package com.aros.apron.callback; import android.os.Handler; import android.os.Looper; 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.constant.Constant; import com.aros.apron.entity.ApronExecutionStatus; import com.aros.apron.entity.MessageDown; import com.aros.apron.entity.MissionDataBean; import com.aros.apron.entity.Movement; import com.aros.apron.entity.SpeakerAudioPlayProgress; import com.aros.apron.entity.Synchronizedstatus; import com.aros.apron.manager.CameraManager; import com.aros.apron.manager.FlightManager; import com.aros.apron.manager.FlyToPointManager; import com.aros.apron.manager.GimbalManager; import com.aros.apron.manager.MissionV3Manager; import com.aros.apron.manager.OSDManager; import com.aros.apron.manager.PerceptionManager; import com.aros.apron.manager.SpeakerManager; import com.aros.apron.manager.StickManager; import com.aros.apron.manager.StreamManager; import com.aros.apron.manager.SystemManager; import com.aros.apron.manager.TakeOffToPointManager; import com.aros.apron.tools.ApronArucoDetect; import com.aros.apron.tools.ApronArucoDetectPort; import com.aros.apron.tools.Generakmztools; import com.aros.apron.tools.LogUtil; import com.aros.apron.tools.MqttManager; import com.aros.apron.tools.PreferenceUtils; import com.aros.apron.tools.RestartAPPTool; import com.aros.apron.tools.SpeakerProgressReporter; import com.aros.apron.tools.TakeoffProgressScheduler; import com.google.gson.Gson; import org.eclipse.paho.client.mqttv3.IMqttDeliveryToken; import org.eclipse.paho.client.mqttv3.MqttCallbackExtended; import org.eclipse.paho.client.mqttv3.MqttMessage; import dji.sdk.keyvalue.key.FlightControllerKey; import dji.sdk.keyvalue.key.KeyTools; import dji.sdk.keyvalue.value.common.ComponentIndexType; import dji.sdk.keyvalue.value.flightcontroller.LEDsSettings; import dji.v5.common.callback.CommonCallbacks; import dji.v5.common.error.IDJIError; import dji.v5.manager.KeyManager; public class MqttCallBack extends BaseManager implements MqttCallbackExtended { private String TAG = "MqttCallBack"; Object lock = Synchronizedstatus.LOCK_OBJ; @Override public void connectionLost(Throwable cause) { LogUtil.log(TAG, "MQtt connectionLost:"+cause.toString()); //短线也要清空这个 clearVirtualStickHeartbeat(); } //断线重连 public void reConnect() throws Exception { if (null != MqttManager.getInstance().mqttAndroidClient) { LogUtil.log(TAG, "MQtt reConnect-----"); } } // 心跳检测 private volatile long lastDrControlTime = 0; private final Handler vsHandler = new Handler(Looper.getMainLooper()); private Runnable vsTimeoutCheck; private static final long TIMEOUT_MS = 500; // 500ms 无数据触发 /** 每次收到控制指令都调 */ private void resetVirtualStickHeartbeat() { lastDrControlTime = System.currentTimeMillis(); // 清掉旧的检测，防止堆积 if (vsTimeoutCheck != null) { vsHandler.removeCallbacks(vsTimeoutCheck); } // 启动检测 vsTimeoutCheck = () -> { long now = System.currentTimeMillis(); if (now - lastDrControlTime >= TIMEOUT_MS) { // 切回手动 Movement.getInstance().setMode_code(3); } }; vsHandler.postDelayed(vsTimeoutCheck, TIMEOUT_MS); } /** 清理虚拟摇杆心跳（断网/退出/销毁时调） */ private void clearVirtualStickHeartbeat() { if (vsTimeoutCheck != null) { vsHandler.removeCallbacks(vsTimeoutCheck); vsTimeoutCheck = null; } lastDrControlTime = 0; } @Override public void messageArrived(String