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修改云台偏航向下

This commit is contained in:
cxf 2026-04-25 15:36:59 +08:00
parent b601be0e49
commit 2789674a2d
31 changed files with 2653 additions and 1479 deletions
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6
app/build.gradle
View File

@ -193,9 +193,9 @@ dependencies {
implementation 'com.commonsware.cwac:saferoom.x:1.3.0' implementation 'com.commonsware.cwac:saferoom.x:1.3.0'
implementation 'com.dji:dji-sdk-v5-aircraft:5.17.0' implementation 'com.dji:dji-sdk-v5-aircraft:5.16.0'
compileOnly 'com.dji:dji-sdk-v5-aircraft-provided:5.17.0' compileOnly 'com.dji:dji-sdk-v5-aircraft-provided:5.16.0'
implementation 'com.dji:dji-sdk-v5-networkImp:5.17.0' implementation 'com.dji:dji-sdk-v5-networkImp:5.16.0'
// implementation 'com.shd:dji-uxsdk:5.9.1' // implementation 'com.shd:dji-uxsdk:5.9.1'

4
app/src/main/java/com/aros/apron/activity/ConnectionActivity.kt
View File

@ -90,8 +90,8 @@ open class ConnectionActivity : BaseActivity() {
} }
if (TextUtils.isEmpty(PreferenceUtils.getInstance().mqttServerUri)){ if (TextUtils.isEmpty(PreferenceUtils.getInstance().mqttServerUri)){
PreferenceUtils.getInstance().mqttServerUri = PreferenceUtils.getInstance().mqttServerUri =
//"tcp://192.168.20.90:2883" "tcp://192.168.20.90:2883"
"tcp://broker.emqx.io" // "tcp://broker.emqx.io"
} }
if (TextUtils.isEmpty(PreferenceUtils.getInstance().mqttUserName)){ if (TextUtils.isEmpty(PreferenceUtils.getInstance().mqttUserName)){

228
app/src/main/java/com/aros/apron/activity/MainActivity.kt
View File

@ -38,12 +38,10 @@ import com.aros.apron.manager.MissionV3Manager
import com.aros.apron.manager.NavigationSatelliteSystemManager import com.aros.apron.manager.NavigationSatelliteSystemManager
import com.aros.apron.manager.OSDManager import com.aros.apron.manager.OSDManager
import com.aros.apron.manager.PayloadWidgetManager import com.aros.apron.manager.PayloadWidgetManager
import com.aros.apron.manager.PerceptionManager
import com.aros.apron.manager.RTKManager import com.aros.apron.manager.RTKManager
import com.aros.apron.manager.SpeakerManager import com.aros.apron.manager.SpeakerManager
import com.aros.apron.manager.StickManager import com.aros.apron.manager.StickManager
import com.aros.apron.manager.StreamManager import com.aros.apron.manager.StreamManager
import com.aros.apron.manager.UdpStreamManager
import com.aros.apron.manager.WirelessLinkManager import com.aros.apron.manager.WirelessLinkManager
import com.aros.apron.mix.Aprondown import com.aros.apron.mix.Aprondown
import com.aros.apron.mix.Aprongim import com.aros.apron.mix.Aprongim
@ -51,9 +49,7 @@ import com.aros.apron.tools.AlternateArucoDetect
import com.aros.apron.tools.ApronArucoDetect import com.aros.apron.tools.ApronArucoDetect
import com.aros.apron.tools.ApronArucoDetectPort import com.aros.apron.tools.ApronArucoDetectPort
import com.aros.apron.tools.DroneHelper import com.aros.apron.tools.DroneHelper
import com.aros.apron.tools.DualCaptureHelper
import com.aros.apron.tools.LogUtil import com.aros.apron.tools.LogUtil
import com.aros.apron.tools.MixedVisionLanding
import com.aros.apron.tools.MqttManager import com.aros.apron.tools.MqttManager
import com.aros.apron.tools.PreferenceUtils import com.aros.apron.tools.PreferenceUtils
import com.aros.apron.tools.SimplePortScanner import com.aros.apron.tools.SimplePortScanner
@ -63,6 +59,7 @@ import dji.sdk.keyvalue.key.CameraKey
import dji.sdk.keyvalue.key.DJIKey import dji.sdk.keyvalue.key.DJIKey
import dji.sdk.keyvalue.key.FlightControllerKey import dji.sdk.keyvalue.key.FlightControllerKey
import dji.sdk.keyvalue.key.KeyTools 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.CameraLensType
import dji.sdk.keyvalue.value.common.ComponentIndexType import dji.sdk.keyvalue.value.common.ComponentIndexType
import dji.sdk.keyvalue.value.common.EmptyMsg import dji.sdk.keyvalue.value.common.EmptyMsg
@ -73,11 +70,9 @@ import dji.v5.common.callback.CommonCallbacks.CompletionCallback
import dji.v5.common.error.IDJIError import dji.v5.common.error.IDJIError
import dji.v5.common.utils.GeoidManager import dji.v5.common.utils.GeoidManager
import dji.v5.manager.KeyManager import dji.v5.manager.KeyManager
import dji.v5.manager.aircraft.perception.radar.RadarManager
import dji.v5.manager.datacenter.MediaDataCenter import dji.v5.manager.datacenter.MediaDataCenter
import dji.v5.manager.interfaces.ICameraStreamManager import dji.v5.manager.interfaces.ICameraStreamManager
import dji.v5.manager.interfaces.ICameraStreamManager.AvailableCameraUpdatedListener import dji.v5.manager.interfaces.ICameraStreamManager.AvailableCameraUpdatedListener
import dji.v5.manager.interfaces.IRadarManager
import dji.v5.network.DJINetworkManager import dji.v5.network.DJINetworkManager
import dji.v5.network.IDJINetworkStatusListener import dji.v5.network.IDJINetworkStatusListener
import dji.v5.utils.common.JsonUtil import dji.v5.utils.common.JsonUtil
@ -533,7 +528,6 @@ open class MainActivity : BaseActivity() {
} }
private fun initView() { private fun initView() {
fpvParentView = findViewById(R.id.fpv_holder) fpvParentView = findViewById(R.id.fpv_holder)
mDrawerLayout = findViewById(R.id.root_view) mDrawerLayout = findViewById(R.id.root_view)
@ -560,23 +554,51 @@ open class MainActivity : BaseActivity() {
btn_test = findViewById(R.id.btn_test) btn_test = findViewById(R.id.btn_test)
btn_test1 = findViewById(R.id.btn_test1) btn_test1 = findViewById(R.id.btn_test1)
btn_test2 = findViewById(R.id.btn_test2) btn_test2 = findViewById(R.id.btn_test2)
btn_test3 = findViewById(R.id.btn_test3) // btn_test3 = findViewById(R.id.btn_test3)
btn_test?.setOnClickListener { btn_test?.setOnClickListener {
DualCaptureHelper.getInstance().captureNextFrame() // 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 { btn_test1?.setOnClickListener {
SimplePortScanner.getInstance().stopScan() 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 { btn_test2?.setOnClickListener {
StreamManager.getInstance().stopstream() StickManager.getInstance().enableVirtualStick1()
}
btn_test3?.setOnClickListener {
StreamManager.getInstance().startstream()
} }
// btn_test3?.setOnClickListener {
// StreamManager.getInstance().startstream()
//
// }
initClickListener() initClickListener()
@ -711,35 +733,12 @@ open class MainActivity : BaseActivity() {
startVtxHeartbeat() startVtxHeartbeat()
SpeakerManager.getInstance().initMegaphoneInfo() SpeakerManager.getInstance().initMegaphoneInfo()
//GimbalManager.getInstance().gimsetmode()
//PayloadWidgetManager.getInstance().initPayloadInfo(); //PayloadWidgetManager.getInstance().initPayloadInfo();
MediaDataCenter.getInstance().cameraStreamManager.setVisionAssistViewDirection(
VisionAssistDirection.DOWN, object : CommonCallbacks.CompletionCallback {
override fun onSuccess() {
LogUtil.log(TAG, "开启成功")
}
override fun onFailure(p0: IDJIError) {
LogUtil.log(TAG, "开启失败" + p0)
}
})
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")
}
})
LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType) LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)
@ -751,25 +750,14 @@ open class MainActivity : BaseActivity() {
2 -> StreamManager.getInstance().startLiveWithCustom() 2 -> StreamManager.getInstance().startLiveWithCustom()
else -> StreamManager.getInstance().startLiveWithCustom() else -> StreamManager.getInstance().startLiveWithCustom()
} }
val scanner = SimplePortScanner.getInstance() SimplePortScanner.getInstance().startScan()
scanner.setOnPortCheckListener(object : SimplePortScanner.OnPortCheckListener {
override fun onPortOpen() {
//LogUtil.log("qwq","✅ 本地8554端口已开启（每3秒扫描）")
}
override fun onPortClosed() {
LogUtil.log("qwq", "❌ 本地8554端口已关闭（每3秒扫描）")
//重新开启这个rtp
StreamManager.getInstance().startLiveWithRTSP();
}
})
}, 5000) // 参数别改：5秒延迟确保相机就绪 }, 5000) // 参数别改：5秒延迟确保相机就绪
LogUtil.log(TAG, "推流类型:" + PreferenceUtils.getInstance().customStreamType) LogUtil.log(TAG, "推流类型:" + PreferenceUtils.getInstance().customStreamType)
} }
} else if (PreferenceUtils.getInstance().cameraLocationType == 4||PreferenceUtils.getInstance().cameraLocationType == 5) { } else if (PreferenceUtils.getInstance().cameraLocationType == 4 || PreferenceUtils.getInstance().cameraLocationType == 5) {
if ((isFlightControllerConnect == null || isFlightControllerConnect != true) && (isCameraConnect == null || isCameraConnect != true)) { if ((isFlightControllerConnect == null || isFlightControllerConnect != true) && (isCameraConnect == null || isCameraConnect != true)) {
handler.postDelayed({ handler.postDelayed({
initDJIManager() initDJIManager()
@ -811,60 +799,22 @@ open class MainActivity : BaseActivity() {
GeoidManager.getInstance().init(this); GeoidManager.getInstance().init(this);
//GimbalManager.getInstance().gimsetmode()
//开启雷达监听器 //开启雷达监听器
//PerceptionManager.getInstance().isladraopeninti() //PerceptionManager.getInstance().isladraopeninti()
MediaDataCenter.getInstance().cameraStreamManager.setVisionAssistViewDirection(
VisionAssistDirection.DOWN, object : CommonCallbacks.CompletionCallback {
override fun onSuccess() {
LogUtil.log(TAG, "开启成功")
}
override fun onFailure(p0: IDJIError) {
LogUtil.log(TAG, "开启失败" + p0)
}
})
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")
}
})
LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType) LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)
Handler(Looper.getMainLooper()).postDelayed({ Handler(Looper.getMainLooper()).postDelayed({
when (PreferenceUtils.getInstance().customStreamType) { when (PreferenceUtils.getInstance().customStreamType) {
1 -> StreamManager.getInstance().startLiveWithRTSP() 1 -> StreamManager.getInstance().startLiveWithRTSP()
2 -> StreamManager.getInstance().startLiveWithCustom() 2 -> StreamManager.getInstance().startLiveWithCustom()
else -> StreamManager.getInstance().startLiveWithCustom() else -> StreamManager.getInstance().startLiveWithCustom()
} }
val scanner = SimplePortScanner.getInstance() SimplePortScanner.getInstance().startScan()
scanner.setOnPortCheckListener(object : SimplePortScanner.OnPortCheckListener {
override fun onPortOpen() {
//LogUtil.log("qwq","✅ 本地8554端口已开启（每3秒扫描）")
}
override fun onPortClosed() {
LogUtil.log("qwq", "❌ 本地8554端口已关闭（每3秒扫描）")
//重新开启这个rtp
StreamManager.getInstance().startLiveWithRTSP();
}
})
}, 5000) // 参数别改：5秒延迟确保相机就绪 }, 5000) // 参数别改：5秒延迟确保相机就绪
@ -913,6 +863,7 @@ open class MainActivity : BaseActivity() {
// //
SpeakerManager.getInstance().initMegaphoneInfo() SpeakerManager.getInstance().initMegaphoneInfo()
//GimbalManager.getInstance().gimsetmode()
GeoidManager.getInstance().init(this); GeoidManager.getInstance().init(this);
@ -920,34 +871,6 @@ open class MainActivity : BaseActivity() {
//PerceptionManager.getInstance().isladraopeninti() //PerceptionManager.getInstance().isladraopeninti()
MediaDataCenter.getInstance().cameraStreamManager.setVisionAssistViewDirection(
VisionAssistDirection.DOWN, object : CommonCallbacks.CompletionCallback {
override fun onSuccess() {
LogUtil.log(TAG, "开启成功")
}
override fun onFailure(p0: IDJIError) {
LogUtil.log(TAG, "开启失败" + p0)
}
})
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")
}
})
LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType) LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)
@ -958,18 +881,7 @@ open class MainActivity : BaseActivity() {
2 -> StreamManager.getInstance().startLiveWithCustom() 2 -> StreamManager.getInstance().startLiveWithCustom()
else -> StreamManager.getInstance().startLiveWithCustom() else -> StreamManager.getInstance().startLiveWithCustom()
} }
val scanner = SimplePortScanner.getInstance() SimplePortScanner.getInstance().startScan()
scanner.setOnPortCheckListener(object : SimplePortScanner.OnPortCheckListener {
override fun onPortOpen() {
//LogUtil.log("qwq","✅ 本地8554端口已开启（每3秒扫描）")
}
override fun onPortClosed() {
LogUtil.log("qwq", "❌ 本地8554端口已关闭（每3秒扫描）")
//重新开启这个rtp
StreamManager.getInstance().startLiveWithRTSP();
}
})
}, 5000) // 参数别改：5秒延迟确保相机就绪 }, 5000) // 参数别改：5秒延迟确保相机就绪
@ -1163,7 +1075,44 @@ open class MainActivity : BaseActivity() {
@Subscribe(threadMode = ThreadMode.MAIN) @Subscribe(threadMode = ThreadMode.MAIN)
fun onEvent(message: String?) { fun onEvent(message: String?) {
when (message) { when (message) {
FLAG_START_DETECT_ARUCO_APRON -> 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>( KeyManager.getInstance().performAction<EmptyMsg>(
KeyTools.createKey<EmptyMsg, EmptyMsg>(FlightControllerKey.KeyStopAutoLanding), KeyTools.createKey<EmptyMsg, EmptyMsg>(FlightControllerKey.KeyStopAutoLanding),
object : CommonCallbacks.CompletionCallbackWithParam<EmptyMsg?> { object : CommonCallbacks.CompletionCallbackWithParam<EmptyMsg?> {
@ -1177,7 +1126,7 @@ open class MainActivity : BaseActivity() {
AlternateLandingManager.getInstance().startTaskProcess(null) AlternateLandingManager.getInstance().startTaskProcess(null)
} }
}, 6000) }, 6000)
} else if (PreferenceUtils.getInstance().cameraLocationType == 4 ||PreferenceUtils.getInstance().cameraLocationType == 5) { } else if (PreferenceUtils.getInstance().cameraLocationType == 4 || PreferenceUtils.getInstance().cameraLocationType == 5) {
Handler().postDelayed(Runnable { Handler().postDelayed(Runnable {
if (!Aprongim.getInstance().isTriggerSuccess) { if (!Aprongim.getInstance().isTriggerSuccess) {
LogUtil.log(TAG, "图传异常:飞往备降点") LogUtil.log(TAG, "图传异常:飞往备降点")
@ -1209,6 +1158,7 @@ open class MainActivity : BaseActivity() {
DroneHelper.getInstance().isVirtualStickEnable = false DroneHelper.getInstance().isVirtualStickEnable = false
DroneHelper.getInstance().setVerticalModeToVelocity() DroneHelper.getInstance().setVerticalModeToVelocity()
} }
override fun onFailure(error: IDJIError) { override fun onFailure(error: IDJIError) {
if (startArucoType == 1) { if (startArucoType == 1) {
return return
@ -1227,7 +1177,7 @@ open class MainActivity : BaseActivity() {
DroneHelper.getInstance().setVerticalModeToVelocity() DroneHelper.getInstance().setVerticalModeToVelocity()
} }
}) })
}
FLAG_START_DETECT_ARUCO_ALTERNATE -> FLAG_START_DETECT_ARUCO_ALTERNATE ->
KeyManager.getInstance().performAction<EmptyMsg>( KeyManager.getInstance().performAction<EmptyMsg>(
KeyTools.createKey<EmptyMsg, EmptyMsg>(FlightControllerKey.KeyStopAutoLanding), KeyTools.createKey<EmptyMsg, EmptyMsg>(FlightControllerKey.KeyStopAutoLanding),
@ -1242,7 +1192,7 @@ open class MainActivity : BaseActivity() {
AlternateLandingManager.getInstance().startTaskProcess(null) AlternateLandingManager.getInstance().startTaskProcess(null)
} }
}, 6000) }, 6000)
} else if (PreferenceUtils.getInstance().cameraLocationType == 4|| PreferenceUtils.getInstance().cameraLocationType==5) { } else if (PreferenceUtils.getInstance().cameraLocationType == 4 || PreferenceUtils.getInstance().cameraLocationType == 5) {
Handler().postDelayed(Runnable { Handler().postDelayed(Runnable {
if (!Aprongim.getInstance().isTriggerSuccess) { if (!Aprongim.getInstance().isTriggerSuccess) {
LogUtil.log(TAG, "图传异常:飞往备降点") LogUtil.log(TAG, "图传异常:飞往备降点")

5
app/src/main/java/com/aros/apron/base/BaseManager.java
View File

@ -237,6 +237,11 @@ public abstract class BaseManager {
* 上报航线任务进度 * 上报航线任务进度
*/ */
public void sendFlightTaskProgress2Server() { public void sendFlightTaskProgress2Server() {
if( Movement.getInstance().getTask_media_count()!=0){
LogUtil.log(TAG ,"getTask_media_count"+Movement.getInstance().getTask_media_count());
}
LogUtil.log(TAG ,"QWQsendFlightTaskProgress2Server");
try { try {
if (MqttManager.getInstance().mqttAndroidClient.isConnected()) { if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
// 必须加 final，否则内部类（回调）里访问不了 // 必须加 final，否则内部类（回调）里访问不了

