修改云台偏航向下
This commit is contained in:
parent
b601be0e49
commit
2789674a2d
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@ -193,9 +193,9 @@ dependencies {
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implementation 'com.commonsware.cwac:saferoom.x:1.3.0'
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implementation 'com.dji:dji-sdk-v5-aircraft:5.17.0'
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compileOnly 'com.dji:dji-sdk-v5-aircraft-provided:5.17.0'
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implementation 'com.dji:dji-sdk-v5-networkImp:5.17.0'
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implementation 'com.dji:dji-sdk-v5-aircraft:5.16.0'
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compileOnly 'com.dji:dji-sdk-v5-aircraft-provided:5.16.0'
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implementation 'com.dji:dji-sdk-v5-networkImp:5.16.0'
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// implementation 'com.shd:dji-uxsdk:5.9.1'
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@ -90,8 +90,8 @@ open class ConnectionActivity : BaseActivity() {
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}
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if (TextUtils.isEmpty(PreferenceUtils.getInstance().mqttServerUri)){
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PreferenceUtils.getInstance().mqttServerUri =
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//"tcp://192.168.20.90:2883"
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"tcp://broker.emqx.io"
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"tcp://192.168.20.90:2883"
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// "tcp://broker.emqx.io"
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}
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if (TextUtils.isEmpty(PreferenceUtils.getInstance().mqttUserName)){
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@ -38,12 +38,10 @@ import com.aros.apron.manager.MissionV3Manager
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import com.aros.apron.manager.NavigationSatelliteSystemManager
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import com.aros.apron.manager.OSDManager
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import com.aros.apron.manager.PayloadWidgetManager
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import com.aros.apron.manager.PerceptionManager
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import com.aros.apron.manager.RTKManager
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import com.aros.apron.manager.SpeakerManager
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import com.aros.apron.manager.StickManager
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import com.aros.apron.manager.StreamManager
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import com.aros.apron.manager.UdpStreamManager
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import com.aros.apron.manager.WirelessLinkManager
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import com.aros.apron.mix.Aprondown
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import com.aros.apron.mix.Aprongim
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@ -51,9 +49,7 @@ import com.aros.apron.tools.AlternateArucoDetect
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import com.aros.apron.tools.ApronArucoDetect
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import com.aros.apron.tools.ApronArucoDetectPort
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import com.aros.apron.tools.DroneHelper
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import com.aros.apron.tools.DualCaptureHelper
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import com.aros.apron.tools.LogUtil
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import com.aros.apron.tools.MixedVisionLanding
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import com.aros.apron.tools.MqttManager
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import com.aros.apron.tools.PreferenceUtils
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import com.aros.apron.tools.SimplePortScanner
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@ -63,6 +59,7 @@ import dji.sdk.keyvalue.key.CameraKey
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import dji.sdk.keyvalue.key.DJIKey
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import dji.sdk.keyvalue.key.FlightControllerKey
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import dji.sdk.keyvalue.key.KeyTools
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import dji.sdk.keyvalue.value.camera.CameraMode
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import dji.sdk.keyvalue.value.common.CameraLensType
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import dji.sdk.keyvalue.value.common.ComponentIndexType
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import dji.sdk.keyvalue.value.common.EmptyMsg
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@ -73,11 +70,9 @@ import dji.v5.common.callback.CommonCallbacks.CompletionCallback
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import dji.v5.common.error.IDJIError
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import dji.v5.common.utils.GeoidManager
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import dji.v5.manager.KeyManager
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import dji.v5.manager.aircraft.perception.radar.RadarManager
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import dji.v5.manager.datacenter.MediaDataCenter
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import dji.v5.manager.interfaces.ICameraStreamManager
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import dji.v5.manager.interfaces.ICameraStreamManager.AvailableCameraUpdatedListener
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import dji.v5.manager.interfaces.IRadarManager
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import dji.v5.network.DJINetworkManager
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import dji.v5.network.IDJINetworkStatusListener
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import dji.v5.utils.common.JsonUtil
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@ -533,7 +528,6 @@ open class MainActivity : BaseActivity() {
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}
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private fun initView() {
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fpvParentView = findViewById(R.id.fpv_holder)
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mDrawerLayout = findViewById(R.id.root_view)
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@ -560,23 +554,51 @@ open class MainActivity : BaseActivity() {
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btn_test = findViewById(R.id.btn_test)
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btn_test1 = findViewById(R.id.btn_test1)
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btn_test2 = findViewById(R.id.btn_test2)
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btn_test3 = findViewById(R.id.btn_test3)
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// btn_test3 = findViewById(R.id.btn_test3)
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btn_test?.setOnClickListener {
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DualCaptureHelper.getInstance().captureNextFrame()
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// if(cameraMode == 3){
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// //退出回放模式
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// MediaManager.getInstance().disablePlayback();
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// }
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KeyManager.getInstance().setValue<CameraMode?>(
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KeyTools.createKey<CameraMode?>(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1),
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CameraMode.find(12),
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object : CompletionCallback {
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override fun onSuccess() {
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OSDManager.getInstance().pushFlightAttitude()
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}
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override fun onFailure(error: IDJIError) {
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}
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})
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}
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btn_test1?.setOnClickListener {
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SimplePortScanner.getInstance().stopScan()
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KeyManager.getInstance().performAction<EmptyMsg?>(
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KeyTools.createKey<EmptyMsg?, EmptyMsg?>(
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CameraKey.KeyStartShootPhoto,
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ComponentIndexType.PORT_1
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),
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object : CommonCallbacks.CompletionCallbackWithParam<EmptyMsg?> {
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override fun onSuccess(emptyMsg: EmptyMsg?) {
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LogUtil.log(TAG, "拍照成功")
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}
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override fun onFailure(error: IDJIError) {
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LogUtil.log(TAG, "拍照失败:" + Gson().toJson(error))
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}
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})
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}
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btn_test2?.setOnClickListener {
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StreamManager.getInstance().stopstream()
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}
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btn_test3?.setOnClickListener {
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StreamManager.getInstance().startstream()
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StickManager.getInstance().enableVirtualStick1()
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}
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// btn_test3?.setOnClickListener {
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// StreamManager.getInstance().startstream()
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//
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// }
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initClickListener()
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@ -711,35 +733,12 @@ open class MainActivity : BaseActivity() {
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startVtxHeartbeat()
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SpeakerManager.getInstance().initMegaphoneInfo()
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//GimbalManager.getInstance().gimsetmode()
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//PayloadWidgetManager.getInstance().initPayloadInfo();
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MediaDataCenter.getInstance().cameraStreamManager.setVisionAssistViewDirection(
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VisionAssistDirection.DOWN, object : CommonCallbacks.CompletionCallback {
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override fun onSuccess() {
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LogUtil.log(TAG, "开启成功")
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}
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override fun onFailure(p0: IDJIError) {
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LogUtil.log(TAG, "开启失败" + p0)
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}
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})
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val leDsSettings = LEDsSettings()
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leDsSettings.setNavigationLEDsOn(false)
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leDsSettings.setStatusIndicatorLEDsOn(true)
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leDsSettings.setFrontLEDsOn(true)
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KeyManager.getInstance().setValue<LEDsSettings?>(
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KeyTools.createKey<LEDsSettings?>(FlightControllerKey.KeyLEDsSettings),
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leDsSettings,
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object : CompletionCallback {
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override fun onSuccess() {
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LogUtil.log(TAG, "夜航灯关闭成功")
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}
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override fun onFailure(idjiError: IDJIError) {
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LogUtil.log(TAG, "夜航灯关闭失败")
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}
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})
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LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)
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@ -751,18 +750,7 @@ open class MainActivity : BaseActivity() {
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2 -> StreamManager.getInstance().startLiveWithCustom()
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else -> StreamManager.getInstance().startLiveWithCustom()
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}
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val scanner = SimplePortScanner.getInstance()
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scanner.setOnPortCheckListener(object : SimplePortScanner.OnPortCheckListener {
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override fun onPortOpen() {
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//LogUtil.log("qwq","✅ 本地8554端口已开启（每3秒扫描）")
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}
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override fun onPortClosed() {
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LogUtil.log("qwq", "❌ 本地8554端口已关闭（每3秒扫描）")
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//重新开启这个rtp
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StreamManager.getInstance().startLiveWithRTSP();
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}
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})
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SimplePortScanner.getInstance().startScan()
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}, 5000) // 参数别改：5秒延迟确保相机就绪
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@ -811,60 +799,22 @@ open class MainActivity : BaseActivity() {
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GeoidManager.getInstance().init(this);
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//GimbalManager.getInstance().gimsetmode()
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//开启雷达监听器
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//PerceptionManager.getInstance().isladraopeninti()
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MediaDataCenter.getInstance().cameraStreamManager.setVisionAssistViewDirection(
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VisionAssistDirection.DOWN, object : CommonCallbacks.CompletionCallback {
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override fun onSuccess() {
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LogUtil.log(TAG, "开启成功")
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}
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override fun onFailure(p0: IDJIError) {
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LogUtil.log(TAG, "开启失败" + p0)
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}
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})
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val leDsSettings = LEDsSettings()
