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makcar/app/src/main/java/com/aros/apron/manager/MissionV3Manager.java

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package com.aros.apron.manager;
import static com.aros.apron.tools.Utils.getIDJIErrorMsg;
import static dji.sdk.keyvalue.key.KeyTools.createKey;
import android.os.Environment;
import android.os.Handler;
import android.os.Looper;
import android.text.TextUtils;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import com.aros.apron.app.ApronApp;
import com.aros.apron.base.BaseManager;
import com.aros.apron.constant.ErrorCode;
import com.aros.apron.entity.CurrentWayline;
import com.aros.apron.entity.MessageDown;
import com.aros.apron.entity.Movement;
import com.aros.apron.tools.LogUtil;
import com.aros.apron.tools.PreferenceUtils;
import com.aros.apron.tools.RestartAPPTool;
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import com.aros.apron.tools.TakeoffProgressScheduler;
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import com.dji.wpmzsdk.common.data.KMZInfo;
import com.dji.wpmzsdk.manager.WPMZManager;
import com.google.gson.Gson;
import java.io.File;
import java.io.FileOutputStream;
import java.io.IOException;
import java.io.InputStream;
import java.util.List;
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import dji.sdk.keyvalue.key.CameraKey;
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import dji.sdk.keyvalue.key.FlightControllerKey;
import dji.sdk.keyvalue.key.KeyTools;
import dji.sdk.keyvalue.value.flightcontroller.RemoteControllerFlightMode;
import dji.sdk.wpmz.value.mission.Wayline;
import dji.sdk.wpmz.value.mission.WaylineExecuteWaypoint;
import dji.sdk.wpmz.value.mission.WaylineWaylinesParseInfo;
import dji.v5.common.callback.CommonCallbacks;
import dji.v5.common.error.IDJIError;
import dji.v5.manager.KeyManager;
import dji.v5.manager.aircraft.waypoint3.WaylineExecutingInfoListener;
import dji.v5.manager.aircraft.waypoint3.WaypointActionListener;
import dji.v5.manager.aircraft.waypoint3.WaypointMissionExecuteStateListener;
import dji.v5.manager.aircraft.waypoint3.WaypointMissionManager;
import dji.v5.manager.aircraft.waypoint3.model.BreakPointInfo;
import dji.v5.manager.aircraft.waypoint3.model.WaylineExecutingInfo;
import dji.v5.manager.aircraft.waypoint3.model.WaypointMissionExecuteState;
import dji.v5.manager.interfaces.IWaypointMissionManager;
import okhttp3.Call;
import okhttp3.Callback;
import okhttp3.OkHttpClient;
import okhttp3.Request;
import okhttp3.Response;
public class MissionV3Manager extends BaseManager {
final Handler mainHandler = new Handler(Looper.getMainLooper());
private MissionV3Manager() {
}
private static class MissionHolder {
private static final MissionV3Manager INSTANCE = new MissionV3Manager();
}
public static MissionV3Manager getInstance() {
return MissionHolder.INSTANCE;
}
public boolean isReceiverMission = false;
//在ENTER_WAYLINE后10秒，航线状态变为FINISH，此时无人机不起飞/悬停
private long enterWayLineTime;
private long finishWayLineTime;
public void initMissionManager() {
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
KeyConnection));
if (isConnect != null && isConnect) {
WaypointMissionManager waypointMissionManager = WaypointMissionManager.getInstance();
waypointMissionManager.addWaypointMissionExecuteStateListener(new WaypointMissionExecuteStateListener() {