109
app/src/main/java/com/aros/apron/callback/MqttCallBack.java
View File

@ -23,6 +23,7 @@ import com.aros.apron.manager.FlyToPointManager;
import com.aros.apron.manager.GimbalManager; import com.aros.apron.manager.GimbalManager;
import com.aros.apron.manager.MissionV3Manager; import com.aros.apron.manager.MissionV3Manager;
import com.aros.apron.manager.OSDManager; import com.aros.apron.manager.OSDManager;
import com.aros.apron.manager.PayloadlightManager;
import com.aros.apron.manager.PerceptionManager; import com.aros.apron.manager.PerceptionManager;
import com.aros.apron.manager.SpeakerManager; import com.aros.apron.manager.SpeakerManager;
import com.aros.apron.manager.StickManager; import com.aros.apron.manager.StickManager;
@ -178,15 +179,25 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
Synchronizedstatus.setInitStatus(true); Synchronizedstatus.setInitStatus(true);
}); });
} else if (Synchronizedstatus.getInitStatus()) { } else if (Synchronizedstatus.getInitStatus()) {
LogUtil.log(TAG, "收到：航线" + jsonString); if(!Synchronizedstatus.getFlighttaskExecuteStatus()){
//设置modecode LogUtil.log(TAG, "收到：航线" + jsonString);
Movement.getInstance().setMode_code(1); //设置modecode
//设置标志为 Movement.getInstance().setMode_code(1);
Movement.getInstance().setFlightmode(1); //设置标志为
Movement.getInstance().setFlightmode(1);
//存储最新消息并开始自检
MissionV3Manager.getInstance().taskExecute(message);
Synchronizedstatus.setIsruning(true);
Synchronizedstatus.setFlighttaskExecuteStatus(true);
}else{
sendFailMsg2Server(message,"已经收到航线");
}
//存储最新消息并开始自检
MissionV3Manager.getInstance().taskExecute(message);
Synchronizedstatus.setIsruning(true);
} }
} }
break; break;
@ -206,16 +217,15 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
if (!Movement.getInstance().isAlternate() && !ApronArucoDetectPort.getInstance().isStartAruco() && !ApronArucoDetect.getInstance().isStartAruco() && !Aprongim.getInstance().isStartAruco() && !Aprondown.getInstance().isStartAruco()) { if (!Movement.getInstance().isAlternate() && !ApronArucoDetectPort.getInstance().isStartAruco() && !ApronArucoDetect.getInstance().isStartAruco() && !Aprongim.getInstance().isStartAruco() && !Aprondown.getInstance().isStartAruco()) {
// if(Movement.getInstance().getElevation()<15){ // if(Movement.getInstance().getElevation()<15){
// //
//
//
// }else{ // }else{
// FlightManager.getInstance().startGoHome(message); // FlightManager.getInstance().startGoHome(message);
// } // }
FlightManager.getInstance().startGoHome(message); FlightManager.getInstance().startGoHome(message);
} else { } else {
sendMsg2Server(message); sendFailMsg2Server(message,"正在视觉或飞往备降不允许返航");
sendEvent2Server("正在视觉或飞往备降不允许返航", 1); sendEvent2Server("正在视觉或飞往备降不允许返航", 1);
LogUtil.log(TAG,"正在视觉或飞往备降不允许返航");
} }
break; break;
case Constant.INBOUND: case Constant.INBOUND:
@ -255,14 +265,22 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
Synchronizedstatus.setInitStatus(true); Synchronizedstatus.setInitStatus(true);
}); });
} else if (Synchronizedstatus.getInitStatus()) { } else if (Synchronizedstatus.getInitStatus()) {
LogUtil.log(TAG, "收到：一键起飞" + jsonString); if(!Synchronizedstatus.isTakeoff_to_point()){
//设置modecode
Movement.getInstance().setMode_code(1); LogUtil.log(TAG, "收到：一键起飞" + jsonString);
//设置标志为指令飞行 //设置modecode
Movement.getInstance().setFlightmode(2); Movement.getInstance().setMode_code(1);
TakeoffProgressScheduler.getInstance().startReporting(); //设置标志为指令飞行
TakeOffToPointManager.getInstance().taskExecute(message); Movement.getInstance().setFlightmode(2);
Synchronizedstatus.setIsruning(true); TakeoffProgressScheduler.getInstance().startReporting();
TakeOffToPointManager.getInstance().taskExecute(message);
Synchronizedstatus.setIsruning(true);
Synchronizedstatus.setTakeoff_to_point(true);
}else{
sendFailMsg2Server(message,"已经收到一键航线");
}
} }
} }
break; break;
@ -298,8 +316,14 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
break; break;
case Constant.DRONE_CONTROL: case Constant.DRONE_CONTROL:
LogUtil.log(TAG, "收到：DRC-飞行控制" + jsonString); LogUtil.log(TAG, "收到：DRC-飞行控制" + jsonString);
resetVirtualStickHeartbeat(); if (!Movement.getInstance().isAlternate() && !ApronArucoDetectPort.getInstance().isStartAruco() && !ApronArucoDetect.getInstance().isStartAruco() && !Aprongim.getInstance().isStartAruco() && !Aprondown.getInstance().isStartAruco()) {
StickManager.getInstance().sendVirtualStickAdvancedParam(message); resetVirtualStickHeartbeat();
StickManager.getInstance().sendVirtualStickAdvancedParam(message);
}else{
sendFailMsg2Server(message,"正在视觉或飞往备降不允输入摇杆");
sendEvent2Server("正在视觉或飞往备降不允输入摇杆", 1);
LogUtil.log(TAG,"正在视觉或飞往备降不允输入摇杆");
}
break; break;
case Constant.DRONE_EMERGENCY_STOP: case Constant.DRONE_EMERGENCY_STOP:
LogUtil.log(TAG, "收到：DRC-飞行器急停" + jsonString); LogUtil.log(TAG, "收到：DRC-飞行器急停" + jsonString);
@ -328,6 +352,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
case Constant.CAMERA_SCREEN_DRAG: case Constant.CAMERA_SCREEN_DRAG:
LogUtil.log(TAG, "收到：负载控制—画面拖动控制" + jsonString); LogUtil.log(TAG, "收到：负载控制—画面拖动控制" + jsonString);
if (ApronArucoDetect.getInstance().isStartAruco() || ApronArucoDetectPort.getInstance().isStartAruco() || Aprongim.getInstance().isStartAruco() || Aprondown.getInstance().isStartAruco()) { if (ApronArucoDetect.getInstance().isStartAruco() || ApronArucoDetectPort.getInstance().isStartAruco() || Aprongim.getInstance().isStartAruco() || Aprondown.getInstance().isStartAruco()) {
sendFailMsg2Server(message,"自动降落不可以动负载");
sendEvent2Server("自动降落不可以动负载", 1); sendEvent2Server("自动降落不可以动负载", 1);
return; return;
} else { } else {
@ -337,6 +362,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
case Constant.CAMERA_AIM: case Constant.CAMERA_AIM:
LogUtil.log(TAG, "收到：负载控制—双击成为 AIM" + jsonString); LogUtil.log(TAG, "收到：负载控制—双击成为 AIM" + jsonString);
if (ApronArucoDetect.getInstance().isStartAruco() || ApronArucoDetectPort.getInstance().isStartAruco() || Aprongim.getInstance().isStartAruco() || Aprondown.getInstance().isStartAruco()) { if (ApronArucoDetect.getInstance().isStartAruco() || ApronArucoDetectPort.getInstance().isStartAruco() || Aprongim.getInstance().isStartAruco() || Aprondown.getInstance().isStartAruco()) {
sendFailMsg2Server(message,"自动降落不可以动负载");
sendEvent2Server("自动降落不可以动负载", 1); sendEvent2Server("自动降落不可以动负载", 1);
return; return;
} else { } else {
@ -346,6 +372,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
case Constant.CAMERA_FOCAL_LENGTH_SET: case Constant.CAMERA_FOCAL_LENGTH_SET:
LogUtil.log(TAG, "收到：负载控制—变焦" + jsonString); LogUtil.log(TAG, "收到：负载控制—变焦" + jsonString);
if (ApronArucoDetect.getInstance().isStartAruco() || ApronArucoDetectPort.getInstance().isStartAruco() || Aprongim.getInstance().isStartAruco() || Aprondown.getInstance().isStartAruco()) { if (ApronArucoDetect.getInstance().isStartAruco() || ApronArucoDetectPort.getInstance().isStartAruco() || Aprongim.getInstance().isStartAruco() || Aprondown.getInstance().isStartAruco()) {
sendFailMsg2Server(message,"自动降落不可以动负载");
sendEvent2Server("自动降落不可以动负载", 1); sendEvent2Server("自动降落不可以动负载", 1);
return; return;
} else { } else {
@ -355,6 +382,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
case Constant.GIMBAL_RESET: case Constant.GIMBAL_RESET:
LogUtil.log(TAG, "收到：负载控制—重置云台" + jsonString); LogUtil.log(TAG, "收到：负载控制—重置云台" + jsonString);
if (ApronArucoDetect.getInstance().isStartAruco() || ApronArucoDetectPort.getInstance().isStartAruco() || Aprongim.getInstance().isStartAruco() || Aprondown.getInstance().isStartAruco()) { if (ApronArucoDetect.getInstance().isStartAruco() || ApronArucoDetectPort.getInstance().isStartAruco() || Aprongim.getInstance().isStartAruco() || Aprondown.getInstance().isStartAruco()) {
sendFailMsg2Server(message,"自动降落不可以动负载");
sendEvent2Server("自动降落不可以动负载", 1); sendEvent2Server("自动降落不可以动负载", 1);
return; return;
} else { } else {
@ -364,6 +392,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
case Constant.CAMERA_LOOK_AT: case Constant.CAMERA_LOOK_AT:
LogUtil.log(TAG, "收到：负载控制—Look At" + jsonString); LogUtil.log(TAG, "收到：负载控制—Look At" + jsonString);
if (ApronArucoDetect.getInstance().isStartAruco() || ApronArucoDetectPort.getInstance().isStartAruco() || Aprongim.getInstance().isStartAruco() || Aprondown.getInstance().isStartAruco()) { if (ApronArucoDetect.getInstance().isStartAruco() || ApronArucoDetectPort.getInstance().isStartAruco() || Aprongim.getInstance().isStartAruco() || Aprondown.getInstance().isStartAruco()) {
sendFailMsg2Server(message,"自动降落不可以动负载");
sendEvent2Server("自动降落不可以动负载", 1); sendEvent2Server("自动降落不可以动负载", 1);
return; return;
} else { } else {
@ -417,6 +446,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
case Constant.CAMERA_FRAME_ZOOM: case Constant.CAMERA_FRAME_ZOOM:
LogUtil.log(TAG, "收到：框选变焦" + jsonString); LogUtil.log(TAG, "收到：框选变焦" + jsonString);
if (ApronArucoDetect.getInstance().isStartAruco() || ApronArucoDetectPort.getInstance().isStartAruco() || Aprongim.getInstance().isStartAruco() || Aprondown.getInstance().isStartAruco()) { if (ApronArucoDetect.getInstance().isStartAruco() || ApronArucoDetectPort.getInstance().isStartAruco() || Aprongim.getInstance().isStartAruco() || Aprondown.getInstance().isStartAruco()) {
sendFailMsg2Server(message,"自动降落不可以动负载");
sendEvent2Server("自动降落不可以动负载", 1); sendEvent2Server("自动降落不可以动负载", 1);
return; return;
} else { } else {
@ -426,6 +456,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
case Constant.SPEAKER_AUDIO_PLAY_START: case Constant.SPEAKER_AUDIO_PLAY_START:
LogUtil.log(TAG, "收到：喊话器-开始播放音频" + jsonString); LogUtil.log(TAG, "收到：喊话器-开始播放音频" + jsonString);
SpeakerProgressReporter.getInstance().startAudioReport(2); SpeakerProgressReporter.getInstance().startAudioReport(2);
SpeakerManager.getInstance().setindex();
synchronized (lock) { synchronized (lock) {
if (!Synchronizedstatus.isSpeakrunning()) { if (!Synchronizedstatus.isSpeakrunning()) {
SpeakerManager.getInstance().speakerAudioPlayStart(message); SpeakerManager.getInstance().speakerAudioPlayStart(message);
@ -439,6 +470,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
case Constant.SPEAKER_TTS_PLAY_START: case Constant.SPEAKER_TTS_PLAY_START:
LogUtil.log(TAG, "收到：喊话器-开始播放TTS文本" + jsonString); LogUtil.log(TAG, "收到：喊话器-开始播放TTS文本" + jsonString);
SpeakerProgressReporter.getInstance().startTTSReport(2); SpeakerProgressReporter.getInstance().startTTSReport(2);
SpeakerManager.getInstance().setindex();
synchronized (lock) { synchronized (lock) {
if (!Synchronizedstatus.isSpeakrunning()) { if (!Synchronizedstatus.isSpeakrunning()) {
SpeakerManager.getInstance().speakerTTSPlayStart(message, 0); SpeakerManager.getInstance().speakerTTSPlayStart(message, 0);
@ -451,6 +483,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
break; break;
case Constant.SPEAKER_REPLAY: case Constant.SPEAKER_REPLAY:
LogUtil.log(TAG, "收到：喊话器-重新播放" + jsonString); LogUtil.log(TAG, "收到：喊话器-重新播放" + jsonString);
SpeakerManager.getInstance().setindex();
synchronized (lock) { synchronized (lock) {
if (!Synchronizedstatus.isSpeakrunning()) { if (!Synchronizedstatus.isSpeakrunning()) {
SpeakerManager.getInstance().speakerReply(message); SpeakerManager.getInstance().speakerReply(message);
@ -463,6 +496,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
break; break;
case Constant.SPEAKER_PLAY_STOP: case Constant.SPEAKER_PLAY_STOP:
LogUtil.log(TAG, "收到：喊话器-停止播放" + jsonString); LogUtil.log(TAG, "收到：喊话器-停止播放" + jsonString);
SpeakerManager.getInstance().setindex();
synchronized (lock) { synchronized (lock) {
if (!Synchronizedstatus.isSpeakrunning()) { if (!Synchronizedstatus.isSpeakrunning()) {
SpeakerManager.getInstance().speakerStop(message); SpeakerManager.getInstance().speakerStop(message);
@ -476,6 +510,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
break; break;
case Constant.SPEAKER_PLAY_MODE_SET: case Constant.SPEAKER_PLAY_MODE_SET:
LogUtil.log(TAG, "收到：喊话器-设置播放模式" + jsonString); LogUtil.log(TAG, "收到：喊话器-设置播放模式" + jsonString);
SpeakerManager.getInstance().setindex();
synchronized (lock) { synchronized (lock) {
if (!Synchronizedstatus.isSpeakrunning()) { if (!Synchronizedstatus.isSpeakrunning()) {
SpeakerManager.getInstance().speakerPlayModeSet(message); SpeakerManager.getInstance().speakerPlayModeSet(message);
@ -485,10 +520,10 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
return; return;
} }
} }
break; break;
case Constant.SPEAKER_PLAY_VOLUME_SET: case Constant.SPEAKER_PLAY_VOLUME_SET:
LogUtil.log(TAG, "收到：喊话器-设置音量" + jsonString); LogUtil.log(TAG, "收到：喊话器-设置音量" + jsonString);
SpeakerManager.getInstance().setindex();
synchronized (lock) { synchronized (lock) {
if (!Synchronizedstatus.isSpeakrunning()) { if (!Synchronizedstatus.isSpeakrunning()) {
SpeakerManager.getInstance().speakerPlayVolumeSet(message); SpeakerManager.getInstance().speakerPlayVolumeSet(message);
@ -498,11 +533,10 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
return; return;
} }
} }
break; break;
case Constant.DRC_SPEAKER_TTS_SET: case Constant.DRC_SPEAKER_TTS_SET:
LogUtil.log(TAG, "收到：喊话器-TTS喊话设置" + jsonString); LogUtil.log(TAG, "收到：喊话器-TTS喊话设置" + jsonString);
SpeakerManager.getInstance().setindex();
synchronized (lock) { synchronized (lock) {
if (!Synchronizedstatus.isSpeakrunning()) { if (!Synchronizedstatus.isSpeakrunning()) {
SpeakerManager.getInstance().speakerTTSPlayStart(message, 1); SpeakerManager.getInstance().speakerTTSPlayStart(message, 1);
@ -512,7 +546,6 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
return; return;
} }
} }
break; break;
case Constant.UAV_LIVE_FPV: case Constant.UAV_LIVE_FPV:
//LogUtil.log(TAG, "收到：切换推流fpv" + jsonString); //LogUtil.log(TAG, "收到：切换推流fpv" + jsonString);
@ -525,17 +558,26 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
case Constant.DRC_LIGHT_BRIGHTNESS_SET: case Constant.DRC_LIGHT_BRIGHTNESS_SET:
synchronized (lock) { synchronized (lock) {
if (Synchronizedstatus.isLight_brightnessrunning()){ if (Synchronizedstatus.isLight_brightnessrunning()){
sendMsg2Server(message);
return; return;
}else { }else {
PayloadlightManager.getInstance().drc_light_brightness_set(message);
Synchronizedstatus.setLight_brightnessrunning(true);
} }
} }
// LogUtil.log(TAG, "收到：A1亮度设置 " + jsonString);
// 处理亮度设置逻辑
break; break;
case Constant.DRC_LIGHT_MODE_SET: case Constant.DRC_LIGHT_MODE_SET:
// LogUtil.log(TAG, "收到：A1模式设置 " + jsonString); // LogUtil.log(TAG, "收到：A1模式设置 " + jsonString);
synchronized (lock) {
if (Synchronizedstatus.isDrc_light_mode_set()){
sendMsg2Server(message);
return;
}else {
PayloadlightManager.getInstance().drc_light_mode_set(message);
Synchronizedstatus.setDrc_light_mode_set(true);
}
}
// 处理模式设置逻辑 // 处理模式设置逻辑
break; break;
@ -547,6 +589,15 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
case Constant.DRC_LIGHT_CALIBRATION: case Constant.DRC_LIGHT_CALIBRATION:
// LogUtil.log(TAG, "收到：A1云台校准 " + jsonString); // LogUtil.log(TAG, "收到：A1云台校准 " + jsonString);
// 处理云台校准逻辑 // 处理云台校准逻辑
synchronized (lock) {
if (Synchronizedstatus.isDrc_light_calibration()){
sendMsg2Server(message);
return;
}else {
PayloadlightManager.getInstance().drc_light_calibration(message);
Synchronizedstatus.setDrc_light_calibration(true);
}
}
break; break;

26
app/src/main/java/com/aros/apron/entity/Movement.java
View File

@ -116,6 +116,8 @@ public class Movement {
private int GPSSatelliteCount; //卫星个数 private int GPSSatelliteCount; //卫星个数
private boolean Alternate=false; private boolean Alternate=false;
private boolean camera3stick=false;//3号相机模式释放控制权
//适配上云格式参数，拿到后再进行组装 //适配上云格式参数，拿到后再进行组装
private double measure_target_altitude; private double measure_target_altitude;
@ -195,7 +197,7 @@ public class Movement {
private int wind_direction; private int wind_direction;
private int wind_speed; private int wind_speed;
private int camera_mode; private int camera_mode=0;
private int ir_metering_mode; private int ir_metering_mode;
private int temperature; private int temperature;
private double x; private double x;
@ -210,7 +212,7 @@ public class Movement {
private int record_time; private int record_time;
private int recording_state; private int recording_state;
private int remain_photo_num; private int remain_photo_num;
private int remain_record_duration; private int remain_record_duration=3000;
private boolean screen_split_enable; private boolean screen_split_enable;
private int wide_exposure_mode; private int wide_exposure_mode;
private int wide_exposure_value; private int wide_exposure_value;
@ -220,7 +222,7 @@ public class Movement {
private int zoom_calibrate_nearest_focus_value; private int zoom_calibrate_nearest_focus_value;
private int zoom_exposure_mode; private int zoom_exposure_mode;
private int zoom_exposure_value; private int zoom_exposure_value;
private double zoom_factor; private double zoom_factor=2;
private int zoom_focus_mode; private int zoom_focus_mode;
private int zoom_focus_state; private int zoom_focus_state;
private int zoom_focus_value; private int zoom_focus_value;
@ -278,6 +280,16 @@ public class Movement {
private String freq_band_4g; private String freq_band_4g;
private boolean istakeoffex=false; private boolean istakeoffex=false;
private boolean waylineinterpter=true;
public boolean isWaylineinterpter() {
return waylineinterpter;
}
public void setWaylineinterpter(boolean waylineinterpter) {
this.waylineinterpter = waylineinterpter;
}
public boolean isAlternate() { public boolean isAlternate() {
return Alternate; return Alternate;
@ -344,6 +356,14 @@ public class Movement {
private String md5; private String md5;
public boolean isCamera3stick() {
return camera3stick;
}
public void setCamera3stick(boolean camera3stick) {
this.camera3stick = camera3stick;
}
public int getSpeakerpercent() { public int getSpeakerpercent() {
return speakerpercent; return speakerpercent;
} }

39
app/src/main/java/com/aros/apron/entity/Synchronizedstatus.java
View File

@ -25,14 +25,53 @@ public class Synchronizedstatus {
//探照灯线程 //探照灯线程
private static volatile boolean light_brightnessrunning=false; private static volatile boolean light_brightnessrunning=false;
private static volatile boolean drc_light_mode_set=false;
private static volatile boolean drc_light_fine_tuning_set=false;
private static volatile boolean drc_light_calibration=false;
//喊话器线程 //喊话器线程
private static volatile boolean speakrunning=false; private static volatile boolean speakrunning=false;
private static volatile boolean speakTTSrunning=false; private static volatile boolean speakTTSrunning=false;
private static volatile boolean speaksetrunning=false; private static volatile boolean speaksetrunning=false;
private static volatile boolean takeoff_to_point=false;
public static boolean isTakeoff_to_point() {
return takeoff_to_point;
}
public static void setTakeoff_to_point(boolean takeoff_to_point) {
Synchronizedstatus.takeoff_to_point = takeoff_to_point;
}
public static boolean isDrc_light_mode_set() {
return drc_light_mode_set;
}
public static void setDrc_light_mode_set(boolean drc_light_mode_set) {
Synchronizedstatus.drc_light_mode_set = drc_light_mode_set;
}
public static boolean isDrc_light_fine_tuning_set() {
return drc_light_fine_tuning_set;
}
public static void setDrc_light_fine_tuning_set(boolean drc_light_fine_tuning_set) {
Synchronizedstatus.drc_light_fine_tuning_set = drc_light_fine_tuning_set;
}
public static boolean isDrc_light_calibration() {
return drc_light_calibration;
}
public static void setDrc_light_calibration(boolean drc_light_calibration) {
Synchronizedstatus.drc_light_calibration = drc_light_calibration;
}
public static boolean isSpeaksetrunning() { public static boolean isSpeaksetrunning() {
return speaksetrunning; return speaksetrunning;
} }

1
app/src/main/java/com/aros/apron/manager/AlternateLandingManager.java
View File

@ -301,6 +301,7 @@ public class AlternateLandingManager extends BaseManager {
@Override @Override
public void run() { public void run() {
Movement.getInstance().setWaylinename("alternate"); Movement.getInstance().setWaylinename("alternate");
PreferenceUtils.getInstance().setWaylinename("alternate");
missionManager.startMission("alternate", new CommonCallbacks.CompletionCallback() { missionManager.startMission("alternate", new CommonCallbacks.CompletionCallback() {
@Override @Override
public void onSuccess() { public void onSuccess() {

