.gitignore

@@ -1,26 +1,67 @@
-# Android 构建产物（不上传）
+<<<<<<< HEAD
+# ----------- Gradle / 构建产物 -----------
 .gradle/
-.idea/
-app/build/
-*/build/
 build/
+*.apk
+*.aab
+
+# ----------- 本地密钥 / 环境文件 -----------
+local.properties
+*.jks
+*.keystore
+google-services.json
+
+# ----------- IDEA / AS 缓存 & 个人配置 -----------
+.idea/caches/
+.idea/libraries/
+.idea/workspace.xml
+.idea/tasks.xml
+.idea/navEditor.xml
+.idea/assetWizardSettings.xml
+*.iml
+
+# ----------- OS 垃圾 -----------
+.DS_Store
+Thumbs.db
+
+# ----------- NDK / 外部构建缓存 -----------
+.externalNativeBuild
+.cxx
+*.hprof
+=======
+# ---> Android
+# Gradle files
+.gradle/
+build/
+
+# Local configuration file (sdk path, etc)
+local.properties
+
+# Log/OS Files
+*.log
+
+# Android Studio generated files and folders
 captures/
 .externalNativeBuild/
 .cxx/
 *.apk
-*.aab
+output.json
-*.dex
-local.properties
-*.log
 
-# 系统文件
+# IntelliJ
-.DS_Store
+*.iml
-Thumbs.db
+.idea/
+misc.xml
+deploymentTargetDropDown.xml
+render.experimental.xml
 
-# 允许上传的（源码+配置）
+# Keystore files
-!app/src/
+*.jks
-!build.gradle
+*.keystore
-!settings.gradle
+
-!gradle/
+# Google Services (e.g. APIs or Firebase)
-!gradlew
+google-services.json
-!gradlew.bat
+
+# Android Profiling
+*.hprof
+
+>>>>>>> 91bdec4aa6da285c4dd9a861e3b748515542f0b4

.idea/.gitignore

@@ -0,0 +1,3 @@
+# Default ignored files
+/shelf/
+/workspace.xml

.idea/.name

@@ -0,0 +1 @@
+MSDKSample

.idea/compiler.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CompilerConfiguration">
+    <bytecodeTargetLevel target="17" />
+  </component>
+</project>

.idea/gradle.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="GradleMigrationSettings" migrationVersion="1" />
+  <component name="GradleSettings">
+    <option name="linkedExternalProjectsSettings">
+      <GradleProjectSettings>
+        <option name="testRunner" value="GRADLE" />
+        <option name="distributionType" value="DEFAULT_WRAPPED" />
+        <option name="externalProjectPath" value="$PROJECT_DIR$" />
+        <option name="gradleJvm" value="17" />
+        <option name="modules">
+          <set>
+            <option value="$PROJECT_DIR$" />
+            <option value="$PROJECT_DIR$/android-sdk-v5-uxsdk" />
+            <option value="$PROJECT_DIR$/app" />
+          </set>
+        </option>
+      </GradleProjectSettings>
+    </option>
+  </component>
+</project>

.idea/jarRepositories.xml

@@ -0,0 +1,30 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="RemoteRepositoriesConfiguration">
+    <remote-repository>
+      <option name="id" value="central" />
+      <option name="name" value="Maven Central repository" />
+      <option name="url" value="https://repo1.maven.org/maven2" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="jboss.community" />
+      <option name="name" value="JBoss Community repository" />
+      <option name="url" value="https://repository.jboss.org/nexus/content/repositories/public/" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="MavenRepo" />
+      <option name="name" value="MavenRepo" />
+      <option name="url" value="https://repo.maven.apache.org/maven2/" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="BintrayJCenter" />
+      <option name="name" value="BintrayJCenter" />
+      <option name="url" value="https://jcenter.bintray.com/" />
+    </remote-repository>
+    <remote-repository>
+      <option name="id" value="Google" />
+      <option name="name" value="Google" />
+      <option name="url" value="https://dl.google.com/dl/android/maven2/" />
+    </remote-repository>
+  </component>
+</project>

.idea/kotlinc.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="KotlinJpsPluginSettings">
+    <option name="version" value="1.7.21" />
+  </component>
+</project>

.idea/misc.xml

@@ -0,0 +1,9 @@
+<project version="4">
+  <component name="ExternalStorageConfigurationManager" enabled="true" />
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_17" default="true" project-jdk-name="17" project-jdk-type="JavaSDK">
+    <output url="file://$PROJECT_DIR$/build/classes" />
+  </component>
+  <component name="ProjectType">
+    <option name="id" value="Android" />
+  </component>
+</project>

.idea/vcs.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>

README.md

@@ -0,0 +1,3 @@
+# makcar
+
+马克图姆小车

android-sdk-v5-uxsdk/build.gradle

@@ -1,15 +1,14 @@
 apply plugin: 'com.android.library'
 apply plugin: 'kotlin-android'
-apply plugin: 'kotlin-android-extensions'
 apply plugin: 'kotlin-kapt'
 
 android {
-    compileSdkVersion 32
+    compileSdkVersion Integer.parseInt(project.ANDROID_COMPILE_SDK_VERSION)
 
     resourcePrefix "uxsdk_"
     defaultConfig {
-        minSdkVersion 24
+        minSdkVersion Integer.parseInt(project.ANDROID_MIN_SDK_VERSION)
-        targetSdkVersion 32
+        targetSdkVersion Integer.parseInt(project.ANDROID_TARGET_SDK_VERSION)
         versionCode 1
         versionName "1.0"
     }
@@ -23,50 +22,49 @@ android {
         jvmTarget = JavaVersion.VERSION_1_8
         freeCompilerArgs += ["-Xjvm-default=all"]
     }
+
     buildFeatures {
         viewBinding true
     }
 }
 
 dependencies {
-    implementation 'androidx.annotation:annotation:1.1.0'
+    implementation deps.annotation
-    implementation 'androidx.appcompat:appcompat:1.3.1'
+    implementation deps.appcompat
-    implementation 'androidx.multidex:multidex:2.0.1'
+    implementation deps.multidex
-    implementation 'androidx.legacy:legacy-support-v4:1.0.0'
+    implementation deps.legacySupport
-    implementation 'androidx.recyclerview:recyclerview:1.1.0'
+    implementation deps.recyclerview
-    implementation 'com.squareup.okio:okio:1.17.2'
+    implementation deps.okio
-    implementation 'com.squareup.wire:wire-runtime:2.2.0'
+    implementation deps.wire
-    implementation 'androidx.constraintlayout:constraintlayout:2.1.4'
+    implementation deps.constraintLayout
-    implementation 'androidx.lifecycle:lifecycle-common-java8:2.3.1'
+    implementation deps.lifecycleJava8
-    implementation 'androidx.lifecycle:lifecycle-runtime:2.3.1'
+    implementation deps.lifecycleRuntime
-    implementation 'androidx.lifecycle:lifecycle-process:2.3.1'
+    implementation deps.lifecycleProcess
-    implementation 'androidx.media:media:1.0.0'
+    implementation deps.media
-//    implementation "org.jetbrains.kotlin:kotlin-stdlib-jdk7:$KOTLIN_VERSION"
+    implementation deps.kotlinLib
-    implementation "androidx.core:core-ktx:1.3.2"
+    implementation deps.ktxCore
-    implementation 'io.reactivex.rxjava3:rxandroid:3.0.0'
+    implementation deps.rx3Android
-    implementation 'io.reactivex.rxjava3:rxkotlin:3.0.0'
+    implementation deps.wpmzSdk
+    implementation deps.rx3Kt
+    implementation deps.lottie
+    implementation deps.cardview
+    implementation deps.mikepenzCommunityMaterial
+    implementation deps.mikepenzGoogleMaterial
+    implementation deps.mikepenzIconicsViews
+    implementation deps.mikepenzIconicsCore
+    implementation deps.mikepenzIonicons
+    implementation deps.material
 
-    implementation 'com.dji:wpmzsdk:1.0.1.7'
+    api deps.maplibreTurf
-    implementation 'io.reactivex.rxjava2:rxjava:2.2.4'
+    api deps.maplibreSdk
-    implementation 'com.airbnb.android:lottie:3.3.1'//RTK扫描页中使用，用于实现动画效果
-    implementation 'androidx.cardview:cardview:1.0.0'//PopoverView中使用
-    implementation "com.mikepenz:community-material-typeface:3.5.95.1-kotlin@aar"
-    implementation 'com.mikepenz:google-material-typeface:3.0.1.4.original-kotlin@aar'
-    implementation 'com.mikepenz:iconics-views:4.0.2@aar'
-    implementation 'com.mikepenz:iconics-core:4.0.2@aar'
-    implementation  'com.mikepenz:ionicons-typeface:2.0.1.5-kotlin@aar'
-    implementation 'com.google.android.material:material:1.0.0'//AvoidanceShortcutWidget使用
-
-    api 'org.maplibre.gl:android-sdk-turf:5.9.1'
-    api 'org.maplibre.gl:android-sdk:10.3.1'
 
 
-    api 'com.google.android.gms:play-services-places:16.0.0'
+    api deps.playservicesplaces
-    api  'com.google.android.gms:play-services-maps:16.0.0'
+    api deps.playservicesmaps
-    api 'com.google.android.gms:play-services-location:16.0.0'
+    api deps.playserviceslocation
-    api 'com.google.android.gms:play-services-base:16.0.0'
+    api deps.playservicesbase
 
-    compileOnly "com.dji:dji-sdk-v5-aircraft-provided:5.15.0"
+    compileOnly deps.aircraftProvided
-    compileOnly "com.dji:dji-sdk-v5-aircraft:5.15.0"
+    implementation deps.aircraft
 
 }

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/cameracore/widget/cameracapture/CameraCaptureWidget.java

@@ -169,7 +169,7 @@ public class CameraCaptureWidget extends ConstraintLayoutWidget<Object> implemen
         widgetMap.put(cameraMode, view);
         view.setVisibility(INVISIBLE);
         addView(view);
-        LayoutParams lp = new Constraints.LayoutParams(ViewGroup.LayoutParams.MATCH_PARENT, ViewGroup.LayoutParams.MATCH_PARENT);
+        ConstraintLayout.LayoutParams lp = new Constraints.LayoutParams(ViewGroup.LayoutParams.MATCH_PARENT, ViewGroup.LayoutParams.MATCH_PARENT);
         view.setLayoutParams(lp);
     }
 

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/cameracore/widget/cameracapture/shootphoto/ShootPhotoWidgetModel.java

@@ -336,7 +336,7 @@ public class ShootPhotoWidgetModel extends WidgetModel implements ICameraIndex {
 
     private boolean isSupportShootPhoto(){
         CameraType cameraType = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey.KeyCameraType ,cameraIndex) ,CameraType.NOT_SUPPORTED);
-        return cameraType == CameraType.M3T || cameraType == CameraType.M3E || cameraType == CameraType.M3M || cameraType == CameraType.ZENMUSE_H20T;
+        return cameraType == CameraType.M3T || cameraType == CameraType.M3E || cameraType == CameraType.M3TA || cameraType == CameraType.M3M || cameraType == CameraType.ZENMUSE_H20T;
     }
 
     //region Helpers

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/cameracore/widget/fpvinteraction/FPVInteractionWidget.java

@@ -228,7 +228,7 @@ public class FPVInteractionWidget extends FrameLayoutWidget<Object> implements V
                     addDisposable(Flowable.combineLatest(widgetModel.getControlMode(), widgetModel.isAeLocked(), Pair::new)
                             .firstOrError()
                             .observeOn(SchedulerProvider.ui())
-                            .subscribe((Pair<ControlMode, Boolean> values) -> updateTarget(values.first, values.second, targetX, targetY),
+                            .subscribe((Pair<SettingDefinitions.ControlMode, Boolean> values) -> updateTarget(values.first, values.second, targetX, targetY),
                                     UxErrorHandle.logErrorConsumer(TAG, "Update Target: ")));
                 }
                 break;

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/base/CompassCalibrationDialog.java

@@ -80,7 +80,7 @@ public class CompassCalibrationDialog extends BaseDialog implements View.OnClick
         initialize(context);
     }
 
-    protected CompassCalibrationDialog(@NonNull Context context, boolean cancelable, @Nullable OnCancelListener cancelListener) {
+    protected CompassCalibrationDialog(@NonNull Context context, boolean cancelable, @Nullable DialogInterface.OnCancelListener cancelListener) {
         super(context, cancelable, cancelListener);
         initialize(context);
     }

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/base/DJISDKModel.java

@@ -42,7 +42,7 @@ public class DJISDKModel {
     }
 
     public static DJISDKModel getInstance() {
-        return SingletonHolder.instance;
+        return DJISDKModel.SingletonHolder.instance;
     }
 
     /**

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/base/TabModeWidget.java

@@ -86,7 +86,7 @@ public class TabModeWidget extends RoundedLinearLayout implements View.OnClickLi
             addView(tab);
 
             if (mFixedSize) {
-                LayoutParams params = (LayoutParams)tab.getLayoutParams();
+                LinearLayout.LayoutParams params = (LinearLayout.LayoutParams)tab.getLayoutParams();
                 if (params != null) {
                     params.weight = 1;
                     params.width = 0;

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/base/charts/gesture/PreviewChartTouchHandler.java

@@ -16,7 +16,7 @@ public class PreviewChartTouchHandler extends ChartTouchHandler {
         this.isValueSelectionEnabled = false;
     }
 
-    protected class PreviewChartGestureListener extends ChartGestureListener {
+    protected class PreviewChartGestureListener extends ChartTouchHandler.ChartGestureListener {
         protected PreviewChartGestureListener() {
             super();
         }

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/base/charts/model/SelectedValue.java

@@ -6,12 +6,12 @@ public class SelectedValue {
     private SelectedValueType type;
 
     public SelectedValue() {
-        this.type = SelectedValueType.NONE;
+        this.type = SelectedValue.SelectedValueType.NONE;
         this.clear();
     }
 
     public SelectedValue(int firstIndex, int secondIndex, SelectedValueType type) {
-        this.type = SelectedValueType.NONE;
+        this.type = SelectedValue.SelectedValueType.NONE;
         this.set(firstIndex, secondIndex, type);
     }
 
@@ -21,7 +21,7 @@ public class SelectedValue {
         if (null != type) {
             this.type = type;
         } else {
-            this.type = SelectedValueType.NONE;
+            this.type = SelectedValue.SelectedValueType.NONE;
         }
 
     }
@@ -33,7 +33,7 @@ public class SelectedValue {
     }
 
     public void clear() {
-        this.set(Integer.MIN_VALUE, Integer.MIN_VALUE, SelectedValueType.NONE);
+        this.set(Integer.MIN_VALUE, Integer.MIN_VALUE, SelectedValue.SelectedValueType.NONE);
     }
 
     public boolean isSet() {

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/base/charts/model/Viewport.java

@@ -8,7 +8,7 @@ public class Viewport implements Parcelable {
     public float top;
     public float right;
     public float bottom;
-    public static final Creator<Viewport> CREATOR = new Creator<Viewport>() {
+    public static final Parcelable.Creator<Viewport> CREATOR = new Parcelable.Creator<Viewport>() {
         public Viewport createFromParcel(Parcel in) {
             Viewport v = new Viewport();
             v.readFromParcel(in);

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/communication/CameraKeys.java

@@ -1,37 +0,0 @@
-/*
- * Copyright (c) 2018-2020 DJI
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
- *
- */
-
-package dji.v5.ux.core.communication;
-
-/**
- * Class containing all UX keys related to camera functions
- */
-public final class CameraKeys extends UXKeys {
-
-    @UXParamKey(type = Integer.class, updateType = UpdateType.ON_CHANGE)
-    public static final String PEAK_THRESHOLD = "PeakThreshold";
-
-    private CameraKeys() {
-        super();
-    }
-}

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/communication/FlatStore.java

@@ -39,7 +39,7 @@ public class FlatStore {
     }
 
     public static FlatStore getInstance() {
-        return SingletonHolder.instance;
+        return FlatStore.SingletonHolder.instance;
     }
 
     /**

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/communication/ObservableInMemoryKeyedStore.java

@@ -57,7 +57,7 @@ public class ObservableInMemoryKeyedStore implements ObservableKeyedStore {
     }
 
     public static ObservableInMemoryKeyedStore getInstance() {
-        return SingletonHolder.instance;
+        return ObservableInMemoryKeyedStore.SingletonHolder.instance;
     }
 
     /**

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/extension/ViewExtensions.kt

@@ -175,7 +175,7 @@ var ImageView.imageDrawable: Drawable?
  * @param dialogClickListener
  */
 fun View.showAlertDialog(
-    @StyleRes dialogTheme: Int = com.airbnb.lottie.R.style.Theme_AppCompat_Dialog,
+    @StyleRes dialogTheme: Int = R.style.Theme_AppCompat_Dialog,
     title: String? = getString(R.string.uxsdk_alert),
     icon: Drawable? = null,
     message: String? = null,
@@ -206,7 +206,7 @@ fun View.showAlertDialog(
  * @param dialogClickListener
  */
 fun View.showConfirmationDialog(
-    @StyleRes dialogTheme: Int = com.airbnb.lottie.R.style.Theme_AppCompat_Dialog,
+    @StyleRes dialogTheme: Int = R.style.Theme_AppCompat_Dialog,
     title: String? = getString(R.string.uxsdk_alert),
     icon: Drawable? = null,
     message: String? = null,

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/ui/RangeSeekBar.java

@@ -91,17 +91,17 @@ public class RangeSeekBar extends View {
         // 高度
         int heightNeeded = mThumbSize;
 
-        int heightSize = MeasureSpec.getSize(heightMeasureSpec);
+        int heightSize = View.MeasureSpec.getSize(heightMeasureSpec);
-        int heightMode = MeasureSpec.getMode(heightMeasureSpec);
+        int heightMode = View.MeasureSpec.getMode(heightMeasureSpec);
 
-        if (heightMode == MeasureSpec.EXACTLY) {
+        if (heightMode == View.MeasureSpec.EXACTLY) {
-            heightMeasureSpec = MeasureSpec.makeMeasureSpec(heightSize, MeasureSpec.EXACTLY);
+            heightMeasureSpec = View.MeasureSpec.makeMeasureSpec(heightSize, View.MeasureSpec.EXACTLY);
-        } else if (heightMode == MeasureSpec.AT_MOST) {
+        } else if (heightMode == View.MeasureSpec.AT_MOST) {
-            heightMeasureSpec = MeasureSpec.makeMeasureSpec(
+            heightMeasureSpec = View.MeasureSpec.makeMeasureSpec(
-                    heightSize < heightNeeded ? heightSize : heightNeeded, MeasureSpec.EXACTLY);
+                    heightSize < heightNeeded ? heightSize : heightNeeded, View.MeasureSpec.EXACTLY);
         } else {
-            heightMeasureSpec = MeasureSpec.makeMeasureSpec(
+            heightMeasureSpec = View.MeasureSpec.makeMeasureSpec(
-                    heightNeeded, MeasureSpec.EXACTLY);
+                    heightNeeded, View.MeasureSpec.EXACTLY);
         }
 
         super.onMeasure(widthMeasureSpec, heightMeasureSpec);

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/ui/setting/taplayout/QTabView.java

@@ -66,8 +66,8 @@ public class QTabView extends TabView {
 
     private void initBadge() {
         mBadge = new TextView(mContext);
-        LayoutParams
+        FrameLayout.LayoutParams
-                params2 = new LayoutParams(LayoutParams.WRAP_CONTENT, LayoutParams.WRAP_CONTENT);
+                params2 = new FrameLayout.LayoutParams(FrameLayout.LayoutParams.WRAP_CONTENT, FrameLayout.LayoutParams.WRAP_CONTENT);
         params2.gravity = Gravity.RIGHT | Gravity.TOP;
         params2.setMargins(0, dp2px(5), dp2px(5), 0);
         mBadge.setLayoutParams(params2);
@@ -104,7 +104,7 @@ public class QTabView extends TabView {
         int dp = AndUtil.isTabletDevice(ContextUtil.getContext()) ? 10 : 7;
         mIcon.setPadding(dp2px(dp), dp2px(dp), dp2px(dp), dp2px(dp));
         mIcon.setScaleType(ImageView.ScaleType.FIT_CENTER);
-        LayoutParams params = new LayoutParams(getResources().getDimensionPixelSize(R.dimen.uxsdk_38_dp),
+        FrameLayout.LayoutParams params = new FrameLayout.LayoutParams(getResources().getDimensionPixelSize(R.dimen.uxsdk_38_dp),
                 getResources().getDimensionPixelSize(R.dimen.uxsdk_38_dp));
         mIcon.setLayoutParams(params);
         if (mTabIcon.mNormalIcon != 0) {
@@ -119,15 +119,15 @@ public class QTabView extends TabView {
     }
 
     private void setBadgeImp(int num) {
-        LayoutParams lp = (LayoutParams) mBadge.getLayoutParams();
+        FrameLayout.LayoutParams lp = (FrameLayout.LayoutParams) mBadge.getLayoutParams();
         if (num <= 9) {
             lp.width = dp2px(12);
             lp.height = dp2px(12);
             gd.setShape(GradientDrawable.OVAL);
             mBadge.setPadding(0, 0, 0, 0);
         } else {
-            lp.width = LayoutParams.WRAP_CONTENT;
+            lp.width = FrameLayout.LayoutParams.WRAP_CONTENT;
-            lp.height = LayoutParams.WRAP_CONTENT;
+            lp.height = FrameLayout.LayoutParams.WRAP_CONTENT;
             mBadge.setPadding(dp2px(3), 0, dp2px(3), 0);
             gd.setShape(GradientDrawable.RECTANGLE);
             gd.setCornerRadius(dp2px(6));
@@ -291,8 +291,8 @@ public class QTabView extends TabView {
             public Builder() {
                 mSelectedIcon = 0;
                 mNormalIcon = 0;
-                mIconWidth = LayoutParams.WRAP_CONTENT;
+                mIconWidth = FrameLayout.LayoutParams.WRAP_CONTENT;
-                mIconHeight = LayoutParams.WRAP_CONTENT;
+                mIconHeight = FrameLayout.LayoutParams.WRAP_CONTENT;
                 mIconGravity = Gravity.LEFT;
                 mBackground = 0;
             }

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/util/CameraUtil.java

@@ -97,6 +97,7 @@ public final class CameraUtil {
         CAMERA_TYPE_STRING_MAP.put(CameraType.M30T, "M30T");
         CAMERA_TYPE_STRING_MAP.put(CameraType.M3E, "M3E");
         CAMERA_TYPE_STRING_MAP.put(CameraType.M3T, "M3T");
+        CAMERA_TYPE_STRING_MAP.put(CameraType.M3TA, "M3TA");
         CAMERA_TYPE_STRING_MAP.put(CameraType.M3M, "M3M");
         CAMERA_TYPE_STRING_MAP.put(CameraType.ZENMUSE_L1, "L1");
         CAMERA_TYPE_STRING_MAP.put(CameraType.ZENMUSE_P1, "P1");

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/util/CommonUtils.java

@@ -1,48 +0,0 @@
-//package dji.v5.ux.core.util;
-//
-//import java.util.ArrayList;
-//import java.util.List;
-//
-//import dji.sdk.keyvalue.value.common.ComponentIndexType;
-//
-///**
-// * Class Description
-// *
-// * @author Hoker
-// * @date 2021/11/23
-// * <p>
-// * Copyright (c) 2021, DJI All Rights Reserved.
-// */
-//public class CommonUtils {
-//
-//    public static List<Integer> toList(int [] ints){
-//        List<Integer> list = new ArrayList<>();
-//        if (ints == null){
-//            return list;
-//        }
-//        for (int i : ints){
-//            list.add(i);
-//        }
-//        return list;
-//    }
-//
-//    public static SettingDefinitions.GimbalIndex getGimbalIndex(ComponentIndexType devicePosition) {
-//        if (devicePosition == null){
-//            return SettingDefinitions.GimbalIndex.UNKONWN;
-//        }
-//        switch (devicePosition) {
-//            case LEFT_OR_MAIN:
-//                return SettingDefinitions.GimbalIndex.PORT;
-//            case RIGHT:
-//                return SettingDefinitions.GimbalIndex.STARBOARD;
-//            case UP:
-//                return SettingDefinitions.GimbalIndex.TOP;
-//            default:
-//                return SettingDefinitions.GimbalIndex.UNKONWN;
-//        }
-//    }
-//
-//    private CommonUtils() {
-//
-//    }
-//}

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/util/MobileGPSLocationUtil.java

@@ -86,7 +86,7 @@ public class MobileGPSLocationUtil {
     }
 
     public static MobileGPSLocationUtil getInstance() {
-        return LazyHolder.INSTANCE;
+        return MobileGPSLocationUtil.LazyHolder.INSTANCE;
     }
 
     private MobileGPSLocationUtil() {

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/widget/battery/BatteryGroupInfoWidget.java

@@ -107,7 +107,7 @@ public class BatteryGroupInfoWidget extends ConstraintLayoutWidget<Object> {
         batteryChargeRemaining.setText(getResources().getString(R.string.uxsdk_battery_percent, percent));
     }
 
-    public void setOnDetailOnClickListener(@Nullable OnClickListener listener) {
+    public void setOnDetailOnClickListener(@Nullable View.OnClickListener listener) {
         batteryDetail.setVisibility(listener == null ? GONE : VISIBLE);
         batteryDetail.setOnClickListener(listener);
     }

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/widget/flightmode/FlightModeWidget.kt

@@ -190,11 +190,7 @@ open class FlightModeWidget @JvmOverloads constructor(
     //region Reactions to model
     private fun updateUI(flightModeState: FlightModeState) {
         if (flightModeState is FlightModeState.FlightModeUpdated) {
-            if (flightModeState.flightModeString.equals("P-GPS")){
-                flightModeTextView.text = ""
-            }else{
             flightModeTextView.text = flightModeState.flightModeString
-            }
             iconImageView.setColorFilter(connectedStateIconColor, PorterDuff.Mode.SRC_IN)
             flightModeTextView.setTextColor(connectedStateTextColor)
             widgetStateDataProcessor.onNext(FlightModeUpdated(flightModeState.flightModeString))

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/widget/fpv/FPVWidget.kt

@@ -362,7 +362,7 @@ open class FPVWidget @JvmOverloads constructor(
     private fun updateCameraName(cameraName: String) {
         cameraNameTextView.text = cameraName
         if (cameraName.isNotEmpty() && isCameraSourceNameVisible) {
-            cameraNameTextView.visibility = View.INVISIBLE
+            cameraNameTextView.visibility = View.VISIBLE
         } else {
             cameraNameTextView.visibility = View.INVISIBLE
         }
@@ -371,7 +371,7 @@ open class FPVWidget @JvmOverloads constructor(
     private fun updateCameraSide(cameraSide: String) {
         cameraSideTextView.text = cameraSide
         if (cameraSide.isNotEmpty() && isCameraSourceSideVisible) {
-            cameraSideTextView.visibility = View.INVISIBLE
+            cameraSideTextView.visibility = View.VISIBLE
         } else {
             cameraSideTextView.visibility = View.INVISIBLE
         }

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/core/widget/systemstatus/SystemStatusWidget.kt

@@ -190,19 +190,12 @@ open class SystemStatusWidget @JvmOverloads constructor(
     }
 
     private fun updateMessage(messageData: SystemStatusWidgetModel.WarningStatusMessageData) {
+        systemStatusTextView.text =
             if (isMaxHeightMessage(messageData.message)) {
-            systemStatusTextView.text =messageData.message + " - " + formatMaxHeight(messageData.maxHeight, messageData.unitType)
+                messageData.message + " - " + formatMaxHeight(messageData.maxHeight, messageData.unitType)
-        }else{
-            val str:String = if (messageData.message.contains("(GPS)")){
-                messageData.message.replace("(GPS)", "").trim()
-            }else if(messageData.message.contains("（GPS）")){
-                messageData.message.replace("（GPS）", "").trim()
             } else {
                 messageData.message
             }
-            systemStatusTextView.text =str
-
-        }
     }
 
     private fun isMaxHeightMessage(text: String?): Boolean {

android-sdk-v5-uxsdk/src/main/java/dji/v5/ux/visualcamera/zoom/FocalZoomWidget.java

@@ -33,7 +33,7 @@ public class FocalZoomWidget extends ConstraintLayoutWidget<Object> implements I
         int widthMeasureSpec = (int) getResources().getDimension(R.dimen.uxsdk_42_dp);
         int heightMeasureSpec = (int) getResources().getDimension(R.dimen.uxsdk_250_dp);
         focalZoomWidgetView = new FocalZoomWidgetView(context, attrs, defStyleAttr);
-        LayoutParams layoutParams = new LayoutParams(widthMeasureSpec, heightMeasureSpec);
+        ConstraintLayout.LayoutParams layoutParams = new ConstraintLayout.LayoutParams(widthMeasureSpec, heightMeasureSpec);
         this.addView(focalZoomWidgetView, layoutParams);
     }
 

app/.gitignore

@@ -0,0 +1 @@
+/build

app/build.gradle

@@ -1,121 +1,29 @@
-plugins {
+apply plugin: 'com.android.application'
-    id 'com.android.application'
+apply plugin: 'kotlin-android'
-//    id 'com.google.protobuf'
+apply plugin: 'kotlin-kapt'
-    id 'org.jetbrains.kotlin.android'
-}
 
 android {
-    compileSdk 32
+    namespace 'com.example.makcar'
+    compileSdk 34
 
     defaultConfig {
-        applicationId "com.aros.apron"
+        applicationId "com.example.makcar"
-        minSdk 24
+        minSdk 27
-        targetSdk 29
+        targetSdk 33
-        versionCode 46
+        versionCode 1
-        versionName "v1.9.1"
+        versionName "1.0"
-        multiDexEnabled true
+
         testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
         ndk {
-            // 设置支持的SO库架构
+            abiFilters 'arm64-v8a' // 当前 MSDK 只支持 arm64-v8a 架构
-//            abiFilters 'armeabi', 'armeabi-v7a', 'arm64-v8a', 'x86', 'x86_64', 'mips', 'mips64'
-            abiFilters 'arm64-v8a'
-        }
-    }
-
-//    buildTypes {
-//        release {
-//            minifyEnabled false
-//            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
-//        }
-//    }
-
-    buildTypes {
-        release {
-            minifyEnabled true      // 是否进行混淆
-            signingConfig signingConfigs.debug
-            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
-            // 混淆文件的位置
-        }
-
-        debug {
-            minifyEnabled true
-            signingConfig signingConfigs.debug
-            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
-        }
-    }
-    signingConfigs {
-        debug {
-            storeFile file('apron.jks')
-            storePassword "123456"
-            keyAlias "key0"
-            keyPassword "123456"
-        }
-    }
-
-    dexOptions {
-        javaMaxHeapSize "4g"
-    }
-    // 默认 proto 文件目录为 src/main/proto
-    // 若不需要自定义目录，则可不加 sourceSets
-    sourceSets {
-//        main {
-//            proto {
-//                srcDir 'src/main/proto'
-//            }
-//        }
-    }
-
-//    protobuf {
-//        protoc {
-//            artifact = 'com.google.protobuf:protoc:3.17.3'
-//        }
-//
-//        // 默认路径为 build/generated/source/proto
-//        // 该目录下会按 buildType 生成 debug / release 目录
-//        generatedFilesBaseDir = "$projectDir/src/proto"
-//
-//        generateProtoTasks {
-//            all().each { task ->
-//                task.builtins {
-//                    java {
-//                        option "lite"
-////                    outputSubDir = "../" // 能通过该参数将生成文件从 debug / release 目录中移出
-//                    }
-//                }
-//            }
-//        }
-//    }
-//    clean {
-//        delete protobuf.generatedFilesBaseDir
-//    }
-
-    lintOptions {
-        checkReleaseBuilds false
-// Or, if you prefer, you can continue to check for errors in release builds,
-// but continue the build even when errors are found:
-        abortOnError false
-    }
-
-
-    compileOptions {
-        sourceCompatibility = JavaVersion.VERSION_1_8
-        targetCompatibility = JavaVersion.VERSION_1_8
-    }
-    kotlinOptions {
-        jvmTarget = "1.8"
-
-        freeCompilerArgs += [
-                "-Xjvm-default=all",
-        ]
-
         }
+        // MSDK 相关的 so 库，加上一下配置
         packagingOptions {
-        // 因为mrtc库内部使用了NDK的c++_shared的编译参数
-        // 与其他库重复引用了，因此选其中一个即可
             pickFirst 'lib/arm64-v8a/libc++_shared.so'
             pickFirst 'lib/armeabi-v7a/libc++_shared.so'
         }
 
+        // MSDK 相关的 so 库，加上一下配置
         packagingOptions {
             doNotStrip "*/*/libconstants.so"
             doNotStrip "*/*/libdji_innertools.so"
@@ -129,7 +37,6 @@ android {
             doNotStrip "*/*/libDJIUpgradeJNI.so"
             doNotStrip "*/*/libDJIWaypointV2Core-CSDK.so"
             doNotStrip "*/*/libdjiwpv2-CSDK.so"
-        doNotStrip "*/*/libffmpeg.so"
             doNotStrip "*/*/libFlightRecordEngine.so"
             doNotStrip "*/*/libvideo-framing.so"
             doNotStrip "*/*/libwaes.so"
@@ -146,87 +53,48 @@ android {
             doNotStrip "*/*/libmrtc_rtmp.so"
             doNotStrip "*/*/libmrtc_rtsp.so"
         }
+    }
+
+    buildTypes {
+        release {
+            minifyEnabled false
+            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
+        }
+    }
+    compileOptions {
+        sourceCompatibility JavaVersion.VERSION_1_8
+        targetCompatibility JavaVersion.VERSION_1_8
+    }
+    kotlinOptions {
+        jvmTarget = '1.8'
+    }
     buildFeatures {
         viewBinding true
     }
-    configurations {
-        cleanedAnnotations
-        implementation.exclude group: 'org.jetbrains', module: 'annotations'
-    }
-    namespace 'com.aros.apron'
 }
 
 dependencies {
-    implementation fileTree(include: ['*.jar', '*.aar'], dir: 'libs')
+    implementation project(":android-sdk-v5-uxsdk")
-    implementation "org.jetbrains.kotlin:kotlin-stdlib:1.7.1"
+    implementation "com.dji:dji-sdk-v5-aircraft:$SDK_VERSION"
-    implementation 'androidx.lifecycle:lifecycle-extensions:2.2.0'
+    compileOnly "com.dji:dji-sdk-v5-aircraft-provided:$SDK_VERSION"
-    implementation 'androidx.lifecycle:lifecycle-common-java8:2.3.1'
-    implementation 'androidx.lifecycle:lifecycle-runtime-ktx:2.5.1'
-    implementation 'androidx.lifecycle:lifecycle-viewmodel-ktx:2.5.1'
-    implementation 'androidx.lifecycle:lifecycle-livedata-ktx:2.5.1'
-    implementation 'androidx.lifecycle:lifecycle-process:2.5.1'
-    implementation 'androidx.appcompat:appcompat:1.3.1'
-    implementation "androidx.fragment:fragment-ktx:1.3.3"
 
+    implementation 'androidx.core:core-ktx:1.9.0'
+    implementation 'androidx.appcompat:appcompat:1.6.1'
     implementation 'com.google.android.material:material:1.8.0'
     implementation 'androidx.constraintlayout:constraintlayout:2.1.4'
-    implementation files('libs\\dom4j-2.1.4.jar')
-    implementation project(':opencv')
     testImplementation 'junit:junit:4.13.2'
     androidTestImplementation 'androidx.test.ext:junit:1.1.5'
     androidTestImplementation 'androidx.test.espresso:espresso-core:3.5.1'
-    implementation 'androidx.multidex:multidex:2.0.1'
 
-    implementation 'com.yanzhenjie:permission:2.0.3'
+    implementation("androidx.lifecycle:lifecycle-runtime-ktx:2.6.2")
-    implementation 'com.commonsware.cwac:saferoom.x:1.3.0'
 
+//    implementation platform('org.jetbrains.kotlin:kotlin-bom:1.8.10')
+//    implementation 'org.jetbrains.kotlin:kotlin-stdlib'   // 仅此一句即可
 
-    implementation 'com.dji:dji-sdk-v5-aircraft:5.15.0'
+    // 2. 把其他库拖进来的旧 jdk7/jdk8 排除掉
-    compileOnly  'com.dji:dji-sdk-v5-aircraft-provided:5.15.0'
+    configurations.all {
-    implementation 'com.dji:dji-sdk-v5-networkImp:5.15.0'
+        exclude group: 'org.jetbrains.kotlin', module: 'kotlin-stdlib-jdk7'
-
+        exclude group: 'org.jetbrains.kotlin', module: 'kotlin-stdlib-jdk8'
-//    implementation 'com.shd:dji-uxsdk:5.9.1'
+    }
-
-    implementation 'com.squareup.okio:okio:1.15.0'
-    implementation 'com.squareup.wire:wire-runtime:2.2.0'
-    implementation 'com.airbnb.android:lottie:3.3.1'
-    implementation 'com.iqiyi.xcrash:xcrash-android-lib:3.1.0'
-
-    implementation 'org.eclipse.paho:org.eclipse.paho.client.mqttv3:1.2.0'
-    implementation 'org.eclipse.paho:org.eclipse.paho.android.service:1.1.1'
-    implementation 'org.greenrobot:eventbus:3.1.1'
-    implementation 'com.orhanobut:logger:2.1.1'
-    api 'com.squareup.retrofit2:retrofit:2.9.0'
-    api 'com.squareup.retrofit2:converter-gson:2.9.0'
-    api 'com.squareup.okhttp3:logging-interceptor:5.0.0-alpha.9'
-
-    implementation 'com.google.protobuf:protobuf-javalite:4.0.0-rc-2'
-//    implementation 'com.thoughtworks.xstream:xstream:1.4.20'
-    implementation 'com.tencent.bugly:crashreport:4.0.4'
-    //其中latest.release指代最新Bugly SDK版本号，也可以指定明确的版本号，例如4.0.3
-
-    implementation 'com.amap.api:3dmap:7.3.0'
-    implementation 'com.amap.api:search:7.3.0'
-
-    implementation 'io.reactivex.rxjava3:rxkotlin:3.0.0'
-    implementation 'io.reactivex.rxjava3:rxandroid:3.0.0'
-
-    //H264推流
-//    implementation 'com.github.pedroSG94.RootEncoder:library:2.3.3'
-
-    //amazonaws
-    implementation 'com.amazonaws:aws-android-sdk-s3:2.72.0'
-    implementation 'com.amazonaws:aws-android-sdk-mobile-client:2.72.0'
-
-//    implementation 'io.minio:minio:8.3.7'
-//// 串口
-//    implementation 'com.github.licheedev:Android-SerialPort-API:2.0.0'
-//    // modbus4j
-//    implementation 'com.github.licheedev:modbus4j:v3.0.6-alpha1'
-//    implementation 'com.github.licheedev:Modbus4Android:2.0.2'
-//    implementation 'com.quickbirdstudios:opencv-contrib:4.5.3.0'
-
-    //implementation 'com.quickbirdstudios:opencv-contrib:3.4.5'
-    implementation project(path: ':android-sdk-v5-uxsdk')
 
 }

app/proguard-rules.pro

@@ -1,157 +1,21 @@
--keepattributes Exceptions,InnerClasses,*Annotation*,Signature,EnclosingMethod
+# Add project specific ProGuard rules here.
+# You can control the set of applied configuration files using the
+# proguardFiles setting in build.gradle.
+#
+# For more details, see
+#   http://developer.android.com/guide/developing/tools/proguard.html
 
--dontshrink
+# If your project uses WebView with JS, uncomment the following
--dontoptimize
+# and specify the fully qualified class name to the JavaScript interface
--dontpreverify
+# class:
--dontnote
+#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
--ignorewarnings
+#   public *;
+#}
 
--keepclassmembers enum * {
+# Uncomment this to preserve the line number information for
-    public static <methods>;
+# debugging stack traces.
-}
+#-keepattributes SourceFile,LineNumberTable
 
-# 避免混淆Annotation、内部类、泛型、匿名类
+# If you keep the line number information, uncomment this to
--keepattributes *Annotation*,InnerClasses,Signature,EnclosingMethod
+# hide the original source file name.
--keep class com.aros.apron.entity.** { *; }
+#-renamesourcefileattribute SourceFile
--keep class com.aros.apron.callback.** { *; }
-# 保持Paho MQTT库的关键类不被混淆
--keep class org.eclipse.paho.** { *; }
--keepclassmembers class org.eclipse.paho.** { *; }
--keepnames class * implements java.io.Serializable
--keepclassmembers class * implements java.io.Serializable {
-    static final long serialVersionUID;
-    private static final java.io.ObjectStreamField[] serialPersistentFields;
-    !static !transient <fields>;
-    private void writeObject(java.io.ObjectOutputStream);
-    private void readObject(java.io.ObjectInputStream);
-    java.lang.Object writeReplace();
-    java.lang.Object readResolve();
-}
--keep class * extends android.os.Parcelable {
-    public static final android.os.Parcelable$Creator *;
-}
--dontwarn com.tencent.bugly.**
--keep public class com.tencent.bugly.**{*;}
--keep,allowshrinking class * extends dji.publics.DJIUI.** {
-    public <methods>;
-}
-#加固后的AAR，其内容无法被混淆工具识别，所以MSDK外部依赖的类，必须被Keep。
--keep class net.sqlcipher.** { *; }
--keep class net.sqlcipher.database.* { *; }
--keep class dji.** { *; }
--keep class com.dji.** { *; }
--keep class djimrtc.** { *; }
--keep class com.google.** { *; }
--keep class org.bouncycastle.** { *; }
--keep class org.** { *; }
--keep class com.squareup.wire.** { *; }
--keep class sun.misc.Unsafe { *; }
--keep class com.secneo.** {*;}
--keep class org.greenrobot.eventbus.**{*;}
--keep class com.commonsware.**{*;}
--keep class io.reactivex.**{*;}
--keep class okhttp3.**{*;}
--keep class okio.**{*;}
--keep class org.bouncycastle.**{*;}
--keep class sun.**{*;}
--keep class java.**{*;}
--keep class com.amap.api.**{*;}
--keep class com.here.**{*;}
--keep class com.mapbox.**{*;}
--keep class retrofit2.**{*;}
-
--keepclasseswithmembers,allowshrinking class * {
-    native <methods>;
-}
-
--keep class * implements com.google.gson.TypeAdapterFactory
--keep class * implements com.google.gson.JsonSerializer
--keep class * implements com.google.gson.JsonDeserializer
-
--keep class androidx.appcompat.widget.SearchView { *; }
-
--keepclassmembers class * extends android.app.Service
--keepclassmembers public class * extends android.view.View {
-    void set*(***);
-    *** get*();
-}
--keepclassmembers class * extends android.app.Activity {
-    public void *(android.view.View);
-}
--keep class kotlin.** { *; }
--keep class androidx.** { *; }
--keep class android.** { *; }
--keep class com.android.** { *; }
--keep class android.media.** { *; }
--keep class okio.** { *; }
--keep class com.lmax.disruptor.** {
-    *;
-}
-
--dontwarn com.mapbox.services.android.location.LostLocationEngine
--dontwarn com.mapbox.services.android.location.MockLocationEngine
--keepclassmembers class * implements android.arch.lifecycle.LifecycleObserver {
-    <init>(...);
-}
-# ViewModel's empty constructor is considered to be unused by proguard
--keepclassmembers class * extends android.arch.lifecycle.ViewModel {
-    <init>(...);
-}
-# keep Lifecycle State and Event enums values
--keepclassmembers class android.arch.lifecycle.Lifecycle$State { *; }
--keepclassmembers class android.arch.lifecycle.Lifecycle$Event { *; }
-# keep methods annotated with @OnLifecycleEvent even if they seem to be unused
-# (Mostly for LiveData.LifecycleBoundObserver.onStateChange(), but who knows)
--keepclassmembers class * {
-    @android.arch.lifecycle.OnLifecycleEvent *;
-}
-
--keepclassmembers class * implements android.arch.lifecycle.LifecycleObserver {
-    <init>(...);
-}
-
--keep class * implements android.arch.lifecycle.LifecycleObserver {
-    <init>(...);
-}
--keepclassmembers class android.arch.** { *; }
--keep class android.arch.** { *; }
--dontwarn android.arch.**
-
-
-#<------------ utmiss config start------------>
--keep class dji.sdk.utmiss.** { *; }
--keep class utmisslib.** { *; }
-#<------------ utmiss config end------------>
-
-# 地图相关
--keep class com.dji.mapkit.amap.provider.AMapProvider {*;}
--keep class com.dji.mapkit.maplibre.provider.MapLibreProvider {*;}
--keep class com.dji.mapkit.core.** {*;}
--keep class com.autonavi.** {*;}
--keep class com.alibaba.fastjson.**{*;}
-
-
-## keep 千寻相关接口
--keep class com.qx.wz.dj.rtcm.** {*;}
-
-# 在项目的proguard-rules.pro文件中添加以下规则
-
-# 排除OpenCV的.so文件
--keep class org.opencv.** { *; }
--keep class org.opencv.engine.** { *; }
--keep class org.opencv.imgproc.** { *; }
--keep class org.opencv.core.** { *; }
--keep class org.opencv.features2d.** { *; }
--keep class org.opencv.ml.** { *; }
--keep class org.opencv.photo.** { *; }
--keep class org.opencv.video.** { *; }
--keep class org.opencv.calib3d.** { *; }
--keep class org.opencv.utils.** { *; }
--keep class org.opencv.flann.** { *; }
--keep class org.opencv.objdetect.** { *; }
--keep class org.opencv.xfeatures2d.** { *; }
--keep class org.opencv.ximgproc.** { *; }
--keep class org.opencv.xphoto.** { *; }
-
-# 如果你有自定义的OpenCV类，确保也要保证这些类不被混淆
--keep class com.example.opencv.** { *; }

app/release/output-metadata.json

@@ -1,20 +0,0 @@
-{
-  "version": 3,
-  "artifactType": {
-    "type": "APK",
-    "kind": "Directory"
-  },
-  "applicationId": "com.aros.apron",
-  "variantName": "release",
-  "elements": [
-    {
-      "type": "SINGLE",
-      "filters": [],
-      "attributes": [],
-      "versionCode": 46,
-      "versionName": "v1.9.1",
-      "outputFile": "app-release.apk"
-    }
-  ],
-  "elementType": "File"
-}

app/src/androidTest/java/com/example/makcar/ExampleInstrumentedTest.kt

@@ -0,0 +1,24 @@
+package com.example.makcar
+
+import androidx.test.platform.app.InstrumentationRegistry
+import androidx.test.ext.junit.runners.AndroidJUnit4
+
+import org.junit.Test
+import org.junit.runner.RunWith
+
+import org.junit.Assert.*
+
+/**
+ * Instrumented test, which will execute on an Android device.
+ *
+ * See [testing documentation](http://d.android.com/tools/testing).
+ */
+@RunWith(AndroidJUnit4::class)
+class ExampleInstrumentedTest {
+    @Test
+    fun useAppContext() {
+        // Context of the app under test.
+        val appContext = InstrumentationRegistry.getInstrumentation().targetContext
+        assertEquals("com.example.makcar", appContext.packageName)
+    }
+}

app/src/main/AndroidManifest.xml

@@ -1,114 +1,51 @@
 <?xml version="1.0" encoding="utf-8"?>
-<manifest xmlns:android="http://schemas.android.com/apk/res/android">
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
-    <uses-permission android:name="android.permission.BLUETOOTH" />
+    xmlns:tools="http://schemas.android.com/tools">
-    <uses-permission android:name="android.permission.BLUETOOTH_ADMIN" />
+
-    <uses-permission android:name="android.permission.VIBRATE" />
-    <uses-permission android:name="android.permission.INTERNET" />
-    <uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
-    <uses-permission android:name="android.permission.WAKE_LOCK" />
-    <uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION" />
-    <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
-    <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
-    <uses-permission android:name="android.permission.CHANGE_WIFI_STATE" />
-    <uses-permission android:name="android.permission.CHANGE_NETWORK_STATE" />
-    <uses-permission android:name="android.permission.MOUNT_UNMOUNT_FILESYSTEMS" />
     <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
     <uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE" />
-    <uses-permission android:name="android.permission.MANAGE_EXTERNAL_STORAGE" />
-    <uses-permission android:name="android.permission.SYSTEM_ALERT_WINDOW" />
-    <uses-permission android:name="android.permission.READ_PHONE_STATE" />
     <uses-permission android:name="android.permission.RECORD_AUDIO" />
-    <uses-permission android:name="android.permission.CAMERA" />
-    <uses-permission android:name="android.permission.CHANGE_CONFIGURATION" />
-    <uses-permission android:name="android.permission.WRITE_SETTINGS" />
-    <uses-permission android:name="android.permission.ACCESS_LOCATION_EXTRA_COMMANDS" /> <!-- bugly -->
 
