From aa24702eb77f924b5873951dc6664f0c9798a23b Mon Sep 17 00:00:00 2001 From: cxf <2417125293@qq.com> Date: Fri, 27 Feb 2026 10:18:56 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E4=BA=86=E4=B8=80=E9=94=AE?= =?UTF-8?q?=E8=B5=B7=E9=A3=9E=E4=B8=8A=E6=8A=A5=E5=96=8A=E8=AF=9D=E5=99=A8?= =?UTF-8?q?=E4=B8=8A=E6=8A=A5?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../arm64-v8a/configure_fingerprint.bin | 24 +- .../armeabi-v7a/configure_fingerprint.bin | 24 +- .../p1g6s634/x86/configure_fingerprint.bin | 24 +- .../p1g6s634/x86_64/configure_fingerprint.bin | 24 +- .../generate_cxx_metadata_220_timing.txt | 7 + .../generate_cxx_metadata_222_timing.txt | 6 + .../generate_cxx_metadata_223_timing.txt | 8 + .../generate_cxx_metadata_224_timing.txt | 7 + .../generate_cxx_metadata_225_timing.txt | 7 + .../generate_cxx_metadata_228_timing.txt | 7 + .../generate_cxx_metadata_232_timing.txt | 7 + .../generate_cxx_metadata_233_timing.txt | 7 + .../generate_cxx_metadata_234_timing.txt | 24 + .../generate_cxx_metadata_420_timing.txt | 7 + .../generate_cxx_metadata_480_timing.txt | 6 + .../generate_cxx_metadata_491_timing.txt | 3 + .../generate_cxx_metadata_497_timing.txt | 6 + .../generate_cxx_metadata_680_timing.txt | 3 + .../generate_cxx_metadata_714_timing.txt | 3 + .../generate_cxx_metadata_750_timing.txt | 6 + .../arm64-v8a/metadata_generation_record.json | 6 +- .../generate_cxx_metadata_225_timing.txt | 3 + .../generate_cxx_metadata_234_timing.txt | 15 + .../generate_cxx_metadata_487_timing.txt | 9 + .../metadata_generation_record.json | 6 +- .../x86/generate_cxx_metadata_223_timing.txt | 6 + .../x86/generate_cxx_metadata_225_timing.txt | 6 + .../x86/generate_cxx_metadata_234_timing.txt | 3 + .../x86/generate_cxx_metadata_32_timing.txt | 8 + .../x86/generate_cxx_metadata_487_timing.txt | 3 + .../x86/generate_cxx_metadata_492_timing.txt | 3 + .../x86/generate_cxx_metadata_497_timing.txt | 3 + .../logs/x86/metadata_generation_record.json | 6 +- .../generate_cxx_metadata_225_timing.txt | 6 + .../generate_cxx_metadata_226_timing.txt | 6 + .../generate_cxx_metadata_229_timing.txt | 3 + .../generate_cxx_metadata_230_timing.txt | 6 + .../generate_cxx_metadata_487_timing.txt | 3 + .../generate_cxx_metadata_492_timing.txt | 3 + .../generate_cxx_metadata_497_timing.txt | 3 + .../x86_64/metadata_generation_record.json | 6 +- .../cxx/abi_configuration_4s4k1647.log | 2 +- .../cxx/create_cxx_tasks_247_timing.txt | 10 + .../cxx/create_cxx_tasks_302_timing.txt | 11 + .../cxx/create_cxx_tasks_304_timing.txt | 10 + .../cxx/create_cxx_tasks_310_timing.txt | 10 + .../cxx/create_cxx_tasks_321_timing.txt | 19 + .../cxx/create_cxx_tasks_32_timing.txt | 272 ++++++++ .../cxx/create_cxx_tasks_443_timing.txt | 12 + .../cxx/create_cxx_tasks_552_timing.txt | 8 + .../cxx/create_cxx_tasks_782_timing.txt | 5 + .../cxx/ndk_locator_record_463t1h4l.log | 28 +- app/build.gradle | 4 + .../aros/apron/activity/ConnectionActivity.kt | 4 +- .../com/aros/apron/activity/MainActivity.kt | 303 ++++++--- .../java/com/aros/apron/base/BaseManager.java | 87 ++- .../callback/MVirtualStickStateListener.java | 4 + .../com/aros/apron/callback/MqttCallBack.java | 47 +- .../com/aros/apron/constant/Constant.java | 36 + .../com/aros/apron/entity/MessageDown.java | 635 ------------------ .../java/com/aros/apron/entity/Movement.java | 85 ++- .../apron/entity/TakeoffToPointProgress.java | 6 +- .../com/aros/apron/manager/FlightManager.java | 7 +- .../com/aros/apron/manager/GimbalManager.java | 52 +- .../aros/apron/manager/MissionV3Manager.java | 32 + .../aros/apron/manager/PerceptionManager.java | 13 +- .../com/aros/apron/manager/StickManager.java | 4 +- .../com/aros/apron/manager/StreamManager.java | 6 +- .../apron/manager/TakeOffToPointManager.java | 15 +- .../aros/apron/tools/ApronArucoDetect.java | 119 +++- .../com/aros/apron/tools/DroneHelper.java | 2 +- .../java/com/aros/apron/tools/PIDControl.java | 80 +++ .../main/java/com/aros/apron/tools/Utils.java | 123 ---- .../main/res/layout-land/activity_main.xml | 16 +- 74 files changed, 1338 insertions(+), 1052 deletions(-) delete mode 100644 app/src/main/java/com/aros/apron/entity/MessageDown.java delete mode 100644 app/src/main/java/com/aros/apron/tools/Utils.java diff --git a/Opencv/.cxx/Debug/p1g6s634/arm64-v8a/configure_fingerprint.bin b/Opencv/.cxx/Debug/p1g6s634/arm64-v8a/configure_fingerprint.bin index 11373faf..5f7721d1 100644 --- a/Opencv/.cxx/Debug/p1g6s634/arm64-v8a/configure_fingerprint.bin +++ b/Opencv/.cxx/Debug/p1g6s634/arm64-v8a/configure_fingerprint.bin @@ -2,28 +2,28 @@ C/C++ Structured Logx v tC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\arm64-v8a\additional_project_files.txtC A -?com.android.build.gradle.internal.cxx.io.EncodedFileFingerPrint  3  3u +?com.android.build.gradle.internal.cxx.io.EncodedFileFingerPrint  ϻ3  3u s -qC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\arm64-v8a\android_gradle_build.json  3 +qC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\arm64-v8a\android_gradle_build.json  ϻ3 3z x -vC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\arm64-v8a\android_gradle_build_mini.json  3 3g +vC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\arm64-v8a\android_gradle_build_mini.json  л3 3g e -cC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\arm64-v8a\build.ninja  3 3k +cC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\arm64-v8a\build.ninja  л3 3k i -gC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\arm64-v8a\build.ninja.txt  3p +gC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\arm64-v8a\build.ninja.txt  л3p n -lC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\arm64-v8a\build_file_index.txt  3 V 3q +lC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\arm64-v8a\build_file_index.txt  л3 V 3q o -mC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\arm64-v8a\compile_commands.json  3 3u +mC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\arm64-v8a\compile_commands.json  л3 3u s -qC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\arm64-v8a\compile_commands.json.bin  3  3{ +qC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\arm64-v8a\compile_commands.json.bin  л3  3{ y -wC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\arm64-v8a\metadata_generation_command.txt  3 +wC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\arm64-v8a\metadata_generation_command.txt  л3  3n l -jC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\arm64-v8a\prefab_config.json  3  ( 3s +jC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\arm64-v8a\prefab_config.json  л3  ( 3s q -oC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\arm64-v8a\symbol_folder_index.txt  3  n 3Z +oC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\arm64-v8a\symbol_folder_index.txt  л3  n 3Z X -VC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\libcxx_helper\CMakeLists.txt  3  ֝3 \ No newline at end of file +VC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\libcxx_helper\CMakeLists.txt  л3  ֝3 \ No newline at end of file diff --git a/Opencv/.cxx/Debug/p1g6s634/armeabi-v7a/configure_fingerprint.bin b/Opencv/.cxx/Debug/p1g6s634/armeabi-v7a/configure_fingerprint.bin index 2e390ad2..072bc4b1 100644 --- a/Opencv/.cxx/Debug/p1g6s634/armeabi-v7a/configure_fingerprint.bin +++ b/Opencv/.cxx/Debug/p1g6s634/armeabi-v7a/configure_fingerprint.bin @@ -2,28 +2,28 @@ C/C++ Structured Logz x vC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\armeabi-v7a\additional_project_files.txtC A -?com.android.build.gradle.internal.cxx.io.EncodedFileFingerPrint  3  ש3w +?com.android.build.gradle.internal.cxx.io.EncodedFileFingerPrint  Ђ3  ש3w u -sC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\armeabi-v7a\android_gradle_build.json  3 +sC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\armeabi-v7a\android_gradle_build.json  Ђ3 ש3| z -xC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\armeabi-v7a\android_gradle_build_mini.json  3 ש3i +xC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\armeabi-v7a\android_gradle_build_mini.json  Ђ3 ש3i g -eC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\armeabi-v7a\build.ninja  3 ֩3m +eC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\armeabi-v7a\build.ninja  Ђ3 ֩3m k -iC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\armeabi-v7a\build.ninja.txt  3r +iC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\armeabi-v7a\build.ninja.txt  Ђ3r p -nC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\armeabi-v7a\build_file_index.txt  3 V ש3s +nC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\armeabi-v7a\build_file_index.txt  Ђ3 V ש3s q -oC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\armeabi-v7a\compile_commands.json  3 ֩3w +oC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\armeabi-v7a\compile_commands.json  Ђ3 ֩3w u -sC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\armeabi-v7a\compile_commands.json.bin  3  ֩3} +sC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\armeabi-v7a\compile_commands.json.bin  Ђ3  ֩3} { -yC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\armeabi-v7a\metadata_generation_command.txt  3 +yC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\armeabi-v7a\metadata_generation_command.txt  Ђ3  ש3p n -lC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\armeabi-v7a\prefab_config.json  3  ( ש3u +lC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\armeabi-v7a\prefab_config.json  Ђ3  ( ש3u s -qC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\armeabi-v7a\symbol_folder_index.txt  3  p ש3Z +qC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\armeabi-v7a\symbol_folder_index.txt  Ђ3  p ש3Z X -VC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\libcxx_helper\CMakeLists.txt  3  ֝3 \ No newline at end of file +VC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\libcxx_helper\CMakeLists.txt  Ђ3  ֝3 \ No newline at end of file diff --git a/Opencv/.cxx/Debug/p1g6s634/x86/configure_fingerprint.bin b/Opencv/.cxx/Debug/p1g6s634/x86/configure_fingerprint.bin index ed5eec6f..8827ff81 100644 --- a/Opencv/.cxx/Debug/p1g6s634/x86/configure_fingerprint.bin +++ b/Opencv/.cxx/Debug/p1g6s634/x86/configure_fingerprint.bin @@ -2,28 +2,28 @@ C/C++ Structured Logr p nC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86\additional_project_files.txtC A -?com.android.build.gradle.internal.cxx.io.EncodedFileFingerPrint  ׷3  ʛ3o +?com.android.build.gradle.internal.cxx.io.EncodedFileFingerPrint  ҂3  ʛ3o m -kC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86\android_gradle_build.json  ׷3 +kC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86\android_gradle_build.json  ҂3 ʛ3t r -pC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86\android_gradle_build_mini.json  ׷3 ʛ3a +pC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86\android_gradle_build_mini.json  ҂3 ʛ3a _ -]C:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86\build.ninja  ׷3 ʛ3e +]C:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86\build.ninja  ҂3 ʛ3e c -aC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86\build.ninja.txt  ڷ3j +aC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86\build.ninja.txt  ҂3j h -fC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86\build_file_index.txt  ۷3 V ʛ3k +fC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86\build_file_index.txt  ҂3 V ʛ3k i -gC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86\compile_commands.json  ۷3 ʛ3o +gC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86\compile_commands.json  ҂3 ʛ3o m -kC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86\compile_commands.json.bin  ۷3  ʛ3u +kC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86\compile_commands.json.bin  ҂3  ʛ3u s -qC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86\metadata_generation_command.txt  ۷3 +qC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86\metadata_generation_command.txt  ҂3  ʛ3h f -dC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86\prefab_config.json  ۷3  ( ʛ3m +dC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86\prefab_config.json  ҂3  ( ʛ3m k -iC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86\symbol_folder_index.txt  ۷3  h ʛ3Z +iC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86\symbol_folder_index.txt  ҂3  h ʛ3Z X -VC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\libcxx_helper\CMakeLists.txt  ۷3  ֝3 \ No newline at end of file +VC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\libcxx_helper\CMakeLists.txt  ҂3  ֝3 \ No newline at end of file diff --git a/Opencv/.cxx/Debug/p1g6s634/x86_64/configure_fingerprint.bin b/Opencv/.cxx/Debug/p1g6s634/x86_64/configure_fingerprint.bin index 7ff6d01b..7a4563b5 100644 --- a/Opencv/.cxx/Debug/p1g6s634/x86_64/configure_fingerprint.bin +++ b/Opencv/.cxx/Debug/p1g6s634/x86_64/configure_fingerprint.bin @@ -2,28 +2,28 @@ C/C++ Structured Logu s qC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86_64\additional_project_files.txtC A -?com.android.build.gradle.internal.cxx.io.EncodedFileFingerPrint  Ѹ3  婜3r +?com.android.build.gradle.internal.cxx.io.EncodedFileFingerPrint  ӂ3  婜3r p -nC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86_64\android_gradle_build.json  Ѹ3 +nC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86_64\android_gradle_build.json  ӂ3 婜3w u -sC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86_64\android_gradle_build_mini.json  Ѹ3 婜3d +sC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86_64\android_gradle_build_mini.json  ӂ3 婜3d b -`C:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86_64\build.ninja  Ѹ3 䩜3h +`C:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86_64\build.ninja  ӂ3 䩜3h f -dC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86_64\build.ninja.txt  Ѹ3m +dC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86_64\build.ninja.txt  ӂ3m k -iC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86_64\build_file_index.txt  Ѹ3 V 婜3n +iC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86_64\build_file_index.txt  ӂ3 V 婜3n l -jC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86_64\compile_commands.json  Ѹ3 䩜3r +jC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86_64\compile_commands.json  ӂ3 䩜3r p -nC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86_64\compile_commands.json.bin  Ѹ3  䩜3x +nC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86_64\compile_commands.json.bin  ӂ3  䩜3x v -tC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86_64\metadata_generation_command.txt  Ѹ3 +tC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86_64\metadata_generation_command.txt  ӂ3  婜3k i -gC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86_64\prefab_config.json  Ѹ3  ( 婜3p +gC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86_64\prefab_config.json  ӂ3  ( 婜3p n -lC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86_64\symbol_folder_index.txt  Ѹ3  k 婜3Z +lC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\.cxx\Debug\p1g6s634\x86_64\symbol_folder_index.txt  ӂ3  k 婜3Z X -VC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\libcxx_helper\CMakeLists.txt  Ѹ3  ֝3 \ No newline at end of file +VC:\Users\24171\OneDrive\Desktop\msdk\400apiqwq\ams\Opencv\libcxx_helper\CMakeLists.txt  ӂ3  ֝3 \ No newline at end of file diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_220_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_220_timing.txt