修改剩余拍照时间

app/src/main/java/com/aros/apron/callback/MqttCallBack.java

@@ -190,8 +190,9 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended  {
                 //设置modecode
                 Movement.getInstance().setMode_code(1);
                 sendFlightTaskProgress2Server();
-                //设置标志为
+                //设置标志为指令飞行
                 Movement.getInstance().setFlightmode(2);
+
                 TakeOffToPointManager.getInstance().taskExecute(message);
                 break;
             case Constant.FLY_TO_POINT:

app/src/main/java/com/aros/apron/entity/Movement.java

@@ -411,9 +411,18 @@ public class Movement {
     }
 
     //用来判断是什么起飞type
-    private int flightmode=0; //0代表没有操作  1代表航线飞行 2代表指令飞行
+    private int flightmode=0; //0代表没有操作  1代表航线飞行 2代表指令飞行（一键和flyto）
+    private boolean takeofftopoint;
     private boolean opendrc=false; //true 是开启 false 是关闭
 
+    public boolean isTakeofftopoint() {
+        return takeofftopoint;
+    }
+
+    public void setTakeofftopoint(boolean takeofftopoint) {
+        this.takeofftopoint = takeofftopoint;
+    }
+
     public boolean isOpendrc() {
         return opendrc;
     }

app/src/main/java/com/aros/apron/manager/CameraManager.java

@@ -376,21 +376,6 @@ public void initCameraInfo() {
                 }
             }
         });
-        //剩余录像时间
-        KeyManager.getInstance().listen(KeyTools.createKey(CameraKey.
-                KeyIsRecording, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener<Boolean>() {
-            @Override
-            public void onValueChange(@Nullable Boolean aBoolean, @Nullable Boolean t1) {
-                if(t1!=null){
-                    if(t1==true){
-                        Integer recordingTime = KeyManager.getInstance().getValue(
-                                KeyTools.createKey(CameraKey.KeySSDAvailableRecordingTimeInSeconds, ComponentIndexType.PORT_1)
-                        );
-                        LogUtil.log(TAG,"录像时间"+recordingTime);
-                    }
-                }
-            }
-        });
 
         //视频录制时长
         KeyManager.getInstance().listen(KeyTools.createKey(CameraKey.KeyRecordingTime, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener<Integer>() {
@@ -627,14 +612,16 @@ public void initCameraInfo() {
             @Override
             public void onValueChange(@Nullable CameraStorageInfos cameraStorageInfos, @Nullable CameraStorageInfos t1) {
                 if (t1 != null) {
+                   // LogUtil.log(TAG,"剩余时间"+t1.getCurrentCameraStorageInfo().getAvailableVideoDuration());
+                    //剩余录像时间
+                    Movement.getInstance().setRemain_record_duration(t1.getCurrentCameraStorageInfo().getAvailableVideoDuration());
+
                     CameraStorageInfo cameraStorageInfoByLocation = t1.getCameraStorageInfoByLocation(CameraStorageLocation.SDCARD);
                     if (cameraStorageInfoByLocation != null) {
-
 //                            //剩余可以拍照张数
 //                            int pitcurenum = cameraStorageInfoByLocation.getAvailablePhotoCount();
 //                            Movement.getInstance().setRemain_photo_num(pitcurenum);
 //                            LogUtil.log(TAG, "//剩余可以拍照张数" + pitcurenum);
-
                         Movement.getInstance().setTotal(cameraStorageInfoByLocation.getStorageCapacity() * 1024);
                         Movement.getInstance().setUsed((cameraStorageInfoByLocation.getStorageCapacity() * 1024)
                                 - (cameraStorageInfoByLocation.getStorageLeftCapacity()));

app/src/main/java/com/aros/apron/manager/GimbalManager.java

@@ -279,7 +279,7 @@ public class GimbalManager extends BaseManager {
 
                         @Override
                         public void onFailure(@NonNull IDJIError error) {
-                            LogUtil.log(TAG,"看向目标点失败");
+                            LogUtil.log(TAG,"看向目标点失败"+error);
                             sendFailMsg2Server(message, "看向目标点失败:" + getIDJIErrorMsg(error));
                         }
                     }

app/src/main/java/com/aros/apron/manager/MissionV3Manager.java

@@ -161,7 +161,14 @@ public class MissionV3Manager extends BaseManager {
                                 sendFlightTaskProgress2Server();
 
