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修改云台偏航向下

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

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

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

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

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

@ -38,12 +38,10 @@ import com.aros.apron.manager.MissionV3Manager
import com.aros.apron.manager.NavigationSatelliteSystemManager
import com.aros.apron.manager.OSDManager
import com.aros.apron.manager.PayloadWidgetManager
import com.aros.apron.manager.PerceptionManager
import com.aros.apron.manager.RTKManager
import com.aros.apron.manager.SpeakerManager
import com.aros.apron.manager.StickManager
import com.aros.apron.manager.StreamManager
import com.aros.apron.manager.UdpStreamManager
import com.aros.apron.manager.WirelessLinkManager
import com.aros.apron.mix.Aprondown
import com.aros.apron.mix.Aprongim
@ -51,9 +49,7 @@ import com.aros.apron.tools.AlternateArucoDetect
import com.aros.apron.tools.ApronArucoDetect
import com.aros.apron.tools.ApronArucoDetectPort
import com.aros.apron.tools.DroneHelper
import com.aros.apron.tools.DualCaptureHelper
import com.aros.apron.tools.LogUtil
import com.aros.apron.tools.MixedVisionLanding
import com.aros.apron.tools.MqttManager
import com.aros.apron.tools.PreferenceUtils
import com.aros.apron.tools.SimplePortScanner
@ -63,6 +59,7 @@ import dji.sdk.keyvalue.key.CameraKey
import dji.sdk.keyvalue.key.DJIKey
import dji.sdk.keyvalue.key.FlightControllerKey
import dji.sdk.keyvalue.key.KeyTools
import dji.sdk.keyvalue.value.camera.CameraMode
import dji.sdk.keyvalue.value.common.CameraLensType
import dji.sdk.keyvalue.value.common.ComponentIndexType
import dji.sdk.keyvalue.value.common.EmptyMsg
@ -73,11 +70,9 @@ import dji.v5.common.callback.CommonCallbacks.CompletionCallback
import dji.v5.common.error.IDJIError
import dji.v5.common.utils.GeoidManager
import dji.v5.manager.KeyManager
import dji.v5.manager.aircraft.perception.radar.RadarManager
import dji.v5.manager.datacenter.MediaDataCenter
import dji.v5.manager.interfaces.ICameraStreamManager
import dji.v5.manager.interfaces.ICameraStreamManager.AvailableCameraUpdatedListener
import dji.v5.manager.interfaces.IRadarManager
import dji.v5.network.DJINetworkManager
import dji.v5.network.IDJINetworkStatusListener
import dji.v5.utils.common.JsonUtil
@ -533,7 +528,6 @@ open class MainActivity : BaseActivity() {
}
private fun initView() {
fpvParentView = findViewById(R.id.fpv_holder)
mDrawerLayout = findViewById(R.id.root_view)
@ -560,23 +554,51 @@ open class MainActivity : BaseActivity() {
btn_test = findViewById(R.id.btn_test)
btn_test1 = findViewById(R.id.btn_test1)
btn_test2 = findViewById(R.id.btn_test2)
btn_test3 = findViewById(R.id.btn_test3)
// btn_test3 = findViewById(R.id.btn_test3)
btn_test?.setOnClickListener {
DualCaptureHelper.getInstance().captureNextFrame()
// if(cameraMode == 3){
// //退出回放模式
// MediaManager.getInstance().disablePlayback();
// }
KeyManager.getInstance().setValue<CameraMode?>(
