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lte 4模块

This commit is contained in:
cxf 2026-05-25 10:46:57 +08:00
parent 143ef4ffd5
commit cb22c7e73b
22 changed files with 783 additions and 234 deletions
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13
app/build.gradle
View File

@ -126,6 +126,13 @@ android {
pickFirst 'lib/x86_64/libc++_shared.so'
pickFirst 'lib/armeabi-v7a/libc++_shared.so'
pickFirst 'lib/arm64-v8a/libc++_shared.so'
pickFirst 'lib/arm64-v8a/libxcrash.so'
pickFirst 'lib/arm64-v8a/libxcrash_dumper.so'
pickFirst 'lib/arm64-v8a/libsqlcipher.so'
pickFirst 'lib/armeabi-v7a/libsqlcipher.so'
pickFirst 'lib/x86/libsqlcipher.so'
pickFirst 'lib/x86_64/libsqlcipher.so'
}
packagingOptions {
@ -193,9 +200,9 @@ dependencies {
implementation 'com.commonsware.cwac:saferoom.x:1.3.0'
implementation 'com.dji:dji-sdk-v5-aircraft:5.16.0'
compileOnly 'com.dji:dji-sdk-v5-aircraft-provided:5.16.0'
implementation 'com.dji:dji-sdk-v5-networkImp:5.16.0'
implementation 'com.dji:dji-sdk-v5-aircraft:5.18.0'
compileOnly 'com.dji:dji-sdk-v5-aircraft-provided:5.18.0'
implementation 'com.dji:dji-sdk-v5-networkImp:5.18.0'
// implementation 'com.shd:dji-uxsdk:5.9.1'

36
app/src/main/java/com/aros/apron/activity/MainActivity.kt
View File

@ -33,6 +33,7 @@ import com.aros.apron.manager.FlightTaskProgressManager
import com.aros.apron.manager.GimbalManager
import com.aros.apron.manager.LEDsSettingsManager
import com.aros.apron.manager.LTEManager
import com.aros.apron.manager.MLTEManager
import com.aros.apron.manager.MediaManager
import com.aros.apron.manager.MissionV3Manager
import com.aros.apron.manager.NavigationSatelliteSystemManager
@ -803,6 +804,17 @@ open class MainActivity : BaseActivity() {
GimbalManager.getInstance().setmode()
PayloadWidgetManager.getInstance().initPayloadInfo()
if (PreferenceUtils.getInstance().lteEnable){
// LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
MLTEManager.getInstance().initLTEManager()
Handler().postDelayed(Runnable { MLTEManager.getInstance().setLTEEnhancedTransmissionType()},3000)
}
LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)
Handler(Looper.getMainLooper()).postDelayed({
@ -833,6 +845,16 @@ open class MainActivity : BaseActivity() {
LEDsSettingsManager.getInstance().initLEDsInfo()
RTKManager.getInstance().initRTKInfo()
LTEManager.getInstance().initLTEInfo()
// LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
if (PreferenceUtils.getInstance().lteEnable){
// LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
MLTEManager.getInstance().initLTEManager()
Handler().postDelayed(Runnable { MLTEManager.getInstance().setLTEEnhancedTransmissionType()},3000)
}
WirelessLinkManager.getInstance().initWirelessLink()
CameraManager.getInstance().initCameraInfo()
NavigationSatelliteSystemManager.getInstance().initNavigationSatelliteSystem()
@ -885,11 +907,23 @@ open class MainActivity : BaseActivity() {
initCameraStream()
startVtxHeartbeat()
SpeakerManager.getInstance().addMegaphoneInfoListener()
GeoidManager.getInstance().init(this)
GimbalManager.getInstance().setmode()
PayloadWidgetManager.getInstance().initPayloadInfo()
// LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
if (PreferenceUtils.getInstance().lteEnable){
// LogUtil.log("qwq","lteEnable"+PreferenceUtils.getInstance().lteEnable)
MLTEManager.getInstance().initLTEManager()
Handler().postDelayed(Runnable { MLTEManager.getInstance().setLTEEnhancedTransmissionType()},3000)
}
LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)
Handler(Looper.getMainLooper()).postDelayed({
@ -1167,7 +1201,7 @@ open class MainActivity : BaseActivity() {
}, 6000)
} else if (PreferenceUtils.getInstance().cameraLocationType == 4 || PreferenceUtils.getInstance().cameraLocationType == 5) {
Handler().postDelayed(Runnable {
if (!Aprongim.getInstance().isTriggerSuccess) {
if (!Aprondown.getInstance().isTriggerSuccess) {
LogUtil.log(TAG, "图传异常:飞往备降点")
//测试图传丢失
AlternateLandingManager.getInstance().startTaskProcess(null)

56
app/src/main/java/com/aros/apron/callback/MqttCallBack.java
View File

@ -21,6 +21,7 @@ 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.MLTEManager;
import com.aros.apron.manager.MissionV3Manager;
import com.aros.apron.manager.OSDManager;
import com.aros.apron.manager.PayloadlightManager;
@ -191,7 +192,6 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
MissionV3Manager.getInstance().taskExecute(message);
Synchronizedstatus.setIsruning(true);
Synchronizedstatus.setFlighttaskExecuteStatus(true);
}else{
@ -318,7 +318,7 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
StickManager.getInstance().disableVirtualStick(message);
break;
case Constant.DRONE_CONTROL:
LogUtil.log(TAG, "收到：DRC-飞行控制" + jsonString);
LogUtil.log(TAG, " " + jsonString);
if (!Movement.getInstance().isAlternate() && !ApronArucoDetectPort.getInstance().isStartAruco() && !ApronArucoDetect.getInstance().isStartAruco() && !Aprongim.getInstance().isStartAruco() && !Aprondown.getInstance().isStartAruco()) {
resetVirtualStickHeartbeat();
StickManager.getInstance().sendVirtualStickAdvancedParam(message);
@ -630,6 +630,55 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
}
break;
case Constant.LTE_GET_VERIFICATION_CODE:
LogUtil.log(TAG, "收到：LTE认证-获取验证码 " + jsonString);
if (message.getData() != null) {
String phoneAreaCode = message.getData().getPhone_area_code();
String phoneNumber = message.getData().getPhone_number();
if (phoneNumber != null && !phoneNumber.isEmpty()) {
if (phoneAreaCode == null || phoneAreaCode.isEmpty()) {
phoneAreaCode = "86";
}
MLTEManager.getInstance().requestLTEVerificationCode(phoneAreaCode, phoneNumber);
} else {
LogUtil.log(TAG, "LTE认证手机号为空");
sendEvent2Server("LTE认证手机号为空",1);
sendFailMsg2Server(message, "LTE认证手机号为空");
}
}
break;
case Constant.LTE_START_AUTHENTICATION:
LogUtil.log(TAG, "收到：LTE认证-提交验证码 " + jsonString);
String verificationCode = message.getData() != null ? message.getData().getVerification_code() : null;
if (verificationCode != null && !verificationCode.isEmpty()) {
MLTEManager.getInstance().startLTEAuthentication(verificationCode, new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
LogUtil.log(TAG, "LTE认证成功");
sendEvent2Server("LTE认证成功",1);
sendMsg2Server(message);
}
@Override
public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG, "LTE认证失败: " + new Gson().toJson(idjiError));
sendEvent2Server("LTE认证失败",2);
sendFailMsg2Server(message, "LTE认证失败: " + idjiError);
}
});
} else {
LogUtil.log(TAG, "LTE验证码为空");
sendFailMsg2Server(message, "LTE验证码为空");
}
break;
case Constant.HANGXIANTEST:
MLTEManager.getInstance().test();
break;
// //获取控制权
// case 60007:
// LogUtil.log(TAG, "收到：获取控制权" + jsonString);
@ -1027,7 +1076,8 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
if (times < 5) {
PreferenceUtils.getInstance().setRestartAMSTimes(times + 1);
LogUtil.log(TAG, "图传仍未恢复，重启 AMS 第 " + (times + 1) + " 次");
RestartAPPTool.INSTANCE.restartApp(ApronApp.Companion.getContext());
new Handler(Looper.getMainLooper()).postDelayed(() ->
RestartAPPTool.INSTANCE.restartApp(ApronApp.Companion.getContext()), 1000);
}
} else {
// 图传恢复 → 执行后续逻辑