index 725a84d8..dc08d549 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_220_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_220_timing.txt @@ -12,3 +12,10 @@ generate_cxx_metadata [gap of 32ms] generate_cxx_metadata completed in 99ms +# C/C++ build system timings +generate_cxx_metadata + [gap of 24ms] + create-invalidation-state 57ms + [gap of 37ms] +generate_cxx_metadata completed in 118ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_222_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_222_timing.txt index 902a3173..f5c27adc 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_222_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_222_timing.txt @@ -13,3 +13,9 @@ generate_cxx_metadata [gap of 29ms] generate_cxx_metadata completed in 94ms +# C/C++ build system timings +generate_cxx_metadata + create-invalidation-state 31ms + [gap of 28ms] +generate_cxx_metadata completed in 67ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_223_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_223_timing.txt index b300aab9..b47e0d85 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_223_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_223_timing.txt @@ -12,3 +12,11 @@ generate_cxx_metadata [gap of 42ms] generate_cxx_metadata completed in 132ms +# C/C++ build system timings +generate_cxx_metadata + [gap of 16ms] + create-invalidation-state 49ms + [gap of 25ms] + write-metadata-json-to-file 11ms +generate_cxx_metadata completed in 102ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_224_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_224_timing.txt index 213dd157..5979d4f5 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_224_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_224_timing.txt @@ -26,3 +26,10 @@ generate_cxx_metadata [gap of 23ms] generate_cxx_metadata completed in 74ms +# C/C++ build system timings +generate_cxx_metadata + [gap of 11ms] + create-invalidation-state 37ms + [gap of 27ms] +generate_cxx_metadata completed in 75ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_225_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_225_timing.txt index 36d2c963..81769851 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_225_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_225_timing.txt @@ -12,3 +12,10 @@ generate_cxx_metadata [gap of 37ms] generate_cxx_metadata completed in 117ms +# C/C++ build system timings +generate_cxx_metadata + [gap of 20ms] + create-invalidation-state 50ms + [gap of 38ms] +generate_cxx_metadata completed in 108ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_228_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_228_timing.txt index 841d3e24..d82e6b40 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_228_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_228_timing.txt @@ -5,3 +5,10 @@ generate_cxx_metadata [gap of 30ms] generate_cxx_metadata completed in 93ms +# C/C++ build system timings +generate_cxx_metadata + [gap of 12ms] + create-invalidation-state 42ms + [gap of 27ms] +generate_cxx_metadata completed in 81ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_232_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_232_timing.txt index 32e282d8..5cd13cce 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_232_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_232_timing.txt @@ -14,3 +14,10 @@ generate_cxx_metadata write-metadata-json-to-file 10ms generate_cxx_metadata completed in 102ms +# C/C++ build system timings +generate_cxx_metadata + [gap of 32ms] + create-invalidation-state 87ms + [gap of 37ms] +generate_cxx_metadata completed in 156ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_233_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_233_timing.txt index 715f4df9..d8a6608a 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_233_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_233_timing.txt @@ -13,3 +13,10 @@ generate_cxx_metadata write-metadata-json-to-file 19ms generate_cxx_metadata completed in 227ms +# C/C++ build system timings +generate_cxx_metadata + [gap of 14ms] + create-invalidation-state 42ms + [gap of 28ms] +generate_cxx_metadata completed in 84ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_234_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_234_timing.txt index 72a68c96..023ae1f5 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_234_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_234_timing.txt @@ -19,3 +19,27 @@ generate_cxx_metadata write-metadata-json-to-file 12ms generate_cxx_metadata completed in 136ms +# C/C++ build system timings +generate_cxx_metadata + [gap of 22ms] + create-invalidation-state 66ms + [gap of 31ms] + write-metadata-json-to-file 11ms +generate_cxx_metadata completed in 131ms + +# C/C++ build system timings +generate_cxx_metadata + [gap of 14ms] + create-invalidation-state 47ms + [gap of 32ms] + write-metadata-json-to-file 10ms +generate_cxx_metadata completed in 105ms + +# C/C++ build system timings +generate_cxx_metadata + [gap of 23ms] + create-invalidation-state 98ms + [gap of 37ms] + write-metadata-json-to-file 13ms +generate_cxx_metadata completed in 173ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_420_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_420_timing.txt index 25511d49..56bdd3e5 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_420_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_420_timing.txt @@ -4,3 +4,10 @@ generate_cxx_metadata [gap of 18ms] generate_cxx_metadata completed in 34ms +# C/C++ build system timings +generate_cxx_metadata + [gap of 21ms] + create-invalidation-state 58ms + [gap of 33ms] +generate_cxx_metadata completed in 112ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_480_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_480_timing.txt index 84358411..038908f8 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_480_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_480_timing.txt @@ -4,3 +4,9 @@ generate_cxx_metadata [gap of 25ms] generate_cxx_metadata completed in 57ms +# C/C++ build system timings +generate_cxx_metadata 25ms + +# C/C++ build system timings +generate_cxx_metadata 22ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_491_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_491_timing.txt index 9def4dc4..729a6bc1 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_491_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_491_timing.txt @@ -4,3 +4,6 @@ generate_cxx_metadata [gap of 15ms] generate_cxx_metadata completed in 31ms +# C/C++ build system timings +generate_cxx_metadata 25ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_497_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_497_timing.txt index 199beb78..dde1eab0 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_497_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_497_timing.txt @@ -10,3 +10,9 @@ generate_cxx_metadata [gap of 18ms] generate_cxx_metadata completed in 37ms +# C/C++ build system timings +generate_cxx_metadata + create-invalidation-state 10ms + [gap of 17ms] +generate_cxx_metadata completed in 30ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_680_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_680_timing.txt index e7c91575..a458dbcf 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_680_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_680_timing.txt @@ -1,3 +1,6 @@ # C/C++ build system timings generate_cxx_metadata 24ms +# C/C++ build system timings +generate_cxx_metadata 20ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_714_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_714_timing.txt index 227dbb3f..e4fd8e81 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_714_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_714_timing.txt @@ -5,3 +5,6 @@ generate_cxx_metadata [gap of 34ms] generate_cxx_metadata completed in 81ms +# C/C++ build system timings +generate_cxx_metadata 12ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_750_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_750_timing.txt index 5477fb50..b1e04e8b 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_750_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/generate_cxx_metadata_750_timing.txt @@ -4,3 +4,9 @@ generate_cxx_metadata [gap of 13ms] generate_cxx_metadata completed in 28ms +# C/C++ build system timings +generate_cxx_metadata + create-invalidation-state 11ms + [gap of 14ms] +generate_cxx_metadata completed in 29ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/metadata_generation_record.json b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/metadata_generation_record.json index 6bec155b..e2352f16 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/metadata_generation_record.json +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/arm64-v8a/metadata_generation_record.json @@ -11,7 +11,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": -1267503242 + "memoizedHashCode": 1164482061 }, { "level_": 0, @@ -25,7 +25,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": -1835985214 + "memoizedHashCode": 596000089 }, { "level_": 0, @@ -39,6 +39,6 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": 1074353236 + "memoizedHashCode": -788628757 } ] \ No newline at end of file diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/armeabi-v7a/generate_cxx_metadata_225_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/armeabi-v7a/generate_cxx_metadata_225_timing.txt index 952196a9..6ee942cd 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/armeabi-v7a/generate_cxx_metadata_225_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/armeabi-v7a/generate_cxx_metadata_225_timing.txt @@ -4,3 +4,6 @@ generate_cxx_metadata [gap of 18ms] generate_cxx_metadata completed in 40ms +# C/C++ build system timings +generate_cxx_metadata 25ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/armeabi-v7a/generate_cxx_metadata_234_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/armeabi-v7a/generate_cxx_metadata_234_timing.txt index d1a57fee..b18d7877 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/armeabi-v7a/generate_cxx_metadata_234_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/armeabi-v7a/generate_cxx_metadata_234_timing.txt @@ -1,3 +1,18 @@ # C/C++ build system timings generate_cxx_metadata 23ms +# C/C++ build system timings +generate_cxx_metadata + create-invalidation-state 12ms + [gap of 13ms] +generate_cxx_metadata completed in 29ms + +# C/C++ build system timings +generate_cxx_metadata 19ms + +# C/C++ build system timings +generate_cxx_metadata + create-invalidation-state 11ms + [gap of 18ms] +generate_cxx_metadata completed in 33ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/armeabi-v7a/generate_cxx_metadata_487_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/armeabi-v7a/generate_cxx_metadata_487_timing.txt index da1b5bd6..da37516a 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/armeabi-v7a/generate_cxx_metadata_487_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/armeabi-v7a/generate_cxx_metadata_487_timing.txt @@ -4,3 +4,12 @@ generate_cxx_metadata [gap of 13ms] generate_cxx_metadata completed in 25ms +# C/C++ build system timings +generate_cxx_metadata + create-invalidation-state 10ms + [gap of 15ms] +generate_cxx_metadata completed in 27ms + +# C/C++ build system timings +generate_cxx_metadata 16ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/armeabi-v7a/metadata_generation_record.json b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/armeabi-v7a/metadata_generation_record.json index 89846e8d..2d51e092 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/armeabi-v7a/metadata_generation_record.json +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/armeabi-v7a/metadata_generation_record.json @@ -11,7 +11,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": 573772690 + "memoizedHashCode": 1226785352 }, { "level_": 0, @@ -25,7 +25,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": -753817378 + "memoizedHashCode": -100804716 }, { "level_": 0, @@ -39,6 +39,6 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": -2107994126 + "memoizedHashCode": -1454981464 } ] \ No newline at end of file diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_223_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_223_timing.txt index 5e2a36b0..8f829b5c 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_223_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_223_timing.txt @@ -1,3 +1,9 @@ # C/C++ build system timings generate_cxx_metadata 18ms +# C/C++ build system timings +generate_cxx_metadata + create-invalidation-state 12ms + [gap of 16ms] +generate_cxx_metadata completed in 31ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_225_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_225_timing.txt index 93c4084e..794a816d 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_225_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_225_timing.txt @@ -4,3 +4,9 @@ generate_cxx_metadata 16ms # C/C++ build system timings generate_cxx_metadata 23ms +# C/C++ build system timings +generate_cxx_metadata 24ms + +# C/C++ build system timings +generate_cxx_metadata 14ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_234_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_234_timing.txt index 5e2a36b0..d1e131f3 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_234_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_234_timing.txt @@ -1,3 +1,6 @@ # C/C++ build system timings generate_cxx_metadata 18ms +# C/C++ build system timings +generate_cxx_metadata 24ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_32_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_32_timing.txt index 9cc39a7b..fc82673e 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_32_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_32_timing.txt @@ -6,3 +6,11 @@ generate_cxx_metadata write-metadata-json-to-file 12ms generate_cxx_metadata completed in 151ms +# C/C++ build system timings +generate_cxx_metadata + [gap of 25ms] + create-invalidation-state 72ms + [gap of 34ms] + write-metadata-json-to-file 13ms +generate_cxx_metadata completed in 146ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_487_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_487_timing.txt index a617a697..dc3c22c5 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_487_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_487_timing.txt @@ -1,3 +1,6 @@ # C/C++ build system timings generate_cxx_metadata 21ms +# C/C++ build system timings +generate_cxx_metadata 16ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_492_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_492_timing.txt index 5e2a36b0..3ca97fe6 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_492_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_492_timing.txt @@ -1,3 +1,6 @@ # C/C++ build system timings generate_cxx_metadata 18ms +# C/C++ build system timings +generate_cxx_metadata 18ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_497_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_497_timing.txt index edd333d6..ccf4bdf0 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_497_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/generate_cxx_metadata_497_timing.txt @@ -1,3 +1,6 @@ # C/C++ build system timings