KeyTools.createKey<CameraMode?>(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1),
CameraMode.find(12),
object : CompletionCallback {
override fun onSuccess() {
OSDManager.getInstance().pushFlightAttitude()
}
override fun onFailure(error: IDJIError) {
}
})
}
btn_test1?.setOnClickListener {
SimplePortScanner.getInstance().stopScan()
KeyManager.getInstance().performAction<EmptyMsg?>(
KeyTools.createKey<EmptyMsg?, EmptyMsg?>(
CameraKey.KeyStartShootPhoto,
ComponentIndexType.PORT_1
),
object : CommonCallbacks.CompletionCallbackWithParam<EmptyMsg?> {
override fun onSuccess(emptyMsg: EmptyMsg?) {
LogUtil.log(TAG, "拍照成功")
}
override fun onFailure(error: IDJIError) {
LogUtil.log(TAG, "拍照失败:" + Gson().toJson(error))
}
})
}
btn_test2?.setOnClickListener {
StreamManager.getInstance().stopstream()
}
btn_test3?.setOnClickListener {
StreamManager.getInstance().startstream()
StickManager.getInstance().enableVirtualStick1()
}
// btn_test3?.setOnClickListener {
// StreamManager.getInstance().startstream()
//
// }
initClickListener()
@ -711,35 +733,12 @@ open class MainActivity : BaseActivity() {
startVtxHeartbeat()
SpeakerManager.getInstance().initMegaphoneInfo()
//GimbalManager.getInstance().gimsetmode()
//PayloadWidgetManager.getInstance().initPayloadInfo();
MediaDataCenter.getInstance().cameraStreamManager.setVisionAssistViewDirection(
VisionAssistDirection.DOWN, object : CommonCallbacks.CompletionCallback {
override fun onSuccess() {
LogUtil.log(TAG, "开启成功")
}
override fun onFailure(p0: IDJIError) {
LogUtil.log(TAG, "开启失败" + p0)
}
})
val leDsSettings = LEDsSettings()
leDsSettings.setNavigationLEDsOn(false)
leDsSettings.setStatusIndicatorLEDsOn(true)
leDsSettings.setFrontLEDsOn(true)
KeyManager.getInstance().setValue<LEDsSettings?>(
KeyTools.createKey<LEDsSettings?>(FlightControllerKey.KeyLEDsSettings),
leDsSettings,
object : CompletionCallback {
override fun onSuccess() {
LogUtil.log(TAG, "夜航灯关闭成功")
}
override fun onFailure(idjiError: IDJIError) {
LogUtil.log(TAG, "夜航灯关闭失败")
}
})
LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)
@ -751,25 +750,14 @@ open class MainActivity : BaseActivity() {
2 -> StreamManager.getInstance().startLiveWithCustom()
else -> StreamManager.getInstance().startLiveWithCustom()
}
val scanner = SimplePortScanner.getInstance()
scanner.setOnPortCheckListener(object : SimplePortScanner.OnPortCheckListener {
override fun onPortOpen() {
//LogUtil.log("qwq","✅ 本地8554端口已开启（每3秒扫描）")
}
override fun onPortClosed() {
LogUtil.log("qwq", "❌ 本地8554端口已关闭（每3秒扫描）")
//重新开启这个rtp
StreamManager.getInstance().startLiveWithRTSP();
}
})
SimplePortScanner.getInstance().startScan()
}, 5000) // 参数别改：5秒延迟确保相机就绪
LogUtil.log(TAG, "推流类型:" + PreferenceUtils.getInstance().customStreamType)
}
} else if (PreferenceUtils.getInstance().cameraLocationType == 4||PreferenceUtils.getInstance().cameraLocationType == 5) {
} else if (PreferenceUtils.getInstance().cameraLocationType == 4 || PreferenceUtils.getInstance().cameraLocationType == 5) {
if ((isFlightControllerConnect == null || isFlightControllerConnect != true) && (isCameraConnect == null || isCameraConnect != true)) {
