Merge branch 'master' into pr/config_raw_param_fixes

ArduPilot · Mar 5, 2024 · eb302bb · eb302bb
2 parents 901351b + 065f88a
commit eb302bb
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Showing 105 changed files with 17,526 additions and 9,765 deletions.
diff --git a/.github/workflows/android.yml b/.github/workflows/android.yml
@@ -27,6 +27,7 @@ jobs:
             !**.apk
             !**.so
             !**.aab
+            !**.dll
           key: ${{ runner.os }}-buildAAB
 
       - name: Build
@@ -46,6 +47,8 @@ jobs:
           
           $manifest.Save($current.Path + "\ExtLibs\Xamarin\Xamarin.Android\Properties\AndroidManifest.xml")
 
+          choco install microsoft-openjdk --version=11.0.11.9
+
           msbuild -v:m -restore -t:SignAndroidPackage -p:Configuration=Release "ExtLibs\Xamarin\Xamarin.Android\Xamarin.Android.csproj"
           
           del ExtLibs\Xamarin\Xamarin.Android\bin\Release\com.michaeloborne.MissionPlanner-Signed.aab
@@ -100,6 +103,7 @@ jobs:
             !**.apk
             !**.so
             !**.aab
+            !**.dll
           key: ${{ runner.os }}-buildAPK
       - name: Build
         shell: pwsh
@@ -121,6 +125,8 @@ jobs:
           Set-Content -Path ExtLibs\Xamarin\Xamarin.Android\Xamarin.Android.csproj -Value (Get-Content -Path ExtLibs\Xamarin\Xamarin.Android\Xamarin.Android.csproj -Raw).Replace("<AndroidPackageFormat>aab</AndroidPackageFormat>","<AndroidPackageFormat>apk</AndroidPackageFormat>")
 
           Set-Content -Path ExtLibs\Xamarin\Xamarin.Android\Xamarin.Android.csproj -Value (Get-Content -Path ExtLibs\Xamarin\Xamarin.Android\Xamarin.Android.csproj -Raw).Replace("<AotAssemblies>true</AotAssemblies>","<AotAssemblies>false</AotAssemblies>")
+
+          choco install microsoft-openjdk --version=11.0.11.9
           
           msbuild -v:m -restore -t:SignAndroidPackage -p:Configuration=Release "ExtLibs\Xamarin\Xamarin.Android\Xamarin.Android.csproj"
           
@@ -131,7 +137,7 @@ jobs:
           ForEach($i in $apks) {
             echo $i.FullName
             Move-Item -path $i.FullName temp.apk
-            C:\Android\android-sdk\build-tools\29.0.3\zipalign.exe -p -f -v 4 temp.apk $i.FullName
+            C:\Android\android-sdk\build-tools\31.0.0\zipalign.exe -p -f -v 4 temp.apk $i.FullName
             Remove-Item temp.apk
           }
 
@@ -145,6 +151,8 @@ jobs:
           alias: ${{ secrets.ALIAS }}
           keyStorePassword: ${{ secrets.KEY_STORE_PASSWORD }}
           keyPassword: ${{ secrets.KEY_PASSWORD }}
+        env:
+          BUILD_TOOLS_VERSION: "31.0.0"
 
       - uses: actions/upload-artifact@v2
         with:

diff --git a/Common.cs b/Common.cs
@@ -42,7 +42,7 @@ public static GMapMarker getMAVMarker(MAVState MAV, GMapOverlay overlay = null)
                         itemp.Cog = MAV.cs.groundcourse;
                         itemp.Target = MAV.cs.target_bearing;
                         itemp.Nav_bearing = MAV.cs.nav_bearing;
-                        itemp.Radius = MAV.cs.radius * CurrentState.multiplierdist;
+                        itemp.Radius = (float)CurrentState.fromDistDisplayUnit(MAV.cs.radius);
                         return null;
                     }
                     else if (item is GMapMarkerQuad)
@@ -76,7 +76,7 @@ public static GMapMarker getMAVMarker(MAVState MAV, GMapOverlay overlay = null)
             {
                 return (new GMapMarkerPlane(MAV.sysid - 1, portlocation, MAV.cs.yaw,
                     MAV.cs.groundcourse, MAV.cs.nav_bearing, MAV.cs.target_bearing,
-                    MAV.cs.radius * CurrentState.multiplierdist)
+                    (float)CurrentState.toDistDisplayUnit(MAV.cs.radius))
                 {
                     ToolTipText = ArduPilot.Common.speechConversion(MAV, "" + Settings.Instance["mapicondesc"]),
                     ToolTipMode = String.IsNullOrEmpty(Settings.Instance["mapicondesc"]) ? MarkerTooltipMode.Never : MarkerTooltipMode.Always,