2224
app/src/main/java/com/aros/apron/manager/CameraManager.java
View File

File diff suppressed because it is too large Load Diff

14
app/src/main/java/com/aros/apron/manager/DockCloseManager.java
View File

@ -25,6 +25,12 @@ public class DockCloseManager extends BaseManager {
private final int maxRetries = 2; private final int maxRetries = 2;
private int sendDockCloseSuccessTimes; private int sendDockCloseSuccessTimes;
private boolean isSendDockCloseSuccess; private boolean isSendDockCloseSuccess;
// 是否允许继续重试（开门后设为false，防止关门重试把已开的门又关了）
private volatile boolean allowRetry = true;
public void stopRetry() {
allowRetry = false;
}
private DockCloseManager() { private DockCloseManager() {
} }
@ -88,6 +94,10 @@ public class DockCloseManager extends BaseManager {
final Handler mainHandler = new Handler(Looper.getMainLooper()); final Handler mainHandler = new Handler(Looper.getMainLooper());
private void retrySend() { private void retrySend() {
if (!allowRetry) {
LogUtil.log(TAG, "已取消关门重试（门已打开）");
return;
}
sendDockCloseSuccessTimes++; sendDockCloseSuccessTimes++;
if (sendDockCloseSuccessTimes < maxRetries) { if (sendDockCloseSuccessTimes < maxRetries) {
mainHandler.postDelayed(() -> sendDockCloseMsg2Server(), 2000); mainHandler.postDelayed(() -> sendDockCloseMsg2Server(), 2000);
@ -97,6 +107,10 @@ public class DockCloseManager extends BaseManager {
} }
private void handleNotConnected() { private void handleNotConnected() {
if (!allowRetry) {
LogUtil.log(TAG, "已取消关门重试（门已打开）");
return;
}
if (!isSendDockCloseSuccess && sendDockCloseSuccessTimes < maxRetries) { if (!isSendDockCloseSuccess && sendDockCloseSuccessTimes < maxRetries) {
sendDockCloseSuccessTimes++; sendDockCloseSuccessTimes++;
mainHandler.postDelayed(() -> sendDockCloseMsg2Server(), 2000); mainHandler.postDelayed(() -> sendDockCloseMsg2Server(), 2000);

108
app/src/main/java/com/aros/apron/manager/FlightManager.java
View File

@ -37,6 +37,7 @@ import java.util.Objects;
import dji.sdk.keyvalue.key.AirLinkKey; import dji.sdk.keyvalue.key.AirLinkKey;
import dji.sdk.keyvalue.key.CameraKey; import dji.sdk.keyvalue.key.CameraKey;
import dji.sdk.keyvalue.key.FlightControllerKey; import dji.sdk.keyvalue.key.FlightControllerKey;
import dji.sdk.keyvalue.key.GimbalKey;
import dji.sdk.keyvalue.key.KeyTools; import dji.sdk.keyvalue.key.KeyTools;
import dji.sdk.keyvalue.key.ProductKey; import dji.sdk.keyvalue.key.ProductKey;
import dji.sdk.keyvalue.key.RtkMobileStationKey; import dji.sdk.keyvalue.key.RtkMobileStationKey;
@ -62,6 +63,7 @@ import dji.sdk.keyvalue.value.flightcontroller.PropellerRotationStatus;
import dji.sdk.keyvalue.value.flightcontroller.RemoteControllerFlightMode; import dji.sdk.keyvalue.value.flightcontroller.RemoteControllerFlightMode;
import dji.sdk.keyvalue.value.flightcontroller.RidWorkingStatusPushMsg; import dji.sdk.keyvalue.value.flightcontroller.RidWorkingStatusPushMsg;
import dji.sdk.keyvalue.value.flightcontroller.WindDirection; import dji.sdk.keyvalue.value.flightcontroller.WindDirection;
import dji.sdk.keyvalue.value.gimbal.GimbalMode;
import dji.sdk.keyvalue.value.product.ProductType; import dji.sdk.keyvalue.value.product.ProductType;
import dji.sdk.keyvalue.value.rtkmobilestation.RTKTakeoffAltitudeInfo; import dji.sdk.keyvalue.value.rtkmobilestation.RTKTakeoffAltitudeInfo;
import dji.v5.common.callback.CommonCallbacks; import dji.v5.common.callback.CommonCallbacks;
@ -131,18 +133,18 @@ public class FlightManager extends BaseManager {
LogUploadManager.getInstance().uploadTodayLog(); LogUploadManager.getInstance().uploadTodayLog();
count++; count++;
} }
//连上就待机 // //连上就待机
MediaDataCenter.getInstance().getCameraStreamManager().setVisionAssistViewDirection(VisionAssistDirection.DOWN, new CommonCallbacks.CompletionCallback() { // MediaDataCenter.getInstance().getCameraStreamManager().setVisionAssistViewDirection(VisionAssistDirection.DOWN, new CommonCallbacks.CompletionCallback() {
@Override // @Override
public void onSuccess() { // public void onSuccess() {
LogUtil.log(TAG, "设置下视辅助视频成功"); // LogUtil.log(TAG, "设置下视辅助视频成功");
} // }
//
@Override // @Override
public void onFailure(@NonNull IDJIError idjiError) { // public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG, "设置下视辅助视频失败"); // LogUtil.log(TAG, "设置下视辅助视频失败");
} // }
}); // });
Movement.getInstance().setMissionFinish(false); Movement.getInstance().setMissionFinish(false);
Movement.getInstance().setMode_code(0); Movement.getInstance().setMode_code(0);
@ -490,10 +492,37 @@ public class FlightManager extends BaseManager {
//Movement.getInstance().setMode_code(3); //Movement.getInstance().setMode_code(3);
break; break;
case AUTO_TAKE_OFF: case AUTO_TAKE_OFF:
// KeyManager.getInstance().setValue(KeyTools.createKey(GimbalKey.KeyGimbalMode, ComponentIndexType.PORT_1), GimbalMode.YAW_FOLLOW, new CommonCallbacks.CompletionCallback() {
// @Override
// public void onSuccess() {
// LogUtil.log(TAG,"航线云台恢复跟随");
// }
//
// @Override
// public void onFailure(@NonNull IDJIError idjiError) {
// LogUtil.log(TAG,"航线云台恢复跟随失败");
// }
// });
//我觉得可能会重复设置 //我觉得可能会重复设置
//Movement.getInstance().setMode_code(4); //Movement.getInstance().setMode_code(4);
break; break;
case WAYPOINT: case WAYPOINT:
// KeyManager.getInstance().setValue(KeyTools.createKey(GimbalKey.KeyGimbalMode, ComponentIndexType.PORT_1), GimbalMode.YAW_FOLLOW, new CommonCallbacks.CompletionCallback() {
// @Override
// public void onSuccess() {
// LogUtil.log(TAG,"航线云台恢复跟随");
// }
//
// @Override
// public void onFailure(@NonNull IDJIError idjiError) {
// LogUtil.log(TAG,"航线云台恢复跟随失败");
// }
// });
//Movement.getInstance().setMode_code(5); //Movement.getInstance().setMode_code(5);
break; break;
case PANO: case PANO:
@ -837,13 +866,16 @@ public class FlightManager extends BaseManager {
private void closeCabinDoor() { private void closeCabinDoor() {
// 获取飞行状态和航线状态 // 获取飞行状态和航线状态
boolean isFlyingAndHeightOk = isFlying && Movement.getInstance().getElevation() > 30; boolean isFlyingAndHeightOk = isFlying && Movement.getInstance().getElevation() > 20;
boolean isDebugMode = PreferenceUtils.getInstance().getIsDebugMode(); boolean isDebugMode = PreferenceUtils.getInstance().getIsDebugMode();
String missionState = Movement.getInstance().getWaypointMissionExecuteState(); String missionState = Movement.getInstance().getWaypointMissionExecuteState();
boolean isMissionExecuting = (!TextUtils.isEmpty(missionState) && boolean isMissionExecuting = (!TextUtils.isEmpty(missionState) &&
(missionState.equals("EXECUTING") || missionState.equals("ENTER_WAYLINE")) (missionState.equals("EXECUTING") || missionState.equals("ENTER_WAYLINE"))
|| (!TextUtils.isEmpty(Movement.getInstance().getPlaneMode()) && Movement.getInstance().getPlaneMode().equals("WAYPOINT"))); || (!TextUtils.isEmpty(Movement.getInstance().getPlaneMode()) && Movement.getInstance().getPlaneMode().equals("WAYPOINT")));
boolean isReturningHome = goHomeExecutionState == GoHomeState.RETURNING_TO_HOME.value() ||
goHomeExecutionState == GoHomeState.LANDING.value();
// 当飞机在飞行，高度足够，且航线状态为EXECUTING或ENTER_WAYLINE时，触发关舱门，开启水平避障 // 当飞机在飞行，高度足够，且航线状态为EXECUTING或ENTER_WAYLINE时，触发关舱门，开启水平避障
if (!PreferenceUtils.getInstance().getTriggerToAlternatePoint() && isFlyingAndHeightOk && !isDebugMode && isMissionExecuting && !sendCloseCabinDoorMsg) { if (!PreferenceUtils.getInstance().getTriggerToAlternatePoint() && isFlyingAndHeightOk && !isDebugMode && isMissionExecuting && !sendCloseCabinDoorMsg) {
sendCloseCabinDoorMsg = true; sendCloseCabinDoorMsg = true;
@ -862,6 +894,7 @@ public class FlightManager extends BaseManager {
private void openCabinDoor() { private void openCabinDoor() {
boolean isReturningHome = goHomeExecutionState == GoHomeState.RETURNING_TO_HOME.value() || boolean isReturningHome = goHomeExecutionState == GoHomeState.RETURNING_TO_HOME.value() ||
goHomeExecutionState == GoHomeState.LANDING.value(); goHomeExecutionState == GoHomeState.LANDING.value();
double distance = Movement.getInstance().getHome_distance(); double distance = Movement.getInstance().getHome_distance();
double flyingHeight = Movement.getInstance().getElevation(); double flyingHeight = Movement.getInstance().getElevation();
boolean isDebugMode = PreferenceUtils.getInstance().getIsDebugMode(); boolean isDebugMode = PreferenceUtils.getInstance().getIsDebugMode();
@ -872,6 +905,7 @@ public class FlightManager extends BaseManager {
isReturningHome && isDistanceAndHeightValid && !isDebugMode) { isReturningHome && isDistanceAndHeightValid && !isDebugMode) {
LogUtil.log(TAG, "返航距离:" + distance + "---当前高度:" + flyingHeight); LogUtil.log(TAG, "返航距离:" + distance + "---当前高度:" + flyingHeight);
sendOpenCabinDoorMsg = true; sendOpenCabinDoorMsg = true;
DockCloseManager.getInstance().stopRetry();
DockOpenManager.getInstance().sendDockOpenMsg2Server(); DockOpenManager.getInstance().sendDockOpenMsg2Server();
} }
@ -880,8 +914,38 @@ public class FlightManager extends BaseManager {
//降落时将云台朝下 //降落时将云台朝下
private void gimbalDownwards() { private void gimbalDownwards() {
if (goHomeExecutionState == GoHomeState.LANDING.value() if (goHomeExecutionState == GoHomeState.LANDING.value()
&& Movement.getInstance().getElevation() > 11 && !isGimbalDownwards) { && Movement.getInstance().getElevation() > 11 && !isGimbalDownwards) {
MediaDataCenter.getInstance().getCameraStreamManager().setVisionAssistViewDirection(VisionAssistDirection.DOWN, new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
LogUtil.log(TAG,"下视开启成功");
}
@Override
public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG,"下视开启失败");
}
});
LEDsSettings leDsSettings = new LEDsSettings();
leDsSettings.setNavigationLEDsOn(false);
leDsSettings.setStatusIndicatorLEDsOn(true);
leDsSettings.setFrontLEDsOn(true);
KeyManager.getInstance().setValue(KeyTools.createKey(FlightControllerKey.KeyLEDsSettings), leDsSettings, new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
LogUtil.log(TAG,"夜航灯关闭成功");
}
@Override
public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG,"夜航灯关闭失败");
}
});
DroneHelper.getInstance().setGimbalPitchDegree(); DroneHelper.getInstance().setGimbalPitchDegree();
//将镜头设置为自动对焦 //将镜头设置为自动对焦
DroneHelper.getInstance().setCameraFocusMode(); DroneHelper.getInstance().setCameraFocusMode();
@ -907,6 +971,7 @@ public class FlightManager extends BaseManager {
isGimbalDownwards = true; isGimbalDownwards = true;
PerceptionManager.getInstance().setPerceptionEnable(false); PerceptionManager.getInstance().setPerceptionEnable(false);
PerceptionManager.getInstance().setObstacleAvoidanceupEnabled(false); PerceptionManager.getInstance().setObstacleAvoidanceupEnabled(false);
PerceptionManager.getInstance().setObstacleAvoidancedownEnabled(false); PerceptionManager.getInstance().setObstacleAvoidancedownEnabled(false);
@ -1068,16 +1133,21 @@ public class FlightManager extends BaseManager {
if (isFlying && (Movement.getInstance().getElevation() < 15 && Movement.getInstance().getUltrasonicHeight() < 50) && !isSendDetect) { if (isFlying && (Movement.getInstance().getElevation() < 15 && Movement.getInstance().getUltrasonicHeight() < 50) && !isSendDetect) {
LogUtil.log(TAG,"相对高度"+Movement.getInstance().getElevation()+"超声波高度"+Movement.getInstance().getUltrasonicHeight()); // LogUtil.log(TAG,"相对高度"+Movement.getInstance().getElevation()+"超声波高度"+Movement.getInstance().getUltrasonicHeight());
double flyingHeight = Movement.getInstance().getElevation(); double flyingHeight = Movement.getInstance().getElevation();
double thresholdMin = triggerToAlternatePoint ? FLYING_HEIGHT_THRESHOLD_MIN_ALTERNATE : FLYING_HEIGHT_THRESHOLD_MIN; double thresholdMin = triggerToAlternatePoint ? FLYING_HEIGHT_THRESHOLD_MIN_ALTERNATE : FLYING_HEIGHT_THRESHOLD_MIN;
if (flyingHeight > thresholdMin) { if (flyingHeight > thresholdMin) {
//LogUtil.log(TAG,"相对高度"+Movement.getInstance().getElevation()+"超声波高度"+Movement.getInstance().getUltrasonicHeight());
boolean shouldTriggerDetection; boolean shouldTriggerDetection;
if (isDebugMode) { if (isDebugMode) {
shouldTriggerDetection = goHomeExecutionState == 2; shouldTriggerDetection = goHomeExecutionState == 2;
} else { } else {
shouldTriggerDetection = goHomeExecutionState == 2 || needTriggerApronArucoLand || needTriggerAlterArucoLand; shouldTriggerDetection = goHomeExecutionState == 2 || needTriggerApronArucoLand || needTriggerAlterArucoLand;
} }
if (shouldTriggerDetection) { if (shouldTriggerDetection) {
@ -1093,10 +1163,9 @@ public class FlightManager extends BaseManager {
if (Movement.getInstance().getBattery_a_capacity_percent() > 40) { if (Movement.getInstance().getBattery_a_capacity_percent() > 40) {
AMSConfig.getInstance().setAlternateLandingTimes(10 + ""); AMSConfig.getInstance().setAlternateLandingTimes(10 + "");
} }
if (PreferenceUtils.getInstance().getTriggerToAlternatePoint()) { if (PreferenceUtils.getInstance().getTriggerToAlternatePoint()) {
LogUtil.log(TAG, "识别AlterTag:" + PreferenceUtils.getInstance().getNeedTriggerAlterArucoLand()); LogUtil.log(TAG, "识别AlterTag:" + PreferenceUtils.getInstance().getNeedTriggerAlterArucoLand());
EventBus.getDefault().post(FLAG_START_DETECT_ARUCO_ALTERNATE); //EventBus.getDefault().post(FLAG_START_DETECT_ARUCO_ALTERNATE);
PreferenceUtils.getInstance().setNeedTriggerAlterArucoLand(true); PreferenceUtils.getInstance().setNeedTriggerAlterArucoLand(true);
PreferenceUtils.getInstance().setNeedTriggerApronArucoLand(false); PreferenceUtils.getInstance().setNeedTriggerApronArucoLand(false);
LogUtil.log(TAG, "开始识别备降点二维码,椭球高度:" + Movement.getInstance().getElevation() + "米" + "--超声波高度:" + Movement.getInstance().getUltrasonicHeight() + "分米"); LogUtil.log(TAG, "开始识别备降点二维码,椭球高度:" + Movement.getInstance().getElevation() + "米" + "--超声波高度:" + Movement.getInstance().getUltrasonicHeight() + "分米");
@ -1257,7 +1326,7 @@ public class FlightManager extends BaseManager {
//Movement.getInstance().setMissionFinish(true); //Movement.getInstance().setMissionFinish(true);
// }, 1000); // }, 1000);
//原有那个替换 //原有那个替换
if(Movement.getInstance().getMission_type()==0){ if(PreferenceUtils.getInstance().getMissionType()==0){
Movement.getInstance().setMissionFinish1(true); Movement.getInstance().setMissionFinish1(true);
} }
@ -1270,6 +1339,11 @@ public class FlightManager extends BaseManager {
public void startGoHome(MessageDown message) { public void startGoHome(MessageDown message) {
FlightMode flightMode = KeyManager.getInstance().getValue(createKey(FlightControllerKey.KeyFlightMode)); FlightMode flightMode = KeyManager.getInstance().getValue(createKey(FlightControllerKey.KeyFlightMode));
if (!getGimbalAndCameraEnabled()) {
return;
}
if (Movement.getInstance().isPlaneWing() && Movement.getInstance().getHome_distance() < 20 if (Movement.getInstance().isPlaneWing() && Movement.getInstance().getHome_distance() < 20
&& Movement.getInstance().getElevation() < 88 && Movement.getInstance().getElevation() < 88
&& Movement.getInstance().getBattery_a_capacity_percent() > 25 && Movement.getInstance().getBattery_a_capacity_percent() > 25

7
app/src/main/java/com/aros/apron/manager/FlightTaskProgressManager.java
View File

@ -31,12 +31,13 @@ public class FlightTaskProgressManager extends BaseManager {
lastExecuteTime = now; lastExecuteTime = now;
//如果是一键起飞航线或之后的指点飞行，这个就不用发，除此之外航线以及指点飞行都要发 //如果是一键起飞航线或之后的指点飞行，这个就不用发，除此之外航线以及指点飞行都要发
if (Movement.getInstance().getMission_type()==0&&(Movement.getInstance().isPlaneWing() if (PreferenceUtils.getInstance().getMissionType()==0&& (Movement.getInstance().isPlaneWing()
|| Movement.getInstance().isMotorsOn() || Movement.getInstance().isMotorsOn()) && Movement.getInstance().isWaylineinterpter() ) {
|| Movement.getInstance().isMissionFinish1())) {
sendFlightTaskProgress2Server(); sendFlightTaskProgress2Server();
} }
//// //只要一个满足就上报 //// //只要一个满足就上报
// if (Movement.getInstance().isPlaneWing() || Movement.getInstance().isMotorsOn()) { // if (Movement.getInstance().isPlaneWing() || Movement.getInstance().isMotorsOn()) {
// sendFlightTaskProgress2Server(); // sendFlightTaskProgress2Server();