generate_cxx_metadata 16ms +# C/C++ build system timings +generate_cxx_metadata 21ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/metadata_generation_record.json b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/metadata_generation_record.json index e82955f3..19e48979 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/metadata_generation_record.json +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86/metadata_generation_record.json @@ -11,7 +11,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": -532663814 + "memoizedHashCode": 120348848 }, { "level_": 0, @@ -25,7 +25,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": -1002172346 + "memoizedHashCode": -349159684 }, { "level_": 0, @@ -39,6 +39,6 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": 1881978758 + "memoizedHashCode": -1759975876 } ] \ No newline at end of file diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_225_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_225_timing.txt index 7caf4c0c..7db66159 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_225_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_225_timing.txt @@ -7,3 +7,9 @@ generate_cxx_metadata [gap of 14ms] generate_cxx_metadata completed in 29ms +# C/C++ build system timings +generate_cxx_metadata 19ms + +# C/C++ build system timings +generate_cxx_metadata 15ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_226_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_226_timing.txt index edd333d6..b0d0561b 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_226_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_226_timing.txt @@ -1,3 +1,9 @@ # C/C++ build system timings generate_cxx_metadata 16ms +# C/C++ build system timings +generate_cxx_metadata + create-invalidation-state 11ms + [gap of 14ms] +generate_cxx_metadata completed in 28ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_229_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_229_timing.txt index d1a57fee..e6897288 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_229_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_229_timing.txt @@ -1,3 +1,6 @@ # C/C++ build system timings generate_cxx_metadata 23ms +# C/C++ build system timings +generate_cxx_metadata 18ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_230_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_230_timing.txt index 918c8e9f..0c5ca865 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_230_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_230_timing.txt @@ -1,3 +1,9 @@ # C/C++ build system timings generate_cxx_metadata 22ms +# C/C++ build system timings +generate_cxx_metadata + create-invalidation-state 10ms + [gap of 11ms] +generate_cxx_metadata completed in 24ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_487_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_487_timing.txt index a617a697..f6e41179 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_487_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_487_timing.txt @@ -1,3 +1,6 @@ # C/C++ build system timings generate_cxx_metadata 21ms +# C/C++ build system timings +generate_cxx_metadata 17ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_492_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_492_timing.txt index daf2a2a9..cb4cc7da 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_492_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_492_timing.txt @@ -4,3 +4,6 @@ generate_cxx_metadata [gap of 18ms] generate_cxx_metadata completed in 38ms +# C/C++ build system timings +generate_cxx_metadata 16ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_497_timing.txt b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_497_timing.txt index b0316126..dc8cb3ae 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_497_timing.txt +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/generate_cxx_metadata_497_timing.txt @@ -1,3 +1,6 @@ # C/C++ build system timings generate_cxx_metadata 19ms +# C/C++ build system timings +generate_cxx_metadata 21ms + diff --git a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/metadata_generation_record.json b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/metadata_generation_record.json index f1a22f4f..85374c2c 100644 --- a/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/metadata_generation_record.json +++ b/Opencv/build/intermediates/cxx/Debug/p1g6s634/logs/x86_64/metadata_generation_record.json @@ -11,7 +11,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": -2091529352 + "memoizedHashCode": -1438516690 }, { "level_": 0, @@ -25,7 +25,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": 305896416 + "memoizedHashCode": 958909078 }, { "level_": 0, @@ -39,6 +39,6 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": -1264613355 + "memoizedHashCode": -611600693 } ] \ No newline at end of file diff --git a/Opencv/build/intermediates/cxx/abi_configuration_4s4k1647.log b/Opencv/build/intermediates/cxx/abi_configuration_4s4k1647.log index 2344757e..a65f99c1 100644 --- a/Opencv/build/intermediates/cxx/abi_configuration_4s4k1647.log +++ b/Opencv/build/intermediates/cxx/abi_configuration_4s4k1647.log @@ -11,6 +11,6 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": 1127879665 + "memoizedHashCode": -735102328 } ] \ No newline at end of file diff --git a/Opencv/build/intermediates/cxx/create_cxx_tasks_247_timing.txt b/Opencv/build/intermediates/cxx/create_cxx_tasks_247_timing.txt index b425b07b..70e48273 100644 --- a/Opencv/build/intermediates/cxx/create_cxx_tasks_247_timing.txt +++ b/Opencv/build/intermediates/cxx/create_cxx_tasks_247_timing.txt @@ -14,3 +14,13 @@ create_cxx_tasks [gap of 71ms] create_cxx_tasks completed in 203ms +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + [gap of 41ms] + create-module-model 11ms + [gap of 31ms] + create-initial-cxx-model completed in 83ms + [gap of 27ms] +create_cxx_tasks completed in 111ms + diff --git a/Opencv/build/intermediates/cxx/create_cxx_tasks_302_timing.txt b/Opencv/build/intermediates/cxx/create_cxx_tasks_302_timing.txt index e152d3ca..1160a2a7 100644 --- a/Opencv/build/intermediates/cxx/create_cxx_tasks_302_timing.txt +++ b/Opencv/build/intermediates/cxx/create_cxx_tasks_302_timing.txt @@ -10,3 +10,14 @@ create_cxx_tasks [gap of 10ms] create_cxx_tasks completed in 118ms +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 11ms + [gap of 41ms] + create-module-model 11ms + [gap of 38ms] + create-initial-cxx-model completed in 101ms + [gap of 10ms] +create_cxx_tasks completed in 111ms + diff --git a/Opencv/build/intermediates/cxx/create_cxx_tasks_304_timing.txt b/Opencv/build/intermediates/cxx/create_cxx_tasks_304_timing.txt index af36e6bb..e677bfa1 100644 --- a/Opencv/build/intermediates/cxx/create_cxx_tasks_304_timing.txt +++ b/Opencv/build/intermediates/cxx/create_cxx_tasks_304_timing.txt @@ -15,3 +15,13 @@ create_cxx_tasks [gap of 12ms] create_cxx_tasks completed in 150ms +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 11ms + [gap of 44ms] + create-module-model 11ms + [gap of 35ms] + create-initial-cxx-model completed in 101ms +create_cxx_tasks completed in 110ms + diff --git a/Opencv/build/intermediates/cxx/create_cxx_tasks_310_timing.txt b/Opencv/build/intermediates/cxx/create_cxx_tasks_310_timing.txt index db8ffc32..f391a77c 100644 --- a/Opencv/build/intermediates/cxx/create_cxx_tasks_310_timing.txt +++ b/Opencv/build/intermediates/cxx/create_cxx_tasks_310_timing.txt @@ -15,3 +15,13 @@ create_cxx_tasks [gap of 13ms] create_cxx_tasks completed in 149ms +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 12ms + [gap of 38ms] + create-module-model 10ms + [gap of 34ms] + create-initial-cxx-model completed in 94ms +create_cxx_tasks completed in 101ms + diff --git a/Opencv/build/intermediates/cxx/create_cxx_tasks_321_timing.txt b/Opencv/build/intermediates/cxx/create_cxx_tasks_321_timing.txt index df375b3e..19008250 100644 --- a/Opencv/build/intermediates/cxx/create_cxx_tasks_321_timing.txt +++ b/Opencv/build/intermediates/cxx/create_cxx_tasks_321_timing.txt @@ -19,3 +19,22 @@ create_cxx_tasks [gap of 15ms] create_cxx_tasks completed in 163ms +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 10ms + [gap of 74ms] + create-initial-cxx-model completed in 84ms + [gap of 10ms] +create_cxx_tasks completed in 94ms + +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model 63ms +create_cxx_tasks completed in 69ms + +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model 54ms +create_cxx_tasks completed in 61ms + diff --git a/Opencv/build/intermediates/cxx/create_cxx_tasks_32_timing.txt b/Opencv/build/intermediates/cxx/create_cxx_tasks_32_timing.txt index ae3ac27a..5d4b5854 100644 --- a/Opencv/build/intermediates/cxx/create_cxx_tasks_32_timing.txt +++ b/Opencv/build/intermediates/cxx/create_cxx_tasks_32_timing.txt @@ -778,3 +778,275 @@ create_cxx_tasks [gap of 48ms] create_cxx_tasks completed in 178ms +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 14ms + [gap of 16ms] + create-ARMEABI_V7A-model 14ms + create-ARM64_V8A-model 10ms + create-X86-model 10ms + [gap of 10ms] + create-module-model 13ms + [gap of 41ms] + create-initial-cxx-model completed in 130ms + [gap of 55ms] +create_cxx_tasks completed in 185ms + +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 19ms + [gap of 14ms] + create-ARMEABI_V7A-model 11ms + create-ARM64_V8A-model 12ms + create-X86-model 10ms + create-module-model 17ms + create-ARMEABI_V7A-model 11ms + create-ARM64_V8A-model 10ms + create-X86-model 12ms + create-X86_64-model 11ms + create-initial-cxx-model completed in 148ms + [gap of 50ms] +create_cxx_tasks completed in 199ms + +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 13ms + [gap of 27ms] + create-X86-model 13ms + create-X86_64-model 10ms + create-module-model 14ms + create-ARMEABI_V7A-model 13ms + [gap of 24ms] + create-initial-cxx-model completed in 125ms + [gap of 45ms] +create_cxx_tasks completed in 170ms + +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 10ms + [gap of 36ms] + create-module-model 10ms + [gap of 29ms] + create-initial-cxx-model completed in 85ms + [gap of 33ms] +create_cxx_tasks completed in 119ms + +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 13ms + [gap of 17ms] + create-ARMEABI_V7A-model 11ms + create-ARM64_V8A-model 11ms + create-X86-model 11ms + create-X86_64-model 11ms + create-module-model 15ms + [gap of 26ms] + create-X86-model 10ms + create-X86_64-model 10ms + create-initial-cxx-model completed in 142ms + [gap of 50ms] +create_cxx_tasks completed in 193ms + +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 13ms + [gap of 31ms] + create-X86_64-model 10ms + create-module-model 14ms + create-variant-model 12ms + create-ARMEABI_V7A-model 19ms + create-ARM64_V8A-model 12ms + create-X86-model 17ms + create-X86_64-model 14ms + create-initial-cxx-model completed in 152ms + [gap of 14ms] +create_cxx_tasks completed in 166ms + +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 10ms + [gap of 59ms] + create-initial-cxx-model completed in 69ms +create_cxx_tasks completed in 75ms + +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 10ms + [gap of 33ms] + create-module-model 12ms + create-ARMEABI_V7A-model 15ms + create-ARM64_V8A-model 10ms + create-X86_64-model 11ms + create-initial-cxx-model completed in 106ms + [gap of 10ms] +create_cxx_tasks completed in 116ms + +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model 78ms +create_cxx_tasks completed in 87ms + +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 13ms + [gap of 39ms] + create-X86_64-model 10ms + create-module-model 14ms + [gap of 43ms] + create-initial-cxx-model completed in 121ms + [gap of 48ms] +create_cxx_tasks completed in 169ms + +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 20ms + [gap of 18ms] + create-ARMEABI_V7A-model 14ms + create-ARM64_V8A-model 12ms + create-X86-model 13ms + create-X86_64-model 11ms + create-module-model + [gap of 15ms] + create-cmake-model 17ms + create-module-model completed in 37ms + create-variant-model 14ms + create-ARMEABI_V7A-model 12ms + create-ARM64_V8A-model 11ms + create-X86-model 20ms + create-X86_64-model 13ms + create-initial-cxx-model completed in 204ms + [gap of 97ms] +create_cxx_tasks completed in 301ms + +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 14ms + [gap of 22ms] + create-ARM64_V8A-model 10ms + [gap of 19ms] + create-module-model 13ms + create-variant-model 10ms + [gap of 18ms] + create-X86-model 14ms + [gap of 10ms] + create-initial-cxx-model completed in 131ms + [gap of 16ms] +create_cxx_tasks completed in 147ms + +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 10ms + [gap of 46ms] + create-module-model 14ms + [gap of 28ms] + create-X86_64-model 10ms + create-initial-cxx-model completed in 109ms + [gap of 38ms] +create_cxx_tasks completed in 147ms + +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + [gap of 38ms] + create-module-model 11ms + [gap of 36ms] + create-initial-cxx-model completed in 85ms + [gap of 34ms] +create_cxx_tasks completed in 120ms + +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 10ms + [gap of 35ms] + create-module-model 13ms + create-ARMEABI_V7A-model 13ms + [gap of 18ms] + create-X86_64-model 12ms + create-initial-cxx-model completed in 111ms + [gap of 44ms] +create_cxx_tasks completed in 156ms + +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 15ms + [gap of 46ms] + create-module-model 10ms + [gap of 39ms] + create-initial-cxx-model completed in 110ms + [gap of 42ms] +create_cxx_tasks completed in 153ms + +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 10ms + [gap of 41ms] + create-module-model 11ms + create-ARMEABI_V7A-model 11ms + [gap of 20ms] + create-initial-cxx-model completed in 100ms + [gap of 34ms] +create_cxx_tasks completed in 134ms + +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 11ms + [gap of 42ms] + create-module-model 13ms + [gap of 40ms] + create-initial-cxx-model completed in 106ms + [gap of 37ms] +create_cxx_tasks completed in 143ms + +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 10ms + [gap of 75ms] + create-initial-cxx-model completed in 85ms + [gap of 31ms] +create_cxx_tasks completed in 117ms + +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 17ms + [gap of 28ms] + create-X86-model 10ms + create-X86_64-model 10ms + create-module-model 18ms + [gap of 33ms] + create-X86_64-model 10ms + create-initial-cxx-model completed in 128ms + [gap of 46ms] +create_cxx_tasks completed in 175ms + +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 14ms + [gap of 54ms] + create-module-model 14ms + create-variant-model 10ms + [gap of 10ms] + create-ARM64_V8A-model 10ms + create-X86-model 10ms + create-initial-cxx-model completed in 135ms + [gap of 60ms] +create_cxx_tasks completed in 196ms + diff --git a/Opencv/build/intermediates/cxx/create_cxx_tasks_443_timing.txt b/Opencv/build/intermediates/cxx/create_cxx_tasks_443_timing.txt index 813b3d30..1b011f17 100644 --- a/Opencv/build/intermediates/cxx/create_cxx_tasks_443_timing.txt +++ b/Opencv/build/intermediates/cxx/create_cxx_tasks_443_timing.txt @@ -16,3 +16,15 @@ create_cxx_tasks [gap of 12ms] create_cxx_tasks completed in 173ms +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 11ms + [gap of 19ms] + create-X86-model 19ms + create-module-model 11ms + [gap of 31ms] + create-initial-cxx-model completed in 100ms + [gap