makcar/app/src/main/java/com/aros/apron/activity/MainActivity.kt

package com.aros.apron.activity

import android.annotation.SuppressLint
import android.graphics.Color
import android.graphics.drawable.ColorDrawable
import android.os.Build
import android.os.Bundle
import android.os.Handler
import android.os.Looper
import android.util.Log
import android.view.View
import android.view.Window
import android.view.WindowManager
import android.widget.Button
import android.widget.Toast
import android.widget.TextView
import androidx.annotation.RequiresApi
import androidx.constraintlayout.widget.ConstraintLayout
import androidx.core.view.GravityCompat
import androidx.drawerlayout.widget.DrawerLayout
import com.aros.apron.R
import com.aros.apron.base.BaseActivity
import com.aros.apron.callback.MqttCallBack
import com.aros.apron.entity.Movement
import com.aros.apron.entity.Synchronizedstatus
import com.aros.apron.manager.AlternateLandingManager
import com.aros.apron.manager.BatteryManager
import com.aros.apron.manager.CameraManager
import com.aros.apron.manager.FlightManager
import com.aros.apron.manager.FlightManager.FLAG_DOWN_LAND
import com.aros.apron.manager.FlightManager.FLAG_START_DETECT_ARUCO_ALTERNATE
import com.aros.apron.manager.FlightManager.FLAG_START_DETECT_ARUCO_APRON
import com.aros.apron.manager.FlightManager.FLAG_STOP_ARUCO
import com.aros.apron.manager.FlightTaskProgressManager
import com.aros.apron.manager.GimbalManager
import com.aros.apron.manager.LEDsSettingsManager
import com.aros.apron.manager.LTEManager
import com.aros.apron.manager.MLTEManager
import com.aros.apron.manager.MediaManager
import com.aros.apron.manager.MissionV3Manager
import com.aros.apron.manager.NavigationSatelliteSystemManager
import com.aros.apron.manager.OSDManager
import com.aros.apron.manager.PayloadWidgetManager
import com.aros.apron.manager.RTKManager
import com.aros.apron.manager.SpeakerManager
import com.aros.apron.manager.StickManager
import com.aros.apron.manager.StreamManager
import com.aros.apron.manager.WirelessLinkManager
import com.aros.apron.mix.Aprondown
import com.aros.apron.mix.Aprongim
import com.aros.apron.tools.AlternateArucoDetect
import com.aros.apron.tools.AprilTagPort
import com.aros.apron.tools.ApronArucoDetect
import com.aros.apron.tools.ApronArucoDetectPort
import com.aros.apron.tools.ApronArucodownmany
import com.aros.apron.tools.DroneHelper
import com.aros.apron.tools.LogUtil
import com.aros.apron.tools.MqttManager
import com.aros.apron.tools.PreferenceUtils
import com.aros.apron.tools.SimplePortScanner
import com.dji.wpmzsdk.manager.WPMZManager
import com.example.nativec.ApriltagDetector
import com.google.gson.Gson
import dji.sdk.keyvalue.key.CameraKey
import dji.sdk.keyvalue.key.DJIKey
import dji.sdk.keyvalue.key.FlightControllerKey
import dji.sdk.keyvalue.key.KeyTools
import dji.sdk.keyvalue.value.camera.CameraMode
import dji.sdk.keyvalue.value.common.CameraLensType
import dji.sdk.keyvalue.value.common.ComponentIndexType
import dji.sdk.keyvalue.value.common.EmptyMsg
import dji.sdk.keyvalue.value.flightassistant.VisionAssistDirection
import dji.sdk.keyvalue.value.flightcontroller.LEDsSettings
import dji.v5.common.callback.CommonCallbacks
import dji.v5.common.callback.CommonCallbacks.CompletionCallback
import dji.v5.common.error.IDJIError
import dji.v5.common.utils.GeoidManager
import dji.v5.manager.KeyManager
import dji.v5.manager.datacenter.MediaDataCenter
import dji.v5.manager.interfaces.ICameraStreamManager
import dji.v5.manager.interfaces.ICameraStreamManager.AvailableCameraUpdatedListener
import dji.v5.network.DJINetworkManager
import dji.v5.network.IDJINetworkStatusListener
import dji.v5.utils.common.JsonUtil
import dji.v5.utils.common.LogPath
import dji.v5.utils.common.LogUtils
import dji.v5.ux.accessory.RTKStartServiceHelper.startRtkService
import dji.v5.ux.cameracore.widget.autoexposurelock.AutoExposureLockWidget
import dji.v5.ux.cameracore.widget.cameracontrols.CameraControlsWidget
import dji.v5.ux.cameracore.widget.cameracontrols.lenscontrol.LensControlWidget
import dji.v5.ux.cameracore.widget.focusexposureswitch.FocusExposureSwitchWidget
import dji.v5.ux.cameracore.widget.focusmode.FocusModeWidget
import dji.v5.ux.cameracore.widget.fpvinteraction.FPVInteractionWidget
import dji.v5.ux.core.base.SchedulerProvider.io
import dji.v5.ux.core.base.SchedulerProvider.ui
import dji.v5.ux.core.communication.BroadcastValues
import dji.v5.ux.core.communication.GlobalPreferenceKeys
import dji.v5.ux.core.communication.ObservableInMemoryKeyedStore
import dji.v5.ux.core.communication.UXKeys
import dji.v5.ux.core.extension.hide
import dji.v5.ux.core.extension.toggleVisibility
import dji.v5.ux.core.panel.systemstatus.SystemStatusListPanelWidget
import dji.v5.ux.core.panel.topbar.TopBarPanelWidget
import dji.v5.ux.core.util.CameraUtil
import dji.v5.ux.core.util.DataProcessor
import dji.v5.ux.core.util.ViewUtil
import dji.v5.ux.core.widget.fpv.FPVStreamSourceListener
import dji.v5.ux.core.widget.fpv.FPVWidget
import dji.v5.ux.core.widget.hsi.HorizontalSituationIndicatorWidget
import dji.v5.ux.core.widget.hsi.PrimaryFlightDisplayWidget
import dji.v5.ux.core.widget.setting.SettingWidget
import dji.v5.ux.gimbal.GimbalFineTuneWidget
import dji.v5.ux.training.simulatorcontrol.SimulatorControlWidget
import dji.v5.ux.training.simulatorcontrol.SimulatorControlWidget.UIState.VisibilityUpdated
import dji.v5.ux.visualcamera.CameraNDVIPanelWidget
import dji.v5.ux.visualcamera.CameraVisiblePanelWidget
import dji.v5.ux.visualcamera.zoom.FocalZoomWidget
import io.reactivex.rxjava3.android.schedulers.AndroidSchedulers
import io.reactivex.rxjava3.disposables.CompositeDisposable
import io.reactivex.rxjava3.functions.Consumer
import org.eclipse.paho.client.mqttv3.MqttException
import org.greenrobot.eventbus.Subscribe
import org.greenrobot.eventbus.ThreadMode
import org.opencv.objdetect.Dictionary
import org.opencv.objdetect.Objdetect
import java.util.concurrent.TimeUnit


open class MainActivity : BaseActivity() {


    companion object {
        // 如果不需要改变 isAppStarted 的值，可以直接这样声明
        var isAppStarted: Boolean = false
        var streamReceive: Boolean = false