44
app/src/main/java/com/aros/apron/manager/GimbalManager.java
View File

@ -3,7 +3,9 @@ package com.aros.apron.manager;
import static com.aros.apron.tools.Utils.getIDJIErrorMsg; import static com.aros.apron.tools.Utils.getIDJIErrorMsg;
import static dji.sdk.keyvalue.key.KeyTools.createKey; import static dji.sdk.keyvalue.key.KeyTools.createKey;
import android.os.Handler;
import android.text.TextUtils; import android.text.TextUtils;
import android.util.Log;
import androidx.annotation.NonNull; import androidx.annotation.NonNull;
import androidx.annotation.Nullable; import androidx.annotation.Nullable;
@ -65,7 +67,6 @@ public class GimbalManager extends BaseManager {
Aprongim.getInstance().setDoublePayload(PreferenceUtils.getInstance().getCameraLocationType() == 4); Aprongim.getInstance().setDoublePayload(PreferenceUtils.getInstance().getCameraLocationType() == 4);
LogUtil.log(TAG, "主摄像头位置:" + PreferenceUtils.getInstance().getCameraLocationType()); LogUtil.log(TAG, "主摄像头位置:" + PreferenceUtils.getInstance().getCameraLocationType());
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection)); Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
@ -100,7 +101,7 @@ public class GimbalManager extends BaseManager {
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey. Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
KeyConnection, ComponentIndexType.PORT_1)); KeyConnection, ComponentIndexType.PORT_1));
if (isConnect != null && isConnect) { if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) {
if (!message.getData().isLocked()) { if (!message.getData().isLocked()) {
GimbalSpeedRotation gimbalSpeedRotation = new GimbalSpeedRotation(); GimbalSpeedRotation gimbalSpeedRotation = new GimbalSpeedRotation();
gimbalSpeedRotation.setPitch(message.getData().getPitch_speed()); gimbalSpeedRotation.setPitch(message.getData().getPitch_speed());
@ -174,9 +175,11 @@ public class GimbalManager extends BaseManager {
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey. Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
KeyConnection, ComponentIndexType.PORT_1)); KeyConnection, ComponentIndexType.PORT_1));
if (isConnect != null && isConnect) { if (isConnect != null && isConnect) {
KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyGimbalReset, ComponentIndexType.PORT_1), GimbalResetType.PITCH_YAW, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() { KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyGimbalReset, ComponentIndexType.PORT_1), GimbalResetType.PITCH_YAW, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
@Override @Override
public void onSuccess(EmptyMsg emptyMsg) { public void onSuccess(EmptyMsg emptyMsg) {
LogUtil.log(TAG, "云台复位"); LogUtil.log(TAG, "云台复位");
} }
@ -195,8 +198,9 @@ public class GimbalManager extends BaseManager {
public void gimbalReset(MessageDown message) { public void gimbalReset(MessageDown message) {
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey. Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
KeyConnection, ComponentIndexType.PORT_1)); KeyConnection, ComponentIndexType.PORT_1));
if (isConnect != null && isConnect) { if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) {
switch (message.getData().getReset_mode()) { switch (message.getData().getReset_mode()) {
//回中
case 0: case 0:
KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyGimbalReset, ComponentIndexType.PORT_1), GimbalResetType.PITCH_YAW, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() { KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyGimbalReset, ComponentIndexType.PORT_1), GimbalResetType.PITCH_YAW, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
@Override @Override
@ -211,6 +215,7 @@ public class GimbalManager extends BaseManager {
} }
); );
break; break;
//向下
case 1: case 1:
GimbalAngleRotation rotation = new GimbalAngleRotation(); GimbalAngleRotation rotation = new GimbalAngleRotation();
rotation.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE); rotation.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE);
@ -230,6 +235,7 @@ public class GimbalManager extends BaseManager {
} }
); );
break; break;
//偏航回中
case 2: case 2:
KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyGimbalReset, ComponentIndexType.PORT_1), KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyGimbalReset, ComponentIndexType.PORT_1),
GimbalResetType.ONLY_YAW, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() { GimbalResetType.ONLY_YAW, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
@ -245,12 +251,10 @@ public class GimbalManager extends BaseManager {
} }
); );
break; break;
//俯仰向下
case 3: case 3:
GimbalAngleRotation rotation1 = new GimbalAngleRotation(); GimbalAngleRotation rotation1 = new GimbalAngleRotation();
rotation1.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE); rotation1.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE);
if (!TextUtils.isEmpty(Movement.getInstance().getGimbal_yaw() + "")) {
rotation1.setYaw(Movement.getInstance().getGimbal_yaw());
}
rotation1.setPitch(-90.0); rotation1.setPitch(-90.0);
KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyRotateByAngle, ComponentIndexType.PORT_1), rotation1, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() { KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyRotateByAngle, ComponentIndexType.PORT_1), rotation1, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
@Override @Override
@ -276,17 +280,27 @@ public class GimbalManager extends BaseManager {
public void gimbalLookAt(MessageDown message) { public void gimbalLookAt(MessageDown message) {
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey. Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
KeyConnection, ComponentIndexType.PORT_1)); KeyConnection, ComponentIndexType.PORT_1));
// LogUtil.log(TAG,"isConnect"+isConnect); // LogUtil.log(TAG,"isConnect"+isConnect);
if (isConnect != null && isConnect) { if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) {
LookAtInfo lookAtInfo = new LookAtInfo(); LookAtInfo lookAtInfo = new LookAtInfo();
// lookAtInfo.setMode(message.getData().isLocked() ?
// LookAtMode.LOOK_AT_GIMBAL_FOLLOWING : LookAtMode.LOOK_AT_GIMBAL_FREE);
lookAtInfo.setMode(message.getData().isLocked() ? lookAtInfo.setMode(message.getData().isLocked() ?
LookAtMode.LOOK_AT_GIMBAL_FOLLOWING : LookAtMode.LOOK_AT_GIMBAL_FREE); LookAtMode.LOOK_AT_GIMBAL_FREE : LookAtMode.LOOK_AT_GIMBAL_FREE);
LocationCoordinate3D locationCoordinate3D = new LocationCoordinate3D(); LocationCoordinate3D locationCoordinate3D = new LocationCoordinate3D();
locationCoordinate3D.setLatitude(message.getData().getLatitude()); locationCoordinate3D.setLatitude(message.getData().getLatitude());
locationCoordinate3D.setLongitude(message.getData().getLongitude()); locationCoordinate3D.setLongitude(message.getData().getLongitude());
locationCoordinate3D.setAltitude(Double.parseDouble(message.getData().getHeight() + "")); locationCoordinate3D.setAltitude(Double.parseDouble(message.getData().getHeight() + ""));
lookAtInfo.setLocation(locationCoordinate3D); lookAtInfo.setLocation(locationCoordinate3D);
if(message.getData().isLocked()==true){
LogUtil.log(TAG, "lookAtInfo" + lookAtInfo.toString());
// if(message.getData().isLocked()==true){
if (false) {
KeyManager.getInstance().setValue(KeyTools.createKey(GimbalKey.KeyGimbalMode), GimbalMode.YAW_FOLLOW, new CommonCallbacks.CompletionCallback() { KeyManager.getInstance().setValue(KeyTools.createKey(GimbalKey.KeyGimbalMode), GimbalMode.YAW_FOLLOW, new CommonCallbacks.CompletionCallback() {
@Override @Override
public void onSuccess() { public void onSuccess() {
@ -294,13 +308,13 @@ public class GimbalManager extends BaseManager {
KeyManager.getInstance().performAction(KeyTools.createKey(FlightControllerKey.KeyLookAt), lookAtInfo, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() { KeyManager.getInstance().performAction(KeyTools.createKey(FlightControllerKey.KeyLookAt), lookAtInfo, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
@Override @Override
public void onSuccess(EmptyMsg emptyMsg) { public void onSuccess(EmptyMsg emptyMsg) {
LogUtil.log(TAG,"看向目标点成功"); LogUtil.log(TAG, "看向目标点成功");
sendMsg2Server(message); sendMsg2Server(message);
} }
@Override @Override
public void onFailure(@NonNull IDJIError error) { public void onFailure(@NonNull IDJIError error) {
LogUtil.log(TAG,"看向目标点失败"+error); LogUtil.log(TAG, "看向目标点失败" + error);
sendFailMsg2Server(message, "看向目标点失败:" + getIDJIErrorMsg(error)); sendFailMsg2Server(message, "看向目标点失败:" + getIDJIErrorMsg(error));
} }
} }
@ -312,17 +326,17 @@ public class GimbalManager extends BaseManager {
//设置云台跟随失败 //设置云台跟随失败
} }
}); });
}else{ } else {
KeyManager.getInstance().performAction(KeyTools.createKey(FlightControllerKey.KeyLookAt), lookAtInfo, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() { KeyManager.getInstance().performAction(KeyTools.createKey(FlightControllerKey.KeyLookAt), lookAtInfo, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
@Override @Override
public void onSuccess(EmptyMsg emptyMsg) { public void onSuccess(EmptyMsg emptyMsg) {
LogUtil.log(TAG,"看向目标点成功"); LogUtil.log(TAG, "看向目标点成功");
sendMsg2Server(message); sendMsg2Server(message);
} }
@Override @Override
public void onFailure(@NonNull IDJIError error) { public void onFailure(@NonNull IDJIError error) {
LogUtil.log(TAG,"看向目标点失败"+error); LogUtil.log(TAG, "看向目标点失败" + error);
sendFailMsg2Server(message, "看向目标点失败:" + getIDJIErrorMsg(error)); sendFailMsg2Server(message, "看向目标点失败:" + getIDJIErrorMsg(error));
} }
} }

52
app/src/main/java/com/aros/apron/manager/MediaManager.java
View File

@ -42,6 +42,7 @@ import dji.sdk.keyvalue.value.camera.MediaFileType;
import dji.sdk.keyvalue.value.common.ComponentIndexType; import dji.sdk.keyvalue.value.common.ComponentIndexType;
import dji.v5.common.callback.CommonCallbacks; import dji.v5.common.callback.CommonCallbacks;
import dji.v5.common.error.IDJIError; import dji.v5.common.error.IDJIError;
import dji.v5.manager.KeyManager; import dji.v5.manager.KeyManager;
import dji.v5.manager.datacenter.MediaDataCenter; import dji.v5.manager.datacenter.MediaDataCenter;
import dji.v5.manager.datacenter.media.MediaFile; import dji.v5.manager.datacenter.media.MediaFile;
@ -97,6 +98,18 @@ public class MediaManager extends BaseManager {
private boolean isEnablePlayback; private boolean isEnablePlayback;
public void enablePlayback() { public void enablePlayback() {
// 每次进入媒体模式时清空已上传文件集合
uploadedFileNames.clear();
// 重置失败计数和标志
enterPlayBackFailTimes = 0;
isEnablePlayback = false;
// 重置拉取文件列表相关的计数器
pullMediaFileListFromCameraFailTimes = 0;
updatingWaitCount = 0;
pullqwq = false;
LogUtil.log(TAG, "已清空上传文件集合");
MediaDataCenter.getInstance().getMediaManager().enable(new CommonCallbacks.CompletionCallback() { MediaDataCenter.getInstance().getMediaManager().enable(new CommonCallbacks.CompletionCallback() {
@Override @Override
public void onSuccess() { public void onSuccess() {
@ -104,17 +117,16 @@ public class MediaManager extends BaseManager {
new Handler().postDelayed(new Runnable() { new Handler().postDelayed(new Runnable() {
@Override @Override
public void run() { public void run() {
MediaFileListDataSource source = new MediaFileListDataSource.Builder().setIndexType(ComponentIndexType.PORT_1).build(); MediaFileListDataSource source = new
// MediaDataCenter.getInstance().getMediaManager().setMediaFileDataSource(source); MediaFileListDataSource.Builder().setIndexType(ComponentIndexType.PORT_1).build();
MediaDataCenter.getInstance().getMediaManager().setMediaFileDataSource(source);
new Handler().postDelayed(new Runnable() { new Handler().postDelayed(new Runnable() {
@Override @Override
public void run() { public void run() {
pullMediaFileListFromCamera(); pullMediaFileListFromCamera();
isEnablePlayback = true;
} }
}, 3000); }, 3000);
isEnablePlayback = true;
} }
}, 3000); }, 3000);
} }
@ -185,10 +197,31 @@ public class MediaManager extends BaseManager {
// 状态为UP_TO_DATE，获取文件列表数据 // 状态为UP_TO_DATE，获取文件列表数据
LogUtil.log(TAG, "状态为UP_TO_DATE，获取文件列表数据"); LogUtil.log(TAG, "状态为UP_TO_DATE，获取文件列表数据");
try { try {
// 确保获取文件列表数据
List<MediaFile> rawList = MediaDataCenter.getInstance().getMediaManager().getMediaFileListData().getData(); List<MediaFile> rawList = MediaDataCenter.getInstance().getMediaManager().getMediaFileListData().getData();
// 检查文件列表是否为空
if (rawList == null || rawList.isEmpty()) {
LogUtil.log(TAG, "文件列表为空，重试拉取");
// 重试拉取文件列表
if (pullMediaFileListFromCameraFailTimes < 5) {
pullMediaFileListFromCameraFailTimes++;
LogUtil.log(TAG, "第" + pullMediaFileListFromCameraFailTimes + "次重试...");
new Handler().postDelayed(MediaManager.this::pullMediaFileListFromCamera, 2000);
} else {
LogUtil.log(TAG, "重试次数达到上限，拉取失败");
ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
sendEvent2Server("拉取媒体文件失败",2);
disablePlayback();
LogUtil.log(TAG, "发送关闭无人机");
}
return;
}
LogUtil.log(TAG, "原始文件列表数量: " + rawList.size());
// 过滤已上传文件 // 过滤已上传文件
mediaFiles = new ArrayList<>(); mediaFiles = new ArrayList<>();
Movement.getInstance().setTask_media_count(mediaFiles.size());
for (MediaFile mf : rawList) { for (MediaFile mf : rawList) {
if (!uploadedFileNames.contains(mf.getFileName())) { if (!uploadedFileNames.contains(mf.getFileName())) {
mediaFiles.add(mf); mediaFiles.add(mf);
@ -196,6 +229,13 @@ public class MediaManager extends BaseManager {
LogUtil.log(TAG, "跳过已上传文件: " + mf.getFileName()); LogUtil.log(TAG, "跳过已上传文件: " + mf.getFileName());
} }
} }
// 修复：在过滤后设置任务媒体计数
Movement.getInstance().setTask_media_count(mediaFiles.size());
LogUtil.log(TAG, "过滤后文件数量: " + mediaFiles.size());
if(PreferenceUtils.getInstance().getMissionType()==0){
sendFlightTaskProgress2Server();
}
if (mediaFiles.isEmpty()) { if (mediaFiles.isEmpty()) {
LogUtil.log(TAG, "所有文件均已上传，直接清理"); LogUtil.log(TAG, "所有文件均已上传，直接清理");
@ -224,7 +264,7 @@ public class MediaManager extends BaseManager {
} }
} else { } else {
// 其他状态（如UPDATING），等待状态变化 // 其他状态（如UPDATING），等待状态变化
LogUtil.log(TAG, "状态为" + mState + "，等待状态变化..."); LogUtil.log(TAG, "状态为" + mState + "，等待状态变化... (count=" + updatingWaitCount + ")");
updatingWaitCount++; updatingWaitCount++;
// 增加超时处理，避免无限等待 // 增加超时处理，避免无限等待