handler.postDelayed({
initDJIManager()
@ -811,60 +799,22 @@ open class MainActivity : BaseActivity() {
GeoidManager.getInstance().init(this);
//GimbalManager.getInstance().gimsetmode()
//开启雷达监听器
//PerceptionManager.getInstance().isladraopeninti()
MediaDataCenter.getInstance().cameraStreamManager.setVisionAssistViewDirection(
VisionAssistDirection.DOWN, object : CommonCallbacks.CompletionCallback {
override fun onSuccess() {
LogUtil.log(TAG, "开启成功")
}
override fun onFailure(p0: IDJIError) {
LogUtil.log(TAG, "开启失败" + p0)
}
})
val leDsSettings = LEDsSettings()
leDsSettings.setNavigationLEDsOn(false)
leDsSettings.setStatusIndicatorLEDsOn(true)
leDsSettings.setFrontLEDsOn(true)
KeyManager.getInstance().setValue<LEDsSettings?>(
KeyTools.createKey<LEDsSettings?>(FlightControllerKey.KeyLEDsSettings),
leDsSettings,
object : CompletionCallback {
override fun onSuccess() {
LogUtil.log(TAG, "夜航灯关闭成功")
}
override fun onFailure(idjiError: IDJIError) {
LogUtil.log(TAG, "夜航灯关闭失败")
}
})
LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)
Handler(Looper.getMainLooper()).postDelayed({
when (PreferenceUtils.getInstance().customStreamType) {
1 -> StreamManager.getInstance().startLiveWithRTSP()
2 -> StreamManager.getInstance().startLiveWithCustom()
else -> StreamManager.getInstance().startLiveWithCustom()
}
val scanner = SimplePortScanner.getInstance()
scanner.setOnPortCheckListener(object : SimplePortScanner.OnPortCheckListener {
override fun onPortOpen() {
//LogUtil.log("qwq","✅ 本地8554端口已开启（每3秒扫描）")
}
override fun onPortClosed() {
LogUtil.log("qwq", "❌ 本地8554端口已关闭（每3秒扫描）")
//重新开启这个rtp
StreamManager.getInstance().startLiveWithRTSP();
}
})
SimplePortScanner.getInstance().startScan()
}, 5000) // 参数别改：5秒延迟确保相机就绪
@ -913,6 +863,7 @@ open class MainActivity : BaseActivity() {
//
SpeakerManager.getInstance().initMegaphoneInfo()
//GimbalManager.getInstance().gimsetmode()
GeoidManager.getInstance().init(this);
@ -920,34 +871,6 @@ open class MainActivity : BaseActivity() {
//PerceptionManager.getInstance().isladraopeninti()
MediaDataCenter.getInstance().cameraStreamManager.setVisionAssistViewDirection(
VisionAssistDirection.DOWN, object : CommonCallbacks.CompletionCallback {
override fun onSuccess() {
LogUtil.log(TAG, "开启成功")
}
override fun onFailure(p0: IDJIError) {
LogUtil.log(TAG, "开启失败" + p0)
}
})
val leDsSettings = LEDsSettings()
leDsSettings.setNavigationLEDsOn(false)
leDsSettings.setStatusIndicatorLEDsOn(true)
leDsSettings.setFrontLEDsOn(true)
KeyManager.getInstance().setValue<LEDsSettings?>(
KeyTools.createKey<LEDsSettings?>(FlightControllerKey.KeyLEDsSettings),
leDsSettings,
object : CompletionCallback {
override fun onSuccess() {
LogUtil.log(TAG, "夜航灯关闭成功")
}
override fun onFailure(idjiError: IDJIError) {
LogUtil.log(TAG, "夜航灯关闭失败")
}
})
LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)
@ -958,18 +881,7 @@ open class MainActivity : BaseActivity() {
2 -> StreamManager.getInstance().startLiveWithCustom()
else -> StreamManager.getInstance().startLiveWithCustom()
}
val scanner = SimplePortScanner.getInstance()