        var isscousse: Boolean=false;
        private var instance: MainActivity? = null

        fun getInstance(): MainActivity? {
            return instance
        }

        private var vtxHeartbeatHandler: Handler? = null
        private var lastVtxFrameTime: Long = 0
        private var lastPortToastTime: Long = 0
        private var lastFpvToastTime: Long = 0
        private const val TOAST_INTERVAL_MS = 3000L
        private const val VTX_HEARTBEAT_TIMEOUT = 2000L // 3秒没有收到帧就认为图传异常
        private var isVtxHeartbeatRunning = false

        fun startVtxHeartbeat() {
            if (isVtxHeartbeatRunning) return

            isVtxHeartbeatRunning = true
            lastVtxFrameTime = System.currentTimeMillis()

            vtxHeartbeatHandler = Handler(Looper.getMainLooper())
            vtxHeartbeatHandler?.post(object : Runnable {
                override fun run() {
                    val currentTime = System.currentTimeMillis()
                    val timeSinceLastFrame = currentTime - lastVtxFrameTime

                    if (timeSinceLastFrame > VTX_HEARTBEAT_TIMEOUT) {
                        //LogUtil.log("MainActivity", "图传心跳超时，设置图传状态为false")
                        Movement.getInstance().isVtx = false
                    }

                    if (isVtxHeartbeatRunning) {
                        vtxHeartbeatHandler?.postDelayed(this, 1000) // 每秒检查一次
                    }
                }
            })
        }

        fun stopVtxHeartbeat() {
            isVtxHeartbeatRunning = false
            vtxHeartbeatHandler?.removeCallbacksAndMessages(null)
            vtxHeartbeatHandler = null
        }

        fun updateVtxHeartbeat() {
            lastVtxFrameTime = System.currentTimeMillis()
        }

        @JvmStatic
        fun setStartArucoType(type: Int) {
            instance?.startArucoType = type
        }
    }

    protected var primaryFpvWidget: FPVWidget? = null
    protected var fpvInteractionWidget: FPVInteractionWidget? = null
    protected var secondaryFPVWidget: FPVWidget? = null
    protected var systemStatusListPanelWidget: SystemStatusListPanelWidget? = null
    protected var simulatorControlWidget: SimulatorControlWidget? = null
    protected var lensControlWidget: LensControlWidget? = null
    protected var autoExposureLockWidget: AutoExposureLockWidget? = null
    protected var focusModeWidget: FocusModeWidget? = null
    protected var focusExposureSwitchWidget: FocusExposureSwitchWidget? = null
    protected var cameraControlsWidget: CameraControlsWidget? = null
    protected var horizontalSituationIndicatorWidget: HorizontalSituationIndicatorWidget? = null
    protected var pfvFlightDisplayWidget: PrimaryFlightDisplayWidget? = null
    protected var ndviCameraPanel: CameraNDVIPanelWidget? = null
    protected var visualCameraPanel: CameraVisiblePanelWidget? = null
    protected var focalZoomWidget: FocalZoomWidget? = null
    protected var settingWidget: SettingWidget? = null
    protected var topBarPanel: TopBarPanelWidget? = null
    protected var fpvParentView: ConstraintLayout? = null


    private var mDrawerLayout: DrawerLayout? = null
    private var gimbalAdjustDone: TextView? = null
    private var btn_test: Button? = null
    private var btn_test1: Button? = null
    private var btn_test2: Button? = null
    private var btn_test3: Button? = null

    private var gimbalFineTuneWidget: GimbalFineTuneWidget? = null
    private var lastDevicePosition = ComponentIndexType.UNKNOWN
    private var lastLensType = CameraLensType.UNKNOWN

    private var compositeDisposable: CompositeDisposable? = null
    private val cameraSourceProcessor = DataProcessor.create(
        CameraSource(
            ComponentIndexType.UNKNOWN,
            CameraLensType.UNKNOWN
        )
    )
    private val networkStatusListener =
        IDJINetworkStatusListener { isNetworkAvailable: Boolean ->
            if (isNetworkAvailable) {
                LogUtils.d(TAG, "isNetworkAvailable=" + true)
                startRtkService(false)
            }
        }

    private val availableCameraUpdatedListener: AvailableCameraUpdatedListener =
        object : AvailableCameraUpdatedListener {
            override fun onAvailableCameraUpdated(availableCameraList: List<ComponentIndexType>) {
                runOnUiThread {
                    updateFPVWidgetSource(availableCameraList)
                }
            }

            override fun onCameraStreamEnableUpdate(cameraStreamEnableMap: Map<ComponentIndexType, Boolean>) {
                //
            }
        }


    private var cameraManager: ICameraStreamManager =
        MediaDataCenter.getInstance().cameraStreamManager

    private var startArucoType = 0  //1执行机库二维码识别  2执行备降点二维码识别  3扫到任何码触发刹停
    private var dictionary: Dictionary? = null
    override fun useEventBus(): Boolean {
        return true
    }


    override fun onResume() {
        super.onResume()

        dictionary = Objdetect.getPredefinedDictionary(Objdetect.DICT_6X6_250)

        compositeDisposable = CompositeDisposable()
        // 延迟订阅 RxJava 流，避免在初始 layout 阶段触发大量 widget 更新导致 ANR
        Handler(Looper.getMainLooper()).postDelayed({
            if (compositeDisposable == null) return@postDelayed
            compositeDisposable!!.add(
                systemStatusListPanelWidget!!.closeButtonPressed()
                    .observeOn(AndroidSchedulers.mainThread())
                    .subscribe { pressed: Boolean ->
                        if (pressed) {
                            systemStatusListPanelWidget!!.hide()
                        }
                    })
            compositeDisposable!!.add(
                simulatorControlWidget!!.getUIStateUpdates()
                    .observeOn(AndroidSchedulers.mainThread())
                    .subscribe { simulatorControlWidgetState: SimulatorControlWidget.UIState? ->
                        if (simulatorControlWidgetState is VisibilityUpdated) {
                            if ((simulatorControlWidgetState as VisibilityUpdated).isVisible) {
                                hideOtherPanels(simulatorControlWidget!!)
                            }
                        }
                    })
            compositeDisposable!!.add(
                cameraSourceProcessor.toFlowable()
                    .observeOn(io())
                    .throttleLast(500, TimeUnit.MILLISECONDS)
                    .subscribeOn(io())
                    .subscribe(Consumer { result: CameraSource ->
                        runOnUiThread {
                            onCameraSourceUpdated(
                                result.devicePosition,
                                result.lensType
                            )
                        }
                    })
            )
            compositeDisposable!!.add(
                ObservableInMemoryKeyedStore.getInstance()
                    .addObserver(UXKeys.create(GlobalPreferenceKeys.GIMBAL_ADJUST_CLICKED))
                    .observeOn(ui())
                    .subscribe { broadcastValues: BroadcastValues? ->
                        isGimableAdjustClicked(
                            broadcastValues!!
                        )
                    })
        }, 500)
        ViewUtil.setKeepScreen(this, true)
    }

    override fun onPause() {
        // 在后台线程 dispose RxJava 订阅，避免阻塞主线程导致 ANR
        // DJI UX widget 的 unregisterReactions() 会同步清理 RxJava 队列，可能耗时很长
        val disposable = compositeDisposable
        if (disposable != null && !disposable.isDisposed) {
            Thread {
                try {
                    disposable.dispose()
                } catch (e: Exception) {
                    LogUtil.log(TAG, "dispose compositeDisposable error: ${e.message}")
                }
            }.start()
            compositeDisposable = null
        }
        super.onPause()
        ViewUtil.setKeepScreen(this, false)
    }