216
app/src/main/java/com/aros/apron/manager/MissionV3Manager.java
View File

@ -34,8 +34,11 @@ import java.util.List;
import dji.sdk.keyvalue.key.CameraKey; import dji.sdk.keyvalue.key.CameraKey;
import dji.sdk.keyvalue.key.FlightControllerKey; import dji.sdk.keyvalue.key.FlightControllerKey;
import dji.sdk.keyvalue.key.GimbalKey;
import dji.sdk.keyvalue.key.KeyTools; import dji.sdk.keyvalue.key.KeyTools;
import dji.sdk.keyvalue.value.common.ComponentIndexType;
import dji.sdk.keyvalue.value.flightcontroller.RemoteControllerFlightMode; import dji.sdk.keyvalue.value.flightcontroller.RemoteControllerFlightMode;
import dji.sdk.keyvalue.value.gimbal.GimbalMode;
import dji.sdk.wpmz.value.mission.Wayline; import dji.sdk.wpmz.value.mission.Wayline;
import dji.sdk.wpmz.value.mission.WaylineExecuteWaypoint; import dji.sdk.wpmz.value.mission.WaylineExecuteWaypoint;
import dji.sdk.wpmz.value.mission.WaylineWaylinesParseInfo; import dji.sdk.wpmz.value.mission.WaylineWaylinesParseInfo;
@ -157,27 +160,27 @@ public class MissionV3Manager extends BaseManager {
//这个是原来可控制那个发送最终状态的逻辑 //这个是原来可控制那个发送最终状态的逻辑
break; break;
case READY: case READY:
if (Movement.getInstance().getFlightmode() == 2 && istakeoff_ok == false) { if (Movement.getInstance().getFlightmode() == 2 && istakeoff_ok == false) {
Movement.getInstance().setTakeoff_status("task_ready"); Movement.getInstance().setTakeoff_status("task_ready");
} }
if (PreferenceUtils.getInstance().getMissionType() == 2 // if (PreferenceUtils.getInstance().getMissionType() == 2
) { // ) {
Movement.getInstance().setTask_status("paused"); // Movement.getInstance().setTask_status("paused");
} else { // } else {
Movement.getInstance().setTask_status("in_progress"); // Movement.getInstance().setTask_status("in_progress");
} // }
sendEvent2Server("任务状态:准备中", 1); sendEvent2Server("任务状态:准备中", 1);
break; break;
case UPLOADING: case UPLOADING:
if (PreferenceUtils.getInstance().getMissionType() == 2
) { // if (PreferenceUtils.getInstance().getMissionType() == 2
Movement.getInstance().setTask_status("paused"); // ) {
} else { // Movement.getInstance().setTask_status("paused");
Movement.getInstance().setTask_status("in_progress"); // } else {
} // Movement.getInstance().setTask_status("in_progress");
// }
sendEvent2Server("任务状态:上传中", 1); sendEvent2Server("任务状态:上传中", 1);
Movement.getInstance().setVirtualStickQuitMission(false); Movement.getInstance().setVirtualStickQuitMission(false);
@ -185,30 +188,46 @@ public class MissionV3Manager extends BaseManager {
break; break;
case PREPARING: case PREPARING:
if (PreferenceUtils.getInstance().getMissionType() == 2
) {
Movement.getInstance().setTask_status("paused");
} else { Movement.getInstance().setTask_status("in_progress");
Movement.getInstance().setTask_status("in_progress");
} // if (PreferenceUtils.getInstance().getMissionType() == 2
// ) {
// Movement.getInstance().setTask_status("paused");
// } else {
// Movement.getInstance().setTask_status("in_progress");
// }
sendEvent2Server("任务状态:执行准备中", 1); sendEvent2Server("任务状态:执行准备中", 1);
Movement.getInstance().setVirtualStickQuitMission(false); Movement.getInstance().setVirtualStickQuitMission(false);
break; break;
case ENTER_WAYLINE: case ENTER_WAYLINE:
// KeyManager.getInstance().setValue(KeyTools.createKey(GimbalKey.KeyGimbalMode, ComponentIndexType.PORT_1), GimbalMode.YAW_FOLLOW, new CommonCallbacks.CompletionCallback() {
// @Override
// public void onSuccess() {
// LogUtil.log(TAG,"航线云台跟随");
// }
//
// @Override
// public void onFailure(@NonNull IDJIError idjiError) {
// LogUtil.log(TAG,"航线云台跟随失败");
// }
// });
enterWayLineTime = System.currentTimeMillis(); enterWayLineTime = System.currentTimeMillis();
if (Movement.getInstance().getFlightmode() == 2) { if (Movement.getInstance().getFlightmode() == 2) {
Movement.getInstance().setTakeoff_status("wayline_progress"); Movement.getInstance().setTakeoff_status("wayline_progress");
} }
if (PreferenceUtils.getInstance().getMissionType() == 2 Movement.getInstance().setTask_status("in_progress");
) {
Movement.getInstance().setTask_status("paused"); // if (PreferenceUtils.getInstance().getMissionType() == 2
} else { // ) {
Movement.getInstance().setTask_status("in_progress"); // Movement.getInstance().setTask_status("paused");
} // } else {
// Movement.getInstance().setTask_status("in_progress");
// }
Movement.getInstance().setVirtualStickQuitMission(false); Movement.getInstance().setVirtualStickQuitMission(false);
sendEvent2Server("任务状态:进入航线飞行,飞往指定航线的第一个航点", 1); sendEvent2Server("任务状态:进入航线飞行,飞往指定航线的第一个航点", 1);
@ -218,7 +237,6 @@ public class MissionV3Manager extends BaseManager {
//航线飞行 //航线飞行
if (Movement.getInstance().getFlightmode() == 1) { if (Movement.getInstance().getFlightmode() == 1) {
Movement.getInstance().setMode_code(5); Movement.getInstance().setMode_code(5);
} else if (Movement.getInstance().getFlightmode() == 2) { } else if (Movement.getInstance().getFlightmode() == 2) {
//指令飞行 //指令飞行
@ -229,17 +247,21 @@ public class MissionV3Manager extends BaseManager {
case EXECUTING: case EXECUTING:
sendEvent2Server("任务状态:航线任务执行中", 1); sendEvent2Server("任务状态:航线任务执行中", 1);
if (PreferenceUtils.getInstance().getMissionType() == 2 Movement.getInstance().setTask_status("in_progress");
) {
Movement.getInstance().setTask_status("paused"); // if (PreferenceUtils.getInstance().getMissionType() == 2
} else { // ) {
Movement.getInstance().setTask_status("in_progress"); // Movement.getInstance().setTask_status("paused");
} // } else {
// Movement.getInstance().setTask_status("in_progress");
// }
Movement.getInstance().setVirtualStickQuitMission(false); Movement.getInstance().setVirtualStickQuitMission(false);
break; break;
case INTERRUPTED: case INTERRUPTED:
if (Movement.getInstance().getFlightmode() == 2) { if (Movement.getInstance().getFlightmode() == 2) {
Movement.getInstance().setTakeoff_status("wayline_cancel"); Movement.getInstance().setTakeoff_status("wayline_cancel");
TakeoffProgressScheduler.getInstance().stopReporting(); TakeoffProgressScheduler.getInstance().stopReporting();
@ -247,8 +269,13 @@ public class MissionV3Manager extends BaseManager {
Movement.getInstance().setVirtualStickQuitMission(false); Movement.getInstance().setVirtualStickQuitMission(false);
sendEvent2Server("任务状态:航线任务执行中断", 1); sendEvent2Server("任务状态:航线任务执行中断", 1);
Movement.getInstance().setTask_status("paused");
Movement.getInstance().setTask_status("paused");
if(PreferenceUtils.getInstance().getMissionType()==0){
sendFlightTaskProgress2Server();
}
Movement.getInstance().setWaylineinterpter(false);
//切换成手动飞行 //切换成手动飞行
@ -257,13 +284,27 @@ public class MissionV3Manager extends BaseManager {
break; break;
case RECOVERING: case RECOVERING:
Movement.getInstance().setVirtualStickQuitMission(false); Movement.getInstance().setVirtualStickQuitMission(false);
// KeyManager.getInstance().setValue(KeyTools.createKey(GimbalKey.KeyGimbalMode, ComponentIndexType.PORT_1), GimbalMode.YAW_FOLLOW, new CommonCallbacks.CompletionCallback() {
// @Override
// public void onSuccess() {
// LogUtil.log(TAG,"航线云台恢复跟随");
// }
//
// @Override
// public void onFailure(@NonNull IDJIError idjiError) {
// LogUtil.log(TAG,"航线云台恢复跟随失败");
// }
// });
sendEvent2Server("任务状态:航线任务恢复中", 1); sendEvent2Server("任务状态:航线任务恢复中", 1);
if (PreferenceUtils.getInstance().getMissionType() == 2
) { // if (PreferenceUtils.getInstance().getMissionType() == 2
Movement.getInstance().setTask_status("paused"); // ) {
} else { // Movement.getInstance().setTask_status("paused");
Movement.getInstance().setTask_status("in_progress"); // } else {
} // Movement.getInstance().setTask_status("in_progress");
// }
break; break;
@ -272,13 +313,15 @@ public class MissionV3Manager extends BaseManager {
//释放锁 //释放锁
Synchronizedstatus.setIsruning(false); Synchronizedstatus.setIsruning(false);
Synchronizedstatus.setInitStatus(false); Synchronizedstatus.setInitStatus(false);
Synchronizedstatus.setFlighttaskExecuteStatus(false);
Synchronizedstatus.setTakeoff_to_point(false);
//如果是虚拟摇杆导致的退出应该要可恢复 // //如果是虚拟摇杆导致的退出应该要可恢复
if (Movement.getInstance().getMode_code() == 16) { // if (Movement.getInstance().getMode_code() == 16) {
PreferenceUtils.getInstance().setMissionType(2); // PreferenceUtils.getInstance().setMissionType(2);
} else { // } else {
//
} // }
if (Movement.getInstance().getFlightmode() == 2) { if (Movement.getInstance().getFlightmode() == 2) {
// //
@ -300,7 +343,7 @@ public class MissionV3Manager extends BaseManager {
mainHandler.postDelayed(new Runnable() { mainHandler.postDelayed(new Runnable() {
@Override @Override
public void run() { public void run() {
if (finishWayLineTime - enterWayLineTime <= 8000 && !Movement.getInstance().isPlaneWing() if (finishWayLineTime - enterWayLineTime <= 5000 && !Movement.getInstance().isPlaneWing()
) { ) {
isMissionStart = false; isMissionStart = false;
totalretryStartMissiontimes++; totalretryStartMissiontimes++;
@ -316,15 +359,30 @@ public class MissionV3Manager extends BaseManager {
break; break;
case RETURN_TO_START_POINT: case RETURN_TO_START_POINT:
// KeyManager.getInstance().setValue(KeyTools.createKey(GimbalKey.KeyGimbalMode, ComponentIndexType.PORT_1), GimbalMode.YAW_FOLLOW, new CommonCallbacks.CompletionCallback() {
// @Override
// public void onSuccess() {
// LogUtil.log(TAG,"航线云台恢复跟随");
// }
//
// @Override
// public void onFailure(@NonNull IDJIError idjiError) {
// LogUtil.log(TAG,"航线云台恢复跟随失败");
// }
// });
//自动返航 //自动返航
Movement.getInstance().setMode_code(9); Movement.getInstance().setMode_code(9);
if (PreferenceUtils.getInstance().getMissionType() == 2
) { Movement.getInstance().setTask_status("in_progress");
Movement.getInstance().setTask_status("paused"); // if (PreferenceUtils.getInstance().getMissionType() == 2
} else { // ) {
Movement.getInstance().setTask_status("in_progress"); // Movement.getInstance().setTask_status("paused");
} // } else {
// Movement.getInstance().setTask_status("in_progress");
// }
break; break;
@ -355,6 +413,9 @@ public class MissionV3Manager extends BaseManager {
sendEvent2Server("航线中断原因" + error.toString(), 2); sendEvent2Server("航线中断原因" + error.toString(), 2);
} }
}); });
waypointMissionManager.addWaypointActionListener(new WaypointActionListener() { waypointMissionManager.addWaypointActionListener(new WaypointActionListener() {
@Override @Override
public void onExecutionStart(int actionId) { public void onExecutionStart(int actionId) {
@ -377,7 +438,7 @@ public class MissionV3Manager extends BaseManager {
} }
}); });
}, 2000); // 参数别改：2s延迟 }, 500); // 参数别改：2s延迟
} }
// 存储最新的航线消息 // 存储最新的航线消息
@ -387,6 +448,7 @@ public class MissionV3Manager extends BaseManager {
PreferenceUtils.getInstance().setMissionType(0); PreferenceUtils.getInstance().setMissionType(0);
Movement.getInstance().setMission_type(0); Movement.getInstance().setMission_type(0);
PreferenceUtils.getInstance().setFlightId(message.getData().getFlight_id()); PreferenceUtils.getInstance().setFlightId(message.getData().getFlight_id());
PreferenceUtils.getInstance().setAlternatePointLon(message.getData().getAlternate_land_point().getLongitude() + ""); PreferenceUtils.getInstance().setAlternatePointLon(message.getData().getAlternate_land_point().getLongitude() + "");
@ -408,6 +470,8 @@ public class MissionV3Manager extends BaseManager {
Movement.getInstance().setTask_current_step(5); Movement.getInstance().setTask_current_step(5);
//1.检查图传是否连接 //1.检查图传是否连接
//避免重复执行 //避免重复执行
if (isReceiverMission == false) { if (isReceiverMission == false) {
@ -507,7 +571,7 @@ public class MissionV3Manager extends BaseManager {
// if (isMissionStateValid && isPlaneMessageValid && isGpsQualityValid) { // if (isMissionStateValid && isPlaneMessageValid && isGpsQualityValid) {
sendEvent2Server("卫星数量" + GPSSatelliteCount + "gps是否ok" + GPSSatelliteCountValid, 1); sendEvent2Server("卫星数量" + GPSSatelliteCount + "gps是否ok" + GPSSatelliteCountValid, 1);
if (isGpsQualityValid || GPSSatelliteCountValid) { if (isGpsQualityValid || GPSSatelliteCountValid ) {
//5.下载航线 //5.下载航线
downLoadKMZFile(message); downLoadKMZFile(message);
sendEvent2Server("执行下载航线成功", 1); sendEvent2Server("执行下载航线成功", 1);
@ -614,8 +678,7 @@ public class MissionV3Manager extends BaseManager {
* @param message * @param message
*/ */
private void pushKMZFileToAircraft(MessageDown message) { private void pushKMZFileToAircraft(MessageDown message) {
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey. Boolean isConnect = true;
KeyConnection));
if (isConnect != null && isConnect) { if (isConnect != null && isConnect) {
KMZInfo kmzInfo = WPMZManager.getInstance().getKMZInfo( KMZInfo kmzInfo = WPMZManager.getInstance().getKMZInfo(
@ -656,7 +719,7 @@ public class MissionV3Manager extends BaseManager {
@Override @Override
public void onSuccess() { public void onSuccess() {
Movement.getInstance().setWaylinename("aros"); Movement.getInstance().setWaylinename("aros");
PreferenceUtils.getInstance().setWaylinename("aros");
// "2": "起飞准备完毕", // "2": "起飞准备完毕",
Movement.getInstance().setMode_code(2); Movement.getInstance().setMode_code(2);
LogUtil.log(TAG, "航线上传成功,准备执行任务"); LogUtil.log(TAG, "航线上传成功,准备执行任务");
@ -721,8 +784,7 @@ public class MissionV3Manager extends BaseManager {
* @param message * @param message
*/ */
public void startMission(MessageDown message) { public void startMission(MessageDown message) {
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey. Boolean isConnect =true;
KeyConnection));
if (isConnect != null && isConnect) { if (isConnect != null && isConnect) {
int missionStateCode = Movement.getInstance().getMissionStateCode(); 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 //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
@ -839,6 +901,9 @@ public class MissionV3Manager extends BaseManager {
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey. Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
KeyConnection)); KeyConnection));
if (isConnect != null && isConnect) { if (isConnect != null && isConnect) {
if (Movement.getInstance().getFlightmode() == 1) {
Movement.getInstance().setMode_code(5);
}
IWaypointMissionManager missionManager = WaypointMissionManager.getInstance(); IWaypointMissionManager missionManager = WaypointMissionManager.getInstance();
//如果航线是暂停状态,直接恢复航线，否则查询断点信息 //如果航线是暂停状态,直接恢复航线，否则查询断点信息
if (Movement.getInstance().getMissionStateCode() == 7) { if (Movement.getInstance().getMissionStateCode() == 7) {
@ -847,7 +912,19 @@ public class MissionV3Manager extends BaseManager {
public void onSuccess() { public void onSuccess() {
sendMsg2Server(message); sendMsg2Server(message);
Movement.getInstance().setTask_status("in_progress"); Movement.getInstance().setTask_status("in_progress");
sendFlightTaskProgress2Server();
if( PreferenceUtils.getInstance().getMissionType()==0){
Movement.getInstance().setCameraMode(5);
}else if( PreferenceUtils.getInstance().getMissionType()==1){
Movement.getInstance().setCameraMode(17);
}
if(PreferenceUtils.getInstance().getMissionType()==0){
sendFlightTaskProgress2Server();
}
Movement.getInstance().setWaylineinterpter(true);
} }
@Override @Override
@ -870,9 +947,20 @@ public class MissionV3Manager extends BaseManager {
public void onSuccess() { public void onSuccess() {
sendMsg2Server(message); sendMsg2Server(message);
PreferenceUtils.getInstance().setIsNewRoute(false); PreferenceUtils.getInstance().setIsNewRoute(false);
if( PreferenceUtils.getInstance().getMissionType()==0){
Movement.getInstance().setCameraMode(5);
}else if( PreferenceUtils.getInstance().getMissionType()==1){
Movement.getInstance().setCameraMode(17);
}
LogUtil.log(TAG, "恢复断点航线成功"); LogUtil.log(TAG, "恢复断点航线成功");
Movement.getInstance().setTask_status("in_progress"); Movement.getInstance().setTask_status("in_progress");
sendFlightTaskProgress2Server(); if(PreferenceUtils.getInstance().getMissionType()==0){
sendFlightTaskProgress2Server();
}
Movement.getInstance().setWaylineinterpter(true);
} }
@Override @Override

12
app/src/main/java/com/aros/apron/manager/PayloadWidgetManager.java
View File

@ -56,14 +56,14 @@ public class PayloadWidgetManager extends BaseManager {
//负载信息 //负载信息
Map<PayloadIndexType, IPayloadManager> payloadManager = PayloadCenter.getInstance().getPayloadManager(); Map<PayloadIndexType, IPayloadManager> payloadManager = PayloadCenter.getInstance().getPayloadManager();
if (payloadManager != null) { if (payloadManager != null) {
IPayloadManager iPayloadManager = payloadManager.get(PayloadIndexType.PORT_1); IPayloadManager iPayloadManager = payloadManager.get(PayloadIndexType.PORT_2);
if (iPayloadManager != null) { if (iPayloadManager != null) {
PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_1).pullWidgetInfoFromPayload(new CommonCallbacks.CompletionCallback() { PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).pullWidgetInfoFromPayload(new CommonCallbacks.CompletionCallback() {
@Override @Override
public void onSuccess() { public void onSuccess() {
//基础信息 //基础信息
PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_1).addPayloadBasicInfoListener(new PayloadBasicInfoListener() { PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).addPayloadBasicInfoListener(new PayloadBasicInfoListener() {
@Override @Override
public void onPayloadBasicInfoUpdate(PayloadBasicInfo info) { public void onPayloadBasicInfoUpdate(PayloadBasicInfo info) {
LogUtil.log(TAG, "左侧负载基础信息:" + info.toString()); LogUtil.log(TAG, "左侧负载基础信息:" + info.toString());
@ -71,7 +71,7 @@ public class PayloadWidgetManager extends BaseManager {
} }
}); });
PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_1).addPayloadDataListener(new PayloadDataListener() { PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).addPayloadDataListener(new PayloadDataListener() {
@Override @Override
public void onDataFromPayloadUpdate(byte[] data) { public void onDataFromPayloadUpdate(byte[] data) {
LogUtil.log(TAG, "左侧负载数据信息:" +new String(data, java.nio.charset.StandardCharsets.UTF_8).replaceAll("[^\\x20-\\x7E\\u4e00-\\u9fa5]", "")); LogUtil.log(TAG, "左侧负载数据信息:" +new String(data, java.nio.charset.StandardCharsets.UTF_8).replaceAll("[^\\x20-\\x7E\\u4e00-\\u9fa5]", ""));
@ -80,14 +80,14 @@ public class PayloadWidgetManager extends BaseManager {
}); });
//可以把负载设备控件打印 //可以把负载设备控件打印
PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_1).addPayloadWidgetInfoListener(new PayloadWidgetInfoListener() { PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).addPayloadWidgetInfoListener(new PayloadWidgetInfoListener() {
@Override @Override
public void onPayloadWidgetInfoUpdate(PayloadWidgetInfo info) { public void onPayloadWidgetInfoUpdate(PayloadWidgetInfo info) {
LogUtil.log(TAG, "左侧负载控件信息:" + info.toString()); LogUtil.log(TAG, "左侧负载控件信息:" + info.toString());
XcFileLog.getInstace().w(TAG, "左侧负载控件信息:" + info.toString()); XcFileLog.getInstace().w(TAG, "左侧负载控件信息:" + info.toString());
//如果负载为空 //如果负载为空
if (info.getConfigInterfaceWidgetList() == null || info.getMainInterfaceWidgetList() == null) { if (info.getConfigInterfaceWidgetList() == null || info.getMainInterfaceWidgetList() == null) {
PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_1).pullWidgetInfoFromPayload(new CommonCallbacks.CompletionCallback() { PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).pullWidgetInfoFromPayload(new CommonCallbacks.CompletionCallback() {
@Override @Override
public void onSuccess() { public void onSuccess() {
LogUtil.log(TAG, "负载重复拉取成功"); LogUtil.log(TAG, "负载重复拉取成功");

295
app/src/main/java/com/aros/apron/manager/PayloadlightManager.java Normal file
View File

@ -0,0 +1,295 @@
package com.aros.apron.manager;
import static com.aros.apron.tools.Utils.getIDJIErrorMsg;
import androidx.annotation.NonNull;
import com.aros.apron.base.BaseManager;
import com.aros.apron.entity.MessageDown;
import com.aros.apron.entity.PayloadInfo;
import com.aros.apron.entity.Synchronizedstatus;
import com.aros.apron.tools.LogUtil;
import java.util.ArrayList;
import java.util.List;
import java.util.Map;
import dji.sdk.keyvalue.key.GimbalKey;
import dji.sdk.keyvalue.key.KeyTools;
import dji.sdk.keyvalue.value.common.EmptyMsg;
import dji.sdk.keyvalue.value.payload.WidgetType;
import dji.sdk.keyvalue.value.payload.WidgetValue;
import dji.v5.common.callback.CommonCallbacks;
import dji.v5.common.error.IDJIError;
import dji.v5.manager.KeyManager;
import dji.v5.manager.aircraft.payload.PayloadCenter;
import dji.v5.manager.aircraft.payload.PayloadIndexType;
import dji.v5.manager.interfaces.IPayloadManager;
/**
*夜航灯设置
*
*/
public class PayloadlightManager extends BaseManager {
private String TAG = this.getClass().getSimpleName();
private boolean issettrue=false;
private PayloadlightManager() {
}
private static class PayloadlightManagerHolder {
private static final PayloadlightManager INSTANCE = new PayloadlightManager();
}
public static PayloadlightManager getInstance() {
return PayloadlightManagerHolder.INSTANCE;
}
Map<PayloadIndexType, IPayloadManager> payloadManager = PayloadCenter.getInstance().getPayloadManager();
IPayloadManager iPayloadManager;
public void setindex(int index){
if(index==1){
iPayloadManager = payloadManager.get(PayloadIndexType.PORT_1);
}else if(index==2){
iPayloadManager = payloadManager.get(PayloadIndexType.PORT_2);
}else if(index==3){
iPayloadManager = payloadManager.get(PayloadIndexType.PORT_3);
}else if(index==4){
iPayloadManager = payloadManager.get(PayloadIndexType.PORT_4);
}
}
public void drc_light_brightness_set(MessageDown message){
if(message!=null){
//索引
if(issettrue=false){
setindex(message.getData().getPsdk_index());
issettrue=true;
}
WidgetValue widgetValue=new WidgetValue();
widgetValue.setValue(message.getData().getBrightness());
widgetValue.setIndex(3);
widgetValue.setType(WidgetType.RANGE);
iPayloadManager.setWidgetValue(widgetValue, new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
LogUtil.log(TAG,"亮度设置成功");
sendMsg2Server(message);
Synchronizedstatus.setLight_brightnessrunning(false);
}
@Override
public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG,"亮度设置失败");
sendFailMsg2Server(message, "亮度设置失败:" + getIDJIErrorMsg(idjiError));
Synchronizedstatus.setLight_brightnessrunning(false);
}
});
}
}
public void drc_light_mode_set(MessageDown message){
if(message!=null){
//索引
if(issettrue=false){
setindex(message.getData().getPsdk_index());
issettrue=true;
}
WidgetValue widgetValue=new WidgetValue();
if(message.getData().getMode()==0){
//关闭
widgetValue.setValue(0);
widgetValue.setIndex(3);
widgetValue.setType(WidgetType.SWITCH);
iPayloadManager.setWidgetValue(widgetValue, new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
LogUtil.log(TAG,"探照灯关闭成功");
sendMsg2Server(message);
Synchronizedstatus.setDrc_light_mode_set(false);
}
@Override
public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG,"探照灯关闭失败");
sendFailMsg2Server(message, "探照灯关闭失败:" + getIDJIErrorMsg(idjiError));
Synchronizedstatus.setDrc_light_mode_set(false);
}
});
}else if(message.getData().getMode()==1){
//打开
widgetValue.setValue(1);
widgetValue.setIndex(3);
widgetValue.setType(WidgetType.SWITCH);
iPayloadManager.setWidgetValue(widgetValue, new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
LogUtil.log(TAG,"探照灯打开成功");
WidgetValue widgetValue1=new WidgetValue();
widgetValue1.setValue(0);
widgetValue1.setIndex(0);
widgetValue1.setType(WidgetType.SWITCH);
iPayloadManager.setWidgetValue(widgetValue1, new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
LogUtil.log(TAG,"关闭爆闪模式成功");
WidgetValue widgetValue2=new WidgetValue();
widgetValue2.setValue(2);
widgetValue2.setIndex(2);
widgetValue2.setType(WidgetType.RANGE);
iPayloadManager.setWidgetValue(widgetValue2, new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
LogUtil.log(TAG,"设置亮度全开");
sendMsg2Server(message);
Synchronizedstatus.setDrc_light_mode_set(false);
}
@Override
public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG,"设置亮度全开失败");
sendMsg2Server(message);
Synchronizedstatus.setDrc_light_mode_set(false);
}
});
}
@Override
public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG,"关闭爆闪模式失败");
sendMsg2Server(message);
Synchronizedstatus.setDrc_light_mode_set(false);
}
});
}
@Override
public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG,"探照灯打开失败");
sendMsg2Server(message);
Synchronizedstatus.setDrc_light_mode_set(false);
}
});
}else{
//爆闪
widgetValue.setValue(1);
widgetValue.setIndex(3);
widgetValue.setType(WidgetType.SWITCH);
iPayloadManager.setWidgetValue(widgetValue, new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
LogUtil.log(TAG,"探照灯打开成功");
WidgetValue widgetValue1=new WidgetValue();
widgetValue1.setValue(1);
widgetValue1.setIndex(0);
widgetValue1.setType(WidgetType.SWITCH);
iPayloadManager.setWidgetValue(widgetValue1, new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
LogUtil.log(TAG,"爆闪模式打开成功");
WidgetValue widgetValue2=new WidgetValue();
widgetValue2.setValue(2);
widgetValue2.setIndex(2);
widgetValue2.setType(WidgetType.RANGE);
iPayloadManager.setWidgetValue(widgetValue2, new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
LogUtil.log(TAG,"设置亮度全开");
sendMsg2Server(message);
Synchronizedstatus.setDrc_light_mode_set(false);
}
@Override
public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG,"设置亮度全开失败");
sendFailMsg2Server(message, "设置亮度全开失败:" + getIDJIErrorMsg(idjiError));
Synchronizedstatus.setDrc_light_mode_set(false);
}
});
}
@Override
public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG,"爆闪模式打开失败");
sendFailMsg2Server(message, "爆闪模式打开失败:" + getIDJIErrorMsg(idjiError));
Synchronizedstatus.setDrc_light_mode_set(false);
}
});
}
@Override
public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG,"探照灯打开失败");
sendFailMsg2Server(message, "探照灯打开失败:" + getIDJIErrorMsg(idjiError));
Synchronizedstatus.setDrc_light_mode_set(false);
}
});
}
}
}
public void drc_light_calibration(MessageDown message){
if(message!=null) {
//索引
if (issettrue = false) {
setindex(message.getData().getPsdk_index());
issettrue = true;
}
KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyLightGimbalCalibrate), new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
@Override
public void onSuccess(EmptyMsg emptyMsg) {
LogUtil.log(TAG,"启动校准");
sendMsg2Server(message);
Synchronizedstatus.setDrc_light_calibration(false);
}
@Override
public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG,"启动校准失败");
sendFailMsg2Server(message, "启动校准失败:" + getIDJIErrorMsg(idjiError));
Synchronizedstatus.setDrc_light_calibration(false);
}
});
}
}
public void drc_light_fine_tuning_set(){
}
}