@Override
public void onMissionStateUpdate(WaypointMissionExecuteState missionState) {
if (missionState != null) {
switch (missionState) {
case DISCONNECTED:
sendEvent2Server("任务状态:未连接", 1);
break;
case IDLE:
sendEvent2Server("任务状态:初始化", 1);
break;
case NOT_SUPPORTED:
sendEvent2Server("任务状态:此机型不支持航线任务3.0", 1);
Movement.getInstance().setTask_status("rejected");
Movement.getInstance().setMissionFinish(false);
//这个是原来可控制那个发送最终状态的逻辑
Movement.getInstance().setMissionFinish1(false);
sendFlightTaskProgress2Server();
break;
case READY:
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if(Movement.getInstance().getFlightmode()==2){
Movement.getInstance().setTakeoff_status("task_ready");
}
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if (PreferenceUtils.getInstance().getMissionType()==2
) {
Movement.getInstance().setTask_status("paused");
} else {
Movement.getInstance().setTask_status("in_progress");
}
sendEvent2Server("任务状态:准备中", 1);
break;
case UPLOADING:
if (PreferenceUtils.getInstance().getMissionType()==2
) {
Movement.getInstance().setTask_status("paused");
} else {
Movement.getInstance().setTask_status("sent");
}
sendEvent2Server("任务状态:上传中", 1);
Movement.getInstance().setVirtualStickQuitMission(false);
Movement.getInstance().setMissionFinish(false);
//这个是原来可控制那个发送最终状态的逻辑
Movement.getInstance().setMissionFinish1(false);
sendFlightTaskProgress2Server();
break;
case PREPARING:
if (PreferenceUtils.getInstance().getMissionType()==2
) {
Movement.getInstance().setTask_status("paused");
} else {
Movement.getInstance().setTask_status("in_progress");
}
sendEvent2Server("任务状态:执行准备中", 1);
Movement.getInstance().setVirtualStickQuitMission(false);
Movement.getInstance().setMissionFinish(false);
//这个是原来可控制那个发送最终状态的逻辑
Movement.getInstance().setMissionFinish1(false);
sendFlightTaskProgress2Server();
break;
case ENTER_WAYLINE:
enterWayLineTime = System.currentTimeMillis();
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if(Movement.getInstance().getFlightmode()==2){
Movement.getInstance().setTakeoff_status("wayline_progress");
}
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if (PreferenceUtils.getInstance().getMissionType()==2
) {
Movement.getInstance().setTask_status("paused");
} else {
Movement.getInstance().setTask_status("in_progress");
}
Movement.getInstance().setVirtualStickQuitMission(false);
sendEvent2Server("任务状态:进入航线飞行,飞往指定航线的第一个航点", 1);
sendFlightTaskProgress2Server();
Movement.getInstance().setMissionFinish(false);
//这个是原来可控制那个发送最终状态的逻辑
Movement.getInstance().setMissionFinish1(false);
sendFlightTaskProgress2Server();
//航线飞行
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if(Movement.getInstance().getFlightmode()==1){
Movement.getInstance().setMode_code(5);
}else if(Movement.getInstance().getFlightmode()==2){
//指令飞行
Movement.getInstance().setMode_code(17);
}
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break;
case EXECUTING:
sendEvent2Server("任务状态:航线任务执行中", 1);
if (PreferenceUtils.getInstance().getMissionType()==2
) {
Movement.getInstance().setTask_status("paused");
} else {
Movement.getInstance().setTask_status("in_progress");
}
Movement.getInstance().setVirtualStickQuitMission(false);
Movement.getInstance().setMissionFinish(false);
//这个是原来可控制那个发送最终状态的逻辑
Movement.getInstance().setMissionFinish1(false);
sendFlightTaskProgress2Server();
break;
