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makcar/app/src/main/java/com/aros/apron/manager/OSDManager.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.Handler;
import android.os.Looper;
import android.os.SystemClock;
import android.util.Log;
import androidx.annotation.NonNull;
import com.aros.apron.base.BaseManager;
import com.aros.apron.constant.AMSConfig;
import com.aros.apron.entity.Movement;
import com.aros.apron.entity.Osd;
import com.aros.apron.tools.LogUtil;
import com.aros.apron.tools.MqttManager;
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import com.aros.apron.tools.TakeoffProgressScheduler;
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import com.google.gson.Gson;
import com.google.gson.GsonBuilder;
import org.eclipse.paho.client.mqttv3.MqttMessage;
import java.nio.charset.StandardCharsets;
import java.util.ArrayList;
import java.util.List;
import java.util.UUID;
import dji.sdk.keyvalue.key.FlightControllerKey;
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.BreakPointInfo;
public class OSDManager extends BaseManager {
private static final long INTERVAL = 1000L;
private final Handler handler = new Handler(Looper.getMainLooper());
Osd.Data._$5300 _5300 = new Osd.Data._$5300();
Osd.Data data = new Osd.Data();
Osd.Data.Battery battery = new Osd.Data.Battery();
List<Osd.Data.Battery.Batteries> batteries = new ArrayList<>();
Osd.Data.Battery.Batteries batterieA = new Osd.Data.Battery.Batteries();
Osd.Data.Battery.Batteries batterieB = new Osd.Data.Battery.Batteries();
List<Osd.Data.Cameras> cameras = new ArrayList<>();
Osd.Data.Cameras cameraA = new Osd.Data.Cameras();
Osd.Data.Cameras.IrMeteringPoint irMeteringPoint = new Osd.Data.Cameras.IrMeteringPoint();
Osd.Data.DistanceLimitStatus distanceLimitStatus = new Osd.Data.DistanceLimitStatus();
Osd.Data.ObstacleAvoidance obstacleAvoidance = new Osd.Data.ObstacleAvoidance();
Osd.Data.PositionState positionState = new Osd.Data.PositionState();
Osd.Data.Storage storage = new Osd.Data.Storage();
Osd osd = Osd.getInstance();
// 使用GsonBuilder配置Gson实例以允许序列化特殊浮点数值
Gson gson = new GsonBuilder()
.serializeSpecialFloatingPointValues() // 这是关键
.create();
private long lastExecuteTime = 0L;
private final Runnable runnable = new Runnable() {
@Override
public void run() {
long now = SystemClock.elapsedRealtime();
if (now - lastExecuteTime < INTERVAL) {
handler.postDelayed(this, INTERVAL - (now - lastExecuteTime));
return;
}
lastExecuteTime = now;
Boolean isConnect = KeyManager.getInstance().getValue(createKey(FlightControllerKey.KeyConnection));
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if (!Movement.getInstance().isMissionFinish()) {
if (isConnect != null && isConnect) {
pushFlightAttitude();
} else {
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LogUtil.log(TAG, "osd stop1:flight controller is null");
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}
} else {
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LogUtil.log(TAG, "osd stop2:flight controller is null");
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}
// 始终基于“实际执行时间”来调度
handler.postDelayed(this, INTERVAL);
}
};
private OSDManager() {
}
public static OSDManager getInstance() {
return OSDHolder.INSTANCE;
}
public void initOsd() {
Boolean isConnect = KeyManager.getInstance().getValue(createKey(FlightControllerKey.KeyConnection));
if (isConnect != null && isConnect) {
handler.postDelayed(runnable, INTERVAL);
} else {
LogUtil.log(TAG, "初始化飞控osd失败" + "flight controller is null");
}
}
public void pushFlightAttitude() {
try {
if (batteries != null && batteries.size() > 0) {
batteries.clear();
}
if (cameras != null && cameras.size() > 0) {
cameras.clear();
}
//相机固件?