    //endregion
    private fun hideOtherPanels(widget: View?) {
        val panels = arrayOf<View>(
            simulatorControlWidget!!
        )
        for (panel in panels) {
            if (widget !== panel) {
                panel.visibility = View.GONE
            }
        }
    }

    private fun updateFPVWidgetSource(availableCameraList: List<ComponentIndexType>?) {
        LogUtils.i(TAG, JsonUtil.toJson(availableCameraList))
        if (availableCameraList == null) {
            return
        }
        val cameraList = java.util.ArrayList(availableCameraList)

        //没有数据
        if (cameraList.isEmpty()) {
            secondaryFPVWidget!!.visibility = View.GONE
            return
        }

        //仅一路数据
        if (cameraList.size == 1) {
            primaryFpvWidget!!.updateVideoSource(availableCameraList[0])
            secondaryFPVWidget!!.visibility = View.GONE
            return
        }

        //大于两路数据ort1
        val primarySource = getSuitableSource(cameraList, ComponentIndexType.PORT_1)
        primaryFpvWidget!!.updateVideoSource(primarySource!!)
        cameraList.remove(primarySource)

        val secondarySource = getSuitableSource(cameraList, ComponentIndexType.FPV)
        secondaryFPVWidget!!.updateVideoSource(secondarySource!!)

        secondaryFPVWidget!!.visibility = View.VISIBLE


    }

    private fun getSuitableSource(
        cameraList: List<ComponentIndexType>,
        defaultSource: ComponentIndexType
    ): ComponentIndexType? {
        if (cameraList.contains(ComponentIndexType.LEFT_OR_MAIN)) {
            return ComponentIndexType.LEFT_OR_MAIN
        } else if (cameraList.contains(ComponentIndexType.RIGHT)) {
            return ComponentIndexType.RIGHT
        } else if (cameraList.contains(ComponentIndexType.UP)) {
            return ComponentIndexType.UP
        } else if (cameraList.contains(ComponentIndexType.PORT_1)) {
            return ComponentIndexType.PORT_1
        } else if (cameraList.contains(ComponentIndexType.PORT_2)) {
            return ComponentIndexType.PORT_2
        } else if (cameraList.contains(ComponentIndexType.PORT_3)) {
            return ComponentIndexType.PORT_3
        } else if (cameraList.contains(ComponentIndexType.PORT_4)) {
            return ComponentIndexType.PORT_4
        } else if (cameraList.contains(ComponentIndexType.VISION_ASSIST)) {
            return ComponentIndexType.VISION_ASSIST
        }
        return defaultSource
    }

    private fun onCameraSourceUpdated(
        devicePosition: ComponentIndexType,
        lensType: CameraLensType
    ) {
        LogUtils.i(LogPath.SAMPLE, "onCameraSourceUpdated", devicePosition, lensType)
        if (devicePosition == lastDevicePosition && lensType == lastLensType) {
            return
        }
        lastDevicePosition = devicePosition
        lastLensType = lensType
        updateViewVisibility(devicePosition, lensType)
        updateInteractionEnabled()
        //如果无需使能或者显示的，也就没有必要切换了。
        if (fpvInteractionWidget!!.isInteractionEnabled) {
            fpvInteractionWidget!!.updateCameraSource(devicePosition, lensType)
        }
        if (lensControlWidget!!.visibility == View.VISIBLE) {
            lensControlWidget!!.updateCameraSource(devicePosition, lensType)
        }
        if (ndviCameraPanel!!.visibility == View.VISIBLE) {
            ndviCameraPanel!!.updateCameraSource(devicePosition, lensType)
        }
        if (visualCameraPanel!!.visibility == View.VISIBLE) {
            visualCameraPanel!!.updateCameraSource(devicePosition, lensType)
        }
        if (autoExposureLockWidget!!.visibility == View.VISIBLE) {
            autoExposureLockWidget!!.updateCameraSource(devicePosition, lensType)
        }
        if (focusModeWidget!!.visibility == View.VISIBLE) {
            focusModeWidget!!.updateCameraSource(devicePosition, lensType)
        }
        if (focusExposureSwitchWidget!!.visibility == View.VISIBLE) {
            focusExposureSwitchWidget!!.updateCameraSource(devicePosition, lensType)
        }
        if (cameraControlsWidget!!.visibility == View.VISIBLE) {
            cameraControlsWidget!!.updateCameraSource(devicePosition, lensType)
        }
        if (focalZoomWidget!!.visibility == View.VISIBLE) {
            focalZoomWidget!!.updateCameraSource(devicePosition, lensType)
        }
        if (horizontalSituationIndicatorWidget!!.visibility == View.VISIBLE) {
            horizontalSituationIndicatorWidget!!.updateCameraSource(devicePosition, lensType)
        }
    }

    private fun updateViewVisibility(
        devicePosition: ComponentIndexType,
        lensType: CameraLensType
    ) {
        //只在fpv下显示
        pfvFlightDisplayWidget!!.visibility =
            if (CameraUtil.isFPVTypeView(devicePosition)) View.VISIBLE else View.INVISIBLE

        //fpv下不显示
        lensControlWidget!!.visibility =
            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
        ndviCameraPanel!!.visibility =
            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
        visualCameraPanel!!.visibility =
            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
        autoExposureLockWidget!!.visibility =
            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
        focusModeWidget!!.visibility =
            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
        focusExposureSwitchWidget!!.visibility =
            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
        cameraControlsWidget!!.visibility =
            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
        focalZoomWidget!!.visibility =
            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
        horizontalSituationIndicatorWidget!!.setSimpleModeEnable(
            CameraUtil.isFPVTypeView(
                devicePosition
            )
        )

        //只在部分len下显示
        ndviCameraPanel!!.visibility =
            if (CameraUtil.isSupportForNDVI(lensType)) View.VISIBLE else View.INVISIBLE
    }

    /**
     * Swap the video sources of the FPV and secondary FPV widgets.
     */
    fun swapVideoSource() {

        val primarySource = primaryFpvWidget!!.widgetModel.getCameraIndex()
        val secondarySource = secondaryFPVWidget!!.widgetModel.getCameraIndex()
        //两个source都存在的情况下才进行切换
        if (primarySource != ComponentIndexType.UNKNOWN && secondarySource != ComponentIndexType.UNKNOWN) {
            primaryFpvWidget!!.updateVideoSource(secondarySource)
            secondaryFPVWidget!!.updateVideoSource(primarySource)
        }
    }

    /**
     * 强制刷新两个FPVWidget的视频流（重新向MediaDataCenter注册）
     * 用于起飞/航线执行后视频流卡死的场景
     */
    fun refreshVideoStream() {
        val primarySource = primaryFpvWidget?.widgetModel?.getCameraIndex()
        val secondarySource = secondaryFPVWidget?.widgetModel?.getCameraIndex()
        if (primarySource != null && primarySource != ComponentIndexType.UNKNOWN) {
            primaryFpvWidget?.updateVideoSource(primarySource)
        }
        if (secondarySource != null && secondarySource != ComponentIndexType.UNKNOWN) {
            secondaryFPVWidget?.updateVideoSource(secondarySource)
        }
        LogUtil.log(TAG, "强制刷新视频流: primary=$primarySource, secondary=$secondarySource")
    }