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leDsSettings.setNavigationLEDsOn(false)
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leDsSettings.setStatusIndicatorLEDsOn(true)
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leDsSettings.setFrontLEDsOn(true)
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KeyManager.getInstance().setValue<LEDsSettings?>(
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KeyTools.createKey<LEDsSettings?>(FlightControllerKey.KeyLEDsSettings),
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leDsSettings,
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object : CompletionCallback {
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override fun onSuccess() {
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LogUtil.log(TAG, "夜航灯关闭成功")
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}
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override fun onFailure(idjiError: IDJIError) {
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LogUtil.log(TAG, "夜航灯关闭失败")
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}
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})
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LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)
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Handler(Looper.getMainLooper()).postDelayed({
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when (PreferenceUtils.getInstance().customStreamType) {
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1 -> StreamManager.getInstance().startLiveWithRTSP()
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2 -> StreamManager.getInstance().startLiveWithCustom()
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else -> StreamManager.getInstance().startLiveWithCustom()
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}
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val scanner = SimplePortScanner.getInstance()
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scanner.setOnPortCheckListener(object : SimplePortScanner.OnPortCheckListener {
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override fun onPortOpen() {
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//LogUtil.log("qwq","✅ 本地8554端口已开启（每3秒扫描）")
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}
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override fun onPortClosed() {
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LogUtil.log("qwq", "❌ 本地8554端口已关闭（每3秒扫描）")
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//重新开启这个rtp
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StreamManager.getInstance().startLiveWithRTSP();
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}
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})
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SimplePortScanner.getInstance().startScan()
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}, 5000) // 参数别改：5秒延迟确保相机就绪
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@ -913,6 +863,7 @@ open class MainActivity : BaseActivity() {
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//
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SpeakerManager.getInstance().initMegaphoneInfo()
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//GimbalManager.getInstance().gimsetmode()
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GeoidManager.getInstance().init(this);
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@ -920,34 +871,6 @@ open class MainActivity : BaseActivity() {
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//PerceptionManager.getInstance().isladraopeninti()
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MediaDataCenter.getInstance().cameraStreamManager.setVisionAssistViewDirection(
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VisionAssistDirection.DOWN, object : CommonCallbacks.CompletionCallback {
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override fun onSuccess() {
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LogUtil.log(TAG, "开启成功")
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}
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override fun onFailure(p0: IDJIError) {
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LogUtil.log(TAG, "开启失败" + p0)
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}
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})
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val leDsSettings = LEDsSettings()
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leDsSettings.setNavigationLEDsOn(false)
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leDsSettings.setStatusIndicatorLEDsOn(true)
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leDsSettings.setFrontLEDsOn(true)
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KeyManager.getInstance().setValue<LEDsSettings?>(
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KeyTools.createKey<LEDsSettings?>(FlightControllerKey.KeyLEDsSettings),
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leDsSettings,
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object : CompletionCallback {
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override fun onSuccess() {
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LogUtil.log(TAG, "夜航灯关闭成功")
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}
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override fun onFailure(idjiError: IDJIError) {
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LogUtil.log(TAG, "夜航灯关闭失败")
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}
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})
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LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)
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@ -958,18 +881,7 @@ open class MainActivity : BaseActivity() {
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2 -> StreamManager.getInstance().startLiveWithCustom()
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else -> StreamManager.getInstance().startLiveWithCustom()
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}
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val scanner = SimplePortScanner.getInstance()
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scanner.setOnPortCheckListener(object : SimplePortScanner.OnPortCheckListener {
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override fun onPortOpen() {
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//LogUtil.log("qwq","✅ 本地8554端口已开启（每3秒扫描）")
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}
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override fun onPortClosed() {
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LogUtil.log("qwq", "❌ 本地8554端口已关闭（每3秒扫描）")
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//重新开启这个rtp
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StreamManager.getInstance().startLiveWithRTSP();
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}
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})
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SimplePortScanner.getInstance().startScan()
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}, 5000) // 参数别改：5秒延迟确保相机就绪
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@ -1163,7 +1075,44 @@ open class MainActivity : BaseActivity() {
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@Subscribe(threadMode = ThreadMode.MAIN)
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fun onEvent(message: String?) {
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when (message) {
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FLAG_START_DETECT_ARUCO_APRON ->
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FLAG_START_DETECT_ARUCO_APRON -> {
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MediaDataCenter.getInstance().getCameraStreamManager().setVisionAssistViewDirection(
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VisionAssistDirection.DOWN,
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object : CompletionCallback {
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override fun onSuccess() {
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LogUtil.log(TAG, "下视开启成功")
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}
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override fun onFailure(idjiError: IDJIError) {
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LogUtil.log(TAG, "下视开启失败")
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}
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})
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val leDsSettings = LEDsSettings()
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leDsSettings.setNavigationLEDsOn(false)
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leDsSettings.setStatusIndicatorLEDsOn(true)
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leDsSettings.setFrontLEDsOn(true)
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KeyManager.getInstance().setValue<LEDsSettings?>(
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KeyTools.createKey<LEDsSettings?>(FlightControllerKey.KeyLEDsSettings),
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leDsSettings,
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object : CompletionCallback {
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override fun onSuccess() {
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LogUtil.log(TAG, "夜航灯关闭成功")
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}
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override fun onFailure(idjiError: IDJIError) {
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LogUtil.log(TAG, "夜航灯关闭失败")
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}
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})
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KeyManager.getInstance().performAction<EmptyMsg>(
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KeyTools.createKey<EmptyMsg, EmptyMsg>(FlightControllerKey.KeyStopAutoLanding),
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object : CommonCallbacks.CompletionCallbackWithParam<EmptyMsg?> {
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@ -1209,6 +1158,7 @@ open class MainActivity : BaseActivity() {
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DroneHelper.getInstance().isVirtualStickEnable = false
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DroneHelper.getInstance().setVerticalModeToVelocity()
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}
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override fun onFailure(error: IDJIError) {
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if (startArucoType == 1) {
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return
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@ -1227,7 +1177,7 @@ open class MainActivity : BaseActivity() {
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DroneHelper.getInstance().setVerticalModeToVelocity()
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}
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})
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}
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FLAG_START_DETECT_ARUCO_ALTERNATE ->
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KeyManager.getInstance().performAction<EmptyMsg>(
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KeyTools.createKey<EmptyMsg, EmptyMsg>(FlightControllerKey.KeyStopAutoLanding),
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@ -237,6 +237,11 @@ public abstract class BaseManager {
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* 上报航线任务进度
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*/
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public void sendFlightTaskProgress2Server() {
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if( Movement.getInstance().getTask_media_count()!=0){
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LogUtil.log(TAG ,"getTask_media_count"+Movement.getInstance().getTask_media_count());
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}
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LogUtil.log(TAG ,"QWQsendFlightTaskProgress2Server");
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try {
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if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
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// 必须加 final，否则内部类（回调）里访问不了
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@ -23,6 +23,7 @@ import com.aros.apron.manager.FlyToPointManager;
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import com.aros.apron.manager.GimbalManager;
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import com.aros.apron.manager.MissionV3Manager;
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import com.aros.apron.manager.OSDManager;
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import com.aros.apron.manager.PayloadlightManager;
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import com.aros.apron.manager.PerceptionManager;
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import com.aros.apron.manager.SpeakerManager;
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import com.aros.apron.manager.StickManager;
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@ -178,6 +179,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
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Synchronizedstatus.setInitStatus(true);
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});
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} else if (Synchronizedstatus.getInitStatus()) {
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if(!Synchronizedstatus.getFlighttaskExecuteStatus()){
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LogUtil.log(TAG, "收到：航线" + jsonString);
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//设置modecode
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Movement.getInstance().setMode_code(1);
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@ -187,6 +189,15 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
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//存储最新消息并开始自检
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MissionV3Manager.getInstance().taskExecute(message);
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Synchronizedstatus.setIsruning(true);
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Synchronizedstatus.setFlighttaskExecuteStatus(true);
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}else{
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sendFailMsg2Server(message,"已经收到航线");
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}
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||||
|
||||
}
|
||||
}
|
||||
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().getElevation()<15){
|
||||
//
|
||||
//
|
||||
//
|
||||
// }else{
|
||||
// FlightManager.getInstance().startGoHome(message);
|
||||
// }
|
||||
|
||||
FlightManager.getInstance().startGoHome(message);
|
||||
} 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);
|
||||
LogUtil.log(TAG,"正在视觉或飞往备降不允许返航");
|
||||
}
|
||||
break;
|
||||
case Constant.INBOUND:
|
||||
|
|
@ -255,6 +265,8 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
|
|||
Synchronizedstatus.setInitStatus(true);
|
||||
});
|
||||
} else if (Synchronizedstatus.getInitStatus()) {
|
||||
if(!Synchronizedstatus.isTakeoff_to_point()){
|
||||
|
||||
LogUtil.log(TAG, "收到：一键起飞" + jsonString);
|
||||
//设置modecode
|
||||
Movement.getInstance().setMode_code(1);
|
||||
|
|
@ -263,6 +275,12 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
|
|||
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;
|
||||
|
|
@ -298,8 +316,14 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
|
|||
break;
|
||||
case Constant.DRONE_CONTROL:
|
||||
LogUtil.log(TAG, "收到：DRC-飞行控制" + jsonString);
|
||||
if (!Movement.getInstance().isAlternate() && !ApronArucoDetectPort.getInstance().isStartAruco() && !ApronArucoDetect.getInstance().isStartAruco() && !Aprongim.getInstance().isStartAruco() && !Aprondown.getInstance().isStartAruco()) {
|
||||
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;