scanner.setOnPortCheckListener(object : SimplePortScanner.OnPortCheckListener {
override fun onPortOpen() {
//LogUtil.log("qwq","✅ 本地8554端口已开启（每3秒扫描）")
}
override fun onPortClosed() {
LogUtil.log("qwq", "❌ 本地8554端口已关闭（每3秒扫描）")
//重新开启这个rtp
StreamManager.getInstance().startLiveWithRTSP();
}
})
SimplePortScanner.getInstance().startScan()
}, 5000) // 参数别改：5秒延迟确保相机就绪
@ -1163,7 +1075,44 @@ open class MainActivity : BaseActivity() {
@Subscribe(threadMode = ThreadMode.MAIN)
fun onEvent(message: String?) {
when (message) {
FLAG_START_DETECT_ARUCO_APRON ->
FLAG_START_DETECT_ARUCO_APRON -> {
MediaDataCenter.getInstance().getCameraStreamManager().setVisionAssistViewDirection(
VisionAssistDirection.DOWN,
object : CompletionCallback {
override fun onSuccess() {
LogUtil.log(TAG, "下视开启成功")
}
override fun onFailure(idjiError: IDJIError) {
LogUtil.log(TAG, "下视开启失败")
}
})
val leDsSettings = LEDsSettings()
leDsSettings.setNavigationLEDsOn(false)
leDsSettings.setStatusIndicatorLEDsOn(true)
leDsSettings.setFrontLEDsOn(true)
KeyManager.getInstance().setValue<LEDsSettings?>(
KeyTools.createKey<LEDsSettings?>(FlightControllerKey.KeyLEDsSettings),
leDsSettings,
object : CompletionCallback {
override fun onSuccess() {
LogUtil.log(TAG, "夜航灯关闭成功")
}
override fun onFailure(idjiError: IDJIError) {
LogUtil.log(TAG, "夜航灯关闭失败")
}
})
KeyManager.getInstance().performAction<EmptyMsg>(
KeyTools.createKey<EmptyMsg, EmptyMsg>(FlightControllerKey.KeyStopAutoLanding),
object : CommonCallbacks.CompletionCallbackWithParam<EmptyMsg?> {
@ -1177,7 +1126,7 @@ open class MainActivity : BaseActivity() {
AlternateLandingManager.getInstance().startTaskProcess(null)
}
}, 6000)
} else if (PreferenceUtils.getInstance().cameraLocationType == 4 ||PreferenceUtils.getInstance().cameraLocationType == 5) {
} else if (PreferenceUtils.getInstance().cameraLocationType == 4 || PreferenceUtils.getInstance().cameraLocationType == 5) {
Handler().postDelayed(Runnable {
if (!Aprongim.getInstance().isTriggerSuccess) {
LogUtil.log(TAG, "图传异常:飞往备降点")
@ -1209,6 +1158,7 @@ open class MainActivity : BaseActivity() {
DroneHelper.getInstance().isVirtualStickEnable = false
DroneHelper.getInstance().setVerticalModeToVelocity()
}
override fun onFailure(error: IDJIError) {
if (startArucoType == 1) {
return
@ -1227,7 +1177,7 @@ open class MainActivity : BaseActivity() {
DroneHelper.getInstance().setVerticalModeToVelocity()
}
})
}
FLAG_START_DETECT_ARUCO_ALTERNATE ->
KeyManager.getInstance().performAction<EmptyMsg>(
KeyTools.createKey<EmptyMsg, EmptyMsg>(FlightControllerKey.KeyStopAutoLanding),
@ -1242,7 +1192,7 @@ open class MainActivity : BaseActivity() {
AlternateLandingManager.getInstance().startTaskProcess(null)
}
}, 6000)
} else if (PreferenceUtils.getInstance().cameraLocationType == 4|| PreferenceUtils.getInstance().cameraLocationType==5) {
} else if (PreferenceUtils.getInstance().cameraLocationType == 4 || PreferenceUtils.getInstance().cameraLocationType == 5) {
Handler().postDelayed(Runnable {
if (!Aprongim.getInstance().isTriggerSuccess) {
LogUtil.log(TAG, "图传异常:飞往备降点")