    /**
     * 智能刷新视频流：有云台(secondary)就模拟点击切换，没有就直接刷新当前流
     * 兼容只有FPV没有云台的设备
     */
    fun smartRefreshVideoStream() {
        val secondarySource = secondaryFPVWidget?.widgetModel?.getCameraIndex()
        if (secondarySource != null && secondarySource != ComponentIndexType.UNKNOWN) {
            // 有云台：模拟真实点击，触发 swapVideoSource()
            secondaryFPVWidget?.post {
                secondaryFPVWidget?.performClick()
            }
            //LogUtil.log(TAG, "智能刷新：有云台，模拟点击 FPV Widget")
        } else {
            // 没有云台：直接刷新当前流
            primaryFpvWidget?.post {
                refreshVideoStream()
            }
            //LogUtil.log(TAG, "智能刷新：无云台，直接刷新主视频流")
        }
    }

    private fun updateInteractionEnabled() {
        fpvInteractionWidget!!.isInteractionEnabled = !CameraUtil.isFPVTypeView(
            primaryFpvWidget!!.widgetModel.getCameraIndex()
        )
    }

    private data class CameraSource(
        val devicePosition: ComponentIndexType,
        val lensType: CameraLensType
    )

    override fun onBackPressed() {
        if (mDrawerLayout!!.isDrawerOpen(GravityCompat.END)) {
            mDrawerLayout!!.closeDrawers()
        } else {
            super.onBackPressed()
        }
    }

    @RequiresApi(Build.VERSION_CODES.O)
    override fun onCreate(savedInstanceState: Bundle?) {
        super.onCreate(savedInstanceState)
        requestWindowFeature(Window.FEATURE_NO_TITLE)
//        window.addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON)
        window.setFlags(
            WindowManager.LayoutParams.FLAG_FULLSCREEN,
            WindowManager.LayoutParams.FLAG_FULLSCREEN
        )
        setContentView(R.layout.activity_main)
        isAppStarted = true
        instance = this


//        mapWidget = findViewById<MapWidget>(R.id.widget_map)
//        mapWidget?.initMapLibreMap(applicationContext, OnMapReadyListener { map: DJIMap ->
//            val uiSetting = map.uiSettings
//            uiSetting?.setZoomControlsEnabled(false)
//
//        mapWidget?.onCreate(savedInstanceState)
        GeoidManager.getInstance().init(this)
        WPMZManager.getInstance().init(this)
        MqttManager.getInstance().needConnect()

        initView()

        // 后台线程初始化 DJI 相关模块，避免阻塞主线程导致 ANR
        Thread {
            initDJIManager()
        }.start()


    }


    private fun initView() {
        fpvParentView = findViewById(R.id.fpv_holder)
        mDrawerLayout = findViewById(R.id.root_view)
        topBarPanel = findViewById(R.id.panel_top_bar)
        settingWidget = topBarPanel?.settingWidget
        primaryFpvWidget = findViewById(R.id.widget_primary_fpv)
        fpvInteractionWidget = findViewById(R.id.widget_fpv_interaction)
        secondaryFPVWidget = findViewById(R.id.widget_secondary_fpv)
        systemStatusListPanelWidget = findViewById(R.id.widget_panel_system_status_list)
        simulatorControlWidget = findViewById(R.id.widget_simulator_control)
        lensControlWidget = findViewById<LensControlWidget>(R.id.widget_lens_control)
        ndviCameraPanel = findViewById(R.id.panel_ndvi_camera)
        visualCameraPanel = findViewById(R.id.panel_visual_camera)
        autoExposureLockWidget = findViewById(R.id.widget_auto_exposure_lock)
        focusModeWidget = findViewById(R.id.widget_focus_mode)
        focusExposureSwitchWidget = findViewById(R.id.widget_focus_exposure_switch)
        pfvFlightDisplayWidget = findViewById(R.id.widget_fpv_flight_display_widget)
        focalZoomWidget = findViewById(R.id.widget_focal_zoom)
        cameraControlsWidget = findViewById(R.id.widget_camera_controls)
        horizontalSituationIndicatorWidget =
            findViewById(R.id.widget_horizontal_situation_indicator)
//        gimbalAdjustDone = findViewById<TextView>( R.id.fpv_gimbal_ok_btn)
        gimbalFineTuneWidget = findViewById(R.id.setting_menu_gimbal_fine_tune)
        btn_test = findViewById(R.id.btn_test)
        btn_test1 = findViewById(R.id.btn_test1)
        btn_test2 = findViewById(R.id.btn_test2)
//        btn_test3 = findViewById(R.id.btn_test3)
        btn_test?.setOnClickListener {
            //                if(cameraMode == 3){
//                    //退出回放模式
//                    MediaManager.getInstance().disablePlayback();
//                }
            KeyManager.getInstance().setValue<CameraMode?>(
                KeyTools.createKey<CameraMode?>(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1),
                CameraMode.find(12),
                object : CompletionCallback {
                    override fun onSuccess() {
                        OSDManager.getInstance().pushFlightAttitude()
                    }

                    override fun onFailure(error: IDJIError) {

                    }
                })

        }
        btn_test1?.setOnClickListener {
            KeyManager.getInstance().performAction<EmptyMsg?>(
                KeyTools.createKey<EmptyMsg?, EmptyMsg?>(
                    CameraKey.KeyStartShootPhoto,
                    ComponentIndexType.PORT_1
                ),
                object : CommonCallbacks.CompletionCallbackWithParam<EmptyMsg?> {
                    override fun onSuccess(emptyMsg: EmptyMsg?) {
                        LogUtil.log(TAG, "拍照成功")
                    }

                    override fun onFailure(error: IDJIError) {
                        LogUtil.log(TAG, "拍照失败:" + Gson().toJson(error))
                    }
                })

        }
        btn_test2?.setOnClickListener {
            StickManager.getInstance().enableVirtualStick1()

        }
//        btn_test3?.setOnClickListener {
//            StreamManager.getInstance().startstream()
//
//        }


        initClickListener()
        MediaDataCenter.getInstance().cameraStreamManager.addAvailableCameraUpdatedListener(
            availableCameraUpdatedListener
        )

        primaryFpvWidget?.setOnFPVStreamSourceListener(object : FPVStreamSourceListener {
            override fun onStreamSourceUpdated(
                devicePosition: ComponentIndexType,
                lensType: CameraLensType
            ) {
                cameraSourceProcessor.onNext(
                    CameraSource(devicePosition, lensType)
                )
            }
        })

        //小surfaceView放置在顶部，避免被大的遮挡
        secondaryFPVWidget?.setSurfaceViewZOrderOnTop(true)
        secondaryFPVWidget?.setSurfaceViewZOrderMediaOverlay(true)


        window.setBackgroundDrawable(ColorDrawable(Color.BLACK))

        //实现RTK监测网络，并自动重连机制
        DJINetworkManager.getInstance().addNetworkStatusListener(networkStatusListener)


    }

    private fun isGimableAdjustClicked(broadcastValues: BroadcastValues) {
        if (mDrawerLayout!!.isDrawerOpen(GravityCompat.END)) {
            mDrawerLayout!!.closeDrawers()
        }
        horizontalSituationIndicatorWidget!!.visibility = View.GONE
        if (gimbalFineTuneWidget != null) {
            gimbalFineTuneWidget!!.visibility = View.VISIBLE
        }
    }

    private fun initClickListener() {
        secondaryFPVWidget!!.setOnClickListener { v: View? -> swapVideoSource() }
        if (settingWidget != null) {
            settingWidget!!.setOnClickListener { v: View? -> toggleRightDrawer() }
        }