of 16ms] +create_cxx_tasks completed in 116ms + diff --git a/Opencv/build/intermediates/cxx/create_cxx_tasks_552_timing.txt b/Opencv/build/intermediates/cxx/create_cxx_tasks_552_timing.txt index f9a5811e..01817718 100644 --- a/Opencv/build/intermediates/cxx/create_cxx_tasks_552_timing.txt +++ b/Opencv/build/intermediates/cxx/create_cxx_tasks_552_timing.txt @@ -8,3 +8,11 @@ create_cxx_tasks [gap of 12ms] create_cxx_tasks completed in 93ms +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model + create-module-model 10ms + [gap of 73ms] + create-initial-cxx-model completed in 83ms +create_cxx_tasks completed in 90ms + diff --git a/Opencv/build/intermediates/cxx/create_cxx_tasks_782_timing.txt b/Opencv/build/intermediates/cxx/create_cxx_tasks_782_timing.txt index 9605b788..812d9ba3 100644 --- a/Opencv/build/intermediates/cxx/create_cxx_tasks_782_timing.txt +++ b/Opencv/build/intermediates/cxx/create_cxx_tasks_782_timing.txt @@ -10,3 +10,8 @@ create_cxx_tasks [gap of 11ms] create_cxx_tasks completed in 116ms +# C/C++ build system timings +create_cxx_tasks + create-initial-cxx-model 66ms +create_cxx_tasks completed in 74ms + diff --git a/Opencv/build/intermediates/cxx/ndk_locator_record_463t1h4l.log b/Opencv/build/intermediates/cxx/ndk_locator_record_463t1h4l.log index 8f16c6d5..854d323a 100644 --- a/Opencv/build/intermediates/cxx/ndk_locator_record_463t1h4l.log +++ b/Opencv/build/intermediates/cxx/ndk_locator_record_463t1h4l.log @@ -11,7 +11,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": 1969914283 + "memoizedHashCode": 106932290 }, { "level_": 0, @@ -25,7 +25,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": -1532864910 + "memoizedHashCode": 899120393 }, { "level_": 0, @@ -39,7 +39,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": -1992608955 + "memoizedHashCode": 439376348 }, { "level_": 0, @@ -53,7 +53,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": 1034410353 + "memoizedHashCode": -828571640 }, { "level_": 0, @@ -67,7 +67,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": 1603122384 + "memoizedHashCode": -259859609 }, { "level_": 0, @@ -81,7 +81,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": 1968032642 + "memoizedHashCode": 105050649 }, { "level_": 0, @@ -95,7 +95,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": -2019793420 + "memoizedHashCode": 412191883 }, { "level_": 0, @@ -109,7 +109,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": 1717026156 + "memoizedHashCode": -145955837 }, { "level_": 0, @@ -123,7 +123,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": -1909138387 + "memoizedHashCode": 522846916 }, { "level_": 0, @@ -137,7 +137,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": -1204677194 + "memoizedHashCode": 1227308109 }, { "level_": 0, @@ -151,7 +151,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": 658136876 + "memoizedHashCode": -1204845117 }, { "level_": 0, @@ -165,7 +165,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": 1226848907 + "memoizedHashCode": -636133086 }, { "level_": 0, @@ -179,7 +179,7 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": 2132598970 + "memoizedHashCode": 269616977 }, { "level_": 2, @@ -193,6 +193,6 @@ "fieldsDescending": {} }, "memoizedSize": -1, - "memoizedHashCode": 289047118 + "memoizedHashCode": -1573934875 } ] \ No newline at end of file diff --git a/app/build.gradle b/app/build.gradle index 1cb250e0..30cf79d6 100644 --- a/app/build.gradle +++ b/app/build.gradle @@ -234,4 +234,8 @@ dependencies { //implementation 'com.quickbirdstudios:opencv-contrib:3.4.5' implementation project(path: ':android-sdk-v5-uxsdk') + //TTS + + implementation files('libs/AIKit.aar') + } \ No newline at end of file diff --git a/app/src/main/java/com/aros/apron/activity/ConnectionActivity.kt b/app/src/main/java/com/aros/apron/activity/ConnectionActivity.kt index b08f8452..ec43b8cf 100644 --- a/app/src/main/java/com/aros/apron/activity/ConnectionActivity.kt +++ b/app/src/main/java/com/aros/apron/activity/ConnectionActivity.kt @@ -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)){ diff --git a/app/src/main/java/com/aros/apron/activity/MainActivity.kt b/app/src/main/java/com/aros/apron/activity/MainActivity.kt index 61aa5cf0..30d9aa71 100644 --- a/app/src/main/java/com/aros/apron/activity/MainActivity.kt +++ b/app/src/main/java/com/aros/apron/activity/MainActivity.kt @@ -1,4 +1,5 @@ package com.aros.apron.activity + import android.annotation.SuppressLint import android.graphics.Color import android.graphics.drawable.ColorDrawable @@ -6,16 +7,17 @@ import android.os.Build import android.os.Bundle import android.os.Handler import android.os.Looper +import android.util.Log import android.view.View import android.view.Window import android.view.WindowManager import android.widget.Button import android.widget.TextView +import android.widget.Toast import androidx.annotation.RequiresApi import androidx.constraintlayout.widget.ConstraintLayout import androidx.core.view.GravityCompat import androidx.drawerlayout.widget.DrawerLayout -import com.aros.apron.BuildConfig import com.aros.apron.R import com.aros.apron.base.BaseActivity import com.aros.apron.callback.MqttCallBack @@ -36,6 +38,7 @@ import com.aros.apron.manager.MediaManager import com.aros.apron.manager.MissionV3Manager import com.aros.apron.manager.OSDManager import com.aros.apron.manager.PayloadWidgetManager +import com.aros.apron.manager.SpeakerManager import com.aros.apron.manager.StickManager import com.aros.apron.manager.StreamManager import com.aros.apron.manager.WirelessLinkManager @@ -45,8 +48,14 @@ import com.aros.apron.tools.DroneHelper import com.aros.apron.tools.LogUtil import com.aros.apron.tools.MqttManager import com.aros.apron.tools.PreferenceUtils +import com.aros.apron.tools.Utils import com.dji.wpmzsdk.manager.WPMZManager import com.google.gson.Gson +import com.iflytek.aikit.core.AiHelper +import com.iflytek.aikit.core.BaseLibrary +import com.iflytek.aikit.core.CoreListener +import com.iflytek.aikit.core.ErrType +import com.iflytek.aikit.core.LogLvl import dji.sdk.keyvalue.key.CameraKey import dji.sdk.keyvalue.key.DJIKey import dji.sdk.keyvalue.key.FlightControllerKey @@ -57,9 +66,11 @@ import dji.sdk.keyvalue.value.common.ComponentIndexType import dji.sdk.keyvalue.value.common.EmptyMsg import dji.sdk.keyvalue.value.flightassistant.VisionAssistDirection import dji.v5.common.callback.CommonCallbacks +import dji.v5.common.callback.CommonCallbacks.CompletionCallback import dji.v5.common.error.IDJIError import dji.v5.common.utils.GeoidManager import dji.v5.manager.KeyManager +import dji.v5.manager.aircraft.virtualstick.VirtualStickManager import dji.v5.manager.datacenter.MediaDataCenter import dji.v5.manager.interfaces.ICameraStreamManager import dji.v5.manager.interfaces.ICameraStreamManager.AvailableCameraUpdatedListener @@ -105,7 +116,6 @@ import io.reactivex.rxjava3.functions.Consumer import org.eclipse.paho.client.mqttv3.MqttException import org.greenrobot.eventbus.Subscribe import org.greenrobot.eventbus.ThreadMode -import org.opencv.android.OpenCVLoader import org.opencv.objdetect.Dictionary import org.opencv.objdetect.Objdetect import java.util.concurrent.TimeUnit @@ -143,6 +153,9 @@ open class MainActivity : BaseActivity() { private var gimbalAdjustDone: TextView? = null private var btn_test: Button? = null private var btn_test1: Button? = null + private var btn_test2: Button? = null + private var btn_test3: Button? = null + private var gimbalFineTuneWidget: GimbalFineTuneWidget? = null private var lastDevicePosition = ComponentIndexType.UNKNOWN @@ -175,13 +188,15 @@ open class MainActivity : BaseActivity() { } - private var cameraManager: ICameraStreamManager = MediaDataCenter.getInstance().cameraStreamManager + private var cameraManager: ICameraStreamManager = + MediaDataCenter.getInstance().cameraStreamManager private var startArucoType = 0 //1执行机库二维码识别 2执行备降点二维码识别 private var dictionary: Dictionary? = null override fun useEventBus(): Boolean { return true } + override fun onResume() { super.onResume() dictionary = Objdetect.getPredefinedDictionary(Objdetect.DICT_6X6_250) @@ -213,14 +228,15 @@ open class MainActivity : BaseActivity() { runOnUiThread { onCameraSourceUpdated(result.devicePosition, result.lensType) } }) ) - compositeDisposable!!.add(ObservableInMemoryKeyedStore.getInstance() - .addObserver(UXKeys.create(GlobalPreferenceKeys.GIMBAL_ADJUST_CLICKED)) - .observeOn(ui()) - .subscribe { broadcastValues: BroadcastValues? -> - isGimableAdjustClicked( - broadcastValues!! - ) - }) + compositeDisposable!!.add( + ObservableInMemoryKeyedStore.getInstance() + .addObserver(UXKeys.create(GlobalPreferenceKeys.GIMBAL_ADJUST_CLICKED)) + .observeOn(ui()) + .subscribe { broadcastValues: BroadcastValues? -> + isGimableAdjustClicked( + broadcastValues!! + ) + }) ViewUtil.setKeepScreen(this, true) } @@ -234,7 +250,7 @@ open class MainActivity : BaseActivity() { } //endregion - private fun hideOtherPanels(widget: View?) { + private fun hideOtherPanels(widget: View?) { val panels = arrayOf( simulatorControlWidget!! ) @@ -347,7 +363,7 @@ open class MainActivity : BaseActivity() { } } - private fun updateViewVisibility( + private fun updateViewVisibility( devicePosition: ComponentIndexType, lensType: CameraLensType ) { @@ -386,7 +402,7 @@ open class MainActivity : BaseActivity() { /** * Swap the video sources of the FPV and secondary FPV widgets. */ - private fun swapVideoSource() { + private fun swapVideoSource() { val primarySource = primaryFpvWidget!!.widgetModel.getCameraIndex() val secondarySource = secondaryFPVWidget!!.widgetModel.getCameraIndex() //两个source都存在的情况下才进行切换 @@ -406,6 +422,7 @@ open class MainActivity : BaseActivity() { val devicePosition: ComponentIndexType, val lensType: CameraLensType ) + override fun onBackPressed() { if (mDrawerLayout!!.isDrawerOpen(GravityCompat.END)) { mDrawerLayout!!.closeDrawers() @@ -440,54 +457,109 @@ open class MainActivity : BaseActivity() { initDJIManager() initCameraStream() initView() + initSDK() + } + + private fun initSDK() { + AiHelper.getInst().setLogInfo(LogLvl.VERBOSE, 1, "/sdcard/iflytek/aikit/aeeLog.txt") + //设定初始化参数 + val params = BaseLibrary.Params.builder() + .appId("753fd711") //您的应用ID，可从控制台查看 + .apiKey("35099a7d31abf2259f5ee58cbf8b6791") //您的APIKEY，可从控制台查看 + .apiSecret("ZTdiMDIwYzEwNTA1NjllYjJlYjdmYWFi") //您的APISECRET，可从控制台查看 + .workDir(Utils.getSDCardPath() + "/DJIDemo/cache") //SDK的工作目录，需要确保有读写权限。一般用于存放离线能力资源，日志存放目录等使用。 + .build() + //初始化SDK + Thread { + AiHelper.getInst().initEntry(this@MainActivity.applicationContext, params) + }.start() + AiHelper.getInst().registerListener(coreListener) // 注册SDK 初始化状态监听 + + } + + //授权结果回调 + private val coreListener = CoreListener { type, code -> + Log.i(TAG, "core listener code:$code") + runOnUiThread { + when (type) { + ErrType.AUTH -> { + if (code == 0) { + LogUtil.log(TAG, "SDK授权成功") + } else { + LogUtil.log(TAG, "SDK授权失败，授权码为:$code") + } + } + + ErrType.HTTP -> Toast.makeText( + this@MainActivity, "SDK状态：HTTP认证结果$code", + Toast.LENGTH_SHORT + ).show() + + else -> Toast.makeText( + this@MainActivity, "SDK状态：其他错误$code", + Toast.LENGTH_SHORT + ).show() + } + } } private fun initView() { - fpvParentView = findViewById( R.id.fpv_holder) - mDrawerLayout = findViewById( R.id.root_view) - topBarPanel = findViewById( R.id.panel_top_bar) + fpvParentView = findViewById(R.id.fpv_holder) + mDrawerLayout = findViewById(R.id.root_view) + topBarPanel = findViewById(R.id.panel_top_bar) settingWidget = topBarPanel?.settingWidget - primaryFpvWidget = findViewById( R.id.widget_primary_fpv) - fpvInteractionWidget = findViewById( R.id.widget_fpv_interaction) - secondaryFPVWidget = findViewById( R.id.widget_secondary_fpv) - systemStatusListPanelWidget = findViewById( R.id.widget_panel_system_status_list) - simulatorControlWidget = findViewById( R.id.widget_simulator_control) - lensControlWidget = findViewById( R.id.widget_lens_control) - ndviCameraPanel = findViewById( R.id.panel_ndvi_camera) - visualCameraPanel = findViewById( R.id.panel_visual_camera) - autoExposureLockWidget = findViewById( R.id.widget_auto_exposure_lock) - focusModeWidget = findViewById( R.id.widget_focus_mode) - focusExposureSwitchWidget = findViewById( R.id.widget_focus_exposure_switch) - pfvFlightDisplayWidget = findViewById( R.id.widget_fpv_flight_display_widget) - focalZoomWidget = findViewById( R.id.widget_focal_zoom) - cameraControlsWidget = findViewById( R.id.widget_camera_controls) + primaryFpvWidget = findViewById(R.id.widget_primary_fpv) + fpvInteractionWidget = findViewById(R.id.widget_fpv_interaction) + secondaryFPVWidget = findViewById(R.id.widget_secondary_fpv) + systemStatusListPanelWidget = findViewById(R.id.widget_panel_system_status_list) + simulatorControlWidget = findViewById(R.id.widget_simulator_control) + lensControlWidget = findViewById(R.id.widget_lens_control) + ndviCameraPanel = findViewById(R.id.panel_ndvi_camera) + visualCameraPanel = findViewById(R.id.panel_visual_camera) + autoExposureLockWidget = findViewById(R.id.widget_auto_exposure_lock) + focusModeWidget = findViewById(R.id.widget_focus_mode) + focusExposureSwitchWidget = findViewById(R.id.widget_focus_exposure_switch) + pfvFlightDisplayWidget = findViewById(R.id.widget_fpv_flight_display_widget) + focalZoomWidget = findViewById(R.id.widget_focal_zoom) + cameraControlsWidget = findViewById(R.id.widget_camera_controls) horizontalSituationIndicatorWidget = findViewById(R.id.widget_horizontal_situation_indicator) // gimbalAdjustDone = findViewById( R.id.fpv_gimbal_ok_btn) - gimbalFineTuneWidget = findViewById( R.id.setting_menu_gimbal_fine_tune) - btn_test = findViewById( R.id.btn_test) - btn_test1 = findViewById( R.id.btn_test1) + gimbalFineTuneWidget = findViewById(R.id.setting_menu_gimbal_fine_tune) + btn_test = findViewById(R.id.btn_test) + btn_test1 = findViewById(R.id.btn_test1) + btn_test2 = findViewById(R.id.btn_test2) + btn_test3 = findViewById(R.id.btn_test3) btn_test?.setOnClickListener { -// MissionManager.getInstance().test() - FlightManager.getInstance().startPropellerRotation(null) + + } btn_test1?.setOnClickListener { - FlightManager.getInstance().stopPropellerRotation(null) + + + } + btn_test2?.setOnClickListener { + + + } + btn_test3?.setOnClickListener { + + } MediaDataCenter.getInstance().cameraStreamManager.setVisionAssistViewDirection( - VisionAssistDirection.DOWN,object:CommonCallbacks.CompletionCallback{ - override fun onSuccess() { - LogUtil.log(TAG,"开启成功") - } + 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) - } - }) + override fun onFailure(p0: IDJIError) { + LogUtil.log(TAG, "开启失败" + p0) + } + }) initClickListener() @@ -516,11 +588,9 @@ open class MainActivity : BaseActivity() { DJINetworkManager.getInstance().addNetworkStatusListener(networkStatusListener) - - } - private fun isGimableAdjustClicked(broadcastValues: BroadcastValues) { + private fun isGimableAdjustClicked(broadcastValues: BroadcastValues) { if (mDrawerLayout!!.isDrawerOpen(GravityCompat.END)) { mDrawerLayout!!.closeDrawers() } @@ -530,7 +600,7 @@ open class MainActivity : BaseActivity() { } } - private fun initClickListener() { + private fun initClickListener() { secondaryFPVWidget!!.setOnClickListener { v: View? -> swapVideoSource() } if (settingWidget != null) { settingWidget!!.setOnClickListener { v: View? -> toggleRightDrawer() } @@ -549,7 +619,7 @@ open class