case INTERRUPTED:
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if(Movement.getInstance().getFlightmode()==2){
Movement.getInstance().setTakeoff_status("wayline_cancel");
}
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Movement.getInstance().setVirtualStickQuitMission(false);
sendEvent2Server("任务状态:航线任务执行中断", 1);
Movement.getInstance().setTask_status("paused");
Movement.getInstance().setMissionFinish(false);
//这个是原来可控制那个发送最终状态的逻辑
Movement.getInstance().setMissionFinish1(false);
sendFlightTaskProgress2Server();
//切换成手动飞行
//Movement.getInstance().setMode_code(3);
break;
case RECOVERING:
Movement.getInstance().setVirtualStickQuitMission(false);
sendEvent2Server("任务状态:航线任务恢复中", 1);
if (PreferenceUtils.getInstance().getMissionType()==2
) {
Movement.getInstance().setTask_status("paused");
} else {
Movement.getInstance().setTask_status("in_progress");
}
Movement.getInstance().setMissionFinish(false);
//这个是原来可控制那个发送最终状态的逻辑
Movement.getInstance().setMissionFinish1(false);
sendFlightTaskProgress2Server();
break;
case FINISHED:
//如果是虚拟摇杆导致的退出应该要可恢复
if(Movement.getInstance().getMode_code()==16){
PreferenceUtils.getInstance().setMissionType(2);
}else{
}
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if(Movement.getInstance().getFlightmode()==2){
Movement.getInstance().setTakeoff_status("task_finish");
Movement.getInstance().setTakeoff_status("wayline_ok");
new Handler(Looper.getMainLooper()).postDelayed(new Runnable() {
@Override
public void run() {
TakeoffProgressScheduler.getInstance().stopReporting();
}
}, 1000); // 1000ms = 1秒
}
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finishWayLineTime = System.currentTimeMillis();
mainHandler.postDelayed(new Runnable() {
@Override
public void run() {
if (finishWayLineTime - enterWayLineTime <= 11000 && !Movement.getInstance().isPlaneWing()
) {
sendEvent2Server("任务非正常结束", 2);
TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
}
}
}, 5000);
//需要在这里保存下来机头角度，index等断点，在降落后若查询到断点，在拼接起来
PreferenceUtils.getInstance().setAttitudeHead(Movement.getInstance().getAttitude_head()+"");
PreferenceUtils.getInstance().setWaypointIndex(Movement.getInstance().getCurrentWaypointIndex()+"");
queryBreakPoint();
sendFlightTaskProgress2Server();
break;
case RETURN_TO_START_POINT:
//自动返航
Movement.getInstance().setMode_code(9);
if (PreferenceUtils.getInstance().getMissionType()==2
) {
Movement.getInstance().setTask_status("paused");
} else {
Movement.getInstance().setTask_status("in_progress");
}
Movement.getInstance().setMissionFinish(false);
//这个是原来可控制那个发送最终状态的逻辑
Movement.getInstance().setMissionFinish1(false);
sendFlightTaskProgress2Server();
break;
}
LogUtil.log(TAG, "WaypointMissionExecuteState:" + missionState.name());
Movement.getInstance().setWaypointMissionExecuteState(missionState.name());
Movement.getInstance().setTask_wayline_mission_state(missionState.value());
Movement.getInstance().setMissionStateCode(missionState.value());
}
}
});
waypointMissionManager.addWaylineExecutingInfoListener(new WaylineExecutingInfoListener() {
@Override
public void onWaylineExecutingInfoUpdate(WaylineExecutingInfo excutingWaylineInfo) {
if (excutingWaylineInfo != null) {
//状态等执行完发送再更新(测试暂停时不改变index为0)
if (excutingWaylineInfo.getCurrentWaypointIndex() != 0) {
Movement.getInstance().setCurrentWaypointIndex(excutingWaylineInfo.getCurrentWaypointIndex());