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

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

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

@ -23,6 +23,7 @@ import com.aros.apron.manager.FlyToPointManager;
import com.aros.apron.manager.GimbalManager;
import com.aros.apron.manager.MissionV3Manager;
import com.aros.apron.manager.OSDManager;
import com.aros.apron.manager.PayloadlightManager;
import com.aros.apron.manager.PerceptionManager;
import com.aros.apron.manager.SpeakerManager;
import com.aros.apron.manager.StickManager;
@ -178,15 +179,25 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
Synchronizedstatus.setInitStatus(true);
});
} else if (Synchronizedstatus.getInitStatus()) {
LogUtil.log(TAG, "收到：航线" + jsonString);
//设置modecode
Movement.getInstance().setMode_code(1);
//设置标志为
Movement.getInstance().setFlightmode(1);
if(!Synchronizedstatus.getFlighttaskExecuteStatus()){
LogUtil.log(TAG, "收到：航线" + jsonString);
//设置modecode
Movement.getInstance().setMode_code(1);
//设置标志为
Movement.getInstance().setFlightmode(1);
//存储最新消息并开始自检
MissionV3Manager.getInstance().taskExecute(message);
Synchronizedstatus.setIsruning(true);
Synchronizedstatus.setFlighttaskExecuteStatus(true);
}else{
sendFailMsg2Server(message,"已经收到航线");
}
//存储最新消息并开始自检
MissionV3Manager.getInstance().taskExecute(message);
Synchronizedstatus.setIsruning(true);
}
}
break;
@ -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:
@ -255,14 +265,22 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
Synchronizedstatus.setInitStatus(true);
});
} else if (Synchronizedstatus.getInitStatus()) {
LogUtil.log(TAG, "收到：一键起飞" + jsonString);
//设置modecode
Movement.getInstance().setMode_code(1);
//设置标志为指令飞行
Movement.getInstance().setFlightmode(2);
TakeoffProgressScheduler.getInstance().startReporting();
TakeOffToPointManager.getInstance().taskExecute(message);
Synchronizedstatus.setIsruning(true);
if(!Synchronizedstatus.isTakeoff_to_point()){
LogUtil.log(TAG, "收到：一键起飞" + jsonString);
//设置modecode
Movement.getInstance().setMode_code(1);
//设置标志为指令飞行
Movement.getInstance().setFlightmode(2);
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);
resetVirtualStickHeartbeat();
StickManager.getInstance().sendVirtualStickAdvancedParam(message);
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;

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

@ -116,6 +116,8 @@ public class Movement {
private int GPSSatelliteCount; //卫星个数
private 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;
}

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

@ -25,14 +25,53 @@ public class Synchronizedstatus {
//探照灯线程
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;
}

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

@ -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() {

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

File diff suppressed because it is too large Load Diff

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

@ -25,6 +25,12 @@ public class DockCloseManager extends BaseManager {
private final int maxRetries = 2;
private 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);

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

@ -37,6 +37,7 @@ import java.util.Objects;
import dji.sdk.keyvalue.key.AirLinkKey;
import dji.sdk.keyvalue.key.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

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

@ -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();

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

@ -3,7 +3,9 @@ package com.aros.apron.manager;
import static com.aros.apron.tools.Utils.getIDJIErrorMsg;
import static 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
@ -276,17 +280,27 @@ public class GimbalManager extends BaseManager {
public void gimbalLookAt(MessageDown message) {
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
KeyConnection, ComponentIndexType.PORT_1));
// LogUtil.log(TAG,"isConnect"+isConnect);
if (isConnect != null && isConnect) {
// LogUtil.log(TAG,"isConnect"+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() {
@ -294,13 +308,13 @@ public class GimbalManager extends BaseManager {
KeyManager.getInstance().performAction(KeyTools.createKey(FlightControllerKey.KeyLookAt), lookAtInfo, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
@Override
public void onSuccess(EmptyMsg emptyMsg) {
LogUtil.log(TAG,"看向目标点成功");
LogUtil.log(TAG, "看向目标点成功");
sendMsg2Server(message);
}
@Override
public void onFailure(@NonNull IDJIError error) {
LogUtil.log(TAG,"看向目标点失败"+error);
LogUtil.log(TAG, "看向目标点失败" + error);
sendFailMsg2Server(message, "看向目标点失败:" + getIDJIErrorMsg(error));
}
}
@ -312,17 +326,17 @@ public class GimbalManager extends BaseManager {
//设置云台跟随失败
}
});
}else{
} else {
KeyManager.getInstance().performAction(KeyTools.createKey(FlightControllerKey.KeyLookAt), lookAtInfo, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
@Override
public void onSuccess(EmptyMsg emptyMsg) {
LogUtil.log(TAG,"看向目标点成功");
LogUtil.log(TAG, "看向目标点成功");
sendMsg2Server(message);
}
@Override
public void onFailure(@NonNull IDJIError error) {
LogUtil.log(TAG,"看向目标点失败"+error);
LogUtil.log(TAG, "看向目标点失败" + error);
sendFailMsg2Server(message, "看向目标点失败:" + getIDJIErrorMsg(error));
}
}