        // Setup top bar state callbacks
        val systemStatusWidget = topBarPanel!!.systemStatusWidget
        systemStatusWidget?.setOnClickListener { v: View? -> systemStatusListPanelWidget!!.toggleVisibility() }
        val simulatorIndicatorWidget = topBarPanel!!.simulatorIndicatorWidget
        simulatorIndicatorWidget?.setOnClickListener { v: View? -> simulatorControlWidget!!.toggleVisibility() }
//        gimbalAdjustDone!!.setOnClickListener { view: View? ->
//            horizontalSituationIndicatorWidget!!.visibility = View.VISIBLE
//            if (gimbalFineTuneWidget != null) {
//                gimbalFineTuneWidget!!.visibility = View.GONE
//            }
//        }
    }

    private fun toggleRightDrawer() {
        mDrawerLayout!!.openDrawer(GravityCompat.END)
    }


    override fun onDestroy() {

        super.onDestroy()
        isAppStarted = false
        stopVtxHeartbeat()
        try {
            if (MqttManager.getInstance().mqttAndroidClient != null && MqttManager.getInstance().mqttAndroidClient.isConnected) {
                MqttManager.getInstance().mqttAndroidClient.unregisterResources()
                MqttManager.getInstance().mqttAndroidClient.disconnect() //断开连接
            }
        } catch (e: MqttException) {
            e.printStackTrace()
        }
        MediaDataCenter.getInstance().cameraStreamManager.removeAvailableCameraUpdatedListener(
            availableCameraUpdatedListener
        )
        DJINetworkManager.getInstance().removeNetworkStatusListener(networkStatusListener)
    }

    private var initTimes = 0

    private fun initDJIManager() {
        // 在后台线程中轮询等待飞控/相机连接，避免阻塞主线程
        var isFlightControllerConnect =
            KeyManager.getInstance().getValue(DJIKey.create(FlightControllerKey.KeyConnection))
        var isCameraConnect =
            KeyManager.getInstance()
                .getValue(KeyTools.createKey(CameraKey.KeyConnection, ComponentIndexType.PORT_1))

        val cameraLocationType = PreferenceUtils.getInstance().cameraLocationType

        // 根据 cameraLocationType 轮询等待连接
        while (true) {
            val flightConnected =
                isFlightControllerConnect != null && isFlightControllerConnect == true
            val cameraConnected = isCameraConnect != null && isCameraConnect == true

            val shouldInit = when (cameraLocationType) {
                3 -> flightConnected
                1, 2, 4, 5 -> flightConnected && cameraConnected
                else -> flightConnected && cameraConnected
            }

            if (shouldInit) break

            try {
                Thread.sleep(1000)
            } catch (e: InterruptedException) {
                Thread.currentThread().interrupt()
                return
            }

            isFlightControllerConnect =
                KeyManager.getInstance().getValue(DJIKey.create(FlightControllerKey.KeyConnection))
            isCameraConnect =
                KeyManager.getInstance()
                    .getValue(
                        KeyTools.createKey(
                            CameraKey.KeyConnection,
                            ComponentIndexType.PORT_1
                        )
                    )
        }

        // 飞控/相机连接后，在主线程执行初始化
        runOnUiThread {
            when (cameraLocationType) {
                3 -> initForCameraLocationType3()
                4, 5 -> initForCameraLocationType4Or5()
                else -> initForCameraLocationTypeDefault()
            }
        }
    }

    private fun initForCameraLocationType3() {
        initTimes++
        LogUtil.log(TAG, "下视觉初始化$initTimes")
        cameraManager.setKeepAliveDecoding(true)
        FlightManager.getInstance().initFlightInfo()
        BatteryManager.getInstance().initBatteryInfo()
        StickManager.getInstance().initStickInfo()
        GimbalManager.getInstance().initGimbalInfo()
        AlternateLandingManager.getInstance().initAlterLandingInfo()
        OSDManager.getInstance().initOsd()
        FlightTaskProgressManager.getInstance().initFlightTaskProgress()
        MediaManager.getInstance().init()
        StreamManager.getInstance().initStreamManager()
        LEDsSettingsManager.getInstance().initLEDsInfo()
        RTKManager.getInstance().initRTKInfo()
        NavigationSatelliteSystemManager.getInstance().initNavigationSatelliteSystem()
        NavigationSatelliteSystemManager.getInstance().setNavigationSatelliteSystem()
        LTEManager.getInstance().initLTEInfo()
        WirelessLinkManager.getInstance().initWirelessLink()
        CameraManager.getInstance().initCameraInfo()
        GeoidManager.getInstance().init(this)
        MissionV3Manager.getInstance().initMissionManager()
        enableStream()
        initFpvStream()
        startVtxHeartbeat()
        SpeakerManager.getInstance().addMegaphoneInfoListener()
        GimbalManager.getInstance().setmode()
        PayloadWidgetManager.getInstance().initPayloadInfo()

        // ===== AprilTag 初始化 =====
        // 相机内参（Plumb Bob 标定结果）
        ApriltagDetector.getInstance().setCameraParams(
            669.256846,   // fx
            669.564155,   // fy
            489.4201049,  // cx
            358.3523993   // cy
        )

        // 每个 tag 的物理尺寸（米）
        val tagSizeMap = mapOf(
            248 to 0.167, 247 to 0.167,
            246 to 0.071, 244 to 0.071,
            242 to 0.063, 241 to 0.061,
            245 to 0.084,
            250 to 0.187, 249 to 0.187
        )
        ApriltagDetector.getInstance().setTagSizeMap(tagSizeMap)
        ApriltagDetector.getInstance().setTagSize(0.16) // fallback

        // 每个 tag 离降落点的偏移（米）：[dx右, dy前]
        val tagOffsetMap = mapOf(
            248 to doubleArrayOf(-0.262,  0.052),
            247 to doubleArrayOf( 0.267,  0.052),
            246 to doubleArrayOf(-0.052,  0.0),
            244 to doubleArrayOf( 0.056,  0.0),
            242 to doubleArrayOf(-0.262, -0.194),
            241 to doubleArrayOf( 0.267, -0.192),
            245 to doubleArrayOf( 0.0,   -0.404),
            250 to doubleArrayOf(-0.262, -0.483),
            249 to doubleArrayOf( 0.267, -0.480)
        )
        ApriltagDetector.getInstance().setTagOffsets(tagOffsetMap)

        // 初始化 C 层检测器
        // init(家族名, 纠错bit, 降采样, 高斯模糊sigma, 线程数)
        ApriltagDetector.getInstance().init("tag36h11", 2, 2.0, 0.0, 4)






        if (PreferenceUtils.getInstance().lteEnable) {
            // LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
            MLTEManager.getInstance().initLTEManager()
            Handler().postDelayed(Runnable {
                MLTEManager.getInstance().setLTEEnhancedTransmissionType()
            }, 3000)

        }



        LogUtil.log("qwq", "lteEnable" + PreferenceUtils.getInstance().lteEnable)

        LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)

        Handler(Looper.getMainLooper()).postDelayed({
            when (PreferenceUtils.getInstance().customStreamType) {
                1 -> StreamManager.getInstance().startLiveWithRTSP()
                2 -> StreamManager.getInstance().startLiveWithCustom()
                else -> StreamManager.getInstance().startLiveWithCustom()
            }
            SimplePortScanner.getInstance().startScan()
        }, 5000)

