424 lines
21 KiB
Java
424 lines
21 KiB
Java
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package com.aros.apron.manager;
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import static com.aros.apron.tools.Utils.getIDJIErrorMsg;
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import android.os.Handler;
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import android.text.TextUtils;
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import android.util.Log;
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import androidx.annotation.NonNull;
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import com.aros.apron.base.BaseManager;
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import com.aros.apron.constant.AMSConfig;
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import com.aros.apron.entity.MessageReply;
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import com.aros.apron.entity.Movement;
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import com.aros.apron.entity.PayloadInfo;
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import com.aros.apron.tools.LogUtil;
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import com.aros.apron.tools.MqttManager;
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import com.aros.apron.tools.Utils;
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import com.google.gson.Gson;
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import com.google.gson.GsonBuilder;
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import org.eclipse.paho.android.service.MqttAndroidClient;
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import org.eclipse.paho.client.mqttv3.MqttMessage;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.Map;
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import dji.sdk.keyvalue.key.FlightControllerKey;
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import dji.sdk.keyvalue.key.KeyTools;
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import dji.sdk.keyvalue.value.payload.CustomizeRcButtonConfig;
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import dji.sdk.keyvalue.value.payload.WidgetType;
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import dji.sdk.keyvalue.value.payload.WidgetValue;
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import dji.v5.common.callback.CommonCallbacks;
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import dji.v5.common.error.IDJIError;
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import dji.v5.manager.KeyManager;
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import dji.v5.manager.aircraft.payload.PayloadCenter;
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import dji.v5.manager.aircraft.payload.PayloadIndexType;
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import dji.v5.manager.aircraft.payload.data.PayloadBasicInfo;
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import dji.v5.manager.aircraft.payload.data.PayloadWidgetInfo;
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import dji.v5.manager.aircraft.payload.listener.PayloadBasicInfoListener;
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import dji.v5.manager.aircraft.payload.listener.PayloadDataListener;
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import dji.v5.manager.aircraft.payload.listener.PayloadWidgetInfoListener;
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import dji.v5.manager.interfaces.IPayloadManager;
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public class PayloadWidgetManager {
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private String TAG = this.getClass().getSimpleName();
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private List<PayloadInfo> payloadInfos = new ArrayList<>();
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private PayloadWidgetManager() {
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}
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private static class PayloadWidgetHolder {
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private static final PayloadWidgetManager INSTANCE = new PayloadWidgetManager();
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}
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public static PayloadWidgetManager getInstance() {
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return PayloadWidgetHolder.INSTANCE;
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}
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// 使用GsonBuilder配置Gson实例以允许序列化特殊浮点数值
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Gson gson = new GsonBuilder()
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.serializeSpecialFloatingPointValues() // 这是关键
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.create();
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public void initPayloadInfo() {
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Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
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if (isConnect != null && isConnect) {
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Map<PayloadIndexType, IPayloadManager> payloadManager = PayloadCenter.getInstance().getPayloadManager();
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if (payloadManager != null) {
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IPayloadManager iPayloadManager = payloadManager.get(PayloadIndexType.PORT_1);
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if (iPayloadManager != null) {
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//可以把负载设备控件打印
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PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_1).addPayloadWidgetInfoListener(new PayloadWidgetInfoListener() {
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@Override
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public void onPayloadWidgetInfoUpdate(PayloadWidgetInfo info) {
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LogUtil.log(TAG, "左侧负载控件信息:" + info.toString());
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}
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});