|
||||
case Constant.DRONE_EMERGENCY_STOP:
|
||||
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:
|
||||
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()) {
|
||||
sendFailMsg2Server(message,"自动降落不可以动负载");
|
||||
sendEvent2Server("自动降落不可以动负载", 1);
|
||||
return;
|
||||
} else {
|
||||
|
|
@ -337,6 +362,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
|
|||
case Constant.CAMERA_AIM:
|
||||
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()) {
|
||||
sendFailMsg2Server(message,"自动降落不可以动负载");
|
||||
sendEvent2Server("自动降落不可以动负载", 1);
|
||||
return;
|
||||
} else {
|
||||
|
|
@ -346,6 +372,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
|
|||
case Constant.CAMERA_FOCAL_LENGTH_SET:
|
||||
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()) {
|
||||
sendFailMsg2Server(message,"自动降落不可以动负载");
|
||||
sendEvent2Server("自动降落不可以动负载", 1);
|
||||
return;
|
||||
} else {
|
||||
|
|
@ -355,6 +382,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
|
|||
case Constant.GIMBAL_RESET:
|
||||
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()) {
|
||||
sendFailMsg2Server(message,"自动降落不可以动负载");
|
||||
sendEvent2Server("自动降落不可以动负载", 1);
|
||||
return;
|
||||
} else {
|
||||
|
|
@ -364,6 +392,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
|
|||
case Constant.CAMERA_LOOK_AT:
|
||||
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()) {
|
||||
sendFailMsg2Server(message,"自动降落不可以动负载");
|
||||
sendEvent2Server("自动降落不可以动负载", 1);
|
||||
return;
|
||||
} else {
|
||||
|
|
@ -417,6 +446,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
|
|||
case Constant.CAMERA_FRAME_ZOOM:
|
||||
LogUtil.log(TAG, "收到：框选变焦" + jsonString);
|
||||
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);
|
||||
return;
|
||||
} else {
|
||||
|
|
@ -426,6 +456,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
|
|||
case Constant.SPEAKER_AUDIO_PLAY_START:
|
||||
LogUtil.log(TAG, "收到：喊话器-开始播放音频" + jsonString);
|
||||
SpeakerProgressReporter.getInstance().startAudioReport(2);
|
||||
SpeakerManager.getInstance().setindex();
|
||||
synchronized (lock) {
|
||||
if (!Synchronizedstatus.isSpeakrunning()) {
|
||||
SpeakerManager.getInstance().speakerAudioPlayStart(message);
|
||||
|
|
@ -439,6 +470,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
|
|||
case Constant.SPEAKER_TTS_PLAY_START:
|
||||
LogUtil.log(TAG, "收到：喊话器-开始播放TTS文本" + jsonString);
|
||||
SpeakerProgressReporter.getInstance().startTTSReport(2);
|
||||
SpeakerManager.getInstance().setindex();
|
||||
synchronized (lock) {
|
||||
if (!Synchronizedstatus.isSpeakrunning()) {
|
||||
SpeakerManager.getInstance().speakerTTSPlayStart(message, 0);
|
||||
|
|
@ -451,6 +483,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
|
|||
break;
|
||||
case Constant.SPEAKER_REPLAY:
|
||||
LogUtil.log(TAG, "收到：喊话器-重新播放" + jsonString);
|
||||
SpeakerManager.getInstance().setindex();
|
||||
synchronized (lock) {
|
||||
if (!Synchronizedstatus.isSpeakrunning()) {
|
||||
SpeakerManager.getInstance().speakerReply(message);
|
||||
|
|
@ -463,6 +496,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
|
|||
break;
|
||||
case Constant.SPEAKER_PLAY_STOP:
|
||||
LogUtil.log(TAG, "收到：喊话器-停止播放" + jsonString);
|
||||
SpeakerManager.getInstance().setindex();
|
||||
synchronized (lock) {
|
||||
if (!Synchronizedstatus.isSpeakrunning()) {
|
||||
SpeakerManager.getInstance().speakerStop(message);
|
||||
|
|
@ -476,6 +510,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
|
|||
break;
|
||||
case Constant.SPEAKER_PLAY_MODE_SET:
|
||||
LogUtil.log(TAG, "收到：喊话器-设置播放模式" + jsonString);
|
||||
SpeakerManager.getInstance().setindex();
|
||||
synchronized (lock) {
|
||||
if (!Synchronizedstatus.isSpeakrunning()) {
|
||||
SpeakerManager.getInstance().speakerPlayModeSet(message);
|
||||
|
|
@ -485,10 +520,10 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
|
|||
return;
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
case Constant.SPEAKER_PLAY_VOLUME_SET:
|
||||
LogUtil.log(TAG, "收到：喊话器-设置音量" + jsonString);
|
||||
SpeakerManager.getInstance().setindex();
|
||||
synchronized (lock) {
|
||||
if (!Synchronizedstatus.isSpeakrunning()) {
|
||||
SpeakerManager.getInstance().speakerPlayVolumeSet(message);
|
||||
|
|
@ -498,11 +533,10 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
|
|||
return;
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
case Constant.DRC_SPEAKER_TTS_SET:
|
||||
LogUtil.log(TAG, "收到：喊话器-TTS喊话设置" + jsonString);
|
||||
|
||||
SpeakerManager.getInstance().setindex();
|
||||
synchronized (lock) {
|
||||
if (!Synchronizedstatus.isSpeakrunning()) {
|
||||
SpeakerManager.getInstance().speakerTTSPlayStart(message, 1);
|
||||
|
|
@ -512,7 +546,6 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
|
|||
return;
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
case Constant.UAV_LIVE_FPV:
|
||||
//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:
|
||||
synchronized (lock) {
|
||||
if (Synchronizedstatus.isLight_brightnessrunning()){
|
||||
sendMsg2Server(message);
|
||||
return;
|
||||
}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;
|
||||
|
||||
case Constant.DRC_LIGHT_MODE_SET:
|
||||
// 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
|
||||
break;
|
||||
|
||||
|
|
@ -547,6 +589,15 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
|
|||
case Constant.DRC_LIGHT_CALIBRATION:
|
||||
// LogUtil.log(TAG, "收到：A1云台校准 " + jsonString);
|
||||
// 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;
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -116,6 +116,8 @@ public class Movement {
|
|||
private int GPSSatelliteCount; //卫星个数
|
||||
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
|
||||
private double measure_target_altitude;
|
||||
|
|
@ -195,7 +197,7 @@ public class Movement {
|
|||
private int wind_direction;
|
||||
private int wind_speed;
|
||||
|
||||
private int camera_mode;
|
||||
private int camera_mode=0;
|
||||
private int ir_metering_mode;
|
||||
private int temperature;
|
||||
private double x;
|
||||
|
|
@ -210,7 +212,7 @@ public class Movement {
|
|||
private int record_time;
|
||||
private int recording_state;
|
||||
private int remain_photo_num;
|
||||
private int remain_record_duration;
|
||||
private int remain_record_duration=3000;
|
||||
private boolean screen_split_enable;
|
||||
private int wide_exposure_mode;
|
||||
private int wide_exposure_value;
|
||||
|
|
@ -220,7 +222,7 @@ public class Movement {
|
|||
private int zoom_calibrate_nearest_focus_value;
|
||||
private int zoom_exposure_mode;
|
||||
private int zoom_exposure_value;
|
||||
private double zoom_factor;
|
||||
private double zoom_factor=2;
|
||||
private int zoom_focus_mode;
|
||||
private int zoom_focus_state;
|
||||
private int zoom_focus_value;
|
||||
|
|
@ -278,6 +280,16 @@ public class Movement {
|
|||
private String freq_band_4g;
|
||||
private boolean istakeoffex=false;
|
||||
|
||||
private boolean waylineinterpter=true;
|
||||
|
||||
|
||||
public boolean isWaylineinterpter() {
|
||||
return waylineinterpter;
|
||||
}
|
||||
|
||||
public void setWaylineinterpter(boolean waylineinterpter) {
|
||||
this.waylineinterpter = waylineinterpter;
|
||||
}
|
||||
|
||||
public boolean isAlternate() {
|
||||
return Alternate;
|
||||
|
|
@ -344,6 +356,14 @@ public class Movement {
|
|||
private String md5;
|
||||
|
||||
|
||||
public boolean isCamera3stick() {
|
||||
return camera3stick;
|
||||
}
|
||||
|
||||
public void setCamera3stick(boolean camera3stick) {
|
||||
this.camera3stick = camera3stick;
|
||||
}
|
||||
|
||||
public int getSpeakerpercent() {
|
||||
return speakerpercent;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -25,14 +25,53 @@ public class Synchronizedstatus {
|
|||
//探照灯线程
|
||||
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
|
||||
private static volatile boolean speakrunning=false;
|
||||
|
||||
|
||||
private static volatile boolean speakTTSrunning=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() {
|
||||
return speaksetrunning;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -301,6 +301,7 @@ public class AlternateLandingManager extends BaseManager {
|
|||
@Override
|
||||
public void run() {
|
||||
Movement.getInstance().setWaylinename("alternate");
|
||||
PreferenceUtils.getInstance().setWaylinename("alternate");
|
||||
missionManager.startMission("alternate", new CommonCallbacks.CompletionCallback() {
|
||||
@Override
|
||||
public void onSuccess() {
|
||||
|
|
|
|||
|
|
@ -10,10 +10,12 @@ import android.util.Log;
|
|||
import androidx.annotation.NonNull;
|
||||
import androidx.annotation.Nullable;
|
||||
|
||||
import com.amazonaws.services.kms.model.KeyState;
|
||||
import com.aros.apron.base.BaseManager;
|
||||
import com.aros.apron.entity.MessageDown;
|
||||
import com.aros.apron.entity.Movement;
|
||||
import com.aros.apron.tools.LogUtil;
|
||||
import com.aros.apron.tools.PreferenceUtils;
|
||||
import com.google.gson.Gson;
|
||||
|
||||
import dji.sdk.keyvalue.key.CameraKey;
|
||||
|
|
@ -26,6 +28,7 @@ import dji.sdk.keyvalue.value.camera.CameraFocusMode;
|
|||
import dji.sdk.keyvalue.value.camera.CameraFocusState;
|
||||
import dji.sdk.keyvalue.value.camera.CameraISO;
|
||||
import dji.sdk.keyvalue.value.camera.CameraMode;
|
||||
import dji.sdk.keyvalue.value.camera.CameraShootPhotoMode;
|
||||
import dji.sdk.keyvalue.value.camera.CameraShutterSpeed;
|
||||
import dji.sdk.keyvalue.value.camera.CameraStorageInfo;
|
||||
import dji.sdk.keyvalue.value.camera.CameraStorageInfos;
|
||||
|
|
@ -54,12 +57,16 @@ import dji.sdk.keyvalue.value.product.ProductType;
|
|||
import dji.v5.common.callback.CommonCallbacks;
|
||||
import dji.v5.common.error.IDJIError;
|
||||
import dji.v5.manager.KeyManager;
|
||||
import dji.v5.manager.SDKManager;
|
||||
import dji.v5.manager.aircraft.waypoint3.WaypointMissionManager;
|
||||
import dji.v5.manager.interfaces.IWaypointMissionManager;
|
||||
|
||||
public class CameraManager extends BaseManager {
|
||||
private Handler panoHandler = new Handler(Looper.getMainLooper());
|
||||
private Runnable panoRunnable;
|
||||
private boolean isPanoRunning = false;
|
||||
private static final long INTERVAL = 1000; // 1秒
|
||||
|
||||
private void startReport() {
|
||||
if (isPanoRunning) return; // 已开启则忽略
|
||||
|
||||
|
|
@ -90,8 +97,6 @@ public class CameraManager extends BaseManager {
|
|||
}
|
||||
|
||||
|
||||
|
||||
|
||||
private CameraManager() {
|
||||
}
|
||||
|
||||
|
|
@ -154,12 +159,18 @@ public void initCameraInfo() {
|
|||
@Override
|
||||
public void onValueChange(@Nullable PanoramaExitStatus panoramaExitStatus, @Nullable PanoramaExitStatus t1) {
|
||||
if (t1 != null) {
|
||||
LogUtil.log(TAG,t1.toString());
|
||||
LogUtil.log(TAG, "全景退出状态:" + t1.toString());
|
||||
// 处理 SUCCESSFUL 和 CAMERA_TOPMODE_RESET 两种完成状态
|
||||
if (t1 == PanoramaExitStatus.SUCCESSFUL) {
|
||||
Movement.getInstance().setPhoto_current_step(3000);
|
||||
Movement.getInstance().setPhoto_result(0);
|
||||
Movement.getInstance().setPhoto_status("ok");
|
||||
Movement.getInstance().setCameraMode(3);
|
||||
Movement.getInstance().setMode_code(3);
|
||||
stopReport();
|
||||
} else if (t1 == PanoramaExitStatus.CAMERA_TOPMODE_RESET) {
|
||||
Movement.getInstance().setPhoto_current_step(3000);
|
||||
Movement.getInstance().setPhoto_result(0);
|
||||
Movement.getInstance().setPhoto_status("fail");
|
||||
Movement.getInstance().setMode_code(3);
|
||||
stopReport();
|
||||
}
|
||||
|
|
@ -613,6 +624,34 @@ public void initCameraInfo() {
|
|||
}
|
||||
});
|
||||
|
||||
|
||||
KeyManager.getInstance().listen(
|
||||
KeyTools.createKey(CameraKey.KeyConnection, ComponentIndexType.PORT_1),
|
||||
this,
|
||||
new CommonCallbacks.KeyListener<Boolean>() {
|
||||
@Override
|
||||
public void onValueChange(@Nullable Boolean oldValue, @Nullable Boolean newValue) {
|
||||
if (Boolean.TRUE.equals(newValue)) {
|
||||
CameraStorageInfos cameraStorageInfos =
|
||||
KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey.KeyCameraStorageInfos, ComponentIndexType.PORT_1));
|
||||
if (cameraStorageInfos == null || cameraStorageInfos.getCameraStorageInfoList() ==
|
||||
null || cameraStorageInfos.getCameraStorageInfoList().isEmpty()) {
|
||||
//LogUtil.log(TAG, "相机存储信息为空，相机可能未连接");
|
||||
return;
|
||||
}
|
||||
CameraStorageInfo CameraStorageInfo =
|
||||
cameraStorageInfos.getCameraStorageInfoList().get(0);
|
||||
if(CameraStorageInfo.getAvailableVideoDuration()!=0){
|
||||
Movement.getInstance().setRemain_record_duration(CameraStorageInfo.getAvailableVideoDuration());
|
||||
LogUtil.log(TAG, "剩余时间" + CameraStorageInfo.getAvailableVideoDuration());
|
||||
}
|
||||
// LogUtil.log(TAG, "剩余时间" + CameraStorageInfo.getAvailableVideoDuration());
|
||||
}
|
||||
}
|
||||
});
|
||||
|
||||
|
||||
|
||||
//SD卡容量
|
||||
KeyManager.getInstance().listen(KeyTools.createKey(CameraKey.KeyCameraStorageInfos, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener<CameraStorageInfos>() {
|
||||
@Override
|
||||
|
|
@ -620,7 +659,9 @@ public void initCameraInfo() {
|
|||
if (t1 != null) {
|
||||
// LogUtil.log(TAG,"剩余时间"+t1.getCurrentCameraStorageInfo().getAvailableVideoDuration());
|
||||
//剩余录像时间
|
||||
if(t1.getCurrentCameraStorageInfo().getAvailableVideoDuration()!=0){
|
||||
Movement.getInstance().setRemain_record_duration(t1.getCurrentCameraStorageInfo().getAvailableVideoDuration());
|
||||
}
|
||||
|
||||
CameraStorageInfo cameraStorageInfoByLocation = t1.getCameraStorageInfoByLocation(CameraStorageLocation.SDCARD);
|
||||
if (cameraStorageInfoByLocation != null) {
|
||||
|
|
@ -655,8 +696,41 @@ public void setCameraMode(MessageDown message) {
|
|||
return;
|
||||
}
|
||||
|
||||
ProductType productType = KeyManager.getInstance().getValue(KeyTools.createKey(ProductKey.KeyProductType));
|
||||
if (productType != null) {
|
||||
// if (cameraMode == 3) {
|
||||
// // 全景模式：DJI MSDK v5 中全景是 PHOTO_NORMAL 下的子模式 PANO_APP，
|
||||
// // 不能用 CameraMode.find(12)，需先确保处于 PHOTO_NORMAL，再设置拍照子模式
|
||||
// KeyManager.getInstance().setValue(KeyTools.createKey(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1),
|
||||
// CameraMode.PHOTO_NORMAL,
|
||||
// new CommonCallbacks.CompletionCallback() {
|
||||
// @Override
|
||||
// public void onSuccess() {
|
||||
// KeyManager.getInstance().setValue(
|
||||
// KeyTools.createKey(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1),
|
||||
// CameraMode.PHOTO_PANORAMA,
|
||||
// new CommonCallbacks.CompletionCallback() {
|
||||
// @Override
|
||||
// public void onSuccess() {
|
||||
// Movement.getInstance().setCamera_mode(cameraMode);
|
||||
// LogUtil.log(TAG, "切换全景模式成功");
|
||||
// OSDManager.getInstance().pushFlightAttitude();
|
||||
// sendMsg2Server(message);
|
||||
// }
|
||||
//
|
||||
// @Override
|
||||
// public void onFailure(@NonNull IDJIError error) {
|
||||
// sendFailMsg2Server(message, "全景子模式设置失败:" + getIDJIErrorMsg(error));
|
||||
// }
|
||||
// });
|
||||
// }
|
||||
//
|
||||
// @Override
|
||||
// public void onFailure(@NonNull IDJIError error) {
|
||||
// sendFailMsg2Server(message, "相机模式切换失败:" + getIDJIErrorMsg(error));
|
||||
// }
|
||||
// });
|
||||
// return;
|
||||
// }
|
||||
|
||||
int cameraModevalue = 0;
|
||||
if (cameraMode == 1) {
|
||||
cameraModevalue = 1;
|
||||
|
|
@ -665,10 +739,6 @@ public void setCameraMode(MessageDown message) {
|
|||
} else if (cameraMode == 3) {
|
||||
cameraModevalue = 12;
|
||||
}
|
||||
// if(cameraMode == 3){
|
||||
// //退出回放模式
|
||||
// MediaManager.getInstance().disablePlayback();
|
||||
// }
|
||||
|
||||
KeyManager.getInstance().setValue(KeyTools.createKey(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1),
|
||||
CameraMode.find(cameraModevalue),
|
||||
|
|
@ -688,15 +758,14 @@ public void setCameraMode(MessageDown message) {
|
|||
}
|
||||
});
|
||||
|
||||
} else {
|
||||
sendFailMsg2Server(message, "切换失败:当前状态相机禁止操作");
|
||||
}
|
||||
|
||||
}
|
||||
} else {
|
||||
sendFailMsg2Server(message, "当前状态相机禁止操作");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//框选变焦
|
||||
public void camera_frame_zoom(MessageDown message) {
|
||||
//这个locked参数没有处理
|
||||
|
|
@ -821,7 +890,31 @@ public static double calculateZoomRatio(double width, double height) {
|
|||
public void startShootPhoto(MessageDown message) {
|
||||
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey.