        LogUtil.log(TAG, "推流类型:" + PreferenceUtils.getInstance().customStreamType)
    }

    private fun initForCameraLocationType4Or5() {
        initTimes++
        cameraManager.setKeepAliveDecoding(true)
        LogUtil.log(TAG, "云台初始化$initTimes")
        FlightManager.getInstance().initFlightInfo()
        BatteryManager.getInstance().initBatteryInfo()
        StickManager.getInstance().initStickInfo()
        GimbalManager.getInstance().initGimbalInfo()
        AlternateLandingManager.getInstance().initAlterLandingInfo()
        OSDManager.getInstance().initOsd()
        FlightTaskProgressManager.getInstance().initFlightTaskProgress()
        MediaManager.getInstance().init()
        StreamManager.getInstance().initStreamManager()
        LEDsSettingsManager.getInstance().initLEDsInfo()
        RTKManager.getInstance().initRTKInfo()
        LTEManager.getInstance().initLTEInfo()


        // LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
        if (PreferenceUtils.getInstance().lteEnable) {
            // LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
            MLTEManager.getInstance().initLTEManager()
            Handler().postDelayed(Runnable {
                MLTEManager.getInstance().setLTEEnhancedTransmissionType()
            }, 3000)

        }

        WirelessLinkManager.getInstance().initWirelessLink()
        CameraManager.getInstance().initCameraInfo()
        NavigationSatelliteSystemManager.getInstance().initNavigationSatelliteSystem()
        NavigationSatelliteSystemManager.getInstance().setNavigationSatelliteSystem()
        MissionV3Manager.getInstance().initMissionManager()
        enableStream()
        initMixedStream()
        startVtxHeartbeat()
        SpeakerManager.getInstance().addMegaphoneInfoListener()
        GeoidManager.getInstance().init(this)
        GimbalManager.getInstance().setmode()
        PayloadWidgetManager.getInstance().initPayloadInfo()

        LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)

        Handler(Looper.getMainLooper()).postDelayed({
            when (PreferenceUtils.getInstance().customStreamType) {
                1 -> StreamManager.getInstance().startLiveWithRTSP()
                2 -> StreamManager.getInstance().startLiveWithCustom()
                else -> StreamManager.getInstance().startLiveWithCustom()
            }
            SimplePortScanner.getInstance().startScan()
        }, 5000)

        LogUtil.log(TAG, "推流类型:" + PreferenceUtils.getInstance().customStreamType)
    }

    private fun initForCameraLocationTypeDefault() {
        initTimes++
        cameraManager.setKeepAliveDecoding(true)
        LogUtil.log(TAG, "云台初始化$initTimes")
        FlightManager.getInstance().initFlightInfo()
        BatteryManager.getInstance().initBatteryInfo()
        StickManager.getInstance().initStickInfo()
        GimbalManager.getInstance().initGimbalInfo()
        AlternateLandingManager.getInstance().initAlterLandingInfo()
        OSDManager.getInstance().initOsd()
        FlightTaskProgressManager.getInstance().initFlightTaskProgress()
        MediaManager.getInstance().init()
        StreamManager.getInstance().initStreamManager()
        LEDsSettingsManager.getInstance().initLEDsInfo()
        RTKManager.getInstance().initRTKInfo()
        LTEManager.getInstance().initLTEInfo()
        WirelessLinkManager.getInstance().initWirelessLink()
        CameraManager.getInstance().initCameraInfo()
        NavigationSatelliteSystemManager.getInstance().initNavigationSatelliteSystem()
        NavigationSatelliteSystemManager.getInstance().setNavigationSatelliteSystem()
        MissionV3Manager.getInstance().initMissionManager()
        enableStream()
        initCameraStream()
        startVtxHeartbeat()


        SpeakerManager.getInstance().addMegaphoneInfoListener()
        GeoidManager.getInstance().init(this)
        GimbalManager.getInstance().setmode()
        PayloadWidgetManager.getInstance().initPayloadInfo()


        // LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)

        if (PreferenceUtils.getInstance().lteEnable) {
            // LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
            MLTEManager.getInstance().initLTEManager()
            Handler().postDelayed(Runnable {
                MLTEManager.getInstance().setLTEEnhancedTransmissionType()
            }, 3000)

        }


        LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)

        Handler(Looper.getMainLooper()).postDelayed({
            when (PreferenceUtils.getInstance().customStreamType) {
                1 -> StreamManager.getInstance().startLiveWithRTSP()
                2 -> StreamManager.getInstance().startLiveWithCustom()
                else -> StreamManager.getInstance().startLiveWithCustom()
            }
            SimplePortScanner.getInstance().startScan()
        }, 5000)

        LogUtil.log(TAG, "推流类型:" + PreferenceUtils.getInstance().customStreamType)
    }

    private fun enableStream() {
        cameraManager.enableStream(ComponentIndexType.PORT_1, true);
        cameraManager.enableStream(ComponentIndexType.FPV, true);
    }

    @SuppressLint("SuspiciousIndentation")
    private fun initMixedStream() {
        // 初始化融合视觉降落识别器
        //val mixedLanding = MixedVisionLanding.getInstance()
        // 为 PORT_1（云台相机）添加帧监听器
        cameraManager.addFrameListener(
            ComponentIndexType.PORT_1,
            ICameraStreamManager.FrameFormat.YUV420_888
        ) { frameData, _, _, width, height, _ ->
            // LogUtil.log(TAG,"port监听回调了addFrameListener")
//            runOnUiThread {
//                val now = System.currentTimeMillis()
//                if (now - lastPortToastTime >= TOAST_INTERVAL_MS) {
//                    lastPortToastTime = now
//                    Toast.makeText(this, "port监听回调了addFrameListener", Toast.LENGTH_SHORT).show()
//                }
//            }

            Movement.getInstance().isVtx = true
            updateVtxHeartbeat()
            streamReceive = true

            // 使用融合视觉识别器处理云台相机帧
            //mixedLanding.processGimbalFrame(height, width, frameData, dictionary)
            //使用云台
            synchronized(Synchronizedstatus.LOCK_OBJ) {
                if (!Synchronizedstatus.isIsruningframe() && Synchronizedstatus.isAprongim() && Synchronizedstatus.isSwitchtime()) {
                    try {
                        Synchronizedstatus.setIsruningframe(true)

                        if(!isscousse){
                            isscousse=true;
                            LogUtil.log(TAG,"mix视频帧回调了")
                        }

                        if (startArucoType == 1) {
                            Aprongim.getInstance()?.detectArucoTags(
                                height,
                                width,
                                frameData,
                                dictionary
                            )
                        } else if (startArucoType == 2) {
                            AlternateArucoDetect.getInstance()?.detectArucoTags(
                                height,
                                width,
                                frameData,
                                dictionary
                            )
                        } else if (startArucoType == 3) {
                            Aprongim.getInstance()?.detectForceTriggerTags(
                                height,
                                width,
                                frameData,
                                dictionary
                            )
                        }
                    } finally {
                        Synchronizedstatus.setIsruningframe(false)
                    }
                }
            }
        }

        // 为 FPV（下视相机）添加帧监听器
        cameraManager.addFrameListener(
            ComponentIndexType.FPV,
            ICameraStreamManager.FrameFormat.YUV420_888
        ) { frameData, _, _, width, height, _ ->

