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?