_5300.setGimbal_yaw(Movement.getInstance().getGimbal_yaw());
_5300.setGimbal_roll(Movement.getInstance().getGimbal_roll());
_5300.setGimbal_pitch(Movement.getInstance().getGimbal_pitch());
_5300.setMeasure_target_altitude(Movement.getInstance().getMeasure_target_altitude());
_5300.setMeasure_target_distance(Movement.getInstance().getMeasure_target_distance());
_5300.setMeasure_target_error_state(Movement.getInstance().getMeasure_target_error_state());
_5300.setMeasure_target_latitude(Movement.getInstance().getMeasure_target_latitude());
_5300.setMeasure_target_longitude(Movement.getInstance().getMeasure_target_longitude());
_5300.setPayload_index("53-0-0");
_5300.setThermal_current_palette_style(Movement.getInstance().getThermal_current_palette_style());
_5300.setThermal_gain_mode(Movement.getInstance().getThermal_gain_mode());
_5300.setThermal_global_temperature_max(Movement.getInstance().getThermal_global_temperature_max());
_5300.setThermal_global_temperature_min(Movement.getInstance().getThermal_global_temperature_min());
_5300.setThermal_isotherm_lower_limit(Movement.getInstance().getThermal_isotherm_lower_limit());
_5300.setThermal_isotherm_state(Movement.getInstance().getThermal_isotherm_state());
_5300.setThermal_isotherm_upper_limit(Movement.getInstance().getThermal_isotherm_upper_limit());
_5300.setVersion(1);
data.set_$5300(_5300);
data.setActivation_time(1);
data.setAttitude_head(Movement.getInstance().getAttitude_head());
data.setAttitude_pitch(Movement.getInstance().getAttitude_pitch());
data.setAttitude_roll(Movement.getInstance().getAttitude_roll());
batterieA.setCapacity_percent(Movement.getInstance().getBattery_a_capacity_percent());
batterieA.setFirmware_version(Movement.getInstance().getBattery_a_battery_firmware_version());
batterieA.setHigh_voltage_storage_days(Movement.getInstance().getBattery_a_high_voltage_storage_days());
batterieA.setIndex(0);
batterieA.setLoop_times(Movement.getInstance().getBattery_a_loop_times());
batterieA.setSn(Movement.getInstance().getBattery_a_battery_sn());
batterieA.setSub_type(Movement.getInstance().getBattery_a_sub_type());
batterieA.setType(Movement.getInstance().getBattery_a_type());
batterieA.setTemperature(Movement.getInstance().getBattery_a_temperature());
batterieA.setSub_type(Movement.getInstance().getBattery_a_sub_type());
batterieA.setVoltage(Movement.getInstance().getBattery_a_voltage());
if (Movement.getInstance().getBattery_b_capacity_percent() == 0) {
batterieB.setCapacity_percent(Movement.getInstance().getBattery_a_capacity_percent());
batterieB.setFirmware_version(Movement.getInstance().getBattery_a_battery_firmware_version());
batterieB.setHigh_voltage_storage_days(Movement.getInstance().getBattery_a_high_voltage_storage_days());
batterieB.setIndex(1);
batterieB.setLoop_times(Movement.getInstance().getBattery_a_loop_times());
batterieB.setSn(Movement.getInstance().getBattery_a_battery_sn());
batterieB.setSub_type(Movement.getInstance().getBattery_a_sub_type());
batterieB.setType(Movement.getInstance().getBattery_a_type());
batterieB.setTemperature(Movement.getInstance().getBattery_a_temperature());
batterieB.setSub_type(Movement.getInstance().getBattery_a_sub_type());
batterieB.setVoltage(Movement.getInstance().getBattery_a_voltage());
} else {
batterieB.setCapacity_percent(Movement.getInstance().getBattery_b_capacity_percent());
batterieB.setFirmware_version(Movement.getInstance().getBattery_b_battery_firmware_version());
batterieB.setHigh_voltage_storage_days(Movement.getInstance().getBattery_b_high_voltage_storage_days());
batterieB.setIndex(1);
batterieB.setLoop_times(Movement.getInstance().getBattery_b_loop_times());
batterieB.setSn(Movement.getInstance().getBattery_b_battery_sn());