MainActivity : BaseActivity() { // } } - private fun toggleRightDrawer() { + private fun toggleRightDrawer() { mDrawerLayout!!.openDrawer(GravityCompat.END) } @@ -572,18 +642,21 @@ open class MainActivity : BaseActivity() { } private val handler: Handler = Handler(Looper.getMainLooper()) - private var initTimes=0 + private var initTimes = 0 + private fun initDJIManager() { //如果没有云台修改这里 // 初始化 OpenCV - + val isFlightControllerConnect = KeyManager.getInstance().getValue(DJIKey.create(FlightControllerKey.KeyConnection)) val isCameraConnect = - KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey.KeyConnection, ComponentIndexType.PORT_1)) - val isGimbal =KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.KeyConnection, ComponentIndexType.PORT_1)) - LogUtil.log(TAG,isCameraConnect.toString()) + KeyManager.getInstance() + .getValue(KeyTools.createKey(CameraKey.KeyConnection, ComponentIndexType.PORT_1)) + val isGimbal = KeyManager.getInstance() + .getValue(KeyTools.createKey(GimbalKey.KeyConnection, ComponentIndexType.PORT_1)) + // LogUtil.log(TAG,isCameraConnect.toString()) //全装在初始化 if ((isFlightControllerConnect == null || !isFlightControllerConnect)) { @@ -594,7 +667,7 @@ open class MainActivity : BaseActivity() { initTimes++ LogUtil.log(TAG, "初始化$initTimes") - LogUtil.log(TAG,"自定义推流方式:"+PreferenceUtils.getInstance().customStreamType) + LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType) Handler().postDelayed(Runnable { @@ -615,30 +688,31 @@ open class MainActivity : BaseActivity() { LTEManager.getInstance().initLTEInfo() WirelessLinkManager.getInstance().initWirelessLink() CameraManager.getInstance().initCameraInfo() - + //tts + SpeakerManager.getInstance().initMegaphoneInfo() LEDsSettingsManager.getInstance().initLEDsInfo() - if (PreferenceUtils.getInstance().customStreamType==1){ - StreamManager.getInstance() - .startLiveWithRTSP() - }else if (PreferenceUtils.getInstance().customStreamType==2){ - StreamManager.getInstance() - .startLiveWithCustom() - }else { - StreamManager.getInstance() - .startLiveWithCustom() - } + if (PreferenceUtils.getInstance().customStreamType == 1) { + StreamManager.getInstance() + .startLiveWithRTSP() - }, 5000) - LogUtil.log(TAG,"推流类型:"+PreferenceUtils.getInstance().customStreamType) + } else if (PreferenceUtils.getInstance().customStreamType == 2) { + StreamManager.getInstance() + .startLiveWithCustom() + } else { + StreamManager.getInstance() + .startLiveWithCustom() + } + + }, 5000) + LogUtil.log(TAG, "推流类型:" + PreferenceUtils.getInstance().customStreamType) } } - @SuppressLint("SuspiciousIndentation") private fun initCameraStream() { @@ -646,25 +720,25 @@ open class MainActivity : BaseActivity() { ComponentIndexType.FPV, ICameraStreamManager.FrameFormat.YUV420_888 ) { frameData, _, _, width, height, _ -> - Movement.getInstance().isVtx=true + Movement.getInstance().isVtx = true //检测到图传 - streamReceive=true + streamReceive = true // if (shouldExecute) { - if (startArucoType == 1) { - ApronArucoDetect.getInstance()?.detectArucoTags( - height, - width, - frameData, - dictionary - ) - } else if (startArucoType == 2) { - AlternateArucoDetect.getInstance()?.detectArucoTags( - height, - width, - frameData, - dictionary - ) - } + if (startArucoType == 1) { + ApronArucoDetect.getInstance()?.detectArucoTags( + height, + width, + frameData, + dictionary + ) + } else if (startArucoType == 2) { + AlternateArucoDetect.getInstance()?.detectArucoTags( + height, + width, + frameData, + dictionary + ) + } // } // shouldExecute = !shouldExecute } @@ -718,7 +792,7 @@ open class MainActivity : BaseActivity() { ApronArucoDetect.getInstance().setDetectedBigMarkers() DroneHelper.getInstance().setGimbalPitchDegree() //每次触发识别二维码时，为避免获取控制权失败,使多次获取控制权 - DroneHelper.getInstance().isVirtualStickEnable=false + DroneHelper.getInstance().isVirtualStickEnable = false DroneHelper.getInstance().setVerticalModeToVelocity() } }) @@ -757,24 +831,48 @@ open class MainActivity : BaseActivity() { ) DroneHelper.getInstance().setGimbalPitchDegree() //每次触发识别二维码时，为避免获取控制权失败,使多次获取控制权 - DroneHelper.getInstance().isVirtualStickEnable=false + DroneHelper.getInstance().isVirtualStickEnable = false DroneHelper.getInstance().setVerticalModeToVelocity() } }) - FLAG_DOWN_LAND -> - KeyManager.getInstance().performAction( - KeyTools.createKey(FlightControllerKey.KeyStartAutoLanding), - object : CommonCallbacks.CompletionCallbackWithParam { - override fun onSuccess(emptyMsg: EmptyMsg?) { - startArucoType = 0 - LogUtil.log(TAG, "自动降落调用成功") - } + FLAG_DOWN_LAND -> { + VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(false) + + VirtualStickManager.getInstance().disableVirtualStick(object : CompletionCallback { + override fun onSuccess() { + LogUtil.log(TAG, "控制取消成功") + VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(false) + + KeyManager.getInstance().performAction( + KeyTools.createKey(FlightControllerKey.KeyStartAutoLanding), + object : CommonCallbacks.CompletionCallbackWithParam { + override fun onSuccess(emptyMsg: EmptyMsg?) { + startArucoType = 0 + LogUtil.log(TAG, "自动降落调用成功") + } + override fun onFailure(error: IDJIError) { + LogUtil.log(TAG, "自动降落调用失败${error.description()}") + } + }) + } + override fun onFailure(error: IDJIError) { + LogUtil.log(TAG, "拖动控制权取消成功") + KeyManager.getInstance().performAction( + KeyTools.createKey(FlightControllerKey.KeyStartAutoLanding), + object : CommonCallbacks.CompletionCallbackWithParam { + override fun onSuccess(emptyMsg: EmptyMsg?) { + startArucoType = 0 + LogUtil.log(TAG, "自动降落调用成功") + } + override fun onFailure(error: IDJIError) { + LogUtil.log(TAG, "自动降落调用失败${error.description()}") + } + }) + } + }) + } - override fun onFailure(error: IDJIError) { - LogUtil.log(TAG, "自动降落调用失败${error.description()}") - } - }) FLAG_STOP_ARUCO -> startArucoType = 0 @@ -784,9 +882,6 @@ open class MainActivity : BaseActivity() { } } - - - private fun setViewVisibilityWithCleanMode() { if (PreferenceUtils.getInstance().isCleanMode) { fpvInteractionWidget?.visibility = View.GONE diff --git a/app/src/main/java/com/aros/apron/base/BaseManager.java b/app/src/main/java/com/aros/apron/base/BaseManager.java index dd40b0a1..db2a0ce2 100644 --- a/app/src/main/java/com/aros/apron/base/BaseManager.java +++ b/app/src/main/java/com/aros/apron/base/BaseManager.java @@ -291,7 +291,7 @@ public abstract class BaseManager { output.setProgress(progress); FlightTaskProgress.Data data = new FlightTaskProgress.Data(); - data.setResult(0); + data.setResult(Movement.getInstance().getResult()); data.setOutput(output); FlightTaskProgress flightTaskProgress = new FlightTaskProgress(); @@ -321,7 +321,7 @@ public abstract class BaseManager { output.setProgress(progress); FlightTaskProgress.Data data = new FlightTaskProgress.Data(); - data.setResult(0); + data.setResult(Movement.getInstance().getResult()); data.setOutput(output); FlightTaskProgress flightTaskProgress = new FlightTaskProgress(); @@ -445,48 +445,47 @@ public abstract class BaseManager { LogUtil.log(TAG, "发送sdr异常：" + e.toString()); } } - /** - * 上报一键起飞任务进度 - */ - public void sendTakeoffToPointProgress2Server() { - try { - if (MqttManager.getInstance().mqttAndroidClient.isConnected()) { - - // 构建 data 数据 - TakeoffToPointProgress.Data data = new TakeoffToPointProgress.Data(); - data.setFlightId(PreferenceUtils.getInstance().getFlightId()); - data.setTrackId(PreferenceUtils.getInstance().getFlightId()); - data.setStatus(Movement.getInstance().getTakeoff_status()); - data.setResult(Movement.getInstance().getTakeoff_result()); - data.setWayPointIndex(Movement.getInstance().getCurrentWaypointIndex()); - data.setRemainingDistance(Movement.getInstance().getTakeoff_remaining_distance()); - data.setRemainingTime(Movement.getInstance().getTakeoff_remaining_time()); - data.setPlannedPathPoints(Movement.getInstance().getTakeoff_planned_path_points()); - - // 构建事件对象 - TakeoffToPointProgress progress = new TakeoffToPointProgress(); - progress.setBid(UUID.randomUUID().toString()); - progress.setTid(UUID.randomUUID().toString()); - progress.setTimestamp(System.currentTimeMillis()); - progress.setMethod("takeoff_to_point_progress"); - progress.setNeedReply(1); - progress.setData(data); - - // 发送 - MqttMessage mqttMessage = new MqttMessage(new Gson().toJson(progress).getBytes("UTF-8")); - mqttMessage.setQos(0); - MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.UP_UAV_EVENT, mqttMessage); - - LogUtil.log(TAG, "发送一键起飞进度事件:" + new Gson().toJson(progress)); - - } else { - LogUtil.log(TAG, "发送一键起飞进度event失败：mqtt 未连接"); - } - } catch (Exception e) { - e.printStackTrace(); - LogUtil.log(TAG, "发送一键起飞进度event异常：" + e.toString()); - } - } +// /** +// * 上报一键起飞任务进度 +// */ +// public void sendTakeoffToPointProgress2Server() { +// try { +// if (MqttManager.getInstance().mqttAndroidClient.isConnected()) { +// // 构建 data 数据 +// TakeoffToPointProgress.Data data = new TakeoffToPointProgress.Data(); +// data.setFlightId(PreferenceUtils.getInstance().getFlightId()); +// data.setTrackId(PreferenceUtils.getInstance().getFlightId()); +// data.setStatus(Movement.getInstance().getTakeoff_status()); +// data.setResult(Movement.getInstance().getTakeoff_result()); +// data.setWayPointIndex(Movement.getInstance().getCurrentWaypointIndex()); +// data.setRemainingDistance(Movement.getInstance().getTakeoff_remaining_distance()); +// data.setRemainingTime(Movement.getInstance().getTakeoff_remaining_time()); +// data.setPlannedPathPoints(Movement.getInstance().getTakeoff_planned_path_points()); +// +// // 构建事件对象 +// TakeoffToPointProgress progress = new TakeoffToPointProgress(); +// progress.setBid(UUID.randomUUID().toString()); +// progress.setTid(UUID.randomUUID().toString()); +// progress.setTimestamp(System.currentTimeMillis()); +// progress.setMethod("takeoff_to_point_progress"); +// progress.setNeedReply(1); +// progress.setData(data); +// +// // 发送 +// MqttMessage mqttMessage = new MqttMessage(new Gson().toJson(progress).getBytes("UTF-8")); +// mqttMessage.setQos(0); +// MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.UP_UAV_EVENT, mqttMessage); +// +// LogUtil.log(TAG, "发送一键起飞进度事件:" + new Gson().toJson(progress)); +// +// } else { +// LogUtil.log(TAG, "发送一键起飞进度event失败：mqtt 未连接"); +// } +// } catch (Exception e) { +// e.printStackTrace(); +// LogUtil.log(TAG, "发送一键起飞进度event异常：" + e.toString()); +// } +// } /** * 上报拍照进度（camera_photo_take_progress） diff --git a/app/src/main/java/com/aros/apron/callback/MVirtualStickStateListener.java b/app/src/main/java/com/aros/apron/callback/MVirtualStickStateListener.java index 5e70bb65..c6f5675d 100644 --- a/app/src/main/java/com/aros/apron/callback/MVirtualStickStateListener.java +++ b/app/src/main/java/com/aros/apron/callback/MVirtualStickStateListener.java @@ -16,6 +16,7 @@ public class MVirtualStickStateListener extends BaseManager implements dji.v5.ma if (stickState!=null){ LogUtil.log(TAG,"控制权:"+stickState.isVirtualStickEnable()+"-高级模式:"+stickState.isVirtualStickAdvancedModeEnabled()); Movement.getInstance().setIsVirtualStickEnable(stickState.isVirtualStickEnable()?1:0); + if (!stickState.isVirtualStickEnable()){ Movement.getInstance().setVirtualStickEnableReason(0); } @@ -25,6 +26,9 @@ public class MVirtualStickStateListener extends BaseManager implements dji.v5.ma @Override public void onChangeReasonUpdate(@NonNull FlightControlAuthorityChangeReason reason) { + if(reason.name().equals(FlightControlAuthorityChangeReason.BATTERY_LOW_GO_HOME)){ + Movement.getInstance().setResult(321773); + } LogUtil.log(TAG,"控制权变更原因:"+reason.name()); } diff --git a/app/src/main/java/com/aros/apron/callback/MqttCallBack.java b/app/src/main/java/com/aros/apron/callback/MqttCallBack.java index 9293eb2b..12184b7b 100644 --- a/app/src/main/java/com/aros/apron/callback/MqttCallBack.java +++ b/app/src/main/java/com/aros/apron/callback/MqttCallBack.java @@ -12,12 +12,15 @@ import com.aros.apron.constant.Constant; import com.aros.apron.entity.ApronExecutionStatus; import com.aros.apron.entity.MessageDown; import com.aros.apron.entity.Movement; +import com.aros.apron.entity.SpeakerAudioPlayProgress; import com.aros.apron.manager.CameraManager; import com.aros.apron.manager.FlightManager; 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.PerceptionManager; +import com.aros.apron.manager.SpeakerManager; import com.aros.apron.manager.StickManager; import com.aros.apron.manager.StreamManager; import com.aros.apron.manager.SystemManager; @@ -26,6 +29,8 @@ import com.aros.apron.tools.LogUtil; import com.aros.apron.tools.MqttManager; import com.aros.apron.tools.PreferenceUtils; import com.aros.apron.tools.RestartAPPTool; +import com.aros.apron.tools.SpeakerProgressReporter; +import com.aros.apron.tools.TakeoffProgressScheduler; import com.google.gson.Gson; import org.eclipse.paho.client.mqttv3.IMqttDeliveryToken; @@ -90,14 +95,10 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended { - - - - @Override public void messageArrived(String topic, MqttMessage mqttMessage) { String jsonString = null; - //Log.e(TAG, "入口打印:" +mqttMessage.toString()); + Log.e(TAG, "入口打印:" +mqttMessage.toString()); try { jsonString = new String(mqttMessage.getPayload(), "UTF-8"); @@ -142,6 +143,9 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended { break; case Constant.FLIGHTTASK_EXECUTE: LogUtil.log(TAG, "收到：航线" + jsonString); + //关闭避障 + PerceptionManager.getInstance().setPerceptionEnable(false); + PerceptionManager.getInstance().setObstacleAvoidanceHorizontalEnabled(false); //设置modecode Movement.getInstance().setMode_code(1); sendFlightTaskProgress2Server(); @@ -192,6 +196,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended { sendFlightTaskProgress2Server(); //设置标志为指令飞行 Movement.getInstance().setFlightmode(2); + TakeoffProgressScheduler.getInstance().startReporting(); TakeOffToPointManager.getInstance().taskExecute(message); break; @@ -322,6 +327,38 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended { LogUtil.log(TAG, "收到：框选变焦" + jsonString); CameraManager.getInstance().camera_frame_zoom(message); break; + 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().speakerAudioPlayStart(message); + break; + 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().speakerTTSPlayStart(message,0); + break; + case Constant.SPEAKER_REPLAY: + LogUtil.log(TAG, "收到：喊话器-重新播放" + jsonString); + SpeakerManager.getInstance().speakerReply(message); + break; + case Constant.SPEAKER_PLAY_STOP: + LogUtil.log(TAG, "收到：喊话器-停止播放" + jsonString); + + SpeakerManager.getInstance().speakerStop(message); + break; + case Constant.SPEAKER_PLAY_MODE_SET: + LogUtil.log(TAG, "收到：喊话器-设置播放模式" + jsonString); + SpeakerManager.getInstance().speakerPlayModeSet(message); + break; + case Constant.SPEAKER_PLAY_VOLUME_SET: + LogUtil.log(TAG, "收到：喊话器-设置音量" + jsonString); + SpeakerManager.getInstance().speakerPlayVolumeSet(message); + break; + case Constant.DRC_SPEAKER_TTS_SET: + LogUtil.log(TAG, "收到：喊话器-TTS喊话设置" + jsonString); + SpeakerManager.getInstance().speakerTTSPlayStart(message,1); + break; + // //获取控制权 // case 60007: diff --git a/app/src/main/java/com/aros/apron/constant/Constant.java b/app/src/main/java/com/aros/apron/constant/Constant.java index cf0dafe6..7ac770d6 100644 --- a/app/src/main/java/com/aros/apron/constant/Constant.java +++ b/app/src/main/java/com/aros/apron/constant/Constant.java @@ -287,5 +287,41 @@ public class Constant { */ + /** + * 喊话器-开始播放音频 + */ + public