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

@ -42,6 +42,7 @@ import dji.sdk.keyvalue.value.camera.MediaFileType;
import dji.sdk.keyvalue.value.common.ComponentIndexType;
import dji.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

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

@ -34,8 +34,11 @@ import java.util.List;
import dji.sdk.keyvalue.key.CameraKey;
import dji.sdk.keyvalue.key.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");
}
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");
}
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");
}
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");
}
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) {
@ -507,7 +571,7 @@ public class MissionV3Manager extends BaseManager {
// if (isMissionStateValid && isPlaneMessageValid && isGpsQualityValid) {
sendEvent2Server("卫星数量" + GPSSatelliteCount + "gps是否ok" + GPSSatelliteCountValid, 1);
if (isGpsQualityValid || GPSSatelliteCountValid) {
if (isGpsQualityValid || GPSSatelliteCountValid ) {
//5.下载航线
downLoadKMZFile(message);
sendEvent2Server("执行下载航线成功", 1);
@ -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) {
@ -847,7 +912,19 @@ public class MissionV3Manager extends BaseManager {
public void onSuccess() {
sendMsg2Server(message);
Movement.getInstance().setTask_status("in_progress");
sendFlightTaskProgress2Server();
if( PreferenceUtils.getInstance().getMissionType()==0){
Movement.getInstance().setCameraMode(5);
}else if( PreferenceUtils.getInstance().getMissionType()==1){
Movement.getInstance().setCameraMode(17);
}
if(PreferenceUtils.getInstance().getMissionType()==0){
sendFlightTaskProgress2Server();
}
Movement.getInstance().setWaylineinterpter(true);
}
@Override
@ -870,9 +947,20 @@ 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");
sendFlightTaskProgress2Server();
if(PreferenceUtils.getInstance().getMissionType()==0){
sendFlightTaskProgress2Server();
}
Movement.getInstance().setWaylineinterpter(true);
}
@Override

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

@ -56,14 +56,14 @@ public class PayloadWidgetManager extends BaseManager {
//负载信息
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");

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

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

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

@ -50,6 +50,7 @@ public class PerceptionManager extends BaseManager {
Boolean isConnect = KeyManager.getInstance().getValue(createKey(FlightControllerKey.KeyConnection));
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));
}
});

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

@ -27,6 +27,7 @@ import dji.v5.manager.aircraft.megaphone.MegaphoneIndex;
import dji.v5.manager.aircraft.megaphone.MegaphoneInfo;
import dji.v5.manager.aircraft.megaphone.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 {
@ -47,27 +50,33 @@ 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");
}
@Override
public void onFailure(@NonNull IDJIError error) {
LogUtil.log(TAG,"喊话器位置设置失败:"+getIDJIErrorMsg(error));
}
});
}
}
}
});
MegaphoneManager.getInstance().setMegaphoneIndex(MegaphoneIndex.PORT_2, new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
LogUtil.log(TAG,"喊话器位置设置成功");
}
@Override
public void onFailure(@NonNull IDJIError error) {
LogUtil.log(TAG,"喊话器位置设置失败:"+getIDJIErrorMsg(error));
}
});
}
public void speakerAudioPlayStart(MessageDown message) {
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));
}
});
}
}