-    <uses-permission android:name="android.permission.READ_LOGS" />
-
-    <!-- 开机启动所需权限 -->
-    <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
     <uses-feature
         android:name="android.hardware.usb.host"
         android:required="false" />
     <uses-feature
         android:name="android.hardware.usb.accessory"
         android:required="true" />
+
     <application
-        android:name="com.aros.apron.app.ApronApp"
+        android:screenOrientation="landscape"
-        android:largeHeap = "true"
+        android:name=".MyApplication"
-        android:hardwareAccelerated = "false"
         android:allowBackup="true"
-        android:icon="@mipmap/app_icon"
+        android:dataExtractionRules="@xml/data_extraction_rules"
-        android:label="@string/appName"
+        android:fullBackupContent="@xml/backup_rules"
+        android:icon="@mipmap/ic_launcher"
+        android:label="@string/app_name"
         android:roundIcon="@mipmap/ic_launcher_round"
         android:supportsRtl="true"
-        android:theme="@style/Theme.ApronV5"
+        android:theme="@style/Theme.Makcar"
-        android:requestLegacyExternalStorage="true"
+        tools:targetApi="31">
-        android:networkSecurityConfig="@xml/network_security_config"
-        >
-
-        <!-- AMaps -->
-        <meta-data
-            android:name="com.amap.api.v2.apikey"
-            android:value="988f506b616b82b02e4d656c9b20c82f" />
-
-        <meta-data
-            android:name="com.dji.sdk.API_KEY"
-            android:value="d237f2b4554af77800e894d2"/>
-        <meta-data
-            android:name="android.hardware.usb.action.USB_ACCESSORY_ATTACHED"
-            android:resource="@xml/accessory_filter" />
-
         <activity
-            android:name=".activity.ConnectionActivity"
+            android:name=".LoadingPage"
-            android:configChanges="orientation"
-            android:screenOrientation="landscape"
-            android:windowSoftInputMode="stateAlwaysHidden"
             android:exported="true">
             <intent-filter>
                 <action android:name="android.intent.action.MAIN" />
                 <action android:name="android.hardware.usb.action.USB_ACCESSORY_ATTACHED" />
                 <category android:name="android.intent.category.LAUNCHER" />
             </intent-filter>
+            <meta-data
+                android:name="android.hardware.usb.action.USB_ACCESSORY_ATTACHED"
+                android:resource="@xml/accessory_filter" />
         </activity>
 
+        <meta-data
+            android:name="com.dji.sdk.API_KEY"
+            android:value="9c7503f4b88032fe08905212" />
 
         <activity
-            android:name=".activity.MediaActivity"
+            android:name=".MainActivity"
-            android:configChanges="orientation"
-            android:screenOrientation="landscape"
-            android:windowSoftInputMode="stateAlwaysHidden"
             android:exported="true">
         </activity>
-        <activity
-            android:name=".activity.ConfigActivity"
-            android:configChanges="orientation"
-            android:screenOrientation="landscape"
-            android:windowSoftInputMode="stateAlwaysHidden"
-            android:exported="true">
-        </activity>
-
-        <activity
-            android:name=".activity.MainActivity"
-            android:configChanges="orientation"
-            android:screenOrientation="landscape"
-            android:windowSoftInputMode="stateAlwaysHidden"
-            android:exported="true">
-        </activity>
-        <service android:name="org.eclipse.paho.android.service.MqttService" />
-        <!-- 开机启动 -->
-        <receiver
-            android:name=".receiver.AutoStartReceiver"
-            android:enabled="true"
-            android:exported="true">
-            <intent-filter>
-                <!--.接收启动完成的广播-->
-                <action android:name="android.intent.action.BOOT_COMPLETED" />
-                <category android:name="android.intent.category.HOME" />
-            </intent-filter>
-        </receiver>
-        <service android:name="com.amazonaws.mobileconnectors.s3.transferutility.TransferService" android:enabled="true" />
-
     </application>
 
 </manifest>

app/src/main/java/com/aros/apron/activity/ConfigActivity.kt

@@ -1,381 +0,0 @@
-package com.aros.apron.activity
-
-import android.os.Bundle
-import android.os.Handler
-import android.text.TextUtils
-import android.widget.CompoundButton.GONE
-import android.widget.CompoundButton.VISIBLE
-import com.aros.apron.base.BaseActivity
-import com.aros.apron.databinding.ActivityConfigBinding
-import com.aros.apron.tools.LogUtil
-import com.aros.apron.tools.PreferenceUtils
-import com.aros.apron.tools.RestartAPPTool.restartApp
-import com.aros.apron.tools.ToastUtil
-import dji.sdk.keyvalue.key.FlightControllerKey
-import dji.sdk.keyvalue.key.KeyTools
-import dji.v5.manager.KeyManager
-
-class ConfigActivity : BaseActivity() {
-
-    private lateinit var configBinding: ActivityConfigBinding
-
-    override fun useEventBus(): Boolean {
-        return false
-    }
-
-    override fun onCreate(savedInstanceState: Bundle?) {
-        super.onCreate(savedInstanceState)
-        configBinding = ActivityConfigBinding.inflate(layoutInflater)
-        setContentView(configBinding.root)
-        initView()
-        LogUtil.log(TAG,"进入AMS配置界面")
-    }
-
-    private fun initView() {
-        configBinding.cbHaveRtk.isChecked = PreferenceUtils.getInstance().haveRTK
-        configBinding.cbLteEnable.isChecked = PreferenceUtils.getInstance().lteEnable
-        configBinding.cbCloseObstacle.isChecked = PreferenceUtils.getInstance().closeObsEnable
-        configBinding.cbDebuggingMode.isChecked = PreferenceUtils.getInstance().isDebugMode
-        configBinding.cbCleanMode.isChecked = PreferenceUtils.getInstance().isCleanMode
-        configBinding.cbLEDsSettings.isChecked = PreferenceUtils.getInstance().navigationLEDsOn
-        configBinding.rbRtkCustom.isChecked = PreferenceUtils.getInstance().rtkType == 1
-
-        configBinding.rbRtkDji.isChecked = PreferenceUtils.getInstance().rtkType == 2
-        configBinding.layoutRtkCustom.visibility =
-            if (PreferenceUtils.getInstance().rtkType == 1) VISIBLE else {
-                GONE
-            }
-        configBinding.rbRtkCustom.setOnCheckedChangeListener { _, isChecked ->
-            if (isChecked) {
-                configBinding.layoutRtkCustom.visibility = VISIBLE
-            } else {
-                configBinding.layoutRtkCustom.visibility = GONE
-            }
-        }
-        configBinding.rbRtsp.isChecked = PreferenceUtils.getInstance().customStreamType==1
-        configBinding.rbRtmp.isChecked = PreferenceUtils.getInstance().customStreamType==2
-        configBinding.rbNo.isChecked = PreferenceUtils.getInstance().customStreamType==3
-        configBinding.layoutStreamRtsp.visibility =
-            if (PreferenceUtils.getInstance().customStreamType==1) VISIBLE else {
-                GONE
-            }
-        configBinding.layoutStream.visibility =
-            if (PreferenceUtils.getInstance().customStreamType==2) VISIBLE else {
-                GONE
-            }
-        configBinding.rbRtsp.setOnCheckedChangeListener { _, isChecked ->
-            if (isChecked) {
-                configBinding.layoutStreamRtsp.visibility = VISIBLE
-            } else {
-                configBinding.layoutStreamRtsp.visibility = GONE
-            }
-        }
-        configBinding.rbRtmp.setOnCheckedChangeListener { _, isChecked ->
-            if (isChecked) {
-                configBinding.layoutStream.visibility = VISIBLE
-            } else {
-                configBinding.layoutStream.visibility = GONE
-            }
-        }
-        configBinding.rbNo.setOnCheckedChangeListener { _, isChecked ->
-            if (isChecked) {
-                configBinding.layoutStream.visibility = GONE
-                configBinding.layoutStreamRtsp.visibility = GONE
-            }
-        }
-        configBinding.etStreamUrl.setText(PreferenceUtils.getInstance().customStreamUrl)
-        configBinding.etRtspUserName.setText(PreferenceUtils.getInstance().rtspUserName)
-        configBinding.etRtspPassword.setText(PreferenceUtils.getInstance().rtspPassWord)
-        configBinding.etRtspPort.setText(PreferenceUtils.getInstance().rtspPort)
-
-        configBinding.etNtrip.setText(PreferenceUtils.getInstance().ntrip)
-        configBinding.etNtrPort.setText(PreferenceUtils.getInstance().ntrPort)
-        configBinding.etNtrAccount.setText(PreferenceUtils.getInstance().ntrAccount)
-        configBinding.etNtrPassword.setText(PreferenceUtils.getInstance().ntrPassword)
-        configBinding.etNtrMountpoint.setText(PreferenceUtils.getInstance().ntrMountPoint)
-        configBinding.etMqttServerUri.setText(PreferenceUtils.getInstance().mqttServerUri)
-        configBinding.etMqttUsername.setText(PreferenceUtils.getInstance().mqttUserName)
-        configBinding.etMqttPassword.setText(PreferenceUtils.getInstance().mqttPassword)
-        configBinding.etMqttSn.setText(PreferenceUtils.getInstance().mqttSn)
-        configBinding.etMinioUploadUrl.setText(PreferenceUtils.getInstance().uploadUrl)
-        configBinding.etMinioBucketName.setText(PreferenceUtils.getInstance().bucketName)
-        configBinding.etMinioObjectKey.setText(PreferenceUtils.getInstance().objectKey)
-        configBinding.etMinioAccessKey.setText(PreferenceUtils.getInstance().accessKey)
-        configBinding.etMinioSecretKey.setText(PreferenceUtils.getInstance().secretKey)
-
-//        configBinding.etDockerLat.setText(PreferenceUtils.getInstance().dockerLat)
-//        configBinding.etDockerLon.setText(PreferenceUtils.getInstance().dockerLon)
-//        configBinding.etAircraftHeading.setText(PreferenceUtils.getInstance().aircraftHeading)
-        configBinding.etMinimumBattery.setText(PreferenceUtils.getInstance().minumumBattery)
-        configBinding.etForcedBattery.setText(PreferenceUtils.getInstance().forcedBattery)
-        configBinding.etSetAlternateTimes.setText(PreferenceUtils.getInstance().alternatePointTimes)
-
-        configBinding.cbNeedUploadVideo.isChecked = PreferenceUtils.getInstance().needUpLoadVideo
-
-        when (PreferenceUtils.getInstance().missionInterruptAction) {
-            1 -> configBinding.rbHover.isChecked = true
-            2 -> configBinding.rbResume.isChecked = true
-            3 -> configBinding.rbGohome.isChecked = true
-        }
-        configBinding.rbRtkFirst.isChecked = PreferenceUtils.getInstance().landType == 1
-        configBinding.rbVisionFirst.isChecked = PreferenceUtils.getInstance().landType == 2
-        configBinding.rbGps.isChecked = PreferenceUtils.getInstance().satelliteSystem == 1
-        configBinding.rbBeidou.isChecked = PreferenceUtils.getInstance().satelliteSystem == 2
-        configBinding.rbCameraCenter.isChecked = PreferenceUtils.getInstance().cameraLocationType ==1//中间
-        configBinding.rbCameraRight.isChecked = PreferenceUtils.getInstance().cameraLocationType ==2//右边
-        configBinding.btnConfig.setOnClickListener { config() }
-
-
-        configBinding.tvSetAircraftLoc.setOnClickListener {
-            val isConnect = KeyManager.getInstance()
-                .getValue(KeyTools.createKey(FlightControllerKey.KeyConnection))
-            if (isConnect != null && isConnect) {
-                var locationCoordinate3D = KeyManager.getInstance()
-                    .getValue(KeyTools.createKey(FlightControllerKey.KeyAircraftLocation3D))
-                if (locationCoordinate3D != null) {
-                    configBinding.etDockerLat.setText(locationCoordinate3D?.latitude.toString())
-                    configBinding.etDockerLon.setText(locationCoordinate3D?.longitude.toString())
-                    configBinding.etAircraftHeading.setText("假数据")
-                } else {
-                    configBinding.etDockerLat.setText("")
-                    configBinding.etDockerLon.setText("")
-                    configBinding.etAircraftHeading.setText("")
-                    ToastUtil.showToast("获取机库位置失败")
-                }
-            } else {
-                ToastUtil.showToast("设备未连接")
-            }
-        }
-    }
-
-    private fun config() {
-        if (configBinding.rbRtkCustom.isChecked) {
-            if (TextUtils.isEmpty(configBinding.etNtrip.text)) {
-                ToastUtil.showToast("未配置网络RTK地址")
-                return
-            }
-            if (TextUtils.isEmpty(configBinding.etNtrPort.text)) {
-                ToastUtil.showToast("未配置网络RTK端口")
-                return
-            }
-            if (TextUtils.isEmpty(configBinding.etNtrAccount.text)) {
-                ToastUtil.showToast("未配置网络RTK账户")
-                return
-            }
-            if (TextUtils.isEmpty(configBinding.etNtrPassword.text)) {
-                ToastUtil.showToast("未配置网络RTK密码")
-                return
-            }
-            if (TextUtils.isEmpty(configBinding.etNtrMountpoint.text)) {
-                ToastUtil.showToast("未配置网络RTK挂载点")
-                return
-            }
-        }
-        if (configBinding.cbHaveRtk.isChecked) {
-            if (!configBinding.rbRtkCustom.isChecked && !configBinding.rbRtkDji.isChecked) {
-                ToastUtil.showToast("未配置RTK类型")
-                return
-            }
-        }
-        if (TextUtils.isEmpty(configBinding.etMqttServerUri.text)) {
-            ToastUtil.showToast("未配置MQTT服务器地址")
-            return
-        }
-        if (TextUtils.isEmpty(configBinding.etMqttUsername.text)) {
-            ToastUtil.showToast("未配置MQTT用户名")
-            return
-        }
-        if (TextUtils.isEmpty(configBinding.etMqttPassword.text)) {
-            ToastUtil.showToast("未配置MQTT密码")
-            return
-        }
-        if (TextUtils.isEmpty(configBinding.etMqttSn.text)) {
-            ToastUtil.showToast("未配置MQTT设备编号")
-            return
-        }
-        if (TextUtils.isEmpty(configBinding.etMinioUploadUrl.text)) {
-            ToastUtil.showToast("未配置minio文件上传地址")
-            return
-        }
-        if (TextUtils.isEmpty(configBinding.etMinioBucketName.text)) {
-            ToastUtil.showToast("未配置minio桶名")
-            return
-        }
-        if (TextUtils.isEmpty(configBinding.etMinioObjectKey.text)) {
-            ToastUtil.showToast("未配置minio ObjectKey")
-            return
-        }
-        if (TextUtils.isEmpty(configBinding.etMinioAccessKey.text)) {
-            ToastUtil.showToast("未配置minio AccessKey")
-            return
-        }
-        if (TextUtils.isEmpty(configBinding.etMinioSecretKey.text)) {
-            ToastUtil.showToast("未配置minio SecretKey")
-            return
-        }
-
-        if (!configBinding.rbHover.isChecked && !configBinding.rbResume.isChecked && !configBinding.rbGohome.isChecked) {
-            ToastUtil.showToast("未配置航线中断动作")
-            return
-        }
-        if (!configBinding.rbRtkFirst.isChecked && !configBinding.rbVisionFirst.isChecked) {
-            ToastUtil.showToast("至少配置一种降落方式")
-            return
-        }
-        if (configBinding.rbRtkFirst.isChecked) {
-            if (!configBinding.cbHaveRtk.isChecked) {
-                ToastUtil.showToast("RTK优先需配置RTK模块")
-                return
-            }
-        }
-
-        if (!configBinding.rbCameraRight.isChecked && !configBinding.rbCameraCenter.isChecked) {
-            ToastUtil.showToast("未配置主相机位置")
-            return
-        }
-        if (configBinding.rbRtsp.isChecked) {
-            if (TextUtils.isEmpty(configBinding.etRtspUserName.text)) {
-                ToastUtil.showToast("未配置Rtsp用户名")
-                return
-            }
-            if (TextUtils.isEmpty(configBinding.etRtspPassword.text)) {
-                ToastUtil.showToast("未配置Rtsp密码")
-                return
-            }
-            if (TextUtils.isEmpty(configBinding.etRtspPort.text)) {
-                ToastUtil.showToast("未配置Rtsp端口")
-                return
-            }
-        }
-//        if (TextUtils.isEmpty(configBinding.etDockerLat.text) || TextUtils.isEmpty(configBinding.etDockerLon.text)
-//            || TextUtils.isEmpty(configBinding.etAircraftHeading.text)) {
-//            ToastUtil.showToast("未标定起飞朝向")
-//            return
-//        }
-        if (TextUtils.isEmpty(configBinding.etMinimumBattery.text) || TextUtils.isEmpty(configBinding.etForcedBattery.text)) {
-            ToastUtil.showToast("未配置电池阈值")
-            return
-        }
-        var minimumBattery=configBinding.etMinimumBattery.text.toString()
-        var forcedBattery=configBinding.etForcedBattery.text.toString()
-        if (minimumBattery.toInt()<35){
-            ToastUtil.showToast("允许起飞电量不得低于35%")
-            return
-        }
-        if (forcedBattery.toInt()>=minimumBattery.toInt()){
-            ToastUtil.showToast("强制返航电量需小于允许起飞电量")
-            return
-        }
-        if ((minimumBattery.toInt()-forcedBattery.toInt())<10){
-            ToastUtil.showToast("强制返航电量需小于允许起飞电量最少10%")
-            return
-        }
-
-
-        PreferenceUtils.getInstance().minumumBattery =
-            configBinding.etMinimumBattery.text.toString()
-        PreferenceUtils.getInstance().forcedBattery =
-            configBinding.etForcedBattery.text.toString()
-
-        PreferenceUtils.getInstance().alternatePointTimes =
-            configBinding.etSetAlternateTimes.text.toString()
-
-        PreferenceUtils.getInstance().setHaveRtk(configBinding.cbHaveRtk.isChecked)
-        PreferenceUtils.getInstance().closeObsEnable = configBinding.cbCloseObstacle.isChecked
-        if (configBinding.rbRtkCustom.isChecked) {
-            PreferenceUtils.getInstance().rtkType = 1
-        } else if (configBinding.rbRtkDji.isChecked) {
-            PreferenceUtils.getInstance().rtkType = 2
-        } else {
-            PreferenceUtils.getInstance().rtkType = -1
-        }
-        PreferenceUtils.getInstance().isDebugMode = configBinding.cbDebuggingMode.isChecked
-        PreferenceUtils.getInstance().isCleanMode = configBinding.cbCleanMode.isChecked
-        PreferenceUtils.getInstance().navigationLEDsOn = configBinding.cbLEDsSettings.isChecked
-        PreferenceUtils.getInstance().lteEnable = configBinding.cbLteEnable.isChecked
-        if (configBinding.rbRtsp.isChecked) {
-            PreferenceUtils.getInstance().customStreamType = 1
-        } else if (configBinding.rbRtmp.isChecked) {
-            PreferenceUtils.getInstance().customStreamType = 2
-        } else if (configBinding.rbNo.isChecked) {
-            PreferenceUtils.getInstance().customStreamType = 3
-        } else {
-            PreferenceUtils.getInstance().rtkType = -1
-        }
-
-        if (configBinding.rbRtmp.isChecked) {
-            PreferenceUtils.getInstance().customStreamUrl =
-                configBinding.etStreamUrl.text.toString().replace("", "")
-        }
-        if (configBinding.rbRtsp.isChecked) {
-            PreferenceUtils.getInstance().rtspUserName =
-                configBinding.etRtspUserName.text.toString().replace("", "")
-            PreferenceUtils.getInstance().rtspPassWord =
-                configBinding.etRtspPassword.text.toString().replace("", "")
-            PreferenceUtils.getInstance().rtspPort =
-                configBinding.etRtspPort.text.toString().replace("", "")
-        }
-
-        PreferenceUtils.getInstance().ntrip = configBinding.etNtrip.text.toString().replace(" ", "")
-        PreferenceUtils.getInstance().ntrPort =
-            configBinding.etNtrPort.text.toString().replace(" ", "")
-        PreferenceUtils.getInstance().ntrAccount =
-            configBinding.etNtrAccount.text.toString().replace(" ", "")
-        PreferenceUtils.getInstance().ntrPassword =
-            configBinding.etNtrPassword.text.toString().replace(" ", "")
-        PreferenceUtils.getInstance().ntrMountPoint =
-            configBinding.etNtrMountpoint.text.toString().replace(" ", "")
-
-        PreferenceUtils.getInstance().mqttServerUri =
-            configBinding.etMqttServerUri.text.toString().replace(" ", "")
-        PreferenceUtils.getInstance().mqttUserName =
-            configBinding.etMqttUsername.text.toString().replace(" ", "")
-        PreferenceUtils.getInstance().mqttPassword =
-            configBinding.etMqttPassword.text.toString().replace(" ", "")
-        PreferenceUtils.getInstance().mqttSn =
-            configBinding.etMqttSn.text.toString().replace(" ", "")
-        PreferenceUtils.getInstance().uploadUrl =
-            configBinding.etMinioUploadUrl.text.toString().replace(" ", "")
-        PreferenceUtils.getInstance().bucketName =
-            configBinding.etMinioBucketName.text.toString().replace(" ", "")
-        PreferenceUtils.getInstance().objectKey =
-            configBinding.etMinioObjectKey.text.toString().replace(" ", "")
-        PreferenceUtils.getInstance().accessKey =
-            configBinding.etMinioAccessKey.text.toString().replace(" ", "")
-        PreferenceUtils.getInstance().secretKey =
-            configBinding.etMinioSecretKey.text.toString().replace(" ", "")
-        PreferenceUtils.getInstance().needUpLoadVideo = configBinding.cbNeedUploadVideo.isChecked
-
-
-        if (configBinding.rbHover.isChecked) {
-            PreferenceUtils.getInstance().missionInterruptAction = 1
-        } else if (configBinding.rbResume.isChecked) {
-            PreferenceUtils.getInstance().missionInterruptAction = 2
-        } else {
-            PreferenceUtils.getInstance().missionInterruptAction = 3
-        }
-
-        if (configBinding.rbVisionFirst.isChecked) {
-            PreferenceUtils.getInstance().landType = 2
-        } else {
-            PreferenceUtils.getInstance().landType = 1
-        }
-        if (configBinding.rbGps.isChecked) {
-            PreferenceUtils.getInstance().satelliteSystem = 1
-        } else {
-            PreferenceUtils.getInstance().satelliteSystem = 2
-        }
-        if (configBinding.rbCameraCenter.isChecked) {
-            PreferenceUtils.getInstance().cameraLocationType = 1
-        } else {
-            PreferenceUtils.getInstance().cameraLocationType = 2
-        }
-        ToastUtil.showToast("配置已保存")
-        Handler().postDelayed(Runnable {
-            restartApp()
-        }, 1000)
-
-    }
-
-
-}

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

@@ -1,377 +0,0 @@
-package com.aros.apron.activity
-
-import android.Manifest
-import android.annotation.SuppressLint
-import android.content.Intent
-import android.os.Bundle
-import android.os.Handler
-import android.os.Looper
-import android.text.TextUtils
-import android.view.View
-import androidx.activity.viewModels
-import androidx.appcompat.app.AppCompatActivity
-import com.aros.apron.R
-import com.aros.apron.app.ApronApp
-import com.aros.apron.base.BaseActivity
-import com.aros.apron.constant.AMSConfig
-import com.aros.apron.databinding.ActivityConnectionBinding
-import com.aros.apron.models.MSDKInfoVm
-import com.aros.apron.models.MSDKManagerVM
-import com.aros.apron.models.globalViewModels
-import com.aros.apron.tools.LogUtil
-import com.aros.apron.tools.MqttManager
-import com.aros.apron.tools.PreferenceUtils
-import com.aros.apron.tools.RestartAPPTool.restartApp
-import com.aros.apron.tools.ToastUtil
-import com.tencent.bugly.crashreport.CrashReport
-import com.yanzhenjie.permission.AndPermission
-import dji.sdk.keyvalue.key.CameraKey
-import dji.sdk.keyvalue.key.DJIKey
-import dji.sdk.keyvalue.key.FlightControllerKey
-import dji.sdk.keyvalue.key.KeyTools
-import dji.sdk.keyvalue.value.camera.CameraType
-import dji.sdk.keyvalue.value.common.ComponentIndexType
-import dji.v5.manager.KeyManager
-import dji.v5.utils.common.StringUtils
-
-
-open class ConnectionActivity : BaseActivity() {
-
-    private val REQUIRED_PERMISSION_LIST = arrayOf(
-        Manifest.permission.VIBRATE,
-        Manifest.permission.INTERNET,
-        Manifest.permission.ACCESS_WIFI_STATE,
-        Manifest.permission.WAKE_LOCK,
-        Manifest.permission.ACCESS_COARSE_LOCATION,
-        Manifest.permission.ACCESS_NETWORK_STATE,
-        Manifest.permission.ACCESS_FINE_LOCATION,
-        Manifest.permission.CHANGE_WIFI_STATE,
-        Manifest.permission.CHANGE_NETWORK_STATE,
-        Manifest.permission.WRITE_EXTERNAL_STORAGE,
-        //            Manifest.permission.MOUNT_UNMOUNT_FILESYSTEMS,
-        //            Manifest.permission.WRITE_SETTINGS,
-        Manifest.permission.BLUETOOTH,
-        Manifest.permission.BLUETOOTH_ADMIN,
-        Manifest.permission.READ_EXTERNAL_STORAGE,
-        Manifest.permission.READ_PHONE_STATE,
-        Manifest.permission.CAMERA,
-        Manifest.permission.RECORD_AUDIO
-    )
-
-    private val msdkInfoVm: MSDKInfoVm by viewModels()
-    private val TAG="ConnectionActivity"
-    private val msdkManagerVM: MSDKManagerVM by globalViewModels()
-    private lateinit var connectionBinding: ActivityConnectionBinding
-    private val handler: Handler = Handler(Looper.getMainLooper())
-
-
-    override fun onCreate(savedInstanceState: Bundle?) {
-        super.onCreate(savedInstanceState)
-        connectionBinding = ActivityConnectionBinding.inflate(layoutInflater)
-        setContentView(connectionBinding.root)
-        window.decorView.apply {
-            systemUiVisibility =
-                View.SYSTEM_UI_FLAG_HIDE_NAVIGATION or View.SYSTEM_UI_FLAG_IMMERSIVE_STICKY or View.SYSTEM_UI_FLAG_FULLSCREEN or View.SYSTEM_UI_FLAG_LAYOUT_FULLSCREEN
-        }
-        initMSDKInfoView()
-        checkAndRequestPermissions()
-        connectionBinding.config?.setOnClickListener {
-            startActivity(Intent(this, ConfigActivity::class.java))
-        }
-//        Utils.sHA1(this)
-        //默认自动启动辅助服务
-//        Settings.Secure.putString(
-//            contentResolver,
-//            Settings.Secure.ENABLED_ACCESSIBILITY_SERVICES,
-//            "${packageName}/${BluetoothAccessibilityService::class.java.canonicalName}"
-//        )
-//        Settings.Secure.putInt(contentResolver, Settings.Secure.ACCESSIBILITY_ENABLED, 1);
-//        //开启蓝牙辅助服务
-//        Intent(this@ConnectionActivity, BluetoothAccessibilityService::class.java).also {
-//            LogUtil.log("ConnectionActivity", "start BluetoothAccessibilityService")
-//            startService(it)
-//        }
-        initBugly()
-        initConfig()
-
-    }
-    private fun initConfig(){
-        if (TextUtils.isEmpty(PreferenceUtils.getInstance().forcedBattery)){
-            PreferenceUtils.getInstance().forcedBattery =
-                "20"
-        }
-        if (TextUtils.isEmpty(PreferenceUtils.getInstance().minumumBattery)){
-            PreferenceUtils.getInstance().minumumBattery =
-                "35"
-        }
-        if (TextUtils.isEmpty(PreferenceUtils.getInstance().mqttServerUri)){
-            PreferenceUtils.getInstance().mqttServerUri =
-                //"tcp://192.168.2.90:2883"
-                "tcp://broker.emqx.io"
-        }
-
-        if (TextUtils.isEmpty(PreferenceUtils.getInstance().mqttUserName)){
-            PreferenceUtils.getInstance().mqttUserName =
-                "admin"
-        }
-        if (TextUtils.isEmpty(PreferenceUtils.getInstance().mqttPassword)){
-            PreferenceUtils.getInstance().mqttPassword =
-                "Admin123"
-        }
-        if (TextUtils.isEmpty(PreferenceUtils.getInstance().mqttSn)){
-            PreferenceUtils.getInstance().mqttSn =
-                "1"
-        }
-        if (TextUtils.isEmpty(PreferenceUtils.getInstance().uploadUrl)){
-            PreferenceUtils.getInstance().uploadUrl =
-                "http://192.168.2.90:9090"
-        }
-        if (TextUtils.isEmpty(PreferenceUtils.getInstance().bucketName)){
-            PreferenceUtils.getInstance().bucketName =
-                "media"
-        }
-        if (TextUtils.isEmpty(PreferenceUtils.getInstance().objectKey)){
-            PreferenceUtils.getInstance().objectKey =
-                "1"
-        }
-        if (TextUtils.isEmpty(PreferenceUtils.getInstance().accessKey)){
-            PreferenceUtils.getInstance().accessKey =
-                "aros"
-        }
-        if (TextUtils.isEmpty(PreferenceUtils.getInstance().secretKey)){
-            PreferenceUtils.getInstance().secretKey =
-                "Aros2023"
-        }
-        if (PreferenceUtils.getInstance().satelliteSystem!=2){
-            PreferenceUtils.getInstance().satelliteSystem =
-                1
-        }
-
-    }
-
-    private fun initBugly() {
-        //bugly
-        CrashReport.UserStrategy(this).apply {
-            appPackageName = packageName
-            isEnableANRCrashMonitor = true
-            isEnableCatchAnrTrace = true
-            setCrashHandleCallback(object : CrashReport.CrashHandleCallback() {
-                override fun onCrashHandleStart(
-                    crashType: Int, errorType: String,
-                    errorMessage: String, errorStack: String
-                ): Map<String, String> {
-                    return mapOf()
-                }
-
-                override fun onCrashHandleStart2GetExtraDatas(
-                    crashType: Int, errorType: String,
-                    errorMessage: String, errorStack: String
-                ): ByteArray {
-                    LogUtil.log("---crash----", "\n" + errorMessage + "\n" + errorStack)
-                    //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 {
-                        Thread.sleep((1000).toLong())
-                    } catch (e: InterruptedException) {
-                        e.printStackTrace()
-                    }
-                    restartApp()
-                    return "autoRestart".toByteArray(charset("UTF-8"))
-                }
-            })
-            CrashReport.setAllThreadStackEnable(ApronApp.context, true, true)
-//            CrashReport.initCrashReport(context, "5894201d87", true, this)
-            CrashReport.initCrashReport(ApronApp.context, "67f68269b0", true, this)
-        }
-    }
-
-    @SuppressLint("SetTextI18n")
-    private fun initMSDKInfoView() {
-        msdkInfoVm.msdkInfo.observe(this) {
-            connectionBinding.textViewVersion.text =
-                StringUtils.getResStr(R.string.sdk_version, it.SDKVersion + " " + it.buildVer)
-
-            connectionBinding.textViewProductName.text =
-                StringUtils.getResStr(R.string.product_name, it.productType.name)
-            connectionBinding.textViewPackageProductCategory.text =
-                StringUtils.getResStr(R.string.package_product_category, it.packageProductCategory)
-            connectionBinding.textViewIsDebug.text =
-                StringUtils.getResStr(R.string.is_sdk_debug, it.isDebug)
-        }
-        // 获取当前应用的 PackageManager 实例
-        val packageManager = packageManager
-        // 获取当前应用的 PackageInfo 对象
-        val packageInfo = packageManager.getPackageInfo(packageName, 0)
-        // 获取版本名
-        val versionName = packageInfo.versionName
-        connectionBinding.textViewAmsVersion?.text=versionName
-    }
-    private var checkTimes=0
-    private fun observeSDKManagerStatus() {
-        msdkManagerVM.lvRegisterState.observe(this) { resultPair ->
-            val statusText: String?
-            if (resultPair.first) {
-                statusText = StringUtils.getResStr(this, R.string.registered)
-                msdkInfoVm.initListener()
-//                connectionBinding.defaultLayoutButton.isEnabled = true
-//                enableShowCaseButton(
-//                    connectionBinding.defaultLayoutButton,
-//                    MainActivity::class.java
-//                )
-                if (TextUtils.isEmpty(PreferenceUtils.getInstance().mqttServerUri)
-                    || TextUtils.isEmpty(PreferenceUtils.getInstance().mqttUserName)
-                    || TextUtils.isEmpty(PreferenceUtils.getInstance().mqttPassword)
-                    || TextUtils.isEmpty(PreferenceUtils.getInstance().mqttSn)
-                ) {
-                    ToastUtil.showToast("未配置MQTT参数")
-                    LogUtil.log(TAG, "未配置MQTT参数")
-                } else if(TextUtils.isEmpty(PreferenceUtils.getInstance().uploadUrl)||
-                    TextUtils.isEmpty(PreferenceUtils.getInstance().bucketName)||
-                    TextUtils.isEmpty(PreferenceUtils.getInstance().objectKey)||
-                    TextUtils.isEmpty(PreferenceUtils.getInstance().accessKey)||
-                    TextUtils.isEmpty(PreferenceUtils.getInstance().secretKey)){
-                    ToastUtil.showToast("minio参数配置有误")
-                    LogUtil.log(TAG, "minio参数配置有误")
-                }else if (PreferenceUtils.getInstance().haveRTK &&PreferenceUtils.getInstance().rtkType!=1&&PreferenceUtils.getInstance().rtkType!=2 ){
-                    LogUtil.log(TAG, "未配置RTK类型")
-                    ToastUtil.showToast("未配置RTK类型")
-                }else if (PreferenceUtils.getInstance().haveRTK &&PreferenceUtils.getInstance().rtkType==1&& (TextUtils.isEmpty(
-                        PreferenceUtils.getInstance().ntrip
-                    ) ||
-                            TextUtils.isEmpty(PreferenceUtils.getInstance().ntrAccount) ||
-                            TextUtils.isEmpty(PreferenceUtils.getInstance().ntrPassword) ||
-                            TextUtils.isEmpty(PreferenceUtils.getInstance().ntrMountPoint))
-                ) {
-                    LogUtil.log(TAG, "未配置网络RTK参数")
-                    ToastUtil.showToast("未配置网络RTK参数")
-                } else if (PreferenceUtils.getInstance().landType != 1 && PreferenceUtils.getInstance().landType != 2) {
-                    ToastUtil.showToast("未配置降落方式")
-                    LogUtil.log(TAG, "未配置降落方式")
-                } else if (PreferenceUtils.getInstance().landType == 1 && !PreferenceUtils.getInstance().haveRTK) {
-                    ToastUtil.showToast("RTK降落未配置网络RTK参数")
-                    LogUtil.log(TAG, "RTK降落未配置网络RTK参数")
-                } else if (PreferenceUtils.getInstance().customStreamType==2&&TextUtils.isEmpty(PreferenceUtils.getInstance().customStreamUrl)) {
-                    ToastUtil.showToast("未配置自定义推流地址")
-                    LogUtil.log(TAG, "未配置自定义推流地址")
-                }else if (PreferenceUtils.getInstance().customStreamType==1&&
-                    (TextUtils.isEmpty(PreferenceUtils.getInstance().rtspUserName)
-                            ||TextUtils.isEmpty(PreferenceUtils.getInstance().rtspPassWord)
-                            ||TextUtils.isEmpty(PreferenceUtils.getInstance().rtspPort))) {
-                    ToastUtil.showToast("未配置rtsp参数")
-                    LogUtil.log(TAG, "未配置rtsp参数")
-                }else if (PreferenceUtils.getInstance().cameraLocationType == 0){
-                    ToastUtil.showToast("未配置主相机位置")
-                    LogUtil.log(TAG, "未配置主相机位置")
-                }else if (TextUtils.isEmpty(PreferenceUtils.getInstance().minumumBattery)||
-                    TextUtils.isEmpty(PreferenceUtils.getInstance().forcedBattery)) {
-                    ToastUtil.showToast("未配置允许起飞或强制返航电量阈值")
-                    LogUtil.log(TAG, "未配置允许起飞或强制返航电量阈值")
-                }else if (TextUtils.isEmpty(PreferenceUtils.getInstance().alternatePointTimes) ) {
-                    ToastUtil.showToast("未设置最大允许复降次数")
-                    LogUtil.log(TAG, "未设置最大允许复降次数")
-                }
-                else {
-                    LogUtil.log(TAG, "已加载AMS配置文件")
-                    AMSConfig.getInstance().mqttServerUri =
-                        PreferenceUtils.getInstance().mqttServerUri
-                    AMSConfig.getInstance().userName = PreferenceUtils.getInstance().mqttUserName
-                    AMSConfig.getInstance().password = PreferenceUtils.getInstance().mqttPassword
-                    AMSConfig.getInstance().serialNumber = PreferenceUtils.getInstance().mqttSn
-                    AMSConfig.getInstance().alternateLandingTimes = PreferenceUtils.getInstance().alternatePointTimes
-
-                    AMSConfig.getInstance().mqttServer2MsdkTopic =
-                        "nest/${AMSConfig.getInstance().serialNumber}/uav_services"
-                    AMSConfig.getInstance().mqttMsdkReplyMessage2ServerTopic =
-                        "nest/${AMSConfig.getInstance().serialNumber}/uav_services_reply"
-                    AMSConfig.getInstance().mqttMsdkPushMessage2ServerTopic =
-                        "nest/${AMSConfig.getInstance().serialNumber}/uav_status_message"
-                    AMSConfig.getInstance().mqttMsdkPushEvent2ServerTopic =
-                        "nest/${AMSConfig.getInstance().serialNumber}/events"
-                    AMSConfig.getInstance().mqttPSDKPushEvent2ServerTopic =
-                        "nest/${AMSConfig.getInstance().serialNumber}/uav_payload_message"
-
-                    toMain()
-                }
-            } else {
-                LogUtil.log(TAG, "SDK Register Failure: ${resultPair.second}")
-                ToastUtil.showToast("Register Failure: ${resultPair.second}")
-                statusText = StringUtils.getResStr(this, R.string.unregistered)
-            }
-            connectionBinding.textViewRegistered.text =
-                StringUtils.getResStr(R.string.registration_status, statusText)
-        }
-        msdkManagerVM.lvProductConnectionState.observe(this) { isConnect ->
-
-        }
-
-        msdkManagerVM.lvProductChanges.observe(this) { productId ->
-            ToastUtil.showToast("Product: $productId Changed")
-
-        }
-
-        msdkManagerVM.lvInitProcess.observe(this) { processPair ->
-//            ToastUtil.showToast("Init Process event: ${processPair.first.name}")
-        }
-
-        msdkManagerVM.lvDBDownloadProgress.observe(this) { resultPair ->
-            ToastUtil.showToast("Database Download Progress current: ${resultPair.first}, total: ${resultPair.second}")
-        }
-    }
-
-
-    /**
-     * Checks if there is any missing permissions, and requests runtime permission if needed.
-     */
-    private fun checkAndRequestPermissions() {
-        AndPermission.with(this)
-            .runtime()
-            .permission(REQUIRED_PERMISSION_LIST)
-            .onGranted {
-                observeSDKManagerStatus()
-            }
-            .onDenied {
-                // Storage permission are not allowed.
-                ToastUtil.showToast("请给予app运行所需权限！！！")
-                finish()
-            }
-            .start()
-    }
-    private fun toMain(){
-//        val isFlightControllerConnect =
-//            KeyManager.getInstance().getValue(DJIKey.create(FlightControllerKey.KeyConnection))
-        val cameraType = KeyManager.getInstance().getValue(
-            KeyTools.createKey(
-                CameraKey.KeyCameraType,
-                ComponentIndexType.PORT_1
-            )
-        )
-//        if (isFlightControllerConnect == null || !isFlightControllerConnect||cameraType==CameraType.NOT_SUPPORTED) {
-//            handler.postDelayed({
-//                toMain()
-//            }, 1000)
-//        } else {
-//            checkTimes++
-            LogUtil.log(TAG, "飞机是否连接$checkTimes${cameraType?.name}")
-            if (!MainActivity.isAppStarted) {
-                    startActivity(Intent(this, MainActivity::class.java))
-            }
-//        }
-    }
-
-    private fun <T> enableShowCaseButton(view: View, cl: Class<T>) {
-        view.isEnabled = true
-        view.setOnClickListener {
-            Intent(this, cl).also {
-                startActivity(it)
-            }
-        }
-    }
-
-    override fun onResume() {
-        super.onResume()
-        LogUtil.log(TAG,"进入首页连接")
-    }
-
-    override fun useEventBus(): Boolean {
-        return false
-    }
-}