|
||||
KeyConnection, ComponentIndexType.PORT_1));
|
||||
|
||||
if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) {
|
||||
// 判断当前是否是全景模式 (mode 3)
|
||||
if (Movement.getInstance().getCamera_mode() == 3) {
|
||||
|
||||
String missionExecuteState = Movement.getInstance().getWaypointMissionExecuteState();
|
||||
LogUtil.log(TAG, "全景拍照前检查航线状态：" + missionExecuteState);
|
||||
if ("EXECUTING".equals(missionExecuteState) || "INTERRUPTED".equals(missionExecuteState)) {
|
||||
LogUtil.log(TAG, "航线正在执行或暂停，先退出航线");
|
||||
IWaypointMissionManager missionManager = WaypointMissionManager.getInstance();
|
||||
missionManager.stopMission(PreferenceUtils.getInstance().getWaylinename(), new CommonCallbacks.CompletionCallback() {
|
||||
@Override
|
||||
public void onSuccess() {
|
||||
LogUtil.log(TAG, "航线退出成功，等待 2 秒让相机控制权释放");
|
||||
// 等待航线退出后，延迟 2 秒再设置全景模式并拍照
|
||||
new Handler().postDelayed(() -> {
|
||||
KeyManager.getInstance().setValue(KeyTools.createKey(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1),
|
||||
CameraMode.find(12),
|
||||
new CommonCallbacks.CompletionCallback() {
|
||||
@Override
|
||||
public void onSuccess() {
|
||||
Movement.getInstance().setCamera_mode(3);
|
||||
LogUtil.log(TAG, "切换全景模式成功，等待 500ms 后拍照");
|
||||
// 再等待 500ms 让相机模式稳定
|
||||
new Handler().postDelayed(() -> {
|
||||
KeyManager.getInstance().performAction(KeyTools.createKey(CameraKey.KeyStartShootPhoto,
|
||||
ComponentIndexType.PORT_1),
|
||||
new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
|
||||
|
|
@ -837,6 +930,137 @@ public void startShootPhoto(MessageDown message) {
|
|||
sendFailMsg2Server(message, "拍照失败:" + getIDJIErrorMsg(error));
|
||||
}
|
||||
});
|
||||
}, 500);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void onFailure(@NonNull IDJIError error) {
|
||||
LogUtil.log(TAG, "切换全景模式失败:" + new Gson().toJson(error));
|
||||
sendFailMsg2Server(message, "切换全景模式失败:" + getIDJIErrorMsg(error));
|
||||
}
|
||||
});
|
||||
}, 2000);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void onFailure(@NonNull IDJIError idjiError) {
|
||||
LogUtil.log(TAG, "退出航线失败:" + new Gson().toJson(idjiError));
|
||||
// 退出失败也直接设置全景模式拍照
|
||||
new Handler().postDelayed(() -> {
|
||||
KeyManager.getInstance().setValue(KeyTools.createKey(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1),
|
||||
CameraMode.find(12),
|
||||
new CommonCallbacks.CompletionCallback() {
|
||||
@Override
|
||||
public void onSuccess() {
|
||||
Movement.getInstance().setCamera_mode(3);
|
||||
KeyManager.getInstance().performAction(KeyTools.createKey(CameraKey.KeyStartShootPhoto,
|
||||
ComponentIndexType.PORT_1),
|
||||
new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
|
||||
@Override
|
||||
public void onSuccess(EmptyMsg emptyMsg) {
|
||||
LogUtil.log(TAG, "拍照成功");
|
||||
sendMsg2Server(message);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void onFailure(@NonNull IDJIError error) {
|
||||
LogUtil.log(TAG, "拍照失败:" + new Gson().toJson(error));
|
||||
sendFailMsg2Server(message, "拍照失败:" + getIDJIErrorMsg(error));
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
@Override
|
||||
public void onFailure(@NonNull IDJIError error) {
|
||||
LogUtil.log(TAG, "退出拍照失败");
|
||||
}
|
||||
});
|
||||
}, 2000);
|
||||
}
|
||||
});
|
||||
|
||||
} else {
|
||||
// 没有航线执行，先读取相机实际模式
|
||||
CameraMode currentMode = KeyManager.getInstance().getValue(
|
||||
KeyTools.createKey(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1));
|
||||
LogUtil.log(TAG, "当前相机模式：" + currentMode);
|
||||
|
||||
if (currentMode == CameraMode.PHOTO_PANORAMA) {
|
||||
// 已经是全景模式，等待 500ms 让相机稳定后拍照
|
||||
LogUtil.log(TAG, "已是全景模式，等待 500ms 后拍照");
|
||||
new Handler().postDelayed(() -> {
|
||||
KeyManager.getInstance().performAction(KeyTools.createKey(CameraKey.KeyStartShootPhoto,
|
||||
ComponentIndexType.PORT_1),
|
||||
new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
|
||||
@Override
|
||||
public void onSuccess(EmptyMsg emptyMsg) {
|
||||
LogUtil.log(TAG, "拍照成功");
|
||||
sendMsg2Server(message);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void onFailure(@NonNull IDJIError error) {
|
||||
LogUtil.log(TAG, "拍照失败:" + new Gson().toJson(error));
|
||||
sendFailMsg2Server(message, "拍照失败:" + getIDJIErrorMsg(error));
|
||||
}
|
||||
});
|
||||
}, 500);
|
||||
} else {
|
||||
// 不是全景模式，先切换
|
||||
KeyManager.getInstance().setValue(KeyTools.createKey(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1),
|
||||
CameraMode.PHOTO_PANORAMA,
|
||||
new CommonCallbacks.CompletionCallback() {
|
||||
@Override
|
||||
public void onSuccess() {
|
||||
Movement.getInstance().setCamera_mode(3);
|
||||
LogUtil.log(TAG, "切换成功" + Movement.getInstance().getCamera_mode());
|
||||
// 切换成功后等待 500ms 再拍照
|
||||
new Handler().postDelayed(() -> {
|
||||
KeyManager.getInstance().performAction(KeyTools.createKey(CameraKey.KeyStartShootPhoto,
|
||||
ComponentIndexType.PORT_1),
|
||||
new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
|
||||
@Override
|
||||
public void onSuccess(EmptyMsg emptyMsg) {
|
||||
LogUtil.log(TAG, "拍照成功");
|
||||
sendMsg2Server(message);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void onFailure(@NonNull IDJIError error) {
|
||||
LogUtil.log(TAG, "拍照失败:" + new Gson().toJson(error));
|
||||
sendFailMsg2Server(message, "拍照失败:" + getIDJIErrorMsg(error));
|
||||
}
|
||||
});
|
||||
}, 500);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void onFailure(@NonNull IDJIError error) {
|
||||
LogUtil.log(TAG, "切换全景模式失败:" + new Gson().toJson(error));
|
||||
sendFailMsg2Server(message, "切换全景模式失败:" + getIDJIErrorMsg(error));
|
||||
}
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
} else {
|
||||
// 普通拍照模式：使用 KeyStartShootPhoto
|
||||
KeyManager.getInstance().performAction(KeyTools.createKey(CameraKey.KeyStartShootPhoto,
|
||||
ComponentIndexType.PORT_1),
|
||||
new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
|
||||
@Override
|
||||
public void onSuccess(EmptyMsg emptyMsg) {
|
||||
LogUtil.log(TAG, "拍照成功");
|
||||
sendMsg2Server(message);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void onFailure(@NonNull IDJIError error) {
|
||||
LogUtil.log(TAG, "拍照失败:" + new Gson().toJson(error));
|
||||
sendFailMsg2Server(message, "拍照失败:" + getIDJIErrorMsg(error));
|
||||
}
|
||||
});
|
||||
}
|
||||
} else {
|
||||
sendFailMsg2Server(message, "当前状态相机禁止操作");
|
||||
}
|
||||
|
|
@ -872,21 +1096,73 @@ public void startRecordVideo(MessageDown message) {
|
|||
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey.
|
||||
KeyConnection, ComponentIndexType.PORT_1));
|
||||
if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) {
|
||||
// 检查当前相机模式，确保在录像模式
|
||||
CameraMode currentCameraMode = KeyManager.getInstance().getValue(
|
||||
KeyTools.createKey(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1));
|
||||
|
||||
// new Handler().postDelayed(() -> {
|
||||
// KeyManager.getInstance().setValue(
|
||||
// KeyTools.createKey(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1),
|
||||
// CameraMode.VIDEO_NORMAL, new CommonCallbacks.CompletionCallback() {
|
||||
// @Override
|
||||
// public void onSuccess() {
|
||||
// }
|
||||
// @Override
|
||||
// public void onFailure(@NonNull IDJIError idjiError) {
|
||||
// }
|
||||
// });
|
||||
// },500);
|
||||
|
||||
|
||||
if (currentCameraMode != CameraMode.VIDEO_NORMAL) {
|
||||
// 不在录像模式，先切换到录像模式
|
||||
LogUtil.log(TAG, "相机模式不在录像模式，先切换模式");
|
||||
KeyManager.getInstance().setValue(
|
||||
KeyTools.createKey(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1),
|
||||
CameraMode.VIDEO_NORMAL,
|
||||
new CommonCallbacks.CompletionCallback() {
|
||||
@Override
|
||||
public void onSuccess() {
|
||||
LogUtil.log(TAG, "切换到录像模式成功，开始录像");
|
||||
|
||||
new Handler().postDelayed(() -> {
|
||||
doStartRecord(message);
|
||||
}, 500);
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void onFailure(@NonNull IDJIError error) {
|
||||
LogUtil.log(TAG, "切换到录像模式失败:" + new Gson().toJson(error));
|
||||
sendFailMsg2Server(message, "切换录像模式失败:" + getIDJIErrorMsg(error));
|
||||
}
|
||||
});
|
||||
} else {
|
||||
// 已经在录像模式，直接录像
|
||||
doStartRecord(message);
|
||||
}
|
||||
} else {
|
||||
sendFailMsg2Server(message, "当前状态相机禁止操作");
|
||||
}
|
||||
}
|
||||
|
||||
// 执行录像的私有方法
|
||||
private void doStartRecord(MessageDown message) {
|
||||
KeyManager.getInstance().performAction(KeyTools.createKey(CameraKey.KeyStartRecord,
|
||||
ComponentIndexType.PORT_1), new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
|
||||
@Override
|
||||
public void onSuccess(EmptyMsg emptyMsg) {
|
||||
|
||||
LogUtil.log(TAG, "开始录像成功");
|
||||
sendMsg2Server(message);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void onFailure(@NonNull IDJIError error) {
|
||||
LogUtil.log(TAG, "开始录像失败:" + new Gson().toJson(error));
|
||||
sendFailMsg2Server(message, "开始录像失败:" + getIDJIErrorMsg(error));
|
||||
}
|
||||
});
|
||||
} else {
|
||||
sendFailMsg2Server(message, "当前状态相机禁止操作");
|
||||
}
|
||||
}
|
||||
|
||||
//停止录像
|
||||
|
|
@ -1358,6 +1634,7 @@ public void tapZoomAtTarget(MessageDown message) {
|
|||
return;
|
||||
}
|
||||
|
||||
|
||||
CameraLensType type = parseLensType(message.getData().getCamera_type());
|
||||
if (type == null) {
|
||||
sendFailMsg2Server(message, "不支持的相机类型");
|
||||
|
|
@ -1387,9 +1664,10 @@ private void performTapZoom(MessageDown message, CameraLensType type) {
|
|||
ZoomTargetPointInfo info = new ZoomTargetPointInfo();
|
||||
info.setX(Double.valueOf(message.getData().getX()));
|
||||
info.setY(Double.valueOf(message.getData().getY()));
|
||||
info.setTapZoomModeEnable(true);
|
||||
//没有对lock判断
|
||||
info.setMode(TapZoomMode.GIMBAL_FOLLOW); // 或 TAP_ZOOM模式，看需求
|
||||
|
||||
// info.setTapZoomModeEnable(true);
|
||||
// //没有对lock判断
|
||||
// info.setMode(TapZoomMode.GIMBAL_FOLLOW); // 或 TAP_ZOOM模式，看需求
|
||||
|
||||
KeyManager.getInstance().performAction(
|
||||
KeyTools.createCameraKey(CameraKey.KeyTapZoomAtTarget,
|
||||
|
|
@ -1403,7 +1681,7 @@ private void performTapZoom(MessageDown message, CameraLensType type) {
|
|||
|
||||
@Override
|
||||
public void onFailure(@NonNull IDJIError error) {
|
||||
sendFailMsg2Server(message, "指点变焦失败:" + getIDJIErrorMsg(error));
|
||||
sendFailMsg2Server(message, "aim失败:" + getIDJIErrorMsg(error));
|
||||
}
|
||||
});
|
||||
}
|
||||
|
|
@ -1413,7 +1691,7 @@ private CameraLensType parseLensType(String cameraType) {
|
|||
if ("ir".equals(cameraType)) {
|
||||
return CameraLensType.CAMERA_LENS_THERMAL;
|
||||
} else if ("wide".equals(cameraType)) {
|
||||
return CameraLensType.CAMERA_LENS_WIDE;
|
||||
return CameraLensType.CAMERA_LENS_ZOOM;
|
||||
} else if ("zoom".equals(cameraType)) {
|
||||
return CameraLensType.CAMERA_LENS_ZOOM;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -25,6 +25,12 @@ public class DockCloseManager extends BaseManager {
|
|||
private final int maxRetries = 2;
|
||||
private int sendDockCloseSuccessTimes;
|
||||
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() {
|
||||
}
|
||||
|
|
@ -88,6 +94,10 @@ public class DockCloseManager extends BaseManager {
|
|||
final Handler mainHandler = new Handler(Looper.getMainLooper());
|
||||
|
||||
private void retrySend() {
|
||||
if (!allowRetry) {
|
||||
LogUtil.log(TAG, "已取消关门重试（门已打开）");
|
||||
return;
|
||||
}
|
||||
sendDockCloseSuccessTimes++;
|
||||
if (sendDockCloseSuccessTimes < maxRetries) {
|
||||
mainHandler.postDelayed(() -> sendDockCloseMsg2Server(), 2000);
|
||||
|
|
@ -97,6 +107,10 @@ public class DockCloseManager extends BaseManager {
|
|||
}
|
||||
|
||||