topic, MqttMessage mqttMessage) { String jsonString = null; Log.e(TAG, "入口打印:" +mqttMessage.toString()); try { jsonString = new String(mqttMessage.getPayload(), "UTF-8"); } catch (Exception e) { LogUtil.log(TAG, "解析异常"); throw new RuntimeException(e); } MessageDown message = new Gson().fromJson(jsonString, MessageDown.class); //LogUtil.log(TAG,message.getMethod()); if(topic.equals(AMSConfig.DOWN_UAV_PSDK_EVENT)){ //负载设置控件 }else { switch (message.getMethod()) { case Constant.PILOT_ON: // LogUtil.log(TAG, "收到：遥控器是否开机" + jsonString); SystemManager.getInstance().checkRemoteControlPowerStatus(message); break; case Constant.AIRCRAFT_ON: // LogUtil.log(TAG, "收到：飞机是否开机" + jsonString); SystemManager.getInstance().checkAircraftPowerStatus(message); break; case Constant.MEDIA_UPLOAD_COMPLETE: LogUtil.log(TAG, "收到：文件上传是否结束" + jsonString); SystemManager.getInstance().aircraftStoredReply(message); break; case Constant.OPEN_SLOW_PROPELLER_ROTATION: LogUtil.log(TAG, "收到：开启低速转浆" + jsonString); FlightManager.getInstance().startPropellerRotation(message); break; case Constant.CLOSE_SLOW_PROPELLER_ROTATION: LogUtil.log(TAG, "收到：停止低速转浆" + jsonString); FlightManager.getInstance().stopPropellerRotation(message); break; case Constant.LIVE_START_PUSH: LogUtil.log(TAG, "收到：开始直播" + jsonString); StreamManager.getInstance().startLive(message); break; case Constant.LIVE_SET_QUALITY: LogUtil.log(TAG, "收到：设置直播清晰度" + jsonString); StreamManager.getInstance().setLiveStreamQuality(message); break; case Constant.LIVE_LENS_CHANGE: LogUtil.log(TAG, "收到：切换直播镜头" + jsonString); CameraManager.getInstance().setCameraVideoStreamSource(message); break; case Constant.FLIGHTTASK_EXECUTE: synchronized(lock){ // 检查是否是第一次收到航线指令 if(Synchronizedstatus.isIsruning()){ LogUtil.log(TAG, "自检正在运行"); return; } else if(!Synchronizedstatus.getInitStatus()){ Synchronizedstatus.setIsruning(true); //自检 MissionV3Manager.getInstance().checkVtxWithDelay(()->{ Synchronizedstatus.setIsruning(false); Synchronizedstatus.setInitStatus(true); }); }else if(Synchronizedstatus.getInitStatus()){ LogUtil.log(TAG, "收到：航线" + jsonString); //设置modecode Movement.getInstance().setMode_code(1); //设置标志为 Movement.getInstance().setFlightmode(1); //存储最新消息并开始自检 MissionV3Manager.getInstance().taskExecute(message); Synchronizedstatus.setIsruning(true); } } break; case Constant.FLIGHTTASK_PAUSE: LogUtil.log(TAG, "收到：航线暂停" + jsonString); MissionV3Manager.getInstance().pauseMission(message); break; case Constant.FLIGHTTASK_RECOVERY: LogUtil.log(TAG, "收到：航线继续" + jsonString); clearVirtualStickHeartbeat(); MissionV3Manager.getInstance().resumeMission(message); break; case Constant.RETURN_HOME: LogUtil.log(TAG, "收到：返航" + jsonString); //自动返航 (如果调用方法失败了 这个设置就有一个问题但是为了方便看懂我就放这里了没放成功的回调里面) Movement.getInstance().setMode_code(9); if(!Movement.getInstance().isAlternate()&&!ApronArucoDetectPort.getInstance().isStartAruco()&&!ApronArucoDetect.getInstance().isStartAruco()){ // if(Movement.getInstance().getElevation()<15){ // // // // }else{ // FlightManager.getInstance().startGoHome(message); // } FlightManager.getInstance().startGoHome(message); }else{ sendMsg2Server(message); sendEvent2Server("正在视觉或飞往备降不允许返航",1); } break; case Constant.INBOUND: LogUtil.log(TAG, "收到：服务端响应入库" + jsonString); ApronExecutionStatus.getInstance().setServerReplyDockIn(true); break; case