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PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_1).addPayloadDataListener(new PayloadDataListener() {
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@Override
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public void onDataFromPayloadUpdate(byte[] data) {
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LogUtil.log(TAG, "onDataFromPayloadUpdate:" + data.toString());
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}
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});
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PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_1).addPayloadBasicInfoListener(new PayloadBasicInfoListener() {
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@Override
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public void onPayloadBasicInfoUpdate(PayloadBasicInfo info) {
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LogUtil.log(TAG, "addPayloadBasicInfoListener:" + info.toString());
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}
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});
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} else {
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LogUtil.log(TAG, "监听LEFT_OR_MAIN PSDK数据失败:设备未连接");
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}
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} else {
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LogUtil.log(TAG, "监听psdk数据失败:未检测到设备");
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}
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} else {
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LogUtil.log(TAG, "设备未连接");
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}
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}
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// //设置三方负载控件
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// public void setWidget(MQMessage message) {
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// Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
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// if (isConnect != null && isConnect) {
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// Map<PayloadIndexType, IPayloadManager> payloadManager = PayloadCenter.getInstance().getPayloadManager();
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// Map<PayloadIndexType, IPayloadManager> payloadManagerMap = payloadManager;
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// WidgetValue widgetValue = new WidgetValue();
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// widgetValue.setValue(message.getWidgetValue());
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// widgetValue.setIndex(message.getWidgetIndex());
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// widgetValue.setType(WidgetType.find(message.getWidgetType()));
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// payloadManagerMap.get(PayloadIndexType.PORT_2).setWidgetValue(widgetValue, new CommonCallbacks.CompletionCallback() {
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// @Override
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// public void onSuccess() {
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// LogUtil.log(TAG,"设置widget成功");
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// sendMsg2Server(message);
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// }
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//
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// @Override
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// public void onFailure(@NonNull IDJIError error) {
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// LogUtil.log(TAG,"设置widget失败:"+getIDJIErrorMsg(error));
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// }
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// });
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// }
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//
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// }
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//
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// //锁定
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// public void lock(MQMessage message) {
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// Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
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// if (isConnect != null && isConnect) {
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// Map<PayloadIndexType, IPayloadManager> payloadManager = PayloadCenter.getInstance().getPayloadManager();
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// Map<PayloadIndexType, IPayloadManager> payloadManagerMap = payloadManager;
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// WidgetValue widgetValue = new WidgetValue();
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// widgetValue.setValue(0);
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// widgetValue.setIndex(0);
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// widgetValue.setType(WidgetType.SWITCH);
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// payloadManagerMap.get(PayloadIndexType.PORT_2).setWidgetValue(widgetValue, new CommonCallbacks.CompletionCallback() {
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// @Override
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// public void onSuccess() {
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// sendMsg2Server(message);
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// }
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//
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// @Override
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// public void onFailure(@NonNull IDJIError error) {
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// LogUtil.log(TAG,"解锁失败:" +new Gson().toJson(error));
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// sendMsg2Server(message, "解锁失败:" + getIDJIErrorMsg(error));
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// }
