Investigated Issue #4

There does not appear to be a way to get the bluetooth module into the correct mode. I have an outstanding request at robolink.
I did learn that setting the broadcast mode to mute returns it to the yellow state.
I also learned that making the mode active provides the additional messages I was missing.
Code around connecting has been reworked and should be more robust. More testing with multiple drones is required.

src/main/java/org/jointheleague/jcodrone/protocol/information/Address.java → src/main/java/org/jointheleague/jcodrone/Address.java

@@ -1,9 +1,13 @@
-package org.jointheleague.jcodrone.protocol.information;
+package org.jointheleague.jcodrone;
 
 import org.jointheleague.jcodrone.protocol.InvalidDataSizeException;
 import org.jointheleague.jcodrone.protocol.Serializable;
+import org.jointheleague.jcodrone.protocol.link.LinkDiscoveredDevice;
 
+import java.io.ByteArrayOutputStream;
 import java.nio.ByteBuffer;
+import java.util.stream.Collectors;
+import java.util.stream.Stream;
 
 public class Address implements Serializable {
     private final byte[] address;
@@ -17,6 +21,26 @@ public static byte getSize() {
         return 6;
     }
 
+    public static Address parse(byte[] data) throws InvalidDataSizeException {
+        if (data.length != getSize()) {
+            throw new InvalidDataSizeException(getSize(), data.length);
+        }
+
+        ByteBuffer buffer = ByteBuffer.wrap(data);
+        byte[] address = new byte[getSize()];
+        buffer.get(address, 0, getSize());
+        return new Address(address);
+    }
+
+    public static Address parse(String address) {
+        byte[] bytes = Stream.of(address.split(":")).mapToInt(i -> Integer.parseInt(i, 16)).
+                collect(ByteArrayOutputStream::new, (baos, i) -> baos.write((byte) i),
+                        (baos1, baos2) -> baos1.write(baos2.toByteArray(), 0, baos2.size()))
+                .toByteArray();
+
+        return new Address(bytes);
+    }
+
     public byte getInstanceSize() {
         return getSize();
     }
@@ -28,15 +52,12 @@ public byte[] toArray() {
         return buffer.array();
     }
 
-    public static Address parse(byte[] data) throws InvalidDataSizeException {
-        if (data.length != getSize()) {
-            throw new InvalidDataSizeException(getSize(), data.length);
-        }
-
-        ByteBuffer buffer = ByteBuffer.wrap(data);
-        byte[] address = new byte[6];
-        buffer.get(address, 0, getSize());
-        return new Address(address);
+    public byte[] getAddress() {
+        return address;
     }
 
+    @Override
+    public String toString() {
+        return LinkDiscoveredDevice.intStream(address).mapToObj(i -> String.format("%02X", 0x0FF & i)).collect(Collectors.joining(":"));
+    }
 }

src/main/java/org/jointheleague/jcodrone/CoDrone.java

@@ -133,44 +133,57 @@ public void close() {
      *
      * @throws CoDroneNotFoundException Thrown if no drone is found. Check logs to determine what serial port was used.
      */
-    public void connect() throws CoDroneNotFoundException, MessageNotSentException {
-        connect(null, null, false);
+    public void connect() throws CoDroneNotFoundException, MessageNotSentException, InterruptedException {
+        connectPort(null);
+        link(null);
     }
 
     /**
-     * This connect method allows the connection to a specific drone over bluetooth via the controller connected
-     * to the specified serial por. Additionally the controller can be reset before the connection is attempted.
+     * The default connection method connects to the nearest drone connected to the last available serial port
+     * enumerated by the operating system.
      *
-     * @param portName    System name of the serial port connected to the controller.
-     * @param deviceName  The name of the drone to connect to.
-     * @param resetSystem Resets the controller before attempting to connect to the drone.
-     * @throws CoDroneNotFoundException Thrown if the specified port or drone can not be found.
+     * @throws CoDroneNotFoundException Thrown if no drone is found. Check logs to determine what serial port was used.
      */
-    @SuppressWarnings("WeakerAccess")
-    public void connect(String portName, String deviceName, boolean resetSystem) throws CoDroneNotFoundException, MessageNotSentException {
+    public void connect(String deviceName) {
         if (deviceName != null && !deviceName.isEmpty() && deviceName.length() != 12) {
             throw new IllegalArgumentException(
                     String.format("Invalid device name length %s.", deviceName.length()));
         }
 
+        connectPort(null);
+    }
+
+    /**
+     * The default connection method connects to the nearest drone connected to the last available serial port
+     * enumerated by the operating system.
+     *
+     * @throws CoDroneNotFoundException Thrown if no drone is found. Check logs to determine what serial port was used.
+     */
+    public void connect(Address address) {
+        connectPort(null);
+    }
+
+    /**
+     * This connect method allows the connection to a specific drone over bluetooth via the controller connected
+     * to the specified serial port. Additionally the controller can be reset before the connection is attempted.
+     *
+     * @param portName System name of the serial port connected to the controller.
+     * @throws CoDroneNotFoundException Thrown if the specified port or drone can not be found.
+     */
+    private void connectPort(String portName) {
         if (comPort == null || !comPort.isOpen()) {
             if (portName == null || portName.isEmpty()) {
                 open();
             } else {
                 open(portName);
-                //Thread.sleep(100);
             }
         } else if (!portName.equalsIgnoreCase(comPort.getSystemPortName())) {
             close();
             open(portName);
-            //Thread.sleep(100);
-        }
-
-        // system reset
-        if (resetSystem) {
-            link.resetSystem();
         }
+    }
 
+    private void link(String deviceName) throws MessageNotSentException, CoDroneNotFoundException, InterruptedException {
         link.connect(deviceName);
     }
 
@@ -197,6 +210,12 @@ void transfer(Header header, Serializable data) {
 
         comPort.writeBytes(message.array(), message.capacity());
         log.info("Sent: {}", DatatypeConverter.printHexBinary(message.array()));
+        // TODO: Remove this wait
+        try {
+            Thread.sleep(60);
+        } catch (InterruptedException e) {
+            log.warn("Sleep interrupted after sending command.");
+        }
     }
 
 
@@ -209,7 +228,7 @@ void transfer(Header header, Serializable data) {
      *
      * @param type The command from the CommandType enumeration.
      */
-    public void sendCommand(CommandType type) throws MessageNotSentException {
+    public void sendCommand(CommandType type) {
         sendCommand(type, (byte) 0);
     }
 
@@ -222,7 +241,7 @@ public void sendCommand(CommandType type) throws MessageNotSentException {
      *
      * @param type The command from the CommandType enumeration.
      */
-    public void sendCommand(CommandType type, byte option) throws MessageNotSentException {
+    public void sendCommand(CommandType type, byte option) {
         Command command = new Command(type, option);
 
         sendMessage(command);
@@ -404,9 +423,10 @@ public void underAttack() throws MessageNotSentException {
         Flight.underAttack(this);
     }
 
-    public void flyDirect(DirectControl control) throws MessageNotSentException {
+    public void flyDirect(DirectControl control) {
         Flight.flyDirect(this, control);
     }
+
     /**
      * Sets a single light mode.
      *
@@ -601,4 +621,8 @@ public TrimFlight getTrimFlight() {
     public boolean isFlightMode() {
         return (internals.getState() != null && internals.getState().isFlightMode());
     }
+
+    public void requestLinkState() throws MessageNotSentException {
+        link.requestState();
+    }
 }