14
app/src/main/java/com/aros/apron/constant/Constant.java
View File

@ -352,6 +352,20 @@ public class Constant {
*/
public static final String APP_UPDATE="app_update";
/**
* LTE认证-获取验证码
*/
public static final String LTE_GET_VERIFICATION_CODE="lte_get_verification_code";
/**
* LTE认证-提交验证码
*/
public static final String LTE_START_AUTHENTICATION="lte_start_authentication";
/**
* 航线测试
*/
public static final String HANGXIANTEST="hangxiantest";
}

29
app/src/main/java/com/aros/apron/entity/MessageDown.java
View File

@ -122,6 +122,11 @@ public class MessageDown {
private int language;
private Tts tts;
//LTE认证
private String phone_area_code;
private String phone_number;
private String verification_code;
//探照灯
private int group;
// brightness: 亮度 1-100 (int)
@ -147,6 +152,30 @@ public class MessageDown {
this.group = group;
}
public String getPhone_area_code() {
return phone_area_code;
}
public void setPhone_area_code(String phone_area_code) {
this.phone_area_code = phone_area_code;
}
public String getPhone_number() {
return phone_number;
}
public void setPhone_number(String phone_number) {
this.phone_number = phone_number;
}
public String getVerification_code() {
return verification_code;
}
public void setVerification_code(String verification_code) {
this.verification_code = verification_code;
}
public int getBrightness() {
return brightness;
}

18
app/src/main/java/com/aros/apron/entity/Movement.java
View File

@ -77,6 +77,8 @@ public class Movement {
private String minTemperaturePointX;//最小温度的位置
private String minTemperaturePointY;
private String LTELinkType;//图传类型 1cusync 图传 3LTE 增强图传
private String ltePhoneAreaCode = "";//LTE认证手机号区号
private String ltePhoneNumber = "";//LTE认证手机号
private int goHomeHeight;//返航高度
private int failsafeAction;//失控动作
private int heightLimit;//限高
@ -2170,6 +2172,22 @@ public class Movement {
this.LTELinkType = LTELinkType;
}
public String getLtePhoneAreaCode() {
return ltePhoneAreaCode;
}
public void setLtePhoneAreaCode(String ltePhoneAreaCode) {
this.ltePhoneAreaCode = ltePhoneAreaCode;
}
public String getLtePhoneNumber() {
return ltePhoneNumber;
}
public void setLtePhoneNumber(String ltePhoneNumber) {
this.ltePhoneNumber = ltePhoneNumber;
}
public int getIsVirtualStickAdvancedModeEnabled() {
return isVirtualStickAdvancedModeEnabled;
}

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

@ -386,6 +386,7 @@ public class FlightManager extends BaseManager {
if (newValue != null) {
Movement.getInstance().setGps_number(newValue);
Movement.getInstance().setRtk_number(newValue);
// LogUtil.log(TAG,"number"+newValue);
pushFlightAttitude();
}
}

58
app/src/main/java/com/aros/apron/manager/LTEManager.java
View File

@ -19,6 +19,7 @@ import dji.sdk.keyvalue.value.airlink.WlmLinkFrequenceBand;
import dji.sdk.keyvalue.value.airlink.WlmLinkQualityLevelInfo;
import dji.sdk.keyvalue.value.airlink.WlmLinkStatus;
import dji.v5.common.callback.CommonCallbacks;
import dji.v5.common.error.IDJIError;
import dji.v5.manager.KeyManager;
import dji.v5.manager.aircraft.lte.LTEDongleInfoListener;
import dji.v5.manager.aircraft.lte.LTELinkInfo;
@ -140,4 +141,61 @@ public class LTEManager extends BaseManager {
LogUtil.log(TAG, "初始化LTE失败");
}
}
// /**
// * 启动LTE认证，认证通过后可调用setLTEEnhancedTransmissionType开启LTE增强图传
// * 调用前需先通过getLTEAuthenticationVerificationCode获取验证码
// *
// * @param phoneNumber LTE认证手机号码
// * @param verificationCode LTE认证验证码
// * @param callback 执行结果回调
// */
// public void startLTEAuthentication(String phoneNumber, String verificationCode, CommonCallbacks.CompletionCallback callback) {
// LogUtil.log(TAG, "startLTEAuthentication phone:" + phoneNumber);
// dji.v5.manager.interfaces.ILTEManager.getInstance().startLTEAuthentication(
// "86",
// phoneNumber,
// verificationCode,
// new CommonCallbacks.CompletionCallback() {
// @Override
// public void onResult(Object o, IDJIError iDJIError) {
// if (iDJIError == null) {
// LogUtil.log(TAG, "LTE认证成功");
// } else {
// LogUtil.log(TAG, "LTE认证失败: " + iDJIError.getDescription());
// }
// if (callback != null) {
// callback.onResult(o, iDJIError);
// }
// }
// }
// );
// }
//
// /**
// * 获取LTE认证验证码
// *
// * @param phoneNumber LTE认证手机号码
// * @param callback 执行结果回调
// */
// public void getLTEAuthenticationVerificationCode(String phoneNumber, CommonCallbacks.CompletionCallback callback) {
// LogUtil.log(TAG, "getLTEAuthenticationVerificationCode phone:" + phoneNumber);
// dji.v5.manager.interfaces.ILTEManager.getInstance().getLTEAuthenticationVerificationCode(
// "86",
// phoneNumber,
// new CommonCallbacks.CompletionCallback() {
// @Override
// public void onResult(Object o, IDJIError iDJIError) {
// if (iDJIError == null) {
// LogUtil.log(TAG, "获取验证码成功");
// } else {
// LogUtil.log(TAG, "获取验证码失败: " + iDJIError.getDescription());
// }
// if (callback != null) {
// callback.onResult(o, iDJIError);
// }
// }
// }
// );
// }
}

182
app/src/main/java/com/aros/apron/manager/MLTEManager.java Normal file
View File