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

@@ -1,855 +0,0 @@
-package com.aros.apron.activity
-import android.annotation.SuppressLint
-import android.graphics.Color
-import android.graphics.drawable.ColorDrawable
-import android.os.Build
-import android.os.Bundle
-import android.os.Handler
-import android.os.Looper
-import android.os.Message
-import android.text.TextUtils
-import android.view.View
-import android.view.Window
-import android.view.WindowManager
-import android.widget.Button
-import android.widget.TextView
-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
-import com.aros.apron.entity.MQMessage
-import com.aros.apron.entity.Movement
-import com.aros.apron.manager.AlternateLandingManager
-import com.aros.apron.manager.BatteryManager
-import com.aros.apron.manager.CameraManager
-import com.aros.apron.manager.FlightManager
-import com.aros.apron.manager.FlightManager.FLAG_DOWN_LAND
-import com.aros.apron.manager.FlightManager.FLAG_START_DETECT_ARUCO_ALTERNATE
-import com.aros.apron.manager.FlightManager.FLAG_START_DETECT_ARUCO_APRON
-import com.aros.apron.manager.FlightManager.FLAG_STOP_ARUCO
-import com.aros.apron.manager.GimbalManager
-import com.aros.apron.manager.LEDsSettingsManager
-import com.aros.apron.manager.MLTEManager
-import com.aros.apron.manager.MediaManager
-import com.aros.apron.manager.MegaphoneManager
-import com.aros.apron.manager.MissionManager
-import com.aros.apron.manager.NavigationSatelliteSystemManager
-import com.aros.apron.manager.OffSiteLandingManager
-import com.aros.apron.manager.PayloadWidgetManager
-import com.aros.apron.manager.PerceptionManager
-import com.aros.apron.manager.RTKManager
-import com.aros.apron.manager.RemoteManager
-import com.aros.apron.manager.StickManager
-import com.aros.apron.manager.StreamManager
-import com.aros.apron.manager.WayLineExecutingInterruptManager
-import com.aros.apron.tools.AlternateArucoDetect
-import com.aros.apron.tools.ApronArucoDetect
-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.dji.wpmzsdk.manager.WPMZManager
-import com.google.gson.Gson
-import dji.sdk.keyvalue.key.CameraKey
-import dji.sdk.keyvalue.key.DJIKey
-import dji.sdk.keyvalue.key.FlightControllerKey
-import dji.sdk.keyvalue.key.KeyTools
-import dji.sdk.keyvalue.key.ProductKey
-import dji.sdk.keyvalue.value.common.CameraLensType
-import dji.sdk.keyvalue.value.common.ComponentIndexType
-import dji.sdk.keyvalue.value.common.EmptyMsg
-import dji.v5.common.callback.CommonCallbacks
-import dji.v5.common.error.IDJIError
-import dji.v5.common.utils.GeoidManager
-import dji.v5.manager.KeyManager
-import dji.v5.manager.datacenter.MediaDataCenter
-import dji.v5.manager.interfaces.ICameraStreamManager
-import dji.v5.manager.interfaces.ICameraStreamManager.AvailableCameraUpdatedListener
-import dji.v5.network.DJINetworkManager
-import dji.v5.network.IDJINetworkStatusListener
-import dji.v5.utils.common.JsonUtil
-import dji.v5.utils.common.LogPath
-import dji.v5.utils.common.LogUtils
-import dji.v5.ux.accessory.RTKStartServiceHelper.startRtkService
-import dji.v5.ux.cameracore.widget.autoexposurelock.AutoExposureLockWidget
-import dji.v5.ux.cameracore.widget.cameracontrols.CameraControlsWidget
-import dji.v5.ux.cameracore.widget.cameracontrols.lenscontrol.LensControlWidget
-import dji.v5.ux.cameracore.widget.focusexposureswitch.FocusExposureSwitchWidget
-import dji.v5.ux.cameracore.widget.focusmode.FocusModeWidget
-import dji.v5.ux.cameracore.widget.fpvinteraction.FPVInteractionWidget
-import dji.v5.ux.core.base.SchedulerProvider.io
-import dji.v5.ux.core.base.SchedulerProvider.ui
-import dji.v5.ux.core.communication.BroadcastValues
-import dji.v5.ux.core.communication.GlobalPreferenceKeys
-import dji.v5.ux.core.communication.ObservableInMemoryKeyedStore
-import dji.v5.ux.core.communication.UXKeys
-import dji.v5.ux.core.extension.hide
-import dji.v5.ux.core.extension.toggleVisibility
-import dji.v5.ux.core.panel.systemstatus.SystemStatusListPanelWidget
-import dji.v5.ux.core.panel.topbar.TopBarPanelWidget
-import dji.v5.ux.core.util.CameraUtil
-import dji.v5.ux.core.util.DataProcessor
-import dji.v5.ux.core.util.ViewUtil
-import dji.v5.ux.core.widget.fpv.FPVStreamSourceListener
-import dji.v5.ux.core.widget.fpv.FPVWidget
-import dji.v5.ux.core.widget.hsi.HorizontalSituationIndicatorWidget
-import dji.v5.ux.core.widget.hsi.PrimaryFlightDisplayWidget
-import dji.v5.ux.core.widget.setting.SettingWidget
-import dji.v5.ux.gimbal.GimbalFineTuneWidget
-import dji.v5.ux.training.simulatorcontrol.SimulatorControlWidget
-import dji.v5.ux.training.simulatorcontrol.SimulatorControlWidget.UIState.VisibilityUpdated
-import dji.v5.ux.visualcamera.CameraNDVIPanelWidget
-import dji.v5.ux.visualcamera.CameraVisiblePanelWidget
-import dji.v5.ux.visualcamera.zoom.FocalZoomWidget
-import io.reactivex.rxjava3.android.schedulers.AndroidSchedulers
-import io.reactivex.rxjava3.disposables.CompositeDisposable
-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.objdetect.Dictionary
-import org.opencv.objdetect.Objdetect
-import java.util.concurrent.TimeUnit
-
-
-open class MainActivity : BaseActivity() {
-
-
-    companion object {
-        // 如果不需要改变 isAppStarted 的值，可以直接这样声明
-        var isAppStarted: Boolean = false
-        var streamReceive: Boolean = false
-
-    }
-
-    protected var primaryFpvWidget: FPVWidget? = null
-    protected var fpvInteractionWidget: FPVInteractionWidget? = null
-    protected var secondaryFPVWidget: FPVWidget? = null
-    protected var systemStatusListPanelWidget: SystemStatusListPanelWidget? = null
-    protected var simulatorControlWidget: SimulatorControlWidget? = null
-    protected var lensControlWidget: LensControlWidget? = null
-    protected var autoExposureLockWidget: AutoExposureLockWidget? = null
-    protected var focusModeWidget: FocusModeWidget? = null
-    protected var focusExposureSwitchWidget: FocusExposureSwitchWidget? = null
-    protected var cameraControlsWidget: CameraControlsWidget? = null
-    protected var horizontalSituationIndicatorWidget: HorizontalSituationIndicatorWidget? = null
-    protected var pfvFlightDisplayWidget: PrimaryFlightDisplayWidget? = null
-    protected var ndviCameraPanel: CameraNDVIPanelWidget? = null
-    protected var visualCameraPanel: CameraVisiblePanelWidget? = null
-    protected var focalZoomWidget: FocalZoomWidget? = null
-    protected var settingWidget: SettingWidget? = null
-    protected var topBarPanel: TopBarPanelWidget? = null
-    protected var fpvParentView: ConstraintLayout? = null
-    private var mDrawerLayout: DrawerLayout? = null
-    private var gimbalAdjustDone: TextView? = null
-    private var btn_test: Button? = null
-    private var btn_test1: Button? = null
-
-    private var gimbalFineTuneWidget: GimbalFineTuneWidget? = null
-    private var lastDevicePosition = ComponentIndexType.UNKNOWN
-    private var lastLensType = CameraLensType.UNKNOWN
-
-    private var compositeDisposable: CompositeDisposable? = null
-    private val cameraSourceProcessor = DataProcessor.create(
-        CameraSource(
-            ComponentIndexType.UNKNOWN,
-            CameraLensType.UNKNOWN
-        )
-    )
-    private val networkStatusListener =
-        IDJINetworkStatusListener { isNetworkAvailable: Boolean ->
-            if (isNetworkAvailable) {
-                LogUtils.d(TAG, "isNetworkAvailable=" + true)
-                startRtkService(false)
-            }
-        }
-
-    private val availableCameraUpdatedListener: AvailableCameraUpdatedListener =
-        object : AvailableCameraUpdatedListener {
-            override fun onAvailableCameraUpdated(availableCameraList: List<ComponentIndexType>) {
-                runOnUiThread { updateFPVWidgetSource(availableCameraList) }
-            }
-
-            override fun onCameraStreamEnableUpdate(cameraStreamEnableMap: Map<ComponentIndexType, Boolean>) {
-                //
-            }
-        }
-
-
-    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
-    private var mqMessage: MQMessage? = null
-
-    override fun useEventBus(): Boolean {
-        return true
-    }
-
-    override fun onResume() {
-        super.onResume()
-
-        dictionary = Objdetect.getPredefinedDictionary(Objdetect.DICT_6X6_250)
-        compositeDisposable = CompositeDisposable()
-        compositeDisposable!!.add(
-            systemStatusListPanelWidget!!.closeButtonPressed()
-                .observeOn(AndroidSchedulers.mainThread())
-                .subscribe { pressed: Boolean ->
-                    if (pressed) {
-                        systemStatusListPanelWidget!!.hide()
-                    }
-                })
-        compositeDisposable!!.add(
-            simulatorControlWidget!!.getUIStateUpdates()
-                .observeOn(AndroidSchedulers.mainThread())
-                .subscribe { simulatorControlWidgetState: SimulatorControlWidget.UIState? ->
-                    if (simulatorControlWidgetState is VisibilityUpdated) {
-                        if ((simulatorControlWidgetState as VisibilityUpdated).isVisible) {
-                            hideOtherPanels(simulatorControlWidget!!)
-                        }
-                    }
-                })
-        compositeDisposable!!.add(
-            cameraSourceProcessor.toFlowable()
-                .observeOn(io())
-                .throttleLast(500, TimeUnit.MILLISECONDS)
-                .subscribeOn(io())
-                .subscribe(Consumer { result: CameraSource ->
-                    runOnUiThread { onCameraSourceUpdated(result.devicePosition, result.lensType) }
-                })
-        )
-        compositeDisposable!!.add(ObservableInMemoryKeyedStore.getInstance()
-            .addObserver(UXKeys.create(GlobalPreferenceKeys.GIMBAL_ADJUST_CLICKED))
-            .observeOn(ui())
-            .subscribe { broadcastValues: BroadcastValues? ->
-                isGimableAdjustClicked(
-                    broadcastValues!!
-                )
-            })
-        ViewUtil.setKeepScreen(this, true)
-    }
-
-    override fun onPause() {
-        if (compositeDisposable != null) {
-            compositeDisposable!!.dispose()
-            compositeDisposable = null
-        }
-        super.onPause()
-        ViewUtil.setKeepScreen(this, false)
-    }
-
-    //endregion
-    private  fun hideOtherPanels(widget: View?) {
-        val panels = arrayOf<View>(
-            simulatorControlWidget!!
-        )
-        for (panel in panels) {
-            if (widget !== panel) {
-                panel.visibility = View.GONE
-            }
-        }
-    }
-
-    private fun updateFPVWidgetSource(availableCameraList: List<ComponentIndexType>?) {
-        LogUtils.i(TAG, JsonUtil.toJson(availableCameraList))
-        if (availableCameraList == null) {
-            return
-        }
-        val cameraList = java.util.ArrayList(availableCameraList)
-
-        //没有数据
-        if (cameraList.isEmpty()) {
-            secondaryFPVWidget!!.visibility = View.GONE
-            return
-        }
-
-        //仅一路数据
-        if (cameraList.size == 1) {
-            primaryFpvWidget!!.updateVideoSource(availableCameraList[0])
-            secondaryFPVWidget!!.visibility = View.GONE
-            return
-        }
-
-        //大于两路数据
-        val primarySource = getSuitableSource(cameraList, ComponentIndexType.LEFT_OR_MAIN)
-        primaryFpvWidget!!.updateVideoSource(primarySource!!)
-        cameraList.remove(primarySource)
-
-        val secondarySource = getSuitableSource(cameraList, ComponentIndexType.FPV)
-        secondaryFPVWidget!!.updateVideoSource(secondarySource!!)
-
-        secondaryFPVWidget!!.visibility = View.VISIBLE
-
-
-    }
-
-    private fun getSuitableSource(
-        cameraList: List<ComponentIndexType>,
-        defaultSource: ComponentIndexType
-    ): ComponentIndexType? {
-        if (cameraList.contains(ComponentIndexType.LEFT_OR_MAIN)) {
-            return ComponentIndexType.LEFT_OR_MAIN
-        } else if (cameraList.contains(ComponentIndexType.RIGHT)) {
-            return ComponentIndexType.RIGHT
-        } else if (cameraList.contains(ComponentIndexType.UP)) {
-            return ComponentIndexType.UP
-        } else if (cameraList.contains(ComponentIndexType.PORT_1)) {
-            return ComponentIndexType.PORT_1
-        } else if (cameraList.contains(ComponentIndexType.PORT_2)) {
-            return ComponentIndexType.PORT_2
-        } else if (cameraList.contains(ComponentIndexType.PORT_3)) {
-            return ComponentIndexType.PORT_3
-        } else if (cameraList.contains(ComponentIndexType.PORT_4)) {
-            return ComponentIndexType.PORT_4
-        } else if (cameraList.contains(ComponentIndexType.VISION_ASSIST)) {
-            return ComponentIndexType.VISION_ASSIST
-        }
-        return defaultSource
-    }
-
-    private fun onCameraSourceUpdated(
-        devicePosition: ComponentIndexType,
-        lensType: CameraLensType
-    ) {
-        LogUtils.i(LogPath.SAMPLE, "onCameraSourceUpdated", devicePosition, lensType)
-        if (devicePosition == lastDevicePosition && lensType == lastLensType) {
-            return
-        }
-        lastDevicePosition = devicePosition
-        lastLensType = lensType
-        updateViewVisibility(devicePosition, lensType)
-        updateInteractionEnabled()
-        //如果无需使能或者显示的，也就没有必要切换了。
-        if (fpvInteractionWidget!!.isInteractionEnabled) {
-            fpvInteractionWidget!!.updateCameraSource(devicePosition, lensType)
-        }
-        if (lensControlWidget!!.visibility == View.VISIBLE) {
-            lensControlWidget!!.updateCameraSource(devicePosition, lensType)
-        }
-        if (ndviCameraPanel!!.visibility == View.VISIBLE) {
-            ndviCameraPanel!!.updateCameraSource(devicePosition, lensType)
-        }
-        if (visualCameraPanel!!.visibility == View.VISIBLE) {
-            visualCameraPanel!!.updateCameraSource(devicePosition, lensType)
-        }
-        if (autoExposureLockWidget!!.visibility == View.VISIBLE) {
-            autoExposureLockWidget!!.updateCameraSource(devicePosition, lensType)
-        }
-        if (focusModeWidget!!.visibility == View.VISIBLE) {
-            focusModeWidget!!.updateCameraSource(devicePosition, lensType)
-        }
-        if (focusExposureSwitchWidget!!.visibility == View.VISIBLE) {
-            focusExposureSwitchWidget!!.updateCameraSource(devicePosition, lensType)
-        }
-        if (cameraControlsWidget!!.visibility == View.VISIBLE) {
-            cameraControlsWidget!!.updateCameraSource(devicePosition, lensType)
-        }
-        if (focalZoomWidget!!.visibility == View.VISIBLE) {
-            focalZoomWidget!!.updateCameraSource(devicePosition, lensType)
-        }
-        if (horizontalSituationIndicatorWidget!!.visibility == View.VISIBLE) {
-            horizontalSituationIndicatorWidget!!.updateCameraSource(devicePosition, lensType)
-        }
-    }
-
-    private  fun updateViewVisibility(
-        devicePosition: ComponentIndexType,
-        lensType: CameraLensType
-    ) {
-        //只在fpv下显示
-        pfvFlightDisplayWidget!!.visibility =
-            if (CameraUtil.isFPVTypeView(devicePosition)) View.VISIBLE else View.INVISIBLE
-
-        //fpv下不显示
-        lensControlWidget!!.visibility =
-            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
-        ndviCameraPanel!!.visibility =
-            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
-        visualCameraPanel!!.visibility =
-            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
-        autoExposureLockWidget!!.visibility =
-            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
-        focusModeWidget!!.visibility =
-            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
-        focusExposureSwitchWidget!!.visibility =
-            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
-        cameraControlsWidget!!.visibility =
-            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
-        focalZoomWidget!!.visibility =
-            if (CameraUtil.isFPVTypeView(devicePosition)) View.INVISIBLE else View.VISIBLE
-        horizontalSituationIndicatorWidget!!.setSimpleModeEnable(
-            CameraUtil.isFPVTypeView(
-                devicePosition
-            )
-        )
-
-        //只在部分len下显示
-        ndviCameraPanel!!.visibility =
-            if (CameraUtil.isSupportForNDVI(lensType)) View.VISIBLE else View.INVISIBLE
-    }
-
-    /**
-     * Swap the video sources of the FPV and secondary FPV widgets.
-     */
-    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
-        if (primarySource != ComponentIndexType.UNKNOWN && secondarySource != ComponentIndexType.UNKNOWN) {
-            primaryFpvWidget!!.updateVideoSource(secondarySource)
-            secondaryFPVWidget!!.updateVideoSource(primarySource)
-        }
-    }
-
-    private fun updateInteractionEnabled() {
-        fpvInteractionWidget!!.isInteractionEnabled = !CameraUtil.isFPVTypeView(
-            primaryFpvWidget!!.widgetModel.getCameraIndex()
-        )
-    }
-
-    private data class CameraSource(
-        val devicePosition: ComponentIndexType,
-        val lensType: CameraLensType
-    )
-    override fun onBackPressed() {
-        if (mDrawerLayout!!.isDrawerOpen(GravityCompat.END)) {
-            mDrawerLayout!!.closeDrawers()
-        } else {
-            super.onBackPressed()
-        }
-    }
-
-    @RequiresApi(Build.VERSION_CODES.O)
-    override fun onCreate(savedInstanceState: Bundle?) {
-        super.onCreate(savedInstanceState)
-        requestWindowFeature(Window.FEATURE_NO_TITLE)
-//        window.addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON)
-        window.setFlags(
-            WindowManager.LayoutParams.FLAG_FULLSCREEN,
-            WindowManager.LayoutParams.FLAG_FULLSCREEN
-        )
-        setContentView(R.layout.activity_main)
-        isAppStarted = true
-
-
-//        mapWidget = findViewById<MapWidget>(R.id.widget_map)
-//        mapWidget?.initMapLibreMap(applicationContext, OnMapReadyListener { map: DJIMap ->
-//            val uiSetting = map.uiSettings
-//            uiSetting?.setZoomControlsEnabled(false)
-//        })
-//        mapWidget?.onCreate(savedInstanceState)
-        GeoidManager.getInstance().init(this)
-        WPMZManager.getInstance().init(this)
-        MqttManager.getInstance().needConnect()
-
-        initDJIManager()
-        initCameraManager()
-        initCameraStream()
-        initView()
-    }
-
-    private fun initView() {
-        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<LensControlWidget>( 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<TextView>( 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)
-        btn_test?.setOnClickListener {
-//            MissionManager.getInstance().test()
-            val message = MQMessage().apply {
-                megaphonePlayMode = 1
-                msg_type = 60110
-                megaphoneVolume=100
-                megaphoneWord="阿罗斯信息技术公司1阿罗斯信息技术公司1阿罗斯信息技术公司1阿罗斯信息技术公司1阿罗斯信息技术公司1阿罗斯信息技术公司1阿罗斯信息技术公司1阿罗斯信息技术公司1阿罗斯信息技术公司1阿罗斯信息技术公司1"
-            }
-            MegaphoneManager.getInstance().startMegaphonePlay(message)
-
-
-        }
-        btn_test1?.setOnClickListener {
-//            FlightManager.getInstance().stopPropellerRotation(null)
-            MegaphoneManager.getInstance().stopPlay(null)
-
-        }
-
-        initClickListener()
-        MediaDataCenter.getInstance().cameraStreamManager.addAvailableCameraUpdatedListener(
-            availableCameraUpdatedListener
-        )
-        primaryFpvWidget?.setOnFPVStreamSourceListener(object : FPVStreamSourceListener {
-            override fun onStreamSourceUpdated(
-                devicePosition: ComponentIndexType,
-                lensType: CameraLensType
-            ) {
-                cameraSourceProcessor.onNext(
-                    CameraSource(devicePosition, lensType)
-                )
-            }
-        })
-
-        //小surfaceView放置在顶部，避免被大的遮挡
-        secondaryFPVWidget?.setSurfaceViewZOrderOnTop(true)
-        secondaryFPVWidget?.setSurfaceViewZOrderMediaOverlay(true)
-
-
-        window.setBackgroundDrawable(ColorDrawable(Color.BLACK))
-
-        //实现RTK监测网络，并自动重连机制
-        DJINetworkManager.getInstance().addNetworkStatusListener(networkStatusListener)
-
-    }
-
-    private  fun isGimableAdjustClicked(broadcastValues: BroadcastValues) {
-        if (mDrawerLayout!!.isDrawerOpen(GravityCompat.END)) {
-            mDrawerLayout!!.closeDrawers()
-        }
-        horizontalSituationIndicatorWidget!!.visibility = View.GONE
-        if (gimbalFineTuneWidget != null) {
-            gimbalFineTuneWidget!!.visibility = View.VISIBLE
-        }
-    }
-
-    private  fun initClickListener() {
-        secondaryFPVWidget!!.setOnClickListener { v: View? -> swapVideoSource() }
-        if (settingWidget != null) {
-            settingWidget!!.setOnClickListener { v: View? -> toggleRightDrawer() }
-        }
-
-        // Setup top bar state callbacks
-        val systemStatusWidget = topBarPanel!!.systemStatusWidget
-        systemStatusWidget?.setOnClickListener { v: View? -> systemStatusListPanelWidget!!.toggleVisibility() }
-        val simulatorIndicatorWidget = topBarPanel!!.simulatorIndicatorWidget
-        simulatorIndicatorWidget?.setOnClickListener { v: View? -> simulatorControlWidget!!.toggleVisibility() }
-//        gimbalAdjustDone!!.setOnClickListener { view: View? ->
-//            horizontalSituationIndicatorWidget!!.visibility = View.VISIBLE
-//            if (gimbalFineTuneWidget != null) {
-//                gimbalFineTuneWidget!!.visibility = View.GONE
-//            }
-//        }
-    }
-
-    private  fun toggleRightDrawer() {
-        mDrawerLayout!!.openDrawer(GravityCompat.END)
-    }
-
-
-    override fun onDestroy() {
-        super.onDestroy()
-        isAppStarted = false
-        try {
-            if (MqttManager.getInstance().mqttAndroidClient != null && MqttManager.getInstance().mqttAndroidClient.isConnected) {
-                MqttManager.getInstance().mqttAndroidClient.unregisterResources()
-                MqttManager.getInstance().mqttAndroidClient.disconnect() //断开连接
-            }
-        } catch (e: MqttException) {
-            e.printStackTrace()
-        }
-        MediaDataCenter.getInstance().cameraStreamManager.removeAvailableCameraUpdatedListener(
-            availableCameraUpdatedListener
-        )
-        DJINetworkManager.getInstance().removeNetworkStatusListener(networkStatusListener)
-    }
-
-
-    private val handler: Handler = Handler(Looper.getMainLooper())
-    private var initTimes=0
-    private fun initDJIManager() {
-        val isFlightControllerConnect =
-            KeyManager.getInstance().getValue(DJIKey.create(FlightControllerKey.KeyConnection))
-        if (isFlightControllerConnect == null || !isFlightControllerConnect) {
-            handler.postDelayed({
-                initDJIManager()
-            }, 1000)
-        } else {
-            initTimes++
-            LogUtil.log(TAG, "初始化$initTimes")
-            RTKManager.getInstance().initRTKInfo()
-            StreamManager.getInstance().initStreamManager()
-            FlightManager.getInstance().initFlightInfo()
-            MissionManager.getInstance().initMissionManager()
-            BatteryManager.getInstance().initBatteryInfo()
-            MediaManager.getInstance().init()
-            LEDsSettingsManager.getInstance().initLEDsInfo()
-            AlternateLandingManager.getInstance().initAlterLandingInfo()
-            WayLineExecutingInterruptManager.getInstance().initWayLineExecutingInterruptInfo()
-            CameraManager.getInstance().initCameraInfo()
-            StickManager.getInstance().initStickInfo()
-            GimbalManager.getInstance().initGimbalInfo()
-            OffSiteLandingManager.getInstance().initOffSiteLandingInfo()
-            RemoteManager.getInstance().initRemoteInfo()
-            PayloadWidgetManager.getInstance().initPayloadInfo()
-            NavigationSatelliteSystemManager.getInstance().initNavigationSatelliteSystem()
-            NavigationSatelliteSystemManager.getInstance().setNavigationSatelliteSystem()
-            PerceptionManager.getInstance().init()
-
-            //ApronArucoDetect.getInstance().init()
-
-            if (PreferenceUtils.getInstance().lteEnable){
-                MLTEManager.getInstance().initLTEManager()
-                Handler().postDelayed(Runnable {  MLTEManager.getInstance().setLTEEnhancedTransmissionType()},3000)
-
-            }
-            //这里修改推流逻辑
-            if (PreferenceUtils.getInstance().customStreamType!=3) {
-                Handler().postDelayed(Runnable {
-                    if (PreferenceUtils.getInstance().customStreamType==1){
-                        StreamManager.getInstance()
-                            .startLiveWithRTSP()
-                    }else if (PreferenceUtils.getInstance().customStreamType==2){
-                        StreamManager.getInstance()
-                            .startLiveWithCustom()
-                    }else{
-                        LogUtil.log(TAG,"推流方式配置有误")
-                    }
-
-                }, 5000)
-            }else if(!TextUtils.isEmpty(PreferenceUtils.getInstance().customStreamUrl)){
-                Handler().postDelayed(Runnable {
-                    StreamManager.getInstance()
-                        .startLiveWithCustom()
-                }, 5000)
-            }
-            val productType =
-                KeyManager.getInstance().getValue(KeyTools.createKey(ProductKey.KeyProductType))
-            val cameraType = KeyManager.getInstance().getValue(
-                KeyTools.createKey(
-                    CameraKey.KeyCameraType,
-                    ComponentIndexType.PORT_1
-                )
-            )
-
-            if (cameraType != null && productType != null) {
-                LogUtil.log(TAG, "设备类型:" + productType.name + "相机类型:" + cameraType.name)
-            } else {
-                LogUtil.log(TAG, "设备类型:" + (productType?.name ?: "未知") + "相机类型:" + (cameraType?.name ?: "未知"))
-            }
-        }
-    }
-    private val cameraHandler: Handler = Handler(Looper.getMainLooper())
-    private var initCameraTimes=0
-    private fun initCameraManager() {
-        val isConnect = KeyManager.getInstance()
-            .getValue(KeyTools.createKey(CameraKey.KeyConnection, ComponentIndexType.PORT_1))
-
-        if (isConnect == null || !isConnect) {
-            cameraHandler.postDelayed({
-                initDJIManager()
-            }, 1000)
-        } else {
-            initCameraTimes++
-            LogUtil.log(TAG, "初始化相机$initCameraTimes")
-
-            CameraManager.getInstance().initCameraInfo()
-        }
-    }
-
-//    var shouldExecute = true
-
-    @SuppressLint("SuspiciousIndentation")
-    private fun initCameraStream() {
-//        mainBinding?.svCameraStream?.holder?.addCallback(object : SurfaceHolder.Callback {
-//            override fun surfaceCreated(holder: SurfaceHolder) {}
-//            override fun surfaceChanged(
-//                holder: SurfaceHolder,
-//                format: Int,
-//                width: Int,
-//                height: Int
-//            ) {
-//                cameraManager.putCameraStreamSurface(
-//                    ComponentIndexType.PORT_1,
-//                    holder.surface,
-//                    width,
-//                    height,
-//                    ICameraStreamManager.ScaleType.FIX_XY
-//                )
-//            }
-//
-//            override fun surfaceDestroyed(holder: SurfaceHolder) {
-//                cameraManager.removeCameraStreamSurface(holder.surface)
-//            }
-//        })
-
-        cameraManager.addFrameListener(
-            ComponentIndexType.PORT_1,
-            ICameraStreamManager.FrameFormat.YUV420_888
-        ) { frameData, _, _, width, height, _ ->
-            Movement.getInstance().isVtx=true
-            //检测到图传
-            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,
-                )
-            }
-//            }
-//            shouldExecute = !shouldExecute
-        }
-    }
-
-
-
-    @Subscribe(threadMode = ThreadMode.MAIN)
-    fun onEvent(message: String?) {
-        when (message) {
-            FLAG_START_DETECT_ARUCO_APRON ->
-                KeyManager.getInstance().performAction<EmptyMsg>(
-                    KeyTools.createKey<EmptyMsg, EmptyMsg>(FlightControllerKey.KeyStopAutoLanding),
-                    object : CommonCallbacks.CompletionCallbackWithParam<EmptyMsg?> {
-                        override fun onSuccess(emptyMsg: EmptyMsg?) {
-                            LogUtil.log(TAG, "取消降落,识别机库二维码")
-                            Handler().postDelayed(Runnable {
-                                if (!ApronArucoDetect.getInstance().isTriggerSuccess) {
-                                    LogUtil.log(TAG, "图传异常:飞往备降点")
-                                    //测试图传丢失
-                                    AlternateLandingManager.getInstance().startTaskProcess(null)
-                                }
-                            }, 6000)
-                            if (startArucoType == 1) {
-                                return
-                            }
-                            startArucoType = 1
-                            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().setVerticalModeToVelocity()
-                        }
-
-                        override fun onFailure(error: IDJIError) {
-                            if (startArucoType == 1) {
-                                return
-                            }
-                            startArucoType = 1
-                            LogUtil.log(TAG, "取消降落,识别机库二维码失败:" + Gson().toJson(error))
-                            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().setVerticalModeToVelocity()
-                        }
-                    })
-
-            FLAG_START_DETECT_ARUCO_ALTERNATE ->
-                KeyManager.getInstance().performAction<EmptyMsg>(
-                    KeyTools.createKey<EmptyMsg, EmptyMsg>(FlightControllerKey.KeyStopAutoLanding),
-                    object : CommonCallbacks.CompletionCallbackWithParam<EmptyMsg?> {
-                        override fun onSuccess(emptyMsg: EmptyMsg?) {
-                            LogUtil.log(TAG, "取消降落,识别备降点二维码")
-                            Handler().postDelayed(Runnable {
-                                if (!AlternateArucoDetect.getInstance().isTriggerSuccess) {
-                                    LogUtil.log(TAG, "图传异常:备降点直接降落")
-                                    //测试图传丢失
-                                    FlightManager.getInstance().startAutoLanding(null)
-                                }
-                            }, 4000)
-                            if (startArucoType == 2) {
-                                return
-                            }
-                            startArucoType = 2
-                            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().setVerticalModeToVelocity()
-                        }
-
-                        override fun onFailure(error: IDJIError) {
-                            if (startArucoType == 2) {
-                                return
-                            }
-                            startArucoType = 2
-                            LogUtil.log(
-                                TAG,
-                                "取消降落,识别备降点二维码失败:" + Gson().toJson(error)
-                            )
-                            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().setVerticalModeToVelocity()
-                        }
-                    })
-
-            FLAG_DOWN_LAND ->
-                KeyManager.getInstance().performAction<EmptyMsg>(
-                    KeyTools.createKey<EmptyMsg, EmptyMsg>(FlightControllerKey.KeyStartAutoLanding),
-                    object : CommonCallbacks.CompletionCallbackWithParam<EmptyMsg?> {
-                        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()}")
-                        }
-                    })
-
-            FLAG_STOP_ARUCO ->
-                startArucoType = 0
-
-            MqttCallBack.FLAG_RESET_CLEAN_MODE ->
-                setViewVisibilityWithCleanMode()
-        }
-    }
-
-
-
-
-    private fun setViewVisibilityWithCleanMode() {
-        if (PreferenceUtils.getInstance().isCleanMode) {
-            fpvInteractionWidget?.visibility = View.GONE
-            horizontalSituationIndicatorWidget?.visibility = View.GONE
-            gimbalFineTuneWidget?.visibility = View.GONE
-            ndviCameraPanel?.visibility = View.GONE
-            visualCameraPanel?.visibility = View.GONE
-            autoExposureLockWidget?.visibility = View.GONE
-            focusModeWidget?.visibility = View.GONE
-            focusExposureSwitchWidget?.visibility = View.GONE
-            cameraControlsWidget?.visibility = View.GONE
-            focalZoomWidget?.visibility = View.GONE
-//            returnHomeWidget?.visibility = View.GONE
-//            takeOffWidget?.visibility = View.GONE
-//            lensControlWidget?.visibility = View.GONE
-            simulatorControlWidget?.visibility = View.GONE
-            pfvFlightDisplayWidget?.visibility = View.GONE
-            systemStatusListPanelWidget?.visibility = View.GONE
-            topBarPanel?.visibility = View.GONE
-        }
-    }
-
-}

app/src/main/java/com/aros/apron/activity/MediaActivity.kt

@@ -1,101 +0,0 @@
-package com.aros.apron.activity
-
-import android.os.Bundle
-import android.util.Log
-import com.aros.apron.base.BaseActivity
-import com.aros.apron.databinding.ActivityGalleryBinding
-import com.aros.apron.manager.MediaManager
-import com.aros.apron.tools.GalleryAdapter
-import com.aros.apron.tools.RecyclerViewHelper
-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.datacenter.MediaDataCenter
-import dji.v5.manager.datacenter.media.MediaFileListData
-import dji.v5.manager.datacenter.media.MediaFileListState
-import dji.v5.manager.datacenter.media.PullMediaFileListParam
-
-class MediaActivity : BaseActivity() {
-
-    private var adapter: GalleryAdapter? = null
-    private var mediaFileListData: MediaFileListData? = null
-    private lateinit var galleryBinding: ActivityGalleryBinding
-
-    override fun useEventBus(): Boolean {
-        return false
-    }
-
-    override fun onCreate(savedInstanceState: Bundle?) {
-        super.onCreate(savedInstanceState)
-        galleryBinding = ActivityGalleryBinding.inflate(layoutInflater)
-        setContentView(galleryBinding.root)
-        galleryBinding.btnDisable?.setOnClickListener {
-            MediaManager.getInstance().disablePlayback()
-        }
-        galleryBinding.btnEnable?.setOnClickListener {
-            MediaManager.getInstance().enablePlayback()
-        }
-        galleryBinding.btnRemoveAll?.setOnClickListener {
-            deleteMediaFiles()
-        }
-        galleryBinding.btnRefreshFileList?.setOnClickListener {
-            MediaDataCenter.getInstance().mediaManager.pullMediaFileListFromCamera(
-                PullMediaFileListParam.Builder().count(20).build(), object :
-                    CommonCallbacks.CompletionCallback {
-                    override fun onSuccess() {
-                        Log.e("MediaActivity", "fetch success")
-                    }
-
-                    override fun onFailure(error: IDJIError) {
-                        Log.e("MediaActivity", "fetch failed$error")
-                    }
-                })
-        }
-        adapter = GalleryAdapter()
-        RecyclerViewHelper.initRecyclerViewG(this, galleryBinding.rvPic, adapter, 2)
-//            addMediaFileStateListener()
-
-    }
-
-
-    private fun addMediaFileStateListener() {
-        val isConnect =
-            KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection))
-        if (isConnect != null && isConnect) {
-            val mediaManager = MediaDataCenter.getInstance().mediaManager
-            mediaManager.addMediaFileListStateListener { mediaFileListState ->
-                Log.e("MediaActivity", "状态" + mediaFileListState.name)
-                if (mediaFileListState == MediaFileListState.UP_TO_DATE) {
-                    mediaFileListData = mediaManager.mediaFileListData
-                    Log.e("MediaActivity", "媒体文件数量" + mediaManager.mediaFileListData.data.size)
-
-                    runOnUiThread {
-                        adapter?.setData(mediaFileListData)
-                    }
-                }
-            }
-        } else {
-            Log.e("MediaActivity", "设备未连接")
-        }
-    }
-
-    //删除
-    private fun deleteMediaFiles() {
-        val mediaManager = MediaDataCenter.getInstance().mediaManager
-        Log.e("MediaActivity", "清除文件数量" + mediaFileListData?.data?.size+"")
-        mediaManager.deleteMediaFiles(mediaFileListData?.data,
-            object : CommonCallbacks.CompletionCallback {
-                override fun onSuccess() {
-                    TODO("Not yet implemented")
-                    adapter?.setData(mediaFileListData)
-                }
-
-                override fun onFailure(p0: IDJIError) {
-                    Log.e("MediaActivity", "清除文件失败" + p0.description())
-                }
-            })
-
-    }
-}

app/src/main/java/com/aros/apron/api/BaseUrl.java

@@ -1,10 +0,0 @@
-package com.aros.apron.api;
-
-
-public class BaseUrl {
-
-
-    public static String ipAddress = "http://36.154.125.61:17071/manage/api/v1/";
-
-
-}

app/src/main/java/com/aros/apron/api/HttpLogger.java

@@ -1,21 +0,0 @@
-package com.aros.apron.api;
-
-import android.util.Log;
-
-import okhttp3.logging.HttpLoggingInterceptor;
-
-
-public class HttpLogger implements HttpLoggingInterceptor.Logger {
-
-    private String TAG;
-
-    public HttpLogger(String TAG) {
-        this.TAG = TAG;
-    }
-
-    @Override
-    public void log(String message) {
-        Log.d(TAG, message);
-    }
-
-}

app/src/main/java/com/aros/apron/api/HttpUtil.java

@@ -1,33 +0,0 @@
-package com.aros.apron.api;
-
-import java.util.concurrent.TimeUnit;
-
-import okhttp3.OkHttpClient;
-import retrofit2.Retrofit;
-import retrofit2.converter.gson.GsonConverterFactory;
-
-public class HttpUtil {
-    /**
-     * 初始化okhttpclient.
-     * @return okhttpClient
-     */
-    public OkHttpClient okhttpclient() {
-//        HttpLoggingInterceptor logInterceptor = new HttpLoggingInterceptor(new HttpLogger(getClass().getSimpleName()));
-//        logInterceptor.setLevel(HttpLoggingInterceptor.Level.BODY);
-        OkHttpClient mOkHttpClient = new OkHttpClient.Builder()
-                .connectTimeout(15, TimeUnit.SECONDS)
-                .addInterceptor(new LoggingInterceptor())
-                .build();
-        return mOkHttpClient;
-    }
-
-    public UavApi createRequest() {
-        Retrofit retrofit = new Retrofit.Builder()
-                .baseUrl(BaseUrl.ipAddress)
-                .client(okhttpclient())
-                .addConverterFactory(GsonConverterFactory.create())
-                .build();
-        UavApi vamApi = retrofit.create(UavApi.class);
-        return vamApi;
-    }
-}

app/src/main/java/com/aros/apron/api/LoggingInterceptor.java

@@ -1,56 +0,0 @@
-package com.aros.apron.api;
-
-import android.util.Log;
-
-import java.io.IOException;
-
-import okhttp3.FormBody;
-import okhttp3.Interceptor;
-import okhttp3.Request;
-import okhttp3.Response;
-import okhttp3.ResponseBody;
-
-/**
- * @author Rain
- * created:2019/3/29 11:46
- * desc:类作用描述
- */
-public class LoggingInterceptor implements Interceptor {
-    @Override
-    public Response intercept(Chain chain) throws IOException {
-        //这个chain里面包含了request和response，所以你要什么都可以从这里拿
-        Request request = chain.request();
-        long t1 = System.nanoTime();//请求发起的时间
-        String method = request.method();
-        if ("POST".equals(method)) {
-            StringBuilder sb = new StringBuilder();
-            if (request.body() instanceof FormBody) {
-                FormBody body = (FormBody) request.body();
-                for (int i = 0; i < body.size(); i++) {
-                    sb.append(body.encodedName(i) + "=" + body.encodedValue(i) + ",");
-                }
-                sb.delete(sb.length() - 1, sb.length());
-                Log.e("CSDN_LQR", String.format("发送请求 %s on %s %n%s %nRequestParams:{%s}",
-                        request.url(), chain.connection(), request.headers(), sb.toString()));
-            }
-        } else {
-            Log.e("CSDN_LQR", String.format("发送请求 %s on %s%n%s",
-                    request.url(), chain.connection(), request.headers()));
-        }
-        Response response = chain.proceed(request);
-        long t2 = System.nanoTime();//收到响应的时间
-        //这里不能直接使用response.body().string()的方式输出日志
-        //因为response.body().string()之后，response中的流会被关闭，程序会报错，我们需要创建出一
-        //个新的response给应用层处理
-        ResponseBody responseBody = response.peekBody(1024 * 1024);
-        Log.e("CSDN_LQR",
-                String.format("接收响应: [%s] %n返回json:【%s】 %.1fms %n%s",
-                        response.request().url(),
-                        responseBody.string(),
-                        (t2 - t1) / 1e6d,
-                        response.headers()
-                ));
-        return response;
-    }
-
-}

app/src/main/java/com/aros/apron/api/UavApi.java

@@ -1,20 +0,0 @@
-package com.aros.apron.api;
-
-
-
-/**
- * Created by James on 2022/6/21.
- */
-
-public interface UavApi {
-//    /**
-//     * 登录
-//     *
-//     * @return
-//     */
-//    @Headers("Content-Type:application/json")
-//    @POST("login")
-//    Call<LoginResult> userLogin(@Body LoginValues loginValues);
-
-
-}

app/src/main/java/com/aros/apron/app/ApronApp.kt

@@ -1,78 +0,0 @@
-package com.aros.apron.app
-
-import android.app.Application
-import android.content.Context
-import com.aros.apron.models.MSDKManagerVM
-import com.aros.apron.models.globalViewModels
-import com.aros.apron.tools.LogUtil
-import com.aros.apron.xclog.CrashHandler
-import com.aros.apron.xclog.XcFileLog
-import com.aros.apron.xclog.XcLogConfig
-import com.dji.wpmzsdk.manager.WPMZManager
-import com.orhanobut.logger.AndroidLogAdapter
-import com.orhanobut.logger.Logger
-import com.orhanobut.logger.PrettyFormatStrategy
-import dji.v5.common.utils.GeoidManager
-import dji.v5.utils.common.ContextUtil
-import org.opencv.android.OpenCVLoader
-
-
-open class ApronApp : Application() {
-
-
-    companion object {
-        fun getApplication(): Context? {
-            return context
-        }
-         var context: Context? = null
-    }
-
-    private val msdkManagerVM: MSDKManagerVM by globalViewModels()
-
-    override fun onCreate() {
-        super.onCreate()
-        context=this
-        initConfig()
-        msdkManagerVM.initMobileSDK(this)
-
-    }
-
-    override fun attachBaseContext(base: Context?) {
-        super.attachBaseContext(base)
-        com.cySdkyc.clx.Helper.install(this)
-
-    }
-
-
-    /**
-     * Logger 初始化配置
-     */
-    private fun initConfig() {
-        var formatStrategy = PrettyFormatStrategy.newBuilder()
-            .showThreadInfo(false) // 隐藏线程信息 默认：显示
-            .methodCount(0) // 决定打印多少行（每一行代表一个方法）默认：2
-            .methodOffset(7) // (Optional) Hides internal method calls up to offset. Default 5
-//            .tag("Aros") // (Optional) Global tag for every log. Default PRETTY_LOGGER
-            .build()
-        Logger.addLogAdapter(object : AndroidLogAdapter(formatStrategy) {
-            override fun isLoggable(priority: Int, tag: String): Boolean {
-//                return super.isLoggable(priority, tag);
-                return true
-            }
-        })
-        XcFileLog.init(XcLogConfig())
-        //打印崩溃日志
-        CrashHandler.getInstance().init()
-
-        // 初始化 OpenCV
-        if (OpenCVLoader.initLocal()) {
-            LogUtil.log("qwq","opencv" +
-                    "初始化完成")
-            return;
-        }else{
-            LogUtil.log("qwq","opencv" +
-                    "初始化失败")
-        }
-
-    }
-}

app/src/main/java/com/aros/apron/base/BaseActivity.java

@@ -1,49 +0,0 @@
-package com.aros.apron.base;
-
-import android.os.Bundle;
-import androidx.appcompat.app.AppCompatActivity;
-import com.aros.apron.tools.AppManager;
-import org.greenrobot.eventbus.EventBus;
-
-
-public abstract class BaseActivity extends AppCompatActivity {
-    /**
-     * activity堆栈管理
-     */
-    protected AppManager appManager = AppManager.getAppManager();
-
-
-    protected String TAG;
-    protected boolean useEventBus = false;
-    @Override
-    protected void onCreate(Bundle savedInstanceState) {
-        super.onCreate(savedInstanceState);
-        loggerSimpleName();
-        if (useEventBus()) {
-            EventBus.getDefault().register(this);
-        }
-        appManager.addActivity(this);
-    }
-
-
-
-    public abstract boolean useEventBus();
-
-    public void loggerSimpleName() {
-        TAG = getClass().getSimpleName();
-//        Log.e("Aros","当前界面 ："+ TAG);
-    }
-
-
-    @Override
-    protected void onDestroy() {
-        super.onDestroy();
-        // 从栈中移除activity
-        appManager.finishActivity(this);
-        if (useEventBus == true) {
-            EventBus.getDefault().unregister(this);
-        }
-
-    }
-
-}

app/src/main/java/com/aros/apron/base/BaseAdapter.java

@@ -1,27 +0,0 @@
-package com.aros.apron.base;
-
-import android.view.ViewGroup;
-
-import androidx.annotation.NonNull;
-import androidx.recyclerview.widget.RecyclerView;
-import androidx.viewbinding.ViewBinding;
-
-public abstract class BaseAdapter<T,V extends ViewBinding> extends RecyclerView.Adapter<BaseHolder> {
-
-    @NonNull
-    @Override
-    public BaseHolder<V> onCreateViewHolder(@NonNull ViewGroup viewGroup, int i) {
-        return new BaseHolder(onBindingView(viewGroup));
-    }
- 
-    @Override
-    public void onBindViewHolder(@NonNull BaseHolder holder, int position) {
-//        onBindingData(holder,data.get(position),position);
-        onBindingData(holder,null,position);
-    }
- 
-    protected abstract void onBindingData(BaseHolder<V> holder, T t, int position);
-    protected abstract V onBindingView(ViewGroup viewGroup);
- 
-
-}

app/src/main/java/com/aros/apron/base/BaseCallback.java

@@ -1,25 +0,0 @@
-package com.aros.apron.base;
-
-import com.aros.apron.tools.LogUtil;
-
-import org.eclipse.paho.android.service.MqttAndroidClient;
-import org.eclipse.paho.client.mqttv3.MqttException;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-
-
-public class BaseCallback {
-    public void publish(MqttAndroidClient client, String topic, MqttMessage message) {
-
-        if (client.isConnected()) {
-            try {
-                client.publish(topic, message);
-            } catch (MqttException e) {
-                e.printStackTrace();
-                LogUtil.log(this.getClass().getSimpleName(), "推送失败:" + topic + e.toString());
-            }
-        } else {
-            LogUtil.log(this.getClass().getSimpleName(), "推送失败:mqtt 未连接");
-        }
-
-    }
-}

app/src/main/java/com/aros/apron/base/BaseHolder.java

@@ -1,17 +0,0 @@
-package com.aros.apron.base;
-
-import androidx.recyclerview.widget.RecyclerView;
-import androidx.viewbinding.ViewBinding;
-
-public class BaseHolder<V extends ViewBinding> extends RecyclerView.ViewHolder {
-    private V viewBinding;
- 
-    public BaseHolder(V viewBinding) {
-        super(viewBinding.getRoot());
-        this.viewBinding = viewBinding;
-    }
- 
-    public V getViewBinding() {
-        return viewBinding;
-    }
-}