batterieB.setSub_type(Movement.getInstance().getBattery_b_sub_type());
batterieB.setType(Movement.getInstance().getBattery_b_type());
batterieB.setTemperature(Movement.getInstance().getBattery_b_temperature());
batterieB.setSub_type(Movement.getInstance().getBattery_b_sub_type());
batterieB.setVoltage(Movement.getInstance().getBattery_b_voltage());
}
batteries.add(batterieA);
batteries.add(batterieB);
battery.setBatteries(batteries);
battery.setCapacity_percent(Movement.getInstance().getCapacity_percent());
battery.setLanding_power(Movement.getInstance().getLanding_power());
battery.setRemain_flight_time(Movement.getInstance().getRemain_flight_time());
battery.setReturn_home_power(Movement.getInstance().getReturn_home_power());
data.setBattery(battery);
cameraA.setCamera_mode(Movement.getInstance().getCamera_mode());
cameraA.setIr_metering_mode(Movement.getInstance().getIr_metering_mode());
cameraA.setCamera_mode(Movement.getInstance().getCamera_mode());
irMeteringPoint.setTemperature(Movement.getInstance().getTemperature());
irMeteringPoint.setX(Movement.getInstance().getX());
irMeteringPoint.setY(Movement.getInstance().getY());
cameraA.setIr_metering_point(irMeteringPoint);
cameraA.setIr_zoom_factor(Movement.getInstance().getIr_zoom_factor());
cameraA.setPayload_index("53-0-0");
cameraA.setPhoto_state(Movement.getInstance().getPhoto_state());
cameraA.setPhoto_storage_settings(Movement.getInstance().getPhoto_storage_settings());
cameraA.setRecord_time(Movement.getInstance().getRecord_time());
cameraA.setRecording_state(Movement.getInstance().getRecording_state());
cameraA.setRemain_photo_num(Movement.getInstance().getRemain_photo_num());
cameraA.setRemain_record_duration(Movement.getInstance().getRemain_record_duration());
cameraA.setScreen_split_enable(Movement.getInstance().isScreen_split_enable());
cameraA.setWide_exposure_mode(Movement.getInstance().getWide_exposure_mode());
cameraA.setWide_exposure_value(Movement.getInstance().getWide_exposure_value());
cameraA.setWide_iso(Movement.getInstance().getWide_iso());
cameraA.setWide_shutter_speed(Movement.getInstance().getWide_shutter_speed());
cameraA.setZoom_calibrate_farthest_focus_value(Movement.getInstance().getZoom_calibrate_farthest_focus_value());
cameraA.setZoom_calibrate_nearest_focus_value(Movement.getInstance().getZoom_calibrate_nearest_focus_value());
cameraA.setZoom_exposure_mode(Movement.getInstance().getZoom_exposure_mode());
cameraA.setZoom_exposure_value(Movement.getInstance().getZoom_exposure_value());
cameraA.setZoom_factor(Movement.getInstance().getZoom_factor());
cameraA.setZoom_focus_mode(Movement.getInstance().getZoom_focus_mode());
cameraA.setZoom_focus_state(Movement.getInstance().getZoom_focus_state());
cameraA.setZoom_focus_value(Movement.getInstance().getZoom_focus_value());
cameraA.setZoom_iso(Movement.getInstance().getZoom_iso());
cameraA.setZoom_max_focus_value(Movement.getInstance().getZoom_max_focus_value());
cameraA.setZoom_min_focus_value(Movement.getInstance().getZoom_min_focus_value());
cameraA.setZoom_shutter_speed(Movement.getInstance().getZoom_shutter_speed());
cameras.add(cameraA);
data.setCameras(cameras);
data.setCountry("CN");
distanceLimitStatus.setDistance_limit(Movement.getInstance().getDistance_limit());
distanceLimitStatus.setIs_near_distance_limit(Movement.getInstance().getIs_near_distance_limit());
distanceLimitStatus.setState(Movement.getInstance().getState());
data.setDistance_limit_status(distanceLimitStatus);
data.setElevation(Movement.getInstance().getElevation());
data.setFirmware_version(Movement.getInstance().getFirmware_version());
data.setGear(Movement.getInstance().getGear());
data.setHeight(Movement.getInstance().getHeight());
data.setHeight_limit(Movement.getInstance().getHeight_limit());