Constant.RETURN_HOME_CANCEL: LogUtil.log(TAG, "收到：取消返航" + jsonString); FlightManager.getInstance().stopGoHome(message); break; case Constant.CLOSE_DOOR: LogUtil.log(TAG, "收到：服务端响应关舱门" + jsonString); ApronExecutionStatus.getInstance().setServerReplyDockIn(true); break; case Constant.OPEN_DOOR: LogUtil.log(TAG, "收到：服务端响应开舱门" + jsonString); ApronExecutionStatus.getInstance().setServerReplyDockOpen(true); break; case Constant.TASK_FAIL: LogUtil.log(TAG, "收到：服务端响应TaskFail" + jsonString); ApronExecutionStatus.getInstance().setServerReplyTaskFail(true); break; case Constant.TAKEOFF_TO_POINT: // //1.检查图传是否连接 // MissionDataBean data = new Gson().fromJson(new Gson().toJson(message.getData()), MissionDataBean.class); // Boolean generateKmz = Generakmztools.getInstance().generateKmz(data); synchronized(lock){ if(Synchronizedstatus.isIsruning()){ LogUtil.log(TAG, "自检正在运行"); return; } else if(!Synchronizedstatus.getInitStatus()){ Synchronizedstatus.setIsruning(true); //自检 TakeOffToPointManager.getInstance().checkVtxWithDelay(()->{ Synchronizedstatus.setIsruning(false); Synchronizedstatus.setInitStatus(true); }); }else if(Synchronizedstatus.getInitStatus()){ LogUtil.log(TAG, "收到：一键起飞" + jsonString); //设置modecode Movement.getInstance().setMode_code(1); //设置标志为指令飞行 Movement.getInstance().setFlightmode(2); TakeoffProgressScheduler.getInstance().startReporting(); TakeOffToPointManager.getInstance().taskExecute(message); Synchronizedstatus.setIsruning(true); } } break; case Constant.FLY_TO_POINT: LogUtil.log(TAG, "收到：飞向目标点" + jsonString); FlyToPointManager.getInstance().taskExecute(message); break; case Constant.FLY_TO_POINT_STOP: LogUtil.log(TAG, "收到：结束 flyto 飞向目标点任务" + jsonString); FlyToPointManager.getInstance().stopMission(message); break; case Constant.FLY_TO_POINT_STOP_UPDATE: LogUtil.log(TAG, "收到：更新 flyto 目标点" + jsonString); break; case Constant.FLIGHT_AUTHORITY_GRAB: LogUtil.log(TAG, "收到：飞行控制权抢夺" + jsonString); StickManager.getInstance().enableVirtualStick(message); break; case Constant.PAYLOAD_AUTHORITY_GRAB: LogUtil.log(TAG, "收到：负载控制权抢夺" + jsonString); GimbalManager.getInstance().payloadAuthorityGrab(message); break; case Constant.DRC_MODE_ENTER: LogUtil.log(TAG, "收到：进入指令飞行控制模式" + jsonString); StickManager.getInstance().setVirtualStickModeEnabled(message); break; //退出控制权时，要自动触发续飞航线 case Constant.DRC_MODE_EXIT: LogUtil.log(TAG, "收到：退出指令飞行控制模式" + jsonString); //清理这个时间戳循环 clearVirtualStickHeartbeat(); StickManager.getInstance().disableVirtualStick(message); break; case Constant.DRONE_CONTROL: LogUtil.log(TAG, "收到：DRC-飞行控制" + jsonString); resetVirtualStickHeartbeat(); StickManager.getInstance().sendVirtualStickAdvancedParam(message); break; case Constant.DRONE_EMERGENCY_STOP: LogUtil.log(TAG, "收到：DRC-飞行器急停" + jsonString); FlightManager.getInstance().emergencyHover(message); break; case Constant.CAMERA_MODE_SWITCH: LogUtil.log(TAG, "收到：负载控制—切换相机模式" + jsonString); CameraManager.getInstance().setCameraMode(message); break; case Constant.CAMERA_PHOTO_TAKE: LogUtil.log(TAG, "收到：负载控制—开始拍照" + jsonString); CameraManager.getInstance().startShootPhoto(message); break; case Constant.CAMERA_PHOTO_STOP: LogUtil.log(TAG, "收到：负载控制—停止拍照" + jsonString); CameraManager.getInstance().stopShootPhoto(message); break; case Constant.CAMERA_RECORDING_START: LogUtil.log(TAG, "收到：负载控制—开始录像" + jsonString); CameraManager.getInstance().startRecordVideo(message); break; case Constant.CAMERA_RECORDING_STOP: LogUtil.log(TAG, "收到：负载控制—停止录像" + jsonString); CameraManager.getInstance().stopRecordVideo(message); break; case Constant.CAMERA_SCREEN_DRAG: LogUtil.log(TAG, "收到：负载控制—画面拖动控制" + jsonString); if(ApronArucoDetect.getInstance().isStartAruco()||ApronArucoDetectPort.getInstance().isStartAruco()){ sendEvent2Server("自动降落不可以动负载",1); return; }else{ GimbalManager.getInstance().camera_screen_drag(message); } break; case Constant.CAMERA_AIM: LogUtil.log(TAG, "收到：负载控制—双击成为 AIM" + jsonString); if(ApronArucoDetect.getInstance().isStartAruco()||ApronArucoDetectPort.getInstance().isStartAruco()){ sendEvent2Server("自动降落不可以动负载",1); return; }else{ CameraManager.getInstance().tapZoomAtTarget(message); } break; case Constant.CAMERA_FOCAL_LENGTH_SET: LogUtil.log(TAG, "收到：负载控制—变焦" + jsonString); if(ApronArucoDetect.getInstance().isStartAruco()||ApronArucoDetectPort.getInstance().isStartAruco()){ sendEvent2Server("自动降落不可以动负载",1); return; }else{ CameraManager.getInstance().setCameraZoomRatios(message); } break; case Constant.GIMBAL_RESET: LogUtil.log(TAG, "收到：负载控制—重置云台" + jsonString); if(ApronArucoDetect.getInstance().isStartAruco()||ApronArucoDetectPort.getInstance().isStartAruco()){ sendEvent2Server("自动降落不可以动负载",1); return; }else{ GimbalManager.getInstance().gimbalReset(message); } break; case Constant.CAMERA_LOOK_AT: LogUtil.log(TAG, "收到：负载控制—Look At" + jsonString); if(ApronArucoDetect.getInstance().isStartAruco()||ApronArucoDetectPort.getInstance().isStartAruco()){ sendEvent2Server("自动降落不可以动负载",1); return; }else{ GimbalManager.getInstance().gimbalLookAt(message); } break; case Constant.CAMERA_SCREEN_SPLIT: LogUtil.log(TAG, "收到：负载控制—分屏" + jsonString); break; case Constant.PHOTO_STORAGE_SET: SystemManager.getInstance().checkRemoteControlPowerStatus(message); // LogUtil.log(TAG, "收到：负载控制—照片存储设置" + jsonString); break; case Constant.VIDEO_STORAGE_SET: SystemManager.getInstance().checkRemoteControlPowerStatus(message); // LogUtil.log(TAG, "收到：负载控制—视频存储设置" + jsonString); break; case Constant.CAMERA_EXPOSURE_MODE_SET: LogUtil.log(TAG, "收到：负载控制—相机曝光模式设置" + jsonString); break; case Constant.CAMERA_EXPOSURE_SET: LogUtil.log(TAG, "收到：负载控制—相机曝光值调节" + jsonString); break; case Constant.CAMERA_FOCUS_MODE_SET: LogUtil.log(TAG, "收到：负载控制—相机对焦模式" + jsonString); break; case Constant.CAMERA_FOCUS_MODE_VALUE_SET: LogUtil.log(TAG, "收到：负载控制—相机对焦值设置" + jsonString); break; case Constant.CAMERA_POINT_FOCUS_ACTION: LogUtil.log(TAG, "收到：负载控制—点对焦" + jsonString); break; case Constant.IR_METERING_MODE_SET: LogUtil.log(TAG, "收到：负载控制—红外测温模式设置" + jsonString); break; case Constant.IR_METERING_POINT_SET: LogUtil.log(TAG, "收到：负载控制—红外测温点设置" + jsonString); break; case Constant.IR_METERING_AREA_SET: LogUtil.log(TAG, "收到：负载控制—红外测温区域设置" + jsonString); break; case Constant.POI_MODE_ENTER: LogUtil.log(TAG, "收到：飞行控制—进入 POI 环绕模式" + jsonString); break; case Constant.POI_MODE_EXIT: LogUtil.log(TAG, "收到：飞行控制—退出 POI 环绕模式" + jsonString); break; case Constant.POI_CIRCLE_SPEED_SET: LogUtil.log(TAG, "收到：飞行控制—POI 环绕速度设置" + jsonString); break; case Constant.CAMERA_FRAME_ZOOM: LogUtil.log(TAG, "收到：框选变焦" + jsonString); if(ApronArucoDetect.getInstance().isStartAruco()||ApronArucoDetectPort.getInstance().isStartAruco()){ sendEvent2Server("自动降落不可以动负载",1); return; }else{ CameraManager.getInstance().camera_frame_zoom(message); } break; case Constant.SPEAKER_AUDIO_PLAY_START: LogUtil.log(TAG, "收到：喊话器-开始播放音频" + jsonString); SpeakerProgressReporter.getInstance().startAudioReport(2); SpeakerManager.getInstance().speakerAudioPlayStart(message); break; case Constant.SPEAKER_TTS_PLAY_START: LogUtil.log(TAG, "收到：喊话器-开始播放TTS文本" + jsonString); SpeakerProgressReporter.getInstance().startTTSReport(2); SpeakerManager.getInstance().speakerTTSPlayStart(message, 0); break; case Constant.SPEAKER_REPLAY: LogUtil.log(TAG, "收到：喊话器-重新播放" + jsonString); SpeakerManager.getInstance().speakerReply(message); break; case Constant.SPEAKER_PLAY_STOP: LogUtil.log(TAG, "收到：喊话器-停止播放" + jsonString); SpeakerManager.getInstance().speakerStop(message); break; case Constant.SPEAKER_PLAY_MODE_SET: LogUtil.log(TAG, "收到：喊话器-设置播放模式" + jsonString); SpeakerManager.getInstance().speakerPlayModeSet(message); break; case Constant.SPEAKER_PLAY_VOLUME_SET: LogUtil.log(TAG, "收到：喊话器-设置音量" + jsonString); SpeakerManager.getInstance().speakerPlayVolumeSet(message); break; case Constant.DRC_SPEAKER_TTS_SET: LogUtil.log(TAG, "收到：喊话器-TTS喊话设置" + jsonString); SpeakerManager.getInstance().speakerTTSPlayStart(message, 1); break; case Constant.UAV_LIVE_FPV: //LogUtil.log(TAG, "收到：切换推流fpv" + jsonString); StreamManager.getInstance().switchptspfpv(ComponentIndexType.FPV,message); break; case Constant.UAV_LIVE_CAMERA: //LogUtil.log(TAG, "收到：切换推流camera" + jsonString); StreamManager.getInstance().switchptspport(ComponentIndexType.PORT_1,message); break; // //获取控制权 // case 60007: // LogUtil.log(TAG, "收到：获取控制权" + jsonString); // StickManager.getInstance().setVirtualStickModeEnabled(message); // break; // //虚拟摇杆数据 // case 60008: // LogUtil.log(TAG, "收到：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：云台角度控制" + jsonString); // GimbalManager.getInstance().gimbalRotateByRelativeAngle(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：舱门已关闭" + jsonString); //// SystemManager.getInstance().droneShutdown(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：取消控制权" + jsonString); // StickManager.getInstance().setVirtualStickModeDisable(message); // break; // // //设置相机模式 0拍照 1录像 // case 60018: // LogUtil.log(TAG, "收到：设置相机模式" + jsonString); // CameraManager.getInstance().setCameraMode(message); // break; // //开始拍照 // case 60019: // LogUtil.log(TAG, "收到：开始拍照" + jsonString); // CameraManager.getInstance().startShootPhoto(message); // break; // //开始录像 // case 60020: // LogUtil.log(TAG, "收到：开始录像" + jsonString); // CameraManager.getInstance().startRecordVideo(message); // break; // //停止录像 // case 60021: // LogUtil.log(TAG, "收到：停止录像" + jsonString); // CameraManager.getInstance().stopRecordVideo(message); // break; // //设置变焦倍率 // case 60022: // LogUtil.log(TAG, "收到：设置变焦倍率" + jsonString); // CameraManager.getInstance().setCameraZoomRatios(message); // break; // //设置红外变焦倍率 // case 60023: // LogUtil.log(TAG, "收到：设置红外变焦倍率" + jsonString); // CameraManager.getInstance().setThermalZoomRatios(message); // break; // //开始推流，可配置推流视角 // case 60100: // LogUtil.log(TAG, "收到：开始推流" + jsonString); // StreamManager.getInstance().startLive(message); // break; // // //设置限高 // case 60102: // LogUtil.log(TAG, "收到：设置限高" + jsonString); // FlightManager.getInstance().setHeightLimit(message); // break; // //设置限远 // case 60103: // LogUtil.log(TAG, "收到：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：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：设置红外分屏" + jsonString); // CameraManager.getInstance().setThermalDisplayMode(message); // break; // //取消返航 // case 60106: // LogUtil.log(TAG, "收到：取消返航" + jsonString); // FlightManager.getInstance().stopGoHome(message); // break; // //终止航线 // case 60109: // LogUtil.log(TAG, "收到：终止航线" + jsonString); // MissionManager.getInstance().stopMission(message); // break; // //开始喊话 // case 60110: // LogUtil.log(TAG, "收到：开始喊话" + jsonString); // MegaphoneManager.getInstance().startMegaphonePlay(message); // break; // //结束喊话 // case 60111: // LogUtil.log(TAG, "收到：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：备降点降落" + jsonString); // AlternateLandingManager.getInstance().startTaskProcess(message); // break; // //降落 // case 60113: // LogUtil.log(TAG, "收到：降落" + jsonString); // FlightManager.getInstance().startAutoLanding(message); // break; // //取消降落 // case 60114: // LogUtil.log(TAG, "收到：取消降落" + jsonString); // FlightManager.getInstance().stopAutoLanding(message); // break; // //解锁抛投器 // case 60115: // LogUtil.log(TAG, "收到：解锁" + jsonString); // PayloadWidgetManager.getInstance().unlock(message); // break; // //锁定抛投器 // case 60116: // LogUtil.log(TAG, "收到：锁定" + jsonString); // PayloadWidgetManager.getInstance().lock(message); // break; // //抛投 // case 60117: // LogUtil.log(TAG, "收到：抛投" + jsonString); // PayloadWidgetManager.getInstance().throwOne(message); // break; // //一键全抛 // case 60118: // LogUtil.log(TAG, "收到：一键全投" + jsonString); // PayloadWidgetManager.getInstance().throwAll(message); // break; // //设置备降点 //// case 60119: //// LogUtil.log(TAG, "收到：设置备降点" + jsonString); //// AlternateLandingManager.getInstance().setAlternatePoint(message); //// break; // //开始定时拍照 // case 60120: // LogUtil.log(TAG, "收到：开始定时拍照" + jsonString); // CameraManager.getInstance().startTakePhotoWithInterval(message); // break; // //结束拍照 // case 60121: // LogUtil.log(TAG, "收到：结束拍照" + jsonString); // CameraManager.getInstance().stopShootPhoto(message); // break; // //重置相机 // case 60122: // LogUtil.log(TAG, "收到：重置相机设置" + jsonString); // CameraManager.getInstance().resetCameraSetting(message); // break; // //云台回中 // case 60123: // LogUtil.log(TAG, "收到：云台回中" + jsonString); // GimbalManager.getInstance().gimbalResetWithPitchAndYaw(message); // break; // //设置对焦模式 // case 60124: // LogUtil.log(TAG, "收到：设置对焦模式" + jsonString); // CameraManager.getInstance().setCameraFocusMode(message); // break; // //指点对焦 // case 60125: // LogUtil.log(TAG, "收到：指点对焦" + jsonString); // CameraManager.getInstance().tapZoomAtTarget(message); // break; // //设置照片xmp写入 // case 60126: // LogUtil.log(TAG, "收到：写入exif" + jsonString); // MediaManager.getInstance().setMediaFileXMPCustomInfo(message); // break; // //设置曝光模式 // case 60127: // LogUtil.log(TAG, "收到：设置曝光模式" + jsonString); // CameraManager.getInstance().setExposureMode(message); // break; // //设置ev // case 60128: // LogUtil.log(TAG, "收到：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：发送数据到psdk" + jsonString); // PayloadWidgetManager.getInstance().sendMsgToPayload(message); // break; // //停止推流 // case 60130: // LogUtil.log(TAG, "收到：停止推流" + jsonString); // StreamManager.getInstance().stopLive(message); // break; // //设置对焦值 // case 60131: // LogUtil.log(TAG, "收到：设置对焦值" + jsonString); // CameraManager.getInstance().setCameraFocusRingValue(message); // break; // //获取里程 // case 60132: // LogUtil.log(TAG, "收到：获取里程" + jsonString); // FlightManager.getInstance().getAircraftTotalFlightDistance(message); // break; // //上传媒体文件 // case 60134: //// LogUtil.log(TAG, "收到：获取里程" + jsonString); //// FlightManager.getInstance().getAircraftTotalFlightDistance(message); // break; // //异地降落 // case 60135: // LogUtil.log(TAG, "收到：异地降落" + jsonString); // OffSiteLandingManager.getInstance().startTaskProcess(message); // break; // //刷新返航点 // case 60136: // LogUtil.log(TAG, "收到：重置返航点" + jsonString); // ResetHomePointManager.getInstance().startTaskProcess(message); // break; // //设置纯净模式 // case 60137: // LogUtil.log(TAG, "收到：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：设置测温模式" + jsonString); // CameraManager.getInstance().setThermalTemperatureMeasureMode(message); // break; // //设置测温点 // case 60139: // LogUtil.log(TAG, "收到：设置测温点" + jsonString); // CameraManager.getInstance().setThermalSpotMetersurePoint(message); // break; // //设置测温区域 // case 60140: // LogUtil.log(TAG, "收到：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：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：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：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：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：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：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：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：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：指点对焦" + jsonString); // break; // //云台偏航回中 // case 60150: // LogUtil.log(TAG, "收到：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：云台偏航向下" + jsonString); // GimbalManager.getInstance().gimbalDownWithPitch(message); // break; // //云台向下 // case 60152: // LogUtil.log(TAG, "收到：云台向下" + jsonString); // GimbalManager.getInstance().gimbalDownWithPitchAndYaw(message); // break; // //msdk日志上传 // case 60666: // LogUtil.log(TAG, "收到：日志上传" + jsonString); // AMSLogManager.getInstance().enableLogList(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：服务端响应关舱门" + jsonString); // break; // case "1": // ApronExecutionStatus.getInstance().setServerReplyDockOpen(true); // LogUtil.log(TAG, "收到：服务端响应开舱门" + jsonString); // break; // case "2": // ApronExecutionStatus.getInstance().setServerReplyDockIn(true); // LogUtil.log(TAG, "收到：服务端响应入库" + jsonString); // break; // case "3": // ApronExecutionStatus.getInstance().setServerReplyDroneShut(true); // LogUtil.log(TAG, "收到：服务端响应关机" + jsonString); // break; // } else { // LogUtil.log(TAG, "收到：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) { } String[] topics = new String[] { AMSConfig.getInstance().DOWN_UAV_EVENT_REPLY, AMSConfig.getInstance().DOWN_UAV_SERVICES, }; int[] qos = new int[] { 1, 1 }; @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(topics, qos);//订阅主题:注册 // MqttManager.getInstance().mqttAndroidClient.subscribe(AMSConfig.DOWN_UAV_EVENT_REPLY, 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); } }