@ -0,0 +1,182 @@
package com.aros.apron.manager;
import android.os.Handler;
import android.util.Log;
import androidx.annotation.NonNull;
import com.aros.apron.base.BaseManager;
import com.aros.apron.entity.Movement;
import com.aros.apron.tools.LogUtil;
import com.google.gson.Gson;
import dji.sdk.keyvalue.key.FlightControllerKey;
import dji.sdk.keyvalue.key.KeyTools;
import dji.v5.common.callback.CommonCallbacks;
import dji.v5.common.error.IDJIError;
import dji.v5.manager.KeyManager;
import dji.v5.manager.aircraft.lte.LTEAuthenticationInfo;
import dji.v5.manager.aircraft.lte.LTEAuthenticationInfoListener;
import dji.v5.manager.aircraft.lte.LTELinkInfo;
import dji.v5.manager.aircraft.lte.LTELinkInfoListener;
import dji.v5.manager.aircraft.lte.LTELinkType;
import dji.v5.manager.aircraft.lte.LTEManager;
public class MLTEManager extends BaseManager {
private MLTEManager() {
}
private static class LTEHolder {
private static final MLTEManager INSTANCE = new MLTEManager();
}
public static MLTEManager getInstance() {
return LTEHolder.INSTANCE;
}
public void initLTEManager() {
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
KeyConnection));
if (isConnect != null && isConnect) {
LTEManager.getInstance().addLTELinkInfoListener(new LTELinkInfoListener() {
@Override
public void onLTELinkInfoUpdate(LTELinkInfo info) {
if (info != null && info.getLTELinkType() != null) {
Movement.getInstance().setLTELinkType(info.getLTELinkType().name());
LogUtil.log(TAG, "当前图传类型:" + info.getLTELinkType().name());
}
}
});
// LTEManager.getInstance().addLTEDongleInfoListener(new LTEDongleInfoListener() {
// @Override
// public void onLTEAircraftDongleInfoUpdate(@NonNull List<WlmDongleInfo> aircraftDongleInfos) {
// if (!aircraftDongleInfos.isEmpty()) {
// LogUtil.log(TAG, "aircraft DongleInfo:" + new Gson().toJson(aircraftDongleInfos.get(0)));
// }
//
// }
//
// @Override
// public void onLTERemoteControllerDongleInfoUpdate(@NonNull List<WlmDongleInfo> remoteControllerDongleInfos) {
// LogUtil.log(TAG, "remote DongleInfo:" + new Gson().toJson(remoteControllerDongleInfos.get(0)));
//
// }
// });
// 监听认证信息（认证状态、剩余有效时间）
LTEManager.getInstance().addLTEAuthenticationInfoListener(new LTEAuthenticationInfoListener() {
@Override
public void onLTEAuthenticationInfoUpdate(LTEAuthenticationInfo info) {
if (info != null) {
LogUtil.log(TAG, "LTE认证信息 - 是否可用: " + info.isLTEAuthenticationAvailable()
+ ", 是否认证: " + info.isLTEAuthenticated()
+ ", 认证手机号: " + info.getLTEAuthenticatedPhoneNumber()
+ ", 剩余有效时间: " + info.getLTEAuthenticatedRemainingTime() + "秒"
+ ", 最后认证时间: " + info.getLTELastAuthenticatedTime());
sendEvent2Server("LTE认证信息 - 是否可用: " + info.isLTEAuthenticationAvailable()
+ ", 是否认证: " + info.isLTEAuthenticated()
+ ", 认证手机号: " + info.getLTEAuthenticatedPhoneNumber()
+ ", 剩余有效时间: " + info.getLTEAuthenticatedRemainingTime() + "秒"
+ ", 最后认证时间: " + info.getLTELastAuthenticatedTime(), 1);
if (!info.isLTEAuthenticationAvailable() || !info.isLTEAuthenticated()) {
sendEvent2Server("⚠ LTE认证已过期或未认证，需要重新认证", 1);
} else if (info.getLTEAuthenticatedRemainingTime() > 0 && info.getLTEAuthenticatedRemainingTime() < 3 * 24 * 3600) {
sendEvent2Server("⚠ LTE认证剩余时间不足3天，请尽快重新认证", 1);
}
}
}
});
}
}
private int setLTEEnhancedTransmissionTypeTimes;
private boolean isLTEEnhancedTransmissionLte;
public void setLTEEnhancedTransmissionType() {
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
KeyConnection));
if (isConnect != null && isConnect) {
LTEManager.getInstance().setLTEEnhancedTransmissionType(LTELinkType.OCU_SYNC_LTE, new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
isLTEEnhancedTransmissionLte = true;
LogUtil.log(TAG, "设置增强图传成功");
}
@Override
public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG, "设置增强图传第" + setLTEEnhancedTransmissionTypeTimes + "次开启失败:" + new Gson().toJson(idjiError));
if (!isLTEEnhancedTransmissionLte) {
new Handler().postDelayed(new Runnable() {
@Override
public void run() {
if (setLTEEnhancedTransmissionTypeTimes < 20) {
setLTEEnhancedTransmissionTypeTimes++;
setLTEEnhancedTransmissionType();
}
}
}, 3000);
}
}
});
}
}
/**
* 请求LTE验证码，同时保存手机号和区号到Movement
*/
public void requestLTEVerificationCode(String phoneAreaCode, String phoneNumber) {
Movement.getInstance().setLtePhoneAreaCode(phoneAreaCode);
Movement.getInstance().setLtePhoneNumber(phoneNumber);
LTEManager.getInstance().getLTEAuthenticationVerificationCode(phoneAreaCode, phoneNumber, new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
LogUtil.log(TAG, "LTE验证码发送成功，手机号: " + phoneNumber);
sendEvent2Server("LTE验证码发送成功，手机号: " + phoneNumber,1);
}
@Override
public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG, "LTE验证码发送失败: " + new Gson().toJson(idjiError));
sendEvent2Server("LTE验证码发送失败: " + new Gson().toJson(idjiError) + phoneNumber,2);
}
});
}
/**
* 提交LTE验证码进行认证
*/
public void startLTEAuthentication(String verificationCode, CommonCallbacks.CompletionCallback callback) {
String phoneAreaCode = Movement.getInstance().getLtePhoneAreaCode();
String phoneNumber = Movement.getInstance().getLtePhoneNumber();
LTEManager.getInstance().startLTEAuthentication(phoneAreaCode, phoneNumber, verificationCode, callback);
}
public void test() {
LTEManager.getInstance().getLTEAuthenticationVerificationCode("86", "18505198302", new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
LogUtil.log(TAG, "发送成功");
}
@Override
public void onFailure(@NonNull IDJIError idjiError) {
}
});
}
}