private void handleNotConnected() {
|
||||
if (!allowRetry) {
|
||||
LogUtil.log(TAG, "已取消关门重试（门已打开）");
|
||||
return;
|
||||
}
|
||||
if (!isSendDockCloseSuccess && sendDockCloseSuccessTimes < maxRetries) {
|
||||
sendDockCloseSuccessTimes++;
|
||||
mainHandler.postDelayed(() -> sendDockCloseMsg2Server(), 2000);
|
||||
|
|
|
|||
|
|
@ -37,6 +37,7 @@ import java.util.Objects;
|
|||
import dji.sdk.keyvalue.key.AirLinkKey;
|
||||
import dji.sdk.keyvalue.key.CameraKey;
|
||||
import dji.sdk.keyvalue.key.FlightControllerKey;
|
||||
import dji.sdk.keyvalue.key.GimbalKey;
|
||||
import dji.sdk.keyvalue.key.KeyTools;
|
||||
import dji.sdk.keyvalue.key.ProductKey;
|
||||
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.RidWorkingStatusPushMsg;
|
||||
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.rtkmobilestation.RTKTakeoffAltitudeInfo;
|
||||
import dji.v5.common.callback.CommonCallbacks;
|
||||
|
|
@ -131,18 +133,18 @@ public class FlightManager extends BaseManager {
|
|||
LogUploadManager.getInstance().uploadTodayLog();
|
||||
count++;
|
||||
}
|
||||
//连上就待机
|
||||
MediaDataCenter.getInstance().getCameraStreamManager().setVisionAssistViewDirection(VisionAssistDirection.DOWN, new CommonCallbacks.CompletionCallback() {
|
||||
@Override
|
||||
public void onSuccess() {
|
||||
LogUtil.log(TAG, "设置下视辅助视频成功");
|
||||
}
|
||||
|
||||
@Override
|
||||
public void onFailure(@NonNull IDJIError idjiError) {
|
||||
LogUtil.log(TAG, "设置下视辅助视频失败");
|
||||
}
|
||||
});
|
||||
// //连上就待机
|
||||
// MediaDataCenter.getInstance().getCameraStreamManager().setVisionAssistViewDirection(VisionAssistDirection.DOWN, new CommonCallbacks.CompletionCallback() {
|
||||
// @Override
|
||||
// public void onSuccess() {
|
||||
// LogUtil.log(TAG, "设置下视辅助视频成功");
|
||||
// }
|
||||
//
|
||||
// @Override
|
||||
// public void onFailure(@NonNull IDJIError idjiError) {
|
||||
// LogUtil.log(TAG, "设置下视辅助视频失败");
|
||||
// }
|
||||
// });
|
||||
|
||||
Movement.getInstance().setMissionFinish(false);
|
||||
Movement.getInstance().setMode_code(0);
|
||||
|
|
@ -490,10 +492,37 @@ public class FlightManager extends BaseManager {
|
|||
//Movement.getInstance().setMode_code(3);
|
||||
break;
|
||||
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
|
||||
//Movement.getInstance().setMode_code(4);
|
||||
break;
|
||||
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);
|
||||
break;
|
||||
case PANO:
|
||||
|
|
@ -837,13 +866,16 @@ public class FlightManager extends BaseManager {
|
|||
|
||||
private void closeCabinDoor() {
|
||||
// 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();
|
||||
String missionState = Movement.getInstance().getWaypointMissionExecuteState();
|
||||
boolean isMissionExecuting = (!TextUtils.isEmpty(missionState) &&
|
||||
(missionState.equals("EXECUTING") || missionState.equals("ENTER_WAYLINE"))
|
||||
|| (!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
|
||||
if (!PreferenceUtils.getInstance().getTriggerToAlternatePoint() && isFlyingAndHeightOk && !isDebugMode && isMissionExecuting && !sendCloseCabinDoorMsg) {
|
||||
sendCloseCabinDoorMsg = true;
|
||||
|
|
@ -862,6 +894,7 @@ public class FlightManager extends BaseManager {
|
|||
private void openCabinDoor() {
|
||||
boolean isReturningHome = goHomeExecutionState == GoHomeState.RETURNING_TO_HOME.value() ||
|
||||
goHomeExecutionState == GoHomeState.LANDING.value();
|
||||
|
||||
double distance = Movement.getInstance().getHome_distance();
|
||||
double flyingHeight = Movement.getInstance().getElevation();
|
||||
boolean isDebugMode = PreferenceUtils.getInstance().getIsDebugMode();
|
||||
|
|
@ -872,6 +905,7 @@ public class FlightManager extends BaseManager {
|
|||
isReturningHome && isDistanceAndHeightValid && !isDebugMode) {
|
||||
LogUtil.log(TAG, "返航距离:" + distance + "---当前高度:" + flyingHeight);
|
||||
sendOpenCabinDoorMsg = true;
|
||||
DockCloseManager.getInstance().stopRetry();
|
||||
DockOpenManager.getInstance().sendDockOpenMsg2Server();
|
||||
|
||||
}
|
||||
|
|
@ -880,8 +914,38 @@ public class FlightManager extends BaseManager {
|
|||
|
||||
//降落时将云台朝下
|
||||
private void gimbalDownwards() {
|
||||
|
||||
if (goHomeExecutionState == GoHomeState.LANDING.value()
|
||||
&& 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();
|
||||
//将镜头设置为自动对焦
|
||||
DroneHelper.getInstance().setCameraFocusMode();
|
||||
|
|
@ -907,6 +971,7 @@ public class FlightManager extends BaseManager {
|
|||
|
||||
|
||||
isGimbalDownwards = true;
|
||||
|
||||
PerceptionManager.getInstance().setPerceptionEnable(false);
|
||||
PerceptionManager.getInstance().setObstacleAvoidanceupEnabled(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) {
|
||||
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 thresholdMin = triggerToAlternatePoint ? FLYING_HEIGHT_THRESHOLD_MIN_ALTERNATE : FLYING_HEIGHT_THRESHOLD_MIN;
|
||||
|
||||
|
||||
|
||||
if (flyingHeight > thresholdMin) {
|
||||
//LogUtil.log(TAG,"相对高度"+Movement.getInstance().getElevation()+"超声波高度"+Movement.getInstance().getUltrasonicHeight());
|
||||
|
||||
boolean shouldTriggerDetection;
|
||||
|
||||
if (isDebugMode) {
|
||||
shouldTriggerDetection = goHomeExecutionState == 2;
|
||||
} else {
|
||||
|
||||
shouldTriggerDetection = goHomeExecutionState == 2 || needTriggerApronArucoLand || needTriggerAlterArucoLand;
|
||||
}
|
||||
if (shouldTriggerDetection) {
|
||||
|
|
@ -1093,10 +1163,9 @@ public class FlightManager extends BaseManager {
|
|||
if (Movement.getInstance().getBattery_a_capacity_percent() > 40) {
|
||||
AMSConfig.getInstance().setAlternateLandingTimes(10 + "");
|
||||
}
|
||||
|
||||
if (PreferenceUtils.getInstance().getTriggerToAlternatePoint()) {
|
||||
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().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");
|
||||
|
|
@ -1257,7 +1326,7 @@ public class FlightManager extends BaseManager {
|
|||
//Movement.getInstance().setMissionFinish(true);
|
||||
// }, 1000);
|
||||
//原有那个替换
|
||||
if(Movement.getInstance().getMission_type()==0){
|
||||
if(PreferenceUtils.getInstance().getMissionType()==0){
|
||||
Movement.getInstance().setMissionFinish1(true);
|
||||
}
|
||||
|
||||
|
|
@ -1270,6 +1339,11 @@ public class FlightManager extends BaseManager {
|
|||
public void startGoHome(MessageDown message) {
|
||||
FlightMode flightMode = KeyManager.getInstance().getValue(createKey(FlightControllerKey.KeyFlightMode));
|
||||
|
||||
if (!getGimbalAndCameraEnabled()) {
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
if (Movement.getInstance().isPlaneWing() && Movement.getInstance().getHome_distance() < 20
|
||||
&& Movement.getInstance().getElevation() < 88
|
||||
&& Movement.getInstance().getBattery_a_capacity_percent() > 25
|
||||
|
|
|
|||
|
|
@ -31,12 +31,13 @@ public class FlightTaskProgressManager extends BaseManager {
|
|||
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
|
||||
if (Movement.getInstance().getMission_type()==0&&(Movement.getInstance().isPlaneWing()
|
||||
|| Movement.getInstance().isMotorsOn()
|
||||
|| Movement.getInstance().isMissionFinish1())) {
|
||||
if (PreferenceUtils.getInstance().getMissionType()==0&& (Movement.getInstance().isPlaneWing()
|
||||
|| Movement.getInstance().isMotorsOn()) && Movement.getInstance().isWaylineinterpter() ) {
|
||||
sendFlightTaskProgress2Server();
|
||||
|
||||
}
|
||||
|
||||
|
||||
//// //只要一个满足就上报
|
||||
// if (Movement.getInstance().isPlaneWing() || Movement.getInstance().isMotorsOn()) {
|
||||
// sendFlightTaskProgress2Server();
|
||||
|
|
|
|||
|
|
@ -3,7 +3,9 @@ package com.aros.apron.manager;
|
|||
import static com.aros.apron.tools.Utils.getIDJIErrorMsg;
|
||||
import static dji.sdk.keyvalue.key.KeyTools.createKey;
|
||||
|
||||
import android.os.Handler;
|
||||
import android.text.TextUtils;
|
||||
import android.util.Log;
|
||||
|
||||
import androidx.annotation.NonNull;
|
||||
import androidx.annotation.Nullable;
|
||||
|
|
@ -65,7 +67,6 @@ public class GimbalManager extends BaseManager {
|
|||
Aprongim.getInstance().setDoublePayload(PreferenceUtils.getInstance().getCameraLocationType() == 4);
|
||||
|
||||
|
||||
|
||||
LogUtil.log(TAG, "主摄像头位置:" + PreferenceUtils.getInstance().getCameraLocationType());
|
||||
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.
|
||||
KeyConnection, ComponentIndexType.PORT_1));
|
||||
|
||||
if (isConnect != null && isConnect) {
|
||||
if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) {
|
||||
if (!message.getData().isLocked()) {
|
||||
GimbalSpeedRotation gimbalSpeedRotation = new GimbalSpeedRotation();
|
||||
gimbalSpeedRotation.setPitch(message.getData().getPitch_speed());
|
||||
|
|
@ -174,9 +175,11 @@ public class GimbalManager extends BaseManager {
|
|||
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
|
||||
KeyConnection, ComponentIndexType.PORT_1));
|
||||
if (isConnect != null && isConnect) {
|
||||
|
||||
KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyGimbalReset, ComponentIndexType.PORT_1), GimbalResetType.PITCH_YAW, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
|
||||
@Override
|
||||
public void onSuccess(EmptyMsg emptyMsg) {
|
||||
|
||||
LogUtil.log(TAG, "云台复位");
|
||||
}
|
||||
|
||||
|
|
@ -195,8 +198,9 @@ public class GimbalManager extends BaseManager {
|
|||
public void gimbalReset(MessageDown message) {
|
||||
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
|
||||
KeyConnection, ComponentIndexType.PORT_1));
|
||||
if (isConnect != null && isConnect) {
|
||||
if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) {
|
||||
switch (message.getData().getReset_mode()) {
|
||||
//回中
|
||||
case 0:
|
||||
KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyGimbalReset, ComponentIndexType.PORT_1), GimbalResetType.PITCH_YAW, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
|
||||
@Override
|
||||
|
|
@ -211,6 +215,7 @@ public class GimbalManager extends BaseManager {
|
|||
}
|
||||
);
|
||||
break;
|
||||
//向下
|
||||
case 1:
|
||||
GimbalAngleRotation rotation = new GimbalAngleRotation();
|
||||
rotation.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE);
|
||||
|
|
@ -230,6 +235,7 @@ public class GimbalManager extends BaseManager {
|
|||
}
|
||||
);
|
||||
break;
|
||||
//偏航回中
|
||||
case 2:
|
||||
KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyGimbalReset, ComponentIndexType.PORT_1),
|
||||
GimbalResetType.ONLY_YAW, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
|
||||
|
|
@ -245,12 +251,10 @@ public class GimbalManager extends BaseManager {
|
|||
}
|
||||
);
|
||||
break;
|
||||
//俯仰向下
|
||||
case 3:
|
||||
GimbalAngleRotation rotation1 = new GimbalAngleRotation();
|
||||
rotation1.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE);
|
||||
if (!TextUtils.isEmpty(Movement.getInstance().getGimbal_yaw() + "")) {
|
||||
rotation1.setYaw(Movement.getInstance().getGimbal_yaw());
|
||||
}
|
||||
rotation1.setPitch(-90.0);
|
||||
KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyRotateByAngle, ComponentIndexType.PORT_1), rotation1, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
|
||||
@Override
|
||||
|
|
@ -277,16 +281,26 @@ public class GimbalManager extends BaseManager {
|
|||
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
|
||||
KeyConnection, ComponentIndexType.PORT_1));
|
||||
// LogUtil.log(TAG,"isConnect"+isConnect);
|
||||
if (isConnect != null && isConnect) {
|
||||
if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) {
|
||||
|
||||
LookAtInfo lookAtInfo = new LookAtInfo();
|
||||
// lookAtInfo.setMode(message.getData().isLocked() ?