            //LogUtil.log(TAG,"fpv监听回调了addFrameListener")
//            runOnUiThread {
//                val now = System.currentTimeMillis()
//                if (now - lastFpvToastTime >= TOAST_INTERVAL_MS) {
//                    lastFpvToastTime = now
//                    Toast.makeText(this, "fpv监听回调了addFrameListener", Toast.LENGTH_SHORT).show()
//                }
//            }
            Movement.getInstance().isVtx = true
            updateVtxHeartbeat()
            streamReceive = true
            // 使用融合视觉识别器处理下视相机帧
            //mixedLanding.processDownwardFrame(height, width, frameData, dictionary)
            //使用下视觉
            synchronized(Synchronizedstatus.LOCK_OBJ) {
                if (!Synchronizedstatus.isIsruningframe() && !Synchronizedstatus.isAprongim() && Synchronizedstatus.isSwitchtime()) {
                    try {
                        Synchronizedstatus.setIsruningframe(true)



                        if (startArucoType == 1) {
                            Aprondown.getInstance()?.detectArucoTags(
                                height,
                                width,
                                frameData,
                                dictionary
                            )
                        } else if (startArucoType == 2) {
                            AlternateArucoDetect.getInstance()?.detectArucoTags(
                                height,
                                width,
                                frameData,
                                dictionary
                            )
                        } else if (startArucoType == 3) {
                            Aprondown.getInstance()?.detectForceTriggerTags(
                                height,
                                width,
                                frameData,
                                dictionary
                            )
                        }
                    } finally {
                        Synchronizedstatus.setIsruningframe(false)
                    }

                }
            }
        }
    }

    @SuppressLint("SuspiciousIndentation")
    private fun initFpvStream() {
        cameraManager.addFrameListener(
            ComponentIndexType.PORT_1,
            ICameraStreamManager.FrameFormat.YUV420_888
        ) { frameData, _, _, width, height, _ ->
            Movement.getInstance().isVtx = true
            updateVtxHeartbeat()
            streamReceive = true
            // DualCaptureHelper.getInstance().onFrame(height, width, frameData)
//            if (shouldExecute) {
//            if (startArucoType == 1&& ApronArucoStatus.getInstance().canProcess(ApronArucoStatus.CameraSource.DOWNWARD)) {
            synchronized(Synchronizedstatus.LOCK_OBJ) {
                if (!Synchronizedstatus.isIsruningframe()) {
                    try {
                        Synchronizedstatus.setIsruningframe(true)

                        if(!isscousse){
                            isscousse=true;
                            LogUtil.log(TAG,"port视频帧回调了")
                        }

                        if (startArucoType == 1) {

//                            ApronArucodownmany.getInstance()?.detectArucoTags(
//                                height,
//                                width,
//                                frameData,
//                                dictionary
//                            )
                            AprilTagPort.getInstance().processFrame(
                                frameData,
                                width,
                                height
                            )
                        } else if (startArucoType == 2) {
                            AlternateArucoDetect.getInstance()?.detectArucoTags(
                                height,
                                width,
                                frameData,
                                dictionary
                            )
                        } else if (startArucoType == 3) {
//                            ApronArucodownmany.getInstance()?.detectForceTriggerTags(
//                                height,
//                                width,
//                                frameData,
//                                dictionary
//                            )
                        }
                    } finally {
                        Synchronizedstatus.setIsruningframe(false)
                    }

                }
            }
        }
    }


    @SuppressLint("SuspiciousIndentation")
    private fun initCameraStream() {
        cameraManager.addFrameListener(
            ComponentIndexType.PORT_1,
            ICameraStreamManager.FrameFormat.YUV420_888
        ) { frameData, _, _, width, height, _ ->
            Movement.getInstance().isVtx = true
            updateVtxHeartbeat()
            streamReceive = true
            // DualCaptureHelper.getInstance().onFrame(height, width, frameData)
//            if (shouldExecute) {
//            if (startArucoType == 1&& ApronArucoStatus.getInstance().canProcess(ApronArucoStatus.CameraSource.DOWNWARD)) {
            synchronized(Synchronizedstatus.LOCK_OBJ) {
                if (!Synchronizedstatus.isIsruningframe()) {
                    try {
                        Synchronizedstatus.setIsruningframe(true)

                        if(!isscousse){
                            isscousse=true;
                            LogUtil.log(TAG,"fpv视频帧回调了")
                        }

                        if (startArucoType == 1) {
                            ApronArucoDetectPort.getInstance()?.detectArucoTags(
                                height,
                                width,
                                frameData,
                                dictionary
                            )
                        } else if (startArucoType == 2) {
                            AlternateArucoDetect.getInstance()?.detectArucoTags(
                                height,
                                width,
                                frameData,
                                dictionary
                            )
                        } else if (startArucoType == 3) {
                            ApronArucoDetectPort.getInstance()?.detectForceTriggerTags(
                                height,
                                width,
                                frameData,
                                dictionary
                            )
                        }
                    } finally {
                        Synchronizedstatus.setIsruningframe(false)
                    }
                }
            }
        }
    }


//    private val mLoaderCallback: BaseLoaderCallback = object : BaseLoaderCallback(this) {
//        override fun onManagerConnected(status: Int) {
//            if (status == SUCCESS) {
//                LogUtil.log(TAG,"Version Name="+BuildConfig.VERSION_NAME)
//                ApronArucoDetect.getInstance().init()
//
//            } else {
//                super.onManagerConnected(status)
//            }
//        }
//    }

    @Subscribe(threadMode = ThreadMode.MAIN)
    fun onEvent(message: String?) {
        when (message) {
            FLAG_START_DETECT_ARUCO_APRON -> {
                MediaDataCenter.getInstance().getCameraStreamManager().setVisionAssistViewDirection(
                    VisionAssistDirection.DOWN,
                    object : CompletionCallback {
                        override fun onSuccess() {
                            LogUtil.log(TAG, "下视开启成功")
                        }

                        override fun onFailure(idjiError: IDJIError) {
                            LogUtil.log(TAG, "下视开启失败")
                        }
                    })

                val leDsSettings = LEDsSettings()
                leDsSettings.setNavigationLEDsOn(false)
                leDsSettings.setStatusIndicatorLEDsOn(true)
                leDsSettings.setFrontLEDsOn(true)
                KeyManager.getInstance().setValue<LEDsSettings?>(
                    KeyTools.createKey<LEDsSettings?>(FlightControllerKey.KeyLEDsSettings),
                    leDsSettings,
                    object : CompletionCallback {
                        override fun onSuccess() {
                            LogUtil.log(TAG, "夜航灯关闭成功")
                        }

                        override fun onFailure(idjiError: IDJIError) {
                            LogUtil.log(TAG, "夜航灯关闭失败")
                        }
                    })

                KeyManager.getInstance().performAction<EmptyMsg>(
                    KeyTools.createKey<EmptyMsg, EmptyMsg>(FlightControllerKey.KeyStopAutoLanding),
                    object : CommonCallbacks.CompletionCallbackWithParam<EmptyMsg?> {
                        override fun onSuccess(emptyMsg: EmptyMsg?) {
                            LogUtil.log(TAG, "取消降落,识别机库二维码")
                            if (PreferenceUtils.getInstance().cameraLocationType == 3) {
                                Handler().postDelayed(Runnable {
                                    if (!ApronArucodownmany.getInstance().isTriggerSuccess) {
                                        LogUtil.log(TAG, "图传异常:飞往备降点")
                                        //测试图传丢失
                                        AlternateLandingManager.getInstance().startTaskProcess(null)
                                    }
                                }, 6000)
                            } else if (PreferenceUtils.getInstance().cameraLocationType == 4 || PreferenceUtils.getInstance().cameraLocationType == 5) {
                                Handler().postDelayed(Runnable {
                                    if (!Aprongim.getInstance().isTriggerSuccess) {
                                        LogUtil.log(TAG, "图传异常:飞往备降点"+  Movement.getInstance().isVtx)
                                        //测试图传丢失
                                        AlternateLandingManager.getInstance().startTaskProcess(null)
                                    }
                                }, 6000)
                            } else {
                                Handler().postDelayed(Runnable {
                                    if (!ApronArucoDetectPort.getInstance().isTriggerSuccess) {
                                        LogUtil.log(TAG, "图传异常:飞往备降点")
                                        //测试图传丢失
                                        AlternateLandingManager.getInstance().startTaskProcess(null)
                                    }
                                }, 6000)
                            }
                            if (startArucoType == 1) {
                                return
                            }
                            startArucoType = 1
                            ApronArucoDetect.getInstance().setDetectedBigMarkers()
                            ApronArucoDetectPort.getInstance().setDetectedBigMarkers()
                            Aprongim.getInstance().setDetectedBigMarkers()
                            Aprondown.getInstance().setDetectedBigMarkers()
                            ApronArucodownmany.getInstance().setDetectedBigMarkers()
                            AprilTagPort.getInstance().reset()


