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 android.os.Looper; import android.util.Log; import androidx.annotation.NonNull; import androidx.annotation.Nullable; import com.aros.apron.base.BaseManager; import com.aros.apron.entity.MessageDown; import com.aros.apron.entity.Movement; import com.aros.apron.tools.LogUtil; import com.google.gson.Gson; import dji.sdk.keyvalue.key.CameraKey; import dji.sdk.keyvalue.key.FlightControllerKey; import dji.sdk.keyvalue.key.KeyTools; import dji.sdk.keyvalue.key.ProductKey; import dji.sdk.keyvalue.value.camera.CameraExposureCompensation; import dji.sdk.keyvalue.value.camera.CameraExposureMode; import dji.sdk.keyvalue.value.camera.CameraFocusMode; import dji.sdk.keyvalue.value.camera.CameraFocusState; import dji.sdk.keyvalue.value.camera.CameraISO; import dji.sdk.keyvalue.value.camera.CameraMode; import dji.sdk.keyvalue.value.camera.CameraShutterSpeed; import dji.sdk.keyvalue.value.camera.CameraStorageInfo; import dji.sdk.keyvalue.value.camera.CameraStorageInfos; import dji.sdk.keyvalue.value.camera.CameraStorageLocation; import dji.sdk.keyvalue.value.camera.CameraThermalPalette; import dji.sdk.keyvalue.value.camera.CameraType; import dji.sdk.keyvalue.value.camera.CameraVideoStreamSourceType; import dji.sdk.keyvalue.value.camera.LaserMeasureInformation; import dji.sdk.keyvalue.value.camera.PanoramaExitStatus; import dji.sdk.keyvalue.value.camera.PhotoPanoStichingState; import dji.sdk.keyvalue.value.camera.PhotoState; import dji.sdk.keyvalue.value.camera.RecordingState; import dji.sdk.keyvalue.value.camera.TapZoomMode; import dji.sdk.keyvalue.value.camera.ThermalDigitalZoomFactor; import dji.sdk.keyvalue.value.camera.ThermalDisplayMode; import dji.sdk.keyvalue.value.camera.ThermalGainMode; import dji.sdk.keyvalue.value.camera.ThermalTemperatureMeasureMode; import dji.sdk.keyvalue.value.camera.VideoRecordingStatus; import dji.sdk.keyvalue.value.camera.VisionPhotoPanoramaMissionState; import dji.sdk.keyvalue.value.camera.ZoomTargetPointInfo; import dji.sdk.keyvalue.value.common.CameraLensType; import dji.sdk.keyvalue.value.common.ComponentIndexType; import dji.sdk.keyvalue.value.common.DoublePoint2D; import dji.sdk.keyvalue.value.common.EmptyMsg; import dji.sdk.keyvalue.value.product.ProductType; import dji.v5.common.callback.CommonCallbacks; import dji.v5.common.error.IDJIError; import dji.v5.manager.KeyManager; public class CameraManager extends BaseManager { private Handler panoHandler = new Handler(Looper.getMainLooper()); private Runnable panoRunnable; private boolean isPanoRunning = false; private static final long INTERVAL = 1000; // 1秒 private void startReport() { if (isPanoRunning) return; // 已开启则忽略 isPanoRunning = true; panoRunnable = new Runnable() { @Override public void run() { if (!isPanoRunning) return; sendCameraPhotoTakeProgress2Server(); // 你的方法 panoHandler.postDelayed(this, INTERVAL); // 1秒后循环 } }; panoHandler.post(panoRunnable); // 立即执行 } private void stopReport() { if (!isPanoRunning) return; isPanoRunning = false; panoHandler.removeCallbacks(panoRunnable); sendCameraPhotoTakeProgress2Server(); // 最后报一次 } private CameraManager() { } private static class CameraHolder { private static final CameraManager INSTANCE = new CameraManager(); } public static CameraManager getInstance() { return CameraHolder.INSTANCE; } public void initCameraInfo() { Boolean isConnect = KeyManager.getInstance().getValue(createKey(FlightControllerKey.KeyConnection)); LogUtil.log(TAG,"isConnect"+isConnect); if (isConnect != null && isConnect) { //全局画面中测量的最高温度 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalGlobalMinTemperature, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable Double aDouble, @Nullable Double t1) { if (t1 != null) { Movement.getInstance().setThermal_global_temperature_min(t1); } } }); //全景任务状态 KeyManager.getInstance().listen(createKey(CameraKey.KeyVisionPhotoPanoramaMissionState, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable VisionPhotoPanoramaMissionState visionPhotoPanoramaMissionState, @Nullable VisionPhotoPanoramaMissionState t1) { if (t1 != null) { if (t1 == VisionPhotoPanoramaMissionState.IDLE) { Movement.getInstance().setPhoto_current_step(3000); } else if (t1 == VisionPhotoPanoramaMissionState.RELEASE) { // Movement.getInstance().setPhoto_result(0); // Movement.getInstance().setPhoto_status("ok"); // Movement.getInstance().setCameraMode(3); // stopReport(); } else