|
||||
// LookAtMode.LOOK_AT_GIMBAL_FOLLOWING : LookAtMode.LOOK_AT_GIMBAL_FREE);
|
||||
|
||||
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.setLatitude(message.getData().getLatitude());
|
||||
locationCoordinate3D.setLongitude(message.getData().getLongitude());
|
||||
locationCoordinate3D.setAltitude(Double.parseDouble(message.getData().getHeight() + ""));
|
||||
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() {
|
||||
@Override
|
||||
public void onSuccess() {
|
||||
|
|
|
|||
|
|
@ -42,6 +42,7 @@ import dji.sdk.keyvalue.value.camera.MediaFileType;
|
|||
import dji.sdk.keyvalue.value.common.ComponentIndexType;
|
||||
import dji.v5.common.callback.CommonCallbacks;
|
||||
import dji.v5.common.error.IDJIError;
|
||||
|
||||
import dji.v5.manager.KeyManager;
|
||||
import dji.v5.manager.datacenter.MediaDataCenter;
|
||||
import dji.v5.manager.datacenter.media.MediaFile;
|
||||
|
|
@ -97,6 +98,18 @@ public class MediaManager extends BaseManager {
|
|||
private boolean isEnablePlayback;
|
||||
|
||||
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() {
|
||||
@Override
|
||||
public void onSuccess() {
|
||||
|
|
@ -104,17 +117,16 @@ public class MediaManager extends BaseManager {
|
|||
new Handler().postDelayed(new Runnable() {
|
||||
@Override
|
||||
public void run() {
|
||||
MediaFileListDataSource source = new MediaFileListDataSource.Builder().setIndexType(ComponentIndexType.PORT_1).build();
|
||||
// MediaDataCenter.getInstance().getMediaManager().setMediaFileDataSource(source);
|
||||
MediaFileListDataSource source = new
|
||||
MediaFileListDataSource.Builder().setIndexType(ComponentIndexType.PORT_1).build();
|
||||
MediaDataCenter.getInstance().getMediaManager().setMediaFileDataSource(source);
|
||||
|
||||
new Handler().postDelayed(new Runnable() {
|
||||
@Override
|
||||
public void run() {
|
||||
pullMediaFileListFromCamera();
|
||||
isEnablePlayback = true;
|
||||
}
|
||||
}, 3000);
|
||||
isEnablePlayback = true;
|
||||
}
|
||||
}, 3000);
|
||||
}
|
||||
|
|
@ -185,10 +197,31 @@ public class MediaManager extends BaseManager {
|
|||
// 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 {
|
||||
// 确保获取文件列表数据
|
||||
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
|
||||
mediaFiles = new ArrayList<>();
|
||||
Movement.getInstance().setTask_media_count(mediaFiles.size());
|
||||
for (MediaFile mf : rawList) {
|
||||
if (!uploadedFileNames.contains(mf.getFileName())) {
|
||||
mediaFiles.add(mf);
|
||||
|
|
@ -196,6 +229,13 @@ public class MediaManager extends BaseManager {
|
|||
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()) {
|
||||
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 {
|
||||
// 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++;
|
||||
|
||||
// 增加超时处理，避免无限等待
|
||||
|
|
|
|||
|
|
@ -34,8 +34,11 @@ import java.util.List;
|
|||
|
||||
import dji.sdk.keyvalue.key.CameraKey;
|
||||
import dji.sdk.keyvalue.key.FlightControllerKey;
|
||||
import dji.sdk.keyvalue.key.GimbalKey;
|
||||
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.gimbal.GimbalMode;
|
||||
import dji.sdk.wpmz.value.mission.Wayline;
|
||||
import dji.sdk.wpmz.value.mission.WaylineExecuteWaypoint;
|
||||
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
|
||||
|
||||
|
||||
|
||||
break;
|
||||
case READY:
|
||||
if (Movement.getInstance().getFlightmode() == 2 && istakeoff_ok == false) {
|
||||
Movement.getInstance().setTakeoff_status("task_ready");
|
||||
}
|
||||
if (PreferenceUtils.getInstance().getMissionType() == 2
|
||||
) {
|
||||
Movement.getInstance().setTask_status("paused");
|
||||
} else {
|
||||
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:准备中", 1);
|
||||
break;
|
||||
case UPLOADING:
|
||||
if (PreferenceUtils.getInstance().getMissionType() == 2
|
||||
) {
|
||||
Movement.getInstance().setTask_status("paused");
|
||||
} else {
|
||||
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:上传中", 1);
|
||||
Movement.getInstance().setVirtualStickQuitMission(false);
|
||||
|
||||
|
|
@ -185,30 +188,46 @@ public class MissionV3Manager extends BaseManager {
|
|||
|
||||
break;
|
||||
case PREPARING:
|
||||
if (PreferenceUtils.getInstance().getMissionType() == 2
|
||||
) {
|
||||
Movement.getInstance().setTask_status("paused");
|
||||
} else {
|
||||
|
||||
|
||||
|
||||
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);
|
||||
Movement.getInstance().setVirtualStickQuitMission(false);
|
||||
|
||||
|
||||
|
||||
break;
|
||||
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();
|
||||
if (Movement.getInstance().getFlightmode() == 2) {
|
||||
Movement.getInstance().setTakeoff_status("wayline_progress");
|
||||
}
|
||||
|
||||
if (PreferenceUtils.getInstance().getMissionType() == 2
|
||||
) {
|
||||
Movement.getInstance().setTask_status("paused");
|
||||
} else {
|
||||
Movement.getInstance().setTask_status("in_progress");
|
||||
}
|
||||
|
||||
// if (PreferenceUtils.getInstance().getMissionType() == 2
|
||||
// ) {
|
||||
// Movement.getInstance().setTask_status("paused");
|
||||
// } else {
|
||||
// Movement.getInstance().setTask_status("in_progress");
|
||||
// }
|
||||
|
||||
Movement.getInstance().setVirtualStickQuitMission(false);
|
||||
sendEvent2Server("任务状态:进入航线飞行,飞往指定航线的第一个航点", 1);
|
||||
|
|
@ -218,7 +237,6 @@ public class MissionV3Manager extends BaseManager {
|
|||
|
||||
//航线飞行
|
||||
if (Movement.getInstance().getFlightmode() == 1) {
|
||||
|
||||
Movement.getInstance().setMode_code(5);
|
||||
} else if (Movement.getInstance().getFlightmode() == 2) {
|
||||
//指令飞行
|
||||
|
|
@ -229,17 +247,21 @@ public class MissionV3Manager extends BaseManager {
|
|||
case EXECUTING:
|
||||
sendEvent2Server("任务状态:航线任务执行中", 1);
|
||||
|
||||
if (PreferenceUtils.getInstance().getMissionType() == 2
|
||||
) {
|
||||
Movement.getInstance().setTask_status("paused");
|
||||
} else {
|
||||
Movement.getInstance().setTask_status("in_progress");
|
||||
}
|
||||
|
||||
// if (PreferenceUtils.getInstance().getMissionType() == 2
|
||||
// ) {
|
||||
// Movement.getInstance().setTask_status("paused");
|
||||
// } else {
|
||||
// Movement.getInstance().setTask_status("in_progress");
|
||||
// }
|
||||
|
||||
Movement.getInstance().setVirtualStickQuitMission(false);
|
||||
|
||||
|
||||
break;
|
||||
case INTERRUPTED:
|
||||
|
||||
if (Movement.getInstance().getFlightmode() == 2) {
|
||||
Movement.getInstance().setTakeoff_status("wayline_cancel");
|
||||
TakeoffProgressScheduler.getInstance().stopReporting();
|
||||
|
|
@ -247,8 +269,13 @@ public class MissionV3Manager extends BaseManager {
|
|||
|
||||
Movement.getInstance().setVirtualStickQuitMission(false);
|
||||
sendEvent2Server("任务状态:航线任务执行中断", 1);
|
||||
Movement.getInstance().setTask_status("paused");
|
||||
|
||||
Movement.getInstance().setTask_status("paused");
|
||||
if(PreferenceUtils.getInstance().getMissionType()==0){
|
||||
sendFlightTaskProgress2Server();
|
||||
}
|
||||
|
||||
Movement.getInstance().setWaylineinterpter(false);
|
||||
|
||||
|
||||
//切换成手动飞行
|
||||
|
|
@ -257,13 +284,27 @@ public class MissionV3Manager extends BaseManager {
|
|||
break;
|
||||
case RECOVERING:
|
||||
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);
|
||||
if (PreferenceUtils.getInstance().getMissionType() == 2
|
||||
) {
|
||||
Movement.getInstance().setTask_status("paused");
|
||||
} else {
|
||||
Movement.getInstance().setTask_status("in_progress");
|
||||
}
|
||||
|
||||
// if (PreferenceUtils.getInstance().getMissionType() == 2
|
||||
// ) {
|
||||
// Movement.getInstance().setTask_status("paused");
|
||||
// } else {
|
||||
// Movement.getInstance().setTask_status("in_progress");
|
||||
// }
|
||||
|
||||
|
||||
break;
|
||||
|
|
@ -272,13 +313,15 @@ public class MissionV3Manager extends BaseManager {
|
|||
//释放锁
|
||||
Synchronizedstatus.setIsruning(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
|
||||
if (Movement.getInstance().getMode_code() == 16) {
|
||||
PreferenceUtils.getInstance().setMissionType(2);
|
||||
} else {
|
||||
|
||||
}
|
||||
// //如果是虚拟摇杆导致的退出应该要可恢复
|
||||
// if (Movement.getInstance().getMode_code() == 16) {
|
||||
// PreferenceUtils.getInstance().setMissionType(2);
|
||||
// } else {
|
||||
//
|
||||
// }
|
||||
|
||||
if (Movement.getInstance().getFlightmode() == 2) {
|
||||
//
|
||||
|
|
@ -300,7 +343,7 @@ public class MissionV3Manager extends BaseManager {
|
|||
mainHandler.postDelayed(new Runnable() {
|
||||
@Override
|
||||
public void run() {
|
||||
if (finishWayLineTime - enterWayLineTime <= 8000 && !Movement.getInstance().isPlaneWing()
|
||||
if (finishWayLineTime - enterWayLineTime <= 5000 && !Movement.getInstance().isPlaneWing()
|
||||
) {
|
||||
isMissionStart = false;
|
||||
totalretryStartMissiontimes++;
|
||||
|
|
@ -316,15 +359,30 @@ public class MissionV3Manager extends BaseManager {
|
|||
|
||||
break;
|
||||
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
|
||||
Movement.getInstance().setMode_code(9);
|
||||
|
||||
if (PreferenceUtils.getInstance().getMissionType() == 2
|
||||
) {
|
||||
Movement.getInstance().setTask_status("paused");
|
||||
} else {
|
||||
|
||||
Movement.getInstance().setTask_status("in_progress");
|
||||
}
|
||||
// if (PreferenceUtils.getInstance().getMissionType() == 2
|
||||
// ) {
|
||||
// Movement.getInstance().setTask_status("paused");
|
||||
// } else {
|
||||
// Movement.getInstance().setTask_status("in_progress");
|
||||
// }
|
||||
|
||||
|
||||
break;
|
||||
|
|
@ -355,6 +413,9 @@ public class MissionV3Manager extends BaseManager {
|
|||
sendEvent2Server("航线中断原因" + error.toString(), 2);
|
||||
}
|
||||
});
|
||||
|
||||
|
||||
|
||||
waypointMissionManager.addWaypointActionListener(new WaypointActionListener() {
|
||||
@Override
|
||||
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
|
||||
|
|
@ -387,6 +448,7 @@ public class MissionV3Manager extends BaseManager {
|
|||
|
||||
|
||||
PreferenceUtils.getInstance().setMissionType(0);
|
||||
|
||||
Movement.getInstance().setMission_type(0);
|
||||
PreferenceUtils.getInstance().setFlightId(message.getData().getFlight_id());
|
||||
PreferenceUtils.getInstance().setAlternatePointLon(message.getData().getAlternate_land_point().getLongitude() + "");
|
||||
|
|
@ -408,6 +470,8 @@ public class MissionV3Manager extends BaseManager {
|
|||
|
||||
Movement.getInstance().setTask_current_step(5);
|
||||
|
||||
|
||||
|
||||
//1.检查图传是否连接
|
||||
//避免重复执行
|
||||
if (isReceiverMission == false) {
|
||||
|
|
@ -614,8 +678,7 @@ public class MissionV3Manager extends BaseManager {
|
|||
* @param message
|
||||
*/
|
||||
private void pushKMZFileToAircraft(MessageDown message) {
|
||||
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
|
||||
KeyConnection));
|
||||
Boolean isConnect = true;
|
||||
if (isConnect != null && isConnect) {
|
||||
|
||||
KMZInfo kmzInfo = WPMZManager.getInstance().getKMZInfo(
|
||||
|
|
@ -656,7 +719,7 @@ public class MissionV3Manager extends BaseManager {
|
|||
@Override
|
||||
public void onSuccess() {
|
||||
Movement.getInstance().setWaylinename("aros");
|
||||
|
||||
PreferenceUtils.getInstance().setWaylinename("aros");
|
||||
// "2": "起飞准备完毕",
|
||||
Movement.getInstance().setMode_code(2);
|
||||
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
|
||||
*/
|