22
app/src/main/java/com/aros/apron/manager/MissionV3Manager.java
View File

@ -402,7 +402,11 @@ public class MissionV3Manager extends BaseManager {
@Override
public void onWaylineExecutingInfoUpdate(WaylineExecutingInfo excutingWaylineInfo) {
if (excutingWaylineInfo != null) {
LogUtil.log(TAG,"航点"+excutingWaylineInfo.getCurrentWaypointIndex());
//状态等执行完发送再更新(测试暂停时不改变index为0)
if (excutingWaylineInfo.getCurrentWaypointIndex() != 0) {
Movement.getInstance().setCurrentWaypointIndex(excutingWaylineInfo.getCurrentWaypointIndex());
Movement.getInstance().setTask_current_waypoint_index(excutingWaylineInfo.getCurrentWaypointIndex());
@ -484,11 +488,15 @@ public class MissionV3Manager extends BaseManager {
//3.检查飞机状态（不满足条件直接taskFail入库）
boolean statusOk = verifyAircraftStatus(message);
//downLoadKMZFile(message);
if (statusOk) {
sendEvent2Server("条件满足进入自建和下发航线", 1);
verifyGpsAndMissionState(message);
}
// verifyGpsAndMissionState(message);
}
@ -567,8 +575,8 @@ public class MissionV3Manager extends BaseManager {
boolean isMissionStateValid = (missionStateCode == 2 || missionStateCode == 0 || missionStateCode == 7);
boolean isPlaneMessageValid = !TextUtils.isEmpty(planeMessage) && !planeMessage.equals("无法起飞");
boolean isGpsQualityValid = (quality == 4 || quality == 5 || quality == 10);
boolean GPSSatelliteCountValid = GPSSatelliteCount > 14;
boolean isGpsQualityValid = (quality == 4 || quality == 5 || quality == 10 ||quality == 3);
boolean GPSSatelliteCountValid = GPSSatelliteCount > 12;
LogUtil.log(TAG, "isMissionStateValid" + isMissionStateValid + "isPlaneMessageValid" + isPlaneMessageValid + "isGpsQualityValid" + isGpsQualityValid);
// if (isMissionStateValid && isPlaneMessageValid && isGpsQualityValid) {
@ -622,6 +630,7 @@ public class MissionV3Manager extends BaseManager {
@Override
public void onFailure(Call call, IOException e) {
sendEvent2Server("任务下载失败:" + e.toString(), 2);
// LogUtil.log(TAG, "任务下载失败");
TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
}
@ -646,6 +655,7 @@ public class MissionV3Manager extends BaseManager {
}
fos.flush();
sendEvent2Server("航线下载成功 ", 1);
//LogUtil.log(TAG, "航线下载成功");
mainHandler.post(new Runnable() {
@Override
public void run() {
@ -654,6 +664,7 @@ public class MissionV3Manager extends BaseManager {
});
} catch (Exception e) {
sendEvent2Server("任务下载失败,网络异常:" + e.toString(), 2);
//LogUtil.log(TAG, "任务下载失败,网络异常");
TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
}
}
@ -883,7 +894,6 @@ public class MissionV3Manager extends BaseManager {
if( PreferenceUtils.getInstance().getMissionType()==0){
Movement.getInstance().setTask_status("paused");
sendFlightTaskProgress2Server();
}
@ -1022,7 +1032,11 @@ public class MissionV3Manager extends BaseManager {
if (times < 5) {
PreferenceUtils.getInstance().setRestartAMSTimes(times + 1);
LogUtil.log(TAG, "图传仍未恢复，重启 AMS 第 " + (times + 1) + " 次");
RestartAPPTool.INSTANCE.restartApp(ApronApp.Companion.getContext());
mainHandler.postDelayed(() ->
RestartAPPTool.INSTANCE.restartApp(ApronApp.Companion.getContext()), 1000);
}else{
sendEvent2Server("达到重启最大次数还没有获得图传", 2);
TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
}
} else {

141
app/src/main/java/com/aros/apron/manager/PayloadWidgetManager.java
View File

@ -78,90 +78,78 @@ public class PayloadWidgetManager extends BaseManager {
if (payloadManager != null) {
IPayloadManager iPayloadManager = payloadManager.get(PayloadIndexType.PORT_2);
if (iPayloadManager != null) {
PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).pullWidgetInfoFromPayload(new CommonCallbacks.CompletionCallback() {
//基础信息
PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).addPayloadBasicInfoListener(new PayloadBasicInfoListener() {
@Override
public void onSuccess() {
//基础信息
PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).addPayloadBasicInfoListener(new PayloadBasicInfoListener() {
@Override
public void onPayloadBasicInfoUpdate(PayloadBasicInfo info) {
//LogUtil.log(TAG, "左侧负载基础信息:" + info.toString());
// XcFileLog.getInstace().w(TAG, "左侧负载基础信息:" + info.toString());
//cachedBasicInfo = info;
//startPsdkWidgetReport();
}
});
PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).addPayloadDataListener(new PayloadDataListener() {
@Override
public void onDataFromPayloadUpdate(byte[] data) {
String cleanData = new String(data, java.nio.charset.StandardCharsets.UTF_8)
.replaceAll("[^\\x20-\\x7E\\u4e00-\\u9fa5]", "");
// LogUtil.log(TAG, "左侧负载数据信息:" + cleanData);
// XcFileLog.getInstace().w(TAG, "左侧负载数据信息:" + cleanData);
if (cleanData.contains("jwD")) {
payloadBuffer.setLength(0);
payloadBuffer.append(cleanData);
// LogUtil.log(TAG, "负载数据开始，清空缓存");
}
if (cleanData.contains("}")) {
if (payloadBuffer.length() > 0) {
payloadBuffer.append(cleanData);
String fullJson = payloadBuffer.toString();
payloadBuffer.setLength(0); // 清空，准备下次
// LogUtil.log(TAG, "负载完整数据: " + fullJson);
sendFloatingWindowText(fullJson);
} else {
//LogUtil.log(TAG, "负载数据: 缓存为空，忽略孤立}");
}
}
}
});
//可以把负载设备控件打印
PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).addPayloadWidgetInfoListener(new PayloadWidgetInfoListener() {
@Override
public void onPayloadWidgetInfoUpdate(PayloadWidgetInfo info) {
//LogUtil.log(TAG, "左侧负载控件信息:" + info.toString());
//XcFileLog.getInstace().w(TAG, "左侧负载控件信息:" + info.toString());
//cachedWidgetInfo = info;
//如果负载为空
detectSpeaker(info, 2);
if (info.getConfigInterfaceWidgetList() == null || info.getMainInterfaceWidgetList() == null) {
PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).pullWidgetInfoFromPayload(new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
LogUtil.log(TAG, "负载重复拉取成功");
}
@Override
public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG, "负载重复拉取失败");
}
});
}
}
});
public void onPayloadBasicInfoUpdate(PayloadBasicInfo info) {
//LogUtil.log(TAG, "左侧负载基础信息:" + info.toString());
// XcFileLog.getInstace().w(TAG, "左侧负载基础信息:" + info.toString());
//cachedBasicInfo = info;
//startPsdkWidgetReport();
}
});
PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).addPayloadDataListener(new PayloadDataListener() {
@Override
public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG, "负载第一次拉取失败");
public void onDataFromPayloadUpdate(byte[] data) {
String cleanData = new String(data, java.nio.charset.StandardCharsets.UTF_8)
.replaceAll("[^\\x20-\\x7E\\u4e00-\\u9fa5]", "");
// LogUtil.log(TAG, "左侧负载数据信息:" + cleanData);
// XcFileLog.getInstace().w(TAG, "左侧负载数据信息:" + cleanData);
if (cleanData.contains("jwD")) {
payloadBuffer.setLength(0);
payloadBuffer.append(cleanData);
// LogUtil.log(TAG, "负载数据开始，清空缓存");
}
if (cleanData.contains("}")) {
if (payloadBuffer.length() > 0) {
payloadBuffer.append(cleanData);
String fullJson = payloadBuffer.toString();
payloadBuffer.setLength(0); // 清空，准备下次
// LogUtil.log(TAG, "负载完整数据: " + fullJson);
sendFloatingWindowText(fullJson);
} else {
//LogUtil.log(TAG, "负载数据: 缓存为空，忽略孤立}");
}
}
}
});
//可以把负载设备控件打印
PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).addPayloadWidgetInfoListener(new PayloadWidgetInfoListener() {
@Override
public void onPayloadWidgetInfoUpdate(PayloadWidgetInfo info) {
//LogUtil.log(TAG, "左侧负载控件信息:" + info.toString());
//XcFileLog.getInstace().w(TAG, "左侧负载控件信息:" + info.toString());
//cachedWidgetInfo = info;
//如果负载为空
detectSpeaker(info, 2);
if (info.getConfigInterfaceWidgetList() == null || info.getMainInterfaceWidgetList() == null) {
PayloadCenter.getInstance().getPayloadManager().get(PayloadIndexType.PORT_2).pullWidgetInfoFromPayload(new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
LogUtil.log(TAG, "负载重复拉取成功");
}
@Override
public void onFailure(@NonNull IDJIError idjiError) {
LogUtil.log(TAG, "负载重复拉取失败");
}
});
}
}
});
} else {
LogUtil.log(TAG, "监听LEFT_OR_MAIN PSDK数据失败:设备未连接");
}
IPayloadManager iPayloadManager3 = payloadManager.get(PayloadIndexType.PORT_3);
if (iPayloadManager3 != null) {
//基础信息
@ -200,9 +188,6 @@ public class PayloadWidgetManager extends BaseManager {
} else {
LogUtil.log(TAG, "监听right_OR_MAIN PSDK数据失败:设备未连接");
}
} else {
LogUtil.log(TAG, "监听psdk数据失败:未检测到设备");
}