22
app/src/main/java/com/aros/apron/manager/PerceptionManager.java
View File

@ -50,6 +50,7 @@ public class PerceptionManager extends BaseManager {
Boolean isConnect = KeyManager.getInstance().getValue(createKey(FlightControllerKey.KeyConnection)); Boolean isConnect = KeyManager.getInstance().getValue(createKey(FlightControllerKey.KeyConnection));
if (isConnect != null && isConnect) { if (isConnect != null && isConnect) {
IPerceptionManager perceptionManager = dji.v5.manager.aircraft.perception.PerceptionManager.getInstance(); IPerceptionManager perceptionManager = dji.v5.manager.aircraft.perception.PerceptionManager.getInstance();
//关闭避障 //关闭避障
perceptionManager.setObstacleAvoidanceType(perceptionEnable ? ObstacleAvoidanceType.BRAKE : ObstacleAvoidanceType.CLOSE, new CommonCallbacks.CompletionCallback() { perceptionManager.setObstacleAvoidanceType(perceptionEnable ? ObstacleAvoidanceType.BRAKE : ObstacleAvoidanceType.CLOSE, new CommonCallbacks.CompletionCallback() {
@Override @Override
@ -67,7 +68,18 @@ public class PerceptionManager extends BaseManager {
if (perceptionEnable) { if (perceptionEnable) {
LogUtil.log(TAG, "避障开启失败:" + new Gson().toJson(idjiError)); LogUtil.log(TAG, "避障开启失败:" + new Gson().toJson(idjiError));
} else { } else {
LogUtil.log(TAG, "第" + closePerceptionTimes + "次关闭避障失败:" + new Gson().toJson(idjiError)); String errorMsg = new Gson().toJson(idjiError);
LogUtil.log(TAG, "第" + closePerceptionTimes + "次关闭避障失败:" + errorMsg);
// 特殊错误处理：飞机不支持或当前状态不支持
// 这通常意味着飞机已经在地面，避障系统已自动关闭，可以认为关闭成功
if ("CURRENT_AIRCRAFT_NOT_SUPPORT".equals(idjiError.errorCode())
|| "NOT_SUPPORTED".equals(idjiError.errorCode())) {
LogUtil.log(TAG, "避障已自动关闭（飞机未起飞/已降落），视为关闭成功");
closePerceptionSuccess = true; // 标记为成功，停止重试
return;
}
if (!closePerceptionSuccess) { if (!closePerceptionSuccess) {
if (closePerceptionTimes <= 5) { if (closePerceptionTimes <= 5) {
new Handler().postDelayed(new Runnable() { new Handler().postDelayed(new Runnable() {
@ -82,7 +94,7 @@ public class PerceptionManager extends BaseManager {
} }
}, 2000); }, 2000);
} else { } else {
LogUtil.log(TAG, "避障关闭" + closePerceptionTimes + "次失败"); LogUtil.log(TAG, "避障关闭" + closePerceptionTimes + "次失败，放弃重试");
} }
} }
} }
@ -109,7 +121,7 @@ public class PerceptionManager extends BaseManager {
@Override @Override
public void onFailure(@NonNull IDJIError idjiError) { public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG, "开启水平避障:" + new Gson().toJson(idjiError)); LogUtil.log(TAG, "水平避障:"+perceptionEnable + new Gson().toJson(idjiError));
} }
}); });
@ -133,7 +145,7 @@ public class PerceptionManager extends BaseManager {
@Override @Override
public void onFailure(@NonNull IDJIError idjiError) { public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG, "开启水平避障:" + new Gson().toJson(idjiError)); LogUtil.log(TAG, "避障up:"+perceptionEnable + new Gson().toJson(idjiError));
} }
}); });
@ -157,7 +169,7 @@ public class PerceptionManager extends BaseManager {
@Override @Override
public void onFailure(@NonNull IDJIError idjiError) { public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG, "开启水平避障:" + new Gson().toJson(idjiError)); LogUtil.log(TAG, "下避障:"+perceptionEnable+ new Gson().toJson(idjiError));
} }
}); });

52
app/src/main/java/com/aros/apron/manager/SpeakerManager.java
View File

@ -27,6 +27,7 @@ import dji.v5.manager.aircraft.megaphone.MegaphoneIndex;
import dji.v5.manager.aircraft.megaphone.MegaphoneInfo; import dji.v5.manager.aircraft.megaphone.MegaphoneInfo;
import dji.v5.manager.aircraft.megaphone.MegaphoneInfoListener; import dji.v5.manager.aircraft.megaphone.MegaphoneInfoListener;
import dji.v5.manager.aircraft.megaphone.MegaphoneManager; import dji.v5.manager.aircraft.megaphone.MegaphoneManager;
import dji.v5.manager.aircraft.megaphone.MegaphoneStatus;
import dji.v5.manager.aircraft.megaphone.PlayMode; import dji.v5.manager.aircraft.megaphone.PlayMode;
import dji.v5.manager.aircraft.megaphone.UploadType; import dji.v5.manager.aircraft.megaphone.UploadType;
import okhttp3.Call; import okhttp3.Call;
@ -37,6 +38,8 @@ import okhttp3.Response;
public class SpeakerManager extends BaseManager { public class SpeakerManager extends BaseManager {
private boolean issetok=false;
private SpeakerManager() { private SpeakerManager() {
} }
private static class SpeakerHolder { private static class SpeakerHolder {
@ -47,27 +50,33 @@ public class SpeakerManager extends BaseManager {
} }
private int megaphoneStatus; private int megaphoneStatus;
private XTtsPcmGenerator ttsGenerator; private XTtsPcmGenerator ttsGenerator;
public void initMegaphoneInfo() { public void initMegaphoneInfo() {
MegaphoneManager.getInstance().addMegaphoneInfoListener(new MegaphoneInfoListener() { MegaphoneManager.getInstance().addMegaphoneInfoListener(new MegaphoneInfoListener() {
@Override @Override
public void onUpdateMegaphoneInfo(MegaphoneInfo megaphoneInfo) { public void onUpdateMegaphoneInfo(MegaphoneInfo megaphoneInfo) {
if (megaphoneInfo != null) { if (megaphoneInfo != null) {
megaphoneStatus = megaphoneInfo.getStatus().ordinal(); MegaphoneStatus megaphoneStatus = megaphoneInfo.getStatus();
//LogUtil.log(TAG,"喊话器"+megaphoneStatus);
// 当喊话器状态为"已连接"时（status=2），再设置位置
if (megaphoneStatus == MegaphoneStatus.IDLE && issetok==false) {
MegaphoneManager.getInstance().setMegaphoneIndex(MegaphoneIndex.PORT_2, new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
issetok=true;
LogUtil.log(TAG,"喊话器位置设置成功");
}
@Override
public void onFailure(@NonNull IDJIError error) {
LogUtil.log(TAG,"喊话器位置设置失败:"+getIDJIErrorMsg(error));
}
});
}
} }
} }
}); });
MegaphoneManager.getInstance().setMegaphoneIndex(MegaphoneIndex.PORT_2, new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
LogUtil.log(TAG,"喊话器位置设置成功");
}
@Override
public void onFailure(@NonNull IDJIError error) {
LogUtil.log(TAG,"喊话器位置设置失败:"+getIDJIErrorMsg(error));
}
});
} }
public void speakerAudioPlayStart(MessageDown message) { public void speakerAudioPlayStart(MessageDown message) {
sendMsg2Server(message); sendMsg2Server(message);
@ -393,6 +402,7 @@ public class SpeakerManager extends BaseManager {
MegaphoneManager.getInstance().startPlay(new CommonCallbacks.CompletionCallback() { MegaphoneManager.getInstance().startPlay(new CommonCallbacks.CompletionCallback() {
@Override @Override
public void onSuccess() { public void onSuccess() {
sendMsg2Server(message);
Movement.getInstance().setTTS_status("ok"); Movement.getInstance().setTTS_status("ok");
Movement.getInstance().setStep_key("play"); Movement.getInstance().setStep_key("play");
sendEvent2Server("喊话器播放TTS音频成功", 1); sendEvent2Server("喊话器播放TTS音频成功", 1);
@ -402,6 +412,7 @@ public class SpeakerManager extends BaseManager {
@Override @Override
public void onFailure(@NonNull IDJIError error) { public void onFailure(@NonNull IDJIError error) {
sendFailMsg2Server(message, "喊话器播放TTS音频失败:" + getIDJIErrorMsg(error));
sendEvent2Server("喊话器播放TTS音频失败:" + getIDJIErrorMsg(error), 2); sendEvent2Server("喊话器播放TTS音频失败:" + getIDJIErrorMsg(error), 2);
LogUtil.log(TAG,"喊话器播放TTS音频失败qwq" + getIDJIErrorMsg(error)); LogUtil.log(TAG,"喊话器播放TTS音频失败qwq" + getIDJIErrorMsg(error));
Synchronizedstatus.setSpeakTTSrunning(false); Synchronizedstatus.setSpeakTTSrunning(false);
@ -431,4 +442,19 @@ public class SpeakerManager extends BaseManager {
LogUtil.log(TAG, "设置 speakTTSrunning 为 false"); LogUtil.log(TAG, "设置 speakTTSrunning 为 false");
LogUtil.log(TAG, "speakerTTSPlayStart 方法执行完成"); LogUtil.log(TAG, "speakerTTSPlayStart 方法执行完成");
} }
public void setindex(){
MegaphoneManager.getInstance().setMegaphoneIndex(MegaphoneIndex.PORT_2, new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
issetok=true;
LogUtil.log(TAG,"喊话器位置设置成功");
}
@Override
public void onFailure(@NonNull IDJIError error) {
LogUtil.log(TAG,"喊话器位置设置失败:"+getIDJIErrorMsg(error));
}
});
}
} }

132
app/src/main/java/com/aros/apron/manager/StickManager.java
View File

@ -59,9 +59,8 @@ public class StickManager extends BaseManager {
public void onSuccess() { public void onSuccess() {
LogUtil.log(TAG, "控制权获取成功"); LogUtil.log(TAG, "控制权获取成功");
VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(true); VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(true);
} }
@Override @Override
public void onFailure(@NonNull IDJIError error) { public void onFailure(@NonNull IDJIError error) {
LogUtil.log(TAG, "拖动控制权获取成功"); LogUtil.log(TAG, "拖动控制权获取成功");
@ -78,6 +77,7 @@ public class StickManager extends BaseManager {
VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(false); VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(false);
} }
@Override @Override
public void onFailure(@NonNull IDJIError error) { public void onFailure(@NonNull IDJIError error) {
LogUtil.log(TAG, "拖动控制权取消成功"); LogUtil.log(TAG, "拖动控制权取消成功");
@ -89,56 +89,80 @@ public class StickManager extends BaseManager {
//取消虚拟摇杆控制权 //取消虚拟摇杆控制权
public void enableVirtualStick(MessageDown message) { public void enableVirtualStick(MessageDown message) {
if(Movement.getInstance().isVirtualcontrollget()==true){ if (Movement.getInstance().isVirtualcontrollget() == true) {
sendMsg2Server(message); sendMsg2Server(message);
return; return;
} }
//吐过开启了drc或者使用过摇杆 //吐过开启了drc或者使用过摇杆
if(Movement.getInstance().isOpendrc()==false){ if (Movement.getInstance().isOpendrc() == false) {
VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(true); VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(true);
VirtualStickManager.getInstance().enableVirtualStick(new CommonCallbacks.CompletionCallback() { VirtualStickManager.getInstance().enableVirtualStick(new CommonCallbacks.CompletionCallback() {
@Override @Override
public void onSuccess() { public void onSuccess() {
Movement.getInstance().setOpendrc(true); Movement.getInstance().setOpendrc(true);
if (message != null) { if (message != null) {
LogUtil.log(TAG, "DRC回复"+message); LogUtil.log(TAG, "DRC回复" + message);
sendMsg2Server(message); sendMsg2Server(message);
}
LogUtil.log(TAG, "控制权获取成功");
VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(true);
//获得过控制权
Movement.getInstance().setVirtualcontrollget(true);
} }
LogUtil.log(TAG, "控制权获取成功");
VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(true);
//获得过控制权
Movement.getInstance().setVirtualcontrollget(true);
}
@Override @Override
public void onFailure(@NonNull IDJIError error) { public void onFailure(@NonNull IDJIError error) {
if (message != null) { if (message != null) {
sendFailMsg2Server(message, "控制权获取失败:" + Utils.getIDJIErrorMsg(error)); sendFailMsg2Server(message, "控制权获取失败:" + Utils.getIDJIErrorMsg(error));
}
} }
} });
});
}else{ } else {
sendMsg2Server(message); sendMsg2Server(message);
} }
} }
public void enableVirtualStick2() {
VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(true);
VirtualStickManager.getInstance().enableVirtualStick(new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
LogUtil.log(TAG, "控制权获取成功");
}
@Override
public void onFailure(@NonNull IDJIError error) {
LogUtil.log(TAG, "控制权获取失败");
}
});
}
//取消虚拟摇杆控制权 //取消虚拟摇杆控制权
public void disableVirtualStick(MessageDown message) { public void disableVirtualStick(MessageDown message) {
if(Movement.getInstance().isVirtualcontrollget()==false){
if (Movement.getInstance().isVirtualcontrollget() == false) {
sendMsg2Server(message); sendMsg2Server(message);
return; return;
} }
if (!getGimbalAndCameraEnabled()) {
return;
}
VirtualStickManager.getInstance().disableVirtualStick(new CommonCallbacks.CompletionCallback() { VirtualStickManager.getInstance().disableVirtualStick(new CommonCallbacks.CompletionCallback() {
@Override @Override
public void onSuccess() { public void onSuccess() {
if (message != null) { if (message != null) {
sendMsg2Server(message); sendMsg2Server(message);
if(Movement.getInstance().getFlightmode()==1){ if (Movement.getInstance().getFlightmode() == 1) {
Movement.getInstance().setMode_code(5); Movement.getInstance().setMode_code(5);
}else if(Movement.getInstance().getFlightmode()==2){ } else if (Movement.getInstance().getFlightmode() == 2) {
Movement.getInstance().setMode_code(3); Movement.getInstance().setMode_code(3);
} }
@ -149,16 +173,34 @@ public class StickManager extends BaseManager {
Movement.getInstance().setVirtualcontrollget(false); Movement.getInstance().setVirtualcontrollget(false);
} }
@Override @Override
public void onFailure(@NonNull IDJIError error) { public void onFailure(@NonNull IDJIError error) {
if (message!=null){ if (message != null) {
sendFailMsg2Server(message,"控制权释放失败:"+ Utils.getIDJIErrorMsg(error)); sendFailMsg2Server(message, "控制权释放失败:" + Utils.getIDJIErrorMsg(error));
} }
//LogUtil.log(TAG, "控制权释放失败:"+Utils.getIDJIErrorMsg(error)); //LogUtil.log(TAG, "控制权释放失败:"+Utils.getIDJIErrorMsg(error));
} }
}); });
} }
public void disableVirtualStick2() {
if (Movement.getInstance().isVirtualcontrollget() == false) {
return;
}
VirtualStickManager.getInstance().disableVirtualStick(new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
LogUtil.log(TAG, "控制权已取消");
}
@Override
public void onFailure(@NonNull IDJIError error) {
LogUtil.log(TAG, "控制权释放失败:" + Utils.getIDJIErrorMsg(error));
}
});
}
//飞行控制权抢夺 //飞行控制权抢夺
public void setVirtualStickModeEnabled(MessageDown message) { public void setVirtualStickModeEnabled(MessageDown message) {
//Movement.getInstance().setMode_code(3); //Movement.getInstance().setMode_code(3);
@ -169,7 +211,6 @@ public class StickManager extends BaseManager {
}, 100); }, 100);
////// Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection)); ////// Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
////// if (isConnect != null && isConnect) { ////// if (isConnect != null && isConnect) {
////// FlightMode flightMode = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyFlightMode)); ////// FlightMode flightMode = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyFlightMode));
@ -252,32 +293,32 @@ public class StickManager extends BaseManager {
public void sendVirtualStickAdvancedParam(MessageDown message) { public void sendVirtualStickAdvancedParam(MessageDown message) {
Boolean isConnect = KeyManager.getInstance().getValue( Boolean isConnect = KeyManager.getInstance().getValue(
KeyTools.createKey(FlightControllerKey.KeyConnection)); KeyTools.createKey(FlightControllerKey.KeyConnection));
if (isConnect != null && isConnect ) { if (isConnect != null && isConnect) {
if (!getGimbalAndCameraEnabled()){ if (!getGimbalAndCameraEnabled()) {
return; return;
} }
if (!Movement.getInstance().isPlaneWing()){ if (!Movement.getInstance().isPlaneWing()) {
LogUtil.log(TAG,"飞机未起飞:禁止手控"); LogUtil.log(TAG, "飞机未起飞:禁止手控");
return; return;
} }
VirtualStickFlightControlParam param = new VirtualStickFlightControlParam(); VirtualStickFlightControlParam param = new VirtualStickFlightControlParam();
param.setRollPitchControlMode(RollPitchControlMode.VELOCITY);// param.setRollPitchControlMode(RollPitchControlMode.VELOCITY);//
param.setYawControlMode(YawControlMode.ANGULAR_VELOCITY); param.setYawControlMode(YawControlMode.ANGULAR_VELOCITY);
param.setVerticalControlMode(VerticalControlMode.VELOCITY); param.setVerticalControlMode(VerticalControlMode.VELOCITY);
param.setRollPitchCoordinateSystem(FlightCoordinateSystem.BODY); param.setRollPitchCoordinateSystem(FlightCoordinateSystem.BODY);
if (!TextUtils.isEmpty(message.getData().getY())){ if (!TextUtils.isEmpty(message.getData().getY())) {
param.setPitch(Double.valueOf(message.getData().getY()));//左右(速度模式-10m/s-10m/s) param.setPitch(Double.valueOf(message.getData().getY()));//左右(速度模式-10m/s-10m/s)
} }
if (!TextUtils.isEmpty(message.getData().getX())){ if (!TextUtils.isEmpty(message.getData().getX())) {
param.setRoll(Double.valueOf(message.getData().getX()));//前后(速度模式-10m/s-10m/s) param.setRoll(Double.valueOf(message.getData().getX()));//前后(速度模式-10m/s-10m/s)
} }
if (!TextUtils.isEmpty(message.getData().getW())){ if (!TextUtils.isEmpty(message.getData().getW())) {
param.setYaw(Double.valueOf(message.getData().getW()));//旋转(角速度模式-100-100) param.setYaw(Double.valueOf(message.getData().getW()));//旋转(角速度模式-100-100)
} }
if (!TextUtils.isEmpty(message.getData().getH())){ if (!TextUtils.isEmpty(message.getData().getH())) {
param.setVerticalThrottle(Double.valueOf(message.getData().getH()));//上下(速度模式-4m/s-4m/s) param.setVerticalThrottle(Double.valueOf(message.getData().getH()));//上下(速度模式-4m/s-4m/s)
} }
@ -299,11 +340,4 @@ public class StickManager extends BaseManager {
// } // }
} }