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

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

249
app/src/main/java/com/aros/apron/manager/StreamManager.java
View File

@ -44,7 +44,7 @@ import dji.v5.manager.interfaces.ILiveStreamManager;
public class StreamManager extends BaseManager {
private static final String TAG = "StreamManager";
// ========== 【新增】线程池和主线程Handler，防止ANR ==========
// ========== 【新增】线程池和主线程 Handler，防止 ANR ==========
private final ExecutorService streamExecutor = Executors.newSingleThreadExecutor();
private final Handler mainHandler = new Handler(Looper.getMainLooper());
@ -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();
@ -143,8 +151,9 @@ 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
// 知眸测试
public void startLiveWithCustom() {
streamExecutor.execute(() -> {
Boolean isAircraftConnected = KeyManager.getInstance().getValue(DJIKey.create(ProductKey.KeyConnection));
@ -203,13 +212,13 @@ public class StreamManager extends BaseManager {
}
private int isliveindex = 1; //1代表port 2代表fpv
private int isliveindex = 1; //1 代表 port 2 代表 fpv
public void switchptspfpv(ComponentIndexType ComponentIndex, MessageDown message) {
isliveindex = 2;
sendMsg2Server(message);
ILiveStreamManager liveStreamManager = MediaDataCenter.getInstance().getLiveStreamManager();
LogUtil.log(TAG, "切换RTSP推流fpv:" + PreferenceUtils.getInstance().getRtspUserName()
LogUtil.log(TAG, "切换 RTSP 推流 fpv:" + PreferenceUtils.getInstance().getRtspUserName()
+ "--" + PreferenceUtils.getInstance().getRtspPort() + "--" + PreferenceUtils.getInstance().getRtspPassWord());
LiveStreamSettings.Builder streamSettingBuilder = new LiveStreamSettings.Builder();
@ -231,7 +240,7 @@ public class StreamManager extends BaseManager {
isliveindex = 1;
sendMsg2Server(message);
ILiveStreamManager liveStreamManager = MediaDataCenter.getInstance().getLiveStreamManager();
LogUtil.log(TAG, "切换RTSP推流port:" + PreferenceUtils.getInstance().getRtspUserName()
LogUtil.log(TAG, "切换 RTSP 推流 port:" + PreferenceUtils.getInstance().getRtspUserName()
+ "--" + PreferenceUtils.getInstance().getRtspPort() + "--" + PreferenceUtils.getInstance().getRtspPassWord());
LiveStreamSettings.Builder streamSettingBuilder = new LiveStreamSettings.Builder();
@ -249,17 +258,48 @@ public class StreamManager extends BaseManager {
liveStreamManager.setLiveVideoBitrateMode(LiveVideoBitrateMode.AUTO);
}
// ========== 【核心修复】RTSP推流入口，全部在子线程执行 ==========
// ========== 【核心修复】RTSP 推流入口，全部在子线程执行 ==========
public void startLiveWithRTSP() {
// 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FPVWidget恢复");
LogUtil.log(TAG, "相机流未准备好，尝试切换 FPV Widget 恢复");
mainHandler.post(() -> {
MainActivity mainActivity = MainActivity.Companion.getInstance();
if (mainActivity != null) {
@ -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);
}
});
// 稍微等待设置生效
try {
Thread.sleep(100);
} catch (InterruptedException e) {
Thread.currentThread().interrupt();
return;
}
if (!liveStreamManager.isStreaming()) {
// 直接启动
doStartLiveWithRTSP(liveStreamManager, false);
} else {
// 先停止再启动
liveStreamManager.stopStream(new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
// 在子线程延迟2秒，替代 Handler.postDelayed
try {
Thread.sleep(2000);
} catch (InterruptedException e) {
Thread.currentThread().interrupt();
return;
}
doStartLiveWithRTSP(liveStreamManager, true);
}
@Override
public void onFailure(@NonNull IDJIError error) {
mainHandler.post(() -> {
LogUtil.log(TAG, "停止旧流失败:" + new Gson().toJson(error));
// 即使停止失败也尝试启动
streamExecutor.execute(() -> doStartLiveWithRTSP(liveStreamManager, true));
});
}
});
}
} else {
LogUtil.log(TAG, "RTSP配置参数有误");
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;
}
LogUtil.log(TAG, "RTSP 配置检查通过：user=" + rtspUser + ", port=" + rtspPort + ", camera=" + (isliveindex == 1 ? "PORT_1" : "FPV"));
// 4. 等待相机模式稳定（避免刚切换模式就推流）
try {
Thread.sleep(500);
} catch (InterruptedException e) {
Thread.currentThread().interrupt();
}
// 5. 设置 RTSP 参数（在主线程执行）
final ILiveStreamManager finalLiveStreamManager = liveStreamManager;
mainHandler.post(() -> {
LiveStreamSettings.Builder streamSettingBuilder = new LiveStreamSettings.Builder();
LiveStreamSettings streamSettings = streamSettingBuilder.setLiveStreamType(LiveStreamType.RTSP)