||||
public void startMission(MessageDown message) {
|
||||
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
|
||||
KeyConnection));
|
||||
Boolean isConnect =true;
|
||||
if (isConnect != null && isConnect) {
|
||||
int missionStateCode = Movement.getInstance().getMissionStateCode();
|
||||
//每次航线开始时，重置是否需要识别二维码状态，避免刚起飞就识别二维码/并确保不是飞向备降点的航线
|
||||
|
|
@ -839,6 +901,9 @@ public class MissionV3Manager extends BaseManager {
|
|||
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
|
||||
KeyConnection));
|
||||
if (isConnect != null && isConnect) {
|
||||
if (Movement.getInstance().getFlightmode() == 1) {
|
||||
Movement.getInstance().setMode_code(5);
|
||||
}
|
||||
IWaypointMissionManager missionManager = WaypointMissionManager.getInstance();
|
||||
//如果航线是暂停状态,直接恢复航线，否则查询断点信息
|
||||
if (Movement.getInstance().getMissionStateCode() == 7) {
|
||||
|
|
@ -847,9 +912,21 @@ public class MissionV3Manager extends BaseManager {
|
|||
public void onSuccess() {
|
||||
sendMsg2Server(message);
|
||||
Movement.getInstance().setTask_status("in_progress");
|
||||
|
||||
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
|
||||
public void onFailure(@NonNull IDJIError error) {
|
||||
sendFailMsg2Server(message, "航线继续失败:" + getIDJIErrorMsg(error));
|
||||
|
|
@ -870,11 +947,22 @@ public class MissionV3Manager extends BaseManager {
|
|||
public void onSuccess() {
|
||||
sendMsg2Server(message);
|
||||
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");
|
||||
Movement.getInstance().setTask_status("in_progress");
|
||||
if(PreferenceUtils.getInstance().getMissionType()==0){
|
||||
sendFlightTaskProgress2Server();
|
||||
}
|
||||
|
||||
Movement.getInstance().setWaylineinterpter(true);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void onFailure(@NonNull IDJIError idjiError) {
|
||||
LogUtil.log(TAG, "恢复断点航线失败:" + getIDJIErrorMsg(idjiError));
|
||||
|
|
|
|||
|
|
@ -56,14 +56,14 @@ public class PayloadWidgetManager extends BaseManager {
|
|||
//负载信息
|
||||
Map<PayloadIndexType, IPayloadManager> payloadManager = PayloadCenter.getInstance().getPayloadManager();
|
||||
if (payloadManager != null) {
|
||||
IPayloadManager iPayloadManager = payloadManager.get(PayloadIndexType.PORT_1);
|
||||
IPayloadManager iPayloadManager = payloadManager.get(PayloadIndexType.PORT_2);
|
||||
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
|
||||
public void onSuccess() {
|
||||
//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
|
||||
public void onPayloadBasicInfoUpdate(PayloadBasicInfo info) {
|
||||
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
|
||||
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]", ""));
|
||||
|
|
@ -80,14 +80,14 @@ public class PayloadWidgetManager extends BaseManager {
|
|||
});
|
||||
|
||||
//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
|
||||
public void onPayloadWidgetInfoUpdate(PayloadWidgetInfo info) {
|
||||
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());
|
||||
//如果负载为空
|
||||
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
|
||||
public void onSuccess() {
|
||||
LogUtil.log(TAG, "负载重复拉取成功");
|
||||
|
|
|
|||
|
|
@ -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(){
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
|
@ -50,6 +50,7 @@ public class PerceptionManager extends BaseManager {
|
|||
Boolean isConnect = KeyManager.getInstance().getValue(createKey(FlightControllerKey.KeyConnection));
|
||||
if (isConnect != null && isConnect) {
|
||||
IPerceptionManager perceptionManager = dji.v5.manager.aircraft.perception.PerceptionManager.getInstance();
|
||||
|
||||
//关闭避障
|
||||
perceptionManager.setObstacleAvoidanceType(perceptionEnable ? ObstacleAvoidanceType.BRAKE : ObstacleAvoidanceType.CLOSE, new CommonCallbacks.CompletionCallback() {
|
||||
@Override
|
||||
|
|
@ -67,7 +68,18 @@ public class PerceptionManager extends BaseManager {
|
|||
if (perceptionEnable) {
|
||||
LogUtil.log(TAG, "避障开启失败:" + new Gson().toJson(idjiError));
|
||||
} 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 (closePerceptionTimes <= 5) {
|
||||
new Handler().postDelayed(new Runnable() {
|
||||
|
|
@ -82,7 +94,7 @@ public class PerceptionManager extends BaseManager {
|
|||
}
|
||||
}, 2000);
|
||||
} 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
|
||||
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
|
||||
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
|
||||
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));
|
||||
|
||||
}
|
||||
});
|
||||
|
|
|
|||
|
|
@ -27,6 +27,7 @@ import dji.v5.manager.aircraft.megaphone.MegaphoneIndex;
|
|||
import dji.v5.manager.aircraft.megaphone.MegaphoneInfo;
|
||||
import dji.v5.manager.aircraft.megaphone.MegaphoneInfoListener;
|
||||
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.UploadType;
|
||||
import okhttp3.Call;
|
||||
|
|
@ -37,6 +38,8 @@ import okhttp3.Response;
|
|||
|
||||
|
||||
public class SpeakerManager extends BaseManager {
|
||||
|
||||
private boolean issetok=false;
|
||||
private SpeakerManager() {
|
||||
}
|
||||
private static class SpeakerHolder {
|
||||
|
|
@ -47,18 +50,21 @@ public class SpeakerManager extends BaseManager {
|
|||
}
|
||||
private int megaphoneStatus;
|
||||
private XTtsPcmGenerator ttsGenerator;
|
||||
|
||||
public void initMegaphoneInfo() {
|
||||
MegaphoneManager.getInstance().addMegaphoneInfoListener(new MegaphoneInfoListener() {
|
||||
@Override
|
||||
public void onUpdateMegaphoneInfo(MegaphoneInfo megaphoneInfo) {
|
||||
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");
|
||||
}
|
||||
|
||||
|
|
@ -67,7 +73,10 @@ public class SpeakerManager extends BaseManager {
|
|||
LogUtil.log(TAG,"喊话器位置设置失败:"+getIDJIErrorMsg(error));
|
||||
}
|
||||
});
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
});
|
||||
}
|
||||
public void speakerAudioPlayStart(MessageDown message) {
|
||||
sendMsg2Server(message);
|
||||
|
|
@ -393,6 +402,7 @@ public class SpeakerManager extends BaseManager {
|
|||
MegaphoneManager.getInstance().startPlay(new CommonCallbacks.CompletionCallback() {
|
||||
@Override
|
||||
public void onSuccess() {
|
||||
sendMsg2Server(message);
|
||||
Movement.getInstance().setTTS_status("ok");
|
||||
Movement.getInstance().setStep_key("play");
|
||||
sendEvent2Server("喊话器播放TTS音频成功", 1);
|
||||
|
|
@ -402,6 +412,7 @@ public class SpeakerManager extends BaseManager {
|
|||
|
||||
@Override
|
||||
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);
|
||||
LogUtil.log(TAG,"喊话器播放TTS音频失败qwq" + getIDJIErrorMsg(error));
|
||||
Synchronizedstatus.setSpeakTTSrunning(false);
|
||||
|
|
@ -431,4 +442,19 @@ public class SpeakerManager extends BaseManager {
|
|||
LogUtil.log(TAG, "设置 speakTTSrunning 为 false");
|
||||
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));
|
||||
}
|
||||
});
|
||||
}
|
||||
}
|
||||
|
|
@ -59,9 +59,8 @@ public class StickManager extends BaseManager {
|
|||
public void onSuccess() {
|
||||
LogUtil.log(TAG, "控制权获取成功");
|
||||
VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(true);
|
||||
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void onFailure(@NonNull IDJIError error) {
|
||||
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);
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void onFailure(@NonNull IDJIError error) {
|
||||
LogUtil.log(TAG, "拖动控制权取消成功");
|
||||
|
|
@ -124,12 +124,36 @@ public class StickManager extends BaseManager {
|
|||
}
|
||||
}
|
||||
|
||||
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
|
||||
public void disableVirtualStick(MessageDown message) {
|
||||
|
||||
|
||||
if (Movement.getInstance().isVirtualcontrollget() == false) {
|
||||
sendMsg2Server(message);
|
||||
return;
|
||||
}
|
||||
|
||||
if (!getGimbalAndCameraEnabled()) {
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
VirtualStickManager.getInstance().disableVirtualStick(new CommonCallbacks.CompletionCallback() {
|
||||
@Override
|
||||
public void onSuccess() {
|
||||
|
|
@ -149,6 +173,7 @@ public class StickManager extends BaseManager {
|
|||
Movement.getInstance().setVirtualcontrollget(false);
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void onFailure(@NonNull IDJIError error) {
|
||||
if (message != null) {
|
||||
|
|
@ -159,6 +184,23 @@ public class StickManager extends BaseManager {
|
|||
});
|
||||
}
|
||||
|
||||
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
|
||||
public void setVirtualStickModeEnabled(MessageDown message) {
|
||||
//Movement.getInstance().setMode_code(3);
|
||||
|
|
@ -169,7 +211,6 @@ public class StickManager extends BaseManager {
|
|||
}, 100);
|
||||
|
||||
|
||||
|
||||
////// Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
|
||||
////// if (isConnect != null && isConnect) {
|
||||
////// FlightMode flightMode = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyFlightMode));
|
||||
|
|
@ -299,11 +340,4 @@ public class StickManager extends BaseManager {
|
|||
// }
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -59,6 +59,14 @@ public class StreamManager extends BaseManager {
|
|||
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() {
|
||||
streamExecutor.execute(() -> {
|
||||
ILiveStreamManager liveStreamManager = MediaDataCenter.getInstance().getLiveStreamManager();
|
||||
|
|
@ -143,6 +151,7 @@ public class StreamManager extends BaseManager {
|
|||
|
||||
private int startLiveFailTimes;
|
||||
private boolean isLiveStreamAlreadyStart;
|
||||
private boolean isStartingRTSP = false; // 防止并发调用
|
||||
|
||||
// 知眸测试
|
||||
public void startLiveWithCustom() {
|
||||
|
|
@ -251,13 +260,44 @@ public class StreamManager extends BaseManager {
|
|||
|
||||
// ========== 【核心修复】RTSP 推流入口，全部在子线程执行 ==========
|
||||
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(() -> {
|
||||
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));
|
||||
if (isAircraftConnected == null || !isAircraftConnected) {
|
||||
LogUtil.log(TAG, "飞行器未连接");
|
||||
isStartingRTSP = false;
|
||||
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()) {
|
||||
LogUtil.log(TAG, "相机流未准备好，尝试切换 FPV Widget 恢复");
|
||||
mainHandler.post(() -> {
|
||||
|
|
@ -269,99 +309,88 @@ public class StreamManager extends BaseManager {
|
|||
|
||||
mainHandler.postDelayed(() -> {
|
||||
streamExecutor.execute(() -> {
|
||||
if (startLiveFailTimes < 2) {
|
||||
if (startLiveFailTimes < 3) {
|
||||
startLiveFailTimes++;
|
||||
LogUtil.log(TAG, "相机流未准备好，第" + startLiveFailTimes + "次重试");
|
||||
startLiveWithRTSP();
|
||||
} else {
|
||||
forceStartLive();
|
||||
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;
|
||||
}
|
||||
|
||||
if (PreferenceUtils.getInstance().getRtspUserName() != null &&
|
||||
PreferenceUtils.getInstance().getRtspPort() != null &&
|
||||
PreferenceUtils.getInstance().getRtspPassWord() != null) {
|
||||
// 3. 检查 RTSP 配置
|
||||
String rtspUser = PreferenceUtils.getInstance().getRtspUserName();
|
||||
String rtspPort = PreferenceUtils.getInstance().getRtspPort();
|
||||
String rtspPass = PreferenceUtils.getInstance().getRtspPassWord();
|
||||
|
||||
ILiveStreamManager liveStreamManager = MediaDataCenter.getInstance().getLiveStreamManager();
|
||||
LogUtil.log(TAG, "自定义RTSP推流:" + PreferenceUtils.getInstance().getRtspUserName()
|
||||