static final String SPEAKER_AUDIO_PLAY_START="speaker_audio_play_start"; + + /** + * 喊话器-开始播放TTS文本 + */ + public static final String SPEAKER_TTS_PLAY_START="speaker_tts_play_start"; + + /** + * 喊话器-重新播放 + */ + public static final String SPEAKER_REPLAY="speaker_replay"; + + /** + * 喊话器-停止播放 + */ + public static final String SPEAKER_PLAY_STOP="speaker_play_stop"; + + /** + * 喊话器-设置播放模式 + */ + public static final String SPEAKER_PLAY_MODE_SET="speaker_play_mode_set"; + + /** + * 喊话器-设置音量 + */ + public static final String SPEAKER_PLAY_VOLUME_SET="speaker_play_volume_set"; + + /** + * 喊话器—TTS喊话设置 + */ + public static final String DRC_SPEAKER_TTS_SET="drc_speaker_tts_set"; + + } diff --git a/app/src/main/java/com/aros/apron/entity/MessageDown.java b/app/src/main/java/com/aros/apron/entity/MessageDown.java deleted file mode 100644 index d06b90d9..00000000 --- a/app/src/main/java/com/aros/apron/entity/MessageDown.java +++ /dev/null @@ -1,635 +0,0 @@ -package com.aros.apron.entity; - -import java.util.List; - -public class MessageDown { - - private String tid; - private String bid; - private long timestamp; - private String method; - private Data data; - - public String getTid() { - return tid; - } - - public void setTid(String tid) { - this.tid = tid; - } - - public String getBid() { - return bid; - } - - public void setBid(String bid) { - this.bid = bid; - } - - public long getTimestamp() { - return timestamp; - } - - public void setTimestamp(long timestamp) { - this.timestamp = timestamp; - } - - public String getMethod() { - return method; - } - - public void setMethod(String method) { - this.method = method; - } - - public Data getData() { - return data; - } - - public void setData(Data data) { - this.data = data; - } - - public static class Data { - private int result; - private String url; - private int video_quality; - private int ideo_quality; - private AlternateLandPoint alternate_land_point; - private int rth_mode; - private int task_type; - private int wayline_precision_type; - private String video_type; - private long execute_time; - private int exit_wayline_when_rc_lost; - private File file; - private String flight_id; - private int flight_safety_advance_check; - private int out_of_control_action; - private boolean takeoffToPointTask; - private BreakPoint break_point; - private int camera_mode=0;//初始化为拍照 - private String h; - private String seq; - private String w; - //摇杆和云台 - private String x; - private String y; - - private String camera_type; - private String payload_index; - - private float height; - private double latitude; - private boolean locked; - private double longitude; - private int zoom_factor; - private boolean enable; - private int exposure_mode; - private int exposure_value; - private int focus_mode; - private int focus_value; - - private double commander_flight_height; - private int commander_mode_lost_action; - private String max_speed; - private int rc_lost_action; - private int rth_altitude; - private String security_takeoff_height; - private double target_height; - private double target_latitude; - private double target_longitude; - private String fly_to_id; - private List points; - private int reset_mode; - - private double pitch_speed; - - private double yaw_speed; - - private float width; - - - - public float getWidth() { - return width; - } - - public void setWidth(float width) { - this.width = width; - } - - public double getPitch_speed() { - return pitch_speed; - } - - public void setPitch_speed(double pitch_speed) { - this.pitch_speed = pitch_speed; - } - - public double getYaw_speed() { - return yaw_speed; - } - - public void setYaw_speed(double yaw_speed) { - this.yaw_speed = yaw_speed; - } - - public int getReset_mode() { - return reset_mode; - } - - public void setReset_mode(int reset_mode) { - this.reset_mode = reset_mode; - } - - public String getFly_to_id() { - return fly_to_id; - } - - public void setFly_to_id(String fly_to_id) { - this.fly_to_id = fly_to_id; - } - - public List getPoints() { - return points; - } - - public void setPoints(List points) { - this.points = points; - } - - public static class Points { - private int height; - private double latitude; - private double longitude; - - public int getHeight() { - return height; - } - - public void setHeight(int height) { - this.height = height; - } - - public double getLatitude() { - return latitude; - } - - public void setLatitude(double latitude) { - this.latitude = latitude; - } - - public double getLongitude() { - return longitude; - } - - public void setLongitude(double longitude) { - this.longitude = longitude; - } - } - public double getCommander_flight_height() { - return commander_flight_height; - } - - public void setCommander_flight_height(int commander_flight_height) { - this.commander_flight_height = commander_flight_height; - } - - public int getCommander_mode_lost_action() { - return commander_mode_lost_action; - } - - public void setCommander_mode_lost_action(int commander_mode_lost_action) { - this.commander_mode_lost_action = commander_mode_lost_action; - } - - public String getMax_speed() { - return max_speed; - } - - public void setMax_speed(String max_speed) { - this.max_speed = max_speed; - } - - public int getRc_lost_action() { - return rc_lost_action; - } - - public void setRc_lost_action(int rc_lost_action) { - this.rc_lost_action = rc_lost_action; - } - - public String getSecurity_takeoff_height() { - return security_takeoff_height; - } - - public void setSecurity_takeoff_height(String security_takeoff_height) { - this.security_takeoff_height = security_takeoff_height; - } - - public double getTarget_height() { - return target_height; - } - - public void setTarget_height(int target_height) { - this.target_height = target_height; - } - - public double getTarget_latitude() { - return target_latitude; - } - - public void setTarget_latitude(double target_latitude) { - this.target_latitude = target_latitude; - } - - public double getTarget_longitude() { - return target_longitude; - } - - public void setTarget_longitude(double target_longitude) { - this.target_longitude = target_longitude; - } - - public int getFocus_value() { - return focus_value; - } - - public void setFocus_value(int focus_value) { - this.focus_value = focus_value; - } - - public int getFocus_mode() { - return focus_mode; - } - - public void setFocus_mode(int focus_mode) { - this.focus_mode = focus_mode; - } - - public int getExposure_value() { - return exposure_value; - } - - public void setExposure_value(int exposure_value) { - this.exposure_value = exposure_value; - } - - public int getExposure_mode() { - return exposure_mode; - } - - public void setExposure_mode(int exposure_mode) { - this.exposure_mode = exposure_mode; - } - - public boolean isEnable() { - return enable; - } - - public void setEnable(boolean enable) { - this.enable = enable; - } - - public int getZoom_factor() { - return zoom_factor; - } - - public void setZoom_factor(int zoom_factor) { - this.zoom_factor = zoom_factor; - } - - public float getHeight() { - return height; - } - - public void setHeight(int height) { - this.height = height; - } - - public double getLatitude() { - return latitude; - } - - public void setLatitude(double latitude) { - this.latitude = latitude; - } - - public double getLongitude() { - return longitude; - } - - public void setLongitude(double longitude) { - this.longitude = longitude; - } - - public String getCamera_type() { - return camera_type; - } - - public void setCamera_type(String camera_type) { - this.camera_type = camera_type; - } - - public boolean isLocked() { - return locked; - } - - public void setLocked(boolean locked) { - this.locked = locked; - } - - public String getPayload_index() { - return payload_index; - } - - public void setPayload_index(String payload_index) { - this.payload_index = payload_index; - } - - public String getH() { - return h; - } - - public void setH(String h) { - this.h = h; - } - - public String getSeq() { - return seq; - } - - public void setSeq(String seq) { - this.seq = seq; - } - - public String getW() { - return w; - } - - public void setW(String w) { - this.w = w; - } - - public String getX() { - return x; - } - - public void setX(String x) { - this.x = x; - } - - public String getY() { - return y; - } - - public void setY(String y) { - this.y = y; - } - - public int getCamera_mode() { - return camera_mode; - } - - public void setCamera_mode(int camera_mode) { - this.camera_mode = camera_mode; - } - - public BreakPoint getBreak_point() { - return break_point; - } - - public void setBreak_point(BreakPoint break_point) { - this.break_point = break_point; - } - public int getIdeo_quality() { - return ideo_quality; - } - - public void setIdeo_quality(int ideo_quality) { - this.ideo_quality = ideo_quality; - } - - public String getUrl() { - return url; - } - - public void setUrl(String url) { - this.url = url; - } - - public int getVideo_quality() { - return video_quality; - } - - public void setVideo_quality(int video_quality) { - this.video_quality = video_quality; - } - - public int getResult() { - return result; - } - - public void setResult(int result) { - this.result = result; - } - - public String getVideo_type() { - return video_type; - } - - public void setVideo_type(String video_type) { - this.video_type = video_type; - } - - - public static class File { - private String fingerprint; - private String url; - - public String getFingerprint() { - return fingerprint; - } - - public void setFingerprint(String fingerprint) { - this.fingerprint = fingerprint; - } - - public String getUrl() { - return url; - } - - public void setUrl(String url) { - this.url = url; - } - } - - - public static class BreakPoint { - private int index; - private double progress; - private int state; - private int wayline_id; - - public int getIndex() { - return index; - } - - public void setIndex(int index) { - this.index = index; - } - - public double getProgress() { - return progress; - } - - public void setProgress(double progress) { - this.progress = progress; - } - - public int getState() { - return state; - } - - public void setState(int state) { - this.state = state; - } - - public int getWayline_id() { - return wayline_id; - } - - public void setWayline_id(int wayline_id) { - this.wayline_id = wayline_id; - } - } - - public AlternateLandPoint getAlternate_land_point() { - return alternate_land_point; - } - - public void setAlternate_land_point(AlternateLandPoint alternate_land_point) { - this.alternate_land_point = alternate_land_point; - } - - public long getExecute_time() { - return execute_time; - } - - public void setExecute_time(long execute_time) { - this.execute_time = execute_time; - } - - public int getExit_wayline_when_rc_lost() { - return exit_wayline_when_rc_lost; - } - - public void setExit_wayline_when_rc_lost(int exit_wayline_when_rc_lost) { - this.exit_wayline_when_rc_lost = exit_wayline_when_rc_lost; - } - - public File getFile() { - return file; - } - - public void setFile(File file) { - this.file = file; - } - - public String getFlight_id() { - return flight_id; - } - - public void setFlight_id(String flight_id) { - this.flight_id = flight_id; - } - - public int getFlight_safety_advance_check() { - return flight_safety_advance_check; - } - - public void setFlight_safety_advance_check(int flight_safety_advance_check) { - this.flight_safety_advance_check = flight_safety_advance_check; - } - - public int getOut_of_control_action() { - return out_of_control_action; - } - - public void setOut_of_control_action(int out_of_control_action) { - this.out_of_control_action = out_of_control_action; - } - - public int getRth_altitude() { - return rth_altitude; - } - - public void setRth_altitude(int rth_altitude) { - this.rth_altitude = rth_altitude; - } - - public int getRth_mode() { - return rth_mode; - } - - public void setRth_mode(int rth_mode) { - this.rth_mode = rth_mode; - } - - public boolean isTakeoffToPointTask() { - return takeoffToPointTask; - } - - public void setTakeoffToPointTask(boolean takeoffToPointTask) { - this.takeoffToPointTask = takeoffToPointTask; - } - - public int getTask_type() { - return task_type; - } - - public void setTask_type(int task_type) { - this.task_type = task_type; - } - - public int getWayline_precision_type() { - return wayline_precision_type; - } - - public void setWayline_precision_type(int wayline_precision_type) { - this.wayline_precision_type = wayline_precision_type; - } - - public static class AlternateLandPoint { - private double latitude; - private double longitude; - private double safe_land_height; - - public double getLatitude() { - return latitude; - } - - public void setLatitude(double latitude) { - this.latitude = latitude; - } - - public double getLongitude() { - return longitude; - } - - public void setLongitude(double longitude) { - this.longitude = longitude; - } - - public double getSafe_land_height() { - return safe_land_height; - } - - public void setSafe_land_height(double safe_land_height) { - this.safe_land_height = safe_land_height; - } - } - - } -} diff --git a/app/src/main/java/com/aros/apron/entity/Movement.java b/app/src/main/java/com/aros/apron/entity/Movement.java index c96f83dd..699d184d 100644 --- a/app/src/main/java/com/aros/apron/entity/Movement.java +++ b/app/src/main/java/com/aros/apron/entity/Movement.java @@ -276,6 +276,9 @@ public class Movement { private String sdr_freq_band; private String freq_band_4g; + //航线上报状态 + private int result=0; + // ========== 一键起飞相关字段 ========== private boolean takeofftopointmission; @@ -286,13 +289,93 @@ public class Movement { private double speed; //全局速度 private List takeoff_planned_path_points; // 规划轨迹点 + private double takeofftargetlatitude; + private double takeofftargetlongitude; + private double takeofftargetheight; + + + + // ========== 上报拍照进度 ==========(全景) private String photo_status; // in_progress/ok/fail private int photo_current_step; // 3000/3002/3005 private int photo_percent; // 0-100 private int photo_result; // 0成功，非0错误 + // ========== 喊话器 ==========(全景) + private String TTS_status; + private int speakerpercent; + private String step_key; + private String md5; + public int getSpeakerpercent() { + return speakerpercent; + } + + public void setSpeakerpercent(int speakerpercent) { + this.speakerpercent = speakerpercent; + } + + public int getResult() { + return result; + } + + public void setResult(int result) { + this.result = result; + } + + public double getTakeofftargetlatitude() { + return takeofftargetlatitude; + } + + public void setTakeofftargetlatitude(double takeofftargetlatitude) { + this.takeofftargetlatitude = takeofftargetlatitude; + } + + public double getTakeofftargetlongitude() { + return takeofftargetlongitude; + } + + public void setTakeofftargetlongitude(double takeofftargetlongitude) { + this.takeofftargetlongitude = takeofftargetlongitude; + } + + public double getTakeofftargetheight() { + return takeofftargetheight; + } + + public void setTakeofftargetheight(double takeofftargetheight) { + this.takeofftargetheight = takeofftargetheight; + } + + public String getMd5() { + return md5; + } + + public void setMd5(String md5) { + this.md5 = md5; + } + + + + public String getTTS_status() { + return TTS_status; + } + + public void setTTS_status(String TTS_status) { + this.TTS_status = TTS_status; + } + + + + public