251
app/src/main/java/com/aros/apron/manager/StreamManager.java
View File

@ -44,7 +44,7 @@ import dji.v5.manager.interfaces.ILiveStreamManager;
public class StreamManager extends BaseManager { public class StreamManager extends BaseManager {
private static final String TAG = "StreamManager"; private static final String TAG = "StreamManager";
// ========== 【新增】线程池和主线程Handler，防止ANR ========== // ========== 【新增】线程池和主线程 Handler，防止 ANR ==========
private final ExecutorService streamExecutor = Executors.newSingleThreadExecutor(); private final ExecutorService streamExecutor = Executors.newSingleThreadExecutor();
private final Handler mainHandler = new Handler(Looper.getMainLooper()); private final Handler mainHandler = new Handler(Looper.getMainLooper());
@ -59,6 +59,14 @@ public class StreamManager extends BaseManager {
return StreamHolder.INSTANCE; return StreamHolder.INSTANCE;
} }
// ========== 【新增】重置推流状态，用于端口关闭后重启 ==========
public void resetStreamState() {
startLiveFailTimes = 0;
isLiveStreamAlreadyStart = false;
isStartingRTSP = false; // 重置并发标志
LogUtil.log(TAG, "推流状态已重置");
}
public void stopstream() { public void stopstream() {
streamExecutor.execute(() -> { streamExecutor.execute(() -> {
ILiveStreamManager liveStreamManager = MediaDataCenter.getInstance().getLiveStreamManager(); ILiveStreamManager liveStreamManager = MediaDataCenter.getInstance().getLiveStreamManager();
@ -143,8 +151,9 @@ public class StreamManager extends BaseManager {
private int startLiveFailTimes; private int startLiveFailTimes;
private boolean isLiveStreamAlreadyStart; private boolean isLiveStreamAlreadyStart;
private boolean isStartingRTSP = false; // 防止并发调用
//知眸测试 // 知眸测试
public void startLiveWithCustom() { public void startLiveWithCustom() {
streamExecutor.execute(() -> { streamExecutor.execute(() -> {
Boolean isAircraftConnected = KeyManager.getInstance().getValue(DJIKey.create(ProductKey.KeyConnection)); Boolean isAircraftConnected = KeyManager.getInstance().getValue(DJIKey.create(ProductKey.KeyConnection));
@ -203,13 +212,13 @@ public class StreamManager extends BaseManager {
} }
private int isliveindex = 1; //1代表port 2代表fpv private int isliveindex = 1; //1 代表 port 2 代表 fpv
public void switchptspfpv(ComponentIndexType ComponentIndex, MessageDown message) { public void switchptspfpv(ComponentIndexType ComponentIndex, MessageDown message) {
isliveindex = 2; isliveindex = 2;
sendMsg2Server(message); sendMsg2Server(message);
ILiveStreamManager liveStreamManager = MediaDataCenter.getInstance().getLiveStreamManager(); ILiveStreamManager liveStreamManager = MediaDataCenter.getInstance().getLiveStreamManager();
LogUtil.log(TAG, "切换RTSP推流fpv:" + PreferenceUtils.getInstance().getRtspUserName() LogUtil.log(TAG, "切换 RTSP 推流 fpv:" + PreferenceUtils.getInstance().getRtspUserName()
+ "--" + PreferenceUtils.getInstance().getRtspPort() + "--" + PreferenceUtils.getInstance().getRtspPassWord()); + "--" + PreferenceUtils.getInstance().getRtspPort() + "--" + PreferenceUtils.getInstance().getRtspPassWord());
LiveStreamSettings.Builder streamSettingBuilder = new LiveStreamSettings.Builder(); LiveStreamSettings.Builder streamSettingBuilder = new LiveStreamSettings.Builder();
@ -231,7 +240,7 @@ public class StreamManager extends BaseManager {
isliveindex = 1; isliveindex = 1;
sendMsg2Server(message); sendMsg2Server(message);
ILiveStreamManager liveStreamManager = MediaDataCenter.getInstance().getLiveStreamManager(); ILiveStreamManager liveStreamManager = MediaDataCenter.getInstance().getLiveStreamManager();
LogUtil.log(TAG, "切换RTSP推流port:" + PreferenceUtils.getInstance().getRtspUserName() LogUtil.log(TAG, "切换 RTSP 推流 port:" + PreferenceUtils.getInstance().getRtspUserName()
+ "--" + PreferenceUtils.getInstance().getRtspPort() + "--" + PreferenceUtils.getInstance().getRtspPassWord()); + "--" + PreferenceUtils.getInstance().getRtspPort() + "--" + PreferenceUtils.getInstance().getRtspPassWord());
LiveStreamSettings.Builder streamSettingBuilder = new LiveStreamSettings.Builder(); LiveStreamSettings.Builder streamSettingBuilder = new LiveStreamSettings.Builder();
@ -249,17 +258,48 @@ public class StreamManager extends BaseManager {
liveStreamManager.setLiveVideoBitrateMode(LiveVideoBitrateMode.AUTO); liveStreamManager.setLiveVideoBitrateMode(LiveVideoBitrateMode.AUTO);
} }
// ========== 【核心修复】RTSP推流入口，全部在子线程执行 ========== // ========== 【核心修复】RTSP 推流入口，全部在子线程执行 ==========
public void startLiveWithRTSP() { public void startLiveWithRTSP() {
// 防止并发调用
if (isStartingRTSP) {
LogUtil.log(TAG, "startLiveWithRTSP 正在执行中，忽略本次调用");
return;
}
streamExecutor.execute(() -> { streamExecutor.execute(() -> {
isStartingRTSP = true;
// 重置失败计数（每次新尝试时）
if (startLiveFailTimes == 0) {
LogUtil.log(TAG, "========== 开始 RTSP 推流流程 ==========");
}
Boolean isAircraftConnected = KeyManager.getInstance().getValue(DJIKey.create(FlightControllerKey.KeyConnection)); Boolean isAircraftConnected = KeyManager.getInstance().getValue(DJIKey.create(FlightControllerKey.KeyConnection));
if (isAircraftConnected == null || !isAircraftConnected) { if (isAircraftConnected == null || !isAircraftConnected) {
LogUtil.log(TAG, "飞行器未连接"); LogUtil.log(TAG, "飞行器未连接");
isStartingRTSP = false;
return; return;
} }
// 检查相机流是否准备好
ILiveStreamManager liveStreamManager = MediaDataCenter.getInstance().getLiveStreamManager();
if (liveStreamManager == null) {
LogUtil.log(TAG, "LiveStreamManager 为 null");
isStartingRTSP = false;
return;
}
// 1. 检查是否已经在推流，避免重复启动
if (liveStreamManager.isStreaming()) {
LogUtil.log(TAG, "RTSP 推流已在运行，无需重复启动");
isLiveStreamAlreadyStart = true;
isStartingRTSP = false;
SimplePortScanner.getInstance().startScan(); // 确保端口扫描在运行
return;
}
// 2. 检查相机流是否准备好
if (!MainActivity.Companion.getStreamReceive()) { if (!MainActivity.Companion.getStreamReceive()) {
LogUtil.log(TAG, "相机流未准备好，尝试切换FPVWidget恢复"); LogUtil.log(TAG, "相机流未准备好，尝试切换 FPV Widget 恢复");
mainHandler.post(() -> { mainHandler.post(() -> {
MainActivity mainActivity = MainActivity.Companion.getInstance(); MainActivity mainActivity = MainActivity.Companion.getInstance();
if (mainActivity != null) { if (mainActivity != null) {
@ -269,99 +309,88 @@ public class StreamManager extends BaseManager {
mainHandler.postDelayed(() -> { mainHandler.postDelayed(() -> {
streamExecutor.execute(() -> { streamExecutor.execute(() -> {
if (startLiveFailTimes < 2) { if (startLiveFailTimes < 3) {
startLiveFailTimes++; startLiveFailTimes++;
LogUtil.log(TAG, "相机流未准备好，第" + startLiveFailTimes + "次重试");
startLiveWithRTSP(); startLiveWithRTSP();
} else { } else {
forceStartLive();
LogUtil.log(TAG, "相机流未准备好，重试次数已达上限，强制启动"); LogUtil.log(TAG, "相机流未准备好，重试次数已达上限，强制启动");
forceStartLive();
isStartingRTSP = false; // 重置并发标志
} }
}); });
}, 1500); }, 2000);
return; return;
} }
if (PreferenceUtils.getInstance().getRtspUserName() != null && // 3. 检查 RTSP 配置
PreferenceUtils.getInstance().getRtspPort() != null && String rtspUser = PreferenceUtils.getInstance().getRtspUserName();
PreferenceUtils.getInstance().getRtspPassWord() != null) { String rtspPort = PreferenceUtils.getInstance().getRtspPort();
String rtspPass = PreferenceUtils.getInstance().getRtspPassWord();
ILiveStreamManager liveStreamManager = MediaDataCenter.getInstance().getLiveStreamManager(); if (rtspUser == null || rtspPort == null || rtspPass == null ||
LogUtil.log(TAG, "自定义RTSP推流:" + PreferenceUtils.getInstance().getRtspUserName() rtspUser.isEmpty() || rtspPort.isEmpty() || rtspPass.isEmpty()) {
+ "--" + PreferenceUtils.getInstance().getRtspPort() + "--" + PreferenceUtils.getInstance().getRtspPassWord()); LogUtil.log(TAG, "RTSP 配置参数有误：user=" + rtspUser + ", port=" + rtspPort);
isStartingRTSP = false; // 重置并发标志
// 设置参数在主线程执行（部分DJI API要求） return;
mainHandler.post(() -> {
if (isliveindex == 1) {
LiveStreamSettings.Builder streamSettingBuilder = new LiveStreamSettings.Builder();
LiveStreamSettings streamSettings = streamSettingBuilder.setLiveStreamType(LiveStreamType.RTSP)
.setRtspSettings(new RtspSettings.Builder().setPassWord(PreferenceUtils.getInstance().getRtspPassWord()).
setPort(Integer.parseInt(PreferenceUtils.getInstance().getRtspPort())).
setUserName(PreferenceUtils.getInstance().getRtspUserName()).build()).build();
liveStreamManager.setLiveStreamSettings(streamSettings);
liveStreamManager.setCameraIndex(ComponentIndexType.PORT_1);
liveStreamManager.setLiveStreamQuality(StreamQuality.FULL_HD);
liveStreamManager.setLiveVideoBitrateMode(LiveVideoBitrateMode.AUTO);
} else {
LiveStreamSettings.Builder streamSettingBuilder = new LiveStreamSettings.Builder();
LiveStreamSettings streamSettings = streamSettingBuilder.setLiveStreamType(LiveStreamType.RTSP)
.setRtspSettings(new RtspSettings.Builder().setPassWord(PreferenceUtils.getInstance().getRtspPassWord()).
setPort(Integer.parseInt(PreferenceUtils.getInstance().getRtspPort())).
setUserName(PreferenceUtils.getInstance().getRtspUserName()).build()).build();
liveStreamManager.setLiveStreamSettings(streamSettings);
liveStreamManager.setCameraIndex(ComponentIndexType.FPV);
liveStreamManager.setLiveStreamQuality(StreamQuality.FULL_HD);
liveStreamManager.setLiveVideoBitrateMode(LiveVideoBitrateMode.AUTO);
}
});
// 稍微等待设置生效
try {
Thread.sleep(100);
} catch (InterruptedException e) {
Thread.currentThread().interrupt();
return;
}
if (!liveStreamManager.isStreaming()) {
// 直接启动
doStartLiveWithRTSP(liveStreamManager, false);
} else {
// 先停止再启动
liveStreamManager.stopStream(new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
// 在子线程延迟2秒，替代 Handler.postDelayed
try {
Thread.sleep(2000);
} catch (InterruptedException e) {
Thread.currentThread().interrupt();
return;
}
doStartLiveWithRTSP(liveStreamManager, true);
}
@Override
public void onFailure(@NonNull IDJIError error) {
mainHandler.post(() -> {
LogUtil.log(TAG, "停止旧流失败:" + new Gson().toJson(error));
// 即使停止失败也尝试启动
streamExecutor.execute(() -> doStartLiveWithRTSP(liveStreamManager, true));
});
}
});
}
} else {
LogUtil.log(TAG, "RTSP配置参数有误");
} }
LogUtil.log(TAG, "RTSP 配置检查通过：user=" + rtspUser + ", port=" + rtspPort + ", camera=" + (isliveindex == 1 ? "PORT_1" : "FPV"));
// 4. 等待相机模式稳定（避免刚切换模式就推流）
try {
Thread.sleep(500);
} catch (InterruptedException e) {
Thread.currentThread().interrupt();
}
// 5. 设置 RTSP 参数（在主线程执行）
final ILiveStreamManager finalLiveStreamManager = liveStreamManager;
mainHandler.post(() -> {
LiveStreamSettings.Builder streamSettingBuilder = new LiveStreamSettings.Builder();
LiveStreamSettings streamSettings = streamSettingBuilder.setLiveStreamType(LiveStreamType.RTSP)
.setRtspSettings(new RtspSettings.Builder()
.setPassWord(rtspPass)
.setPort(Integer.parseInt(rtspPort))
.setUserName(rtspUser)
.build())
.build();
finalLiveStreamManager.setLiveStreamSettings(streamSettings);
// 6. 设置相机源
ComponentIndexType cameraIndex = (isliveindex == 1) ? ComponentIndexType.PORT_1 : ComponentIndexType.FPV;
finalLiveStreamManager.setCameraIndex(cameraIndex);
// 7. 设置推流质量
finalLiveStreamManager.setLiveStreamQuality(StreamQuality.FULL_HD);
finalLiveStreamManager.setLiveVideoBitrateMode(LiveVideoBitrateMode.AUTO);
LogUtil.log(TAG, "RTSP 参数设置完成，等待 500ms 后启动推流");
// 8. 等待设置生效
mainHandler.postDelayed(() -> {
streamExecutor.execute(() -> {
// 9. 启动推流前再次检查
if (finalLiveStreamManager.isStreaming()) {
LogUtil.log(TAG, "推流已在运行，跳过启动");
isLiveStreamAlreadyStart = true;
isStartingRTSP = false; // 重置并发标志
SimplePortScanner.getInstance().startScan(); // 确保端口扫描在运行
return;
}
LogUtil.log(TAG, "开始调用 startStream...");
doStartLiveWithRTSP(finalLiveStreamManager, false);
});
}, 500);
});
}); });
} }
private void forceStartLive() { private void forceStartLive() {
streamExecutor.execute(() -> { streamExecutor.execute(() -> {
if (PreferenceUtils.getInstance().getRtspUserName() != null && if (PreferenceUtils.getInstance().getRtspUserName() != null &&
PreferenceUtils.getInstance().getRtspPort() != null && PreferenceUtils.getInstance().getRtspPort() != null &&
@ -387,10 +416,11 @@ public class StreamManager extends BaseManager {
@Override @Override
public void onSuccess() { public void onSuccess() {
mainHandler.post(() -> { mainHandler.post(() -> {
LogUtil.log(TAG, "强制启动RTSP推流成功"); LogUtil.log(TAG, "强制启动 RTSP 推流成功");
MainActivity mainActivity = MainActivity.Companion.getInstance(); MainActivity mainActivity = MainActivity.Companion.getInstance();
mainActivity.swapVideoSource(); mainActivity.swapVideoSource();
isLiveStreamAlreadyStart = true; isLiveStreamAlreadyStart = true;
isStartingRTSP = false; // 重置并发标志
SimplePortScanner.getInstance().startScan(); SimplePortScanner.getInstance().startScan();
}); });
} }
@ -398,24 +428,44 @@ public class StreamManager extends BaseManager {
@Override @Override
public void onFailure(@NonNull IDJIError error) { public void onFailure(@NonNull IDJIError error) {
mainHandler.post(() -> { mainHandler.post(() -> {
LogUtil.log(TAG, "强制启动RTSP推流失败:" + new Gson().toJson(error)); LogUtil.log(TAG, "强制启动 RTSP 推流失败:" + new Gson().toJson(error));
isStartingRTSP = false; // 重置并发标志
// 失败后也尝试重置状态并重启
resetStreamState();
}); });
} }
}); });
}); });
} else {
LogUtil.log(TAG, "RTSP 配置参数有误，无法强制启动");
isStartingRTSP = false; // 重置并发标志
} }
}); });
} }
// ========== 【新增】实际启动流的私有方法，确保在子线程执行 ========== // ========== 【新增】实际启动流的私有方法，确保在子线程执行 ==========
private void doStartLiveWithRTSP(ILiveStreamManager liveStreamManager, boolean isRestart) { private void doStartLiveWithRTSP(ILiveStreamManager liveStreamManager, boolean isRestart) {
// 启动前再次检查状态
if (liveStreamManager.isStreaming()) {
LogUtil.log(TAG, "推流已在运行，跳过启动 (isRestart=" + isRestart + ")");
isLiveStreamAlreadyStart = true;
isStartingRTSP = false; // 重置并发标志
SimplePortScanner.getInstance().startScan(); // 确保端口扫描在运行
return;
}
LogUtil.log(TAG, "开始调用 startStream... (isRestart=" + isRestart + ")");
liveStreamManager.startStream(new CommonCallbacks.CompletionCallback() { liveStreamManager.startStream(new CommonCallbacks.CompletionCallback() {
@Override @Override
public void onSuccess() { public void onSuccess() {
mainHandler.post(() -> { mainHandler.post(() -> {
LogUtil.log(TAG, "自定义RTSP推流启动成功" + (isRestart ? "(重启)" : "")); LogUtil.log(TAG, "自定义 RTSP 推流启动成功" + (isRestart ? "(重启)" : ""));
isliveindex = 1; isliveindex = 1;
isLiveStreamAlreadyStart = true; isLiveStreamAlreadyStart = true;
startLiveFailTimes = 0; // 重置失败计数
isStartingRTSP = false; // 重置并发标志
LogUtil.log(TAG, "========== RTSP 推流启动成功 ==========");
// 开始端口扫描 // 开始端口扫描
SimplePortScanner.getInstance().startScan(); SimplePortScanner.getInstance().startScan();
}); });
@ -424,20 +474,41 @@ public class StreamManager extends BaseManager {
@Override @Override
public void onFailure(@NonNull IDJIError error) { public void onFailure(@NonNull IDJIError error) {
mainHandler.post(() -> { mainHandler.post(() -> {
LogUtil.log(TAG, "第" + startLiveFailTimes + "次开始RTSP推流失败:" + new Gson().toJson(error)); String detailedError = "第" + startLiveFailTimes + "次开始 RTSP 推流失败：type=" + error.errorType()+ ", code=" + error.errorCode() + ", hint=" + error.hint();
LogUtil.log(TAG, detailedError);
LogUtil.log(TAG, "完整错误:" + new Gson().toJson(error));
// 错误类型判断
if (error.hint() != null) {
if (error.hint().contains("CAMERA")) {
LogUtil.log(TAG, "[诊断] 相机相关错误：可能是相机模式不对/相机被占用/SD 卡异常");
} else if (error.hint().contains("LIVE")) {
LogUtil.log(TAG, "[诊断] 推流相关错误：可能是推流配置问题/端口被占用");
} else if (error.hint().contains("PORT") || error.hint().contains("port")) {
LogUtil.log(TAG, "[诊断] 端口相关错误：请检查 RTSP 端口是否被占用");
}
}
if (!isLiveStreamAlreadyStart) { if (!isLiveStreamAlreadyStart) {
// 延时3秒后重试，重试也提交到线程池 // 延时 3 秒后重试，重试也提交到线程池
mainHandler.postDelayed(() -> { mainHandler.postDelayed(() -> {
streamExecutor.execute(() -> { streamExecutor.execute(() -> {
if (startLiveFailTimes < 10) { if (startLiveFailTimes < 10) {
startLiveFailTimes++; startLiveFailTimes++;
LogUtil.log(TAG, "准备第" + startLiveFailTimes + "次重试 RTSP 推流");
startLiveWithRTSP(); startLiveWithRTSP();
} else {
LogUtil.log(TAG, "RTSP 推流重试次数已达上限 (10 次)，放弃");
LogUtil.log(TAG, "========== RTSP 推流失败 ==========");
isStartingRTSP = false; // 重置并发标志
} }
}); });
}, 3000); }, 3000);
} else {
isStartingRTSP = false; // 重置并发标志
} }
}); });
} }
}); });
} }
} }

1
app/src/main/java/com/aros/apron/manager/TakeOffToPointManager.java
View File

@ -314,6 +314,7 @@ public class TakeOffToPointManager extends BaseManager {
@Override @Override
public void onSuccess() { public void onSuccess() {
Movement.getInstance().setWaylinename("takeofftopoint"); Movement.getInstance().setWaylinename("takeofftopoint");
PreferenceUtils.getInstance().setWaylinename("takeofftopoint");
//起飞准备完毕 //起飞准备完毕
Movement.getInstance().setMode_code(2); Movement.getInstance().setMode_code(2);
sendEvent2Server("航线上传成功,准备执行任务", 1); sendEvent2Server("航线上传成功,准备执行任务", 1);

2
app/src/main/java/com/aros/apron/mix/Aprondown.java
View File

@ -657,7 +657,7 @@ public class Aprondown {
private void performOperation() { private void performOperation() {
LogUtil.log(TAG_LOG, "快速下拉中..." + handlerCallbackCount); LogUtil.log(TAG_LOG, "快速下拉中..." + handlerCallbackCount);
DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -5); DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -5.5);
handlerCallbackCount++; handlerCallbackCount++;
} }

6
app/src/main/java/com/aros/apron/mix/Aprongim.java
View File

@ -189,10 +189,10 @@ public class Aprongim {
if(isDoublePayload){ if(isDoublePayload){
if (ultHeight <=5) if (ultHeight <=5)
{ {
LENS_OFFSET_X=-125; LENS_OFFSET_X=-130;
LENS_OFFSET_Y=120; LENS_OFFSET_Y=120;
}else if(ultHeight<10){ }else if(ultHeight<10){
LENS_OFFSET_X=-85; LENS_OFFSET_X=-90;
LENS_OFFSET_Y=80; LENS_OFFSET_Y=80;
} else if (ultHeight<20) { } else if (ultHeight<20) {
LENS_OFFSET_X=-70; LENS_OFFSET_X=-70;
@ -907,7 +907,7 @@ public class Aprongim {
private void performOperation() { private void performOperation() {
LogUtil.log(TAG_LOG, String.format("【执行移动】速降 vz=-4 count=%d/20", handlerCallbackCount)); LogUtil.log(TAG_LOG, String.format("【执行移动】速降 vz=-4 count=%d/20", handlerCallbackCount));
DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -5); DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -5.5);
handlerCallbackCount++; handlerCallbackCount++;
} }