+ "--" + PreferenceUtils.getInstance().getRtspPort() + "--" + PreferenceUtils.getInstance().getRtspPassWord());
|
||||
|
||||
// 设置参数在主线程执行（部分DJI API要求）
|
||||
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);
|
||||
if (rtspUser == null || rtspPort == null || rtspPass == null ||
|
||||
rtspUser.isEmpty() || rtspPort.isEmpty() || rtspPass.isEmpty()) {
|
||||
LogUtil.log(TAG, "RTSP 配置参数有误：user=" + rtspUser + ", port=" + rtspPort);
|
||||
isStartingRTSP = false; // 重置并发标志
|
||||
return;
|
||||
}
|
||||
});
|
||||
|
||||
// 稍微等待设置生效
|
||||
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(100);
|
||||
Thread.sleep(500);
|
||||
} 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) {
|
||||
// 5. 设置 RTSP 参数（在主线程执行）
|
||||
final ILiveStreamManager finalLiveStreamManager = liveStreamManager;
|
||||
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));
|
||||
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);
|
||||
});
|
||||
}
|
||||
} else {
|
||||
LogUtil.log(TAG, "RTSP配置参数有误");
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
|
||||
|
||||
private void forceStartLive() {
|
||||
|
||||
streamExecutor.execute(() -> {
|
||||
if (PreferenceUtils.getInstance().getRtspUserName() != null &&
|
||||
PreferenceUtils.getInstance().getRtspPort() != null &&
|
||||
|
|
@ -391,6 +420,7 @@ public class StreamManager extends BaseManager {
|
|||
MainActivity mainActivity = MainActivity.Companion.getInstance();
|
||||
mainActivity.swapVideoSource();
|
||||
isLiveStreamAlreadyStart = true;
|
||||
isStartingRTSP = false; // 重置并发标志
|
||||
SimplePortScanner.getInstance().startScan();
|
||||
});
|
||||
}
|
||||
|
|
@ -399,16 +429,33 @@ public class StreamManager extends BaseManager {
|
|||
public void onFailure(@NonNull IDJIError error) {
|
||||
mainHandler.post(() -> {
|
||||
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 ==========
|
||||
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() {
|
||||
@Override
|
||||
public void onSuccess() {
|
||||
|
|
@ -416,6 +463,9 @@ public class StreamManager extends BaseManager {
|
|||
LogUtil.log(TAG, "自定义 RTSP 推流启动成功" + (isRestart ? "(重启)" : ""));
|
||||
isliveindex = 1;
|
||||
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
|
||||
SimplePortScanner.getInstance().startScan();
|
||||
});
|
||||
|
|
@ -424,17 +474,38 @@ public class StreamManager extends BaseManager {
|
|||
@Override
|
||||
public void onFailure(@NonNull IDJIError error) {
|
||||
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) {
|
||||
// 延时 3 秒后重试，重试也提交到线程池
|
||||
mainHandler.postDelayed(() -> {
|
||||
streamExecutor.execute(() -> {
|
||||
if (startLiveFailTimes < 10) {
|
||||
startLiveFailTimes++;
|
||||
LogUtil.log(TAG, "准备第" + startLiveFailTimes + "次重试 RTSP 推流");
|
||||
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);
|
||||
} else {
|
||||
isStartingRTSP = false; // 重置并发标志
|
||||
}
|
||||
});
|
||||
}
|
||||
|
|
|
|||
|
|
@ -314,6 +314,7 @@ public class TakeOffToPointManager extends BaseManager {
|
|||
@Override
|
||||
public void onSuccess() {
|
||||
Movement.getInstance().setWaylinename("takeofftopoint");
|
||||
PreferenceUtils.getInstance().setWaylinename("takeofftopoint");
|
||||
//起飞准备完毕
|
||||
Movement.getInstance().setMode_code(2);
|
||||
sendEvent2Server("航线上传成功,准备执行任务", 1);
|
||||
|
|
|
|||
|
|
@ -657,7 +657,7 @@ public class Aprondown {
|
|||
|
||||
private void performOperation() {
|
||||
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++;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -189,10 +189,10 @@ public class Aprongim {
|
|||
if(isDoublePayload){
|
||||
if (ultHeight <=5)
|
||||
{
|
||||
LENS_OFFSET_X=-125;
|
||||
LENS_OFFSET_X=-130;
|
||||
LENS_OFFSET_Y=120;
|
||||
}else if(ultHeight<10){
|
||||
LENS_OFFSET_X=-85;
|
||||
LENS_OFFSET_X=-90;
|
||||
LENS_OFFSET_Y=80;
|
||||
} else if (ultHeight<20) {
|
||||
LENS_OFFSET_X=-70;
|
||||
|
|
@ -907,7 +907,7 @@ public class Aprongim {
|
|||
|
||||
private void performOperation() {
|
||||
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++;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -86,6 +86,13 @@ public class ApronArucoDetect {
|
|||
// ========== 【新增】2帧一处理计数器 ==========
|
||||
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 ==========
|
||||
public int getCheckThrowingErrorsTimes() { return checkThrowingErrorsTimes; }
|
||||
public void setCheckThrowingErrorsTimes(int v) { checkThrowingErrorsTimes = v; }
|
||||
|
|
@ -198,6 +205,55 @@ public class ApronArucoDetect {
|
|||
// 只保留6号码
|
||||
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;
|
||||
if (!ids.empty()) {
|
||||
trycount = 0;
|
||||
|
|
@ -437,6 +493,10 @@ public class ApronArucoDetect {
|
|||
isStartAruco = false;
|
||||
consecutiveTriggerCount = 0;
|
||||
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() {
|
||||
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++;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -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
|
||||
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 ==========
|
||||
public int getCheckThrowingErrorsTimes() { return checkThrowingErrorsTimes; }
|
||||
public void setCheckThrowingErrorsTimes(int v) { checkThrowingErrorsTimes = v; }
|
||||
|
|
@ -170,10 +177,10 @@ public class ApronArucoDetectPort {
|
|||
if(isDoublePayload){
|
||||
if (ultHeight <=5)
|
||||
{
|
||||
LENS_OFFSET_X=-125;
|
||||
LENS_OFFSET_X=-130;
|
||||
LENS_OFFSET_Y=120;
|
||||
}else if(ultHeight<10){
|
||||
LENS_OFFSET_X=-85;
|
||||
LENS_OFFSET_X=-90;
|
||||
LENS_OFFSET_Y=80;
|
||||
} else if (ultHeight<20) {
|
||||
LENS_OFFSET_X=-70;
|
||||
|
|
@ -214,6 +221,51 @@ public class ApronArucoDetectPort {
|
|||
|
||||
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()) {
|
||||
trycount = 0;
|
||||
arucoNotFoundTag = false;
|
||||
|
|
@ -796,6 +848,10 @@ public class ApronArucoDetectPort {
|
|||
isYawAligned = false;
|
||||
currentLandingMode = 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;
|
||||
|
|
@ -814,7 +870,7 @@ public class ApronArucoDetectPort {
|
|||
|
||||
private void performOperation() {
|
||||
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++;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -24,6 +24,8 @@ import dji.sdk.keyvalue.value.flightcontroller.VirtualStickFlightControlParam;
|
|||
import dji.sdk.keyvalue.value.flightcontroller.YawControlMode;
|
||||
import dji.sdk.keyvalue.value.gimbal.GimbalAngleRotation;
|
||||
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.error.IDJIError;
|
||||
import dji.v5.manager.KeyManager;
|
||||
|
|
@ -48,6 +50,7 @@ public class DroneHelper {
|
|||
public static DroneHelper getInstance() {
|
||||
return DroneHelperHolder.INSTANCE;
|
||||
}
|
||||
|
||||
private boolean isExitInProgress = false; // 新增标志
|
||||
|
||||
// DroneHelper.java
|
||||
|
|
@ -167,6 +170,7 @@ public class DroneHelper {
|
|||
public void onSuccess() {
|
||||
LogUtil.log(TAG, "设置对焦模式自动对焦");
|
||||
}
|
||||
|
||||
@Override
|
||||
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));
|
||||
|
|
@ -239,6 +243,7 @@ public class DroneHelper {
|
|||
retryGimbalPitchDegree();
|
||||
}
|
||||
}
|
||||
|
||||
private void retryGimbalPitchDegree() {
|
||||
if (!isGimbalPitchDegree) {
|
||||
new Handler().postDelayed(new Runnable() {
|
||||
|
|
@ -265,7 +270,9 @@ public class DroneHelper {
|
|||
virtualStickFlightControlParam.setVerticalThrottle(mThrottle);//上下
|
||||
sendMovementCommand(virtualStickFlightControlParam);
|
||||
}
|
||||
|
||||
public boolean shouldExecute = true;
|
||||
|
||||
public void sendMovementCommand(VirtualStickFlightControlParam param) {
|
||||
// if (shouldExecute) {
|
||||
VirtualStickManager.getInstance().sendVirtualStickAdvancedParam(param);
|
||||
|
|
|
|||
|
|
@ -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 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
|
||||
private String HAVA_RTK = "have_rtk";
|
||||
private String SATELLITE_SYSTEM = "satellite_system";
|
||||
|
|
|
|||
|
|
@ -2,26 +2,71 @@ package com.aros.apron.tools;
|
|||
|
||||
import android.os.Handler;
|
||||
import android.os.Looper;
|
||||
import android.util.Log;
|
||||
|
||||
import com.aros.apron.manager.StreamManager;
|
||||
|
||||
import java.io.IOException;
|
||||
import java.net.InetSocketAddress;
|
||||
import java.net.Socket;
|
||||
import java.util.Timer;
|
||||
import java.util.TimerTask;
|
||||
import java.util.concurrent.ExecutorService;
|
||||
import java.util.concurrent.Executors;
|
||||
|
||||
/**
|
||||
* 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
|
||||
*/
|
||||
public class SimplePortScanner {
|
||||
private static final String TAG = "SimplePortScanner";
|
||||
private static final int CHECK_PORT = 8554;
|
||||
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 int CONNECT_TIMEOUT = 500;
|
||||
|
||||
private Timer scanTimer;
|
||||
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());
|
||||
// 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 {
|
||||
void onPortOpen();
|
||||
|
|
@ -44,30 +89,13 @@ public class SimplePortScanner {
|
|||
|
||||
public void startScan() {
|
||||
stopScan();
|
||||
scanTimer = new Timer();
|
||||
scanTimer.scheduleAtFixedRate(new TimerTask() {
|
||||
@Override
|
||||
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);
|
||||
closedCount = 0; // 重置计数
|
||||
// 立即执行一次，然后延迟 3 秒循环
|
||||
mainHandler.post(scanRunnable);
|
||||
}
|
||||
|
||||
public void stopScan() {
|
||||
if (scanTimer != null) {
|
||||
scanTimer.cancel();
|
||||
scanTimer = null;
|
||||
}
|
||||
mainHandler.removeCallbacks(scanRunnable);
|
||||
}
|
||||
|
||||
private boolean checkPort(String host, int port) {
|
||||
|
|
|
|||
|
|
@ -299,29 +299,22 @@
|
|||
tools:ignore="MissingConstraints">
|
||||
<Button
|
||||
android:id="@+id/btn_test"
|
||||
android:text="拉流"
|
||||
android:text="切换3"
|
||||
android:layout_width="100dp"
|
||||
android:layout_height="100dp"
|
||||
/>
|
||||
<Button
|
||||
android:id="@+id/btn_test1"
|
||||
android:text="向后"
|
||||
android:text="拍"
|
||||
android:layout_width="100dp"
|
||||
android:layout_height="100dp"
|
||||
/>
|
||||
<Button
|
||||
android:id="@+id/btn_test2"
|
||||
android:text="向左"
|
||||
android:text="虚拟摇杆"
|
||||
android:layout_width="100dp"
|
||||
android:layout_height="100dp"
|
||||
/>
|
||||
<Button
|
||||
android:id="@+id/btn_test3"
|
||||
android:text="向右"
|
||||
android:layout_width="100dp"
|
||||
android:layout_height="100dp"
|
||||
/>
|
||||
|
||||
</LinearLayout>
|
||||
</androidx.constraintlayout.widget.ConstraintLayout>
|
||||
|
||||
|
|
|
|||
|
|
@ -292,20 +292,26 @@
|
|||
app:layout_constraintWidth_percent="0.95"
|
||||
app:uxsdk_titleBarBackgroundColor="@color/uxsdk_black" />
|
||||
<LinearLayout
|
||||
android:visibility="visible"
|
||||
android:visibility="gone"
|
||||
android:orientation="horizontal"
|
||||
android:layout_width="match_parent"
|
||||
android:layout_height="100dp"
|
||||
tools:ignore="MissingConstraints">
|
||||
<Button
|
||||
android:id="@+id/btn_test"
|
||||
android:text="旋转"
|
||||
android:text="切换3"
|
||||
android:layout_width="100dp"
|
||||
android:layout_height="100dp"
|
||||
/>
|
||||
<Button
|
||||
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_height="100dp"
|
||||
/>
|
||||
|
|
|
|||
Loading…
Reference in New Issue