                                 //航线飞行
-                                Movement.getInstance().setMode_code(5);
+                                if(Movement.getInstance().getFlightmode()==1){
+
+                                    Movement.getInstance().setMode_code(5);
+                                }else if(Movement.getInstance().getFlightmode()==2){
+                                    //指令飞行
+                                    Movement.getInstance().setMode_code(17);
+                                }
+
                                 break;
                             case EXECUTING:
                                 sendEvent2Server("任务状态:航线任务执行中", 1);

app/src/main/java/com/aros/apron/manager/StickManager.java

@@ -124,11 +124,13 @@ public class StickManager extends BaseManager {
             public void onSuccess() {
                 if (message != null) {
                     sendMsg2Server(message);
+
                     if(Movement.getInstance().getFlightmode()==1){
                         Movement.getInstance().setMode_code(5);
                     }else if(Movement.getInstance().getFlightmode()==2){
                         Movement.getInstance().setMode_code(17);
                     }
+
                     Movement.getInstance().setOpendrc(false);
                 }
                 LogUtil.log(TAG, "控制权已取消");

app/src/main/java/com/aros/apron/manager/TakeOffToPointManager.java

@@ -94,7 +94,7 @@ public class TakeOffToPointManager extends BaseManager {
             boolean statusOk = verifyAircraftStatus(message);
             //4.信号收敛(等待GPS搜星)
             if (statusOk) {
-                LogUtil.log(TAG,"verifyGpsAndMissionState(message)执行了");
+               // LogUtil.log(TAG,"verifyGpsAndMissionState(message)执行了");
                 verifyGpsAndMissionState(message);
             }
 
@@ -170,16 +170,20 @@ public class TakeOffToPointManager extends BaseManager {
         int missionStateCode = Movement.getInstance().getMissionStateCode();
         String planeMessage = Movement.getInstance().getPlaneMessage();
         int quality = Movement.getInstance().getQuality();
+        int GPSSatelliteCount=Movement.getInstance().getGPSSatelliteCount();
+
         boolean isMissionStateValid = (missionStateCode == 2 || missionStateCode == 0 || missionStateCode == 7);
         boolean isPlaneMessageValid = !TextUtils.isEmpty(planeMessage) && !planeMessage.equals("无法起飞");
         boolean isGpsQualityValid = (quality == 4 || quality == 5 || quality == 10);
+        boolean GPSSatelliteCountValid=GPSSatelliteCount>15;
+
 
         LogUtil.log(TAG,"isMissionStateValid"+isMissionStateValid+"isPlaneMessageValid"+isPlaneMessageValid+"isGpsQualityValid"+isGpsQualityValid);
 
 //        if (isMissionStateValid && isPlaneMessageValid && isGpsQualityValid) {
-        if (isPlaneMessageValid && isGpsQualityValid) {
+        if (GPSSatelliteCountValid||isGpsQualityValid) {
             //5.生成航线
-            LogUtil.log(TAG,"执行toGenerateKMZFile");
+            //LogUtil.log(TAG,"执行toGenerateKMZFile");
             toGenerateKMZFile(message);
             verifyGpsAndMissionStateSuccess = true;
         } else {
@@ -269,7 +273,9 @@ public class TakeOffToPointManager extends BaseManager {
                         List<WaylineExecuteWaypoint> waypoints = waylines.get(0).getWaypoints();
                         if (waypoints != null && waypoints.size() > 0) {
                             //将航点列表保存在本地
+
                                 Movement.getInstance().setSpeed(configParseInfo.getGlobalTransitionalSpeed());
+
                                 CurrentWayline.getInstance().setWaypoints(waypoints);
                             LogUtil.log(TAG, "该航线有" + waypoints.size() + "个航点");
                         } else {
@@ -374,6 +380,7 @@ public class TakeOffToPointManager extends BaseManager {
             CommonCallbacks.CompletionCallback callback = new CommonCallbacks.CompletionCallback() {
                 @Override
                 public void onSuccess() {
+
                     isMissionStart = true;
                     LogUtil.log(TAG, "航线第" + startMissionFailTimes + "次开始成功");
                     Movement.getInstance().setTask_status("in_progress");