data.setHome_distance(Movement.getInstance().getHome_distance());
data.setHorizontal_speed(Movement.getInstance().getHorizontal_speed());
data.setIs_near_area_limit(Movement.getInstance().getIs_near_area_limit());
data.setIs_near_height_limit(Movement.getInstance().getIs_near_height_limit());
data.setLatitude(Movement.getInstance().getLatitude());
data.setLongitude(Movement.getInstance().getLongitude());
data.setMode_code(Movement.getInstance().getMode_code());
data.setNight_lights_state(Movement.getInstance().getNight_lights_state());
obstacleAvoidance.setUpside(Movement.getInstance().getUpside());
obstacleAvoidance.setHorizon(Movement.getInstance().getHorizon());
obstacleAvoidance.setDownside(Movement.getInstance().getDownside());
data.setObstacle_avoidance(obstacleAvoidance);
positionState.setGps_number(Movement.getInstance().getGps_number());
positionState.setIs_fixed(Movement.getInstance().getIs_fixed());
positionState.setQuality(Movement.getInstance().getQuality());
positionState.setRtk_number(Movement.getInstance().getRtk_number());
data.setPosition_state(positionState);
data.setRc_lost_action(Movement.getInstance().getRc_lost_action());
data.setRid_state(Movement.getInstance().isRid_state());
data.setRth_altitude(Movement.getInstance().getRth_altitude());
storage.setUsed(Movement.getInstance().getUsed());
storage.setTotal(Movement.getInstance().getTotal());
data.setStorage(storage);
data.setTotal_flight_distance(Movement.getInstance().getTotal_flight_distance());
data.setTotal_flight_sorties(Movement.getInstance().getTotal_flight_sorties());
data.setTotal_flight_time(Movement.getInstance().getTotal_flight_time());
data.setTrack_id(Movement.getInstance().getTrack_id());
data.setVertical_speed(Movement.getInstance().getVertical_speed());
data.setWind_direction(Movement.getInstance().getWind_direction());
data.setWind_speed(Movement.getInstance().getWind_speed());
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Osd.Data.MaintainStatus maintainStatus = new Osd.Data.MaintainStatus();
Osd.Data.MaintainStatus.MaintainStatusArray maintainItem = new Osd.Data.MaintainStatus.MaintainStatusArray();
// state: 保养状态, enum_int, 0:无保养, 1:有保养
maintainItem.setState(0);
// last_maintain_type: 上一次保养类型, enum_int, 1:基础, 2:常规, 3:深度
// 默认值给 0 表示未设置（无保养历史）
maintainItem.setLast_maintain_type(1);
// last_maintain_time: 上一次保养时间, date, 秒级时间戳
// 默认值 0 表示无记录
maintainItem.setLast_maintain_time(0);
// last_maintain_flight_time: 上一次保养时航时, int, 单位:小时
maintainItem.setLast_maintain_flight_time(0);
// last_maintain_flight_sorties: 上一次保养时架次, int
maintainItem.setLast_maintain_flight_sorties(0);
java.util.ArrayList<Osd.Data.MaintainStatus.MaintainStatusArray> maintainList = new java.util.ArrayList<>();
maintainList.add(maintainItem);
maintainStatus.setMaintain_status_array(maintainList);
data.setMaintain_status(maintainStatus);
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data.setHomepoint_latitude(Movement.getInstance().getHomepoint_latitude());
data.setHomepoint_longitude(Movement.getInstance().getHomepoint_longitude());
data.setRtk_takeoff_altitude(Movement.getInstance().getRtk_takeoff_altitude());
osd.setTid(UUID.randomUUID().toString());
osd.setBid(UUID.randomUUID().toString());
osd.setTimestamp(System.currentTimeMillis());
osd.setGateway("gateway_sn");
osd.setMethod("osd");
osd.setData(data);
MqttMessage flightMessage =
new MqttMessage(gson.toJson(osd).getBytes(StandardCharsets.UTF_8));
flightMessage.setQos(0);
publish(
MqttManager.getInstance().mqttAndroidClient,
AMSConfig.UP_UAV_EVENT,
flightMessage
);
// Log.e(TAG,"推送osd:"+gson.toJson(osd));
} catch (Exception e) {
LogUtil.log(TAG, "推送osd异常: " + e);
}
}
private static class OSDHolder {
private static final OSDManager INSTANCE = new OSDManager();
}
}