app/src/main/java/com/aros/apron/base/BaseManager.java

@@ -1,266 +0,0 @@
-package com.aros.apron.base;
-
-import com.aros.apron.constant.AMSConfig;
-import com.aros.apron.entity.FileUploadResult;
-import com.aros.apron.entity.MQMessage;
-import com.aros.apron.entity.MessageReply;
-import com.aros.apron.entity.Movement;
-import com.aros.apron.tools.LogUtil;
-import com.aros.apron.tools.MqttManager;
-import com.aros.apron.tools.PreferenceUtils;
-import com.google.gson.Gson;
-import com.google.gson.GsonBuilder;
-
-import org.eclipse.paho.android.service.MqttAndroidClient;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-
-import java.util.List;
-
-public abstract class BaseManager {
-    /**
-     * 发送多个 PSDK 负载信息
-     * @param psdkList 多个负载信息列表
-     */
-    public void sendMultiplePsdk2Server(List<?> psdkList){
-        try {
-            if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
-                Wrapper wrapper = new Wrapper(psdkList);
-                Gson gson = new GsonBuilder()
-                        .serializeNulls()
-                        .create();
-                String json = gson.toJson(wrapper);
-                MqttMessage mqttMessage = new MqttMessage(json.getBytes("UTF-8"));
-
-                mqttMessage.setQos(1);
-                MqttManager.getInstance().mqttAndroidClient.publish(
-                        AMSConfig.getInstance().getMqttPSDKPushEvent2ServerTopic(),
-                        mqttMessage
-                );
-            }
-        } catch (Exception e) {
-            LogUtil.log(TAG, "发送多个PSDK异常：" + e.toString());
-        }
-    }
-    public String TAG = getClass().getSimpleName();
-
-
-
-    class Wrapper {
-        private Object data;
-        public Wrapper(Object data) {
-            this.data = data;
-        }
-    }
-
-    public void sendMsg2Server( MQMessage entity, String msg) {
-        try {
-            if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
-                MessageReply messageReply = new MessageReply();
-                messageReply.setMsg_type(entity.getMsg_type());
-                messageReply.setResult(-1);
-                messageReply.setMsg(msg);
-                MqttMessage mqttMessage = new MqttMessage(new Gson().toJson(messageReply).getBytes("UTF-8"));
-                mqttMessage.setQos(1);
-                MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.getInstance().getMqttMsdkReplyMessage2ServerTopic(), mqttMessage);
-            } else {
-                LogUtil.log(TAG, "回复失败：mqtt 未连接");
-            }
-        } catch (Exception e) {
-            e.printStackTrace();
-            LogUtil.log(TAG, "回复异常：" + e.toString());
-        }
-    }
-
-
-    public void sendMsg2Server(MQMessage entity) {
-        try {
-            if (MqttManager.getInstance().mqttAndroidClient.isConnected() && entity != null) {
-                MessageReply messageReply = new MessageReply();
-                messageReply.setMsg_type(entity.getMsg_type());
-                messageReply.setResult(1);
-                MqttMessage mqttMessage = new MqttMessage(new Gson().toJson(messageReply).getBytes("UTF-8"));
-                mqttMessage.setQos(1);
-                MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.getInstance().getMqttMsdkReplyMessage2ServerTopic(), mqttMessage);
-
-            } else {
-                LogUtil.log(TAG, "回复失败：mqtt 未连接");
-            }
-        } catch (Exception e) {
-            LogUtil.log(TAG, "回复异常：" + e.toString());
-            e.printStackTrace();
-        }
-    }
-
-
-//    public static long lastTime;
-//
-//    public boolean isFlyClickTime() {
-//        long time = System.currentTimeMillis();
-//        if (time - lastTime > 1000||time-lastTime<0) {
-//            lastTime = time;
-//            return true;
-//        }
-//        return false;
-//    }
-
-    public void publish(MqttAndroidClient client, String topic, MqttMessage message) {
-        try {
-            if (client.isConnected()) {
-                client.publish(topic, message);
-//                LogUtil.log(TAG, "推送消息==》"+message);
-            } else {
-                LogUtil.log(TAG, "推送飞机状态失败:mqtt未连接");
-            }
-        } catch (Exception e) {
-            e.printStackTrace();
-            LogUtil.log(TAG, "推送飞机状态失败异常:" + topic + e.toString());
-        }
-    }
-
-    //任务流程事件
-    public void sendMissionExecuteEvents(String event) {
-        try {
-            if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
-                MqttMessage mqttMessage = null;
-                MessageReply message = new MessageReply();
-                message.setMsg_type(60113);
-                message.setResult(1);
-                message.setMsg(event);
-                mqttMessage = new MqttMessage(new Gson().toJson(message).getBytes("UTF-8"));
-                mqttMessage.setQos(2);
-                MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.getInstance().getMqttMsdkReplyMessage2ServerTopic(), mqttMessage);
-            } else {
-                LogUtil.log(TAG, event+"-流程发送失败：mqtt 未连接");
-            }
-        } catch (Exception e) {
-            LogUtil.log(TAG, "流程发送异常："+e.toString());
-            e.printStackTrace();
-        }
-    }
-
-
-
-    //媒体文件上传结果上报
-    public void sendFileUploadCallback(int msgType, FileUploadResult result) {
-        try {
-            if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
-                MqttMessage mqttMessage = null;
-                result.setMsg_type(msgType);
-                mqttMessage = new MqttMessage(new Gson().toJson(result).getBytes("UTF-8"));
-                mqttMessage.setQos(2);
-                MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.getInstance().getMqttMsdkReplyMessage2ServerTopic(), mqttMessage);
-                LogUtil.log(TAG, "文件上传发送成功："+new Gson().toJson(result));
-
-            } else {
-                LogUtil.log(TAG, "文件上传发送失败：mqtt 未连接");
-            }
-        } catch (Exception e) {
-            LogUtil.log(TAG, "文件上传发送异常：mqtt 未连接");
-            e.printStackTrace();
-        }
-    }
-
-
-    //推送航点动作组执行状态
-    public void sendMsgWaypointActionState2Server(String data,String index) {
-        try {
-            if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
-                MqttMessage mqttMessage = null;
-                MessageReply message = new MessageReply();
-                message.setMsg_type(60133);
-                message.setResult(1);
-                message.setWaypointActionState(data);
-                message.setWaypointIndex(index);
-                mqttMessage = new MqttMessage(new Gson().toJson(message).getBytes("UTF-8"));
-                mqttMessage.setQos(0);
-                MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.getInstance(). getMqttMsdkPushEvent2ServerTopic(), mqttMessage);
-
-            } else {
-                LogUtil.log(TAG, "推送航点动作组失败：mqtt 未连接");
-            }
-        } catch (Exception e) {
-            LogUtil.log(TAG, "推送航点动作组发送异常：mqtt 未连接");
-            e.printStackTrace();
-        }
-    }
-
-    //获取总飞行里程
-    public void sendAircraftTotalFlightDistance2Server( MQMessage mqMessage, double data) {
-        try {
-            if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
-                MqttMessage mqttMessage = null;
-                MessageReply message = new MessageReply();
-                message.setMsg_type(60132);
-                message.setResult(1);
-                message.setFlag(mqMessage.getFlag());
-                message.setAircraftTotalFlightDistance(data+"");
-                mqttMessage = new MqttMessage(new Gson().toJson(message).getBytes("UTF-8"));
-                mqttMessage.setQos(0);
-                MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.getInstance().getMqttMsdkReplyMessage2ServerTopic(), mqttMessage);
-            } else {
-                LogUtil.log(TAG, "总飞行里程发送失败：mqtt 未连接");
-            }
-        } catch (Exception e) {
-            LogUtil.log(TAG, "总飞行里程发送异常：mqtt 未连接");
-            e.printStackTrace();
-        }
-    }
-
-    //收到暂停航线命令后，发送经纬度给后端
-    public void sendLowBatteryRTHPosition2Server() {
-        try {
-            if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
-                MqttMessage mqttMessage = null;
-                MessageReply message = new MessageReply();
-                message.setMsg_type(60201);
-                message.setResult(1);
-                message.setLat(Movement.getInstance().getCurrentLatitude());
-                message.setLon(Movement.getInstance().getCurrentLongitude());
-                message.setTask_id(PreferenceUtils.getInstance().getTaskId());
-                message.setFlyingHeight(Movement.getInstance().getFlyingHeight()+"");
-                message.setWaypointIndex(Movement.getInstance().getCurrentWaypointIndex()+"");
-                mqttMessage = new MqttMessage(new Gson().toJson(message).getBytes("UTF-8"));
-                mqttMessage.setQos(2);
-                MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.getInstance().getMqttMsdkReplyMessage2ServerTopic(), mqttMessage);
-                LogUtil.log(TAG,"低电量返航发送成功");
-            } else {
-                LogUtil.log(TAG, "触发低电量返航发送失败：mqtt 未连接");
-            }
-        } catch (Exception e) {
-            LogUtil.log(TAG, "触发低电量返航发送失败：mqtt 未连接");
-            e.printStackTrace();
-        }
-    }
-
-    //自定义到达/离开航点的事件
-    public void sendCustomReachOrLeave2Server(String data,String index) {
-        try {
-            if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
-                MqttMessage mqttMessage = null;
-                MessageReply message = new MessageReply();
-                message.setMsg_type(60203);
-                message.setResult(1);
-                message.setWaypointActionState(data);
-                message.setWaypointIndex(index);
-                mqttMessage = new MqttMessage(new Gson().toJson(message).getBytes("UTF-8"));
-                mqttMessage.setQos(0);
-                MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.getInstance().getMqttMsdkPushEvent2ServerTopic(), mqttMessage);
-            } else {
-                LogUtil.log(TAG, "推送自定义到达/离开航点的事件失败：mqtt 未连接");
-            }
-        } catch (Exception e) {
-            LogUtil.log(TAG, "推送自定义到达/离开航点的事件异常：mqtt 未连接");
-            e.printStackTrace();
-        }
-    }
-
-
-    public boolean getGimbalAndCameraEnabled() {
-        if (!PreferenceUtils.getInstance().getNeedTriggerApronArucoLand() && !PreferenceUtils.getInstance().getNeedTriggerAlterArucoLand()&& Movement.getInstance().getGoHomeState()!=1&&Movement.getInstance().getGoHomeState()!=2) {
-            return true;
-        } else {
-            LogUtil.log(TAG, "降落时不允许操作云台/相机/虚拟摇杆");
-            return false;
-        }
-    }
-}

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

@@ -1,59 +0,0 @@
-package com.aros.apron.callback;
-
-import  android.os.Handler;
-
-import com.aros.apron.constant.AMSConfig;
-import com.aros.apron.tools.LogUtil;
-import com.aros.apron.tools.ToastUtil;
-
-import org.eclipse.paho.android.service.MqttAndroidClient;
-import org.eclipse.paho.client.mqttv3.IMqttActionListener;
-import org.eclipse.paho.client.mqttv3.IMqttToken;
-import org.eclipse.paho.client.mqttv3.MqttConnectOptions;
-import org.eclipse.paho.client.mqttv3.MqttException;
-
-public class MqttActionCallBack implements IMqttActionListener {
-
-    private final String TAG = "MqttActionCallBack";
-    private MqttAndroidClient mqttAndroidClient;
-    private MqttConnectOptions options;
-
-    public MqttActionCallBack(MqttAndroidClient mqttAndroidClient, MqttConnectOptions options) {
-        this.mqttAndroidClient = mqttAndroidClient;
-        this.options = options;
-    }
-
-    @Override
-    public void onSuccess(IMqttToken asyncActionToken) {
-        ToastUtil.showToast("MQtt连接成功");
-        LogUtil.log(TAG, "MQtt连接成功：-------");
-        try {
-            mqttAndroidClient.subscribe(AMSConfig.getInstance().getMqttServer2MsdkTopic(), 1);//订阅主题:注册
-        } catch (MqttException e) {
-            e.printStackTrace();
-        }
-    }
-
-    @Override
-    public void onFailure(IMqttToken asyncActionToken, Throwable exception) {
-        LogUtil.log(TAG, "MQtt连接失败:" + exception.toString());
-        try {
-            if (!mqttAndroidClient.isConnected()){
-                new Handler().postDelayed(new Runnable() {
-                    @Override
-                    public void run() {
-                        try {
-                            mqttAndroidClient.connect(options, null, MqttActionCallBack.this); // 再次尝试连接
-                        } catch (MqttException e) {
-                            LogUtil.log(TAG,"mqtt重连异常:"+e.toString());
-                            e.printStackTrace();
-                        }
-
-                    }
-                },1500);
-            }
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-    }
-}

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

@@ -1,635 +0,0 @@
-package com.aros.apron.callback;
-
-
-import static com.aros.apron.tools.Utils.getIDJIErrorMsg;
-
-import android.os.Handler;
-import android.os.Looper;
-import android.text.TextUtils;
-import android.util.Log;
-
-import androidx.annotation.NonNull;
-
-import com.aros.apron.app.ApronApp;
-import com.aros.apron.base.BaseManager;
-import com.aros.apron.constant.AMSConfig;
-import com.aros.apron.entity.ApronExecutionStatus;
-import com.aros.apron.entity.MQMessage;
-import com.aros.apron.entity.Movement;
-import com.aros.apron.manager.AMSLogManager;
-import com.aros.apron.manager.AlternateLandingManager;
-import com.aros.apron.manager.CameraManager;
-import com.aros.apron.manager.FlightManager;
-import com.aros.apron.manager.GimbalManager;
-import com.aros.apron.manager.MediaManager;
-import com.aros.apron.manager.MegaphoneManager;
-import com.aros.apron.manager.MissionManager;
-import com.aros.apron.manager.OffSiteLandingManager;
-import com.aros.apron.manager.PayloadWidgetManager;
-import com.aros.apron.manager.PerceptionManager;
-import com.aros.apron.manager.ResetHomePointManager;
-import com.aros.apron.manager.StickManager;
-import com.aros.apron.manager.StreamManager;
-import com.aros.apron.manager.SystemManager;
-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.google.gson.Gson;
-
-import org.eclipse.paho.android.service.MqttAndroidClient;
-import org.eclipse.paho.client.mqttv3.IMqttDeliveryToken;
-import org.eclipse.paho.client.mqttv3.MqttCallbackExtended;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.greenrobot.eventbus.EventBus;
-
-import java.io.UnsupportedEncodingException;
-
-import dji.v5.common.callback.CommonCallbacks;
-import dji.v5.common.error.IDJIError;
-import dji.v5.manager.aircraft.virtualstick.VirtualStickManager;
-
-public class MqttCallBack  extends BaseManager implements MqttCallbackExtended {
-
-    private String TAG = "MqttCallBack";
-
-
-    @Override
-    public void connectionLost(Throwable cause) {
-        LogUtil.log(TAG, "MQtt connectionLost:" + cause.toString());
-
-    }
-
-    //断线重连
-    public void reConnect() throws Exception {
-        if (null != MqttManager.getInstance().mqttAndroidClient) {
-            LogUtil.log(TAG, "MQtt reConnect-----");
-        }
-    }
-
-
-    public static boolean isReceiverMission = false;
-    private boolean isReceiverMissionAgain = false;
-    private boolean isWaiting30Min = false;
-
-    @Override
-    public void messageArrived(String topic, MqttMessage mqttMessage) {
-
-        String jsonString = null;
-        try {
-            jsonString = new String(mqttMessage.getPayload(), "UTF-8");
-        } catch (UnsupportedEncodingException e) {
-            Log.e(TAG, "解析异常");
-            throw new RuntimeException(e);
-        }
-        MQMessage message = new Gson().fromJson(jsonString, MQMessage.class);
-        switch (message.getMsg_type()) {
-            //检测遥控器与开发板是否连接
-            case 60001:
-                LogUtil.log(TAG, "收到命令：遥控器是否连接" + jsonString);
-                SystemManager.getInstance().checkRemoteControlPowerStatus(message);
-                break;
-            //检测飞机是否开机
-            case 60002:
-                LogUtil.log(TAG, "收到命令：飞机是否开机" + jsonString);
-                SystemManager.getInstance().checkAircraftPowerStatus(message);
-                break;
-            //航线和推流地址指令，收到后立即回复1，自行处理航线和推流逻辑
-            case 60003:
-                if (Movement.getInstance().getIsVirtualStickEnable() == 1) {
-                    VirtualStickManager.getInstance().disableVirtualStick(new CommonCallbacks.CompletionCallback() {
-                        @Override
-                        public void onSuccess() {
-                            LogUtil.log(TAG, "收到航线时取消虚拟摇杆");
-                        }
-
-                        @Override
-                        public void onFailure(@NonNull IDJIError error) {
-                            LogUtil.log(TAG, "收到航线时取消虚拟摇杆失败:" + getIDJIErrorMsg(error));
-
-                        }
-                    });
-                }
-                //默认规定不在返航时才可以上传航线
-                //收到航线时将状态设置为不可关机状态
-                ApronExecutionStatus.getInstance().setAircraftWaitShutDown(false);
-                Movement.getInstance().setTaskFail(false);
-                Movement.getInstance().setVirtualStickQuitMission(false);
-
-                if (Movement.getInstance().getGoHomeState() != 1 && Movement.getInstance().getGoHomeState() != 2) {
-                    PreferenceUtils.getInstance().setIsNewRoute(message.isNewRoute());
-                    PreferenceUtils.getInstance().setMissionType(message.getMissionType());
-                    if (!message.isNewRoute()) {
-                        LogUtil.log(TAG, "收到命令：航线" + jsonString);
-                        //如果是一键起飞航线，返回给前端就一直是一键起飞航线
-                        Movement.getInstance().setMissionType(message.getMissionType());
-                        // 0.起飞前检查图传
-                        checkVtxWithDelay(() -> {
-                            if (isReceiverMission == false) {
-                                isReceiverMission = true;
-                                // 1.收到60003直接回复
-                                StreamManager.getInstance().sendReply2Server(message);
-                                //2.检查航线参数
-                                if (!SystemManager.getInstance().checkMissionParameter(message)) {
-                                    return;
-                                }
-                                if (PreferenceUtils.getInstance().getCustomStreamType() == 3) {
-                                    // 3.开启推流
-                                    StreamManager.getInstance().startLive(message);
-                                }
-                                // 4.关闭避障
-                                PerceptionManager.getInstance().setPerceptionEnable(false);
-                                // 5.清空sd卡
-                                CameraManager.getInstance().formatStorage(null);
-
-                                MissionManager.getInstance().startTaskProcess(message);
-                                //可能遥控器上次流程结束未关机，就再次起飞
-                            } else {
-                                SystemManager.getInstance().replyAlreadyFlown(message);
-//                            if (isReceiverMissionAgain==false){
-//                                isReceiverMissionAgain=true;
-//                                new Handler().postDelayed(new Runnable() {
-//                                    @Override
-//                                    public void run() {
-//                                        //这里需要考虑taskFail和waitForShutDown等参数的重置
-//                                        isWaiting30Min=true;
-//                                    }
-//                                },30000);
-//                            }else{
-//                                //等待30秒，如果飞机
-//                                if (isWaiting30Min&&!Movement.getInstance().isPlaneWing()){
-//                                    RestartAPPTool.INSTANCE.restartApp(ApronApp.Companion.getContext());
-//                                }else{
-//                                    LogUtil.log(TAG,"重复收到航线,正在确认飞机状态后飞行:"+"isWaiting30Min="+isWaiting30Min+"isPlaneWing="+Movement.getInstance().isPlaneWing());
-//                                }
-//                            }
-                            }
-
-                        });
-
-                    } else {
-                        LogUtil.log(TAG, "收到命令：指点飞行" + jsonString);
-                        // 1.收到60003直接回复
-                        StreamManager.getInstance().sendReply2Server(message);
-                        // 2.下载航线
-                        MissionManager.getInstance().startTaskProcess(message);
-                    }
-                } else {
-                    LogUtil.log(TAG, "返航中,无法上传航线");
-                }
-                break;
-            //航线暂停
-            case 60004:
-                LogUtil.log(TAG, "收到命令：航线暂停" + jsonString);
-                MissionManager.getInstance().pauseMission(message);
-                break;
-            //航线继续
-            case 60005:
-                LogUtil.log(TAG, "收到命令：航线继续" + jsonString);
-                MissionManager.getInstance().resumeMission(message);
-                break;
-            //返航
-            case 60006:
-                LogUtil.log(TAG, "收到命令：返航" + jsonString);
-                if(Movement.getInstance().isIsflyalter()==false){
-                    FlightManager.getInstance().startGoHome(message);
-                }else{
-                    sendMsg2Server( message, "飞备降禁止返航" );
-                }
-                break;
-            //获取控制权
-            case 60007:
-                LogUtil.log(TAG, "收到命令：获取控制权" + jsonString);
-                StickManager.getInstance().setVirtualStickModeEnabled(message);
-                break;
-            //虚拟摇杆数据
-            case 60008:
-                LogUtil.log(TAG, "收到命令：虚拟摇杆数据" + jsonString);
-                StickManager.getInstance().sendVirtualStickAdvancedParam(message);
-                break;
-            //云台角度控制
-            case 60009:
-                LogUtil.log(TAG, "收到命令：云台角度控制" + jsonString);
-                GimbalManager.getInstance().gimbalRotateByRelativeAngle(message);
-                break;
-            case 60024:
-                LogUtil.log(TAG, "收到命令：云台角度控制绝对角度" + jsonString);
-               // GimbalManager.getInstance().gimbalRotateByAbsoluteAngle(message);
-                break;
-
-            //收到此指令表示舱门已关闭，等待归中60012后可调用60011关机
-            case 60010:
-//                LogUtil.log(TAG, "收到命令：舱门已关闭" + jsonString);
-//                SystemManager.getInstance().droneShutdown(message);
-                break;
-            //收到60012表示已归中，立即回复60012，且上传相册后可以发送60011关闭飞机和遥控器
-            //收到60012表示服务端在确认飞机此时时候处于可关机的状态
-            case 60012:
-                LogUtil.log(TAG, "收到命令：飞机是否可关机" + jsonString);
-                SystemManager.getInstance().aircraftStoredReply(message);
-                break;
-            //收到60014表示Server已收到架次开始
-            case 60014:
-                LogUtil.log(TAG, "收到Server架次开始");
-                break;
-            //收到60015表示Server已收到架次结束
-            case 60015:
-                LogUtil.log(TAG, "收到Server架次结束");
-                break;
-            //取消控制权
-            case 60016:
-                LogUtil.log(TAG, "收到命令：取消控制权" + jsonString);
-                StickManager.getInstance().setVirtualStickModeDisable(message);
-                break;
-            //切换视频源 1广角 2变焦 3红外
-            case 60017:
-                LogUtil.log(TAG, "收到命令：切换视频源" + jsonString);
-                CameraManager.getInstance().setCameraVideoStreamSource(message);
-                break;
-            //设置相机模式 0拍照 1录像
-            case 60018:
-                LogUtil.log(TAG, "收到命令：设置相机模式" + jsonString);
-                CameraManager.getInstance().setCameraMode(message);
-                break;
-            //开始拍照
-            case 60019:
-                LogUtil.log(TAG, "收到命令：开始拍照" + jsonString);
-                CameraManager.getInstance().startShootPhoto(message);
-                break;
-            //开始录像
-            case 60020:
-                LogUtil.log(TAG, "收到命令：开始录像" + jsonString);
-                CameraManager.getInstance().startRecordVideo(message);
-                break;
-            //停止录像
-            case 60021:
-                LogUtil.log(TAG, "收到命令：停止录像" + jsonString);
-                CameraManager.getInstance().stopRecordVideo(message);
-                break;
-            //设置变焦倍率
-            case 60022:
-                //CameraManager.getInstance().setCameraZoomRatios(message);
-                LogUtil.log(TAG, "收到命令：设置变焦倍率" + jsonString);
-                new Handler(Looper.getMainLooper()).postDelayed(() ->
-                        CameraManager.getInstance().setCameraZoomRatios(message), 500);
-                break;
-            //设置红外变焦倍率
-            case 60023:
-                LogUtil.log(TAG, "收到命令：设置红外变焦倍率" + jsonString);
-                new Handler(Looper.getMainLooper()).postDelayed(() ->
-                        CameraManager.getInstance().setThermalZoomRatios(message), 500);
-               // CameraManager.getInstance().setThermalZoomRatios(message);
-                break;
-            //开始推流，可配置推流视角
-            case 60100:
-                LogUtil.log(TAG, "收到命令：开始推流" + jsonString);
-                StreamManager.getInstance().startLive(message);
-                break;
-            //设置推流分辨率
-            case 60101:
-                LogUtil.log(TAG, "收到命令：设置推流分辨率" + jsonString);
-                StreamManager.getInstance().setLiveStreamQuality(message);
-                break;
-            //设置限高
-            case 60102:
-                LogUtil.log(TAG, "收到命令：设置限高" + jsonString);
-                FlightManager.getInstance().setHeightLimit(message);
-                break;
-            //设置限远
-            case 60103:
-                LogUtil.log(TAG, "收到命令：设置限远" + jsonString);
-                FlightManager.getInstance().setDistanceLimit(message);
-                break;
-            //设置限远是否启用
-            case 60104:
-                LogUtil.log(TAG, "收到命令：设置限远是否启用" + jsonString);
-                FlightManager.getInstance().setDistanceLimitEnabled(message);
-                break;
-            //设置红外分屏
-            case 60105:
-                LogUtil.log(TAG, "收到命令：设置红外分屏" + jsonString);
-                CameraManager.getInstance().setThermalDisplayMode(message);
-                break;
-            //取消返航
-            case 60106:
-                LogUtil.log(TAG, "收到命令：取消返航" + jsonString);
-                FlightManager.getInstance().stopGoHome(message);
-                break;
-            //终止航线
-            case 60109:
-                LogUtil.log(TAG, "收到命令：终止航线" + jsonString);
-                MissionManager.getInstance().stopMission(message);
-                break;
-            //开始喊话
-            case 60110:
-                LogUtil.log(TAG, "收到命令：开始喊话" + jsonString);
-                MegaphoneManager.getInstance().startMegaphonePlay(message);
-                break;
-            //结束喊话
-            case 60111:
-                LogUtil.log(TAG, "收到命令：结束喊话" + jsonString);
-                MegaphoneManager.getInstance().stopPlay(message);
-                break;
-            //一键飞往紧急备降点
-            case 60112:
-                LogUtil.log(TAG, "收到命令：备降点降落" + jsonString);
-                AlternateLandingManager.getInstance().startTaskProcess(message);
-                break;
-            //降落
-            case 60113:
-                LogUtil.log(TAG, "收到命令：降落" + jsonString);
-                FlightManager.getInstance().startAutoLanding(message);
-                break;
-            //取消降落
-            case 60114:
-                LogUtil.log(TAG, "收到命令：取消降落" + jsonString);
-                FlightManager.getInstance().stopAutoLanding(message);
-                break;
-            //解锁抛投器
-            case 60115:
-                LogUtil.log(TAG, "收到命令：解锁" + jsonString);
-                //PayloadWidgetManager.getInstance().unlock(message);
-                break;
-            //锁定抛投器
-            case 60116:
-                LogUtil.log(TAG, "收到命令：锁定" + jsonString);
-               // PayloadWidgetManager.getInstance().lock(message);
-                break;
-            //抛投
-            case 60117:
-                LogUtil.log(TAG, "收到命令：抛投" + jsonString);
-                //PayloadWidgetManager.getInstance().throwOne(message);
-                break;
-            //一键全抛
-            case 60118:
-                LogUtil.log(TAG, "收到命令：一键全投" + jsonString);
-                //PayloadWidgetManager.getInstance().throwAll(message);
-                break;
-            //设置备降点
-//            case 60119:
-//                LogUtil.log(TAG, "收到命令：设置备降点" + jsonString);
-//                AlternateLandingManager.getInstance().setAlternatePoint(message);
-//                break;
-            //开始定时拍照
-            case 60120:
-                LogUtil.log(TAG, "收到命令：开始定时拍照" + jsonString);
-                CameraManager.getInstance().startTakePhotoWithInterval(message);
-                break;
-            //结束拍照
-            case 60121:
-                LogUtil.log(TAG, "收到命令：结束拍照" + jsonString);
-                CameraManager.getInstance().stopShootPhoto(message);
-                break;
-            //重置相机
-            case 60122:
-                LogUtil.log(TAG, "收到命令：重置相机设置" + jsonString);
-                CameraManager.getInstance().resetCameraSetting(message);
-                break;
-            //云台回中
-            case 60123:
-                LogUtil.log(TAG, "收到命令：云台回中" + jsonString);
-                GimbalManager.getInstance().gimbalResetWithPitchAndYaw(message);
-                break;
-            //设置对焦模式
-            case 60124:
-                LogUtil.log(TAG, "收到命令：设置对焦模式" + jsonString);
-                CameraManager.getInstance().setCameraFocusMode(message);
-                break;
-            //指点对焦
-            case 60125:
-                LogUtil.log(TAG, "收到命令：指点对焦" + jsonString);
-                CameraManager.getInstance().tapZoomAtTarget(message);
-                break;
-            //设置照片xmp写入
-            case 60126:
-                LogUtil.log(TAG, "收到命令：写入exif" + jsonString);
-                MediaManager.getInstance().setMediaFileXMPCustomInfo(message);
-                break;
-            //设置曝光模式
-            case 60127:
-                LogUtil.log(TAG, "收到命令：设置曝光模式" + jsonString);
-                CameraManager.getInstance().setExposureMode(message);
-                break;
-            //设置ev
-            case 60128:
-                LogUtil.log(TAG, "收到命令：设置曝光补偿" + jsonString);
-                CameraManager.getInstance().setExposureCompensation(message);
-                break;
-            //发送数据到psdk
-            case 60129:
-                LogUtil.log(TAG, "收到命令：发送数据到psdk" + jsonString);
-                //PayloadWidgetManager.getInstance().sendMsgToPayload(message);
-                break;
-            //停止推流
-            case 60130:
-                LogUtil.log(TAG, "收到命令：停止推流" + jsonString);
-                StreamManager.getInstance().stopLive(message);
-                break;
-            //设置对焦值
-            case 60131:
-                LogUtil.log(TAG, "收到命令：设置对焦值" + jsonString);
-                CameraManager.getInstance().setCameraFocusRingValue(message);
-                break;
-            //获取里程
-            case 60132:
-                LogUtil.log(TAG, "收到命令：获取里程" + jsonString);
-                FlightManager.getInstance().getAircraftTotalFlightDistance(message);
-                break;
-            //上传媒体文件
-            case 60134:
-//                LogUtil.log(TAG, "收到命令：获取里程" + jsonString);
-//                FlightManager.getInstance().getAircraftTotalFlightDistance(message);
-                break;
-            //异地降落
-            case 60135:
-                LogUtil.log(TAG, "收到命令：异地降落" + jsonString);
-                OffSiteLandingManager.getInstance().startTaskProcess(message);
-                break;
-            //刷新返航点
-            case 60136:
-                LogUtil.log(TAG, "收到命令：重置返航点" + jsonString);
-                ResetHomePointManager.getInstance().startTaskProcess(message);
-                break;
-            //设置纯净模式
-            case 60137:
-                LogUtil.log(TAG, "收到命令：设置纯净模式" + jsonString);
-                PreferenceUtils.getInstance().setIsCleanMode(message.getIsCleanMode() == 1 ? true : false);
-                EventBus.getDefault().post(FLAG_RESET_CLEAN_MODE);
-                break;
-            //设置测温模式
-            case 60138:
-                LogUtil.log(TAG, "收到命令：设置测温模式" + jsonString);
-                CameraManager.getInstance().setThermalTemperatureMeasureMode(message);
-                break;
-            //设置测温点
-            case 60139:
-                LogUtil.log(TAG, "收到命令：设置测温点" + jsonString);
-                CameraManager.getInstance().setThermalSpotMetersurePoint(message);
-                break;
-            //设置测温区域
-            case 60140:
-                LogUtil.log(TAG, "收到命令：设置测温区域" + jsonString);
-                CameraManager.getInstance().setThermalRegionMetersureArea(message);
-                break;
-            //切换直播视角
-            case 60141:
-                LogUtil.log(TAG, "收到命令：切换直播视角" + jsonString);
-                StreamManager.getInstance().switchCurrentView(message);
-                break;
-            //设置云台控制的最大速度
-            case 60142:
-                LogUtil.log(TAG, "收到命令：设置云台控制的最大速度" + jsonString);
-                GimbalManager.getInstance().setGimbalControlMaxSpeed(message);
-                break;
-            //紧急悬停
-            case 60143:
-                LogUtil.log(TAG, "收到命令：设置紧急悬停" + jsonString);
-                FlightManager.getInstance().emergencyHover(message);
-                break;
-            //设置失控动作
-            case 60144:
-                LogUtil.log(TAG, "收到命令：设置失控动作" + jsonString);
-                FlightManager.getInstance().setFailsafeAction(message);
-                break;
-            //设置返航高度
-            case 60145:
-                LogUtil.log(TAG, "收到命令：设置返航高度" + jsonString);
-                FlightManager.getInstance().setGoHomeHeight(message);
-                break;
-            //设置低电量报警阈值
-            case 60146:
-                LogUtil.log(TAG, "收到命令：设置低电量报警阈值" + jsonString);
-                FlightManager.getInstance().setLowBatteryWarningThreshold(message);
-                break;
-            //设置严重低电量报警阈值
-            case 60147:
-                LogUtil.log(TAG, "收到命令：设置严重低电量报警阈值" + jsonString);
-                FlightManager.getInstance().setSeriousLowBatteryWarningThreshold(message);
-                break;
-            //设置智能低电量返航
-            case 60148:
-                LogUtil.log(TAG, "收到命令：设置智能低电量返航" + jsonString);
-                FlightManager.getInstance().setLowBatteryRTHEnabled(message);
-                break;
-            //指点对焦
-            case 60149:
-                LogUtil.log(TAG, "收到命令：指点对焦" + jsonString);
-                break;
-            //云台偏航回中
-            case 60150:
-                LogUtil.log(TAG, "收到命令：云台偏航回中" + jsonString);
-                GimbalManager.getInstance().gimbalResetWithYaw(message);
-                break;
-            //云台偏航向下
-            case 60151:
-                LogUtil.log(TAG, "收到命令：云台偏航向下" + jsonString);
-                GimbalManager.getInstance().gimbalDownWithPitch(message);
-                break;
-            //云台向下
-            case 60152:
-                LogUtil.log(TAG, "收到命令：云台向下" + jsonString);
-                GimbalManager.getInstance().gimbalDownWithPitchAndYaw(message);
-                break;
-            //开启低速转浆
-            case 60153:
-                LogUtil.log(TAG, "收到命令：开启低速转浆" + jsonString);
-                FlightManager.getInstance().startPropellerRotation(message);
-                break;
-            //停止低速转浆
-            case 60154:
-                LogUtil.log(TAG, "收到命令：停止低速转浆" + jsonString);
-                FlightManager.getInstance().stopPropellerRotation(message);
-                break;
-            //msdk日志上传
-            case 60666:
-                LogUtil.log(TAG, "收到命令：日志上传" + jsonString);
-                AMSLogManager.getInstance().enableLogList(message);
-                break;
-            //设置PSDK控件值
-            case 60667:
-                LogUtil.log(TAG, "收到命令：设置psdk控件" + jsonString);
-                PayloadWidgetManager.getInstance().setWidget(message);
-                break;
-            //监听机库收到AMS命令后的回执
-            case 60999:
-                if (!TextUtils.isEmpty(message.getStatus())) {
-                    switch (message.getStatus()) {
-                        case "0":
-                            LogUtil.log(TAG, "收到命令：服务端响应关舱门" + jsonString);
-                            break;
-                        case "1":
-                            ApronExecutionStatus.getInstance().setServerReplyDockOpen(true);
-                            LogUtil.log(TAG, "收到命令：服务端响应开舱门" + jsonString);
-                            break;
-                        case "2":
-                            ApronExecutionStatus.getInstance().setServerReplyDockIn(true);
-                            LogUtil.log(TAG, "收到命令：服务端响应入库" + jsonString);
-                            break;
-                        case "3":
-                            ApronExecutionStatus.getInstance().setServerReplyDroneShut(true);
-                            LogUtil.log(TAG, "收到命令：服务端响应关机" + jsonString);
-                            break;
-                    }
-                } else {
-                    LogUtil.log(TAG, "收到命令：机库动作参数有误" + jsonString);
-                }
-                break;
-
-        }
-    }
-
-    public static final String FLAG_RESET_CLEAN_MODE = "FLAG_RESET_CLEAN_MODE";
-
-
-    @Override
-    public void deliveryComplete(IMqttDeliveryToken token) {
-
-    }
-
-    @Override
-    public void connectComplete(boolean reconnect, String serverURI) {
-        try {
-            if (reconnect) {//重新订阅
-                LogUtil.log(TAG, "MQtt ConnectComplete:" + serverURI);
-                MqttManager.getInstance().mqttAndroidClient.subscribe(AMSConfig.getInstance().getMqttServer2MsdkTopic(), 1);//订阅主题:注册
-                // publish(topic,"注册",0);
-            }
-        } catch (Exception e) {
-            LogUtil.log(TAG, "MQtt ConnectException:" + e.toString());
-        }
-    }
-
-    private Handler handler = new Handler(Looper.getMainLooper());
-    private Runnable checkVtxRunnable;
-
-    private void checkVtxWithDelay(Runnable onVtxReady) {
-
-        if (Movement.getInstance().isVtx()) {
-            // 图传正常，直接继续后面的流程
-            PreferenceUtils.getInstance().setRestartAMSTimes(0);
-            LogUtil.log(TAG, "图传正常，继续执行任务流程");
-            onVtxReady.run();
-            return;
-        }
-
-        LogUtil.log(TAG, "未检测到图传，5 秒后再次确认...");
-
-        handler.postDelayed(() -> {
-            if (!Movement.getInstance().isVtx()) {
-                // 图传仍未恢复 → 执行重启逻辑
-                int times = PreferenceUtils.getInstance().getRestartAMSTimes();
-                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());
-                }
-            } else {
-                // 图传恢复 → 执行后续逻辑
-                PreferenceUtils.getInstance().setRestartAMSTimes(0);
-                LogUtil.log(TAG, "图传在延迟期间恢复，继续执行任务流程");
-                onVtxReady.run();
-            }
-        }, 5000);
-    }
-
-}

app/src/main/java/com/aros/apron/constant/AMSConfig.java

@@ -1,153 +0,0 @@
-package com.aros.apron.constant;
-
-/**
- * MQTT参数配置
- */
-public class AMSConfig {
-
-    private AMSConfig() {
-    }
-
-    private static class MqttConfigHolder {
-        private static final AMSConfig INSTANCE = new AMSConfig();
-    }
-
-    public static AMSConfig getInstance() {
-        return AMSConfig.MqttConfigHolder.INSTANCE;
-    }
-
-
-    private String mqttServerUri;
-    private String userName;
-    private String password;
-    private String serialNumber;
-
-    private String mqttServer2MsdkTopic;
-    private String mqttMsdkReplyMessage2ServerTopic;
-    private String mqttMsdkPushMessage2ServerTopic;
-    private String mqttMsdkPushEvent2ServerTopic;
-
-    private String mqttPSDKPushEvent2ServerTopic;
-
-    private String alternateLandingTimes;
-
-    public String getMqttPSDKPushEvent2ServerTopic() {
-        return mqttPSDKPushEvent2ServerTopic;
-    }
-
-    public void setMqttPSDKPushEvent2ServerTopic(String mqttPSDKPushEvent2ServerTopic) {
-        this.mqttPSDKPushEvent2ServerTopic = mqttPSDKPushEvent2ServerTopic;
-    }
-
-    public String getAlternateLandingTimes() {
-        return alternateLandingTimes;
-    }
-
-    public void setAlternateLandingTimes(String alternateLandingTimes) {
-        this.alternateLandingTimes = alternateLandingTimes;
-    }
-
-
-    public String getMqttMsdkPushEvent2ServerTopic() {
-        return mqttMsdkPushEvent2ServerTopic;
-    }
-
-    public void setMqttMsdkPushEvent2ServerTopic(String mqttMsdkPushEvent2ServerTopic) {
-        this.mqttMsdkPushEvent2ServerTopic = mqttMsdkPushEvent2ServerTopic;
-    }
-
-    public String getMqttServer2MsdkTopic() {
-        return mqttServer2MsdkTopic;
-    }
-
-    public void setMqttServer2MsdkTopic(String mqttServer2MsdkTopic) {
-        this.mqttServer2MsdkTopic = mqttServer2MsdkTopic;
-    }
-
-    public String getMqttMsdkReplyMessage2ServerTopic() {
-        return mqttMsdkReplyMessage2ServerTopic;
-    }
-
-    public void setMqttMsdkReplyMessage2ServerTopic(String mqttMsdkReplyMessage2ServerTopic) {
-        this.mqttMsdkReplyMessage2ServerTopic = mqttMsdkReplyMessage2ServerTopic;
-    }
-
-    public String getMqttMsdkPushMessage2ServerTopic() {
-        return mqttMsdkPushMessage2ServerTopic;
-    }
-
-    public void setMqttMsdkPushMessage2ServerTopic(String mqttMsdkPushMessage2ServerTopic) {
-        this.mqttMsdkPushMessage2ServerTopic = mqttMsdkPushMessage2ServerTopic;
-    }
-
-    public String getMqttServerUri() {
-        return mqttServerUri;
-    }
-
-    public void setMqttServerUri(String mqttServerUri) {
-        this.mqttServerUri = mqttServerUri;
-    }
-
-    public String getUserName() {
-        return userName;
-    }
-
-    public void setUserName(String userName) {
-        this.userName = userName;
-    }
-
-    public String getPassword() {
-        return password;
-    }
-
-    public void setPassword(String password) {
-        this.password = password;
-    }
-
-    public String getSerialNumber() {
-        return serialNumber;
-    }
-
-    public void setSerialNumber(String serialNumber) {
-        this.serialNumber = serialNumber;
-    }
-
-    /**
-     * 服务器IP地址
-     */
-    //朋业测试
-//    public static String SOCKET_HOST = "tcp://212.64.64.69:1883";
-//    public static String USER_NAME = "admin";
-//    public static String USER_PASSWORD = "1qw23er45t";
-    //西安机库
-//    public static String SERIAL_NUMBER = "323RFDSVDTHBDFVSD";
-    //太仓单开门
-//    public static String SERIAL_NUMBER = "1581F5FJB229Q00A003W";
-    //太仓御三机库
-//    public static String SERIAL_NUMBER = "1581F5FJB229Q00A003Y";
-    //太仓御三机库2
-//    public static String SERIAL_NUMBER = "1581F5FJB229Q00A003A";
-    //太仓ARS350
-//    public static String SERIAL_NUMBER = "1581F5FJB229Q00A003980890809";
-
-    /**
-     * 接收指令
-     */
-//    public String MQTT_SERVER_2_MSDK_TOPIC = "nest/" + serialNumber + "/uav_services";
-
-    /**
-     * 回复结果
-     */
-//    public static String MQTT_MSDK_REPLY_MESSAGE_2_SERVER_TOPIC = "nest/" + SERIAL_NUMBER + "/uav_services_reply";
-
-    /**
-     * 推送飞行状态
-     */
-//    public static String MQTT_MSDK_PUSH_MESSAGE_2_SERVER_TOPIC = "nest/" + SERIAL_NUMBER + "/uav_status_message";
-
-    /**
-     * 推送gis飞行状态（GIS需要定频2S）
-     */
-//    public static String MQTT_MSDK_PUSH_GIS_MESSAGE_2_SERVER_TOPIC = "nest/" + SERIAL_NUMBER + "/uav_gis_message";
-
-}

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

@@ -1,57 +0,0 @@
-package com.aros.apron.entity;
-
-
-public class ApronExecutionStatus {
-
-    private static class ApronexecutionHolder {
-        private static final ApronExecutionStatus INSTANCE = new ApronExecutionStatus();
-    }
-
-    private ApronExecutionStatus() {
-    }
-
-    public static final ApronExecutionStatus getInstance() {
-        return ApronexecutionHolder.INSTANCE;
-    }
-
-    //服务端响应了机库入库指令
-    private boolean serverReplyDockIn;
-    //服务端响应了飞机关机指令
-    private boolean serverReplyDroneShut;
-    //服务端是否响应了开舱门指令
-    private boolean serverReplyDockOpen;
-    //用于确认飞机此时可以关机的状态(APC流程默认)
-    private boolean isAircraftWaitShutDown=true;
-
-    public boolean isAircraftWaitShutDown() {
-        return isAircraftWaitShutDown;
-    }
-
-    public void setAircraftWaitShutDown(boolean aircraftWaitShutDown) {
-        isAircraftWaitShutDown = aircraftWaitShutDown;
-    }
-
-    public boolean isServerReplyDockOpen() {
-        return serverReplyDockOpen;
-    }
-
-    public void setServerReplyDockOpen(boolean serverReplyDockOpen) {
-        this.serverReplyDockOpen = serverReplyDockOpen;
-    }
-
-    public boolean isServerReplyDockIn() {
-        return serverReplyDockIn;
-    }
-
-    public void setServerReplyDockIn(boolean serverReplyDockIn) {
-        this.serverReplyDockIn = serverReplyDockIn;
-    }
-
-    public boolean isServerReplyDroneShut() {
-        return serverReplyDroneShut;
-    }
-
-    public void setServerReplyDroneShut(boolean serverReplyDroneShut) {
-        this.serverReplyDroneShut = serverReplyDroneShut;
-    }
-}

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

@@ -1,55 +0,0 @@
-package com.aros.apron.entity;
-
-import org.opencv.core.Mat;
-
-import java.util.Objects;
-
-public class ArucoMarker {
-    private int id;
-    private Mat conner;
-    private float size;//二维码实际尺寸
-
-
-    public ArucoMarker(int id, Mat conner, float size) {
-        this.id = id;
-        this.conner = conner;
-        this.size = size;
-    }
-
-    public float getSize() {
-        return size;
-    }
-
-    public void setSize(float size) {
-        this.size = size;
-    }
-
-    public int getId() {
-        return id;
-    }
-
-    public void setId(int id) {
-        this.id = id;
-    }
-
-    public Mat getConner() {
-        return conner;
-    }
-
-    public void setConner(Mat conner) {
-        this.conner = conner;
-    }
-
-    @Override
-    public boolean equals(Object o) {
-        if (this == o) return true;
-        if (!(o instanceof ArucoMarker)) return false;
-        ArucoMarker that = (ArucoMarker) o;
-        return getId() == that.getId() && getConner().equals(that.getConner());
-    }
-
-    @Override
-    public int hashCode() {
-        return Objects.hash(getId(), getConner());
-    }
-}

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

@@ -1,45 +0,0 @@
-package com.aros.apron.entity;
-
-public enum ArucoMarkerDimensions {
-    ID_1(1, 0.18f),
-    ID_2(2, 0.18f),
-    ID_3(3, 0.18f),
-    ID_4(4, 0.18f),
-    ID_5(5, 0.15f),
-    ID_6(6, 0.24f),
-
-    ID_11(11, 0.03f),
-    ID_12(12, 0.03f),
-    ID_13(13, 0.03f),
-    ID_14(14, 0.03f),
-    ID_15(15, 0.03f),
-    ID_16(16, 0.03f),
-    ID_17(17, 0.03f),
-    ID_18(18, 0.03f),
-    ID_19(19, 0.03f);
-
-    private final int id;
-    private final float size;
-
-    ArucoMarkerDimensions(int id, float size) {
-        this.id = id;
-        this.size = size;
-    }
-
-    public int getId() {
-        return id;
-    }
-
-    public float getSize() {
-        return size;
-    }
-
-    public static float getSizeById(int id) {
-        for (ArucoMarkerDimensions dimension : ArucoMarkerDimensions.values()) {
-            if (dimension.getId() == id) {
-                return dimension.getSize();
-            }
-        }
-        throw new IllegalArgumentException("No dimension found for ID: " + id);
-    }
-}

