DroneCore-Swift SDK for iOS

Include the SDK for iOS in an Existing Application

There are three ways to import the DroneCore-Swift SDK for iOS into your project:

• CocoaPods
• Carthage
• Manually

You should use one of these three ways to import the DroneCore-Swift SDK but not multiple. Importing the SDK in multiple ways loads duplicate copies of the SDK into the project and causes compiler errors.

CocoaPods

1. The DroneCore-Swift SDK for iOS is available through CocoaPods. If you have not installed CocoaPods, install CocoaPods by running the command:

    $ gem install cocoapods
    $ pod setup
   

   Depending on your system settings, you may have to use sudo for installing cocoapods as follows:

    $ sudo gem install cocoapods
    $ pod setup
   

2. In your project directory (the directory where your *.xcodeproj file is), create a plain text file named Podfile (without any file extension) and add the lines below. Replace YourTarget with your actual target name.

    source 'https://github.com/CocoaPods/Specs.git'
    
    platform :ios, '8.0'
    use_frameworks!
    
    target :'YourTarget' do
        pod 'DroneCore-Swift'
    end
   

3. Then run the following command:

    $ pod install
   

4. Open up *.xcworkspace with Xcode and start using the SDK.

Carthage

Use Carthage to get the framework

To use the DroneCore-Swift SDK in your iOS application, you can pull in this framework using Carthage.

To install carthage, it's easiest to use Homebrew:

brew install carthage

Then to add the framework, create the file Cartfile in your app's repository with below's content:

# Require the iOS framework of DroneCore SDK
github "dronecore/DroneCore-Swift" "master"

Then, to pull in the library and build it, run Carthage in your app's repository:

carthage update

This command also needs to be re-run if you want to udpate the framework.

Add the framework into your project

Open the project in XCode and do the following:

1. Open Project Settings -> General
2. Find 'Linked frameworks Libraries' and and press +
3. Click Other, go one folder up, and select Carthage/Build/iOS/Dronecode_SDK_Swift.framework.
4. Add also all the frameworks in the folder 'Carthage/Checkouts/DroneCore-Swift/Source/Dronecode-SDK-Swift/Dronecode-SDK-Swift/libs/dronecode-sdk-swift-deps-latest'
5. Do "Product Clean" and "Product Build"
6. Set Build Settings > Enable Bitcode to No; you may have to select "All" for the field to show up.

Use Carthage to check out a developer branch

While developing, you might need a developer version of the iOS wrappers. They can be accessed by using a branch in the Cartfile:

github "dronecore/DroneCore-Swift" "branch-name"

Manually

1. Download the SDK from here

2. Unzip 'dronecode-sdk-swift-latest.zip'

3. With your project open in Xcode, select your Target. Under General tab, find Linked Framework and Libraries and then click the + button.

4. Click the Add Other... button, navigate to the unzip folder and select all files.

   • backend.framework
   • BoringSSL.framework
   • CgRPC.framework
   • Czlib.framework
   • DroneCore_Swift.framework
   • gRPC.framework
   • RxSwift.framework
   • RxBlocking.framework
   • SwiftProtobuf.framework
   • SwiftProtobufPluginLibrary.framework

5. If the frameworks are not copied into your project, you may have to add an entry into Build Settings > Framework Search Paths.

6. Set Build Settings > Enable Bitcode to No; you may have to select "All" for the field to show up.

Update the SDK to a Newer Version

When we release a new version of the SDK, you can pick up the changes as described below.

CocoaPods

1. Run the following command in your project directory. CocoaPods automatically picks up the new changes.

    $ pod update
   

   Note: If your pod is having an issue, you can delete Podfile.lock and Pods/ then run pod install to cleanly install the SDK.

Carthage

1. Run the following command in your project directory. Carthage automatically picks up the new changes.

    $ carthage update
   

Manually

1. In Xcode select the following frameworks in Project Navigator and hit delete on your keyboard. Then select Move to Trash:

   • backend.framework
   • BoringSSL.framework
   • CgRPC.framework
   • Czlib.framework
   • DroneCore_Swift.framework
   • gRPC.framework
   • RxSwift.framework
   • RxBlocking.framework
   • SwiftProtobuf.framework

2. Follow the installation process above to include the new version of the SDK.

Getting Started with Swift

1. In Swift file you want to use the SDK, import DroneCore_Swift framework as in the following example:

   import Dronecode_SDK_Swift

2. In Swift file you want to use the SDK, start core system as in the following example:

   let core = Core()
   core.connect()

3. Examples to use the library :

   let action = Action(address: "localhost", port: 50051)
   sleep(5) // this is a hack for this prototype
   action.arm().subscribe()

   let action = Action(address: "localhost", port: 50051)
   let myRoutine = action.arm()
       .do(onError: { error in print("Arming failed") },
       onCompleted: { print("Arming succeeded") })
   _ = myRoutine.subscribe()

    let action = Action(address: "localhost", port: 50051)
   
    sleep(5) // this is a hack for this prototype
       
    let myRoutine = action.arm()
           .do(onError: { error in print("Arming failed") },
               onCompleted: { print("Arming succeeded") })
           .andThen(action.takeoff()
               .do(onError: { error in print("Takeoff failed") },
                   onCompleted: { print("Takeoff succeeded") })
               .delay(15, scheduler: MainScheduler.instance))
           .andThen(action.land()
               .do(onError: { error in print("Landing failed") },
                   onCompleted: { print("Landing succeeded") }));
       
   _ = myRoutine.subscribe()