Movement.getInstance().setTask_current_waypoint_index(excutingWaylineInfo.getCurrentWaypointIndex());
}
}
}
@Override
public void onWaylineExecutingInterruptReasonUpdate(IDJIError error) {
}
});
waypointMissionManager.addWaypointActionListener(new WaypointActionListener() {
@Override
public void onExecutionStart(int actionId) {
}
@Override
public void onExecutionFinish(int actionId, @Nullable IDJIError error) {
}
@Override
public void onExecutionStart(int actionGroup, int actionId) {
}
@Override
public void onExecutionFinish(int actionGroup, int actionId, @Nullable IDJIError error) {
}
});
}
}
//收到航线
public void taskExecute(MessageDown message) {
PreferenceUtils.getInstance().setMissionType(0);
PreferenceUtils.getInstance().setFlightId(message.getData().getFlight_id());
PreferenceUtils.getInstance().setAlternatePointLon(message.getData().getAlternate_land_point().getLongitude() + "");
PreferenceUtils.getInstance().setAlternatePointLat(message.getData().getAlternate_land_point().getLatitude() + "");
PreferenceUtils.getInstance().setAlternatePointSecurityHeight(message.getData().getAlternate_land_point().getSafe_land_height() + "");
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//设置全局返航高度
KeyManager.getInstance().setValue(KeyTools.createKey(FlightControllerKey.KeyGoHomeHeight), message.getData().getRth_altitude(), new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
LogUtil.log(TAG,"设置全局返航高度成功");
}
@Override
public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG,"设置全局返航高度失败");
}
});
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Movement.getInstance().setTask_current_step(5);
//1.检查图传是否连接
checkVtxWithDelay(() -> {
//避免重复执行
if (isReceiverMission == false) {
isReceiverMission = true;
}
//2.回复收到指令
sendMsg2Server(message);
//3.检查飞机状态（不满足条件直接taskFail入库）
boolean statusOk = verifyAircraftStatus(message);
//4.信号收敛(等待GPS搜星)
if (statusOk) {
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sendEvent2Server("条件满足进入自建和下发航线",1);
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verifyGpsAndMissionState(message);
}
});
}
/**
* 1.校验飞机状态
*/
private boolean verifyAircraftStatus(MessageDown message) {
Boolean isConnect = KeyManager.getInstance().getValue(createKey(FlightControllerKey.KeyConnection));
if (isConnect != null && isConnect) {
//1.若当前处于虚拟摇杆状态，取消虚拟摇杆
if (Movement.getInstance().getIsVirtualStickEnable() == 1) {
StickManager.getInstance().disableVirtualStick(null);
}
//2.关闭避障
PerceptionManager.getInstance().setPerceptionEnable(false);
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PerceptionManager.getInstance().setObstacleAvoidanceHorizontalEnabled(false);
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//3.清空sd卡
CameraManager.getInstance().formatStorage(null);
//4.返航或降落状态无法执行航线
if (Movement.getInstance().getGoHomeState() == 1 || Movement.getInstance().getGoHomeState() == 2) {
sendFailMsg2Server(message, "返航中,无法执行航线任务");
return false;
}
//5.检查航线备降点参数
if (message.getData().getAlternate_land_point() == null) {
sendEvent2Server("备降点参数异常", 2);
TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
return false;
}
//6.检查航线参数
if (message.getData().getFile() == null) {
sendEvent2Server("航线参数异常", 2);
TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
return false;
}
//7.检查电池电量
Integer value = KeyManager.getInstance().getValue(createKey(FlightControllerKey.