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

@@ -1,44 +0,0 @@
-package com.aros.apron.entity;
-
-
-import java.util.ArrayList;
-import java.util.List;
-
-import dji.sdk.wpmz.value.mission.WaylineExecuteWaypoint;
-import dji.sdk.wpmz.value.mission.WaylineWaypoint;
-
-public class CurrentWayline {
-
-    private static class CurrentWaylineHolder {
-        private static final CurrentWayline INSTANCE = new CurrentWayline();
-    }
-
-    private CurrentWayline() {
-    }
-
-    public static final CurrentWayline getInstance() {
-        return CurrentWaylineHolder.INSTANCE;
-    }
-
-    private List<WaylineExecuteWaypoint> waypoints=new ArrayList<>();
-
-
-    public List<WaylineExecuteWaypoint> getWaypoints() {
-        return waypoints;
-    }
-
-    public void setWaypoints(List<WaylineExecuteWaypoint> waypoints) {
-        this.waypoints = waypoints;
-    }
-
-    private List<WaylineExecuteWaypoint> routeWaypoints=new ArrayList<>();
-
-
-    public List<WaylineExecuteWaypoint> getRouteWaypoints() {
-        return routeWaypoints;
-    }
-
-    public void setRouteWaypoints(List<WaylineExecuteWaypoint> waypoints) {
-        this.routeWaypoints = waypoints;
-    }
-}

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

@@ -1,113 +0,0 @@
-package com.aros.apron.entity;
-
-public class FileUploadResult {
-    private int msg_type;
-    private int result;
-    private String url;
-    private String buckName;
-    private String objectKey;
-    private String task_id;
-    private String fileName;
-    private int offIndex;
-    private int fileNum;
-    private Long fileSize;
-    private String progress;
-    private String msg;
-
-    public String getProgress() {
-        return progress;
-    }
-
-    public void setProgress(String progress) {
-        this.progress = progress;
-    }
-
-    public String getMsg() {
-        return msg;
-    }
-
-    public void setMsg(String msg) {
-        this.msg = msg;
-    }
-
-    public int getResult() {
-        return result;
-    }
-
-    public void setResult(int result) {
-        this.result = result;
-    }
-
-    public String getTask_id() {
-        return task_id;
-    }
-
-    public void setTask_id(String task_id) {
-        this.task_id = task_id;
-    }
-
-    public Long getFileSize() {
-        return fileSize;
-    }
-
-    public void setFileSize(Long fileSize) {
-        this.fileSize = fileSize;
-    }
-
-    public String getUrl() {
-        return url;
-    }
-
-    public void setUrl(String url) {
-        this.url = url;
-    }
-
-    public int getMsg_type() {
-        return msg_type;
-    }
-
-    public void setMsg_type(int msg_type) {
-        this.msg_type = msg_type;
-    }
-
-    public String getFileName() {
-        return fileName;
-    }
-
-    public void setFileName(String fileName) {
-        this.fileName = fileName;
-    }
-
-    public String getObjectKey() {
-        return objectKey;
-    }
-
-    public void setObjectKey(String objectKey) {
-        this.objectKey = objectKey;
-    }
-
-    public String getBuckName() {
-        return buckName;
-    }
-
-    public void setBuckName(String buckName) {
-        this.buckName = buckName;
-    }
-
-    public int getOffIndex() {
-        return offIndex;
-    }
-
-    public void setOffIndex(int offIndex) {
-        this.offIndex = offIndex;
-    }
-
-    public int getFileNum() {
-        return fileNum;
-    }
-
-    public void setFileNum(int fileNum) {
-        this.fileNum = fileNum;
-    }
-
-}

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

@@ -1,102 +0,0 @@
-package com.aros.apron.entity;
-
-import java.util.List;
-
-public class FlightMission {
-    private String id;
-
-    private Integer templateId;
-    private Integer waylineId;
-    private Integer missionId;
-
-    public Integer getMissionId() {
-        return missionId;
-    }
-
-    public void setMissionId(Integer missionId) {
-        this.missionId = missionId;
-    }
-
-    public Integer getTemplateId() {
-        return templateId;
-    }
-
-    public void setTemplateId(Integer templateId) {
-        this.templateId = templateId;
-    }
-
-    private Double speed=5.0;
-
-
-    /**
-     * 安全起飞高度[1.5, 1500] （高度模式：相对起飞点高度）
-     * * 注：飞行器起飞后，先爬升至该高度，再根据“飞向首航点模式”的设置飞至首航点。该元素仅在飞行器未起飞时生效。
-     */
-    private Float takeOffSecurityHeight;
-
-    //航线结束动作
-    private String finishAction;
-
-
-    public String getFinishAction() {
-        return finishAction;
-    }
-
-    public void setFinishAction(String finishAction) {
-        this.finishAction = finishAction;
-    }
-
-
-
-    /**
-     * 航点信息
-     * @return
-     */
-    private List<MissionPoint> points;
-
-    public List<MissionPoint> getPoints() {
-        return points;
-    }
-
-    public void setPoints(List<MissionPoint> points) {
-        this.points = points;
-    }
-
-    public String getId() {
-        return id;
-    }
-
-    public void setId(String id) {
-        this.id = id;
-    }
-
-
-    public Integer getWaylineId() {
-        return waylineId;
-    }
-
-    public void setWaylineId(Integer waylineId) {
-        this.waylineId = waylineId;
-    }
-
-
-    public Double getSpeed() {
-        return speed;
-    }
-
-    public void setSpeed(Double speed) {
-        this.speed = speed;
-    }
-
-
-
-
-
-    public Float getTakeOffSecurityHeight() {
-        return takeOffSecurityHeight;
-    }
-
-    public void setTakeOffSecurityHeight(Float takeOffSecurityHeight) {
-        this.takeOffSecurityHeight = takeOffSecurityHeight;
-    }
-}

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

@@ -1,699 +0,0 @@
-package com.aros.apron.entity;
-
-public class MQMessage {
-
-    private int result;
-    private String kmz_url;
-    private String rtmp_push_url;
-    private String upload_url;
-    private String access_key;
-    private String secret_key;
-    private String bucketName;
-    private String objectKey;
-    //最低起飞电量
-    String min_takeoff_electricity;
-    //强制返航电量
-    String force_return_electricity;
-    private String region;
-    private String flight_name;
-    private int streamIndex=0;//0 云台视角 1FPV
-    private int liveStreamQuality;//设置推流分辨率 1标清 2高清 3超清
-    private int cameraVideoStreamSource;//相机视频流 1广角 2变焦 3红外
-    private int cameraMode;//设置相机拍照录像模式 0拍照  1录像
-    private int cameraZoomRatios;//设置变焦镜头倍率 (isContinuousH20T为true,关键倍率[2,5,10,20,40,80,160,200])
-    private int thermalZoomRatios;//设置红外镜头倍率 (1x 2x 4x 8x)
-    private int heightLimit;//限高
-    private int heightLimitEnabled;//限高是否启用 1启用 0不启用
-    private int distanceLimitEnabled;//限远是否启用 1启用 0不启用
-    private int distanceLimit;//限远
-    private String flightId;//航线id
-    private String task_id;//任务ID(开始推流、起飞、降落都推送一次)
-    private double zoom;//指点变焦
-    private boolean newRoute;//是否是空中下发航线
-    private int missionType;//任务类型 一键起飞航线，定频推送只会推送3
-
-    private int x=0;//前后
-    private int y=0;//左右
-    private int z=0;//上下
-    private int r=0;//自旋
-    private int megaphoneVolume;//喊话器音量
-    private int megaphonePlayMode;//喊话器播放模式
-    private String megaphoneWord;//喊话器文字内容
-    private int cameraExposureMode;//曝光模式
-    private int cameraExposureCompensation;//曝光补偿数值
-    private int AELockEnabled;//曝光锁定
-    private double shootInterval;//拍照间隔时间
-    private int shootCount;//拍照的张数
-    private int msg_type;
-    private String alternate_lat;//设置备降点经纬度
-    private String alternate_lng;
-    private String offSitePointLat;//设置异地降落经纬度
-    private String offSitePointLon;
-    private String safe_land_height; //备降点安全起飞高度
-    private double zoomTargetX; //坐标x,范围0-1
-    private double zoomTargetY; //坐标y,范围0-1
-    private int cameraFocusMode; //对焦模式
-    private String xmpInfo;//写入exif信息
-    private String payloadData;//发送数据给psdk
-    private int cameraFocusRingValue;//设置相机对焦值
-    private String status;//收到机库状态的回执消息
-    private String flag;//后端用来区别里程(用作AI)
-    private int isCleanMode;//是否清洁模式
-    private int thermalTemperatureMeasureMode;//红外测温模式
-    private String metersurePointX;//点测温位置
-    private String metersurePointY;
-    private String metersureAreaX;//区域测温矩形左上角起始位置
-    private String metersureAreaY;
-    private String metersureAreaWidth;//测温矩形长度
-    private String metersureAreaHeight;//测温矩形宽度
-    private int currentView;//直播视频源
-    private int gimbalControlSpeed;//云台控制速度
-    private int failsafeAction;//设置飞行器的失控行为类型 0悬停  1降落 2返航
-    private int goHomeHeight;//设置飞行器的返航高度
-    private int lowBatteryWarningThreshold;//设置电池低电量警告的阈值。该数值为百分比，范围：[15,50]。当电池电量低于该阀值时，飞行器将进行低电量报警
-    private int seriousLowBatteryWarningThreshold;//电池严重低电量警告的阈值。该值默认为10%，Matrice 30 Series不可设置。当电池电量低于该阀值时，飞行器将进行返航操作。
-    private int lowBatteryRTHEnabled;//智能低电量返航功能。
-    private int widgetValue;//设置负载控件值
-    private int widgetType;//设置负载控件类型
-    private int widgetIndex;//设置负载控件索引
-
-    private int index;//设置负载控件索引（与widgetIndex相同，用于兼容不同的JSON格式）
-    private int psdk_index;//PSDK负载索引
-    private int value;
-
-    public int getValue() {
-        return value;
-    }
-
-    public void setValue(int value) {
-        this.value = value;
-    }
-
-    private String PsdkText;
-
-
-    public String getPsdkText() {
-        return PsdkText;
-    }
-
-    public void setPsdkText(String psdkText) {
-        PsdkText = psdkText;
-    }
-
-    //默认让他等于0
-    private int gimindex=0;//云台索引 0/1
-
-    public int getGimindex() {
-        return gimindex;
-    }
-
-    public void setGimindex(int gimindex) {
-        this.gimindex = gimindex;
-    }
-
-    public int getWidgetValue() {
-        return widgetValue;
-    }
-
-    public void setWidgetValue(int widgetValue) {
-        this.widgetValue = widgetValue;
-    }
-
-    public int getWidgetType() {
-        return widgetType;
-    }
-
-    public void setWidgetType(int widgetType) {
-        this.widgetType = widgetType;
-    }
-
-    public int getWidgetIndex() {
-        return widgetIndex;
-    }
-
-    public void setWidgetIndex(int widgetIndex) {
-        this.widgetIndex = widgetIndex;
-    }
-
-    public int getPsdk_index() {
-        return psdk_index;
-    }
-
-    public void setPsdk_index(int psdk_index) {
-        this.psdk_index = psdk_index;
-    }
-
-    public int getIndex() {
-        return index;
-    }
-
-    public void setIndex(int index) {
-        this.index = index;
-    }
-
-    public int getMissionType() {
-        return missionType;
-    }
-
-    public void setMissionType(int missionType) {
-        this.missionType = missionType;
-    }
-
-    public String getMin_takeoff_electricity() {
-        return min_takeoff_electricity;
-    }
-
-    public void setMin_takeoff_electricity(String min_takeoff_electricity) {
-        this.min_takeoff_electricity = min_takeoff_electricity;
-    }
-
-    public String getForce_return_electricity() {
-        return force_return_electricity;
-    }
-
-    public void setForce_return_electricity(String force_return_electricity) {
-        this.force_return_electricity = force_return_electricity;
-    }
-
-    public String getAlternate_lat() {
-        return alternate_lat;
-    }
-
-    public void setAlternate_lat(String alternate_lat) {
-        this.alternate_lat = alternate_lat;
-    }
-
-    public String getAlternate_lng() {
-        return alternate_lng;
-    }
-
-    public void setAlternate_lng(String alternate_lng) {
-        this.alternate_lng = alternate_lng;
-    }
-
-    public String getSafe_land_height() {
-        return safe_land_height;
-    }
-
-    public void setSafe_land_height(String safe_land_height) {
-        this.safe_land_height = safe_land_height;
-    }
-
-    public String getBucketName() {
-        return bucketName;
-    }
-
-    public void setBucketName(String bucketName) {
-        this.bucketName = bucketName;
-    }
-
-    public String getObjectKey() {
-        return objectKey;
-    }
-
-    public void setObjectKey(String objectKey) {
-        this.objectKey = objectKey;
-    }
-
-    public boolean isNewRoute() {
-        return newRoute;
-    }
-
-    public void setNewRoute(boolean newRoute) {
-        this.newRoute = newRoute;
-    }
-
-    public double getZoom() {
-        return zoom;
-    }
-
-    public void setZoom(double zoom) {
-        this.zoom = zoom;
-    }
-
-    public String getTask_id() {
-        return task_id;
-    }
-
-    public void setTask_id(String task_id) {
-        this.task_id = task_id;
-    }
-
-    public int getHeightLimitEnabled() {
-        return heightLimitEnabled;
-    }
-
-    public void setHeightLimitEnabled(int heightLimitEnabled) {
-        this.heightLimitEnabled = heightLimitEnabled;
-    }
-
-    public int getFailsafeAction() {
-        return failsafeAction;
-    }
-
-    public void setFailsafeAction(int failsafeAction) {
-        this.failsafeAction = failsafeAction;
-    }
-
-    public int getGoHomeHeight() {
-        return goHomeHeight;
-    }
-
-    public void setGoHomeHeight(int goHomeHeight) {
-        this.goHomeHeight = goHomeHeight;
-    }
-
-    public int getLowBatteryWarningThreshold() {
-        return lowBatteryWarningThreshold;
-    }
-
-    public void setLowBatteryWarningThreshold(int lowBatteryWarningThreshold) {
-        this.lowBatteryWarningThreshold = lowBatteryWarningThreshold;
-    }
-
-    public int getSeriousLowBatteryWarningThreshold() {
-        return seriousLowBatteryWarningThreshold;
-    }
-
-    public void setSeriousLowBatteryWarningThreshold(int seriousLowBatteryWarningThreshold) {
-        this.seriousLowBatteryWarningThreshold = seriousLowBatteryWarningThreshold;
-    }
-
-    public int getLowBatteryRTHEnabled() {
-        return lowBatteryRTHEnabled;
-    }
-
-    public void setLowBatteryRTHEnabled(int lowBatteryRTHEnabled) {
-        this.lowBatteryRTHEnabled = lowBatteryRTHEnabled;
-    }
-
-    public int getCurrentView() {
-        return currentView;
-    }
-
-    public void setCurrentView(int currentView) {
-        this.currentView = currentView;
-    }
-
-    public String getMetersurePointX() {
-        return metersurePointX;
-    }
-
-    public void setMetersurePointX(String metersurePointX) {
-        this.metersurePointX = metersurePointX;
-    }
-
-    public String getMetersurePointY() {
-        return metersurePointY;
-    }
-
-    public void setMetersurePointY(String metersurePointY) {
-        this.metersurePointY = metersurePointY;
-    }
-
-    public String getMetersureAreaX() {
-        return metersureAreaX;
-    }
-
-    public void setMetersureAreaX(String metersureAreaX) {
-        this.metersureAreaX = metersureAreaX;
-    }
-
-    public String getMetersureAreaY() {
-        return metersureAreaY;
-    }
-
-    public void setMetersureAreaY(String metersureAreaY) {
-        this.metersureAreaY = metersureAreaY;
-    }
-
-    public String getMetersureAreaWidth() {
-        return metersureAreaWidth;
-    }
-
-    public void setMetersureAreaWidth(String metersureAreaWidth) {
-        this.metersureAreaWidth = metersureAreaWidth;
-    }
-
-    public String getMetersureAreaHeight() {
-        return metersureAreaHeight;
-    }
-
-    public void setMetersureAreaHeight(String metersureAreaHeight) {
-        this.metersureAreaHeight = metersureAreaHeight;
-    }
-
-    public int getThermalTemperatureMeasureMode() {
-        return thermalTemperatureMeasureMode;
-    }
-
-    public void setThermalTemperatureMeasureMode(int thermalTemperatureMeasureMode) {
-        this.thermalTemperatureMeasureMode = thermalTemperatureMeasureMode;
-    }
-
-    public int getIsCleanMode() {
-        return isCleanMode;
-    }
-
-    public void setIsCleanMode(int isCleanMode) {
-        this.isCleanMode = isCleanMode;
-    }
-
-    public String getOffSitePointLat() {
-        return offSitePointLat;
-    }
-
-    public void setOffSitePointLat(String offSitePointLat) {
-        this.offSitePointLat = offSitePointLat;
-    }
-
-    public String getOffSitePointLon() {
-        return offSitePointLon;
-    }
-
-    public void setOffSitePointLon(String offSitePointLon) {
-        this.offSitePointLon = offSitePointLon;
-    }
-
-    public String getFlag() {
-        return flag;
-    }
-
-    public void setFlag(String flag) {
-        this.flag = flag;
-    }
-
-    public String getStatus() {
-        return status;
-    }
-
-    public void setStatus(String status) {
-        this.status = status;
-    }
-
-    public String getXmpInfo() {
-        return xmpInfo;
-    }
-
-    public void setXmpInfo(String xmpInfo) {
-        this.xmpInfo = xmpInfo;
-    }
-
-    public String getPayloadData() {
-        return payloadData;
-    }
-
-    public void setPayloadData(String payloadData) {
-        this.payloadData = payloadData;
-    }
-
-    public int getCameraFocusRingValue() {
-        return cameraFocusRingValue;
-    }
-
-    public void setCameraFocusRingValue(int cameraFocusRingValue) {
-        this.cameraFocusRingValue = cameraFocusRingValue;
-    }
-
-    public int getCameraFocusMode() {
-        return cameraFocusMode;
-    }
-
-    public void setCameraFocusMode(int cameraFocusMode) {
-        this.cameraFocusMode = cameraFocusMode;
-    }
-
-    public double getZoomTargetX() {
-        return zoomTargetX;
-    }
-
-    public void setZoomTargetX(double zoomTargetX) {
-        this.zoomTargetX = zoomTargetX;
-    }
-
-    public double getZoomTargetY() {
-        return zoomTargetY;
-    }
-
-    public void setZoomTargetY(double zoomTargetY) {
-        this.zoomTargetY = zoomTargetY;
-    }
-
-    public double getShootInterval() {
-        return shootInterval;
-    }
-
-    public void setShootInterval(double shootInterval) {
-        this.shootInterval = shootInterval;
-    }
-
-    public int getShootCount() {
-        return shootCount;
-    }
-
-    public void setShootCount(int shootCount) {
-        this.shootCount = shootCount;
-    }
-
-
-    public int getAELockEnabled() {
-        return AELockEnabled;
-    }
-
-    public void setAELockEnabled(int AELockEnabled) {
-        this.AELockEnabled = AELockEnabled;
-    }
-
-    public int getCameraExposureMode() {
-        return cameraExposureMode;
-    }
-
-    public void setCameraExposureMode(int cameraExposureMode) {
-        this.cameraExposureMode = cameraExposureMode;
-    }
-
-    public int getCameraExposureCompensation() {
-        return cameraExposureCompensation;
-    }
-
-    public void setCameraExposureCompensation(int cameraExposureCompensation) {
-        this.cameraExposureCompensation = cameraExposureCompensation;
-    }
-
-    public String getMegaphoneWord() {
-        return megaphoneWord;
-    }
-
-    public void setMegaphoneWord(String megaphoneWord) {
-        this.megaphoneWord = megaphoneWord;
-    }
-
-    public int getMegaphoneVolume() {
-        return megaphoneVolume;
-    }
-
-    public void setMegaphoneVolume(int megaphoneVolume) {
-        this.megaphoneVolume = megaphoneVolume;
-    }
-
-    public int getMegaphonePlayMode() {
-        return megaphonePlayMode;
-    }
-
-    public void setMegaphonePlayMode(int megaphonePlayMode) {
-        this.megaphonePlayMode = megaphonePlayMode;
-    }
-
-    public String getFlightId() {
-        return flightId;
-    }
-
-    public void setFlightId(String flightId) {
-        this.flightId = flightId;
-    }
-
-    public int getHeightLimit() {
-        return heightLimit;
-    }
-
-    public void setHeightLimit(int heightLimit) {
-        this.heightLimit = heightLimit;
-    }
-
-    public int getDistanceLimitEnabled() {
-        return distanceLimitEnabled;
-    }
-
-    public void setDistanceLimitEnabled(int distanceLimitEnabled) {
-        this.distanceLimitEnabled = distanceLimitEnabled;
-    }
-
-    public int getDistanceLimit() {
-        return distanceLimit;
-    }
-
-    public void setDistanceLimit(int distanceLimit) {
-        this.distanceLimit = distanceLimit;
-    }
-
-    public int getCameraVideoStreamSource() {
-        return cameraVideoStreamSource;
-    }
-
-    public void setCameraVideoStreamSource(int cameraVideoStreamSource) {
-        this.cameraVideoStreamSource = cameraVideoStreamSource;
-    }
-
-    public int getThermalZoomRatios() {
-        return thermalZoomRatios;
-    }
-
-    public void setThermalZoomRatios(int thermalZoomRatios) {
-        this.thermalZoomRatios = thermalZoomRatios;
-    }
-
-    public int getCameraZoomRatios() {
-        return cameraZoomRatios;
-    }
-
-    public void setCameraZoomRatios(int cameraZoomRatios) {
-        this.cameraZoomRatios = cameraZoomRatios;
-    }
-
-    public int getCameraMode() {
-        return cameraMode;
-    }
-
-    public void setCameraMode(int cameraMode) {
-        this.cameraMode = cameraMode;
-    }
-
-
-    public int getLiveStreamQuality() {
-        return liveStreamQuality;
-    }
-
-    public void setLiveStreamQuality(int liveStreamQuality) {
-        this.liveStreamQuality = liveStreamQuality;
-    }
-
-    public int getStreamIndex() {
-        return streamIndex;
-    }
-
-    public void setStreamIndex(int streamIndex) {
-        this.streamIndex = streamIndex;
-    }
-
-    public String getFlight_name() {
-        return flight_name;
-    }
-
-    public void setFlight_name(String flight_name) {
-        this.flight_name = flight_name;
-    }
-
-    public String getRegion() {
-        return region;
-    }
-
-    public void setRegion(String region) {
-        this.region = region;
-    }
-
-    public String getUpload_url() {
-        return upload_url;
-    }
-
-    public void setUpload_url(String upload_url) {
-        this.upload_url = upload_url;
-    }
-
-    public String getAccess_key() {
-        return access_key;
-    }
-
-    public void setAccess_key(String access_key) {
-        this.access_key = access_key;
-    }
-
-    public String getSecret_key() {
-        return secret_key;
-    }
-
-    public void setSecret_key(String secret_key) {
-        this.secret_key = secret_key;
-    }
-
-    public int getX() {
-        return x;
-    }
-
-    public void setX(int x) {
-        this.x = x;
-    }
-
-    public int getY() {
-        return y;
-    }
-
-    public void setY(int y) {
-        this.y = y;
-    }
-
-    public int getZ() {
-        return z;
-    }
-
-    public void setZ(int z) {
-        this.z = z;
-    }
-
-    public int getR() {
-        return r;
-    }
-
-    public void setR(int r) {
-        this.r = r;
-    }
-
-    public int getResult() {
-        return result;
-    }
-
-    public void setResult(int result) {
-        this.result = result;
-    }
-
-    public int getMsg_type() {
-        return msg_type;
-    }
-
-    public void setMsg_type(int msg_type) {
-        this.msg_type = msg_type;
-    }
-
-    public String getKmz_url() {
-        return kmz_url;
-    }
-
-    public void setKmz_url(String kmz_url) {
-        this.kmz_url = kmz_url;
-    }
-
-    public String getRtmp_push_url() {
-        return rtmp_push_url;
-    }
-
-    public void setRtmp_push_url(String rtmp_push_url) {
-        this.rtmp_push_url = rtmp_push_url;
-    }
-
-    public int getGimbalControlSpeed() {
-        return gimbalControlSpeed;
-    }
-
-    public void setGimbalControlSpeed(int gimbalControlSpeed) {
-        this.gimbalControlSpeed = gimbalControlSpeed;
-    }
-}

app/src/main/java/com/aros/apron/entity/MSDKInfo.kt

@@ -1,19 +0,0 @@
-package com.aros.apron.entity
-
-import com.aros.apron.models.DEFAULT_STR
-import dji.sdk.keyvalue.value.product.ProductType
-import dji.v5.common.register.PackageProductCategory
-import dji.v5.utils.inner.SDKConfig
-
-data class MSDKInfo(val SDKVersion: String = DEFAULT_STR) {
-    var buildVer: String = DEFAULT_STR
-    var isDebug: Boolean = false
-    var packageProductCategory: PackageProductCategory? = null
-    var productType: ProductType = ProductType.UNKNOWN
-    var networkInfo: String = DEFAULT_STR
-    var countryCode: String = DEFAULT_STR
-    var firmwareVer: String = DEFAULT_STR
-    var isLDMLicenseLoaded: String = DEFAULT_STR
-    var isLDMEnabled: String = DEFAULT_STR
-    var coreInfo: SDKConfig.CoreInfo? = null
-}

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

@@ -1,24 +0,0 @@
-package com.aros.apron.entity;
-
-public class MessageApron {
-
-
-    private int msg_type;
-    private boolean open;
-
-    public int getMsg_type() {
-        return msg_type;
-    }
-
-    public void setMsg_type(int msg_type) {
-        this.msg_type = msg_type;
-    }
-
-    public boolean isOpen() {
-        return open;
-    }
-
-    public void setOpen(boolean open) {
-        this.open = open;
-    }
-}

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

@@ -1,114 +0,0 @@
-package com.aros.apron.entity;
-
-public class MessageReply {
-
-    private int msg_type;
-    private int result;
-    private String msg;
-    private byte[] payloadData;//接收psdk数据
-    private String waypointActionState;//推送航点动作状态
-    private String waypointIndex;//推送航点index
-    private String aircraftTotalFlightDistance;//总体飞行距离，单位：米。飞行器断电后不会清零。
-    private String flag;
-    private String task_id;
-    private String lat;
-    private String lon;
-    private String flyingHeight;//飞行高度
-
-    public String getFlyingHeight() {
-        return flyingHeight;
-    }
-
-    public void setFlyingHeight(String flyingHeight) {
-        this.flyingHeight = flyingHeight;
-    }
-
-    public String getLat() {
-        return lat;
-    }
-
-    public void setLat(String lat) {
-        this.lat = lat;
-    }
-
-    public String getLon() {
-        return lon;
-    }
-
-    public void setLon(String lon) {
-        this.lon = lon;
-    }
-
-    public String getTask_id() {
-        return task_id;
-    }
-
-    public void setTask_id(String task_id) {
-        this.task_id = task_id;
-    }
-
-    public String getFlag() {
-        return flag;
-    }
-
-    public void setFlag(String flag) {
-        this.flag = flag;
-    }
-
-    public String getWaypointIndex() {
-        return waypointIndex;
-    }
-
-    public void setWaypointIndex(String waypointIndex) {
-        this.waypointIndex = waypointIndex;
-    }
-
-    public String getWaypointActionState() {
-        return waypointActionState;
-    }
-
-    public void setWaypointActionState(String waypointActionState) {
-        this.waypointActionState = waypointActionState;
-    }
-
-    public String getAircraftTotalFlightDistance() {
-        return aircraftTotalFlightDistance;
-    }
-
-    public void setAircraftTotalFlightDistance(String aircraftTotalFlightDistance) {
-        this.aircraftTotalFlightDistance = aircraftTotalFlightDistance;
-    }
-
-    public byte[] getPayloadData() {
-        return payloadData;
-    }
-
-    public void setPayloadData(byte[] payloadData) {
-        this.payloadData = payloadData;
-    }
-
-    public String getMsg() {
-        return msg;
-    }
-
-    public void setMsg(String msg) {
-        this.msg = msg;
-    }
-
-    public int getResult() {
-        return result;
-    }
-
-    public void setResult(int result) {
-        this.result = result;
-    }
-
-    public int getMsg_type() {
-        return msg_type;
-    }
-
-    public void setMsg_type(int msg_type) {
-        this.msg_type = msg_type;
-    }
-
-}

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

@@ -1,129 +0,0 @@
-package com.aros.apron.entity;
-
-import java.util.Date;
-import java.util.List;
-
-public class MissionPoint {
-    private String lng;
-    private String lat;
-    private double waypointSpeed;
-    //航点执行高度
-    private double executeHeight;
-
-    // 录像：0,
-    // 拍照：1,
-    // 悬停：2
-    // 停止录像：3
-    private List<Action> actions;
-
-    //执行时间
-    private Date executeTime;
-
-    public double getExecuteHeight() {
-        return executeHeight;
-    }
-
-    public void setExecuteHeight(double executeHeight) {
-        this.executeHeight = executeHeight;
-    }
-
-
-    public String getLng() {
-        return lng;
-    }
-
-    public void setLng(String lng) {
-        this.lng = lng;
-    }
-
-    public String getLat() {
-        return lat;
-    }
-
-    public void setLat(String lat) {
-        this.lat = lat;
-    }
-
-    public double getSpeed() {
-        return waypointSpeed;
-    }
-
-    public void setSpeed(double speed) {
-        this.waypointSpeed = speed;
-    }
-
-
-    public Date getExecuteTime() {
-        return executeTime;
-    }
-
-    public void setExecuteTime(Date executeTime) {
-        this.executeTime = executeTime;
-    }
-
-    public List<Action> getActions() {
-        return actions;
-    }
-
-    public void setActions(List<Action> actions) {
-        this.actions = actions;
-    }
-
-    public static class Action{
-        //1 变焦 2拍照 3开始录像 4结束录像 5云台偏航角 6云台俯仰角 7飞行器偏航角 8悬停
-        private int type;
-        private int zoom;
-        private int gimbalYawAngle;
-        private int gimbalPitchAngle;
-        private int aircraftHeading;
-        private int hoverTime;
-
-        public int getType() {
-            return type;
-        }
-
-        public void setType(int type) {
-            this.type = type;
-        }
-
-        public int getZoom() {
-            return zoom;
-        }
-
-        public void setZoom(int zoom) {
-            this.zoom = zoom;
-        }
-
-        public int getGimbalYawAngle() {
-            return gimbalYawAngle;
-        }
-
-        public void setGimbalYawAngle(int gimbalYawAngle) {
-            this.gimbalYawAngle = gimbalYawAngle;
-        }
-
-        public int getGimbalPitchAngle() {
-            return gimbalPitchAngle;
-        }
-
-        public void setGimbalPitchAngle(int gimbalPitchAngle) {
-            this.gimbalPitchAngle = gimbalPitchAngle;
-        }
-
-        public int getAircraftHeading() {
-            return aircraftHeading;
-        }
-
-        public void setAircraftHeading(int aircraftHeading) {
-            this.aircraftHeading = aircraftHeading;
-        }
-
-        public int getHoverTime() {
-            return hoverTime;
-        }
-
-        public void setHoverTime(int hoverTime) {
-            this.hoverTime = hoverTime;
-        }
-    }
-}

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

@@ -1,66 +0,0 @@
-package com.aros.apron.entity;
-
-public class PayloadInfo {
-    /**
-     * 当前负载索引类型
-     * LEFT_OR_MAIN	负载挂载在飞行器的左弦（主）位置。
-     * RIGHT	负载挂载在飞行器的右弦位置。
-     * UP	负载挂载在飞行器的上方位置。
-     * EXTERNAL	负载挂载在飞行器的扩展位置。在M300 RTK上，该位置为OSDK口。在M350 RTK上，该位置为E-PORT口。
-     * PORT_1	负载挂载在飞行器的Port1位置
-     * PORT_2	负载挂载在飞行器的Port2位置
-     * PORT_3	负载挂载在飞行器的Port3位置
-     * PORT_4	负载挂载在飞行器的Port4位置
-     * PORT_5	负载挂载在飞行器的Port5位置
-     * PORT_6	负载挂载在飞行器的Port6位置
-     * PORT_7	负载挂载在飞行器的Port7位置
-     */
-    private String payloadIndexType;
-
-    /**
-     * 负载产品名称
-     */
-    private String productName;
-
-    /**
-     * 负载序列号
-     */
-    private String serialNumber;
-
-    /**
-     * 负载固件版本
-     */
-    private String firmwareVersion;
-
-    public String getPayloadIndexType() {
-        return payloadIndexType;
-    }
-
-    public void setPayloadIndexType(String payloadIndexType) {
-        this.payloadIndexType = payloadIndexType;
-    }
-
-    public String getProductName() {
-        return productName;
-    }
-
-    public void setProductName(String productName) {
-        this.productName = productName;
-    }
-
-    public String getSerialNumber() {
-        return serialNumber;
-    }
-
-    public void setSerialNumber(String serialNumber) {
-        this.serialNumber = serialNumber;
-    }
-
-    public String getFirmwareVersion() {
-        return firmwareVersion;
-    }
-
-    public void setFirmwareVersion(String firmwareVersion) {
-        this.firmwareVersion = firmwareVersion;
-    }
-}

app/src/main/java/com/aros/apron/fly/AlternatePoint.java

@@ -1,34 +0,0 @@
-package com.aros.apron.fly;
-
-/**
- * 备降点
- */
-public class AlternatePoint {
-    private float altitude;
-    private double longitude;
-    private double latitude;
-
-    public float getAltitude() {
-        return altitude;
-    }
-
-    public void setAltitude(float altitude) {
-        this.altitude = altitude;
-    }
-
-    public double getLongitude() {
-        return longitude;
-    }
-
-    public void setLongitude(double longitude) {
-        this.longitude = longitude;
-    }
-
-    public double getLatitude() {
-        return latitude;
-    }
-
-    public void setLatitude(double latitude) {
-        this.latitude = latitude;
-    }
-}

app/src/main/java/com/aros/apron/fly/FlyToAlternatePointManager.java

@@ -1,306 +0,0 @@
-//package com.aros.apron.fly;
-//
-//import androidx.annotation.NonNull;
-//
-//import com.aros.apron.entity.Movement;
-//import com.aros.apron.tools.LogUtil;
-//import com.google.gson.Gson;
-//
-//import java.util.Timer;
-//import java.util.TimerTask;
-//
-//import dji.sdk.keyvalue.key.FlightControllerKey;
-//import dji.sdk.keyvalue.key.KeyTools;
-//import dji.sdk.keyvalue.value.common.EmptyMsg;
-//import dji.sdk.keyvalue.value.flightcontroller.FlightCoordinateSystem;
-//import dji.sdk.keyvalue.value.flightcontroller.RollPitchControlMode;
-//import dji.sdk.keyvalue.value.flightcontroller.VerticalControlMode;
-//import dji.sdk.keyvalue.value.flightcontroller.VirtualStickFlightControlParam;
-//import dji.sdk.keyvalue.value.flightcontroller.YawControlMode;
-//import dji.v5.common.callback.CommonCallbacks;
-//import dji.v5.common.error.IDJIError;
-//import dji.v5.manager.KeyManager;
-//import dji.v5.manager.aircraft.virtualstick.VirtualStickManager;
-//
-//
-//public class FlyToAlternatePointManager {
-//    private String TAG = "FlyToAlternatePointManager";
-//
-//    private AlternatePoint mWaypoint = new AlternatePoint();
-//    private float mSpeed = 3.0f;
-//    private double aircraftLng, aircraftLat, aircraftAlt, aircraftPich, aircraftRoll, aircraftYaw;
-//    //判定是否到点的误差
-//    private double delta = 1;
-//    private double heightDelta = 5;
-//    //任务是否开始执行
-//    private boolean isRunning = false;
-//    //航点任务是否开始执行，到达第一个点后才开始
-//    private boolean isMissionRunning = false;
-//    private int currentIndex = 0;
-//    private Timer mSendVirtualStickDataTimer;
-//    private SendVirtualStickDataTask mSendVirtualStickDataTask;
-//    private float mPitch;
-//    private float mRoll;
-//    private float mYaw;
-//    private float mThrottle;
-//    VirtualStickFlightControlParam param;
-//
-//    private FlyToAlternatePointManager() {
-//    }
-//
-//    private static class FlyToAlternatePointHolder {
-//        private static final FlyToAlternatePointManager INSTANCE = new FlyToAlternatePointManager();
-//    }
-//
-//    public static FlyToAlternatePointManager getInstance() {
-//        return FlyToAlternatePointManager.FlyToAlternatePointHolder.INSTANCE;
-//    }
-//
-//    public void setAlternateCinfig(AlternatePoint waypoint, float speed) {
-//        mWaypoint = waypoint;
-//        mSpeed = speed;
-//        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
-//        if (isConnect != null && isConnect) {
-//            if (param == null) {
-//                param = new VirtualStickFlightControlParam();
-//                param.setRollPitchControlMode(RollPitchControlMode.VELOCITY);
-//                param.setYawControlMode(YawControlMode.ANGULAR_VELOCITY);
-//                param.setVerticalControlMode(VerticalControlMode.POSITION);
-//                param.setRollPitchCoordinateSystem(FlightCoordinateSystem.BODY);
-//            }
-//            VirtualStickManager.getInstance().sendVirtualStickAdvancedParam(param);
-//        }
-//    }
-//
-//    /**
-//     * 这里开始任务
-//     */
-//    public void start() {
-//        currentIndex = 0;
-//        isRunning = true;
-//        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
-//        if (isConnect != null && isConnect) {
-//            VirtualStickManager.getInstance().enableVirtualStick(new CommonCallbacks.CompletionCallback() {
-//                @Override
-//                public void onSuccess() {
-//                    VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(true);
-//                    flyToPoint(mWaypoint);
-//                }
-//
-//                @Override
-//                public void onFailure(@NonNull IDJIError error) {
-//                    LogUtil.log(TAG, "备降点控制权获取失败:" + error.description());
-//                }
-//            });
-//        } else {
-//            LogUtil.log(TAG, "备降点控制权获取失败:飞控未连接");
-//        }
-//    }
-//
-//    /**
-//     * 飞到指定点
-//     * @param point
-//     */
-//    private void flyToPoint(AlternatePoint point) {
-//        //还没启动就不管
-//        if (!isRunning) {
-//            return;
-//        }
-//        //这两个固定，全程使用前进，全程保持高度
-//        mPitch = 0;
-//        mThrottle = point.getAltitude();
-//        //还没获取到飞机当前状态时不管
-//        if (Double.isNaN(aircraftLng) || Double.isNaN((aircraftLat))) {
-//            return;
-//        }
-//        //先飞到指定高度再继续，比较安全
-//        if (Math.abs(aircraftAlt - point.getAltitude()) > heightDelta) {
-//            executeVirtualStickDataTask();
-//            return;
-//        }
-//        double[] targetXY = GaussKruegerConverter.LngLat2XY(point.getLongitude(), point.getLatitude());
-//        double[] nowXY = GaussKruegerConverter.LngLat2XY(aircraftLng, aircraftLat);
-//        double dx = targetXY[0] - nowXY[0];
-//        double dy = targetXY[1] - nowXY[1];
-//        double d = Math.sqrt(dx * dx + dy * dy);
-//        //到点
-//        if (d < delta) {
-//            //这里可以判断是否飞到备降点上方
-//            LogUtil.log(TAG, "到达备降点上方");
-//            return;
-//        }
-//        //没到点继续飞
-//        mYaw = (float) calcDeg(nowXY, targetXY);
-//        mRoll = (float) calcSpeed(nowXY, targetXY);
-//        executeVirtualStickDataTask();
-//    }
-//
-//    /***
-//     * 结束任务
-//     */
-//    public void stop() {
-//        isMissionRunning = false;
-//        isRunning = false;
-//        land();
-//        disableVirtualStickMode();
-//    }
-//
-//    /**
-//     * 禁止虚拟摇杆
-//     */
-//    private void disableVirtualStickMode() {
-//        if (mSendVirtualStickDataTimer != null) {
-//            mSendVirtualStickDataTimer.cancel();
-//        }
-//        VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(true);
-//        VirtualStickManager.getInstance().disableVirtualStick(new CommonCallbacks.CompletionCallback() {
-//            @Override
-//            public void onSuccess() {
-//                LogUtil.log(TAG, "备降点取消控制权成功");
-//            }
-//
-//            @Override
-//            public void onFailure(@NonNull IDJIError error) {
-//                LogUtil.log(TAG, "备降点取消控制权失败:" + new Gson().toJson(error));
-//            }
-//        });
-//    }
-//
-//    /**
-//     * 降落
-//     */
-//    private void land() {
-//        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
-//        if (isConnect != null && isConnect) {
-//            KeyManager.getInstance().performAction(KeyTools.createKey(FlightControllerKey.KeyStartAutoLanding), new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
-//                @Override
-//                public void onSuccess(EmptyMsg emptyMsg) {
-//                    LogUtil.log(TAG, "备降点降落调用成功");
-//                }
-//
-//                @Override
-//                public void onFailure(@NonNull IDJIError error) {
-//                    LogUtil.log(TAG, "备降点降落调用失败:" + new Gson().toJson(error));
-//                }
-//            });
-//        } else {
-//            LogUtil.log(TAG, "备降点降落调用失败:飞控未连接");
-//        }
-//    }
-//
-//
-//    /**
-//     * 飞行到下一个点
-//     * 如果
-//     */
-////    public void goNextPoint() {
-////        //任务执行时，或者起飞到第一个点时
-////        if (isMissionRunning || currentIndex == 0) {
-////            //如果是第一个点，就任务开始
-////            if (currentIndex == 0) {
-////                isMissionRunning = true;
-////            }
-////            //如果是正在执行任务并且最后一个点，就任务结束，进入停止流程
-////            if (isMissionRunning && currentIndex == mWaypointList.size() - 1) {
-////                isMissionRunning = false;
-////                currentIndex = -1;
-////                stop();
-////            }
-////        }
-////    }
-//
-//    /**
-//     * 计算飞行速度
-//     *
-//     * @param nowXY
-//     * @param targetXY
-//     * @return
-//     */
-//    private double calcSpeed(double[] nowXY, double[] targetXY) {
-//        double speed = mSpeed;
-//        double dx = targetXY[0] - nowXY[0];
-//        double dy = targetXY[1] - nowXY[1];
-//        double d = Math.sqrt(dx * dx + dy * dy);
-//
-//        //根据距离目标的位置计算速度，快到点了速度降下来
-//        if (d < mSpeed * 2) {
-//            speed = (float) d / 2;
-//        }
-//        return speed;
-//    }
-//
-//    /**
-//     * 计算飞行角度
-//     *
-//     * @param nowXY    当前飞机的位置
-//     * @param targetXY 目标位置
-//     * @return
-//     */
-//    private double calcDeg(double[] nowXY, double[] targetXY) {
-//        double deg = 0;
-//        double dx = targetXY[0] - nowXY[0];
-//        double dy = targetXY[1] - nowXY[1];
-//        //根据目标位置和飞机位置计算角度
-//        if (dy > 0) {
-//            deg = Math.toDegrees(Math.atan(dx / dy));
-//        } else if (dy == 0) {
-//            if (dx > 0) {
-//                deg = 90;
-//            } else if (dx == 0) {
-//                deg = 0;
-//            } else {
-//                deg = -90;
-//            }
-//        } else {
-//            if (dx > 0) {
-//                deg = 180 + Math.toDegrees(Math.atan((targetXY[0] - nowXY[0]) / (targetXY[1] - nowXY[1])));
-//            } else if (dx == 0) {
-//                deg = -180;
-//            } else {
-//                deg = Math.toDegrees(Math.atan((targetXY[0] - nowXY[0]) / (targetXY[1] - nowXY[1]))) - 180;
-//            }
-//        }
-//        return deg;
-//    }
-//
-//
-//    /**
-//     * 执行虚拟摇杆发送任务
-//     */
-//    private void executeVirtualStickDataTask() {
-//        if (null == mSendVirtualStickDataTimer) {
-//            mSendVirtualStickDataTask = new SendVirtualStickDataTask();
-//            mSendVirtualStickDataTimer = new Timer();
-//            mSendVirtualStickDataTimer.schedule(mSendVirtualStickDataTask, 100, 200);
-//        }
-//    }
-//
-//    /**
-//     * 更新无人机状态
-//     */
-//    public void updateAircraftSate() {
-//        aircraftLng = Double.parseDouble(Movement.getInstance().getCurrentLongitude());
-//        aircraftLat = Double.parseDouble(Movement.getInstance().getCurrentLatitude());
-//        aircraftAlt = Movement.getInstance().getFlyingHeight();
-//        aircraftPich = Double.parseDouble(Movement.getInstance().getPitch());
-//        aircraftRoll = Double.parseDouble(Movement.getInstance().getRoll());
-//        aircraftYaw = Double.parseDouble(Movement.getInstance().getYaw());
-//        if (isRunning) {
-//            //在任务中就飞任务点
-//            if (isMissionRunning || currentIndex == 0) {
-//                flyToPoint(mWaypoint);
-//            }
-//        }
-//    }
-//
-//    class SendVirtualStickDataTask extends TimerTask {
-//        @Override
-//        public void run() {
-//            param.setPitch((double) mPitch);//左右
-//            param.setRoll((double) mRoll);//前后
-//            param.setYaw((double) mYaw);//旋转
-//            param.setVerticalThrottle((double) mThrottle);//上下
-//            VirtualStickManager.getInstance().sendVirtualStickAdvancedParam(param);
-//        }
-//    }
-//}

app/src/main/java/com/aros/apron/fly/GaussKruegerConverter.java

@@ -1,69 +0,0 @@
-package com.aros.apron.fly;
-
-public class GaussKruegerConverter {
-    static double a = 6378137;
-    static double b = 6356752.3142;
-    static double k0  = 1.0;
-
-    static double f = (a - b) / a;//扁率
-    static double e = Math.sqrt(2*f - Math.pow(f ,2));//第一偏心率
-    static double e1 = e / Math.sqrt(1 - Math.pow(e , 2));//'第二偏心率
-
-    /**
-     * 经纬度转平面直角坐标系
-     * @param lng
-     * @param lat
-     * @return
-     */
-    public static double []  LngLat2XY(double lng,double lat)
-    {
-        int centerLongitude = (int)Math.round(lng/3.0) * 3;
-        double BR = lat * Math.PI / 180;//纬度弧长
-        double lo = (lng - centerLongitude)*Math.PI/180; //经差弧度
-        double N = a / Math.sqrt(1 - Math.pow((e * Math.sin(BR)) , 2)); //卯酉圈曲率半径
-
-        //求解参数s
-        double C = Math.pow(a , 2)/ b;
-        double B0 = 1 - 3 * Math.pow(e1 , 2) / 4 + 45 *Math.pow( e1 ,4) / 64 - 175 * Math.pow(e1 , 6) / 256 + 11025 * Math.pow(e1 , 8 )/ 16384;
-        double B2 = B0 - 1;
-        double B4 = 15 / 32 * Math.pow(e1 , 4) - 175 / 384 * Math.pow(e1 , 6 )+ 3675 / 8192 *Math.pow( e1 , 8);
-        double B6 = 0 - 35 / 96 *Math.pow( e1 , 6) + 735 / 2048 * Math.pow(e1 , 8);
-        double B8 = 315 / 1024 * Math.pow(e1 , 8);
-        double s = C * (B0 * BR + Math.sin(BR) * (B2 * Math.cos(BR) + B4 * Math.pow((Math.cos(BR)) , 3) + B6 * Math.pow((Math.cos(BR)) , 5 )+ B8 * Math.pow((Math.cos(BR)) , 7)));
-
-        double t = Math.tan(BR);
-        double g = e1 * Math.cos(BR);
-
-        double XR= s + Math.pow(lo , 2) / 2 * N * Math.sin(BR) * Math.cos(BR) + Math.pow(lo , 4 )* N * Math.sin(BR) * Math.pow((Math.cos(BR)) , 3) / 24 * (5 -Math.pow( t , 2 )+ 9 * Math.pow(g , 2) + 4 *Math.pow( g , 4)) + Math.pow(lo , 6) * N * Math.sin(BR) * Math.pow((Math.cos(BR)) , 5) * (61 - 58 *Math.pow( t , 2) + Math.pow(t , 4)) / 720;
-        double YR= lo * N * Math.cos(BR) + Math.pow(lo , 3 )* N / 6 *Math.pow( (Math.cos(BR)) , 3) * (1 - Math.pow(t , 2) + Math.pow(g , 2)) + Math.pow(lo , 5) * N / 120 * Math.pow((Math.cos(BR)) , 5) * (5 - 18 * Math.pow(t , 2) + Math.pow(t , 4) + 14 * Math.pow(g , 2) - 58 * Math.pow(g , 2) * Math.pow(t , 2));
-        double x=YR;
-        double y=XR;
-        return new double[]{x,y};
-    }
-
-    public static double[] XY2LngLat(double x,double y,int centerLongitude)
-    {
-        double El1 = (1 - Math.sqrt(1 - Math.pow(e , 2))) / (1 + Math.sqrt(1 -Math.pow( e , 2)));
-
-        double Mf = y/ k0 ;//真实坐标值
-
-        double Q = Mf / (a * (1 - Math.pow(e , 2) / 4 - 3 * Math.pow(e , 4) / 64 - 5 *Math.pow( e , 6) / 256));//角度
-
-        double Bf = Q + (3 * El1 / 2 - 27 *Math.pow( El1 , 3) / 32) * Math.sin(2 * Q) + (21 *Math.pow( El1 , 2) / 16 - 55 *Math.pow( El1 , 4 )/ 32) * Math.sin(4 * Q) + (151 *Math.pow( El1 , 3 )/ 96) * Math.sin(6 * Q) + 1097 / 512 * Math.pow(El1 , 4) * Math.sin(8 * Q);
-        double Rf = a * (1 -Math.pow( e , 2)) / Math.sqrt(Math.pow((1 - Math.pow((e * Math.sin(Bf)) ,2)) , 3));
-        double Nf = a / Math.sqrt(1 - Math.pow((e * Math.sin(Bf)) , 2));//卯酉圈曲率半径
-        double Tf = Math.pow((Math.tan(Bf)) , 2);
-        double D =x/ (k0 * Nf);
-
-        double Cf =Math.pow( e1 , 2) * Math.pow((Math.cos(Bf)) , 2);
-
-        double B = Bf - Nf * Math.tan(Bf) / Rf * (Math.pow(D , 2) / 2 - (5 + 3 * Tf + 10 * Cf - 9 * Tf * Cf - 4 *Math.pow( Cf , 2) - 9 * Math.pow(e1 , 2)) *Math.pow( D , 4) / 24 + (61 + 90 * Tf + 45 * Math.pow(Tf , 2) - 256 * Math.pow(e1 , 2) - 3 * Math.pow(Cf , 2)) *Math.pow( D , 6) / 720);
-        double L = centerLongitude*Math.PI/180 + 1 / Math.cos(Bf) * (D - (1 + 2 * Tf + Cf) *Math.pow( D , 3) / 6 + (5 - 2 * Cf + 28 * Tf - 3 *Math.pow( Cf , 2) + 8 * Math.pow(e1 , 2) + 24 * Math.pow(Tf , 2)) * Math.pow(D , 5 )/ 120);
-
-        double Bangle = B * 180 / Math.PI;
-        double Langle = L * 180 / Math.PI;
-
-        return new double[]{Langle,Bangle};
-    }
-
-}