                            DroneHelper.getInstance().setGimbalPitchDegree()
                            //每次触发识别二维码时，为避免获取控制权失败,使多次获取控制权
                            DroneHelper.getInstance().isVirtualStickEnable = false
                            DroneHelper.getInstance().setVerticalModeToVelocity()
                        }

                        override fun onFailure(error: IDJIError) {
                            if (startArucoType == 1) {
                                return
                            }
                            startArucoType = 1
                            LogUtil.log(TAG, "取消降落,识别机库二维码失败:" + Gson().toJson(error))
                            ApronArucoDetect.getInstance().setDetectedBigMarkers()
                            ApronArucoDetectPort.getInstance().setDetectedBigMarkers()
                            Aprongim.getInstance().setDetectedBigMarkers()
                            Aprondown.getInstance().setDetectedBigMarkers()
                            ApronArucodownmany.getInstance().setDetectedBigMarkers()
                            AprilTagPort.getInstance().reset()


                            DroneHelper.getInstance().setGimbalPitchDegree()
                            //每次触发识别二维码时，为避免获取控制权失败,使多次获取控制权
                            DroneHelper.getInstance().isVirtualStickEnable = false
                            DroneHelper.getInstance().setVerticalModeToVelocity()
                        }
                    })
            }

            FLAG_START_DETECT_ARUCO_ALTERNATE ->
                KeyManager.getInstance().performAction<EmptyMsg>(
                    KeyTools.createKey<EmptyMsg, EmptyMsg>(FlightControllerKey.KeyStopAutoLanding),
                    object : CommonCallbacks.CompletionCallbackWithParam<EmptyMsg?> {
                        override fun onSuccess(emptyMsg: EmptyMsg?) {
                            LogUtil.log(TAG, "取消降落,识别备降点二维码")
                            if (PreferenceUtils.getInstance().cameraLocationType == 3) {
                                Handler().postDelayed(Runnable {
                                    if (!ApronArucoDetect.getInstance().isTriggerSuccess) {
                                        LogUtil.log(TAG, "图传异常:飞往备降点")
                                        //测试图传丢失
                                        AlternateLandingManager.getInstance().startTaskProcess(null)
                                    }
                                }, 6000)
                            } else if (PreferenceUtils.getInstance().cameraLocationType == 4 || PreferenceUtils.getInstance().cameraLocationType == 5) {
                                Handler().postDelayed(Runnable {
                                    if (!Aprongim.getInstance().isTriggerSuccess) {
                                        LogUtil.log(TAG, "备降点图传异常:飞往备降点")
                                        AlternateLandingManager.getInstance().startTaskProcess(null)
                                    }
                                }, 6000)

                            } else {
                                Handler().postDelayed(Runnable {
                                    if (!ApronArucoDetectPort.getInstance().isTriggerSuccess) {
                                        LogUtil.log(TAG, "图传异常:飞往备降点")
                                        //测试图传丢失
                                        AlternateLandingManager.getInstance().startTaskProcess(null)
                                    }
                                }, 6000)
                            }
                            if (startArucoType == 2) {
                                return
                            }
                            startArucoType = 2
                            DroneHelper.getInstance().setGimbalPitchDegree()
                            //每次触发识别二维码时，为避免获取控制权失败,使多次获取控制权
                            DroneHelper.getInstance().isVirtualStickEnable = false
                            DroneHelper.getInstance().setVerticalModeToVelocity()
                        }

                        override fun onFailure(error: IDJIError) {
                            if (startArucoType == 2) {
                                return
                            }
                            startArucoType = 2
                            LogUtil.log(
                                TAG,
                                "取消降落,识别备降点二维码失败:" + Gson().toJson(error)
                            )
                            DroneHelper.getInstance().setGimbalPitchDegree()
                            //每次触发识别二维码时，为避免获取控制权失败,使多次获取控制权
                            DroneHelper.getInstance().isVirtualStickEnable = false
                            DroneHelper.getInstance().setVerticalModeToVelocity()
                        }
                    })

            FLAG_DOWN_LAND -> {
                //重置降落变量
                ApronArucoDetect.getInstance().setStartAruco(false);
                ApronArucoDetectPort.getInstance().setStartAruco(false);
                Aprongim.getInstance().setStartAruco(false);
                Aprondown.getInstance().setStartAruco(false);
                ApronArucodownmany.getInstance().setStartAruco(false);


                KeyManager.getInstance().performAction<EmptyMsg>(
                    KeyTools.createKey<EmptyMsg, EmptyMsg>(FlightControllerKey.KeyStartAutoLanding),
                    object : CommonCallbacks.CompletionCallbackWithParam<EmptyMsg?> {
                        override fun onSuccess(emptyMsg: EmptyMsg?) {
                            startArucoType = 0
                            LogUtil.log(TAG, "自动降落调用成功")
                        }

                        override fun onFailure(error: IDJIError) {
                            LogUtil.log(TAG, "自动降落调用失败${error.description()}")
                        }
                    })
            }


            FLAG_STOP_ARUCO ->
                startArucoType = 0

            "REFRESH_VIDEO_SOURCE" -> {
                // 智能刷新：有云台模拟点击，没有云台直接刷新
                smartRefreshVideoStream()
            }

            MqttCallBack.FLAG_RESET_CLEAN_MODE ->
                setViewVisibilityWithCleanMode()
        }
    }


    private fun setViewVisibilityWithCleanMode() {
        if (PreferenceUtils.getInstance().isCleanMode) {
            fpvInteractionWidget?.visibility = View.GONE
            horizontalSituationIndicatorWidget?.visibility = View.GONE
            gimbalFineTuneWidget?.visibility = View.GONE
            ndviCameraPanel?.visibility = View.GONE
            visualCameraPanel?.visibility = View.GONE
            autoExposureLockWidget?.visibility = View.GONE
            focusModeWidget?.visibility = View.GONE
            focusExposureSwitchWidget?.visibility = View.GONE
            cameraControlsWidget?.visibility = View.GONE
            focalZoomWidget?.visibility = View.GONE
//            returnHomeWidget?.visibility = View.GONE
//            takeOffWidget?.visibility = View.GONE
//            lensControlWidget?.visibility = View.GONE
            simulatorControlWidget?.visibility = View.GONE
            pfvFlightDisplayWidget?.visibility = View.GONE
            systemStatusListPanelWidget?.visibility = View.GONE
            topBarPanel?.visibility = View.GONE
        }
    }

}