diff --git a/ExtLibs/AltitudeAngelWings.Plugin/ControlOverlayMessageDisplay.cs b/ExtLibs/AltitudeAngelWings.Plugin/ControlOverlayMessageDisplay.cs
@@ -56,15 +56,22 @@ public void RemoveMessage(Message message)
                 if (!_parent.Visible) return;
                 _parent.SuspendLayout();
                 var labels = GetMessageLabels();
+                var removed = false;
                 foreach (var label in labels)
                 {
                     if (label.Tag != message) continue;
                     _parent.Controls.Remove(label);
                     labels.Remove(label);
                     label.Dispose();
+                    removed = true;
                     break;
                 }
-                LayoutLabels(labels);
+
+                if (removed)
+                {
+                    LayoutLabels(labels);
+                }
+
                 _parent.ResumeLayout();
             });
         }
@@ -110,7 +117,7 @@ private static Color GetColorForMessage(Message message)
             }
         }
 
-        private void LayoutLabels(ICollection<Label> labels)
+        private void LayoutLabels(IEnumerable<Label> labels)
         {
             var totalHeight = 0;
             foreach (var label in labels)
@@ -122,4 +129,4 @@ private void LayoutLabels(ICollection<Label> labels)
 
         private IList<Label> GetMessageLabels() => _parent.Controls.OfType<Label>().Where(l => l.Tag is Message).ToList();
     }
-}
+}
diff --git a/ExtLibs/AltitudeAngelWings/AltitudeAngelWings.csproj b/ExtLibs/AltitudeAngelWings/AltitudeAngelWings.csproj
@@ -22,7 +22,7 @@
     <PackageReference Include="Flurl.Http" Version="3.2.0" />
     <PackageReference Include="GeoJSON.Net" Version="1.1.64" />
     <PackageReference Include="Polly" Version="7.2.4" />
-    <PackageReference Include="System.IdentityModel.Tokens.Jwt" Version="6.31.0" />
+    <PackageReference Include="System.IdentityModel.Tokens.Jwt" Version="7.2.0" />
     <PackageReference Include="System.Reactive" Version="4.0.0" />
     <PackageReference Include="System.ValueTuple" Version="4.5.0" />
   </ItemGroup>

diff --git a/ExtLibs/AltitudeAngelWings/Clients/Auth/Model/TokenResponseExtensions.cs b/ExtLibs/AltitudeAngelWings/Clients/Auth/Model/TokenResponseExtensions.cs
@@ -1,3 +1,4 @@
+using Newtonsoft.Json;
 using System;
 using System.Collections.Generic;
 using System.IdentityModel.Tokens.Jwt;
@@ -43,7 +44,7 @@ public static string[] AccessTokenScopes(this TokenResponse tokenResponse)
                     scopes.AddRange(values.Select(item => item.ToString()));
                     break;
                 default:
-                    scopes.Add(JsonExtensions.SerializeToJson(value));
+                    scopes.Add(JsonConvert.SerializeObject(value));
                     break;
             }
 

diff --git a/ExtLibs/AltitudeAngelWings/ObservableProperty.cs b/ExtLibs/AltitudeAngelWings/ObservableProperty.cs
@@ -7,7 +7,7 @@ namespace AltitudeAngelWings
 {
     public class ObservableProperty<T> : INotifyPropertyChanged, IObservable<T>, IDisposable
     {
-        private readonly ISubject<T> _subject;
+        private readonly ReplaySubject<T> _subject;
         private T _value;
 