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// });
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// }
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//
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// }
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//
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// //解锁
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// public void unlock(MQMessage message) {
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// Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
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// if (isConnect != null && isConnect) {
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// Map<PayloadIndexType, IPayloadManager> payloadManager = PayloadCenter.getInstance().getPayloadManager();
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// Map<PayloadIndexType, IPayloadManager> payloadManagerMap = payloadManager;
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// WidgetValue widgetValue = new WidgetValue();
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// widgetValue.setValue(1);
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// widgetValue.setIndex(0);
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// widgetValue.setType(WidgetType.SWITCH);
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// payloadManagerMap.get(PayloadIndexType.PORT_2).setWidgetValue(widgetValue, new CommonCallbacks.CompletionCallback() {
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// @Override
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// public void onSuccess() {
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// sendMsg2Server(message);
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// }
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//
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// @Override
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// public void onFailure(@NonNull IDJIError idjiError) {
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// LogUtil.log(TAG,"解锁失败:" +new Gson().toJson(idjiError));
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// sendMsg2Server(message, "解锁失败:" + getIDJIErrorMsg(idjiError));
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//
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// }
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// });
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// }
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//
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// }
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//
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// //抛投
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// public void throwOne(MQMessage message) {
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// Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
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// if (isConnect != null && isConnect) {
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// Map<PayloadIndexType, IPayloadManager> payloadManager = PayloadCenter.getInstance().getPayloadManager();
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// Map<PayloadIndexType, IPayloadManager> payloadManagerMap = payloadManager;
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// WidgetValue widgetValue = new WidgetValue();
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// widgetValue.setValue(0);
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// widgetValue.setIndex(0);
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// widgetValue.setType(WidgetType.SWITCH);
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// payloadManagerMap.get(PayloadIndexType.PORT_2).setWidgetValue(widgetValue, new CommonCallbacks.CompletionCallback() {
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// @Override
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// public void onSuccess() {
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// new Handler().postDelayed(new Runnable() {
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// @Override
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// public void run() {
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// Map<PayloadIndexType, IPayloadManager> payloadManager = PayloadCenter.getInstance().getPayloadManager();
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// Map<PayloadIndexType, IPayloadManager> payloadManagerMap = payloadManager;
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// WidgetValue widgetValue = new WidgetValue();
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// widgetValue.setValue(1);
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// widgetValue.setIndex(0);
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// widgetValue.setType(WidgetType.SWITCH);
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// payloadManagerMap.get(PayloadIndexType.PORT_2).setWidgetValue(widgetValue, new CommonCallbacks.CompletionCallback() {
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// @Override
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// public void onSuccess() {
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// new Handler().postDelayed(new Runnable() {
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// @Override
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// public void run() {
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// Map<PayloadIndexType, IPayloadManager> payloadManager = PayloadCenter.getInstance().getPayloadManager();
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// Map<PayloadIndexType, IPayloadManager> payloadManagerMap = payloadManager;
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// WidgetValue widgetValue = new WidgetValue();
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// widgetValue.setValue(1);
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// widgetValue.setIndex(1);
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// widgetValue.setType(WidgetType.BUTTON);
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// payloadManagerMap.get(PayloadIndexType.PORT_2).setWidgetValue(widgetValue, new CommonCallbacks.CompletionCallback() {
