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

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package com.aros.apron.manager;
import static android.os.Environment.getExternalStoragePublicDirectory;
import static dji.sdk.keyvalue.key.KeyTools.createKey;
import android.os.Environment;
import android.os.Handler;
import android.os.Looper;
import android.text.TextUtils;
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import android.util.Log;
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import androidx.annotation.NonNull;
import com.aros.apron.app.ApronApp;
import com.aros.apron.base.BaseManager;
import com.aros.apron.constant.ErrorCode;
import com.aros.apron.entity.ApronExecutionStatus;
import com.aros.apron.entity.CurrentWayline;
import com.aros.apron.entity.FlightMission;
import com.aros.apron.entity.MessageDown;
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import com.aros.apron.entity.MissionDataBean;
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import com.aros.apron.entity.MissionPoint;
import com.aros.apron.entity.Movement;
import com.aros.apron.tools.DomParserKML;
import com.aros.apron.tools.DomParserWPML;
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import com.aros.apron.tools.Generakmztools;
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import com.aros.apron.tools.LogUtil;
import com.aros.apron.tools.PreferenceUtils;
import com.aros.apron.tools.RestartAPPTool;
import com.aros.apron.tools.ZipUtil;
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.IOException;
import java.util.ArrayList;
import java.util.List;
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;
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import dji.sdk.wpmz.value.mission.WaylineMissionConfig;
import dji.sdk.wpmz.value.mission.WaylineMissionConfigParseInfo;
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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.WaypointMissionManager;
import dji.v5.manager.aircraft.waypoint3.model.WaypointMissionExecuteState;
public class TakeOffToPointManager extends BaseManager {
final Handler mainHandler = new Handler(Looper.getMainLooper());
private TakeOffToPointManager() {
}
private static class TakeOffToPointHolder {
private static final TakeOffToPointManager INSTANCE = new TakeOffToPointManager();
}
public static TakeOffToPointManager getInstance() {
return TakeOffToPointHolder.INSTANCE;
}
public boolean isReceiverMission = false;
//收到一键起飞航线
public void taskExecute(MessageDown message) {
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PreferenceUtils.getInstance().setMissionType(1);
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() + "");
Movement.getInstance().setTask_current_step(5);
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LogUtil.log(TAG,"生成");
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//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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// LogUtil.log(TAG,"verifyGpsAndMissionState(message)执行了");
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verifyGpsAndMissionState(message);
}
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});
}
/**
* 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);
//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;
}
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// //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;
// }
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//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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if (GPSSatelliteCountValid||isGpsQualityValid) {
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//5.生成航线
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//LogUtil.log(TAG,"执行toGenerateKMZFile");
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toGenerateKMZFile(message);
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 {
ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
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);
}
}
if(verifyGpsAndMissionStateTimes==15){
toGenerateKMZFile(message);
verifyGpsAndMissionStateSuccess = true;
}
}
}
/**
* 5.生成航线
*
* @param message
*/
public void toGenerateKMZFile(MessageDown message) {
Movement.getInstance().setTask_current_step(16);
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MissionDataBean data = new Gson().fromJson(new Gson().toJson(message.getData()), MissionDataBean.class);
Boolean generateKmz=Generakmztools.getInstance().generateKmz(data);
LogUtil.log(TAG,"生成的boole"+generateKmz);
if(generateKmz==true){
pushKMZFileToAircraft(message);
}else{
sendEvent2Server("航线生成失败", 1);
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}
}
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.上传指点航线
* @param message
*/
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public void pushKMZFileToAircraft(MessageDown message) {
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Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
KeyConnection));
if (isConnect != null && isConnect) {
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String kmzAbsPath = "/storage/self/primary/DJIDemo/cache/kmz/takeofftopoint.kmz";
KMZInfo kmzInfo = WPMZManager.getInstance().getKMZInfo(kmzAbsPath);
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if (kmzInfo != null) {
// Utils.printJson(TAG,"航点详情:"+new Gson().toJson(kmzInfo));
WaylineWaylinesParseInfo waylineWaylinesParseInfo = kmzInfo.getWaylineWaylinesParseInfo();
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WaylineMissionConfig configParseInfo= kmzInfo.getWaylineMissionConfigParseInfo().getConfig();
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if (waylineWaylinesParseInfo != null) {
List<Wayline> waylines = waylineWaylinesParseInfo.getWaylines();
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if (waylines != null && waylines.size() >0) {
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List<WaylineExecuteWaypoint> waypoints = waylines.get(0).getWaypoints();
if (waypoints != null && waypoints.size() > 0) {
//将航点列表保存在本地
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Movement.getInstance().setSpeed(configParseInfo.getGlobalTransitionalSpeed());
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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");
}
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WaypointMissionManager.getInstance().pushKMZFileToAircraft(kmzAbsPath, new CommonCallbacks.CompletionCallbackWithProgress<Double>() {
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@Override
public void onProgressUpdate(Double progress) {
sendEvent2Server("航线上传进度:" + progress, 1);
Movement.getInstance().setTask_current_step(17);
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}
@Override
public void onSuccess() {
//起飞准备完毕
Movement.getInstance().setMode_code(2);
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sendFlightTaskProgress2Server();
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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
*/
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//自主起飞
Movement.getInstance().setMode_code(4);
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sendFlightTaskProgress2Server();
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Movement.getInstance().setTask_current_step(22);
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 {
sendEvent2Server("航线第" + pushKMZFileTimes + "次上传失败,直接关机",2);
//待机
Movement.getInstance().setMode_code(0);
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sendFlightTaskProgress2Server();
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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() {
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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();
}
@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(), 1);
startMissionFailTimes++;
}
}, 2000);
} else {
if (!Movement.getInstance().isPlaneWing()) {
//待机
Movement.getInstance().setMode_code(0);
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sendFlightTaskProgress2Server();
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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);
}
}
}
};
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WaypointMissionManager.getInstance().startMission("takeofftopoint", callback);
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} else {
sendEvent2Server("任务开始失败,设备未连接", 2);
}
}
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);
}
}