KeyBatteryPowerPercent, 0));
if (value != null && value < Integer.parseInt(PreferenceUtils.getInstance().getMinumumBattery())) {
sendEvent2Server("任务执行失败,电量过低", 2);
TaskFailManager.getInstance().sendTaskFailMsg2Server(ErrorCode.DEVICE_BATTERY_LEVEL_TOO_LOW);
return false;
}
RemoteControllerFlightMode remoteControllerFlightMode =
KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyRemoteControllerFlightMode));
if (remoteControllerFlightMode != null && remoteControllerFlightMode != RemoteControllerFlightMode.P) {
sendEvent2Server("任务执行失败,请将遥控器切换为P/N挡", 2);
TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
return false;
}
return true;
} else {
sendFailMsg2Server(message, "无人机未连接");
return false;
}
}
private int verifyGpsAndMissionStateTimes;
private boolean verifyGpsAndMissionStateSuccess;
private final int maxRetries = 100;
/**
* 3.GPS信号校验
*/
private void verifyGpsAndMissionState(MessageDown message) {
int missionStateCode = Movement.getInstance().getMissionStateCode();
String planeMessage = Movement.getInstance().getPlaneMessage();
int quality = Movement.getInstance().getQuality();
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int GPSSatelliteCount=Movement.getInstance().getGPSSatelliteCount();
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boolean isMissionStateValid = (missionStateCode == 2 || missionStateCode == 0 || missionStateCode == 7);
boolean isPlaneMessageValid = !TextUtils.isEmpty(planeMessage) && !planeMessage.equals("无法起飞");
boolean isGpsQualityValid = (quality == 4 || quality == 5 || quality == 10);
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boolean GPSSatelliteCountValid=GPSSatelliteCount>15;
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LogUtil.log(TAG,"isMissionStateValid"+isMissionStateValid+"isPlaneMessageValid"+isPlaneMessageValid+"isGpsQualityValid"+isGpsQualityValid);
// if (isMissionStateValid && isPlaneMessageValid && isGpsQualityValid) {
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sendEvent2Server("卫星数量"+GPSSatelliteCount+"gps是否ok"+GPSSatelliteCountValid,1);
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if (isGpsQualityValid||GPSSatelliteCountValid) {
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//5.下载航线
downLoadKMZFile(message);
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sendEvent2Server("执行下载航线成功",1);
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verifyGpsAndMissionStateSuccess = true;
} else {
if (!verifyGpsAndMissionStateSuccess) {
if (verifyGpsAndMissionStateTimes < maxRetries) {
mainHandler.postDelayed(new Runnable() {
@Override
public void run() {
verifyGpsAndMissionStateTimes++;
verifyGpsAndMissionState(message);
sendEvent2Server("航线状态第" + verifyGpsAndMissionStateTimes + "次检索失败:" +
WaypointMissionExecuteState.find(missionStateCode).name() +
"-RTK:" + Movement.getInstance().getIs_fixed() + "-飞行器状态:" +
Movement.getInstance().getPlaneMessage() +
"-GPS信号等级:" + Movement.getInstance().getQuality(), 1);
}
},2000);
}else {
sendEvent2Server("飞行器自检异常:" + WaypointMissionExecuteState.find(missionStateCode).name() +
"-RTK:" + Movement.getInstance().getIs_fixed() + "-飞行器状态:" +
Movement.getInstance().getPlaneMessage() +
"-GPS信号等级:" + Movement.getInstance().getQuality(), 2);
TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
}
}
}
}
/**
* 5.下载航线
*
* @param message
*/
public void downLoadKMZFile(MessageDown message) {
Movement.getInstance().setTask_current_step(16);
Request request = new Request.Builder().url(message.getData().getFile().getUrl()).build();
new OkHttpClient().newCall(request).enqueue(new Callback() {
@Override
public void onFailure(Call call, IOException e) {