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

@@ -1,268 +0,0 @@
-package com.aros.apron.manager;
-
-import android.os.Build;
-import android.os.Environment;
-import android.os.Handler;
-import android.os.Looper;
-import android.text.TextUtils;
-import android.util.Log;
-
-import androidx.annotation.RequiresApi;
-
-import com.amazonaws.auth.AWSCredentials;
-import com.amazonaws.services.s3.AmazonS3;
-import com.amazonaws.services.s3.AmazonS3Client;
-import com.amazonaws.services.s3.model.GeneratePresignedUrlRequest;
-import com.amazonaws.services.s3.model.ProgressEvent;
-import com.amazonaws.services.s3.model.ProgressListener;
-import com.amazonaws.services.s3.model.PutObjectRequest;
-import com.aros.apron.base.BaseManager;
-import com.aros.apron.entity.FileUploadResult;
-import com.aros.apron.entity.MQMessage;
-import com.aros.apron.tools.LogUtil;
-
-import java.io.File;
-
-import io.reactivex.rxjava3.android.schedulers.AndroidSchedulers;
-import io.reactivex.rxjava3.core.Observable;
-import io.reactivex.rxjava3.core.ObservableEmitter;
-import io.reactivex.rxjava3.core.ObservableOnSubscribe;
-import io.reactivex.rxjava3.core.Observer;
-import io.reactivex.rxjava3.disposables.Disposable;
-import io.reactivex.rxjava3.schedulers.Schedulers;
-
-public class AMSLogManager extends BaseManager {
-
-    private static final String TAG = "AMSLogManager";
-
-    private AMSLogManager() {
-    }
-
-    private static class MediaManagerHolder {
-        private static final AMSLogManager INSTANCE = new AMSLogManager();
-    }
-
-    public static AMSLogManager getInstance() {
-        return MediaManagerHolder.INSTANCE;
-    }
-
-    private int downLoadMediaFileIndex = 0;
-    private boolean isUploadingAMSLog;
-    private File[] files = new File[]{};
-    private int uploadFailTime = 0;
-
-    public boolean isUploadingAMSLog() {
-        return isUploadingAMSLog;
-    }
-
-    public void setUploadingAMSLog(boolean uploadingAMSLog) {
-        isUploadingAMSLog = uploadingAMSLog;
-    }
-
-    /**
-     * 【修改】添加 3 秒延迟执行
-     */
-    public void enableLogList(MQMessage message) {
-        new Handler(Looper.getMainLooper()).postDelayed(() -> {
-            doEnableLogList(message);
-        }, 3000);
-    }
-
-    /**
-     * 【新增】实际执行逻辑
-     */
-    private void doEnableLogList(MQMessage message) {
-        downLoadMediaFileIndex = 0;
-        setUploadingAMSLog(true);
-
-        File logDir = new File(getLogDir());
-        LogUtil.log(TAG, "日志目录: " + logDir.getAbsolutePath());
-
-        if (logDir != null) {
-            files = logDir.listFiles();
-            LogUtil.log(TAG, "扫描到文件数: " + (files != null ? files.length : 0));
-
-            if (files == null || files.length == 0) {
-                sendMsg2Server(message, "日志文件夹暂无日志文件");
-                setUploadingAMSLog(false);
-            } else {
-                if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
-                    pullOriginalFile(message);
-                }
-            }
-            sendMsg2Server(message);
-        } else {
-            sendMsg2Server(message, "日志文件夹为空");
-            setUploadingAMSLog(false);
-        }
-    }
-
-    @RequiresApi(Build.VERSION_CODES.O)
-    public void pullOriginalFile(MQMessage message) {
-        if (files == null || downLoadMediaFileIndex >= files.length) {
-            LogUtil.log(TAG, "文件索引越界");
-            setUploadingAMSLog(false);
-            return;
-        }
-
-        LogUtil.log(TAG, "File size: " + files.length + ", 当前索引: " + downLoadMediaFileIndex);
-        File logFile = new File(getSDCardPath() + "/DJIDemo/cache/log/" + files[downLoadMediaFileIndex].getName());
-
-        if (!logFile.exists() || !logFile.canRead()) {
-            LogUtil.log(TAG, "文件不存在或不可读: " + logFile.getName());
-            skipToNext(message);
-            return;
-        }
-
-        minIOUpLoadAMSLog(message, logFile);
-    }
-
-    @RequiresApi(Build.VERSION_CODES.O)
-    private void skipToNext(MQMessage message) {
-        downLoadMediaFileIndex++;
-        if (downLoadMediaFileIndex >= files.length) {
-            downLoadMediaFileIndex = 0;
-            setUploadingAMSLog(false);
-        } else {
-            new Handler(Looper.getMainLooper()).postDelayed(() -> pullOriginalFile(message), 500);
-        }
-    }
-
-    @RequiresApi(Build.VERSION_CODES.O)
-    public void minIOUpLoadAMSLog(MQMessage message, File file) {
-        try {
-            LogUtil.log(TAG, "开始上传: " + file.getName() + " 到 " + message.getUpload_url());
-
-            AmazonS3 s3 = new AmazonS3Client(new AWSCredentials() {
-                @Override
-                public String getAWSAccessKeyId() {
-                    return message.getAccess_key();
-                }
-
-                @Override
-                public String getAWSSecretKey() {
-                    return message.getSecret_key();
-                }
-            });
-
-            Observable.create(new ObservableOnSubscribe<String>() {
-                        @Override
-                        public void subscribe(ObservableEmitter<String> emitter) throws Exception {
-                            // 【修改】trim 去掉 URL 末尾空格
-                            s3.setEndpoint(message.getUpload_url().trim());
-
-                            boolean bucketExists = s3.doesBucketExist(message.getBucketName());
-                            if (!bucketExists) {
-                                s3.createBucket(message.getBucketName());
-                            }
-
-                            // 【修改】去掉开头的 /，避免路径问题
-                            String objectKey = message.getObjectKey() + "/" + file.getName();
-
-                            s3.putObject(
-                                    new PutObjectRequest(
-                                            message.getBucketName(),
-                                            objectKey,
-                                            file
-                                    )
-                            );
-
-                            GeneratePresignedUrlRequest urlRequest = new GeneratePresignedUrlRequest(
-                                    message.getBucketName(),
-                                    objectKey
-                            );
-                            String url = s3.generatePresignedUrl(urlRequest).toString();
-
-                            emitter.onNext(url);
-                            emitter.onComplete();
-                        }
-                    })
-                    .subscribeOn(Schedulers.io())
-                    .observeOn(AndroidSchedulers.mainThread())
-                    .subscribe(new Observer<String>() {
-                        @Override
-                        public void onSubscribe(Disposable d) {}
-
-                        @Override
-                        public void onNext(String url) {
-                            FileUploadResult fileUploadResult = new FileUploadResult();
-                            fileUploadResult.setFileName(file.getName());
-                            fileUploadResult.setResult(1);
-                            fileUploadResult.setFileNum(files.length);
-                            fileUploadResult.setBuckName(message.getBucketName());
-                            fileUploadResult.setObjectKey(message.getObjectKey());
-                            fileUploadResult.setUrl(url);
-                            fileUploadResult.setOffIndex(downLoadMediaFileIndex);
-
-                            if (files.length == (downLoadMediaFileIndex + 1)) {
-                                fileUploadResult.setMsg("所有日志已上传完毕");
-                            } else {
-                                fileUploadResult.setMsg("文件:" + file.getName() + "已上传");
-                            }
-                            fileUploadResult.setProgress(String.valueOf(calculatePercentage(downLoadMediaFileIndex + 1, files.length)));
-                            sendFileUploadCallback(60202, fileUploadResult);
-                        }
-
-                        @RequiresApi(Build.VERSION_CODES.O)
-                        @Override
-                        public void onError(Throwable e) {
-                            LogUtil.log(TAG, "Error uploading file " + downLoadMediaFileIndex + file.getName() + ": " + e.getMessage());
-                            e.printStackTrace();
-
-                            downLoadMediaFileIndex++;
-                            if (downLoadMediaFileIndex >= files.length) {
-                                downLoadMediaFileIndex = 0;
-                                setUploadingAMSLog(false);
-                            } else {
-                                new Handler(Looper.getMainLooper()).postDelayed(() -> pullOriginalFile(message), 1000);
-                            }
-                        }
-
-                        @RequiresApi(Build.VERSION_CODES.O)
-                        @Override
-                        public void onComplete() {
-                            LogUtil.log(TAG, "File " + downLoadMediaFileIndex + file.getName() + " uploaded successfully.");
-                            sendMissionExecuteEvents("第" + downLoadMediaFileIndex + "个AMS日志已上传");
-
-                            downLoadMediaFileIndex++;
-                            if (downLoadMediaFileIndex >= files.length) {
-                                sendMissionExecuteEvents("所有AMS日志已上传完毕");
-                                downLoadMediaFileIndex = 0;
-                                setUploadingAMSLog(false);
-                            } else {
-                                new Handler(Looper.getMainLooper()).postDelayed(() -> pullOriginalFile(message), 500);
-                            }
-                        }
-                    });
-        } catch (Exception e) {
-            LogUtil.log(TAG, "Exception: " + e.getMessage());
-            e.printStackTrace();
-            skipToNext(message);
-        }
-    }
-
-    public String getLogDir() {
-        return getSDCardPath() + "/DJIDemo/cache/log";
-    }
-
-    private String getSDCardPath() {
-        String sdCardPathString = "";
-        if (checkSDCard()) {
-            sdCardPathString = Environment.getExternalStorageDirectory().getPath();
-        } else {
-            sdCardPathString = Environment.getExternalStorageDirectory().getParentFile().getPath();
-        }
-        return sdCardPathString;
-    }
-
-    private boolean checkSDCard() {
-        return TextUtils.equals(Environment.MEDIA_MOUNTED, Environment.getExternalStorageState());
-    }
-
-    public int calculatePercentage(int a, int b) {
-        if (b == 0) {
-            return 0;
-        }
-        return (a * 100) / b;
-    }
-}

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

@@ -1,430 +0,0 @@
-package com.aros.apron.manager;
-
-import static android.os.Environment.getExternalStoragePublicDirectory;
-import static com.aros.apron.manager.FlightManager.FLAG_STOP_ARUCO;
-import static com.aros.apron.tools.Utils.getIDJIErrorMsg;
-
-import android.os.Environment;
-import android.os.Handler;
-import android.os.Looper;
-import android.text.TextUtils;
-
-import androidx.annotation.NonNull;
-import androidx.annotation.Nullable;
-
-import com.aros.apron.base.BaseManager;
-import com.aros.apron.entity.FlightMission;
-import com.aros.apron.entity.MQMessage;
-import com.aros.apron.entity.MissionPoint;
-import com.aros.apron.entity.Movement;
-import com.aros.apron.tools.DomParserKML;
-import com.aros.apron.tools.DomParserWPML;
-import com.aros.apron.tools.LogUtil;
-import com.aros.apron.tools.MqttManager;
-import com.aros.apron.tools.PreferenceUtils;
-import com.aros.apron.tools.ZipUtil;
-import com.google.gson.Gson;
-
-import org.eclipse.paho.android.service.MqttAndroidClient;
-import org.greenrobot.eventbus.EventBus;
-
-import java.io.File;
-import java.io.IOException;
-import java.util.ArrayList;
-import java.util.List;
-
-import dji.sdk.keyvalue.key.FlightControllerKey;
-import dji.sdk.keyvalue.key.KeyTools;
-import dji.sdk.keyvalue.value.common.EmptyMsg;
-import dji.sdk.keyvalue.value.flightcontroller.FlightCoordinateSystem;
-import dji.sdk.keyvalue.value.flightcontroller.FlightMode;
-import dji.sdk.keyvalue.value.flightcontroller.RemoteControllerFlightMode;
-import dji.sdk.keyvalue.value.flightcontroller.RollPitchControlMode;
-import dji.sdk.keyvalue.value.flightcontroller.VerticalControlMode;
-import dji.sdk.keyvalue.value.flightcontroller.VirtualStickFlightControlParam;
-import dji.sdk.keyvalue.value.flightcontroller.YawControlMode;
-import dji.v5.common.callback.CommonCallbacks;
-import dji.v5.common.error.IDJIError;
-import dji.v5.manager.KeyManager;
-import dji.v5.manager.aircraft.virtualstick.VirtualStickManager;
-import dji.v5.manager.aircraft.waypoint3.WaypointMissionManager;
-import dji.v5.manager.interfaces.IWaypointMissionManager;
-
-/**
- * 备降点
- */
-public class AlternateLandingManager extends BaseManager {
-
-    Handler handler = new Handler(Looper.getMainLooper());
-    VirtualStickFlightControlParam param;
-    private boolean isRemoteControllerFlightModeChange;
-
-    private AlternateLandingManager() {
-    }
-
-    public static AlternateLandingManager getInstance() {
-        return AlternateLandingHolder.INSTANCE;
-    }
-
-    public void initAlterLandingInfo() {
-        KeyManager.getInstance().listen(KeyTools.createKey(FlightControllerKey.KeyRemoteControllerFlightMode), this, new CommonCallbacks.KeyListener<RemoteControllerFlightMode>() {
-            @Override
-            public void onValueChange(@Nullable RemoteControllerFlightMode remoteControllerFlightMode, @Nullable RemoteControllerFlightMode t1) {
-                if (t1 != null) {
-                    LogUtil.log(TAG, "监听到挡位切换:" + t1.name());
-                    if (t1 != RemoteControllerFlightMode.P && t1 != RemoteControllerFlightMode.F) {
-                        isRemoteControllerFlightModeChange = true;
-                        PreferenceUtils.getInstance().setNeedTriggerAlterArucoLand(false);
-                        PreferenceUtils.getInstance().setNeedTriggerApronArucoLand(false);
-                        PreferenceUtils.getInstance().setTriggerToAlternatePoint(false);
-                    }
-                }
-            }
-        });
-    }
-
-    public void startTaskProcess(MQMessage message) {
-        //飞往备降点,关闭视觉识别
-        EventBus.getDefault().post(FLAG_STOP_ARUCO);
-        if (isRemoteControllerFlightModeChange) {
-            LogUtil.log(TAG, "挡位切换过:不触发去备降点");
-            return;
-        }
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
-                KeyConnection));
-        if (isConnect != null && isConnect) {
-            Boolean areMotorOn = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyAreMotorsOn));
-            Boolean isFlying = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyIsFlying));
-            if ((areMotorOn != null && areMotorOn) && (isFlying != null && isFlying)) {
-                RemoteControllerFlightMode remoteControllerFlightMode = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyRemoteControllerFlightMode));
-                if (remoteControllerFlightMode != null && remoteControllerFlightMode == RemoteControllerFlightMode.P) {
-                    checkDroneState(message);
-                } else {
-                    if (message != null) {
-                        sendMsg2Server(message, "挡位不正确,不触发去备降点");
-                    }
-                    sendMissionExecuteEvents( "挡位不正确,不触发去备降点");
-                    LogUtil.log(TAG, "检测到挡位不正确,不触发去备降点");
-                }
-            } else {
-                if (message != null) {
-                    sendMsg2Server( message, "飞机未起飞,不触发去备降点");
-                }
-                sendMissionExecuteEvents( "飞机未起飞,不触发去备降点");
-            }
-        }
-    }
-
-    private void checkDroneState(MQMessage message) {
-        FlightMode flightMode = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyFlightMode));
-        if (flightMode != null) {
-            switch (flightMode) {
-                case GO_HOME:
-                    KeyManager.getInstance().performAction(KeyTools.createKey(FlightControllerKey.KeyStopGoHome), new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
-                        @Override
-                        public void onSuccess(EmptyMsg emptyMsg) {
-                            LogUtil.log(TAG, "取消返航成功");
-                            toAlternatePoint(message);
-                            sendMissionExecuteEvents( "取消返航:去备降点");
-                        }
-
-                        @Override
-                        public void onFailure(@NonNull IDJIError error) {
-                            LogUtil.log(TAG, "取消返航失败:" + new Gson().toJson(error));
-                            toAlternatePoint(message);
-                            sendMissionExecuteEvents( "取消返航失败:去备降点");
-
-                        }
-                    });
-                    break;
-                case WAYPOINT:
-                    IWaypointMissionManager missionManager = WaypointMissionManager.getInstance();
-                    missionManager.stopMission(TextUtils.isEmpty(Movement.getInstance().getMissionName())
-                            ? "aros" : Movement.getInstance().getMissionName(), new CommonCallbacks.CompletionCallback() {
-                        @Override
-                        public void onSuccess() {
-                            LogUtil.log(TAG, "终止任务成功");
-                            sendMissionExecuteEvents( "终止任务成功:去备降点");
-                            toAlternatePoint(message);
-                        }
-
-                        @Override
-                        public void onFailure(@NonNull IDJIError error) {
-                            LogUtil.log(TAG, "终止任务失败:" + new Gson().toJson(error));
-                            sendMissionExecuteEvents( "终止任务失败:去备降点");
-                            toAlternatePoint(message);
-                        }
-                    });
-                    break;
-                case AUTO_LANDING:
-                    KeyManager.getInstance().performAction(KeyTools.createKey(FlightControllerKey.KeyStopAutoLanding), new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
-                        @Override
-                        public void onSuccess(EmptyMsg emptyMsg) {
-                            LogUtil.log(TAG, "取消降落成功");
-                            sendMissionExecuteEvents( "取消降落成功:去备降点");
-                            toAlternatePoint(message);
-                        }
-
-                        @Override
-                        public void onFailure(@NonNull IDJIError error) {
-                            LogUtil.log(TAG, "取消降落失败:" + new Gson().toJson(error));
-                            sendMissionExecuteEvents( "取消降落失败:去备降点");
-                            toAlternatePoint(message);
-                        }
-                    });
-                    break;
-                case VIRTUAL_STICK:
-//                    VirtualStickManager.getInstance().disableVirtualStick(new CommonCallbacks.CompletionCallback() {
-//                        @Override
-//                        public void onSuccess() {
-//                            LogUtil.log(TAG, "控制权取消成功");
-                    toAlternatePoint(message);
-//                        }
-//                        @Override
-//                        public void onFailure(@NonNull IDJIError error) {
-//                            LogUtil.log(TAG, "控制权取消失败:" + new Gson().toJson(error));
-//                            toAlternatePoint();
-//                        }
-//                    });
-                    break;
-                default:
-                    toAlternatePoint(message);
-                    break;
-            }
-        }
-    }
-
-    public void toAlternatePoint(MQMessage message) {
-        if (Movement.getInstance().getFlyingHeight() < 10) {
-            LogUtil.log(TAG, "toAlternatePoint:" + "高度低于10米,拉高");
-            sendMissionExecuteEvents( "正在拉高去备降点");
-            raisesDrone(message);
-        } else {
-            sendMissionExecuteEvents( "开始创建备降任务");
-            LogUtil.log(TAG, "toAlternatePoint:" + "高度高于10米,创建备降任务");
-            creatMissionAndUpload(message);
-        }
-    }
-
-    public void raisesDrone(MQMessage message) {
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
-        if (isConnect != null && isConnect) {
-            Boolean isVirtualStickControlModeEnabled = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyVirtualStickControlModeEnabled));
-            if (isVirtualStickControlModeEnabled != null && isVirtualStickControlModeEnabled) {
-                pullUp(message);
-            } else {
-                VirtualStickManager.getInstance().enableVirtualStick(new CommonCallbacks.CompletionCallback() {
-                    @Override
-                    public void onSuccess() {
-                        LogUtil.log(TAG, "备降拉高,控制权获取成功");
-                        VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(true);
-                        pullUp(message);
-                    }
-
-                    @Override
-                    public void onFailure(@NonNull IDJIError error) {
-                        LogUtil.log(TAG, "备降拉高,控制权获取失败,直接上传备降航线:" + error.description());
-                        creatMissionAndUpload(message);
-                    }
-                });
-            }
-        } else {
-            LogUtil.log(TAG, "备降拉高,飞控未连接");
-        }
-    }
-
-    public void pullUp(MQMessage message) {
-        Runnable runnable = new Runnable() {
-            @Override
-            public void run() {
-                if (Movement.getInstance().getFlyingHeight() < 10) {
-                    sendVirtualStickAdvancedParam();
-                    handler.postDelayed(this, 200);
-                } else {
-                    VirtualStickManager.getInstance().disableVirtualStick(new CommonCallbacks.CompletionCallback() {
-                        @Override
-                        public void onSuccess() {
-                            LogUtil.log(TAG, "到达10米,开始上传备降点航线");
-                            creatMissionAndUpload(message);
-                        }
-
-                        @Override
-                        public void onFailure(@NonNull IDJIError idjiError) {
-                            LogUtil.log(TAG, "到达10米,取消虚拟摇杆控制失败:" + new Gson().toJson(idjiError));
-                            creatMissionAndUpload(message);
-                        }
-                    });
-                    handler.removeCallbacks(this);
-                }
-            }
-        };
-        // 开始循环
-        handler.post(runnable);
-
-    }
-
-    //飞行器虚拟摇杆
-    public void sendVirtualStickAdvancedParam() {
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
-        if (isConnect != null && isConnect) {
-            if (param == null) {
-                param = new VirtualStickFlightControlParam();
-                param.setRollPitchControlMode(RollPitchControlMode.VELOCITY);
-                param.setYawControlMode(YawControlMode.ANGULAR_VELOCITY);
-                param.setVerticalControlMode(VerticalControlMode.VELOCITY);
-                param.setRollPitchCoordinateSystem(FlightCoordinateSystem.BODY);
-            }
-            param.setPitch(0.0);//左右
-            param.setRoll(0.0);//前后
-            param.setYaw(0.0);//旋转
-            param.setVerticalThrottle(4.0);//上下
-            VirtualStickManager.getInstance().sendVirtualStickAdvancedParam(param);
-        }
-    }
-
-    public void creatMissionAndUpload(MQMessage message) {
-        // 创建第一个 MissionPoint 对象
-        MissionPoint missionPoint = new MissionPoint();
-        missionPoint.setLat(Movement.getInstance().getCurrentLatitude());
-        missionPoint.setLng(Movement.getInstance().getCurrentLongitude());
-        missionPoint.setSpeed(8.0);
-        missionPoint.setExecuteHeight(Movement.getInstance().getFlyingHeight()
-                > Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointSecurityHeight())
-                ? Movement.getInstance().getFlyingHeight() :
-                Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointSecurityHeight()));
-
-        // 创建第二个 MissionPoint 对象
-        MissionPoint missionPoint1 = new MissionPoint();
-        missionPoint1.setLat(PreferenceUtils.getInstance().getAlternatePointLat());
-        missionPoint1.setLng(PreferenceUtils.getInstance().getAlternatePointLon());
-        LogUtil.log(TAG, "备降点经纬度:" + PreferenceUtils.getInstance().getAlternatePointLat() + "/" + PreferenceUtils.getInstance().getAlternatePointLon());
-        missionPoint1.setSpeed(7.0);
-        missionPoint1.setExecuteHeight(Movement.getInstance().getFlyingHeight()
-                > Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointSecurityHeight())
-                ? Movement.getInstance().getFlyingHeight() - 1 :
-                Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointSecurityHeight()));
-
-        // 创建一个 MissionPoint 列表
-        List<MissionPoint> missionPoints = new ArrayList<>();
-        missionPoints.add(missionPoint);
-        missionPoints.add(missionPoint1);
-
-        // 创建 FlightMission 对象并设置其属性
-        FlightMission flightMission = new FlightMission();
-        flightMission.setPoints(missionPoints);
-        flightMission.setMissionId(2);
-        flightMission.setTakeOffSecurityHeight(Float.parseFloat(PreferenceUtils.getInstance().getAlternatePointSecurityHeight()));
-        flightMission.setSpeed(15.0);
-
-        LogUtil.log(TAG, "当前高度:" + Movement.getInstance().getFlyingHeight()
-                + "---飞往备降点高度:" + Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointSecurityHeight())
-                + "---航线安全起飞高度:" + Float.parseFloat(PreferenceUtils.getInstance().getAlternatePointSecurityHeight()));
-
-        sendMissionExecuteEvents( "开始生成备降点航线");
-
-        // 生成xml文件
-        File file1 = new File(
-                getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "wpmz");
-        if (!file1.exists()) {
-            if (file1.mkdirs()) {
-                LogUtil.log(TAG, "生成备降航线成功");
-                sendMissionExecuteEvents( "生成备降路线文件成功");
-
-            } else {
-                LogUtil.log(TAG, "生成备降航线失败");
-                sendMissionExecuteEvents( "生成备降航线失败");
-                if (message != null) {
-                    sendMsg2Server( message, "生成备降航线失败");
-                }
-            }
-        }
-        DomParserKML domParserKML = new DomParserKML(getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "wpmz",
-                "/template.kml");
-        domParserKML.createKml(flightMission);
-
-        DomParserWPML domParserWPML = new DomParserWPML(getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "wpmz",
-                "/waylines.wpml");
-        domParserWPML.createWpml(flightMission);
-
-        File kmzFile = new File(getExternalStoragePublicDirectory(Environment.DIRECTORY_DOCUMENTS) + File.separator + "alternate.kmz");
-        kmzFile.getParentFile().mkdirs();
-
-        try {
-            ZipUtil.zip(getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + "/wpmz", getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "alternate.kmz");
-        } catch (IOException e) {
-            LogUtil.log(TAG, "备降航线压缩异常：" + e.toString());
-            sendMissionExecuteEvents( "备降任务生成异常");
-            if (message != null) {
-                sendMsg2Server( message, "备降任务生成异常");
-            }
-            throw new RuntimeException(e);
-        }
-
-        IWaypointMissionManager missionManager = WaypointMissionManager.getInstance();
-        missionManager.pushKMZFileToAircraft(getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "alternate.kmz", new CommonCallbacks.CompletionCallbackWithProgress<Double>() {
-            @Override
-            public void onProgressUpdate(Double aDouble) {
-                LogUtil.log(TAG, "备降点航线上传进度:" + aDouble + "%");
-                sendMissionExecuteEvents( "备降任务上传中:" + aDouble + "%");
-
-            }
-
-            @Override
-            public void onSuccess() {
-                LogUtil.log(TAG, "备降点航线上传成功");
-                sendMissionExecuteEvents( "备降点航线上传成功");
-                if (PreferenceUtils.getInstance().getHaveRTK() && !Movement.getInstance().isRtkSign()) {
-                    RTKManager.getInstance().enableRtk(false);
-                }
-
-                new Handler().postDelayed(new Runnable() {
-                    @Override
-                    public void run() {
-                        missionManager.startMission("alternate", new CommonCallbacks.CompletionCallback() {
-                            @Override
-                            public void onSuccess() {
-                                PreferenceUtils.getInstance().setTriggerToAlternatePoint(true);
-                                PreferenceUtils.getInstance().setNeedTriggerAlterArucoLand(false);
-                                PreferenceUtils.getInstance().setNeedTriggerApronArucoLand(false);
-
-                                LogUtil.log(TAG, "开始飞往备降点");
-                                sendMissionExecuteEvents( "开始飞往备降点");
-                                //设置为未开始识别二维码状态
-                                FlightManager.getInstance().setSendDetect(false);
-                                EventBus.getDefault().post(FLAG_STOP_ARUCO);
-
-                                if (message != null) {
-                                    sendMsg2Server( message);
-                                }
-                            }
-
-                            @Override
-                            public void onFailure(@NonNull IDJIError idjiError) {
-                                PreferenceUtils.getInstance().setTriggerToAlternatePoint(false);
-                                LogUtil.log(TAG, "飞往备降点失败:" + new Gson().toJson(idjiError));
-                                sendMissionExecuteEvents( "飞往备降点失败");
-                                if (message != null) {
-                                    sendMsg2Server( message, "飞往备降点失败");
-                                }
-                            }
-                        });
-                    }
-                }, 1000);
-            }
-
-            @Override
-            public void onFailure(@NonNull IDJIError error) {
-                LogUtil.log(TAG, "备降航线上传失败:" + new Gson().toJson(error));
-                PreferenceUtils.getInstance().setTriggerToAlternatePoint(false);
-                sendMissionExecuteEvents( "备降航线上传失败");
-                if (message != null) {
-                    sendMsg2Server( message, "备降航线上传失败:"  + getIDJIErrorMsg(error));
-                }
-            }
-        });
-    }
-
-    private static class AlternateLandingHolder {
-        private static final AlternateLandingManager INSTANCE = new AlternateLandingManager();
-    }
-}

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

@@ -1,162 +0,0 @@
-package com.aros.apron.manager;
-
-
-import androidx.annotation.Nullable;
-
-import com.aros.apron.base.BaseManager;
-import com.aros.apron.constant.AMSConfig;
-import com.aros.apron.entity.MessageReply;
-import com.aros.apron.entity.Movement;
-import com.aros.apron.tools.LogUtil;
-import com.aros.apron.tools.MqttManager;
-import com.aros.apron.tools.PreferenceUtils;
-import com.google.gson.Gson;
-
-import org.eclipse.paho.android.service.MqttAndroidClient;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-
-import dji.sdk.keyvalue.key.BatteryKey;
-import dji.sdk.keyvalue.key.FlightControllerKey;
-import dji.sdk.keyvalue.key.KeyTools;
-import dji.sdk.keyvalue.value.flightcontroller.LowBatteryRTHInfo;
-import dji.v5.common.callback.CommonCallbacks;
-import dji.v5.manager.KeyManager;
-
-/**
- * 电池
- */
-public class BatteryManager extends BaseManager {
-
-    private BatteryManager() {
-    }
-
-    private static class BatteryManagerHolder {
-        private static final BatteryManager INSTANCE = new BatteryManager();
-    }
-
-    public static BatteryManager getInstance() {
-        return BatteryManagerHolder.INSTANCE;
-    }
-
-    private boolean sendLowBatteryRTHPosition2Server;
-
-    public void initBatteryInfo() {
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(BatteryKey.KeyConnection, 0));
-        if (isConnect != null && isConnect) {
-
-            LowBatteryRTHInfo lowBatteryRTHInfo = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
-                    KeyLowBatteryRTHInfo));
-            if (lowBatteryRTHInfo != null) {
-                Movement.getInstance().setRemainFlightTime(lowBatteryRTHInfo.getRemainingFlightTime());
-                Movement.getInstance().setReturnHomePower(lowBatteryRTHInfo.getBatteryPercentNeededToGoHome());
-                Movement.getInstance().setLandingPower(lowBatteryRTHInfo.getBatteryPercentNeededToLand());
-                if (lowBatteryRTHInfo != null) {
-                    Movement.getInstance().setLowBatteryRTHState(lowBatteryRTHInfo.getLowBatteryRTHStatus().value());
-                }
-            }
-
-            KeyManager.getInstance().listen(KeyTools.createKey(FlightControllerKey.
-                    KeyLowBatteryRTHInfo), this, new CommonCallbacks.KeyListener<LowBatteryRTHInfo>() {
-                @Override
-                public void onValueChange(@Nullable LowBatteryRTHInfo lowBatteryRTHInfo, @Nullable LowBatteryRTHInfo t1) {
-                    if (t1 != null) {
-                        Movement.getInstance().setRemainFlightTime(t1.getRemainingFlightTime());
-                        Movement.getInstance().setReturnHomePower(t1.getBatteryPercentNeededToGoHome());
-                        Movement.getInstance().setLandingPower(t1.getBatteryPercentNeededToLand());
-                        if (t1.getLowBatteryRTHStatus() != null) {
-                            Movement.getInstance().setLowBatteryRTHState(t1.getLowBatteryRTHStatus().value());
-                            if (t1.getLowBatteryRTHStatus().value()==1&&!sendLowBatteryRTHPosition2Server){
-                                sendLowBatteryRTHPosition2Server = true;
-                                sendLowBatteryRTHPosition2Server();
-                            }
-                        }
-                    }
-                }
-            });
-/**************************************************************************************************************/
-            KeyManager.getInstance().listen(KeyTools.createKey(BatteryKey.
-                    KeyChargeRemainingInPercent, 0), this, new CommonCallbacks.KeyListener<Integer>() {
-                @Override
-                public void onValueChange(@Nullable Integer oldValue, @Nullable Integer newValue) {
-                    if (newValue != null) {
-                        Movement.getInstance().setElectricityInfoA(newValue);
-                    }
-                }
-            });
-
-            KeyManager.getInstance().listen(KeyTools.createKey(BatteryKey.
-                    KeyChargeRemainingInPercent, 0), this, new CommonCallbacks.KeyListener<Integer>() {
-                @Override
-                public void onValueChange(@Nullable Integer oldValue, @Nullable Integer newValue) {
-                    if (newValue != null) {
-                        Movement.getInstance().setElectricityInfoA(newValue);
-                    }
-                }
-            });
-
-            KeyManager.getInstance().listen(KeyTools.createKey(BatteryKey.
-                    KeyVoltage, 0), this, new CommonCallbacks.KeyListener<Integer>() {
-                @Override
-                public void onValueChange(@Nullable Integer oldValue, @Nullable Integer newValue) {
-                    if (newValue != null) {
-                        Movement.getInstance().setVoltageInfoA(newValue);
-                    }
-                }
-            });
-
-            KeyManager.getInstance().listen(KeyTools.createKey(BatteryKey.
-                    KeyBatteryTemperature, 0), this, new CommonCallbacks.KeyListener<Double>() {
-                @Override
-                public void onValueChange(@Nullable Double aDouble, @Nullable Double t1) {
-                    if (t1 != null) {
-                        Movement.getInstance().setBatteryTemperatureA(t1);
-                    }
-                }
-            });
-
-        }
-
-        /********************************************************************************************************************/
-
-        Boolean isConnectBatteryB = KeyManager.getInstance().getValue(KeyTools.createKey(BatteryKey.KeyConnection, 1));
-        if (isConnectBatteryB != null && isConnectBatteryB) {
-
-            KeyManager.getInstance().listen(KeyTools.createKey(BatteryKey.
-                    KeyChargeRemainingInPercent, 1), this, new CommonCallbacks.KeyListener<Integer>() {
-                @Override
-                public void onValueChange(@Nullable Integer oldValue, @Nullable Integer newValue) {
-                    if (newValue != null) {
-                        Movement.getInstance().setElectricityInfoB(newValue);
-                    }
-                }
-            });
-
-            KeyManager.getInstance().listen(KeyTools.createKey(BatteryKey.
-                    KeyVoltage, 1), this, new CommonCallbacks.KeyListener<Integer>() {
-                @Override
-                public void onValueChange(@Nullable Integer oldValue, @Nullable Integer newValue) {
-                    if (newValue != null) {
-                        Movement.getInstance().setVoltageInfoB(newValue);
-                    }
-                }
-            });
-
-            KeyManager.getInstance().listen(KeyTools.createKey(BatteryKey.
-                    KeyBatteryTemperature, 1), this, new CommonCallbacks.KeyListener<Double>() {
-                @Override
-                public void onValueChange(@Nullable Double aDouble, @Nullable Double t1) {
-                    if (t1 != null) {
-                        Movement.getInstance().setBatteryTemperatureB(t1);
-                    }
-                }
-            });
-
-        }
-    }
-
-
-
-    public void releaseBatteryKey() {
-        KeyManager.getInstance().cancelListen(this);
-    }
-}

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

@@ -1,104 +0,0 @@
-package com.aros.apron.manager;
-
-import android.os.Handler;
-import android.os.Looper;
-
-import com.aros.apron.base.BaseManager;
-import com.aros.apron.constant.AMSConfig;
-import com.aros.apron.entity.MessageReply;
-import com.aros.apron.tools.LogUtil;
-import com.google.gson.Gson;
-
-import org.eclipse.paho.android.service.MqttAndroidClient;
-import org.eclipse.paho.client.mqttv3.IMqttActionListener;
-import org.eclipse.paho.client.mqttv3.IMqttToken;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-
-import java.nio.charset.StandardCharsets;
-
-public class DockCloseManager extends BaseManager {
-
-    private final int maxRetries = 2;
-    private int sendDockCloseSuccessTimes;
-    private boolean isSendDockCloseSuccess;
-
-    private DockCloseManager() {
-    }
-
-    private static class DockCloseHolder {
-        private static final DockCloseManager INSTANCE = new DockCloseManager();
-    }
-
-    public static DockCloseManager getInstance() {
-        return DockCloseHolder.INSTANCE;
-    }
-
-
-    public void sendDockCloseMsg2Server(MqttAndroidClient client) {
-//        if (isSendDockCloseSuccess||sendDockCloseSuccessTimes >= maxRetries) {
-        if (sendDockCloseSuccessTimes >= maxRetries) {
-            LogUtil.log(TAG, "达到最大重试次数或已发送关舱"+isSendDockCloseSuccess+sendDockCloseSuccessTimes);
-            return;
-        }
-        try {
-            if (client.isConnected()) {
-                sendDockCloseMessage(client);
-            } else {
-                handleNotConnected(client);
-            }
-        } catch (Exception e) {
-            LogUtil.log(TAG, "关舱异常：" + e.toString());
-            e.printStackTrace();
-        }
-    }
-
-    private void sendDockCloseMessage(MqttAndroidClient client){
-        MessageReply message = new MessageReply();
-        message.setMsg_type(60107);
-        message.setResult(1);
-
-        MqttMessage mqttMessage = new MqttMessage(new Gson().toJson(message).getBytes(StandardCharsets.UTF_8));
-        mqttMessage.setQos(0);
-        try {
-            client.publish(AMSConfig.getInstance().getMqttMsdkReplyMessage2ServerTopic(), mqttMessage, null, new IMqttActionListener() {
-                @Override
-                public void onSuccess(IMqttToken asyncActionToken) {
-                    LogUtil.log(TAG, "关舱发送成功：60107---"+sendDockCloseSuccessTimes+"clientId:"+client.getClientId());
-                    sendMissionExecuteEvents("AMS通知机库关舱");
-                    isSendDockCloseSuccess = true;
-                }
-                @Override
-                public void onFailure(IMqttToken asyncActionToken, Throwable exception) {
-                    LogUtil.log(TAG, "关舱发送回调失败：" + exception.toString());
-                    retrySend(client);
-                }
-            });
-        } catch (Exception e) {
-            LogUtil.log(TAG, "关舱发送异常：" + e.toString());
-            e.printStackTrace();
-        }
-
-
-    }
-    final Handler mainHandler = new Handler(Looper.getMainLooper());
-
-    private void retrySend(MqttAndroidClient client) {
-        sendDockCloseSuccessTimes++;
-        if (sendDockCloseSuccessTimes < maxRetries) {
-            mainHandler.postDelayed(() -> sendDockCloseMsg2Server(client), 2000);
-        } else {
-            LogUtil.log(TAG, "达到最大重试次数，关舱发送失败：" + sendDockCloseSuccessTimes);
-        }
-    }
-
-    private void handleNotConnected(MqttAndroidClient client) {
-        if (!isSendDockCloseSuccess && sendDockCloseSuccessTimes < maxRetries) {
-            sendDockCloseSuccessTimes++;
-            mainHandler.postDelayed(() -> sendDockCloseMsg2Server(client), 2000);
-            LogUtil.log(TAG, "关舱发送失败：mqtt未连接" + "--" + sendDockCloseSuccessTimes);
-        } else {
-            LogUtil.log(TAG, "关舱发送失败：" + sendDockCloseSuccessTimes);
-        }
-    }
-
-}