62
app/src/main/java/com/aros/apron/tools/ApronArucoDetect.java
View File

@ -86,6 +86,13 @@ public class ApronArucoDetect {
// ========== 【新增】2帧一处理计数器 ========== // ========== 【新增】2帧一处理计数器 ==========
private int frameCounter = 0; private int frameCounter = 0;
// ========== 【新增】高度稳定性监测 ==========
private long lastHeightCheckTime = 0;
private double lastUltrasonicHeight = 0;
private static final long HEIGHT_STABLE_THRESHOLD = 45000; // 45秒
private static final double HEIGHT_CHANGE_THRESHOLD =1; // 10厘米
private boolean isHeightStableMonitoring = false;
// ========== 原有方法 ========== // ========== 原有方法 ==========
public int getCheckThrowingErrorsTimes() { return checkThrowingErrorsTimes; } public int getCheckThrowingErrorsTimes() { return checkThrowingErrorsTimes; }
public void setCheckThrowingErrorsTimes(int v) { checkThrowingErrorsTimes = v; } public void setCheckThrowingErrorsTimes(int v) { checkThrowingErrorsTimes = v; }
@ -198,6 +205,55 @@ public class ApronArucoDetect {
// 只保留6号码 // 只保留6号码
ids = keepOnly6(ids, corners); ids = keepOnly6(ids, corners);
int ultHeight = Movement.getInstance().getUltrasonicHeight();
// ========== 【新增】高度稳定性监测 ==========
if (ultHeight > 0) {
if (!isHeightStableMonitoring) {
// 开始监测
isHeightStableMonitoring = true;
lastHeightCheckTime = System.currentTimeMillis();
lastUltrasonicHeight = ultHeight;
LogUtil.log(TAG_LOG, "开始监测高度稳定性，基准高度: " + ultHeight + " 分米");
} else {
// 检查高度变化
long currentTime = System.currentTimeMillis();
double heightChange = Math.abs(ultHeight - lastUltrasonicHeight);
if (heightChange > HEIGHT_CHANGE_THRESHOLD) {
// 高度有明显变化，重置计时器
lastHeightCheckTime = currentTime;
lastUltrasonicHeight = ultHeight;
LogUtil.log(TAG_LOG, "高度变化: " + heightChange + " 分米，重置计时器");
} else if (currentTime - lastHeightCheckTime > HEIGHT_STABLE_THRESHOLD) {
// 45秒内高度没有变动，执行复降
LogUtil.log(TAG_LOG, "45秒内高度未变动，执行复降");
if (ultHeight <= 20) {
DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, 3f);
if (dropTimes > Integer.parseInt(AMSConfig.getInstance().getAlternateLandingTimes())) {
LogUtil.log(TAG_LOG, "超过复降限制,去备降点");
AlternateLandingManager.getInstance().startTaskProcess(null);
Movement.getInstance().setAlternate(true);
return;
}
if (dropTimesTag) {
dropTimesTag = false;
dropTimes++;
LogUtil.log(TAG_LOG, "复降第:" + dropTimes + "次");
}
} else {
LogUtil.log(TAG_LOG, "执行位移");
DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -0.3f);
}
isHeightStableMonitoring = false;
isStartAruco = false;
return;
}
}
}
boolean marker6Found = false; boolean marker6Found = false;
if (!ids.empty()) { if (!ids.empty()) {
trycount = 0; trycount = 0;
@ -437,6 +493,10 @@ public class ApronArucoDetect {
isStartAruco = false; isStartAruco = false;
consecutiveTriggerCount = 0; consecutiveTriggerCount = 0;
frameCounter = 0; // 【新增】重置帧计数 frameCounter = 0; // 【新增】重置帧计数
// 【新增】重置高度稳定性监测状态
isHeightStableMonitoring = false;
lastHeightCheckTime = 0;
lastUltrasonicHeight = 0;
} }
@ -575,7 +635,7 @@ public class ApronArucoDetect {
private void performOperation() { private void performOperation() {
LogUtil.log(TAG_LOG, "快速下拉中..." + handlerCallbackCount); LogUtil.log(TAG_LOG, "快速下拉中..." + handlerCallbackCount);
DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -5); DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -5.5);
handlerCallbackCount++; handlerCallbackCount++;
} }

62
app/src/main/java/com/aros/apron/tools/ApronArucoDetectPort.java
View File

@ -77,6 +77,13 @@ public class ApronArucoDetectPort {
// 记录上一帧满足的降落条件类型：0=无, 1=单码精准降落(15/17号), 2=几何中心降落 // 记录上一帧满足的降落条件类型：0=无, 1=单码精准降落(15/17号), 2=几何中心降落
private int lastLandingCondition = 0; private int lastLandingCondition = 0;
// ========== 【新增】高度稳定性监测 ==========
private long lastHeightCheckTime = 0;
private double lastUltrasonicHeight = 0;
private static final long HEIGHT_STABLE_THRESHOLD = 45000; // 45秒
private static final double HEIGHT_CHANGE_THRESHOLD = 1; // 10厘米
private boolean isHeightStableMonitoring = false;
// ========== 标准方法 ========== // ========== 标准方法 ==========
public int getCheckThrowingErrorsTimes() { return checkThrowingErrorsTimes; } public int getCheckThrowingErrorsTimes() { return checkThrowingErrorsTimes; }
public void setCheckThrowingErrorsTimes(int v) { checkThrowingErrorsTimes = v; } public void setCheckThrowingErrorsTimes(int v) { checkThrowingErrorsTimes = v; }
@ -170,10 +177,10 @@ public class ApronArucoDetectPort {
if(isDoublePayload){ if(isDoublePayload){
if (ultHeight <=5) if (ultHeight <=5)
{ {
LENS_OFFSET_X=-125; LENS_OFFSET_X=-130;
LENS_OFFSET_Y=120; LENS_OFFSET_Y=120;
}else if(ultHeight<10){ }else if(ultHeight<10){
LENS_OFFSET_X=-85; LENS_OFFSET_X=-90;
LENS_OFFSET_Y=80; LENS_OFFSET_Y=80;
} else if (ultHeight<20) { } else if (ultHeight<20) {
LENS_OFFSET_X=-70; LENS_OFFSET_X=-70;
@ -214,6 +221,51 @@ public class ApronArucoDetectPort {
int ultHeight=Movement.getInstance().getUltrasonicHeight(); int ultHeight=Movement.getInstance().getUltrasonicHeight();
// ========== 【新增】高度稳定性监测 ==========
if (ultHeight > 0) {
if (!isHeightStableMonitoring) {
// 开始监测
isHeightStableMonitoring = true;
lastHeightCheckTime = System.currentTimeMillis();
lastUltrasonicHeight = ultHeight;
LogUtil.log(TAG_LOG, "开始监测高度稳定性，基准高度: " + ultHeight + " 分米");
} else {
// 检查高度变化
long currentTime = System.currentTimeMillis();
double heightChange = Math.abs(ultHeight - lastUltrasonicHeight);
if (heightChange > HEIGHT_CHANGE_THRESHOLD) {
// 高度有明显变化，重置计时器
lastHeightCheckTime = currentTime;
lastUltrasonicHeight = ultHeight;
LogUtil.log(TAG_LOG, "高度变化: " + heightChange + " 分米，重置计时器");
} else if (currentTime - lastHeightCheckTime > HEIGHT_STABLE_THRESHOLD) {
if (ultHeight<= 20) {
DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, 3f);
if (dropTimes > Integer.parseInt(AMSConfig.getInstance().getAlternateLandingTimes())) {
LogUtil.log(TAG_LOG, "超过复降限制,去备降点");
AlternateLandingManager.getInstance().startTaskProcess(null);
Movement.getInstance().setAlternate(true);
return;
}
if (dropTimesTag) {
dropTimesTag = false;
dropTimes++;
LogUtil.log(TAG_LOG, "复降第:" + dropTimes + "次");
}
} else {
LogUtil.log(TAG_LOG, "执行位移");
DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -0.3f);
}
isHeightStableMonitoring = false;
isStartAruco = false;
return;
}
}
}
if (!ids.empty()) { if (!ids.empty()) {
trycount = 0; trycount = 0;
arucoNotFoundTag = false; arucoNotFoundTag = false;
@ -796,6 +848,10 @@ public class ApronArucoDetectPort {
isYawAligned = false; isYawAligned = false;
currentLandingMode = 0; currentLandingMode = 0;
lastLandingCondition = 0; lastLandingCondition = 0;
// 【新增】重置高度稳定性监测状态
isHeightStableMonitoring = false;
lastHeightCheckTime = 0;
lastUltrasonicHeight = 0;
} }
private int handlerCallbackCount = 0; private int handlerCallbackCount = 0;
@ -814,7 +870,7 @@ public class ApronArucoDetectPort {
private void performOperation() { private void performOperation() {
LogUtil.log(TAG_LOG, String.format("【执行移动】速降 vz=-4 count=%d/20", handlerCallbackCount)); LogUtil.log(TAG_LOG, String.format("【执行移动】速降 vz=-4 count=%d/20", handlerCallbackCount));
DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -5); DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, -5.5);
handlerCallbackCount++; handlerCallbackCount++;
} }

33
app/src/main/java/com/aros/apron/tools/DroneHelper.java
View File

@ -24,6 +24,8 @@ import dji.sdk.keyvalue.value.flightcontroller.VirtualStickFlightControlParam;
import dji.sdk.keyvalue.value.flightcontroller.YawControlMode; import dji.sdk.keyvalue.value.flightcontroller.YawControlMode;
import dji.sdk.keyvalue.value.gimbal.GimbalAngleRotation; import dji.sdk.keyvalue.value.gimbal.GimbalAngleRotation;
import dji.sdk.keyvalue.value.gimbal.GimbalAngleRotationMode; import dji.sdk.keyvalue.value.gimbal.GimbalAngleRotationMode;
import dji.sdk.keyvalue.value.gimbal.GimbalMode;
import dji.sdk.keyvalue.value.gimbal.GimbalResetType;
import dji.v5.common.callback.CommonCallbacks; import dji.v5.common.callback.CommonCallbacks;
import dji.v5.common.error.IDJIError; import dji.v5.common.error.IDJIError;
import dji.v5.manager.KeyManager; import dji.v5.manager.KeyManager;
@ -48,6 +50,7 @@ public class DroneHelper {
public static DroneHelper getInstance() { public static DroneHelper getInstance() {
return DroneHelperHolder.INSTANCE; return DroneHelperHolder.INSTANCE;
} }
private boolean isExitInProgress = false; // 新增标志 private boolean isExitInProgress = false; // 新增标志
// DroneHelper.java // DroneHelper.java
@ -158,22 +161,23 @@ public class DroneHelper {
} }
public void setCameraFocusMode(){ public void setCameraFocusMode() {
Boolean cameraConnect = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey. Boolean cameraConnect = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey.
KeyConnection, ComponentIndexType.PORT_1)); KeyConnection, ComponentIndexType.PORT_1));
if (cameraConnect!=null&&cameraConnect) { if (cameraConnect != null && cameraConnect) {
KeyManager.getInstance().setValue(KeyTools.createCameraKey(CameraKey.KeyCameraFocusMode, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_WIDE), CameraFocusMode.AFC, new CommonCallbacks.CompletionCallback() { KeyManager.getInstance().setValue(KeyTools.createCameraKey(CameraKey.KeyCameraFocusMode, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_WIDE), CameraFocusMode.AFC, new CommonCallbacks.CompletionCallback() {
@Override @Override
public void onSuccess() { public void onSuccess() {
LogUtil.log(TAG, "设置对焦模式自动对焦"); LogUtil.log(TAG, "设置对焦模式自动对焦");
} }
@Override @Override
public void onFailure(@NonNull IDJIError idjiError) { public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG, "设置对焦模式自动对焦失败:"+new Gson().toJson(idjiError)); LogUtil.log(TAG, "设置对焦模式自动对焦失败:" + new Gson().toJson(idjiError));
} }
}); });
}else { } else {
LogUtil.log(TAG, "相机未连接"); LogUtil.log(TAG, "相机未连接");
} }
} }
@ -181,10 +185,10 @@ public class DroneHelper {
private int setGimbalPitchDegreeFailTimes = 0; private int setGimbalPitchDegreeFailTimes = 0;
private boolean isGimbalPitchDegree = false; private boolean isGimbalPitchDegree = false;
public void setGimbalPitchdown(){ public void setGimbalPitchdown() {
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey. Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
KeyConnection, ComponentIndexType.PORT_1)); KeyConnection, ComponentIndexType.PORT_1));
if (isConnect!=null&&isConnect) { if (isConnect != null && isConnect) {
GimbalAngleRotation rotation = new GimbalAngleRotation(); GimbalAngleRotation rotation = new GimbalAngleRotation();
rotation.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE); rotation.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE);
rotation.setYaw(0.0); rotation.setYaw(0.0);
@ -212,7 +216,7 @@ public class DroneHelper {
// PayloadWidgetManager.getInstance().sendMsgToLeftPayload("#TPPG2wPTZ0A76"); // PayloadWidgetManager.getInstance().sendMsgToLeftPayload("#TPPG2wPTZ0A76");
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey. Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
KeyConnection, ComponentIndexType.PORT_1)); KeyConnection, ComponentIndexType.PORT_1));
if (isConnect!=null&&isConnect) { if (isConnect != null && isConnect) {
GimbalAngleRotation rotation = new GimbalAngleRotation(); GimbalAngleRotation rotation = new GimbalAngleRotation();
rotation.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE); rotation.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE);
rotation.setYaw(0.0); rotation.setYaw(0.0);
@ -222,8 +226,8 @@ public class DroneHelper {
@Override @Override
public void onSuccess(EmptyMsg emptyMsg) { public void onSuccess(EmptyMsg emptyMsg) {
LogUtil.log(TAG, "云台朝下"); LogUtil.log(TAG, "云台朝下");
isGimbalPitchDegree=true; isGimbalPitchDegree = true;
setGimbalPitchDegreeFailTimes=0; setGimbalPitchDegreeFailTimes = 0;
} }
@Override @Override
@ -239,8 +243,9 @@ public class DroneHelper {
retryGimbalPitchDegree(); retryGimbalPitchDegree();
} }
} }
private void retryGimbalPitchDegree(){
if (!isGimbalPitchDegree){ private void retryGimbalPitchDegree() {
if (!isGimbalPitchDegree) {
new Handler().postDelayed(new Runnable() { new Handler().postDelayed(new Runnable() {
@Override @Override
public void run() { public void run() {
@ -265,10 +270,12 @@ public class DroneHelper {
virtualStickFlightControlParam.setVerticalThrottle(mThrottle);//上下 virtualStickFlightControlParam.setVerticalThrottle(mThrottle);//上下
sendMovementCommand(virtualStickFlightControlParam); sendMovementCommand(virtualStickFlightControlParam);
} }
public boolean shouldExecute = true; public boolean shouldExecute = true;
public void sendMovementCommand(VirtualStickFlightControlParam param) { public void sendMovementCommand(VirtualStickFlightControlParam param) {
// if (shouldExecute) { // if (shouldExecute) {
VirtualStickManager.getInstance().sendVirtualStickAdvancedParam(param); VirtualStickManager.getInstance().sendVirtualStickAdvancedParam(param);
// } // }
// shouldExecute = !shouldExecute; // shouldExecute = !shouldExecute;
} }

10
app/src/main/java/com/aros/apron/tools/PreferenceUtils.java
View File

@ -30,6 +30,16 @@ public class PreferenceUtils extends BasePreference {
private String TRIGGER_TO_ALTERNATE_POINT = "trigger_to_alternate_point";//是否需要触发crash后继续降落 private String TRIGGER_TO_ALTERNATE_POINT = "trigger_to_alternate_point";//是否需要触发crash后继续降落
private String FIRST_MISSION_RECEIVED = "first_mission_received";//是否第一次收到航线指令 private String FIRST_MISSION_RECEIVED = "first_mission_received";//是否第一次收到航线指令
private String waylinename; //航线名字
public String getWaylinename() {
return waylinename;
}
public void setWaylinename(String waylinename) {
this.waylinename = waylinename;
}
//AMS配置清单 //AMS配置清单
private String HAVA_RTK = "have_rtk"; private String HAVA_RTK = "have_rtk";
private String SATELLITE_SYSTEM = "satellite_system"; private String SATELLITE_SYSTEM = "satellite_system";

84
app/src/main/java/com/aros/apron/tools/SimplePortScanner.java
View File

@ -2,26 +2,71 @@ package com.aros.apron.tools;
import android.os.Handler; import android.os.Handler;
import android.os.Looper; import android.os.Looper;
import android.util.Log;
import com.aros.apron.manager.StreamManager;
import java.io.IOException; import java.io.IOException;
import java.net.InetSocketAddress; import java.net.InetSocketAddress;
import java.net.Socket; import java.net.Socket;
import java.util.Timer; import java.util.concurrent.ExecutorService;
import java.util.TimerTask; import java.util.concurrent.Executors;
/** /**
* 极简版：每3秒检测一次本地8554端口是否开启 * 极简版：每 3 秒检测一次本地 8554 端口是否开启
* 参数别改：回调已强制切到主线程，可直接操作UI * 参数别改：回调已强制切到主线程，可直接操作 UI
*/ */
public class SimplePortScanner { public class SimplePortScanner {
private static final String TAG = "SimplePortScanner";
private static final int CHECK_PORT = 8554; private static final int CHECK_PORT = 8554;
private static final String LOCAL_HOST = "127.0.0.1"; private static final String LOCAL_HOST = "127.0.0.1";
// 连续关闭次数，超过阈值后重启推流
private int closedCount = 0;
private static final int MAX_CLOSED_COUNT = 3; // 连续 3 次关闭后重启
private static final long SCAN_INTERVAL = 3000L; private static final long SCAN_INTERVAL = 3000L;
private static final int CONNECT_TIMEOUT = 500; private static final int CONNECT_TIMEOUT = 500;
private Timer scanTimer;
private OnPortCheckListener checkListener; private OnPortCheckListener checkListener;
// 主线程 Handler，用于切换回调到UI线程 // 主线程 Handler，用于切换回调到 UI 线程和定时扫描
private final Handler mainHandler = new Handler(Looper.getMainLooper()); private final Handler mainHandler = new Handler(Looper.getMainLooper());
// 后台线程池，用于执行网络请求
private final ExecutorService executor = Executors.newSingleThreadExecutor();
// 扫描任务
private final Runnable scanRunnable = new Runnable() {
@Override
public void run() {
// 在后台线程执行网络请求
executor.execute(() -> {
final boolean isOpen = checkPort(LOCAL_HOST, CHECK_PORT);
// 结果贴回主线程
mainHandler.post(() -> {
if (isOpen) {
closedCount = 0; // 重置计数
if (checkListener != null) {
checkListener.onPortOpen();
}
} else {
closedCount++;
Log.i(TAG, "端口关闭次数：" + closedCount + "/" + MAX_CLOSED_COUNT);
if (closedCount >= MAX_CLOSED_COUNT) {
Log.i(TAG, "端口连续关闭 " + closedCount + " 次，尝试重启 RTSP 推流");
closedCount = 0; // 重置计数
// 先重置状态，让 startLiveWithRTSP 能真正执行
StreamManager.getInstance().resetStreamState();
StreamManager.getInstance().startLiveWithRTSP();
}
if (checkListener != null) {
checkListener.onPortClosed();
}
}
// 延迟 3 秒后继续扫描
mainHandler.postDelayed(this, SCAN_INTERVAL);
});
});
}
};
public interface OnPortCheckListener { public interface OnPortCheckListener {
void onPortOpen(); void onPortOpen();
@ -44,30 +89,13 @@ public class SimplePortScanner {
public void startScan() { public void startScan() {
stopScan(); stopScan();
scanTimer = new Timer(); closedCount = 0; // 重置计数
scanTimer.scheduleAtFixedRate(new TimerTask() { // 立即执行一次，然后延迟 3 秒循环
@Override mainHandler.post(scanRunnable);
public void run() {
final boolean isOpen = checkPort(LOCAL_HOST, CHECK_PORT);
// 关键修改：切到主线程回调
mainHandler.post(() -> {
if (checkListener != null) {
if (isOpen) {
checkListener.onPortOpen();
} else {
checkListener.onPortClosed();
}
}
});
}
}, 0, SCAN_INTERVAL);
} }
public void stopScan() { public void stopScan() {
if (scanTimer != null) { mainHandler.removeCallbacks(scanRunnable);
scanTimer.cancel();
scanTimer = null;
}
} }
private boolean checkPort(String host, int port) { private boolean checkPort(String host, int port) {
@ -78,4 +106,4 @@ public class SimplePortScanner {
return false; return false;
} }
} }
} }

13
app/src/main/res/layout-land/activity_main.xml
View File

@ -299,29 +299,22 @@
tools:ignore="MissingConstraints"> tools:ignore="MissingConstraints">
<Button <Button
android:id="@+id/btn_test" android:id="@+id/btn_test"
android:text="拉流" android:text="切换3"
android:layout_width="100dp" android:layout_width="100dp"
android:layout_height="100dp" android:layout_height="100dp"
/> />
<Button <Button
android:id="@+id/btn_test1" android:id="@+id/btn_test1"
android:text="向后" android:text="拍"
android:layout_width="100dp" android:layout_width="100dp"
android:layout_height="100dp" android:layout_height="100dp"
/> />
<Button <Button
android:id="@+id/btn_test2" android:id="@+id/btn_test2"
android:text="向左" android:text="虚拟摇杆"
android:layout_width="100dp" android:layout_width="100dp"
android:layout_height="100dp" android:layout_height="100dp"
/> />
<Button
android:id="@+id/btn_test3"
android:text="向右"
android:layout_width="100dp"
android:layout_height="100dp"
/>
</LinearLayout> </LinearLayout>
</androidx.constraintlayout.widget.ConstraintLayout> </androidx.constraintlayout.widget.ConstraintLayout>

12
app/src/main/res/layout/activity_main.xml
View File

@ -292,20 +292,26 @@
app:layout_constraintWidth_percent="0.95" app:layout_constraintWidth_percent="0.95"
app:uxsdk_titleBarBackgroundColor="@color/uxsdk_black" /> app:uxsdk_titleBarBackgroundColor="@color/uxsdk_black" />
<LinearLayout <LinearLayout
android:visibility="visible" android:visibility="gone"
android:orientation="horizontal" android:orientation="horizontal"
android:layout_width="match_parent" android:layout_width="match_parent"
android:layout_height="100dp" android:layout_height="100dp"
tools:ignore="MissingConstraints"> tools:ignore="MissingConstraints">
<Button <Button
android:id="@+id/btn_test" android:id="@+id/btn_test"
android:text="旋转" android:text="切换3"
android:layout_width="100dp" android:layout_width="100dp"
android:layout_height="100dp" android:layout_height="100dp"
/> />
<Button <Button
android:id="@+id/btn_test1" android:id="@+id/btn_test1"
android:text="停转" android:text="拍"
android:layout_width="100dp"
android:layout_height="100dp"
/>
<Button
android:id="@+id/btn_test2"
android:text="虚拟摇杆"
android:layout_width="100dp" android:layout_width="100dp"
android:layout_height="100dp" android:layout_height="100dp"
/> />