sendEvent2Server("任务下载失败:" + e.toString(), 2);
TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
}
@Override
public void onResponse(Call call, Response response) throws IOException {
if (response != null) {
InputStream is = null;
byte[] buf = new byte[2048];
int len = 0;
FileOutputStream fos = null;
// 储存下载文件的目录
File dir = new File(Environment.getExternalStorageDirectory().getPath());
if (!dir.exists()) {
dir.mkdirs();
}
File file = new File(dir, "aros.kmz");
try {
is = response.body().byteStream();
fos = new FileOutputStream(file);
while ((len = is.read(buf)) != -1) {
fos.write(buf, 0, len);
}
fos.flush();
sendEvent2Server("航线下载成功 ", 1);
mainHandler.post(new Runnable() {
@Override
public void run() {
pushKMZFileToAircraft(message);
}
});
} catch (Exception e) {
sendEvent2Server("任务下载失败,网络异常:" + e.toString(), 2);
TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
}
}
}
});
}
private int pushKMZFileTimes = 0;
public static long pushKMZFailTimeMillis;
public boolean isPushKMZSuccess;
public boolean isPushKMZFailTimes() {
long time = System.currentTimeMillis();
if (time - pushKMZFailTimeMillis > 3000) {
pushKMZFailTimeMillis = time;
return true;
}
return false;
}
/**
* 6.上传航线
* @param message
*/
private void pushKMZFileToAircraft(MessageDown message) {
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
KeyConnection));
if (isConnect != null && isConnect) {
KMZInfo kmzInfo = WPMZManager.getInstance().getKMZInfo(
Environment.getExternalStorageDirectory().getPath() + "/" + "aros.kmz");
if (kmzInfo != null) {
// Utils.printJson(TAG,"航点详情:"+new Gson().toJson(kmzInfo));
WaylineWaylinesParseInfo waylineWaylinesParseInfo = kmzInfo.getWaylineWaylinesParseInfo();
if (waylineWaylinesParseInfo != null) {
List<Wayline> waylines = waylineWaylinesParseInfo.getWaylines();
if (waylines != null && waylines.size() > 0) {
List<WaylineExecuteWaypoint> waypoints = waylines.get(0).getWaypoints();
if (waypoints != null&&waypoints.size()>0) {
CurrentWayline.getInstance().setWaypoints(waypoints);
LogUtil.log(TAG, "该航线有" + waypoints.size() + "个航点");
} else {
LogUtil.log(TAG, "WPMZManager getWaypointInfo有误");
}
} else {
LogUtil.log(TAG, "WPMZManager getTemplates有误");
}
} else {
LogUtil.log(TAG, "WPMZManager getKMZInfo有误");
}
} else {
LogUtil.log(TAG, "WPMZManager getKMZInfo有误");
}
WaypointMissionManager.getInstance().pushKMZFileToAircraft(Environment.getExternalStorageDirectory().getPath() + "/" + "aros.kmz", new CommonCallbacks.CompletionCallbackWithProgress<Double>() {
@Override
public void onProgressUpdate(Double progress) {
sendEvent2Server("航线上传进度:" + progress, 1);
Movement.getInstance().setTask_current_step(17);
}
@Override
public void onSuccess() {
// "2": "起飞准备完毕",
Movement.getInstance().setMode_code(2);
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LogUtil.log(TAG,"航线上传成功,准备执行任务");
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sendEvent2Server("航线上传成功,准备执行任务", 1);
isPushKMZSuccess = true;
mainHandler.postDelayed(new Runnable() {
@Override
public void run() {
/**
* 7.开始任务
*/
//自主起飞
Movement.getInstance().setMode_code(4);
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sendFlightTaskProgress2Server();
第一次提交
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Movement.getInstance().setTask_current_step(22);
添加了一键起飞上报喊话器上报
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//关闭避障
PerceptionManager.getInstance().setPerceptionEnable(false);
PerceptionManager.getInstance().setObstacleAvoidanceHorizontalEnabled(false);
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startMission(message);
pushKMZFileTimes = 0;
}
}, 2000);
}
@Override
public void onFailure(@NonNull IDJIError error) {