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// @Override
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// public void onSuccess() {
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// sendMsg2Server(message);
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// }
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//
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// @Override
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// public void onFailure(@NonNull IDJIError idjiError) {
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// LogUtil.log(TAG,"抛投失败:" +new Gson().toJson(idjiError));
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// sendMsg2Server(message, "抛投失败:" + getIDJIErrorMsg(idjiError));
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//
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// }
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// });
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// }
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// }, 500);
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// }
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//
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// @Override
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// public void onFailure(@NonNull IDJIError idjiError) {
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// LogUtil.log(TAG,"解锁失败:" +new Gson().toJson(idjiError));
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// sendMsg2Server(message, "解锁失败:" + getIDJIErrorMsg(idjiError));
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//
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// }
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// });
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// }
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// }, 500);
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// }
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//
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// @Override
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// public void onFailure(@NonNull IDJIError idjiError) {
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// LogUtil.log(TAG,"锁定失败:" +new Gson().toJson(idjiError));
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// sendMsg2Server(message, "锁定失败:" + getIDJIErrorMsg(idjiError));
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// }
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// });
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//
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// }
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//
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// }
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//
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// //一件抛投
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// public void throwAll(MQMessage message) {
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// Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
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// if (isConnect != null && isConnect) {
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// Map<PayloadIndexType, IPayloadManager> payloadManager = PayloadCenter.getInstance().getPayloadManager();
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// Map<PayloadIndexType, IPayloadManager> payloadManagerMap = payloadManager;
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// WidgetValue widgetValue = new WidgetValue();
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// widgetValue.setValue(0);
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// widgetValue.setIndex(0);
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// widgetValue.setType(WidgetType.SWITCH);
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// payloadManagerMap.get(PayloadIndexType.PORT_2).setWidgetValue(widgetValue, new CommonCallbacks.CompletionCallback() {
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// @Override
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// public void onSuccess() {
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// new Handler().postDelayed(new Runnable() {
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// @Override
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// public void run() {
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// Map<PayloadIndexType, IPayloadManager> payloadManager = PayloadCenter.getInstance().getPayloadManager();
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// Map<PayloadIndexType, IPayloadManager> payloadManagerMap = payloadManager;
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// WidgetValue widgetValue = new WidgetValue();
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// widgetValue.setValue(1);
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// widgetValue.setIndex(0);
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// widgetValue.setType(WidgetType.SWITCH);
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// payloadManagerMap.get(PayloadIndexType.PORT_2).setWidgetValue(widgetValue, new CommonCallbacks.CompletionCallback() {
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// @Override
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// public void onSuccess() {
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// new Handler().postDelayed(new Runnable() {
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// @Override
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// public void run() {
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// Map<PayloadIndexType, IPayloadManager> payloadManager = PayloadCenter.getInstance().getPayloadManager();
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// Map<PayloadIndexType, IPayloadManager> payloadManagerMap = payloadManager;
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// WidgetValue widgetValue = new WidgetValue();
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// widgetValue.setValue(1);
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// widgetValue.setIndex(2);