8
app/src/main/java/com/aros/apron/manager/RTKManager.java
View File

@ -120,10 +120,10 @@ public class RTKManager extends BaseManager {
//开启自定义网络RTK服务
private void startNetworkRTKService() {
if (PreferenceUtils.getInstance().getRtkType()==1) {
if (Movement.getInstance().getIs_fixed()==2) {
LogUtil.log(TAG, "RTK服务已开启");
return;
}
// if (Movement.getInstance().getIs_fixed()==2) {
// LogUtil.log(TAG, "RTK服务已开启");
// return;
// }
RTKCustomNetworkSetting rtkCustomNetworkSetting = new RTKCustomNetworkSetting();
rtkCustomNetworkSetting.setServerAddress(PreferenceUtils.getInstance().getNTRIP());
rtkCustomNetworkSetting.setPort(Integer.valueOf(PreferenceUtils.getInstance().getNTRPort()));

72
app/src/main/java/com/aros/apron/manager/SpeakerManager.java
View File

@ -229,10 +229,10 @@ public class SpeakerManager extends BaseManager {
public void onUpdateMegaphoneInfo(MegaphoneInfo megaphoneInfo) {
if (megaphoneInfo == null) return;
//工作模式 音量 状态 播放模式
Movement.getInstance().setPlay_mode(String.valueOf(megaphoneInfo.getPlayMode().value));
Movement.getInstance().setPlay_mode(String.valueOf(megaphoneInfo.getPlayMode().ordinal()));
Movement.getInstance().setPlay_volume(String.valueOf(megaphoneInfo.getVolume()));
Movement.getInstance().setWork_mode(String.valueOf(megaphoneInfo.getWorkMode().co_a));
Movement.getInstance().setSystem_state(String.valueOf(megaphoneInfo.getStatus().co_a));
Movement.getInstance().setWork_mode(String.valueOf(megaphoneInfo.getWorkMode().ordinal()));
Movement.getInstance().setSystem_state(String.valueOf(megaphoneInfo.getStatus().ordinal()));
MegaphoneStatus status = megaphoneInfo.getStatus();
if (status == MegaphoneStatus.PLAYING) {
@ -362,7 +362,7 @@ public class SpeakerManager extends BaseManager {
@Override
public void onSuccess() {
LogUtil.log(TAG, "喊话器内容上传成功");
Synchronizedstatus.setSpeakrunning(false);
//Synchronizedstatus.setSpeakrunning(false);
}
@Override
@ -581,46 +581,52 @@ public class SpeakerManager extends BaseManager {
MegaphoneManager.getInstance().startPushingFileToMegaphone(fileInfo,
new CommonCallbacks.CompletionCallbackWithProgress<Integer>() {
private boolean hasTriggeredPlay = false;
@Override
public void onProgressUpdate(Integer integer) {
Movement.getInstance().setTTS_status("in_progress");
Movement.getInstance().setSpeakerpercent(integer);
Movement.getInstance().setStep_key("upload");
LogUtil.log(TAG, "喊话器内容上传进度:" + integer + "%");
if (integer >= 99 && !hasTriggeredPlay) {
hasTriggeredPlay = true;
new Handler().postDelayed(new Runnable() {
@Override
public void run() {
LogUtil.log(TAG, "开始播放音频");
MegaphoneManager.getInstance().startPlay(new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
sendMsg2Server(message);
Movement.getInstance().setTTS_status("success");
Movement.getInstance().setStep_key("play");
SpeakerProgressReporter.getInstance().sendNowTTSProgress(psdkindex);
sendEvent2Server("喊话器播放TTS音频成功", 1);
LogUtil.log(TAG,"喊话器播放TTS音频成功");
Synchronizedstatus.setSpeakTTSrunning(false);
}
@Override
public void onFailure(@NonNull IDJIError error) {
sendFailMsg2Server(message, "喊话器播放TTS音频失败:" + getIDJIErrorMsg(error));
sendEvent2Server("喊话器播放TTS音频失败:" + getIDJIErrorMsg(error), 2);
LogUtil.log(TAG,"喊话器播放TTS音频失败qwq" + getIDJIErrorMsg(error));
Synchronizedstatus.setSpeakTTSrunning(false);
}
});
}
}, 1000);
}
}
@Override
public void onSuccess() {
LogUtil.log(TAG, "喊话器内容上传成功");
new Handler().postDelayed(new Runnable() {
@Override
public void run() {
LogUtil.log(TAG, "开始播放音频");
MegaphoneManager.getInstance().startPlay(new CommonCallbacks.CompletionCallback() {
@Override
public void onSuccess() {
sendMsg2Server(message);
Movement.getInstance().setTTS_status("success");
Movement.getInstance().setStep_key("play");
SpeakerProgressReporter.getInstance().sendNowTTSProgress(psdkindex);
sendEvent2Server("喊话器播放TTS音频成功", 1);
LogUtil.log(TAG,"喊话器播放TTS音频成功");
Synchronizedstatus.setSpeakTTSrunning(false);
}
@Override
public void onFailure(@NonNull IDJIError error) {
sendFailMsg2Server(message, "喊话器播放TTS音频失败:" + getIDJIErrorMsg(error));
sendEvent2Server("喊话器播放TTS音频失败:" + getIDJIErrorMsg(error), 2);
LogUtil.log(TAG,"喊话器播放TTS音频失败qwq" + getIDJIErrorMsg(error));
Synchronizedstatus.setSpeakTTSrunning(false);
}
});
}
}, 1000);
}
@Override
@ -636,9 +642,7 @@ public class SpeakerManager extends BaseManager {
Synchronizedstatus.setSpeakTTSrunning(false);
}
LogUtil.log(TAG, "设置 speakTTSrunning 为 false");
LogUtil.log(TAG, "speakerTTSPlayStart 方法执行完成");
Synchronizedstatus.setSpeakTTSrunning(false);
}
public void setindex(){

2
app/src/main/java/com/aros/apron/manager/StreamManager.java
View File

@ -52,7 +52,7 @@ public class StreamManager extends BaseManager {
private final Handler streamRefreshHandler = new Handler(Looper.getMainLooper());
private Runnable streamRefreshRunnable = null;
private volatile boolean isStreamRefreshing = false;
private static final long STREAM_REFRESH_INTERVAL_MS = 8000;
private static final long STREAM_REFRESH_INTERVAL_MS = 10000;
private StreamManager() {
}