if (!isPushKMZSuccess) {
if (pushKMZFileTimes < 10) {
if (isPushKMZFailTimes()) {
mainHandler.postDelayed(new Runnable() {
@Override
public void run() {
LogUtil.log(TAG, "上传航线第" + pushKMZFileTimes + "次失败,重新上传" + ":" + new Gson().toJson(error));
pushKMZFileTimes++;
pushKMZFileToAircraft(message);
}
}, 3000);
} else {
LogUtil.log(TAG, "上传航线只处理一次回调" + ":" + new Gson().toJson(error));
}
} else {
//待机
Movement.getInstance().setMode_code(0);
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sendFlightTaskProgress2Server();
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sendEvent2Server("航线第" + pushKMZFileTimes + "次上传失败,直接关机", 2);
TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
}
} else {
sendEvent2Server("航线上传已经执行onSuccess回调:" + WaypointMissionExecuteState.find(Movement.getInstance().getMissionStateCode()).name(), 1);
}
}
});
}
}
private int startMissionFailTimes = 0;
private boolean isMissionStart = false;
/**
* 6.开始航线
* @param message
*/
public void startMission(MessageDown message) {
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
KeyConnection));
if (isConnect != null && isConnect) {
int missionStateCode = Movement.getInstance().getMissionStateCode();
//每次航线开始时，重置是否需要识别二维码状态，避免刚起飞就识别二维码/并确保不是飞向备降点的航线
PreferenceUtils.getInstance().setNeedTriggerApronArucoLand(false);
PreferenceUtils.getInstance().setNeedTriggerAlterArucoLand(false);
PreferenceUtils.getInstance().setTriggerToAlternatePoint(false);
PreferenceUtils.getInstance().setFlightId(message.getData().getFlight_id());
CommonCallbacks.CompletionCallback callback= new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
isMissionStart = true;
LogUtil.log(TAG, "航线第" + startMissionFailTimes + "次开始成功");
Movement.getInstance().setTask_status("in_progress");
startMissionFailTimes = 0;
sendEvent2Server("任务开始执行", 1);
Movement.getInstance().setTask_current_step(23);
sendFlightTaskProgress2Server();
// Movement.getInstance().setMode_code(5);
// // 自动起飞
// Movement.getInstance().setMode_code(4);
//
// new android.os.Handler(android.os.Looper.getMainLooper()).postDelayed(() -> {
// Movement.getInstance().setMode_code(5);
// }, 2000);
}
@Override
public void onFailure(@NonNull IDJIError error) {
LogUtil.log(TAG, "航线执行失败:" + new Gson().toJson(error));
if (!isMissionStart) {
if (missionStateCode != 3 && missionStateCode != 4 && missionStateCode != 5 && missionStateCode != 6
&& missionStateCode != 7 && missionStateCode != 8 && missionStateCode != 9 && missionStateCode != 10) {
if (startMissionFailTimes < 50) {
mainHandler.postDelayed(new Runnable() {
@Override
public void run() {
startMission(message);
sendEvent2Server("航线第" + startMissionFailTimes + "次开始失败" + "---" + new Gson().toJson(error) + "--" + Movement.getInstance().getQuality(), 2);
startMissionFailTimes++;
}
}, 2000);
} else {
if (!Movement.getInstance().isPlaneWing()) {
//待机
Movement.getInstance().setMode_code(0);
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sendFlightTaskProgress2Server();
第一次提交
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sendEvent2Server("航线第" + startMissionFailTimes + "次开始失败,直接关机:" + "---" + new Gson().toJson(error) + "--" + Movement.getInstance().getQuality(), 2);
TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
}
}
} else {
sendEvent2Server("航线已经执行:" + WaypointMissionExecuteState.find(missionStateCode).name(), 1);
}
}
}
};
if (message.getData()!=null&&message.getData().getBreak_point()!=null&&message.getData().getBreak_point().getIndex()>0){
BreakPointInfo breakPointInfo=new BreakPointInfo
(message.getData().getBreak_point().getWayline_id(),
message.getData().getBreak_point().getIndex(),
message.getData().getBreak_point().getProgress());
