Rtl button

flutter_app/lib/command_constructors/return_to_launch_constructor.dart

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+import 'package:dart_mavlink/dialects/common.dart';
+import 'package:dart_mavlink/mavlink.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").
+/// @param1 Unused
+/// @param2 Unused
+/// @param3 Unused
+/// @param4 Unused
+/// @param5 Unused
+/// @param6 Unused
+/// @param7 Unused
+///
+/// @return A MavlinkFrame representing the reutrn to launch command.
+
+MavlinkFrame returnToLaunch(int sequence, int systemID, int componentID) {
+  var commandLong = CommandLong(
+    targetSystem: systemID,
+    targetComponent: componentID,
+    command: mavCmdNavReturnToLaunch,
+    confirmation: 0,
+    param1: 0,
+    param2: 0,
+    param3: 0,
+    param4: 0,
+    param5: 0,
+    param6: 0,
+    param7: 0,
+  );
+
+  var frm = MavlinkFrame.v2(sequence, systemID, componentID, commandLong);
+
+  return frm;
+}

flutter_app/lib/modules/return_to_launch.dart

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+import 'package:imacs/command_constructors/return_to_launch_constructor.dart';
+import 'package:imacs/modules/mavlink_communication.dart';
+import 'dart:developer';
+
+const String moduleName = "Return To Launch";
+
+class ReturnToLaunch {
+  final MavlinkCommunication comm;
+
+  // Requires both the constructor (Mission Item) and comm
+  ReturnToLaunch({required this.comm});
+
+  // Skips the queues and forces the drone to return
+  void returnNoQueue(int systemID, int componentID) async {
+    if (comm.connectionType == MavlinkCommunicationType.tcp) {
+      await comm.tcpSocketInitializationFlag.future;
+    }
+
+    var frame = returnToLaunch(comm.sequence, systemID, componentID);
+
+    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;
+  final int systemID;
+  final int componentID;
+
+  // Needs the ReturnToLaunch object from the return_to_launch dart
+  const ReturnToLaunchButton(
+      {Key? key,
+      required this.returnToLaunchCommand,
+      required this.systemID,
+      required this.componentID})
+      : super(key: key);
+
+  // Returns a button that tells the drone to return to launch
+  @override
+  Widget build(BuildContext context) {
+    return ElevatedButton(
+        onPressed: () {
+          returnToLaunchCommand.returnNoQueue(systemID, componentID);
+        },
+        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;
+
+    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));
+      }
+    });
+
+    var returnToLaunchCommand = returnToLaunch(sequence, systemID, componentID);
+
+    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/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);
+
+      // Tests to see if the button renders
+      await tester.pumpWidget(MaterialApp(
+          home: Scaffold(
+              body: ReturnToLaunchButton(
+                  returnToLaunchCommand: command,
+                  systemID: 1,
+                  componentID: 0))));
+
+      // 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 {
+      final mavlinkCommunication = MavlinkCommunication(
+          MavlinkCommunicationType.tcp, '127.0.0.1', 14550);
+      final ReturnToLaunch command = ReturnToLaunch(comm: mavlinkCommunication);
+
+      // Tests to see if the button renders
+      await tester.pumpWidget(MaterialApp(
+          home: Scaffold(
+              body: ReturnToLaunchButton(
+                  returnToLaunchCommand: command,
+                  systemID: 1,
+                  componentID: 0))));
+
+      await tester.pumpAndSettle();
+      await tester.tap(find.byType(ReturnToLaunchButton));
+      await tester.pumpAndSettle();
+
+      expect(find.text("Return to Launch Command Sent"), findsOneWidget);
+    });
+  });
+}