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// widgetValue.setType(WidgetType.BUTTON);
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// payloadManagerMap.get(PayloadIndexType.PORT_2).setWidgetValue(widgetValue, new CommonCallbacks.CompletionCallback() {
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// @Override
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// public void onSuccess() {
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// sendMsg2Server(message);
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// }
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//
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// @Override
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// public void onFailure(@NonNull IDJIError idjiError) {
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// LogUtil.log(TAG,"全抛失败:" +new Gson().toJson(idjiError));
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// sendMsg2Server(message, "全抛失败:" + getIDJIErrorMsg(idjiError));
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// }
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// });
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// }
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// }, 500);
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// }
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//
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// @Override
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// public void onFailure(@NonNull IDJIError idjiError) {
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// LogUtil.log(TAG,"解锁失败:" +new Gson().toJson(idjiError));
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// sendMsg2Server(message, "解锁失败:" + getIDJIErrorMsg(idjiError));
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// }
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// });
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// }
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// }, 500);
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// }
|
|||
|
|
//
|
|||
|
|
// @Override
|
|||
|
|
// public void onFailure(@NonNull IDJIError idjiError) {
|
|||
|
|
// LogUtil.log(TAG,"锁定失败:" +new Gson().toJson(idjiError));
|
|||
|
|
// sendMsg2Server(message, "锁定失败:" + getIDJIErrorMsg(idjiError));
|
|||
|
|
// }
|
|||
|
|
// });
|
|||
|
|
//
|
|||
|
|
// }
|
|||
|
|
// }
|
|||
|
|
//
|
|||
|
|
// public void sendMsgToPayload(MQMessage message) {
|
|||
|
|
// Map<PayloadIndexType, IPayloadManager> payloadManager = PayloadCenter.getInstance().getPayloadManager();
|
|||
|
|
// if (payloadManager != null) {
|
|||
|
|
// IPayloadManager iPayloadManager = payloadManager.get(PayloadIndexType.EXTERNAL);
|
|||
|
|
// if (iPayloadManager != null) {
|
|||
|
|
// if (TextUtils.isEmpty(message.getPayloadData())) {
|
|||
|
|
// sendMsg2Server( message, "发送数据到psdk失败:参数有误");
|
|||
|
|
// return;
|
|||
|
|
// }
|
|||
|
|
// iPayloadManager.sendDataToPayload(Utils.getByte(message.getPayloadData()), new CommonCallbacks.CompletionCallback() {
|
|||
|
|
// @Override
|
|||
|
|
// public void onSuccess() {
|
|||
|
|
// LogUtil.log(TAG, "发送数据到psdk:" + Utils.getByte(message.getPayloadData()));
|
|||
|
|
// sendMsg2Server( message);
|
|||
|
|
// }
|
|||
|
|
//
|
|||
|
|
// @Override
|
|||
|
|
// public void onFailure(@NonNull IDJIError idjiError) {
|
|||
|
|
// LogUtil.log(TAG,"发送数据到psdk失败:" +new Gson().toJson(idjiError));
|
|||
|
|
// sendMsg2Server( message, "发送数据到psdk失败:" + getIDJIErrorMsg(idjiError));
|
|||
|
|
// }
|
|||
|
|
// });
|
|||
|
|
// } else {
|
|||
|
|
// sendMsg2Server( message, "发送数据到psdk失败:设备未连接");
|
|||
|
|
// }
|
|||
|
|
// } else {
|
|||
|
|
// sendMsg2Server( message, "发送数据到psdk失败:未检测到设备");
|
|||
|
|
// }
|
|||
|
|
// }
|
|||
|
|
//
|
|||
|
|
// public void sendMsgToLeftPayload(String txt) {
|
|||
|
|
// Map<PayloadIndexType, IPayloadManager> payloadManager = PayloadCenter.getInstance().getPayloadManager();
|
|||
|
|
// if (payloadManager != null) {
|
|||
|
|
// IPayloadManager iPayloadManager = payloadManager.get(PayloadIndexType.LEFT_OR_MAIN);
|
|||
|
|
// if (iPayloadManager != null) {
|
|||
|
|
//
|
|||
|
|
// iPayloadManager.sendDataToPayload(txt.getBytes(), new CommonCallbacks.CompletionCallback() {
|
|||
|
|
// @Override
|
|||
|
|
// public void onSuccess() {
|
|||
|
|
// LogUtil.log(TAG,"send"+txt+"to psdk success");
|
|||
|
|
// }
|
|||
|
|
//
|
|||
|
|
// @Override
|
|||
|
|
// public void onFailure(@NonNull IDJIError idjiError) {
|
|||
|
|
// LogUtil.log(TAG,"send"+txt+"to psdk fail:"+new Gson().toJson(idjiError));
|
|||
|
|
// }
|
|||
|
|
// });
|
|||
|
|
// } else {
|
|||
|
|
// LogUtil.log(TAG,"发送数据到psdk失败:设备未连接");
|
|||
|
|
// }
|
|||
|
|
// } else {
|
|||
|
|
// LogUtil.log(TAG,"发送数据到psdk失败:未检测到设备");
|
|||
|
|
// }
|
|||
|
|
// }
|
|||
|
|
//
|
|||
|
|
// //推送MSDK收到的PSDK数据
|
|||
|
|
// public void sendMsgFromPSDK2Server(MqttAndroidClient client,byte[] data) {
|
|||
|
|
// try {
|
|||
|
|
// if (client.isConnected()) {
|
|||
|
|
// MqttMessage mqttMessage = null;
|
|||
|
|
// MessageReply message = new MessageReply();
|
|||
|
|
// message.setMsg_type(60119);
|
|||
|
|
// message.setResult(1);
|
|||
|
|
// message.setPayloadData(data);
|
|||
|
|
// mqttMessage = new MqttMessage(new Gson().toJson(message).getBytes("UTF-8"));
|
|||
|
|
// mqttMessage.setQos(2);
|
|||
|
|
// client.publish(AMSConfig.getInstance().getMqttMsdkPushEvent2ServerTopic(), mqttMessage);
|
|||
|
|
//
|
|||
|
|
// } else {
|
|||
|
|
// LogUtil.log(TAG, "psdkData发送失败：mqtt 未连接");
|
|||
|
|
// }
|
|||
|
|
// } catch (Exception e) {
|
|||
|
|
// LogUtil.log(TAG, "psdkData发送异常：mqtt 未连接");
|
|||
|
|
// e.printStackTrace();
|
|||
|
|
// }
|
|||
|
|
// }
|
|||
|
|
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 检查列表中是否已经存在指定payloadIndexType的PayloadInfo对象。
|
|||
|
|
*/
|
|||
|
|
private boolean isPayloadIndexTypeExists(List<PayloadInfo> list, String payloadIndexType) {
|
|||
|
|
for (PayloadInfo payloadInfo : list) {
|
|||
|
|
if (payloadInfo.getPayloadIndexType().equals(payloadIndexType)) {
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
}
|