WaypointMissionManager.getInstance().startMission("aros",breakPointInfo,
callback);
}else{
WaypointMissionManager.getInstance().startMission("aros",callback);
}
} else {
sendEvent2Server("任务开始失败,设备未连接", 2);
}
}
/**
* 暂停航线
* @param message
*/
public void pauseMission(MessageDown message) {
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
KeyConnection));
if (isConnect != null && isConnect) {
IWaypointMissionManager missionManager = WaypointMissionManager.getInstance();
missionManager.pauseMission(new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
sendMsg2Server(message);
Movement.getInstance().setTask_status("paused");
sendFlightTaskProgress2Server();
//暂停成功就是手动飞行
Movement.getInstance().setMode_code(3);
}
@Override
public void onFailure(@NonNull IDJIError error) {
sendFailMsg2Server( message, "航线任务暂停失败:" + getIDJIErrorMsg(error));
}
});
} else {
LogUtil.log(TAG, "航线任务暂停失败:飞控未连接");
}
}
//恢复航线
public void resumeMission(MessageDown message) {
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
KeyConnection));
if (isConnect != null && isConnect) {
IWaypointMissionManager missionManager = WaypointMissionManager.getInstance();
//如果航线是暂停状态,直接恢复航线，否则查询断点信息
if (Movement.getInstance().getMissionStateCode() == 7) {
missionManager.resumeMission(new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
sendMsg2Server(message);
Movement.getInstance().setTask_status("in_progress");
sendFlightTaskProgress2Server();
//继续就是指令 或者 航线
if(Movement.getInstance().getFlightmode()==1){
Movement.getInstance().setMode_code(5);
}else if(Movement.getInstance().getFlightmode()==2){
Movement.getInstance().setMode_code(17);
}
}
@Override
public void onFailure(@NonNull IDJIError error) {
sendFailMsg2Server(message, "航线继续失败:" + getIDJIErrorMsg(error));
}
});
} else {
missionManager.queryBreakPointInfoFromAircraft("aros", new CommonCallbacks.CompletionCallbackWithParam<BreakPointInfo>() {
@Override
public void onSuccess(BreakPointInfo breakPointInfo) {
if (breakPointInfo != null) {
LogUtil.log(TAG, "查询断点成功:" + new Gson().toJson(breakPointInfo));
mainHandler.postDelayed(new Runnable() {
@Override
public void run() {
WaypointMissionManager.getInstance().startMission("aros", breakPointInfo,
new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
sendMsg2Server(message);
PreferenceUtils.getInstance().setIsNewRoute(false);
LogUtil.log(TAG, "恢复断点航线成功");
Movement.getInstance().setTask_status("in_progress");
sendFlightTaskProgress2Server();
}
@Override
public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG, "恢复断点航线失败:" + getIDJIErrorMsg(idjiError));
sendFailMsg2Server(message, "恢复断点航线失败:" + getIDJIErrorMsg(idjiError));
}
});
}
}, 500);
} else {
LogUtil.log(TAG, "未查询到断点信息");
}
}
@Override
public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG, "查询断点失败:" + getIDJIErrorMsg(idjiError));
}
});
}
} else {
LogUtil.log(TAG, "设备未连接");
}
}
private void checkVtxWithDelay(Runnable onVtxReady) {
if (Movement.getInstance().isVtx()) {
// 图传正常，直接继续后面的流程
PreferenceUtils.getInstance().setRestartAMSTimes(0);
LogUtil.log(TAG, "图传正常，继续执行任务流程");
onVtxReady.run();
return;
}
LogUtil.log(TAG, "未检测到图传，5 秒后再次确认...");
mainHandler.postDelayed(() -> {
if (!Movement.getInstance().isVtx()) {
// 图传仍未恢复 → 执行重启逻辑
int times = PreferenceUtils.getInstance().getRestartAMSTimes();
if (times < 5) {
PreferenceUtils.getInstance().setRestartAMSTimes(times + 1);
LogUtil.log(TAG, "图传仍未恢复，重启 AMS 第 " + (times + 1) + " 次");
RestartAPPTool.INSTANCE.restartApp(ApronApp.Companion.getContext());
}
} else {
// 图传恢复 → 执行后续逻辑
PreferenceUtils.getInstance().setRestartAMSTimes(0);
LogUtil.log(TAG, "图传在延迟期间恢复，继续执行任务流程");
onVtxReady.run();
}
}, 5000);
}
}