String getStep_key() { + return step_key; + } + + public void setStep_key(String step_key) { + this.step_key = step_key; + } + public int getGPSSatelliteCount() { @@ -411,7 +494,7 @@ 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（一键和flyto） + private int flightmode=0; //0代表没有操作 1代表航线飞行 2一键代表指令飞行 3flyto（一键和flyto） private boolean takeofftopoint; private boolean opendrc=false; //true 是开启 false 是关闭 diff --git a/app/src/main/java/com/aros/apron/entity/TakeoffToPointProgress.java b/app/src/main/java/com/aros/apron/entity/TakeoffToPointProgress.java index d6835dc3..f7765da1 100644 --- a/app/src/main/java/com/aros/apron/entity/TakeoffToPointProgress.java +++ b/app/src/main/java/com/aros/apron/entity/TakeoffToPointProgress.java @@ -134,15 +134,15 @@ public class TakeoffToPointProgress { } public static class PlannedPathPoint { - private Float height; + private Double height; private Double latitude; private Double longitude; - public Float getHeight() { + public Double getHeight() { return height; } - public void setHeight(Float height) { + public void setHeight(Double height) { this.height = height; } diff --git a/app/src/main/java/com/aros/apron/manager/FlightManager.java b/app/src/main/java/com/aros/apron/manager/FlightManager.java index f9bac9c3..ee185b71 100644 --- a/app/src/main/java/com/aros/apron/manager/FlightManager.java +++ b/app/src/main/java/com/aros/apron/manager/FlightManager.java @@ -812,6 +812,7 @@ public class FlightManager extends BaseManager { sendCloseCabinDoorMsg = true; DockCloseManager.getInstance().sendDockCloseMsg2Server(); PerceptionManager.getInstance().setPerceptionEnable(true); + PerceptionManager.getInstance().setObstacleAvoidanceHorizontalEnabled(true); } } @@ -847,6 +848,7 @@ public class FlightManager extends BaseManager { // DroneHelper.getInstance().setCameraFocusMode(); // isGimbalDownwards = true; PerceptionManager.getInstance().setPerceptionEnable(false); + PerceptionManager.getInstance().setObstacleAvoidanceHorizontalEnabled(false); // if (Movement.getInstance().getIsRecording() == 1) { // CameraManager.getInstance().stopRecordVideo(null); // } @@ -880,19 +882,20 @@ public class FlightManager extends BaseManager { } - private static final double FLYING_HEIGHT_THRESHOLD_MAX = 5.5; + private static final double FLYING_HEIGHT_THRESHOLD_MAX = 6; private static final double FLYING_HEIGHT_THRESHOLD_MAX_ALTERNATE = 10; private static final double FLYING_HEIGHT_THRESHOLD_MIN = -2; private static final double FLYING_HEIGHT_THRESHOLD_MIN_ALTERNATE = 2.0; private void startVisionLanding() { + boolean isDebugMode = PreferenceUtils.getInstance().getIsDebugMode(); boolean triggerToAlternatePoint = PreferenceUtils.getInstance().getTriggerToAlternatePoint(); boolean needTriggerApronArucoLand = PreferenceUtils.getInstance().getNeedTriggerApronArucoLand(); boolean needTriggerAlterArucoLand = PreferenceUtils.getInstance().getNeedTriggerAlterArucoLand(); double thresholdMax = triggerToAlternatePoint ? FLYING_HEIGHT_THRESHOLD_MAX_ALTERNATE : FLYING_HEIGHT_THRESHOLD_MAX; - if (isFlying && Movement.getInstance().getElevation() < thresholdMax && !isSendDetect) { + if (isFlying && (Movement.getInstance().getElevation() < thresholdMax || Movement.getInstance().getUltrasonicHeight()<45)&& !isSendDetect) { double flyingHeight = Movement.getInstance().getElevation(); double thresholdMin = triggerToAlternatePoint ? FLYING_HEIGHT_THRESHOLD_MIN_ALTERNATE : FLYING_HEIGHT_THRESHOLD_MIN; diff --git a/app/src/main/java/com/aros/apron/manager/GimbalManager.java b/app/src/main/java/com/aros/apron/manager/GimbalManager.java index 1bb9eab0..f1b5ead8 100644 --- a/app/src/main/java/com/aros/apron/manager/GimbalManager.java +++ b/app/src/main/java/com/aros/apron/manager/GimbalManager.java @@ -270,20 +270,48 @@ public class GimbalManager extends BaseManager { locationCoordinate3D.setLongitude(message.getData().getLongitude()); locationCoordinate3D.setAltitude(Double.parseDouble(message.getData().getHeight() + "")); lookAtInfo.setLocation(locationCoordinate3D); - KeyManager.getInstance().performAction(KeyTools.createKey(FlightControllerKey.KeyLookAt), lookAtInfo, new CommonCallbacks.CompletionCallbackWithParam() { - @Override - public void onSuccess(EmptyMsg emptyMsg) { - LogUtil.log(TAG,"看向目标点成功"); - sendMsg2Server(message); - } + if(message.getData().isLocked()==true){ + KeyManager.getInstance().setValue(KeyTools.createKey(GimbalKey.KeyGimbalMode), GimbalMode.YAW_FOLLOW, new CommonCallbacks.CompletionCallback() { + @Override + public void onSuccess() { + //设置云台跟随 + KeyManager.getInstance().performAction(KeyTools.createKey(FlightControllerKey.KeyLookAt), lookAtInfo, new CommonCallbacks.CompletionCallbackWithParam() { + @Override + public void onSuccess(EmptyMsg emptyMsg) { + 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); - sendFailMsg2Server(message, "看向目标点失败:" + getIDJIErrorMsg(error)); - } + @Override + public void onFailure(@NonNull IDJIError error) { + LogUtil.log(TAG,"看向目标点失败"+error); + sendFailMsg2Server(message, "看向目标点失败:" + getIDJIErrorMsg(error)); + } + } + ); } - ); + + @Override + public void onFailure(@NonNull IDJIError idjiError) { + //设置云台跟随失败 + } + }); + }else{ + KeyManager.getInstance().performAction(KeyTools.createKey(FlightControllerKey.KeyLookAt), lookAtInfo, new CommonCallbacks.CompletionCallbackWithParam() { + @Override + public void onSuccess(EmptyMsg emptyMsg) { + 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); + sendFailMsg2Server(message, "看向目标点失败:" + getIDJIErrorMsg(error)); + } + } + ); + } } else { LogUtil.log(TAG, "云台未连接"); } diff --git a/app/src/main/java/com/aros/apron/manager/MissionV3Manager.java b/app/src/main/java/com/aros/apron/manager/MissionV3Manager.java index c29b741e..39cc5705 100644 --- a/app/src/main/java/com/aros/apron/manager/MissionV3Manager.java +++ b/app/src/main/java/com/aros/apron/manager/MissionV3Manager.java @@ -20,6 +20,7 @@ import com.aros.apron.entity.Movement; import com.aros.apron.tools.LogUtil; import com.aros.apron.tools.PreferenceUtils; import com.aros.apron.tools.RestartAPPTool; +import com.aros.apron.tools.TakeoffProgressScheduler; import com.dji.wpmzsdk.common.data.KMZInfo; import com.dji.wpmzsdk.manager.WPMZManager; import com.google.gson.Gson; @@ -30,6 +31,7 @@ import java.io.IOException; import java.io.InputStream; import java.util.List; +import dji.sdk.keyvalue.key.CameraKey; import dji.sdk.keyvalue.key.FlightControllerKey; import dji.sdk.keyvalue.key.KeyTools; import dji.sdk.keyvalue.value.flightcontroller.RemoteControllerFlightMode; @@ -103,6 +105,10 @@ public class MissionV3Manager extends BaseManager { sendFlightTaskProgress2Server(); break; case READY: + if(Movement.getInstance().getFlightmode()==2){ + Movement.getInstance().setTakeoff_status("task_ready"); + } + if (PreferenceUtils.getInstance().getMissionType()==2 ) { Movement.getInstance().setTask_status("paused"); @@ -145,6 +151,11 @@ public class MissionV3Manager extends BaseManager { break; case ENTER_WAYLINE: enterWayLineTime = System.currentTimeMillis(); + if(Movement.getInstance().getFlightmode()==2){ + Movement.getInstance().setTakeoff_status("wayline_progress"); + } + + if (PreferenceUtils.getInstance().getMissionType()==2 ) { Movement.getInstance().setTask_status("paused"); @@ -187,6 +198,11 @@ public class MissionV3Manager extends BaseManager { sendFlightTaskProgress2Server(); break; case INTERRUPTED: + + if(Movement.getInstance().getFlightmode()==2){ + Movement.getInstance().setTakeoff_status("wayline_cancel"); + } + Movement.getInstance().setVirtualStickQuitMission(false); sendEvent2Server("任务状态:航线任务执行中断", 1); Movement.getInstance().setTask_status("paused"); @@ -223,6 +239,17 @@ public class MissionV3Manager extends BaseManager { }else{ } + if(Movement.getInstance().getFlightmode()==2){ + Movement.getInstance().setTakeoff_status("task_finish"); + Movement.getInstance().setTakeoff_status("wayline_ok"); + + new Handler(Looper.getMainLooper()).postDelayed(new Runnable() { + @Override + public void run() { + TakeoffProgressScheduler.getInstance().stopReporting(); + } + }, 1000); // 1000ms = 1秒 + } finishWayLineTime = System.currentTimeMillis(); mainHandler.postDelayed(new Runnable() { @@ -348,6 +375,7 @@ public class MissionV3Manager extends BaseManager { } //2.关闭避障 PerceptionManager.getInstance().setPerceptionEnable(false); + PerceptionManager.getInstance().setObstacleAvoidanceHorizontalEnabled(false); //3.清空sd卡 CameraManager.getInstance().formatStorage(null); //4.返航或降落状态无法执行航线 @@ -565,6 +593,7 @@ public class MissionV3Manager extends BaseManager { public void onSuccess() { // "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"); sendEvent2Server("航线上传成功,准备执行任务", 1); isPushKMZSuccess = true; mainHandler.postDelayed(new Runnable() { @@ -578,6 +607,9 @@ public class MissionV3Manager extends BaseManager { Movement.getInstance().setMode_code(4); sendFlightTaskProgress2Server(); Movement.getInstance().setTask_current_step(22); + //关闭避障 + PerceptionManager.getInstance().setPerceptionEnable(false); + PerceptionManager.getInstance().setObstacleAvoidanceHorizontalEnabled(false); startMission(message); pushKMZFileTimes = 0; diff --git a/app/src/main/java/com/aros/apron/manager/PerceptionManager.java b/app/src/main/java/com/aros/apron/manager/PerceptionManager.java index 68a899a6..c64fd789 100644 --- a/app/src/main/java/com/aros/apron/manager/PerceptionManager.java +++ b/app/src/main/java/com/aros/apron/manager/PerceptionManager.java @@ -20,6 +20,7 @@ import dji.v5.manager.KeyManager; import dji.v5.manager.aircraft.perception.data.ObstacleAvoidanceType; import dji.v5.manager.aircraft.perception.data.PerceptionDirection; import dji.v5.manager.interfaces.IPerceptionManager; +import dji.v5.manager.interfaces.IRadarManager; public class PerceptionManager extends BaseManager { @@ -39,14 +40,18 @@ public class PerceptionManager extends BaseManager { private boolean closePerceptionSuccess; public void setPerceptionEnable(boolean perceptionEnable) { - if (PreferenceUtils.getInstance().getCloseObsEnable() && perceptionEnable) { LogUtil.log(TAG, "全局避障关闭,不开启避障"); return; } + 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 public void onSuccess() { @@ -71,6 +76,7 @@ public class PerceptionManager extends BaseManager { public void run() { closePerceptionTimes++; setPerceptionEnable(false); + setObstacleAvoidanceHorizontalEnabled(false); } }, 2000); } else { @@ -83,8 +89,9 @@ public class PerceptionManager extends BaseManager { } } + //开启水平避障 - public void setObstacleAvoidanceHorizontalEnabled() { + public void setObstacleAvoidanceHorizontalEnabled(Boolean perceptionEnable) { if (PreferenceUtils.getInstance().getCloseObsEnable()) { LogUtil.log(TAG, "全局避障关闭,不开启避障"); return; @@ -92,7 +99,7 @@ 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(); - perceptionManager.setObstacleAvoidanceEnabled(true, PerceptionDirection.HORIZONTAL, new CommonCallbacks.CompletionCallback() { + perceptionManager.setObstacleAvoidanceEnabled(perceptionEnable ? true:false, PerceptionDirection.HORIZONTAL, new CommonCallbacks.CompletionCallback() { @Override public void onSuccess() { LogUtil.log(TAG, "开启水平避障"); diff --git a/app/src/main/java/com/aros/apron/manager/StickManager.java b/app/src/main/java/com/aros/apron/manager/StickManager.java index 36a1c92a..1b78da61 100644 --- a/app/src/main/java/com/aros/apron/manager/StickManager.java +++ b/app/src/main/java/com/aros/apron/manager/StickManager.java @@ -71,11 +71,11 @@ public class StickManager extends BaseManager { public void disableVirtualStick1() { VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(false); - VirtualStickManager.getInstance().enableVirtualStick(new CommonCallbacks.CompletionCallback() { + VirtualStickManager.getInstance().disableVirtualStick(new CommonCallbacks.CompletionCallback() { @Override public void onSuccess() { LogUtil.log(TAG, "控制取消成功"); - VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(true); + VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(false); } @Override diff --git a/app/src/main/java/com/aros/apron/manager/StreamManager.java b/app/src/main/java/com/aros/apron/manager/StreamManager.java index 880497d1..dbd978d7 100644 --- a/app/src/main/java/com/aros/apron/manager/StreamManager.java +++ b/app/src/main/java/com/aros/apron/manager/StreamManager.java @@ -150,11 +150,9 @@ sendMsg2Server(message); public void startLiveWithRTSP() { - Boolean isAircraftConnected = KeyManager.getInstance().getValue(DJIKey.create(ProductKey.KeyConnection)); if (isAircraftConnected == null || !isAircraftConnected) { LogUtil.log(TAG, "飞行器未连接"); - } else { if (PreferenceUtils.getInstance().getRtspUserName()!=null&& PreferenceUtils.getInstance().getRtspPort()!=null&& @@ -164,11 +162,15 @@ sendMsg2Server(message); LogUtil.log(TAG, "自定义RTSP推流:" + PreferenceUtils.getInstance().getRtspUserName() +"--"+PreferenceUtils.getInstance().getRtspPort()+"--"+PreferenceUtils.getInstance().getRtspPassWord()); 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); CameraType value = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey.KeyCameraType, ComponentIndexType.PORT_1)); // if (value != null && (value == CameraType.ZENMUSE_H20T || diff --git a/app/src/main/java/com/aros/apron/manager/TakeOffToPointManager.java b/app/src/main/java/com/aros/apron/manager/TakeOffToPointManager.java index da2a2494..27a43f75 100644 --- a/app/src/main/java/com/aros/apron/manager/TakeOffToPointManager.java +++ b/app/src/main/java/com/aros/apron/manager/TakeOffToPointManager.java @@ -101,7 +101,6 @@ public class TakeOffToPointManager extends BaseManager { }); } - /** * 1.校验飞机状态 */ @@ -114,6 +113,7 @@ public class TakeOffToPointManager extends BaseManager { } //2.关闭避障 PerceptionManager.getInstance().setPerceptionEnable(false); + PerceptionManager.getInstance().setObstacleAvoidanceHorizontalEnabled(false); //3.清空sd卡 CameraManager.getInstance().formatStorage(null); //4.返航或降落状态无法执行航线 @@ -230,6 +230,11 @@ public class TakeOffToPointManager extends BaseManager { */ public void toGenerateKMZFile(MessageDown message) { Movement.getInstance().setTask_current_step(16); + //目标点的经纬度 + Movement.getInstance().setTakeofftargetlatitude(message.getData().getTarget_latitude()); + Movement.getInstance().setTakeofftargetlongitude(message.getData().getTarget_longitude()); + Movement.getInstance().setTakeofftargetheight(message.getData().getTarget_height()); + MissionDataBean data = new Gson().fromJson(new Gson().toJson(message.getData()), MissionDataBean.class); Boolean generateKmz=Generakmztools.getInstance().generateKmz(data); LogUtil.log(TAG,"生成的boole"+generateKmz); @@ -273,7 +278,6 @@ public class TakeOffToPointManager extends BaseManager { List 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); @@ -299,8 +303,6 @@ public class TakeOffToPointManager extends BaseManager { public void onProgressUpdate(Double progress) { sendEvent2Server("航线上传进度:" + progress, 1); Movement.getInstance().setTask_current_step(17); - - } @Override @@ -316,7 +318,6 @@ public class TakeOffToPointManager extends BaseManager { /** * 7.