10
app/src/main/java/com/aros/apron/manager/TakeOffToPointManager.java
View File

@ -182,8 +182,8 @@ public class TakeOffToPointManager extends BaseManager {
boolean isMissionStateValid = (missionStateCode == 2 || missionStateCode == 0 || missionStateCode == 7);
boolean isPlaneMessageValid = !TextUtils.isEmpty(planeMessage) && !planeMessage.equals("无法起飞");
boolean isGpsQualityValid = (quality == 4 || quality == 5 || quality == 10);
boolean GPSSatelliteCountValid = GPSSatelliteCount > 15;
boolean isGpsQualityValid = (quality == 4 || quality == 5 || quality == 10 ||quality == 3);
boolean GPSSatelliteCountValid = GPSSatelliteCount > 12;
LogUtil.log(TAG, "isMissionStateValid" + isMissionStateValid + "isPlaneMessageValid" + isPlaneMessageValid + "isGpsQualityValid" + isGpsQualityValid);
// if (isMissionStateValid && isPlaneMessageValid && isGpsQualityValid) {
@ -467,7 +467,11 @@ public class TakeOffToPointManager extends BaseManager {
if (times < 5) {
PreferenceUtils.getInstance().setRestartAMSTimes(times + 1);
LogUtil.log(TAG, "图传仍未恢复，重启 AMS 第 " + (times + 1) + " 次");
RestartAPPTool.INSTANCE.restartApp(ApronApp.Companion.getContext());
mainHandler.postDelayed(() ->
RestartAPPTool.INSTANCE.restartApp(ApronApp.Companion.getContext()), 1000);
}else{
sendEvent2Server("达到重启最大次数还没有获得图传", 2);
TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
}
} else {
// 图传恢复 → 执行后续逻辑

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

@ -258,12 +258,11 @@ public class Aprondown {
if (ids.empty()) {
LogUtil.log(TAG_LOG, "预处理失败，回退原图检测");
corners.clear(); // 清空之前的结果
corners.clear();
detector.detectMarkers(grayImgMat, corners, ids);
LogUtil.log(TAG_LOG, "原图检测: " + (ids.empty() ? "仍未检出" : "成功，数量=" + corners.size()));
}
processedMat.release();
@ -567,7 +566,8 @@ public class Aprondown {
startFastStick = false;
isStartAruco = false;
consecutiveTriggerCount = 0;
frameCounter = 0; // 【新增】重置帧计数
frameCounter = 0; // 重置帧计数
Apronmixvalue.getInstance().setIsaglinetrue(false); // 下次降落重新对准
}

