launch"), findsOneWidget);
+ });
+
+ testWidgets("Button sends MavLink command", (WidgetTester tester) async {});
+ });
+}