.setRtspSettings(new RtspSettings.Builder()
.setPassWord(rtspPass)
.setPort(Integer.parseInt(rtspPort))
.setUserName(rtspUser)
.build())
.build();
finalLiveStreamManager.setLiveStreamSettings(streamSettings);
// 6. 设置相机源
ComponentIndexType cameraIndex = (isliveindex == 1) ? ComponentIndexType.PORT_1 : ComponentIndexType.FPV;
finalLiveStreamManager.setCameraIndex(cameraIndex);
// 7. 设置推流质量
finalLiveStreamManager.setLiveStreamQuality(StreamQuality.FULL_HD);
finalLiveStreamManager.setLiveVideoBitrateMode(LiveVideoBitrateMode.AUTO);
LogUtil.log(TAG, "RTSP 参数设置完成，等待 500ms 后启动推流");
// 8. 等待设置生效
mainHandler.postDelayed(() -> {
streamExecutor.execute(() -> {
// 9. 启动推流前再次检查
if (finalLiveStreamManager.isStreaming()) {
LogUtil.log(TAG, "推流已在运行，跳过启动");
isLiveStreamAlreadyStart = true;
isStartingRTSP = false; // 重置并发标志
SimplePortScanner.getInstance().startScan(); // 确保端口扫描在运行
return;
}
LogUtil.log(TAG, "开始调用 startStream...");
doStartLiveWithRTSP(finalLiveStreamManager, false);
});
}, 500);
});
});
}
private void forceStartLive() {
streamExecutor.execute(() -> {
if (PreferenceUtils.getInstance().getRtspUserName() != null &&
PreferenceUtils.getInstance().getRtspPort() != null &&
@ -387,10 +416,11 @@ public class StreamManager extends BaseManager {
@Override
public void onSuccess() {
mainHandler.post(() -> {
LogUtil.log(TAG, "强制启动RTSP推流成功");
LogUtil.log(TAG, "强制启动 RTSP 推流成功");
MainActivity mainActivity = MainActivity.Companion.getInstance();
mainActivity.swapVideoSource();
isLiveStreamAlreadyStart = true;
isStartingRTSP = false; // 重置并发标志
SimplePortScanner.getInstance().startScan();
});
}
@ -398,24 +428,44 @@ public class StreamManager extends BaseManager {
@Override
public void onFailure(@NonNull IDJIError error) {
mainHandler.post(() -> {
LogUtil.log(TAG, "强制启动RTSP推流失败:" + new Gson().toJson(error));
LogUtil.log(TAG, "强制启动 RTSP 推流失败:" + new Gson().toJson(error));
isStartingRTSP = false; // 重置并发标志
// 失败后也尝试重置状态并重启
resetStreamState();
});
}
});
});
} else {
LogUtil.log(TAG, "RTSP 配置参数有误，无法强制启动");
isStartingRTSP = false; // 重置并发标志
}
});
}
// ========== 【新增】实际启动流的私有方法，确保在子线程执行 ==========
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() {
mainHandler.post(() -> {
LogUtil.log(TAG, "自定义RTSP推流启动成功" + (isRestart ? "(重启)" : ""));
LogUtil.log(TAG, "自定义 RTSP 推流启动成功" + (isRestart ? "(重启)" : ""));
isliveindex = 1;
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
// 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
}
});
}

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

@ -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);

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

@ -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++;
}

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

@ -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++;
}

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

@ -86,6 +86,13 @@ public class ApronArucoDetect {
// ========== 【新增】2帧一处理计数器 ==========
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++;
}

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

@ -77,6 +77,13 @@ public class ApronArucoDetectPort {
// 记录上一帧满足的降落条件类型：0=无, 1=单码精准降落(15/17号), 2=几何中心降落
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++;
}

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

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

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

@ -30,6 +30,16 @@ public class PreferenceUtils extends BasePreference {
private String TRIGGER_TO_ALTERNATE_POINT = "trigger_to_alternate_point";//是否需要触发crash后继续降落
private String 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";

82
app/src/main/java/com/aros/apron/tools/SimplePortScanner.java
View File

@ -2,26 +2,71 @@ package com.aros.apron.tools;
import android.os.Handler;
import android.os.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
* 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) {

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

@ -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>

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

@ -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"
/>