270
app/src/main/java/com/aros/apron/mix/Aprongim.java
View File

@ -91,6 +91,11 @@ public class Aprongim {
// 记录上一帧满足的降落条件类型：0=无, 1=单码精准降落(15/17号), 2=几何中心降落
private int lastLandingCondition = 0;
// ========== 【新增】6个独立分支计数器 ==========
private int[] landingCounters = new int[22]; // ID作为索引
private int counterRound = 0;
// ========== 【新增】高度稳定性监测 ==========
private long lastHeightCheckTime = 0;
private double lastUltrasonicHeight = 0;
@ -249,19 +254,22 @@ public class Aprongim {
if(isDoublePayload){
if (ultHeight <=5)
{
LENS_OFFSET_X=-130;
LENS_OFFSET_X=-80;
LENS_OFFSET_Y=120;
}else if(ultHeight<10){
LENS_OFFSET_X=-90;
LENS_OFFSET_X=-70;
LENS_OFFSET_Y=80;
} else if (ultHeight<20) {
LENS_OFFSET_X=-70;
LENS_OFFSET_X=-60;
LENS_OFFSET_Y=60;
}else if(ultHeight<30){
LENS_OFFSET_X=-40;
LENS_OFFSET_Y=20;
}
}else{
if (ultHeight <=5)
{
LENS_OFFSET_X=120;
LENS_OFFSET_X=100;
LENS_OFFSET_Y = 100;
}else if(ultHeight<10){
LENS_OFFSET_X=80;
@ -271,7 +279,6 @@ public class Aprongim {
LENS_OFFSET_Y = 60;
}
}
lastFuture = executor.schedule(new Runnable() {
@Override
public void run() {
@ -532,86 +539,203 @@ public class Aprongim {
double absY = Math.abs(offsetY);
double z = ultHeight / 10.0;
// 降落条件判断（连续帧）
// ========== 【6个独立分支计数器降落判定】 ==========
boolean isSpecialLanding = false;
double singleErrX = 0, singleErrY = 0;
// 单挂模式：检查15号
if (!isDoublePayload && target15 != null && ultHeight <= 4) {
Mat corner = target15.getConner();
double cx = 0, cy = 0;
for (int i = 0; i < 4; i++) {
double[] p = corner.get(0, i);
cx += p[0];
cy += p[1];
if (ultHeight <= 4) {
// 当前帧可见码的Map
java.util.HashMap<Integer, ArucoMarker> markerMap = new java.util.HashMap<>();
for (ArucoMarker m : markers) {
markerMap.put(m.getId(), m);
}
cx /= 4.0; cy /= 4.0;
singleErrX = cx - imgWidth / 2.0 - LENS_OFFSET_X;
singleErrY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
if (Math.abs(singleErrX) < 60 && Math.abs(singleErrY) < 60) {
isSpecialLanding = true;
offsetX = singleErrX;
offsetY = singleErrY;
absX = Math.abs(singleErrX);
absY = Math.abs(singleErrY);
boolean foundLanding = false;
int landingId = 0;
// ===== 单挂模式：13 15 17 14 16 18 =====
if (!isDoublePayload) {
// ---- 13号 ----
ArucoMarker marker13 = markerMap.get(13);
if (marker13 != null) {
Mat corner = marker13.getConner();
double cx = 0, cy = 0;
for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
cx /= 4.0; cy /= 4.0;
double errX = cx - imgWidth / 2.0 + 200.0;
double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
if (Math.abs(errX) < 55 && Math.abs(errY) < 70) { landingCounters[13]++; } else { landingCounters[13] = 0; }
if (landingCounters[13] >= 2 && !foundLanding) { foundLanding = true; landingId = 13; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
} else { landingCounters[13] = 0; }
// ---- 15号 ----
ArucoMarker marker15 = markerMap.get(15);
if (marker15 != null) {
Mat corner = marker15.getConner();
double cx = 0, cy = 0;
for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
cx /= 4.0; cy /= 4.0;
double errX = cx - imgWidth / 2.0 - LENS_OFFSET_X;
double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
if (Math.abs(errX) < 70 && Math.abs(errY) < 70) { landingCounters[15]++; } else { landingCounters[15] = 0; }
if (landingCounters[15] >= 2 && !foundLanding) { foundLanding = true; landingId = 15; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
} else { landingCounters[15] = 0; }
// ---- 17号 ----
ArucoMarker marker17 = markerMap.get(17);
if (marker17 != null) {
Mat corner = marker17.getConner();
double cx = 0, cy = 0;
for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
cx /= 4.0; cy /= 4.0;
double errX = cx - imgWidth / 2.0 - 200.0;
double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
if (Math.abs(errX) < 55 && Math.abs(errY) < 70) { landingCounters[17]++; } else { landingCounters[17] = 0; }
if (landingCounters[17] >= 2 && !foundLanding) { foundLanding = true; landingId = 17; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
} else { landingCounters[17] = 0; }
// ---- 14号 ----
ArucoMarker marker14 = markerMap.get(14);
if (marker14 != null) {
Mat corner = marker14.getConner();
double cx = 0, cy = 0;
for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
cx /= 4.0; cy /= 4.0;
double errX = cx - imgWidth / 2.0 + 200.0;
double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
if (Math.abs(errX) < 70 && Math.abs(errY) < 70) { landingCounters[14]++; } else { landingCounters[14] = 0; }
if (landingCounters[14] >= 2 && !foundLanding) { foundLanding = true; landingId = 14; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
} else { landingCounters[14] = 0; }
// ---- 16号 ----
ArucoMarker marker16 = markerMap.get(16);
if (marker16 != null) {
Mat corner = marker16.getConner();
double cx = 0, cy = 0;
for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
cx /= 4.0; cy /= 4.0;
double errX = cx - imgWidth / 2.0 - LENS_OFFSET_X;
double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
if (Math.abs(errX) < 70 && Math.abs(errY) < 70) { landingCounters[16]++; } else { landingCounters[16] = 0; }
if (landingCounters[16] >= 2 && !foundLanding) { foundLanding = true; landingId = 16; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
} else { landingCounters[16] = 0; }
// ---- 18号 ----
ArucoMarker marker18 = markerMap.get(18);
if (marker18 != null) {
Mat corner = marker18.getConner();
double cx = 0, cy = 0;
for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
cx /= 4.0; cy /= 4.0;
double errX = cx - imgWidth / 2.0 - 200.0;
double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
if (Math.abs(errX) < 55 && Math.abs(errY) < 70) { landingCounters[18]++; } else { landingCounters[18] = 0; }
if (landingCounters[18] >= 2 && !foundLanding) { foundLanding = true; landingId = 18; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
} else { landingCounters[18] = 0; }
}
}
// ===== 双挂模式：15 17 19 16 18 20 =====
else {
// ---- 15号 ----
ArucoMarker marker15d = markerMap.get(15);
if (marker15d != null) {
Mat corner = marker15d.getConner();
double cx = 0, cy = 0;
for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
cx /= 4.0; cy /= 4.0;
double errX = cx - imgWidth / 2.0 +240.0;
double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
if (Math.abs(errX) < 55 && Math.abs(errY) < 70) { landingCounters[15]++; } else { landingCounters[15] = 0; }
if (landingCounters[15] >= 2 && !foundLanding) { foundLanding = true; landingId = 15; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
} else { landingCounters[15] = 0; }
// 双挂模式：检查17号
if (isDoublePayload && target17 != null && ultHeight <= 4) {
Mat corner = target17.getConner();
double cx = 0, cy = 0;
for (int i = 0; i < 4; i++) {
double[] p = corner.get(0, i);
cx += p[0];
cy += p[1];
// ---- 17号 ----
ArucoMarker marker17d = markerMap.get(17);
if (marker17d != null) {
Mat corner = marker17d.getConner();
double cx = 0, cy = 0;
for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
cx /= 4.0; cy /= 4.0;
double errX = cx - imgWidth / 2.0 - LENS_OFFSET_X;
double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
if (Math.abs(errX) < 70 && Math.abs(errY) < 70) { landingCounters[17]++; } else { landingCounters[17] = 0; }
if (landingCounters[17] >= 2 && !foundLanding) { foundLanding = true; landingId = 17; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
} else { landingCounters[17] = 0; }
// ---- 19号 ----
ArucoMarker marker19d = markerMap.get(19);
if (marker19d != null) {
Mat corner = marker19d.getConner();
double cx = 0, cy = 0;
for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
cx /= 4.0; cy /= 4.0;
double errX = cx - imgWidth / 2.0 - 200.0;
double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
if (Math.abs(errX) < 55 && Math.abs(errY) < 70) { landingCounters[19]++; } else { landingCounters[19] = 0; }
if (landingCounters[19] >= 2 && !foundLanding) { foundLanding = true; landingId = 19; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
} else { landingCounters[19] = 0; }
// ---- 16号 ----
ArucoMarker marker16d = markerMap.get(16);
if (marker16d != null) {
Mat corner = marker16d.getConner();
double cx = 0, cy = 0;
for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
cx /= 4.0; cy /= 4.0;
double errX = cx - imgWidth / 2.0 +240.0;
double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
if (Math.abs(errX) < 70 && Math.abs(errY) < 70) { landingCounters[16]++; } else { landingCounters[16] = 0; }
if (landingCounters[16] >= 2 && !foundLanding) { foundLanding = true; landingId = 16; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
} else { landingCounters[16] = 0; }
// ---- 18号 ----
ArucoMarker marker18d = markerMap.get(18);
if (marker18d != null) {
Mat corner = marker18d.getConner();
double cx = 0, cy = 0;
for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
cx /= 4.0; cy /= 4.0;
double errX = cx - imgWidth / 2.0 - LENS_OFFSET_X;
double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
if (Math.abs(errX) < 70 && Math.abs(errY) < 70) { landingCounters[18]++; } else { landingCounters[18] = 0; }
if (landingCounters[18] >= 2 && !foundLanding) { foundLanding = true; landingId = 18; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
} else { landingCounters[18] = 0; }
// ---- 20号 ----
ArucoMarker marker20d = markerMap.get(20);
if (marker20d != null) {
Mat corner = marker20d.getConner();
double cx = 0, cy = 0;
for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
cx /= 4.0; cy /= 4.0;
double errX = cx - imgWidth / 2.0 - 200.0;
double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
if (Math.abs(errX) < 55 && Math.abs(errY) < 70) { landingCounters[20]++; } else { landingCounters[20] = 0; }
if (landingCounters[20] >= 2 && !foundLanding) { foundLanding = true; landingId = 20; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
} else { landingCounters[20] = 0; }
}
cx /= 4.0; cy /= 4.0;
singleErrX = cx - imgWidth / 2.0 - LENS_OFFSET_X;
singleErrY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
if (Math.abs(singleErrX) < 60 && Math.abs(singleErrY) < 60) {
isSpecialLanding = true;
offsetX = singleErrX;
offsetY = singleErrY;
absX = Math.abs(singleErrX);
absY = Math.abs(singleErrY);
}
}
LogUtil.log(TAG_LOG, "【计数器】13=" + landingCounters[13] + " 14=" + landingCounters[14] + " 15=" + landingCounters[15] + " 16=" + landingCounters[16] + " 17=" + landingCounters[17] + " 18=" + landingCounters[18]+ " 19=" + landingCounters[19]+ " 20=" + landingCounters[20]);
// 连续帧判断
int currentCondition = 0;
if (isSpecialLanding) {
currentCondition = 1;
} else if (ultHeight <= 4 && absX < 60 && absY < 60 && validCount >= 8) {
currentCondition = 2;
}
if (currentCondition == 0 || currentCondition != lastLandingCondition) {
if (consecutiveTriggerCount > 0) {
consecutiveTriggerCount = 0;
LogUtil.log(TAG_LOG, "【计数器清零】条件变化 last=" + lastLandingCondition + " curr=" + currentCondition);
}
lastLandingCondition = currentCondition;
}
if (currentCondition > 0) {
consecutiveTriggerCount++;
if (consecutiveTriggerCount >= TRIGGER_FRAME_THRESHOLD) {
// 触发降落
if (foundLanding) {
LogUtil.log(TAG_LOG, "【降落触发】ID=" + landingId + " 连续2帧满足条件");
DroneHelper.getInstance().moveVxVyYawrateHeight(0f, 0f, 0f, 0f);
startFastStick = true;
consecutiveTriggerCount = 0;
lastLandingCondition = 0;
LogUtil.log(TAG_LOG, currentCondition == 1 ?
"【降落触发】单双挂精准条件满足" :
"【降落触发】几何中心对准，码数量=" + validCount);
for (int i = 0; i < landingCounters.length; i++) { landingCounters[i] = 0; }
handler.postDelayed(() -> handler.post(runnable), 300);
return;
}
// 第二帧结束，没有触发 → 重置
counterRound++;
if (counterRound >= 2) {
counterRound = 0;
for (int i = 0; i < landingCounters.length; i++) { landingCounters[i] = 0; }
LogUtil.log(TAG_LOG, "【计数器重置】2帧未触发，重新从0开始");
}
}
double outX = 0, outY = 0, outZ = 0;
// 分段PID控制（原有逻辑保持不变）
@ -943,12 +1067,16 @@ public class Aprongim {
public void setDetectedBigMarkers() {
startFastStick = false;
isStartAruco = false;
consecutiveTriggerCount = 0;
frameCounter = 0;
// 【关键】重置旋转标志，下次降落重新用6号旋转
isYawAligned = false;
Apronmixvalue.getInstance().setIsaglinetrue(false);
currentLandingMode = 0;
lastLandingCondition = 0;
// 重置分支计数器
counterRound = 0;
for (int i = 0; i < landingCounters.length; i++) {
landingCounters[i] = 0;
}
}
private int handlerCallbackCount = 0;