         public ObservableProperty()
@@ -68,7 +68,7 @@ protected virtual void Dispose(bool disposing)
         {
             if (disposing)
             {
-                ((IDisposable)_subject)?.Dispose();
+                _subject?.Dispose();
             }
         }
 

diff --git a/ExtLibs/AltitudeAngelWings/Service/AltitudeAngelService.cs b/ExtLibs/AltitudeAngelWings/Service/AltitudeAngelService.cs
@@ -305,15 +305,17 @@ private void ProcessFeatures(IMap map)
 
                     case GeoJSONObjectType.MultiPolygon:
                         // TODO: This does not work for polygons with holes and just does the outer polygon
-                        foreach (var poly in ((MultiPolygon)feature.Geometry).Coordinates)
+                        for (var index = 0; index < ((MultiPolygon)feature.Geometry).Coordinates.Count; index++)
                         {
+                            var poly = ((MultiPolygon)feature.Geometry).Coordinates[index];
                             var coordinates =
                                 poly.Coordinates[0].Coordinates.OfType<Position>()
                                     .Select(c => new LatLong(c.Latitude, c.Longitude))
                                     .ToList();
 
                             var colorInfo = properties.ToColorInfo(_settings.MapOpacityAdjust);
-                            overlayFeatures.Add(new OverlayFeature(feature.Id, OverlayFeatureType.Line, coordinates, colorInfo, feature));
+                            overlayFeatures.Add(new OverlayFeature($"{feature.Id}-{index}", OverlayFeatureType.Line,
+                                coordinates, colorInfo, feature));
                         }
 
                         break;

diff --git a/ExtLibs/AltitudeAngelWings/Service/Messaging/IMessagesService.cs b/ExtLibs/AltitudeAngelWings/Service/Messaging/IMessagesService.cs
@@ -5,7 +5,6 @@ namespace AltitudeAngelWings.Service.Messaging
 {
     public interface IMessagesService
     {
-        ObservableProperty<Message> Messages { get; }
         Task AddMessageAsync(Message message);
     }
 }
diff --git a/ExtLibs/AltitudeAngelWings/Service/Messaging/MessagesService.cs b/ExtLibs/AltitudeAngelWings/Service/Messaging/MessagesService.cs
@@ -1,43 +1,32 @@
 using System;
-using System.Reactive.Disposables;
-using System.Reactive.Linq;
 using System.Threading.Tasks;
 using AltitudeAngelWings.Model;
 
 namespace AltitudeAngelWings.Service.Messaging
 {
-    public class MessagesService : IMessagesService, IDisposable
+    public class MessagesService : IMessagesService
     {
-        private readonly CompositeDisposable _disposer = new CompositeDisposable();
+        private readonly IMessageDisplay _messageDisplay;
 
         public MessagesService(IMessageDisplay messageDisplay)
         {
-            Messages = new ObservableProperty<Message>(0);
-            _disposer.Add(Messages);
-            _disposer.Add(Messages
-                .Do(messageDisplay.AddMessage)
-                .SelectMany(m => Observable.Interval(TimeSpan.FromMilliseconds(100))
-                    .SkipWhile(i => !m.HasExpired())
-                    .Select(i => m))
-                .Subscribe(messageDisplay.RemoveMessage));
+            _messageDisplay = messageDisplay;
         }
 
-        public ObservableProperty<Message> Messages { get; }
-
-        public Task AddMessageAsync(Message message) => Task.Factory.StartNew(() => Messages.Value = message);
-
-        public void Dispose()
-        {
-            Dispose(true);
-            GC.SuppressFinalize(this);
-        }
-
-        protected virtual void Dispose(bool disposing)
+        public Task AddMessageAsync(Message message) => Task.Factory.StartNew(async () =>
         {
-            if (disposing)
+            try
             {
-                _disposer?.Dispose();
+                _messageDisplay.AddMessage(message);
+                do
+                {
+                    await Task.Delay(TimeSpan.FromMilliseconds(200)).ConfigureAwait(false);
+                } while (!message.HasExpired());
             }
-        }
+            finally
+            {
+                _messageDisplay.RemoveMessage(message);
+            }
+        });
     }
 }