开始任务 */ - //自主起飞 Movement.getInstance().setMode_code(4); sendFlightTaskProgress2Server(); @@ -348,7 +349,6 @@ public class TakeOffToPointManager extends BaseManager { //待机 Movement.getInstance().setMode_code(0); sendFlightTaskProgress2Server(); - TaskFailManager.getInstance().sendTaskFailMsg2Server(-1); } } else { @@ -388,6 +388,7 @@ public class TakeOffToPointManager extends BaseManager { sendEvent2Server("任务开始执行", 1); Movement.getInstance().setTask_current_step(23); sendFlightTaskProgress2Server(); + Movement.getInstance().setTakeoff_result(0); } @Override public void onFailure(@NonNull IDJIError error) { @@ -406,6 +407,8 @@ public class TakeOffToPointManager extends BaseManager { }, 2000); } else { if (!Movement.getInstance().isPlaneWing()) { + Movement.getInstance().setTakeoff_status("wayline_failed"); + Movement.getInstance().setTakeoff_result(1); //待机 Movement.getInstance().setMode_code(0); sendFlightTaskProgress2Server(); diff --git a/app/src/main/java/com/aros/apron/tools/ApronArucoDetect.java b/app/src/main/java/com/aros/apron/tools/ApronArucoDetect.java index daea2711..3bacbc8f 100644 --- a/app/src/main/java/com/aros/apron/tools/ApronArucoDetect.java +++ b/app/src/main/java/com/aros/apron/tools/ApronArucoDetect.java @@ -6,6 +6,8 @@ import android.os.Handler; import android.os.Looper; import android.util.Log; +import androidx.annotation.NonNull; + import com.aros.apron.constant.AMSConfig; import com.aros.apron.entity.ArucoMarker; import com.aros.apron.entity.ArucoMarkerDimensions; @@ -39,6 +41,13 @@ import java.util.concurrent.Future; import java.util.concurrent.ScheduledExecutorService; import java.util.concurrent.TimeUnit; +import dji.sdk.keyvalue.key.FlightControllerKey; +import dji.sdk.keyvalue.key.KeyTools; +import dji.sdk.keyvalue.value.common.EmptyMsg; +import dji.v5.common.callback.CommonCallbacks; +import dji.v5.common.error.IDJIError; +import dji.v5.manager.KeyManager; + public class ApronArucoDetect { //是否触发识别(如果丢失图传，此值为false) @@ -68,10 +77,10 @@ public class ApronArucoDetect { // 【关键修改1】M400下视镜头右后方补偿量（像素，正值向右补偿） // 如果还往左偏就调大，往右偏就调小，建议范围 30-80 - private static final double LENS_OFFSET_X = 15.0; - private static final double LENS_OFFSET_Y = 20.0; + private static double LENS_OFFSET_X = 0; + private static double LENS_OFFSET_Y = 0; // 【关键修改2】放宽居中判定阈值（原40，补偿后改为60更合理） - private static final int CENTER_ERR_MAX = 40; // 居中误差（px） + private static final int CENTER_ERR_MAX = 25; // 居中误差（px） public PIDControl pidControlX = null; public PIDControl pidControlY = null; @@ -98,7 +107,7 @@ public class ApronArucoDetect { public boolean isDoublePayload() { return isDoublePayload; } - + private Handler riseHandler = new Handler(Looper.getMainLooper()); public void setDoublePayload(boolean doublePayload) { isDoublePayload = doublePayload; } @@ -115,6 +124,7 @@ public class ApronArucoDetect { INSTANCE.init(); } } + private int trycount=0; public static ApronArucoDetect getInstance() { return OpenCVHelperHolder.INSTANCE; @@ -123,14 +133,13 @@ public class ApronArucoDetect { private static final float SLOW_LAND_SPEED = -0.3f; // 远场慢降 private static final float SLOW_SUPER_SPEED = -0.1f; // 超近慢降 - private static final int PIXEL_TRIGGER = 400; // 近场像素阈值 + private static final int PIXEL_TRIGGER = 360; // 近场像素阈值 public void init() { - pidControlX = new PIDControl(0.6f, 0.015f, 0.12f, 0.05f, 2.0f, 0.05f); - pidControlY = new PIDControl(0.6f, 0.015f, 0.12f, 0.05f, 2.0f, 0.05f); + pidControlX = new PIDControl(0.6f, 0.08f, 0.18f, 0.05f, 2.5f, 0.04f); + pidControlY = new PIDControl(0.6f, 0.08f, 0.18f, 0.05f, 2.5f, 0.04f); pidControlX.reset(); pidControlY.reset(); - } @@ -142,7 +151,7 @@ public class ApronArucoDetect { Movement.getInstance().setVirtualStickEnableReason(2); //保证一帧进入同时 保证只有一次速降 if (isStartAruco || startFastStick) { - // LogUtil.log(TAG, "过滤:" + isStartAruco + startFastStick); + LogUtil.log(TAG, "过滤:" + isStartAruco + startFastStick); if (!isStartAruco && startFastStick) { checkThrowingErrorsTimes++; } @@ -150,11 +159,31 @@ public class ApronArucoDetect { } isStartAruco = true; + /* 如果上一帧任务还没跑完，直接 cancel */ if (lastFuture != null && !lastFuture.isDone()) { LogUtil.log(TAG, "break---"); lastFuture.cancel(true); } + // 根据超声波高度分段固定偏移（避免 pixelWidth 跳变导致抖动） + int ultHeight = Movement.getInstance().getUltrasonicHeight(); // dm + if (ultHeight >= 30) { + LENS_OFFSET_X = 0; + LENS_OFFSET_Y = 0; + } else if (ultHeight >= 20) { + LENS_OFFSET_X = 0; + LENS_OFFSET_Y = 0; + } else if (ultHeight >= 10) { + LENS_OFFSET_X = 20; + LENS_OFFSET_Y = 10; + } else if (ultHeight >= 5) { + LENS_OFFSET_X = 30; + LENS_OFFSET_Y = 20; + } else { + LENS_OFFSET_X = 50; // 建议从 60 开始试，80 可能太大 + LENS_OFFSET_Y = 25; + } + //LogUtil.log(TAG, "执行了"); @@ -197,6 +226,7 @@ public class ApronArucoDetect { boolean marker6Found = false; if (!ids.empty()) { + trycount=0; arucoNotFoundTag = false; int[] idArray = ids.toArray(); int ultrasonicHeight = Movement.getInstance().getUltrasonicHeight(); @@ -216,26 +246,36 @@ public class ApronArucoDetect { double pixelWidth = calculateDistance(points[0], points[1]); // 【关键修改3】降落判断加上镜头偏移补偿（向右补偿） - double centerX = (points[0].x + points[1].x + points[2].x + points[3].x) / 4.0; - double errX = Math.abs(centerX - rgbMat.width() / 2.0 + LENS_OFFSET_X); + double centerX = (points[0].x + points[1].x + points[2].x + points[3].x) / 4.0 +LENS_OFFSET_X; + double errX = Math.abs(centerX - rgbMat.width() / 2.0 ); // 修改为（向前补偿）： - double centerY = (points[0].y + points[1].y + points[2].y + points[3].y) / 4.0; - double errY = Math.abs(centerY - rgbMat.height() / 2.0 - LENS_OFFSET_Y); ; + double centerY = (points[0].y + points[1].y + points[2].y + points[3].y) / 4.0 +LENS_OFFSET_Y; + double errY = Math.abs(centerY - rgbMat.height() / 2.0 ); ; LogUtil.log(TAG, "像素" + (int) pixelWidth + " errX=" + (int) errX + " errY=" + (int) errY + " (含偏移" + LENS_OFFSET_X + ")"); - /* 近场 + 对准 + 像素够 → 立即速降 */ + /* 近场 + 对准 + 像素够 → 延迟0.5s后速降 */ if (!startFastStick && pixelWidth >= PIXEL_TRIGGER && -// flyingHeight <= 1 && +// flyingHeight <= 1 && ultrasonicHeight <= 4 && errX < CENTER_ERR_MAX && errY < CENTER_ERR_MAX) { - startFastStick = true; - handler.post(runnable); - LogUtil.log(TAG, "6号居中+近场触发速降 pixel=" + (int) pixelWidth + + + startFastStick = true; // 先标记，防止重复触发 + LogUtil.log(TAG, "6号居中+近场满足条件，0.5s后触发速降 pixel=" + (int) pixelWidth + " errX=" + (int) errX + " errY=" + (int) errY); + + // 延迟500ms执行速降 + handler.postDelayed(new Runnable() { + @Override + public void run() { + handler.post(runnable); // 启动速降循环 + LogUtil.log(TAG, "0.5s延迟结束，开始速降"); + } + }, 500); + return; } } @@ -253,9 +293,9 @@ public class ApronArucoDetect { endTime = System.currentTimeMillis(); long lostDuration = endTime - startTime; //1s到8s内 - if (lostDuration > 700 && lostDuration <= 8000) { + if (lostDuration > 1200 && lostDuration <= 8000) { if (Movement.getInstance().getUltrasonicHeight()<=30) { - DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, 0.3f); + DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, 0.8f); if (dropTimes > Integer.parseInt(AMSConfig.getInstance().getAlternateLandingTimes())) { LogUtil.log(TAG, "超过复降限制,去备降点"); AlternateLandingManager.getInstance().startTaskProcess(null); @@ -394,18 +434,28 @@ public class ApronArucoDetect { } /* 2. 中心 + 误差（带镜头偏移补偿） */ - double cx = (pts[0].x + pts[1].x + pts[2].x + pts[3].x) / 4.0; - double cy = (pts[0].y + pts[1].y + pts[2].y + pts[3].y) / 4.0; + double cx = (pts[0].x + pts[1].x + pts[2].x + pts[3].x) / 4.0 +LENS_OFFSET_X; + double cy = (pts[0].y + pts[1].y + pts[2].y + pts[3].y) / 4.0 +LENS_OFFSET_Y; Point screenCenter = new Point(imageWidth / 2.0, imageHeight / 2.0); - double errX = (cx - screenCenter.x) + LENS_OFFSET_X; // 向右补偿 - double errY = (cy - screenCenter.y) - LENS_OFFSET_Y; // Y方向不变 + double errX = (cx - screenCenter.x); + double errY = (cy - screenCenter.y); /* 3. PID 微调水平 */ pidControlX.setInputFilterAll((float) (errX / 700.0)); - pidControlY.setInputFilterAll((float) (-errY/ 700.0)); - float vx = (float) Math.max(-0.25, Math.min(0.25, pidControlX.get_pid())); - float vy = (float) Math.max(-0.25, Math.min(0.25, pidControlY.get_pid())); + pidControlY.setInputFilterAll((float) (-errY / 700.0)); + + + float rawVx = pidControlX.get_pid(); + float rawVy = pidControlY.get_pid(); + + +// if (Math.abs(rawVx) < 0.005f) rawVx = 0.0f; +// if (Math.abs(rawVy) < 0.005f) rawVy = 0.0f; + + + float vx = (float) Math.max(-0.25, Math.min(0.25, rawVx)); + float vy = (float) Math.max(-0.25, Math.min(0.25, rawVy)); /* 4. 远场慢降：像素 < 1500 且 > 2 m */ double pixelWidth = Math.sqrt(Math.pow(pts[1].x - pts[0].x, 2) + @@ -467,7 +517,7 @@ public class ApronArucoDetect { @Override public void run() { performOperation(); - if (handlerCallbackCount < 20) { + if (handlerCallbackCount < 25) { handler.postDelayed(this, 50); // 每 50 毫秒执行一次，1 秒内执行 20 次 } else { performNextStep(); @@ -485,9 +535,18 @@ public class ApronArucoDetect { canLanding = true; handlerCallbackCount = 0; dropTimes = 0;//手动测试避免多次累加后直接飞往备降点 - LogUtil.log(TAG, "下拉完成：触发下一步自动降落"); +// KeyManager.getInstance().performAction(KeyTools.createKey(FlightControllerKey.KeyStartAutoLanding), new CommonCallbacks.CompletionCallbackWithParam() { +// @Override +// public void onSuccess(EmptyMsg emptyMsg) { +// LogUtil.log(TAG, "下拉完成：触发下一步自动降落"); +// } +// +// @Override +// public void onFailure(@NonNull IDJIError idjiError) { +// LogUtil.log(TAG, "下拉完成：触发下一步自动降落失败"); +// } +// }); handler.removeCallbacks(runnable); // 防止重复执行 - } diff --git a/app/src/main/java/com/aros/apron/tools/DroneHelper.java b/app/src/main/java/com/aros/apron/tools/DroneHelper.java index 3435967b..b2aa70e0 100644 --- a/app/src/main/java/com/aros/apron/tools/DroneHelper.java +++ b/app/src/main/java/com/aros/apron/tools/DroneHelper.java @@ -192,7 +192,7 @@ public class DroneHelper { virtualStickFlightControlParam.setRollPitchControlMode(RollPitchControlMode.VELOCITY); virtualStickFlightControlParam.setYawControlMode(YawControlMode.ANGULAR_VELOCITY); virtualStickFlightControlParam.setRollPitchCoordinateSystem(FlightCoordinateSystem.BODY); - virtualStickFlightControlParam.setPitch(mPitch);//左右 + virtualStickFlightControlParam.setPitch(mPitch); virtualStickFlightControlParam.setRoll(mRoll);//前后 virtualStickFlightControlParam.setYaw(mYaw); virtualStickFlightControlParam.setVerticalThrottle(mThrottle);//上下 diff --git a/app/src/main/java/com/aros/apron/tools/PIDControl.java b/app/src/main/java/com/aros/apron/tools/PIDControl.java index 6e1bd68d..07ce77f1 100644 --- a/app/src/main/java/com/aros/apron/tools/PIDControl.java +++ b/app/src/main/java/com/aros/apron/tools/PIDControl.java @@ -35,6 +35,86 @@ public class PIDControl { this.mResetFilter = true; } + public float getiMax() { + return iMax; + } + + public void setiMax(float iMax) { + this.iMax = iMax; + } + + public float getmFF() { + return mFF; + } + + public void setmFF(float mFF) { + this.mFF = mFF; + } + + public float getmFoltHz() { + return mFoltHz; + } + + public void setmFoltHz(float mFoltHz) { + this.mFoltHz = mFoltHz; + } + + public float getmKd() { + return mKd; + } + + public void setmKd(float mKd) { + this.mKd = mKd; + } + + public float getmKi() { + return mKi; + } + + public void setmKi(float mKi) { + this.mKi = mKi; + } + + public float getmKp() { + return mKp; + } + + public void setmKp(float mKp) { + this.mKp = mKp; + } + + public boolean ismResetFilter() { + return mResetFilter; + } + + public void setmResetFilter(boolean mResetFilter) { + this.mResetFilter = mResetFilter; + } + + public float getmIntegrator() { + return mIntegrator; + } + + public void setmIntegrator(float mIntegrator) { + this.mIntegrator = mIntegrator; + } + + public float getmInput() { + return mInput; + } + + public void setmInput(float mInput) { + this.mInput = mInput; + } + + public float getmDerivative() { + return mDerivative; + } + + public void setmDerivative(float mDerivative) { + this.mDerivative = mDerivative; + } + private void filtHz(float hz) { float abs = Math.abs(hz); this.mFoltHz = abs; diff --git a/app/src/main/java/com/aros/apron/tools/Utils.java b/app/src/main/java/com/aros/apron/tools/Utils.java deleted file mode 100644 index a40dd5f2..00000000 --- a/app/src/main/java/com/aros/apron/tools/Utils.java +++ /dev/null @@ -1,123 +0,0 @@ - -package com.aros.apron.tools; - -import android.content.Context; -import android.content.pm.PackageInfo; -import android.content.pm.PackageManager; -import android.text.TextUtils; -import android.util.Log; - -import com.google.gson.Gson; - -import java.io.UnsupportedEncodingException; -import java.security.MessageDigest; -import java.util.Locale; - -import dji.v5.common.error.IDJIError; - -public class Utils { - public static void printJson(String tag, String json) { - if (json == null || json.length() == 0) { - Log.e(tag, "JSON is empty"); - return; - } - - int maxLogSize = 4000; - for (int i = 0; i <= json.length() / maxLogSize; i++) { - int start = i * maxLogSize; - int end = (i + 1) * maxLogSize; - if (end >= json.length()) { - end = json.length(); - } - Log.e(tag, json.substring(start, end)); - } - } - /** - * //修改变焦数据为从前端拿2-200自己计算然后放入官方的sdk - * - * @param smallZoomFromWeb - * @return - */ - public static int getbigZoomValue(String smallZoomFromWeb) { - int zoomLength = Integer.parseInt(smallZoomFromWeb); - int bigZoom = (47549 - 317) / 199 * (zoomLength - 2) + 317; - return bigZoom; - } - - public static String sHA1(Context context){ - try { - PackageInfo info = null; - try { - info = context.getPackageManager().getPackageInfo( - context.getPackageName(), PackageManager.GET_SIGNATURES); - } catch (PackageManager.NameNotFoundException e) { - throw new RuntimeException(e); - } - byte[] cert = info.signatures[0].toByteArray(); - MessageDigest md = MessageDigest.getInstance("SHA1"); - byte[] publicKey = md.digest(cert); - StringBuffer hexString = new StringBuffer(); - for (int i = 0; i < publicKey.length; i++) { - String appendString = Integer.toHexString(0xFF & publicKey[i]) - .toUpperCase(Locale.US); - if (appendString.length() == 1) - hexString.append("0"); - hexString.append(appendString); - hexString.append(":"); - } - String result = hexString.toString(); - return result.substring(0, result.length()-1); - } catch (Exception e) { - e.printStackTrace(); - } - return null; - } - - public static byte[] getByte(String str){ - try { - byte[] bytes = str.getBytes("UTF-8"); - return bytes; - // 使用bytes - } catch (UnsupportedEncodingException e) { - // 处理异常，比如使用默认字符集 - byte[] bytes = str.getBytes(); - return null; - } - } - - public static double parseLatLon(String latLonStr) { - // 检查输入字符串是否为空或无效 - if (latLonStr == null || latLonStr.isEmpty()) { - throw new IllegalArgumentException("Input string is null or empty"); - } - - // 获取最后一个字符，即方向标识符 - char direction = latLonStr.charAt(latLonStr.length() - 1); - - // 检查方向标识符是否有效 - if (direction != 'N' && direction != 'S' && direction != 'E' && direction != 'W') { -return Double.parseDouble(latLonStr); } - - // 提取数字部分 - String numberPart = latLonStr.substring(0, latLonStr.length() - 1); - - // 将数字部分转换为Double - double number = Double.parseDouble(numberPart); - - // 根据方向标识符调整数值 - if (direction == 'S' || direction == 'W') { - number = -number; - } - - return number; - } - - public static String getIDJIErrorMsg(IDJIError idjiError){ - if (TextUtils.isEmpty(idjiError.description())){ - return new Gson().toJson(idjiError); - }else{ - return idjiError.description(); - } - } - -} diff --git a/app/src/main/res/layout-land/activity_main.xml b/app/src/main/res/layout-land/activity_main.xml index 404c9b72..9272457a 100644 --- a/app/src/main/res/layout-land/activity_main.xml +++ b/app/src/main/res/layout-land/activity_main.xml @@ -299,13 +299,25 @@ tools:ignore="MissingConstraints">