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

@@ -1,129 +0,0 @@
-package com.aros.apron.manager;
-
-import android.os.Handler;
-import android.os.Looper;
-
-import com.aros.apron.base.BaseManager;
-import com.aros.apron.constant.AMSConfig;
-import com.aros.apron.entity.ApronExecutionStatus;
-import com.aros.apron.entity.MessageReply;
-import com.aros.apron.entity.Movement;
-import com.aros.apron.tools.LogUtil;
-import com.google.gson.Gson;
-
-import org.eclipse.paho.android.service.MqttAndroidClient;
-import org.eclipse.paho.client.mqttv3.IMqttActionListener;
-import org.eclipse.paho.client.mqttv3.IMqttToken;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-
-import java.nio.charset.StandardCharsets;
-
-public class DockOpenManager extends BaseManager {
-
-    private final int maxRetries = 20;
-    private int sendDockOpenSuccessTimes;
-    private boolean isSendDockOpenSuccess;
-    private DockOpenManager() {
-    }
-
-    private static class DockOpenHolder {
-        private static final DockOpenManager INSTANCE = new DockOpenManager();
-    }
-
-    public static DockOpenManager getInstance() {
-        return DockOpenHolder.INSTANCE;
-    }
-
-
-    public void sendDockOpenMsg2Server(MqttAndroidClient client) {
-//        if (isSendDockOpenSuccess||sendDockOpenSuccessTimes >= maxRetries) {
-        if (sendDockOpenSuccessTimes >= maxRetries) {
-            LogUtil.log(TAG, "达到最大重试次数或已发送开舱"+isSendDockOpenSuccess+sendDockOpenSuccessTimes);
-            return;
-        }
-        try {
-            if (client.isConnected()) {
-                sendDockOpenMessage(client);
-            } else {
-                handleNotConnected(client);
-            }
-        } catch (Exception e) {
-            LogUtil.log(TAG, "开舱发送异常：" + e.toString());
-            e.printStackTrace();
-        }
-    }
-
-    private void sendDockOpenMessage(MqttAndroidClient client){
-
-        try {
-            if (client.isConnected()) {
-
-                MessageReply message = new MessageReply();
-                message.setMsg_type(60108);
-                message.setResult(1);
-                message.setMsg("开门");
-
-                MqttMessage mqttMessage = new MqttMessage(new Gson().toJson(message).getBytes(StandardCharsets.UTF_8));
-                mqttMessage.setQos(0);
-                client.publish(AMSConfig.getInstance().getMqttMsdkReplyMessage2ServerTopic(), mqttMessage, null, new IMqttActionListener() {
-                    @Override
-                    public void onSuccess(IMqttToken asyncActionToken) {
-                        LogUtil.log(TAG, "开舱发送成功：60108---" + sendDockOpenSuccessTimes + "clientId:" + client.getClientId());
-                        sendMissionExecuteEvents("AMS通知机库开舱");
-                        mainHandler.postDelayed(new Runnable() {
-                            @Override
-                            public void run() {
-                                if (ApronExecutionStatus.getInstance().isServerReplyDockOpen()) {
-                                    isSendDockOpenSuccess = true;
-                                    LogUtil.log(TAG, "已经收到服务端响应开门");
-                                } else {
-                                    if (Movement.getInstance().isPlaneWing()&&Movement.getInstance().getFlyingHeight()>40){
-                                        LogUtil.log(TAG, "未收到收到服务端响应开门,重新发送");
-                                        retrySend(client);
-                                    }else{
-                                        LogUtil.log(TAG,"飞机状态不满足开舱门条件:"+Movement.getInstance().isPlaneWing()+"--"+Movement.getInstance().getFlyingHeight());
-                                    }
-                                }
-                            }
-                        }, 2000);
-                    }
-
-                    @Override
-                    public void onFailure(IMqttToken asyncActionToken, Throwable exception) {
-                        LogUtil.log(TAG, "开舱发送回调失败：" + exception.toString());
-                        retrySend(client);
-                    }
-                });
-            } else {
-                LogUtil.log(TAG, "开舱发送回调失败：mqtt 未连接");
-            }
-        } catch (Exception e) {
-            e.printStackTrace();
-            LogUtil.log(TAG, "开舱发送异常：" + e.toString());
-
-        }
-
-
-    }
-    final Handler mainHandler = new Handler(Looper.getMainLooper());
-
-    private void retrySend(MqttAndroidClient client) {
-        sendDockOpenSuccessTimes++;
-        if (sendDockOpenSuccessTimes < maxRetries) {
-            mainHandler.postDelayed(() -> sendDockOpenMsg2Server(client), 2000);
-        } else {
-            LogUtil.log(TAG, "达到最大重试次数，开舱发送失败：" + sendDockOpenSuccessTimes);
-        }
-    }
-
-    private void handleNotConnected(MqttAndroidClient client) {
-        if (!isSendDockOpenSuccess && sendDockOpenSuccessTimes < maxRetries) {
-            sendDockOpenSuccessTimes++;
-            mainHandler.postDelayed(() -> sendDockOpenMsg2Server(client), 2000);
-            LogUtil.log(TAG, "开舱发送失败：mqtt未连接" + "--" + sendDockOpenSuccessTimes);
-        } else {
-            LogUtil.log(TAG, "开舱发送失败：" + sendDockOpenSuccessTimes);
-        }
-    }
-
-}

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

@@ -1,122 +0,0 @@
-//package com.aros.apron.manager;
-//
-//import android.os.Handler;
-//import android.os.Looper;
-//
-//import com.aros.apron.base.BaseManager;
-//import com.aros.apron.constant.AMSConfig;
-//import com.aros.apron.entity.ApronExecutionStatus;
-//import com.aros.apron.entity.MessageReply;
-//import com.aros.apron.tools.LogUtil;
-//import com.google.gson.Gson;
-//import org.eclipse.paho.android.service.MqttAndroidClient;
-//import org.eclipse.paho.client.mqttv3.IMqttActionListener;
-//import org.eclipse.paho.client.mqttv3.IMqttToken;
-//import org.eclipse.paho.client.mqttv3.MqttMessage;
-//import java.nio.charset.StandardCharsets;
-//
-//public class DroneShutdownManager extends BaseManager {
-//
-//    private final int maxRetries = 20;
-//    private int sendDroneShutDownSuccessTimes;
-//    private boolean isSendDroneShutDownSuccess;
-//
-//    private DroneShutdownManager() {
-//    }
-//
-//    private static class DroneShutHolder {
-//        private static final DroneShutdownManager INSTANCE = new DroneShutdownManager();
-//    }
-//
-//    public static DroneShutdownManager getInstance() {
-//        return DroneShutHolder.INSTANCE;
-//    }
-//
-//
-//    public void sendDroneShutDownMsg2Server(MqttAndroidClient client) {
-////        if (isSendDroneShutDownSuccess||sendDroneShutDownSuccessTimes >= maxRetries) {
-//        if (sendDroneShutDownSuccessTimes >= maxRetries) {
-//            LogUtil.log(TAG, "达到最大重试次数或已发送关机"+isSendDroneShutDownSuccess+sendDroneShutDownSuccessTimes);
-//            return;
-//        }
-//        try {
-//            if (client.isConnected()) {
-//                sendShutDownMessage(client);
-//            } else {
-//                handleNotConnected(client);
-//            }
-//        } catch (Exception e) {
-//            LogUtil.log(TAG, "关机发送异常：" + e.toString());
-//            e.printStackTrace();
-//        }
-//    }
-//
-//    private void sendShutDownMessage(MqttAndroidClient client) {
-//
-//
-//        try {
-//            if (client.isConnected()){
-//                MessageReply message = new MessageReply();
-//                message.setMsg_type(60011);
-//                message.setResult(1);
-//                message.setMsg("关机");
-//                MqttMessage mqttMessage = new MqttMessage(new Gson().toJson(message).getBytes("UTF-8"));
-//                mqttMessage.setQos(0);
-//                client.publish(AMSConfig.getInstance().getMqttMsdkReplyMessage2ServerTopic(), mqttMessage, null, new IMqttActionListener() {
-//                    @Override
-//                    public void onSuccess(IMqttToken asyncActionToken) {
-//                        LogUtil.log(TAG, "关机发送成功：60011---"+sendDroneShutDownSuccessTimes+"clientId:"+client.getClientId());
-//                        sendMissionExecuteEvents( "AMS通知机库执行无人机关机");
-//                        mainHandler.postDelayed(new Runnable() {
-//                            @Override
-//                            public void run() {
-//                                if (ApronExecutionStatus.getInstance().isServerReplyDroneShut()) {
-//                                    isSendDroneShutDownSuccess = true;
-//                                    LogUtil.log(TAG, "已收到服务端响应飞机关机");
-//                                } else {
-//                                    LogUtil.log(TAG, "未收到服务端响应飞机关机,重新发送");
-//                                    retrySend(client);
-//                                }
-//                            }
-//                        }, 2000);
-//                    }
-//
-//                    @Override
-//                    public void onFailure(IMqttToken asyncActionToken, Throwable exception) {
-//                        LogUtil.log(TAG, "关机发送回调失败：" + exception.toString());
-//                        retrySend(client);
-//                    }
-//                });
-//            } else {
-//                LogUtil.log(TAG, "关机发送失败：mqtt 未连接");
-//            }
-//
-//        } catch (Exception e) {
-//            LogUtil.log(TAG, "关机发送异常：" + e.toString());
-//            e.printStackTrace();
-//        }
-//
-//
-//    }
-//    final Handler mainHandler = new Handler(Looper.getMainLooper());
-//
-//    private void retrySend(MqttAndroidClient client) {
-//        sendDroneShutDownSuccessTimes++;
-//        if (sendDroneShutDownSuccessTimes < maxRetries) {
-//            mainHandler.postDelayed(() -> sendDroneShutDownMsg2Server(client), 2000);
-//        } else {
-//            LogUtil.log(TAG, "达到最大重试次数，关机发送失败：" + sendDroneShutDownSuccessTimes);
-//        }
-//    }
-//
-//    private void handleNotConnected(MqttAndroidClient client) {
-//        if (!isSendDroneShutDownSuccess && sendDroneShutDownSuccessTimes < maxRetries) {
-//            sendDroneShutDownSuccessTimes++;
-//            mainHandler.postDelayed(() -> sendDroneShutDownMsg2Server(client), 2000);
-//            LogUtil.log(TAG, "关机发送失败：mqtt未连接" + "--" + sendDroneShutDownSuccessTimes);
-//        } else {
-//            LogUtil.log(TAG, "关机发送失败：" + sendDroneShutDownSuccessTimes);
-//        }
-//    }
-//
-//}

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

@@ -1,117 +0,0 @@
-package com.aros.apron.manager;
-
-import android.os.Handler;
-import android.os.Looper;
-
-import com.aros.apron.base.BaseManager;
-import com.aros.apron.constant.AMSConfig;
-import com.aros.apron.entity.ApronExecutionStatus;
-import com.aros.apron.entity.MessageReply;
-import com.aros.apron.tools.LogUtil;
-import com.aros.apron.tools.MqttManager;
-import com.google.gson.Gson;
-
-import org.eclipse.paho.android.service.MqttAndroidClient;
-import org.eclipse.paho.client.mqttv3.IMqttActionListener;
-import org.eclipse.paho.client.mqttv3.IMqttToken;
-import org.eclipse.paho.client.mqttv3.MqttMessage;
-
-import java.nio.charset.StandardCharsets;
-
-public class DroneStorageManager extends BaseManager {
-
-    private final int maxRetries = 20;
-    private int sendDroneStorageSuccessTimes;
-    private boolean isSendDroneStorageSuccess;
-
-    private DroneStorageManager() {
-    }
-
-    private static class DroneStorageHolder {
-        private static final DroneStorageManager INSTANCE = new DroneStorageManager();
-    }
-
-    public static DroneStorageManager getInstance() {
-        return DroneStorageHolder.INSTANCE;
-    }
-
-    public void sendDroneStorageMsg2Server(int result) {
-//        if (isSendDroneStorageSuccess||sendDroneStorageSuccessTimes >= maxRetries) {
-        if (sendDroneStorageSuccessTimes >= maxRetries) {
-            LogUtil.log(TAG, "达到最大重试次数或已发送入库"+isSendDroneStorageSuccess+sendDroneStorageSuccessTimes);
-            return;
-        }
-        try {
-            if (MqttManager.getInstance().mqttAndroidClient.isConnected()) {
-                sendDroneStorageMessage(result);
-            } else {
-                handleNotConnected(MqttManager.getInstance().mqttAndroidClient,result);
-            }
-        } catch (Exception e) {
-            LogUtil.log(TAG, "入库发送异常：" + e.toString());
-            e.printStackTrace();
-        }
-    }
-
-    private void sendDroneStorageMessage(int result){
-        MessageReply message = new MessageReply();
-        message.setMsg_type(60010);
-        message.setResult(result);
-
-        MqttMessage mqttMessage = new MqttMessage(new Gson().toJson(message).getBytes(StandardCharsets.UTF_8));
-        mqttMessage.setQos(0);
-
-        try {
-            MqttManager.getInstance().mqttAndroidClient.publish(AMSConfig.getInstance().getMqttMsdkReplyMessage2ServerTopic(), mqttMessage, null, new IMqttActionListener() {
-                @Override
-                public void onSuccess(IMqttToken asyncActionToken) {
-                    LogUtil.log(TAG, "入库已发送：60010---" + sendDroneStorageSuccessTimes + "clientId:" + MqttManager.getInstance().mqttAndroidClient.getClientId());
-                    sendMissionExecuteEvents( "AMS通知机库入库");
-
-                    mainHandler.postDelayed(new Runnable() {
-                        @Override
-                        public void run() {
-                            if (ApronExecutionStatus.getInstance().isServerReplyDockIn()) {
-                                isSendDroneStorageSuccess = true;
-                                LogUtil.log(TAG, "已经收到服务端响应入库");
-                            } else {
-                                LogUtil.log(TAG, "未收到服务端响应入库,重新发送");
-                                retrySend(result);
-                            }
-                        }
-                    }, 2000);
-                }
-
-                @Override
-                public void onFailure(IMqttToken asyncActionToken, Throwable exception) {
-                    LogUtil.log(TAG, "入库发送回调失败：" + exception.toString());
-                    retrySend(result);
-                }
-            });
-        } catch (Exception e) {
-            LogUtil.log(TAG, "入库发送异常：" + e.toString());
-            e.printStackTrace();
-        }
-    }
-    final Handler mainHandler = new Handler(Looper.getMainLooper());
-
-    private void retrySend(int result) {
-        sendDroneStorageSuccessTimes++;
-        if (sendDroneStorageSuccessTimes < maxRetries) {
-            mainHandler.postDelayed(() -> DroneStorageManager.getInstance().sendDroneStorageMsg2Server(result), 2000);
-        } else {
-            LogUtil.log(TAG, "达到最大重试次数，入库发送失败：" + sendDroneStorageSuccessTimes);
-        }
-    }
-
-    private void handleNotConnected(MqttAndroidClient client,int result) {
-        if (!isSendDroneStorageSuccess && sendDroneStorageSuccessTimes < maxRetries) {
-            sendDroneStorageSuccessTimes++;
-            mainHandler.postDelayed(() -> DroneStorageManager.getInstance().sendDroneStorageMsg2Server(result), 2000);
-            LogUtil.log(TAG, "入库发送失败：mqtt未连接" + "--" + sendDroneStorageSuccessTimes);
-        } else {
-            LogUtil.log(TAG, "入库发送失败：" + sendDroneStorageSuccessTimes);
-        }
-    }
-
-}

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

@@ -1,453 +0,0 @@
-package com.aros.apron.manager;
-
-import static com.aros.apron.tools.Utils.getIDJIErrorMsg;
-
-import android.text.TextUtils;
-
-import androidx.annotation.NonNull;
-import androidx.annotation.Nullable;
-
-import com.aros.apron.base.BaseManager;
-import com.aros.apron.entity.MQMessage;
-import com.aros.apron.entity.Movement;
-import com.aros.apron.tools.ApronArucoDetect;
-import com.aros.apron.tools.LogUtil;
-import com.aros.apron.tools.PreferenceUtils;
-import com.google.gson.Gson;
-
-import org.eclipse.paho.android.service.MqttAndroidClient;
-
-import dji.sdk.keyvalue.key.CameraKey;
-import dji.sdk.keyvalue.key.DJIKey;
-import dji.sdk.keyvalue.key.DJIKeyInfo;
-import dji.sdk.keyvalue.key.GimbalKey;
-import dji.sdk.keyvalue.key.KeyTools;
-import dji.sdk.keyvalue.value.camera.CameraType;
-import dji.sdk.keyvalue.value.common.ComponentIndexType;
-import dji.sdk.keyvalue.value.common.EmptyMsg;
-import dji.sdk.keyvalue.value.gimbal.GimbalAngleRotation;
-import dji.sdk.keyvalue.value.gimbal.GimbalAngleRotationMode;
-import dji.sdk.keyvalue.value.gimbal.GimbalMode;
-import dji.sdk.keyvalue.value.gimbal.GimbalResetType;
-import dji.v5.common.callback.CommonCallbacks;
-import dji.v5.common.error.IDJIError;
-import dji.v5.manager.KeyManager;
-
-public class GimbalManager extends BaseManager {
-
-
-    private GimbalManager() {
-    }
-
-    private static class GimbalHolder {
-        private static final GimbalManager INSTANCE = new GimbalManager();
-    }
-
-    public static GimbalManager getInstance() {
-        return GimbalHolder.INSTANCE;
-    }
-
-    public void initGimbalInfo() {
-        ApronArucoDetect.getInstance().setDoublePayload(PreferenceUtils.getInstance().getCameraLocationType() == 2);
-    }
-
-
-    //用相对角度模式旋转云台
-    public void gimbalRotateByRelativeAngle(MQMessage message) {
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
-                KeyConnection, ComponentIndexType.PORT_1));
-        if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) {
-            if (message.getX() == 0 && message.getY() == 0) {
-                gimbalReset();
-            } else {
-                int yaw = message.getX();
-                int pitch = message.getY();
-                GimbalAngleRotation rotation = new GimbalAngleRotation();
-                rotation.setMode(GimbalAngleRotationMode.RELATIVE_ANGLE);
-                rotation.setYaw(Double.valueOf(yaw));
-                rotation.setPitch(Double.valueOf(pitch));
-                KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyRotateByAngle, ComponentIndexType.PORT_1), rotation, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
-                            @Override
-                            public void onSuccess(EmptyMsg emptyMsg) {
-                                sendMsg2Server( message);
-                            }
-
-                            @Override
-                            public void onFailure(@NonNull IDJIError error) {
-                                LogUtil.log(TAG,"云台控制失败:"+new Gson().toJson(error));
-                                sendMsg2Server( message, "云台控制失败:" + getIDJIErrorMsg(error));
-                            }
-                        }
-                );
-            }
-        } else {
-            sendMsg2Server( message, "云台未连接");
-        }
-
-
-    }
-
-//    //用绝对角度模式旋转云台
-//    public void gimbalRotateByAbsoluteAngle(MQMessage message) {
-//        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
-//                KeyConnection, ComponentIndexType.PORT_1));
-//        if (isConnect != null && isConnect) {
-//            if (message.getX() == 0 && message.getY() == 0) {
-//                gimbalReset();
-//            } else {
-//                int yaw = message.getX();
-//                int pitch = message.getY();
-//                GimbalAngleRotation rotation = new GimbalAngleRotation();
-//                rotation.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE);
-//                rotation.setYaw(Double.valueOf(yaw * 10));
-//                rotation.setPitch(Double.valueOf(pitch * 10));
-//                KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyRotateByAngle, ComponentIndexType.PORT_1), rotation, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
-//                            @Override
-//                            public void onSuccess(EmptyMsg emptyMsg) {
-//                                LogUtil.log(TAG, "云台控制成功:" + yaw + "---" + pitch);
-//                            }
-//
-//                            @Override
-//                            public void onFailure(@NonNull IDJIError error) {
-//                                LogUtil.log(TAG, "云台控制失败:" + error.description());
-//                            }
-//                        }
-//                );
-//            }
-//        } else {
-//            sendMsg2Server( message, "云台未连接");
-//        }
-//    }
-
-    //云台重置
-    public void gimbalReset() {
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
-                KeyConnection, ComponentIndexType.PORT_1));
-        if (isConnect != null && isConnect) {
-            KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyGimbalReset, ComponentIndexType.PORT_1), GimbalResetType.PITCH_YAW, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
-                        @Override
-                        public void onSuccess(EmptyMsg emptyMsg) {
-                            LogUtil.log(TAG, "云台复位");
-                        }
-
-                        @Override
-                        public void onFailure(@NonNull IDJIError error) {
-                            LogUtil.log(TAG, "云台复位失败:" + error.description());
-
-                        }
-                    }
-            );
-        } else {
-            LogUtil.log(TAG, "云台未连接");
-        }
-    }
-
-    //云台回中
-    public void gimbalResetWithPitchAndYaw(MQMessage message) {
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
-                KeyConnection, ComponentIndexType.PORT_1));
-        if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) {
-            KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyGimbalReset, ComponentIndexType.PORT_1),
-                    GimbalResetType.PITCH_YAW, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
-                        @Override
-                        public void onSuccess(EmptyMsg emptyMsg) {
-                            sendMsg2Server(message);
-                        }
-
-                        @Override
-                        public void onFailure(@NonNull IDJIError error) {
-                            LogUtil.log(TAG,"云台重置失败:"+new Gson().toJson(error));
-                            sendMsg2Server(message, "云台控制失败:" + getIDJIErrorMsg(error));
-                        }
-                    }
-            );
-        } else {
-            sendMsg2Server(message, "云台重置失败:设备未连接");
-        }
-    }
-
-    //云台偏航回中
-    public void gimbalResetWithYaw(MQMessage message) {
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
-                KeyConnection, ComponentIndexType.PORT_1));
-        if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) {
-            KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyGimbalReset, ComponentIndexType.PORT_1),
-                    GimbalResetType.ONLY_YAW, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
-                        @Override
-                        public void onSuccess(EmptyMsg emptyMsg) {
-                            sendMsg2Server(message);
-                        }
-
-                        @Override
-                        public void onFailure(@NonNull IDJIError error) {
-                            LogUtil.log(TAG,"云台偏航回中失败:"+new Gson().toJson(error));
-                            sendMsg2Server(message, "云台偏航回中失败:" + getIDJIErrorMsg(error));
-                        }
-                    }
-            );
-        } else {
-            sendMsg2Server(message, "云台偏航回中失败:设备未连接");
-        }
-    }
-
-    //偏航向下
-    public void gimbalDownWithPitch(MQMessage message) {
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
-                KeyConnection, ComponentIndexType.PORT_1));
-        if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) {
-            GimbalAngleRotation rotation = new GimbalAngleRotation();
-            rotation.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE);
-            if (!TextUtils.isEmpty(Movement.getInstance().getGimbalYaw())){
-                rotation.setYaw(Double.parseDouble(Movement.getInstance().getGimbalYaw()));
-            }
-            rotation.setPitch(-90.0);
-            KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyRotateByAngle, ComponentIndexType.PORT_1), rotation, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
-                        @Override
-                        public void onSuccess(EmptyMsg emptyMsg) {
-                            sendMsg2Server(message);
-                        }
-
-                        @Override
-                        public void onFailure(@NonNull IDJIError error) {
-                            sendMsg2Server(message,"偏航向下失败:"+getIDJIErrorMsg(error));
-                        }
-                    }
-            );
-
-        } else {
-            sendMsg2Server(message, "云台偏航回中失败:设备未连接");
-        }
-    }
-
-    //云台朝下
-    public void gimbalDownWithPitchAndYaw(MQMessage message) {
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
-                KeyConnection, ComponentIndexType.PORT_1));
-        if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) {
-            GimbalAngleRotation rotation = new GimbalAngleRotation();
-            rotation.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE);
-            rotation.setYaw(0.0);
-            rotation.setRoll(0.0);
-            rotation.setPitch(-90.0);
-            KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyRotateByAngle, ComponentIndexType.PORT_1), rotation, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
-                        @Override
-                        public void onSuccess(EmptyMsg emptyMsg) {
-                            sendMsg2Server(message);
-                        }
-
-                        @Override
-                        public void onFailure(@NonNull IDJIError error) {
-                            sendMsg2Server(message,"云台向下失败:"+getIDJIErrorMsg(error));
-                        }
-                    }
-            );
-
-        } else {
-            sendMsg2Server(message, "云台偏航回中失败:设备未连接");
-        }
-    }
-
-    //设置云台控制的最大速度[1,100]
-    public void setGimbalControlMaxSpeed(MQMessage
-                                                 message) {
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
-                KeyConnection, ComponentIndexType.PORT_1));
-        if (isConnect!=null&&isConnect) {
-            DJIKey<Integer> pitchKey = KeyTools.createKey(GimbalKey.KeyPitchControlMaxSpeed, ComponentIndexType.PORT_1);
-            DJIKey<Integer> yawKey = KeyTools.createKey(GimbalKey.KeyYawControlMaxSpeed, ComponentIndexType.PORT_1);
-            if (pitchKey != null) {
-                setGimbalControlSpeed(message, pitchKey, "云台俯仰控制速度设置失败:");
-            } else {
-                LogUtil.log(TAG, "云台俯仰控制速度设置失败:pitchKey is null!");
-            }
-            if (yawKey != null) {
-                setGimbalControlSpeed( message, yawKey, "云台偏航控制速度设置失败:");
-            } else {
-                LogUtil.log(TAG, "云台偏航控制速度设置失败:yawKey is null!");
-            }
-        } else {
-            sendMsg2Server( message, "云台未连接");
-        }
-    }
-
-
-    private void setGimbalControlSpeed(MQMessage
-                                               message, DJIKey<Integer> key, String errorMessage) {
-        int value = message.getGimbalControlSpeed();
-        KeyManager.getInstance().setValue(key, value, new CommonCallbacks.CompletionCallback() {
-            @Override
-            public void onSuccess() {
-                sendMsg2Server( message);
-            }
-
-            @Override
-            public void onFailure(@NonNull IDJIError error) {
-                LogUtil.log(TAG,errorMessage+new Gson().toJson(error));
-                sendMsg2Server( message, errorMessage + getIDJIErrorMsg(error));
-            }
-        });
-    }
-
-    //
-//    //恢复出厂设置
-//    public void setRestoreFactorySettings(MqttAndroidClient mqttAndroidClient, MQMessage
-//            message) {
-//        MQMessage.Data data = message.getData();
-//        if (data != null) {
-//            Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
-//                    KeyConnection, Integer.parseInt(data.getComponentIndex())));
-//            if (isConnect) {
-//                KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyRestoreFactorySettings, Integer.parseInt(data.getComponentIndex())), new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
-//                    @Override
-//                    public void onSuccess(EmptyMsg emptyMsg) {
-//                        sendMsg2Server( message);
-//                    }
-//
-//                    @Override
-//                    public void onFailure(@NonNull IDJIError error) {
-//                        sendMsg2Server( message, "恢复出厂设置失败：" + error.description());
-//                    }
-//                });
-//            } else {
-//                sendMsg2Server( message, "云台未连接");
-//            }
-//        }
-//
-//    }
-//
-//    //启动自动校准
-//    public void startGimbalCalibrate(MqttAndroidClient mqttAndroidClient, MQMessage
-//            message) {
-//        MQMessage.Data data = message.getData();
-//        if (data != null) {
-//            Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
-//                    KeyConnection, Integer.parseInt(data.getComponentIndex())));
-//            if (isConnect) {
-//                KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyGimbalCalibrate, Integer.parseInt(data.getComponentIndex())), new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
-//                    @Override
-//                    public void onSuccess(EmptyMsg emptyMsg) {
-//                        sendMsg2Server( message);
-//                    }
-//
-//                    @Override
-//                    public void onFailure(@NonNull IDJIError error) {
-//                        sendMsg2Server( message, "启动校准失败：" + error.description());
-//                    }
-//                });
-//            } else {
-//                sendMsg2Server( message, "云台未连接");
-//            }
-//        }
-//
-//    }
-//
-//    //设置云台缓启/停，范围：[0,30]，数值越大，控制云台俯仰轴启动/停止转动的缓冲距离越长。
-//    public void setSmoothingFactor(MQMessage message) {
-//        MQMessage.Data data = message.getData();
-//        if (data != null) {
-//            Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
-//                    KeyConnection, Integer.parseInt(data.getComponentIndex())));
-//            if (isConnect) {
-//                String value = data.getGimbalSmoothingFactor();
-//                String type = data.getGimbalSmoothingFactorType();
-//                KeyManager.getInstance().setValue(KeyTools.createKey(type.equals("0") ? GimbalKey.KeyPitchSmoothingFactor : GimbalKey.KeyYawSmoothingFactor, Integer.parseInt(data.getComponentIndex())), Integer.parseInt(value), new CommonCallbacks.CompletionCallback() {
-//                    @Override
-//                    public void onSuccess() {
-//                        sendMsg2Server( message);
-//                    }
-//
-//                    @Override
-//                    public void onFailure(@NonNull IDJIError error) {
-//                        sendMsg2Server( message, "云台缓启/停设置失败：" + error.description());
-//                    }
-//                });
-//            } else {
-//                sendMsg2Server( message, "云台未连接");
-//            }
-//        }
-//
-//
-//    }
-//
-//    //设置云台限位扩展
-//    public void setPitchRangeExtensionEnabled(MqttAndroidClient
-//                                                      mqttAndroidClient, MQMessage message) {
-//        MQMessage.Data data = message.getData();
-//        if (data != null) {
-//            Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
-//                    KeyConnection, Integer.parseInt(data.getComponentIndex())));
-//            if (isConnect) {
-//                String type = data.getPitchRangeExtensionEnabled();
-//                if (!TextUtils.isEmpty(type)) {
-//                    KeyManager.getInstance().setValue(KeyTools.createKey(GimbalKey.KeyPitchRangeExtensionEnabled,
-//                            Integer.parseInt(data.getComponentIndex())), type.equals("1") ? true : false, new CommonCallbacks.CompletionCallback() {
-//                        @Override
-//                        public void onSuccess() {
-//                            sendMsg2Server( message);
-//                        }
-//
-//                        @Override
-//                        public void onFailure(@NonNull IDJIError error) {
-//                            sendMsg2Server( message, "设置云台俯仰扩展失败:" + error.description());
-//                        }
-//                    });
-//                } else {
-//                    sendMsg2Server( message, "设置云台俯仰扩展参数有误");
-//                }
-//            } else {
-//                sendMsg2Server( message, "云台未连接");
-//            }
-//        }
-//
-//    }
-//
-    //设置云台模式
-    public void setGimbalMode(int gimbalMode) {
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(GimbalKey.
-                KeyConnection, ComponentIndexType.PORT_1));
-        if (isConnect != null && isConnect) {
-            KeyManager.getInstance().setValue(KeyTools.createKey(GimbalKey.KeyGimbalMode,
-                    ComponentIndexType.PORT_1), GimbalMode.find(gimbalMode), new CommonCallbacks.CompletionCallback() {
-                @Override
-                public void onSuccess() {
-                    switch (gimbalMode) {
-                        case 0:
-                            LogUtil.log(TAG, "设置云台自由模式成功");
-                            gimbalReset();
-                            break;
-                        case 1:
-                            LogUtil.log(TAG, "设置云台FPV模式成功");
-                            break;
-                        case 2:
-                            LogUtil.log(TAG, "设置云台跟随模式成功");
-                            break;
-                    }
-                }
-
-                @Override
-                public void onFailure(@NonNull IDJIError error) {
-                    switch (gimbalMode) {
-                        case 0:
-                            LogUtil.log(TAG, "设置云台自由模式失败:" + error.description());
-                            break;
-                        case 1:
-                            LogUtil.log(TAG, "设置云台FPV模式失败:" + error.description());
-                            break;
-                        case 2:
-                            LogUtil.log(TAG, "设置云台跟随模式失败:" + error.description());
-                            break;
-
-                    }
-                }
-            });
-
-        } else {
-            LogUtil.log(TAG, "设置云台模式失败:未连接");
-        }
-
-    }
-
-    public void releaseGimbalKey() {
-        KeyManager.getInstance().cancelListen(this);
-    }
-}

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

@@ -1,71 +0,0 @@
-package com.aros.apron.manager;
-
-
-import androidx.annotation.NonNull;
-
-import com.aros.apron.base.BaseManager;
-import com.aros.apron.tools.LogUtil;
-import com.aros.apron.tools.PreferenceUtils;
-import com.google.gson.Gson;
-
-import dji.sdk.keyvalue.key.FlightAssistantKey;
-import dji.sdk.keyvalue.key.FlightControllerKey;
-import dji.sdk.keyvalue.key.KeyTools;
-import dji.sdk.keyvalue.value.flightassistant.AuxiliaryLightMode;
-import dji.v5.common.callback.CommonCallbacks;
-import dji.v5.common.error.IDJIError;
-import dji.v5.manager.KeyManager;
-
-
-public class LEDsSettingsManager extends BaseManager {
-
-
-    private LEDsSettingsManager() {
-    }
-
-    private static class LEDsSettingsHolder {
-        private static final LEDsSettingsManager INSTANCE = new LEDsSettingsManager();
-    }
-
-    public static LEDsSettingsManager getInstance() {
-        return LEDsSettingsHolder.INSTANCE;
-    }
-
-    public void initLEDsInfo() {
-
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
-        if (isConnect != null && isConnect) {
-//            LEDsSettings leDsSettings = new LEDsSettings();
-//            leDsSettings.setNavigationLEDsOn(PreferenceUtils.getInstance().getNavigationLEDsOn());
-//            leDsSettings.setFrontLEDsOn(true);
-//            leDsSettings.setRearLEDsOn(true);
-//            leDsSettings.setStatusIndicatorLEDsOn(true);
-            boolean navigationLEDsOn = PreferenceUtils.getInstance().getNavigationLEDsOn();
-            KeyManager.getInstance().setValue(KeyTools.createKey(FlightAssistantKey.KeyBottomAuxiliaryLightMode),
-                    navigationLEDsOn ? AuxiliaryLightMode.ON : AuxiliaryLightMode.OFF, new CommonCallbacks.CompletionCallback() {
-                @Override
-                public void onSuccess() {
-                    LogUtil.log(TAG, "设置夜航灯使能:" + PreferenceUtils.getInstance().getNavigationLEDsOn());
-                }
-
-                @Override
-                public void onFailure(@NonNull IDJIError idjiError) {
-                    LogUtil.log(TAG, "设置夜航灯使能失败:" + new Gson().toJson(idjiError));
-                }
-            });
-//            KeyManager.getInstance().setValue(KeyTools.createKey(FlightControllerKey.KeyLEDsSettings), leDsSettings, new CommonCallbacks.CompletionCallback() {
-//                @Override
-//                public void onSuccess() {
-//                    LogUtil.log(TAG, "设置夜航灯使能:" + PreferenceUtils.getInstance().getNavigationLEDsOn());
-//                }
-//
-//                @Override
-//                public void onFailure(@NonNull IDJIError idjiError) {
-//                    LogUtil.log(TAG, "设置夜航灯使能失败:" + new Gson().toJson(idjiError));
-//                }
-//            });
-        } else {
-            LogUtil.log(TAG, "设置夜航灯失败");
-        }
-    }
-}

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

@@ -1,119 +0,0 @@
-package com.aros.apron.manager;
-
-import android.os.Handler;
-
-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 java.util.List;
-
-import dji.sdk.keyvalue.key.FlightControllerKey;
-import dji.sdk.keyvalue.key.KeyTools;
-import dji.sdk.keyvalue.value.airlink.WlmDongleInfo;
-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.LTEDongleInfoListener;
-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)));
-//
-//                }
-//            });
-//            LTEManager.getInstance().addLTEAuthenticationInfoListener(new LTEAuthenticationInfoListener() {
-//                @Override
-//                public void onLTEAuthenticationInfoUpdate(LTEAuthenticationInfo info) {
-//                    if (info != null) {
-//                        LogUtil.log(TAG, "LTEAuthenticationInfo:" + new Gson().toJson(info));
-//                    }
-//                }
-//            });
-
-        }
-    }
-
-    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);
-                    }
-                }
-            });
-        }
-
-    }
-
-}