17
app/src/main/java/com/aros/apron/tools/ApronArucoDetectPort.java
View File

@ -177,14 +177,17 @@ public class ApronArucoDetectPort {
if(isDoublePayload){
if (ultHeight <=5)
{
LENS_OFFSET_X=-180;
LENS_OFFSET_X=-80;
LENS_OFFSET_Y=120;
}else if(ultHeight<10){
LENS_OFFSET_X=-120;
LENS_OFFSET_X=-70;
LENS_OFFSET_Y=80;
} else if (ultHeight<20) {
LENS_OFFSET_X=-80;
LENS_OFFSET_X=-60;
LENS_OFFSET_Y=60;
}else if(ultHeight<30){
LENS_OFFSET_X=-40;
LENS_OFFSET_Y=20;
}
}else{
if (ultHeight <=5)
@ -561,7 +564,7 @@ public class ApronArucoDetectPort {
double cx = 0, cy = 0;
for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
cx /= 4.0; cy /= 4.0;
double errX = cx - imgWidth / 2.0 +220.0;
double errX = cx - imgWidth / 2.0 +240.0;
double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
if (Math.abs(errX) < 55 && Math.abs(errY) < 70) { landingCounters[15]++; } else { landingCounters[15] = 0; }
if (landingCounters[15] >= 2 && !foundLanding) { foundLanding = true; landingId = 15; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
@ -600,7 +603,7 @@ public class ApronArucoDetectPort {
double cx = 0, cy = 0;
for (int i = 0; i < 4; i++) { double[] p = corner.get(0, i); cx += p[0]; cy += p[1]; }
cx /= 4.0; cy /= 4.0;
double errX = cx - imgWidth / 2.0 +220.0;
double errX = cx - imgWidth / 2.0 +240.0;
double errY = cy - imgHeight / 2.0 + LENS_OFFSET_Y;
if (Math.abs(errX) < 70 && Math.abs(errY) < 70) { landingCounters[16]++; } else { landingCounters[16] = 0; }
if (landingCounters[16] >= 2 && !foundLanding) { foundLanding = true; landingId = 16; isSpecialLanding = true; singleErrX = errX; singleErrY = errY; offsetX = singleErrX; offsetY = singleErrY; absX = Math.abs(singleErrX); absY = Math.abs(singleErrY); }
@ -659,8 +662,8 @@ public class ApronArucoDetectPort {
// 分段PID控制（原有逻辑保持不变）
if(z <= 0.4){
pidControlX.setInputFilterAll((float)offsetX/1800);
pidControlY.setInputFilterAll(-(float)offsetY/1800);
pidControlX.setInputFilterAll((float)offsetX/1750);
pidControlY.setInputFilterAll(-(float)offsetY/1750);
if (pidControlX.get_pid()<0){
if (pidControlX.get_pid()<-0.125){
outX=absX<120?0:-0.125;

49
app/src/main/java/com/aros/apron/tools/BasePreference.java
View File

@ -6,50 +6,57 @@ import android.content.SharedPreferences;
import java.util.Calendar;
/**
* SharePreference基类
* 这里只写了对最常用的三种基本数据类型的操作。
*/
* SharePreference基类
* 这里只写了对最常用的三种基本数据类型的操作。
*/
public class BasePreference {
private Context context;
private SharedPreferences sp;
private SharedPreferences.Editor editor;
private String FILE_NAME = "userInfo";
protected BasePreference(Context context) {
this.context = context;
this.context = context;
sp = context.getSharedPreferences(FILE_NAME, Context.MODE_PRIVATE);
}
protected void userLoginOut(){
sp.edit().clear().commit();
}
protected void setString(String key, String value) {
sp.edit().putString(key, value).apply();
}
}
protected String getString(String key) {
return sp.getString(key, null);
}
return sp.getString(key, null);
}
protected void setBoolean(String key, boolean value) {
sp.edit().putBoolean(key, value).commit();
}
sp.edit().putBoolean(key, value).commit();
}
protected boolean getBoolean(String key) {
return sp.getBoolean(key, false);
}
}
protected void setInt(String key, int value) {
sp.edit().putInt(key, value).apply();
}
sp.edit().putInt(key, value).apply();
}
protected int getInt(String key) {
return sp.getInt(key, 0);
return sp.getInt(key, 0);
}
/**
* 同步写入（commit），适用于重启前需要确保数据落盘的场景
*/
protected void setIntCommit(String key, int value) {
sp.edit().putInt(key, value).commit();
}
protected int getYearInt(String key){
return sp.getInt(key, Calendar.getInstance().get(Calendar.YEAR));
}
}
}

2
app/src/main/java/com/aros/apron/tools/PreferenceUtils.java
View File

@ -451,7 +451,7 @@ public class PreferenceUtils extends BasePreference {
}
public void setRestartAMSTimes(int restartAMSTimes) {
setInt(RESTART_AMS_TIMES, restartAMSTimes);
setIntCommit(RESTART_AMS_TIMES, restartAMSTimes);
}
public String getAttitudeHead() {

8
app/src/main/java/com/aros/apron/tools/XTtsPcmGenerator.java
View File

@ -126,6 +126,14 @@ public class XTtsPcmGenerator {
}
}
// 额外等待 500ms，确保回调线程的最后一批 PCM 数据写入完成
LogUtil.log(TAG, "等待回调线程完成数据写入");
try {
Thread.sleep(500);
} catch (InterruptedException e) {
e.printStackTrace();
}
// 关闭资源
close();

3
app/src/main/java/com/aros/apron/xclog/CrashHandler.java
View File

@ -4,6 +4,8 @@ import java.io.PrintWriter;
import java.io.StringWriter;
import java.io.Writer;
import com.aros.apron.tools.LogUtil;
/**
* Date: 2016-12-06
* Time: 17:17
@ -40,6 +42,7 @@ public class CrashHandler implements Thread.UncaughtExceptionHandler {
printWriter.close();
String stringBuilder = "------Crash------\n" +
writer.toString();
LogUtil.log(TAG, stringBuilder);
XcFileLog.getInstace().e(TAG, stringBuilder);
//如果处理了，让主程序继续运行3秒再退出，保证异步的写操作能及时完成
// try {