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

@@ -1,585 +0,0 @@
-package com.aros.apron.manager;
-
-import static com.aros.apron.tools.Utils.getIDJIErrorMsg;
-import android.os.Build;
-import android.os.Environment;
-import android.os.Handler;
-import android.text.TextUtils;
-import android.util.Log;
-import androidx.annotation.NonNull;
-import androidx.annotation.RequiresApi;
-import com.amazonaws.ClientConfiguration;
-import com.amazonaws.auth.AWSCredentials;
-import com.amazonaws.regions.Region;
-import com.amazonaws.regions.Regions;
-import com.amazonaws.services.s3.AmazonS3;
-import com.amazonaws.services.s3.AmazonS3Client;
-import com.amazonaws.services.s3.model.GeneratePresignedUrlRequest;
-import com.amazonaws.services.s3.model.ProgressEvent;
-import com.amazonaws.services.s3.model.ProgressListener;
-import com.amazonaws.services.s3.model.PutObjectRequest;
-import com.aros.apron.base.BaseManager;
-import com.aros.apron.entity.ApronExecutionStatus;
-import com.aros.apron.entity.FileUploadResult;
-import com.aros.apron.entity.MQMessage;
-import com.aros.apron.tools.LogUtil;
-import com.aros.apron.tools.PreferenceUtils;
-import com.autonavi.base.amap.mapcore.FileUtil;
-import com.google.gson.Gson;
-
-import java.io.BufferedOutputStream;
-import java.io.File;
-import java.io.FileOutputStream;
-import java.io.IOException;
-import java.time.LocalDateTime;
-import java.time.format.DateTimeFormatter;
-import java.util.ArrayList;
-import java.util.HashSet;
-import java.util.List;
-import java.util.Set;
-
-import dji.sdk.keyvalue.key.FlightControllerKey;
-import dji.sdk.keyvalue.key.KeyTools;
-import dji.sdk.keyvalue.value.camera.MediaFileType;
-import dji.sdk.keyvalue.value.common.ComponentIndexType;
-import dji.v5.common.callback.CommonCallbacks;
-import dji.v5.common.error.IDJIError;
-import dji.v5.manager.KeyManager;
-import dji.v5.manager.datacenter.MediaDataCenter;
-import dji.v5.manager.datacenter.media.MediaFile;
-import dji.v5.manager.datacenter.media.MediaFileDownloadListener;
-import dji.v5.manager.datacenter.media.MediaFileListDataSource;
-import dji.v5.manager.datacenter.media.MediaFileListState;
-import dji.v5.manager.datacenter.media.MediaFileListStateListener;
-import dji.v5.manager.datacenter.media.PullMediaFileListParam;
-import io.reactivex.rxjava3.android.schedulers.AndroidSchedulers;
-import io.reactivex.rxjava3.core.Observable;
-import io.reactivex.rxjava3.core.ObservableEmitter;
-import io.reactivex.rxjava3.core.ObservableOnSubscribe;
-import io.reactivex.rxjava3.core.Observer;
-import io.reactivex.rxjava3.disposables.Disposable;
-import io.reactivex.rxjava3.schedulers.Schedulers;
-
-public class MediaManager extends BaseManager {
-
-    private  final String TAG = "MediaManager";
-    private  final String mediaFileDir = "/apronPic";
-    private MediaFileListState mState = null;
-
-    private List<MediaFile> mediaFiles = new ArrayList<>();
-
-    /* ===== ① 新增：已上传文件名集合（本次任务内有效） ===== */
-    private final Set<String> uploadedFileNames = new HashSet<>();
-
-    private int updatingRetryCount = 0;
-    private static final int MAX_UPDATING_RETRY = 50; // 最多重试50次
-
-    private int mediaRestartCount = 0;
-    private static final int MAX_MEDIA_RESTART = 1; // 最多重启3次
-
-    private MediaManager() {
-    }
-
-    private static class MediaManagerHolder {
-        private static final MediaManager INSTANCE = new MediaManager();
-    }
-
-    public static MediaManager getInstance() {
-        return MediaManager.MediaManagerHolder.INSTANCE;
-    }
-
-    public  void init() {
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
-        if (isConnect != null && isConnect) {
-            MediaFileListDataSource source = new MediaFileListDataSource.Builder().setIndexType(ComponentIndexType.PORT_1).build();
-            MediaDataCenter.getInstance().getMediaManager().setMediaFileDataSource(source);
-            MediaDataCenter.getInstance().getMediaManager().addMediaFileListStateListener(new MediaFileListStateListener() {
-                @Override
-                public void onUpdate(MediaFileListState mediaFileListState) {
-                    mState = mediaFileListState;
-                    LogUtil.log(TAG, "当前媒体文件状态：" + mediaFileListState.name());
-                }
-            });
-        }
-    }
-
-    private int enterPlayBackFailTimes;
-    private boolean isEnablePlayback;
-
-    public void enablePlayback() {
-        updatingRetryCount = 0;
-        MediaDataCenter.getInstance().getMediaManager().enable(new CommonCallbacks.CompletionCallback() {
-            @Override
-            public void onSuccess() {
-                LogUtil.log(TAG, "进入媒体模式成功");
-                new Handler().postDelayed(new Runnable() {
-                    @Override
-                    public void run() {
-                        MediaFileListDataSource source = new MediaFileListDataSource.Builder().setIndexType(ComponentIndexType.PORT_1).build();
-                        MediaDataCenter.getInstance().getMediaManager().setMediaFileDataSource(source);
-                        MediaDataCenter.getInstance().getMediaManager().pullMediaFileListFromCamera(new PullMediaFileListParam.Builder().count(-1).build(), new CommonCallbacks.CompletionCallback() {
-                            @Override
-                            public void onSuccess() {
-                                LogUtil.log(TAG,"拉取成功");
-                            }
-
-                            @Override
-                            public void onFailure(@NonNull IDJIError idjiError) {
-                                LogUtil.log(TAG,"拉取失败");
-                            }
-                        });
-
-                        new Handler().postDelayed(new Runnable() {
-                            @Override
-                            public void run() {
-                                pullMediaFileListFromCamera();
-                                isEnablePlayback=true;
-                            }
-                        }, 5000);
-                        isEnablePlayback=true;
-                    }
-                },2000);
-            }
-
-            @Override
-            public void onFailure(@NonNull IDJIError idjiError) {
-                LogUtil.log(TAG, "第"+enterPlayBackFailTimes+"次进入媒体模式失败:"+new Gson().toJson(idjiError));
-                if (!isEnablePlayback){
-                    new Handler().postDelayed(new Runnable() {
-                        @Override
-                        public void run() {
-                            if (enterPlayBackFailTimes < 10) {
-                                enterPlayBackFailTimes++;
-                                enablePlayback();
-                            }else{
-                                ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
-                                sendMissionExecuteEvents( "媒体模式进入失败:关机");
-                            }
-                        }
-                    }, 1500);
-                }
-            }
-        });
-    }
-
-    private int pullMediaFileListFromCameraFailTimes;
-    private boolean isPullMediaFileListFromCameraSuccess;
-    private void pullMediaFileListFromCamera(){
-        mState=MediaDataCenter.getInstance().getMediaManager().getMediaFileListState();
-        if (mState == MediaFileListState.UPDATING) {
-            updatingRetryCount++;
-            LogUtil.log(TAG, "状态为" + mState + "，第" + updatingRetryCount + "次重试");
-            if (updatingRetryCount >= MAX_UPDATING_RETRY) {
-                if (mediaRestartCount >= MAX_MEDIA_RESTART) {
-                    LogUtil.log(TAG, "媒体模块重启" + MAX_MEDIA_RESTART + "次仍失败，强制关机");
-                    ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
-                    sendMissionExecuteEvents("媒体模块故障，强制关机");
-                    return;
-                }
-
-                mediaRestartCount++;
-                LogUtil.log(TAG, "媒体模块卡死，第" + mediaRestartCount + "次重启");
-
-                // 先退出媒体模式
-                MediaDataCenter.getInstance().getMediaManager().disable(new CommonCallbacks.CompletionCallback() {
-                    @Override
-                    public void onSuccess() {
-                        // 延迟2秒后重新进入
-                        new Handler().postDelayed(() -> {
-                            enablePlayback(); // 重新走 enable -> pull 流程
-                        }, 2000);
-                    }
-                    @Override
-                    public void onFailure(@NonNull IDJIError error) {
-                        // 退不出也强制关机
-                        ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
-                    }
-                });
-                return;
-            }
-            new Handler().postDelayed(new Runnable() {
-                @Override
-                public void run() {
-                    pullMediaFileListFromCamera();
-                }
-            }, 3000);
-            return;
-        }
-
-        MediaDataCenter.getInstance().getMediaManager().pullMediaFileListFromCamera(new PullMediaFileListParam.Builder().count(-1).build(), new CommonCallbacks.CompletionCallback() {
-                    @Override
-                    public void onSuccess() {
-                        isPullMediaFileListFromCameraSuccess=true;
-                        // 成功时重置计数器
-                        updatingRetryCount = 0;
-                        // 成功后重置重启计数器，为下次任务做准备
-                        mediaRestartCount = 0;
-
-                        new Handler().postDelayed(new Runnable() {
-                            @Override
-                            public void run() {
-                                // 二次检查状态，防止延迟期间状态变化
-                                if (mState == MediaFileListState.UP_TO_DATE) {
-                                    List<MediaFile> rawList =
-                                            MediaDataCenter.getInstance().getMediaManager().getMediaFileListData().getData();
-                                    /* ===== ② 过滤已上传文件 ===== */
-                                    mediaFiles = new ArrayList<>();
-                                    for (MediaFile mf : rawList) {
-                                        if (!uploadedFileNames.contains(mf.getFileName())) {
-                                            mediaFiles.add(mf);
-                                        } else {
-                                            LogUtil.log(TAG, "跳过已上传文件: " + mf.getFileName());
-                                        }
-                                    }
-                                    if (mediaFiles.isEmpty()) {
-                                        LogUtil.log(TAG, "所有文件均已上传，直接清理");
-                                        downLoadMediaFileIndex = 0;
-                                        removeAllFiles();
-                                        return;
-                                    }
-
-                                    if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
-                                        pullOriginalMediaFileFromCamera();
-                                    }
-                                } else {
-                                    LogUtil.log(TAG, "延迟后状态变为:" + mState + "，重新等待");
-                                    // 状态变化时重试而不是直接失败
-                                    if (pullMediaFileListFromCameraFailTimes < 10) {
-                                        pullMediaFileListFromCameraFailTimes++;
-                                        pullMediaFileListFromCamera();
-                                    } else {
-                                        ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
-                                        sendMissionExecuteEvents("拉取媒体文件失败:" + mState);
-                                        LogUtil.log(TAG, "拉取媒体文件失败,当前状态:" + mState);
-                                        disablePlayback();
-                                        LogUtil.log(TAG, "发送关闭无人机");
-                                    }
-                                }
-                            }
-                        },2000);
-                    }
-
-                    @Override
-                    public void onFailure(@NonNull IDJIError idjiError) {
-                        LogUtil.log(TAG, "第"+pullMediaFileListFromCameraFailTimes+"拉取媒体文件失败:"+new Gson().toJson(idjiError));
-
-                        if (!isPullMediaFileListFromCameraSuccess){
-                            new Handler().postDelayed(new Runnable() {
-                                @Override
-                                public void run() {
-                                    if (pullMediaFileListFromCameraFailTimes < 10) {
-                                        pullMediaFileListFromCameraFailTimes++;
-                                        pullMediaFileListFromCamera();
-                                    }else{
-                                        LogUtil.log(TAG, "拉取媒体文件失败:" + new Gson().toJson(idjiError));
-                                        ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
-                                        sendMissionExecuteEvents("拉取媒体文件失败");
-                                        disablePlayback();
-                                        LogUtil.log(TAG, "发送关闭无人机");
-                                    }
-                                }
-                            }, 1500);
-                        }
-                    }
-                }
-
-        );
-    }
-
-    @RequiresApi(Build.VERSION_CODES.O)
-    public void pullOriginalMediaFileFromCamera() {
-        final MediaFile mediaFile = mediaFiles.get(downLoadMediaFileIndex);
-
-        if ((!PreferenceUtils.getInstance().getNeedUpLoadVideo() && mediaFile.getFileType() == MediaFileType.MP4)
-                || !mediaFile.getFileName().contains(LocalDateTime.now().format(DateTimeFormatter.ofPattern("yyyyMMdd")))) {
-
-            downLoadMediaFileIndex++;
-
-            if (downLoadMediaFileIndex == mediaFiles.size()) {
-                // This refers to when all files have been downloaded or failed. Clear SD card, cache, exit media mode, and shut down the drone
-                downLoadMediaFileIndex = 0;
-                removeAllFiles();
-            } else {
-                LogUtil.log(TAG, "Skipping file download: " + mediaFile.getFileName());
-                pullOriginalMediaFileFromCamera();
-            }
-            return;
-        }
-
-        LogUtil.log(TAG, "File size: " + mediaFile.getFileSize());
-
-        File dirs = new File(getSDCardPath() + mediaFileDir);
-        if (!dirs.exists()) {
-            dirs.mkdir();
-        }
-
-        String filePath = getSDCardPath() + mediaFileDir + "/" + mediaFile.getFileName();
-        File file = new File(filePath);
-        long offset = 0L;
-        if (file.exists()) {
-            offset = file.length();
-        }
-
-        try {
-            FileOutputStream outputStream = new FileOutputStream(file, true);
-            long beginTime = System.currentTimeMillis();
-            BufferedOutputStream bos = new BufferedOutputStream(outputStream);
-
-            mediaFile.pullOriginalMediaFileFromCamera(0L, new MediaFileDownloadListener() {
-                @Override
-                public void onStart() {
-                    // No action needed for start
-                }
-
-                @Override
-                public void onProgress(long total, long current) {
-                    int tmpProgress = (int) ((1.0 * current / total) * 100);
-                    Log.e(TAG, "File " + downLoadMediaFileIndex + ": " + mediaFile.getFileName() + " Download Progress: " + tmpProgress + "%");
-                }
-
-                @Override
-                public void onRealtimeDataUpdate(byte[] data, long position) {
-                    try {
-                        bos.write(data);
-                        bos.flush();
-                    } catch (IOException e) {
-                        Log.e(TAG, "Write error: " + e.getMessage());
-                    }
-                }
-
-                @Override
-                public void onFinish() {
-                    LogUtil.log(TAG, "File:" + downLoadMediaFileIndex+"fileName:"+mediaFile.getFileName() + " downloaded successfully.");
-                    minIOUpLoad(file, mediaFile);
-                    try {
-                        outputStream.close();
-                        bos.close();
-                    } catch (IOException error) {
-                        LogUtil.log(TAG, "File " + downLoadMediaFileIndex + " error: " + error.getMessage());
-                        ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
-                    }
-                }
-
-                @Override
-                public void onFailure(IDJIError error) {
-                    LogUtil.log(TAG, "File " + downLoadMediaFileIndex + ": " + mediaFile.getFileName() + " download failed: " + new Gson().toJson(error));
-                    ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
-                    sendMissionExecuteEvents( "第" + downLoadMediaFileIndex + "个文件下载失败");
-                    downLoadMediaFileIndex = 0;
-                }
-            });
-
-        } catch (IOException e) {
-            Log.e(TAG, "Error opening file: " + e.getMessage());
-        }
-    }
-
-    private AmazonS3 s3 = new AmazonS3Client(new AWSCredentials() {
-        @Override
-        public String getAWSAccessKeyId() {
-            return PreferenceUtils.getInstance().getAccessKey(); // minio的key
-        }
-
-        @Override
-        public String getAWSSecretKey() {
-            return PreferenceUtils.getInstance().getSecretKey(); // minio的密钥
-        }
-    }, Region.getRegion(Regions.US_EAST_1), new ClientConfiguration());
-
-    @RequiresApi(Build.VERSION_CODES.O)
-    public void minIOUpLoad(final File file, final MediaFile mediaFile) {
-        LogUtil.log(TAG, "文件路径=" + file.getAbsolutePath() + ", 文件大小=" + file.length());
-        Observable.create(new ObservableOnSubscribe<String>() {
-                    @Override
-                    public void subscribe(ObservableEmitter<String> emitter) throws Exception {
-                        // 服务器地址
-                        s3.setEndpoint(PreferenceUtils.getInstance().getUploadUrl()); // http://ip:端口号
-                        boolean bucketExists = s3.doesBucketExist(PreferenceUtils.getInstance().getBucketName());
-                        if (!bucketExists) {
-                            s3.createBucket(PreferenceUtils.getInstance().getBucketName());
-                        }
-
-                        // 上传文件到网关MINIO存储服务
-                        s3.putObject(
-                                new PutObjectRequest(
-                                        PreferenceUtils.getInstance().getBucketName(),
-                                        "/" + PreferenceUtils.getInstance().getObjectKey() + "/" +
-                                                PreferenceUtils.getInstance().getTaskId() + "/" + mediaFile.getFileName(),
-                                        file
-                                ).withProgressListener(new ProgressListener() {
-                                    @Override
-                                    public void progressChanged(ProgressEvent progressEvent) {
-                                        switch (progressEvent.getEventCode()) {
-                                            case ProgressEvent.PREPARING_EVENT_CODE:
-                                                LogUtil.log(TAG, "Preparing to upload file " + downLoadMediaFileIndex);
-                                                break;
-                                            case ProgressEvent.STARTED_EVENT_CODE:
-                                                long bytesTransferred = progressEvent.getBytesTransferred();
-                                                int percentage = (int) ((bytesTransferred * 100) / file.length());
-                                                LogUtil.log(TAG, "Upload started for file " + downLoadMediaFileIndex + ": " +
-                                                        percentage + "% (" + bytesTransferred + " out of " + file.length() + " bytes)");
-                                                break;
-                                            case ProgressEvent.COMPLETED_EVENT_CODE:
-                                                LogUtil.log(TAG, "Upload completed for file " + downLoadMediaFileIndex);
-                                                break;
-                                            case ProgressEvent.FAILED_EVENT_CODE:
-                                                LogUtil.log(TAG, "Upload failed for file " + downLoadMediaFileIndex);
-                                                break;
-                                            case ProgressEvent.RESET_EVENT_CODE:
-                                                LogUtil.log(TAG, "Upload reset for file " + downLoadMediaFileIndex);
-                                                break;
-                                        }
-                                    }
-                                })
-                        );
-
-                        // 获取文件上传后访问地址url
-                        GeneratePresignedUrlRequest urlRequest = new GeneratePresignedUrlRequest(
-                                PreferenceUtils.getInstance().getBucketName(),
-                                "/" + PreferenceUtils.getInstance().getObjectKey() + "/"
-                                        + PreferenceUtils.getInstance().getTaskId() + "/"+ mediaFile.getFileName()
-                        );
-                        String url = s3.generatePresignedUrl(urlRequest).toString();
-
-                        // 文件上传后访问地址url
-                        emitter.onNext(url);
-                        emitter.onComplete();
-                    }
-                })
-                .subscribeOn(Schedulers.io())
-                .observeOn(AndroidSchedulers.mainThread())
-                .subscribe(new Observer<String>() {
-                    @Override
-                    public void onSubscribe(Disposable d) {
-                        // Handle on subscribe (optional)
-                    }
-
-                    @Override
-                    public void onNext(String url) {
-                        FileUploadResult fileUploadResult = new FileUploadResult();
-                        fileUploadResult.setResult(1);
-                        fileUploadResult.setFileName(mediaFile.getFileName());
-                        fileUploadResult.setFileSize(mediaFile.getFileSize());
-                        fileUploadResult.setFileNum(mediaFiles.size());
-                        fileUploadResult.setBuckName(PreferenceUtils.getInstance().getBucketName());
-                        fileUploadResult.setObjectKey(PreferenceUtils.getInstance().getObjectKey());
-                        fileUploadResult.setTask_id(PreferenceUtils.getInstance().getTaskId());
-                        fileUploadResult.setUrl(PreferenceUtils.getInstance().getUploadUrl());
-                        fileUploadResult.setOffIndex(downLoadMediaFileIndex);
-
-                        sendFileUploadCallback(60102, fileUploadResult);
-                    }
-
-                    @RequiresApi(Build.VERSION_CODES.O)
-                    @Override
-                    public void onError(Throwable e) {
-                        // 每上传失败一张就清除缓存
-                        FileUtil.deleteFile(file);
-                        LogUtil.log(TAG, "Error uploading file " + downLoadMediaFileIndex + ": " + e.getMessage());
-
-                        downLoadMediaFileIndex++;
-                        if (downLoadMediaFileIndex == mediaFiles.size()) {
-                            // 所有文件已经下载完成或失败，清空SD卡，缓存，退出媒体模式，发送无人机关机
-                            downLoadMediaFileIndex = 0;
-                            removeAllFiles();
-                        } else {
-                            pullOriginalMediaFileFromCamera();
-                        }
-                    }
-
-                    @RequiresApi(Build.VERSION_CODES.O)
-                    @Override
-                    public void onComplete() {
-                        /* ===== ③ 上传成功时记入 Set ===== */
-                        uploadedFileNames.add(mediaFile.getFileName());
-                        FileUtil.deleteFile(file);
-                        LogUtil.log(TAG, "File " + downLoadMediaFileIndex + " uploaded successfully.");
-                        sendMissionExecuteEvents( "第" + downLoadMediaFileIndex + "个文件已上传");
-
-                        downLoadMediaFileIndex++;
-                        if (downLoadMediaFileIndex == mediaFiles.size()) {
-                            // 所有文件已上传完成，清空SD卡，缓存，退出媒体模式，发送无人机关机
-                            sendMissionExecuteEvents( "媒体文件已上传完毕");
-                            removeAllFiles();
-                            downLoadMediaFileIndex = 0;
-                        } else {
-                            pullOriginalMediaFileFromCamera();
-                        }
-                    }
-                });
-    }
-
-    public void removeAllFiles() {
-        MediaDataCenter.getInstance().getMediaManager().deleteMediaFiles(mediaFiles, new CommonCallbacks.CompletionCallback() {
-            @Override
-            public void onSuccess() {
-                ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
-                LogUtil.log(TAG, "清除文件成功 ");
-                sendMissionExecuteEvents("媒体文件已清除");
-                disablePlayback();
-                LogUtil.log(TAG, "发送关闭无人机");
-            }
-
-            @Override
-            public void onFailure(@NonNull IDJIError idjiError) {
-                ApronExecutionStatus.getInstance().setAircraftWaitShutDown(true);
-                LogUtil.log(TAG, "清除文件失败: "+new Gson().toJson(idjiError));
-                sendMissionExecuteEvents( "媒体文件清除失败");
-                LogUtil.log(TAG, "发送关闭无人机");
-            }
-        });
-    }
-
-    //退出媒体模式
-    public void  disablePlayback() {
-        MediaDataCenter.getInstance().getMediaManager().disable(new CommonCallbacks.CompletionCallback() {
-            @Override
-            public void onSuccess() {
-                LogUtil.log(TAG, "退出媒体模式成功");
-            }
-
-            @Override
-            public void onFailure(@NonNull IDJIError idjiError) {
-                LogUtil.log(TAG, "退出媒体模式失败:"+new Gson().toJson(idjiError));
-            }
-        });
-    }
-
-    private int downLoadMediaFileIndex = 0;
-
-    private String getSDCardPath(){
-        if (checkSDCard()) {
-            return Environment.getExternalStorageDirectory()
-                    .getPath();
-        } else {
-            return Environment.getExternalStorageDirectory()
-                    .getParentFile().getPath();
-        }
-    }
-
-
-    private boolean checkSDCard() {
-        return TextUtils.equals(Environment.MEDIA_MOUNTED, Environment.getExternalStorageState());
-    }
-
-    // 写入 exif 信息
-    public void setMediaFileXMPCustomInfo( final MQMessage message) {
-        MediaDataCenter.getInstance().getMediaManager().setMediaFileXMPCustomInfo(
-                message.getXmpInfo(),
-                new CommonCallbacks.CompletionCallback() {
-                    @Override
-                    public void onSuccess() {
-                        sendMsg2Server(message);
-                        sendMissionExecuteEvents( "设置文件XMP:" + message.getXmpInfo());
-                    }
-
-                    @Override
-                    public void onFailure(IDJIError error) {
-                        sendMsg2Server(message, "写入exif失败: " + getIDJIErrorMsg(error));
-                        LogUtil.log(TAG, "写入exif失败:"+new Gson().toJson(error));
-
-                    }
-                }
-        );
-    }
-}

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

@@ -1,175 +0,0 @@
-package com.aros.apron.manager;
-
-import static com.aros.apron.tools.Utils.getIDJIErrorMsg;
-import android.os.Handler;
-import androidx.annotation.NonNull;
-import com.aros.apron.base.BaseManager;
-import com.aros.apron.entity.MQMessage;
-import com.aros.apron.tools.LogUtil;
-import com.google.gson.Gson;
-import org.eclipse.paho.android.service.MqttAndroidClient;
-import java.nio.charset.StandardCharsets;
-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.megaphone.FileInfo;
-import dji.v5.manager.aircraft.megaphone.MegaphoneIndex;
-import dji.v5.manager.aircraft.megaphone.PlayMode;
-import dji.v5.manager.aircraft.megaphone.UploadType;
-import dji.v5.manager.aircraft.megaphone.WorkMode;
-import dji.v5.manager.interfaces.IMegaphoneManager;
-
-
-public class MegaphoneManager extends BaseManager {
-
-    private MegaphoneManager() {
-    }
-
-    private static class MegaphoneHolder {
-        private static final MegaphoneManager INSTANCE = new MegaphoneManager();
-    }
-
-    public static MegaphoneManager getInstance() {
-        return MegaphoneHolder.INSTANCE;
-    }
-
-    //设置喊话器音量/播放模式
-    public void startMegaphonePlay(MQMessage message) {
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
-        if (isConnect != null && isConnect) {
-            IMegaphoneManager iMegaphoneManager = dji.v5.manager.aircraft.megaphone.MegaphoneManager.getInstance();
-            iMegaphoneManager.setMegaphoneIndex(MegaphoneIndex.PORT_2, new CommonCallbacks.CompletionCallback() {
-                @Override
-                public void onSuccess() {
-                    LogUtil.log(TAG, "喊话器位置设置成功");
-                }
-
-                @Override
-                public void onFailure(@NonNull IDJIError idjiError) {
-                    LogUtil.log(TAG, "喊话器位置设置失败:" + idjiError.description());
-                }
-            });
-            iMegaphoneManager.setVolume(message.getMegaphoneVolume(), new CommonCallbacks.CompletionCallback() {
-                @Override
-                public void onSuccess() {
-                    sendMsg2Server(message, "设置喊话器音量成功");
-                    LogUtil.log(TAG, "喊话器音量设置成功");
-                }
-                @Override
-                public void onFailure(@NonNull IDJIError error) {
-                    LogUtil.log(TAG,"设置喊话器音量失败:" +new Gson().toJson(error));
-                    sendMsg2Server(message, "设置喊话器音量失败:" + getIDJIErrorMsg(error));
-                }
-            });
-            iMegaphoneManager.setPlayMode(message.getMegaphonePlayMode() == 1 ? PlayMode.SINGLE : PlayMode.LOOP, new CommonCallbacks.CompletionCallback() {
-                @Override
-                public void onSuccess() {
-                    LogUtil.log(TAG, "设置喊话器播放模式成功");
-                }
-                @Override
-                public void onFailure(@NonNull IDJIError error) {
-                    LogUtil.log(TAG,"设置喊话器播放模式失败:" +new Gson().toJson(error));
-                    sendMsg2Server(message, "设置喊话器播放模式失败:" + getIDJIErrorMsg(error));
-                }
-            });
-            iMegaphoneManager.setWorkMode(WorkMode.TTS, new CommonCallbacks.CompletionCallback() {
-                @Override
-                public void onSuccess() {
-                    sendMsg2Server(message);
-                    LogUtil.log(TAG, "喊话器工作模式设置成功");
-                }
-
-                @Override
-                public void onFailure(@NonNull IDJIError error) {
-                    LogUtil.log(TAG,"喊话器工作模式设置失败:" +new Gson().toJson(error));
-                    sendMsg2Server(message, "喊话器工作模式设置失败:" + getIDJIErrorMsg(error));
-
-                }
-            });
-            new Handler().postDelayed(new Runnable() {
-                @Override
-                public void run() {
-                    iMegaphoneManager.startPushingFileToMegaphone(new FileInfo(UploadType.TTS_DATA, null,
-                                    message.getMegaphoneWord().getBytes(StandardCharsets.UTF_8)),
-                            new CommonCallbacks.CompletionCallbackWithProgress<Integer>() {
-                                @Override
-                                public void onProgressUpdate(Integer integer) {
-                                    LogUtil.log(TAG, "喊话器内容上传进度:" + integer + "%");
-                                }
-
-                                @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() {
-                                            startPlay(message);
-                                        }
-                                    }, 200);
-                                }
-
-                                @Override
-                                public void onFailure(@NonNull IDJIError error) {
-                                    LogUtil.log(TAG,"喊话器内容上传失败:" +new Gson().toJson(error));
-                                    sendMsg2Server(message, "喊话器内容上传失败:" + getIDJIErrorMsg(error));
-                                }
-                            });
-                }
-            }, 200);
-
-        } else {
-            sendMsg2Server(message, "飞控未连接");
-            LogUtil.log(TAG, "飞控未连接");
-
-        }
-
-    }
-
-
-    //播放
-    public void startPlay(MQMessage message) {
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
-        if (isConnect != null && isConnect) {
-            IMegaphoneManager iMegaphoneManager = dji.v5.manager.aircraft.megaphone.MegaphoneManager.getInstance();
-            iMegaphoneManager.startPlay(new CommonCallbacks.CompletionCallback() {
-                @Override
-                public void onSuccess() {
-                    LogUtil.log(TAG, "喊话器播放成功");
-                }
-
-                @Override
-                public void onFailure(@NonNull IDJIError error) {
-                    LogUtil.log(TAG,"喊话器播放失败:" +new Gson().toJson(error));
-                    sendMsg2Server(message, "喊话器播放失败:" + getIDJIErrorMsg(error));
-                }
-            });
-        } else {
-            sendMsg2Server(message, "飞控未连接");
-        }
-    }
-
-    //停止播放
-    public void stopPlay(MQMessage message) {
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
-        if (isConnect != null && isConnect) {
-            IMegaphoneManager iMegaphoneManager = dji.v5.manager.aircraft.megaphone.MegaphoneManager.getInstance();
-            iMegaphoneManager.stopPlay(new CommonCallbacks.CompletionCallback() {
-                @Override
-                public void onSuccess() {
-                    sendMsg2Server(message);
-                    LogUtil.log(TAG, "喊话器停止播放成功");
-                }
-
-                @Override
-                public void onFailure(@NonNull IDJIError error) {
-                    LogUtil.log(TAG,"喊话器停止播放失败:" +new Gson().toJson(error));
-                    sendMsg2Server(message, "喊话器停止播放失败:" + getIDJIErrorMsg(error));
-                }
-            });
-        } else {
-            LogUtil.log(TAG, "喊话器停止播放失败");
-        }
-    }
-}

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

@@ -1,25 +0,0 @@
-//package com.aros.apron.manager;
-//
-//import com.dji.wpmzsdk.common.data.Template;
-//import com.dji.wpmzsdk.interfaces.IWPMZManager;
-//import com.dji.wpmzsdk.manager.WPMZManager;
-//
-//import dji.sdk.wpmz.value.mission.WaylineMission;
-//import dji.sdk.wpmz.value.mission.WaylineMissionConfig;
-//import dji.sdk.wpmz.value.mission.WaylineTemplateWaypointInfo;
-//import dji.sdk.wpmz.value.mission.WaylineWaypoint;
-//
-//public class MissionTest {
-//    public void test(){
-//        WaylineMission waylineMission=new WaylineMission();
-//        WaylineMissionConfig waylineMissionConfig=new WaylineMissionConfig();
-//        Template template=new Template();
-//        template.setWaypointInfo();
-//        WaylineTemplateWaypointInfo waylineTemplateWaypointInfo=new WaylineTemplateWaypointInfo();
-//        waylineTemplateWaypointInfo.setWaypoints();
-//        WaylineWaypoint waylineWaypoint=new WaylineWaypoint();
-//        waylineWaypoint.se
-//        IWPMZManager iwpmzManager= WPMZManager.getInstance();
-//        iwpmzManager.generateKMZFile("",);
-//    }
-//}

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

@@ -1,94 +0,0 @@
-package com.aros.apron.manager;
-
-import static com.aros.apron.tools.Utils.getIDJIErrorMsg;
-import static dji.sdk.keyvalue.key.KeyTools.createKey;
-
-import android.os.Handler;
-
-import androidx.annotation.NonNull;
-import androidx.annotation.Nullable;
-
-import com.aros.apron.base.BaseManager;
-import com.aros.apron.entity.Movement;
-import com.aros.apron.tools.LogUtil;
-import com.aros.apron.tools.PreferenceUtils;
-
-import dji.sdk.keyvalue.key.FlightControllerKey;
-import dji.sdk.keyvalue.key.KeyTools;
-import dji.sdk.keyvalue.value.flightcontroller.NavigationSatelliteSystem;
-import dji.v5.common.callback.CommonCallbacks;
-import dji.v5.common.error.IDJIError;
-import dji.v5.manager.KeyManager;
-
-
-public class NavigationSatelliteSystemManager extends BaseManager {
-
-
-    private NavigationSatelliteSystemManager() {
-    }
-
-    private static class NavigationSatelliteHolder {
-        private static final NavigationSatelliteSystemManager INSTANCE = new NavigationSatelliteSystemManager();
-    }
-
-    public static NavigationSatelliteSystemManager getInstance() {
-        return NavigationSatelliteHolder.INSTANCE;
-    }
-
-    public void initNavigationSatelliteSystem() {
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
-                KeyConnection));
-        if (isConnect != null && isConnect) {
-            KeyManager.getInstance().listen(createKey(FlightControllerKey.KeyNavigationSatelliteSystemSource),
-                    this, new CommonCallbacks.KeyListener<NavigationSatelliteSystem>() {
-                        @Override
-                        public void onValueChange(@Nullable NavigationSatelliteSystem navigationSatelliteSystem,
-                                                  @Nullable NavigationSatelliteSystem t1) {
-                            if (t1 != null) {
-                                LogUtil.log(TAG, "监听卫星导航系统:" + t1.name());
-                                Movement.getInstance().setNavigationSatelliteSystem(t1.value());
-                            }
-                        }
-                    });
-        }
-    }
-
-    private int setLTEEnhancedTransmissionTypeTimes;
-    private boolean isLTEEnhancedTransmissionLte;
-
-    public void setNavigationSatelliteSystem() {
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
-                KeyConnection));
-        if (isConnect != null && isConnect) {
-
-            KeyManager.getInstance().setValue(KeyTools.createKey(FlightControllerKey.KeyNavigationSatelliteSystemSource),
-                    PreferenceUtils.getInstance().getSatelliteSystem() == 1 ?
-                            NavigationSatelliteSystem.GPS_GLONASS : NavigationSatelliteSystem.BEIDOU,
-                    new CommonCallbacks.CompletionCallback() {
-                        @Override
-                        public void onSuccess() {
-                            isLTEEnhancedTransmissionLte = true;
-                            LogUtil.log(TAG, "设置卫星系统" + setLTEEnhancedTransmissionTypeTimes + "次成功");
-                        }
-
-                        @Override
-                        public void onFailure(@NonNull IDJIError error) {
-                            LogUtil.log(TAG, "设置卫星系统第" + setLTEEnhancedTransmissionTypeTimes + "次失败:" + getIDJIErrorMsg(error));
-                            if (!isLTEEnhancedTransmissionLte) {
-                                new Handler().postDelayed(new Runnable() {
-                                    @Override
-                                    public void run() {
-                                        if (setLTEEnhancedTransmissionTypeTimes < 20) {
-                                            setLTEEnhancedTransmissionTypeTimes++;
-                                            setNavigationSatelliteSystem();
-                                        }
-                                    }
-                                }, 3000);
-                            }
-                        }
-                    });
-        }
-
-    }
-
-}

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

@@ -1,423 +0,0 @@
-package com.aros.apron.manager;
-
-import static android.os.Environment.getExternalStoragePublicDirectory;
-import static com.aros.apron.manager.FlightManager.FLAG_STOP_ARUCO;
-import static com.aros.apron.tools.Utils.getIDJIErrorMsg;
-
-import android.os.Environment;
-import android.os.Handler;
-import android.os.Looper;
-import android.text.TextUtils;
-
-import androidx.annotation.NonNull;
-import androidx.annotation.Nullable;
-
-import com.aros.apron.base.BaseManager;
-import com.aros.apron.entity.FlightMission;
-import com.aros.apron.entity.MQMessage;
-import com.aros.apron.entity.MissionPoint;
-import com.aros.apron.entity.Movement;
-import com.aros.apron.tools.DomParserKML;
-import com.aros.apron.tools.DomParserWPML;
-import com.aros.apron.tools.LogUtil;
-import com.aros.apron.tools.MqttManager;
-import com.aros.apron.tools.PreferenceUtils;
-import com.aros.apron.tools.ZipUtil;
-import com.google.gson.Gson;
-
-import org.eclipse.paho.android.service.MqttAndroidClient;
-import org.greenrobot.eventbus.EventBus;
-
-import java.io.File;
-import java.io.IOException;
-import java.util.ArrayList;
-import java.util.List;
-
-import dji.sdk.keyvalue.key.FlightControllerKey;
-import dji.sdk.keyvalue.key.KeyTools;
-import dji.sdk.keyvalue.value.common.EmptyMsg;
-import dji.sdk.keyvalue.value.flightcontroller.FlightCoordinateSystem;
-import dji.sdk.keyvalue.value.flightcontroller.FlightMode;
-import dji.sdk.keyvalue.value.flightcontroller.RemoteControllerFlightMode;
-import dji.sdk.keyvalue.value.flightcontroller.RollPitchControlMode;
-import dji.sdk.keyvalue.value.flightcontroller.VerticalControlMode;
-import dji.sdk.keyvalue.value.flightcontroller.VirtualStickFlightControlParam;
-import dji.sdk.keyvalue.value.flightcontroller.YawControlMode;
-import dji.v5.common.callback.CommonCallbacks;
-import dji.v5.common.error.IDJIError;
-import dji.v5.manager.KeyManager;
-import dji.v5.manager.aircraft.virtualstick.VirtualStickManager;
-import dji.v5.manager.aircraft.waypoint3.WaypointMissionManager;
-import dji.v5.manager.interfaces.IWaypointMissionManager;
-
-/**
- * 异地降落
- */
-public class OffSiteLandingManager extends BaseManager {
-
-    private int goHomeHeight;
-
-    private OffSiteLandingManager() {
-    }
-
-    private static class OffSiteLandingHolder {
-        private static final OffSiteLandingManager INSTANCE = new OffSiteLandingManager();
-    }
-
-    public static OffSiteLandingManager getInstance() {
-        return OffSiteLandingHolder.INSTANCE;
-    }
-
-    public void initOffSiteLandingInfo() {
-        KeyManager.getInstance().listen(KeyTools.createKey(FlightControllerKey.KeyGoHomeHeight), this, new CommonCallbacks.KeyListener<Integer>() {
-            @Override
-            public void onValueChange(@Nullable Integer integer, @Nullable Integer t1) {
-                if (t1 != null&&t1>=0) {
-                    goHomeHeight = t1;
-                    LogUtil.log(TAG,"返航高度:"+goHomeHeight);
-                    Movement.getInstance().setGoHomeHeight(goHomeHeight);
-                }else{
-                    goHomeHeight=80;
-                    LogUtil.log(TAG,"返航高度监听失败:"+goHomeHeight);
-                }
-            }
-        });
-    }
-
-    public void startTaskProcess(MQMessage message) {
-        if (TextUtils.isEmpty(message.getOffSitePointLat())||TextUtils.isEmpty(message.getOffSitePointLon())){
-            sendMissionExecuteEvents( "异地降落点经纬度有误");
-            LogUtil.log(TAG, "异地降落点经纬度有误,不触发异地降落");
-            return;
-        }
-        PerceptionManager.getInstance().setPerceptionEnable(false);
-        DockOpenManager.getInstance().sendDockOpenMsg2Server( MqttManager.getInstance().mqttAndroidClient);
-        //飞往异地降落点,关闭视觉识别
-        EventBus.getDefault().post(FLAG_STOP_ARUCO);
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
-                KeyConnection));
-        if (isConnect != null && isConnect) {
-            Boolean areMotorOn = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyAreMotorsOn));
-            Boolean isFlying = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyIsFlying));
-            if ((areMotorOn != null && areMotorOn) && (isFlying != null && isFlying)) {
-                RemoteControllerFlightMode remoteControllerFlightMode = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyRemoteControllerFlightMode));
-                if (remoteControllerFlightMode != null && remoteControllerFlightMode == RemoteControllerFlightMode.P) {
-                    checkDroneState(message);
-                } else {
-                    if (message != null) {
-                        sendMsg2Server(message, "挡位不正确,不触发异地降落");
-                    }
-                    sendMissionExecuteEvents( "挡位不正确,不触发异地降落");
-                    LogUtil.log(TAG, "检测到挡位不正确,不触发异地降落");
-                }
-            } else {
-                if (message != null) {
-                    sendMsg2Server(message, "飞机未起飞,不触发异地降落");
-                }
-                sendMissionExecuteEvents( "飞机未起飞,不触发异地降落");
-            }
-        }
-    }
-
-    private void checkDroneState(MQMessage message) {
-        FlightMode flightMode = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyFlightMode));
-        if (flightMode != null) {
-            switch (flightMode) {
-                case GO_HOME:
-                    KeyManager.getInstance().performAction(KeyTools.createKey(FlightControllerKey.KeyStopGoHome), new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
-                        @Override
-                        public void onSuccess(EmptyMsg emptyMsg) {
-                            LogUtil.log(TAG, "取消返航成功");
-                            toOffsitePoint(message);
-                            sendMissionExecuteEvents( "取消返航:触发异地降落");
-                        }
-
-                        @Override
-                        public void onFailure(@NonNull IDJIError error) {
-                            LogUtil.log(TAG, "取消返航失败:" + new Gson().toJson(error));
-                            toOffsitePoint(message);
-                            sendMissionExecuteEvents( "取消返航失败:不触发异地降落");
-
-                        }
-                    });
-                    break;
-                case WAYPOINT:
-                    IWaypointMissionManager missionManager = WaypointMissionManager.getInstance();
-                    missionManager.stopMission(TextUtils.isEmpty(Movement.getInstance().getMissionName())
-                            ? "aros" : Movement.getInstance().getMissionName(), new CommonCallbacks.CompletionCallback() {
-                        @Override
-                        public void onSuccess() {
-                            LogUtil.log(TAG, "终止任务成功");
-                            sendMissionExecuteEvents( "终止任务成功:去异地降落");
-                            toOffsitePoint(message);
-                        }
-
-                        @Override
-                        public void onFailure(@NonNull IDJIError error) {
-                            LogUtil.log(TAG, "终止任务失败:" + new Gson().toJson(error));
-                            sendMissionExecuteEvents( "终止任务失败:去异地降落");
-                            toOffsitePoint(message);
-                        }
-                    });
-                    break;
-                case AUTO_LANDING:
-                    KeyManager.getInstance().performAction(KeyTools.createKey(FlightControllerKey.KeyStopAutoLanding), new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
-                        @Override
-                        public void onSuccess(EmptyMsg emptyMsg) {
-                            LogUtil.log(TAG, "取消降落成功");
-                            sendMissionExecuteEvents( "取消降落成功:去异地降落");
-                            toOffsitePoint(message);
-                        }
-
-                        @Override
-                        public void onFailure(@NonNull IDJIError error) {
-                            LogUtil.log(TAG, "取消降落失败:" + new Gson().toJson(error));
-                            sendMissionExecuteEvents( "取消降落失败:去异地降落");
-                            toOffsitePoint(message);
-                        }
-                    });
-                    break;
-                case VIRTUAL_STICK:
-//                    VirtualStickManager.getInstance().disableVirtualStick(new CommonCallbacks.CompletionCallback() {
-//                        @Override
-//                        public void onSuccess() {
-//                            LogUtil.log(TAG, "控制权取消成功");
-                    toOffsitePoint(message);
-//                        }
-//                        @Override
-//                        public void onFailure(@NonNull IDJIError error) {
-//                            LogUtil.log(TAG, "控制权取消失败:" + new Gson().toJson(error));
-//                            toOffsitePoint();
-//                        }
-//                    });
-                    break;
-                default:
-                    toOffsitePoint(message);
-                    break;
-            }
-        }
-    }
-
-
-    public void toOffsitePoint(MQMessage message) {
-        if (Movement.getInstance().getFlyingHeight() < 10) {
-            LogUtil.log(TAG, "高度低于10米,拉高");
-            sendMissionExecuteEvents( "拉高去异地降落点...");
-            raisesDrone(message);
-        } else {
-            sendMissionExecuteEvents( "开始创建异地降落任务");
-            LogUtil.log(TAG, "高度高于10米,创建异地降落任务");
-            creatMissionAndUpload(message);
-        }
-    }
-
-
-    public void raisesDrone(MQMessage message) {
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
-        if (isConnect != null && isConnect) {
-            Boolean isVirtualStickControlModeEnabled = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyVirtualStickControlModeEnabled));
-            if (isVirtualStickControlModeEnabled != null && isVirtualStickControlModeEnabled) {
-                pullUp(message);
-            } else {
-                VirtualStickManager.getInstance().enableVirtualStick(new CommonCallbacks.CompletionCallback() {
-                    @Override
-                    public void onSuccess() {
-                        LogUtil.log(TAG, "异地降落拉高,控制权获取成功");
-                        VirtualStickManager.getInstance().setVirtualStickAdvancedModeEnabled(true);
-                        pullUp(message);
-                    }
-
-                    @Override
-                    public void onFailure(@NonNull IDJIError error) {
-                        LogUtil.log(TAG, "异地降落拉高,控制权获取失败,直接上传异地降落航线:" + error.description());
-                        creatMissionAndUpload(message);
-                    }
-                });
-            }
-        } else {
-            LogUtil.log(TAG, "异地降落拉高,飞控未连接");
-        }
-    }
-
-    Handler handler = new Handler(Looper.getMainLooper());
-
-    public void pullUp(MQMessage message) {
-        Runnable runnable = new Runnable() {
-            @Override
-            public void run() {
-                if (Movement.getInstance().getFlyingHeight() < 10) {
-                    sendVirtualStickAdvancedParam();
-                    handler.postDelayed(this, 200);
-                } else {
-                    VirtualStickManager.getInstance().disableVirtualStick(new CommonCallbacks.CompletionCallback() {
-                        @Override
-                        public void onSuccess() {
-                            LogUtil.log(TAG, "到达10米,开始上传异地降落航线");
-                            creatMissionAndUpload(message);
-                        }
-
-                        @Override
-                        public void onFailure(@NonNull IDJIError idjiError) {
-                            LogUtil.log(TAG, "到达10米,取消虚拟摇杆控制失败:" + new Gson().toJson(idjiError));
-                            creatMissionAndUpload(message);
-                        }
-                    });
-                    handler.removeCallbacks(this);
-                }
-            }
-        };
-        // 开始循环
-        handler.post(runnable);
-    }
-
-    VirtualStickFlightControlParam param;
-
-    //飞行器虚拟摇杆
-    public void sendVirtualStickAdvancedParam() {
-        Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyConnection));
-        if (isConnect != null && isConnect) {
-            if (param == null) {
-                param = new VirtualStickFlightControlParam();
-                param.setRollPitchControlMode(RollPitchControlMode.VELOCITY);
-                param.setYawControlMode(YawControlMode.ANGULAR_VELOCITY);
-                param.setVerticalControlMode(VerticalControlMode.VELOCITY);
-                param.setRollPitchCoordinateSystem(FlightCoordinateSystem.BODY);
-            }
-            param.setPitch(0.0);//左右
-            param.setRoll(0.0);//前后
-            param.setYaw(0.0);//旋转
-            param.setVerticalThrottle(4.0);//上下
-            VirtualStickManager.getInstance().sendVirtualStickAdvancedParam(param);
-        }
-    }
-
-    public void creatMissionAndUpload(MQMessage message) {
-        // 创建第一个 MissionPoint 对象
-        MissionPoint missionPoint = new MissionPoint();
-        missionPoint.setLat(Movement.getInstance().getCurrentLatitude());
-        missionPoint.setLng(Movement.getInstance().getCurrentLongitude());
-        missionPoint.setSpeed(8.0);
-        missionPoint.setExecuteHeight(Movement.getInstance().getFlyingHeight()
-                > goHomeHeight
-                ? Movement.getInstance().getFlyingHeight()-1 :
-                goHomeHeight);
-
-        // 创建第二个 MissionPoint 对象
-        MissionPoint missionPoint1 = new MissionPoint();
-        missionPoint1.setLat(message.getOffSitePointLat());
-        missionPoint1.setLng(message.getOffSitePointLon());
-        missionPoint1.setSpeed(7.0);
-        missionPoint1.setExecuteHeight(Movement.getInstance().getFlyingHeight()
-                > goHomeHeight
-                ? Movement.getInstance().getFlyingHeight() -1 :
-                goHomeHeight);
-
-        // 创建一个 MissionPoint 列表
-        List<MissionPoint> missionPoints = new ArrayList<>();
-        missionPoints.add(missionPoint);
-        missionPoints.add(missionPoint1);
-
-        // 创建 FlightMission 对象并设置其属性
-        FlightMission flightMission = new FlightMission();
-        flightMission.setPoints(missionPoints);
-        flightMission.setMissionId(2);
-        flightMission.setTakeOffSecurityHeight(Float.parseFloat(PreferenceUtils.getInstance().getAlternatePointSecurityHeight()));
-        flightMission.setSpeed(15.0);
-
-        sendMissionExecuteEvents( "开始生成异地降落航线");
-
-        // 生成xml文件
-        File file1 = new File(
-                getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "wpmz");
-        if (!file1.exists()) {
-            if (file1.mkdirs()) {
-                LogUtil.log(TAG, "生成异地降落航线成功");
-                sendMissionExecuteEvents( "生成异地降落路线文件成功");
-
-            } else {
-                LogUtil.log(TAG, "生成异地降落航线失败");
-                sendMissionExecuteEvents( "生成异地降落航线失败");
-                if (message != null) {
-                    sendMsg2Server(message, "生成异地降落航线失败");
-                }
-            }
-        }
-        DomParserKML domParserKML = new DomParserKML(getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "wpmz",
-                "/template.kml");
-        domParserKML.createKml(flightMission);
-
-        DomParserWPML domParserWPML = new DomParserWPML(getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "wpmz",
-                "/waylines.wpml");
-        domParserWPML.createWpml(flightMission);
-
-        File kmzFile = new File(getExternalStoragePublicDirectory(Environment.DIRECTORY_DOCUMENTS) + File.separator + "offsite.kmz");
-        kmzFile.getParentFile().mkdirs();
-
-        try {
-            ZipUtil.zip(getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + "/wpmz", getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "offsite.kmz");
-        } catch (IOException e) {
-            LogUtil.log(TAG, "异地降落航线压缩异常：" + e.toString());
-            sendMissionExecuteEvents( "异地降落任务生成异常");
-            if (message != null) {
-                sendMsg2Server(message, "异地降落任务生成异常");
-            }
-            throw new RuntimeException(e);
-        }
-
-        IWaypointMissionManager missionManager = WaypointMissionManager.getInstance();
-        missionManager.pushKMZFileToAircraft(getExternalStoragePublicDirectory("KMZ").getAbsolutePath() + File.separator + "offsite.kmz", new CommonCallbacks.CompletionCallbackWithProgress<Double>() {
-            @Override
-            public void onProgressUpdate(Double aDouble) {
-                LogUtil.log(TAG, "异地降落航线上传进度:" + aDouble + "%");
-                sendMissionExecuteEvents( "异地降落任务上传中:" + aDouble + "%");
-
-            }
-
-            @Override
-            public void onSuccess() {
-                LogUtil.log(TAG, "异地降落航线上传成功");
-                sendMissionExecuteEvents( "异地降落航线上传成功");
-
-                new Handler().postDelayed(new Runnable() {
-                    @Override
-                    public void run() {
-                        missionManager.startMission("offsite", new CommonCallbacks.CompletionCallback() {
-                            @Override
-                            public void onSuccess() {
-
-                                LogUtil.log(TAG, "开始异地降落航线");
-                                sendMissionExecuteEvents( "开始异地降落航线");
-                                //设置为未开始识别二维码状态
-                                FlightManager.getInstance().setSendDetect(false);
-                                EventBus.getDefault().post(FLAG_STOP_ARUCO);
-
-                                if (message != null) {
-                                    sendMsg2Server(message);
-                                }
-                            }
-
-                            @Override
-                            public void onFailure(@NonNull IDJIError idjiError) {
-                                LogUtil.log(TAG, "飞往异地降落点失败:" + new Gson().toJson(idjiError));
-                                sendMissionExecuteEvents( "飞往异地降落点失败");
-                                if (message != null) {
-                                    sendMsg2Server(message, "飞往异地降落点失败");
-                                }
-                            }
-                        });
-                    }
-                }, 1000);
-            }
-
-            @Override
-            public void onFailure(@NonNull IDJIError idjiError) {
-                LogUtil.log(TAG, "异地降落航线上传失败:" + new Gson().toJson(idjiError));
-                sendMissionExecuteEvents( "异地降落航线上传失败");
-                if (message != null) {
-                    sendMsg2Server(message, "异地降落航线上传失败:"  + getIDJIErrorMsg(idjiError));
-                }
-            }
-        });
-    }
-
-}

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

@@ -1,146 +0,0 @@
-package com.aros.apron.manager;//package com.aros.apron.manager;
-
-import static dji.sdk.keyvalue.key.KeyTools.createKey;
-
-import android.os.Handler;
-
-import androidx.annotation.NonNull;
-
-import com.aros.apron.base.BaseManager;
-import com.aros.apron.tools.LogUtil;
-import com.aros.apron.tools.PreferenceUtils;
-import com.google.gson.Gson;
-
-import org.eclipse.paho.android.service.MqttAndroidClient;
-
-import dji.sdk.keyvalue.key.FlightControllerKey;
-import dji.v5.common.callback.CommonCallbacks;
-import dji.v5.common.error.IDJIError;
-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.aircraft.perception.data.PerceptionInfo;
-import dji.v5.manager.aircraft.perception.listener.PerceptionInformationListener;
-import dji.v5.manager.interfaces.IPerceptionManager;
-
-public class PerceptionManager extends BaseManager {
-
-
-    private PerceptionManager() {
-    }
-
-    private static class PerceptionManagerHolder {
-        private static final PerceptionManager INSTANCE = new PerceptionManager();
-    }
-
-    public static PerceptionManager getInstance() {
-        return PerceptionManagerHolder.INSTANCE;
-    }
-
-    private int closePerceptionTimes;
-    private boolean closePerceptionSuccess;
-
-        public void init(){
-            IPerceptionManager perceptionManager = dji.v5.manager.aircraft.perception.PerceptionManager.getInstance();
-            perceptionManager.addPerceptionInformationListener(new PerceptionInformationListener() {
-                @Override
-                public void onUpdate(@NonNull PerceptionInfo information) {
-                    if(information!=null){
-                        if (Boolean.TRUE.equals(information.getDownwardObstacleAvoidanceWorking())){
-                            setObstacleAvoidancedownEnabled();
-                            LogUtil.log(TAG,"监听然后关闭下避障");
-                        }
-                    }
-                }
-            });
-        }
-
-    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();
-            perceptionManager.setObstacleAvoidanceType(perceptionEnable ? ObstacleAvoidanceType.BRAKE : ObstacleAvoidanceType.CLOSE, new CommonCallbacks.CompletionCallback() {
-                @Override
-                public void onSuccess() {
-                    if (perceptionEnable) {
-                        LogUtil.log(TAG, "避障开启");
-                    } else {
-                        closePerceptionSuccess = true;
-                        LogUtil.log(TAG, "避障关闭");
-                    }
-                }
-
-                @Override
-                public void onFailure(@NonNull IDJIError idjiError) {
-                    if (perceptionEnable) {
-                        LogUtil.log(TAG, "避障开启失败:" + new Gson().toJson(idjiError));
-                    } else {
-                        LogUtil.log(TAG, "第" + closePerceptionTimes + "次关闭避障失败:" + new Gson().toJson(idjiError));
-                        if (!closePerceptionSuccess) {
-                            if (closePerceptionTimes <= 5) {
-                                new Handler().postDelayed(new Runnable() {
-                                    @Override
-                                    public void run() {
-                                        closePerceptionTimes++;
-                                        setPerceptionEnable(false);
-                                    }
-                                }, 2000);
-                            } else {
-                                LogUtil.log(TAG, "避障关闭" + closePerceptionTimes + "次失败");
-                            }
-                        }
-                    }
-                }
-            });
-        }
-    }
-
-    public void setObstacleAvoidancedownEnabled(){
-        Boolean isConnect = KeyManager.getInstance().getValue(createKey(FlightControllerKey.KeyConnection));
-        if (isConnect != null && isConnect) {
-            IPerceptionManager perceptionManager = dji.v5.manager.aircraft.perception.PerceptionManager.getInstance();
-            perceptionManager.setObstacleAvoidanceEnabled(false, PerceptionDirection.DOWNWARD, new CommonCallbacks.CompletionCallback() {
-                @Override
-                public void onSuccess() {
-                    LogUtil.log(TAG, "关闭下避障");
-                }
-
-                @Override
-                public void onFailure(@NonNull IDJIError idjiError) {
-                    LogUtil.log(TAG, "关闭下避障:"+new Gson().toJson(idjiError));
-
-                }
-            });
-        }
-    }
-    //开启水平避障
-    public void setObstacleAvoidanceHorizontalEnabled() {
-        if (PreferenceUtils.getInstance().getCloseObsEnable()) {
-            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();
-            perceptionManager.setObstacleAvoidanceEnabled(true, PerceptionDirection.HORIZONTAL, new CommonCallbacks.CompletionCallback() {
-                @Override
-                public void onSuccess() {
-                    LogUtil.log(TAG, "开启水平避障");
-                }
-
-                @Override
-                public void onFailure(@NonNull IDJIError idjiError) {
-                    LogUtil.log(TAG, "开启水平避障:"+new Gson().toJson(idjiError));
-
-                }
-            });
-        }
-
-    }
-
-
-}