if (t1 == VisionPhotoPanoramaMissionState.RUNNING) { Movement.getInstance().setPhoto_status("in_progress"); Movement.getInstance().setPhoto_current_step(3002); } else if (t1 == VisionPhotoPanoramaMissionState.UNKNOWN) { // Movement.getInstance().setPhoto_result(1); // Movement.getInstance().setPhoto_current_step(3000); // Movement.getInstance().setPhoto_status("fail"); } else if (t1 == VisionPhotoPanoramaMissionState.PROCESSING) { Movement.getInstance().setPhoto_current_step(3005); } else if (t1 == VisionPhotoPanoramaMissionState.FORBIDDEN) { Movement.getInstance().setPhoto_result(1); Movement.getInstance().setPhoto_current_step(3000); Movement.getInstance().setPhoto_status("fail"); } } } }); //全景退出 KeyManager.getInstance().listen(createKey(CameraKey.KeyPanoramaExitStatus, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable PanoramaExitStatus panoramaExitStatus, @Nullable PanoramaExitStatus t1) { if(t1!=null){ LogUtil.log(TAG,t1.toString()); if(t1==PanoramaExitStatus.SUCCESSFUL){ Movement.getInstance().setPhoto_current_step(3000); Movement.getInstance().setPhoto_result(0); Movement.getInstance().setPhoto_status("ok"); Movement.getInstance().setCameraMode(3); Movement.getInstance().setMode_code(3); stopReport(); } } } }); KeyManager.getInstance().listen(createKey(CameraKey.KeyPanoramaProgressInPercent, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable Integer integer, @Nullable Integer t1) { if (t1 != null) { Movement.getInstance().setPhoto_percent(t1); if(t1==100){ Movement.getInstance().setPhoto_current_step(3000); Movement.getInstance().setPhoto_result(0); Movement.getInstance().setPhoto_status("ok"); Movement.getInstance().setCameraMode(3); Movement.getInstance().setMode_code(3); stopReport(); } } } }); //是否正在拍全景 KeyManager.getInstance().listen(createKey(CameraKey.KeyIsShootingPhotoPanorama, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable Boolean aBoolean, @Nullable Boolean t1) { if (t1 != null) { if (t1 == true) { startReport(); } else { stopReport(); } } } }); //激光测距信息 KeyManager.getInstance().listen(createKey(CameraKey.KeyLaserMeasureInformation, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable LaserMeasureInformation laserMeasureInformation, @Nullable LaserMeasureInformation t1) { if (t1 != null) { if (t1.getLocation3D() != null) { Movement.getInstance().setMeasure_target_altitude(t1.getLocation3D().getAltitude()); Movement.getInstance().setMeasure_target_latitude(t1.getLocation3D().getLatitude()); Movement.getInstance().setMeasure_target_longitude(t1.getLocation3D().getLongitude()); Movement.getInstance().setMeasure_target_distance(t1.getDistance().intValue()); Movement.getInstance().setMeasure_target_error_state(t1.getLaserMeasureState().value()); Movement.getInstance().setPayload_index("53-0-0"); } } } }); //调色盘样式。{"0":"白热","1":"黑热","2":"描红","3":"医疗","5":"彩虹 1","6":"铁红","8":"北极","11":"熔岩","12":"热铁","13":"彩虹 2"} KeyManager.getInstance().listen(createKey(CameraKey.KeyThermalPalette, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable CameraThermalPalette cameraThermalPalette, @Nullable CameraThermalPalette t1) { if (t1 != null) { Movement.getInstance().setThermal_current_palette_style(t1.value()); } } }); //增益模式。{"0":"自动","1":"低增益, 测温范围0°C-500°C","2":"高增益, 测温范围-20°C-150°C"} KeyManager.getInstance().listen(createKey(CameraKey.KeyThermalGainMode, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable ThermalGainMode thermalGainMode, @Nullable ThermalGainMode t1) { if (t1 != null) { Movement.getInstance().setThermal_gain_mode(t1.value()); } } }); //全局画面中测量的最高温度 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalGlobalMaxTemperature, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable Double aDouble, @Nullable Double t1) { if (t1 != null) { Movement.getInstance().setThermal_global_temperature_max(t1); } } }); //等温线最高值。较低和中等等温线阈值之间的温度值将以调色板中的128-175色显示。 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalIsothermUpperValue, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable Integer integer, @Nullable Integer t1) { if (t1 != null) { Movement.getInstance().setThermal_isotherm_upper_limit(t1); } } }); //等温线最低值。较低和中等等温线阈值之间的温度值将以调色板中的128-175色显示。 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalIsothermLowerValue, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable Integer integer, @Nullable Integer t1) { if (t1 != null) { Movement.getInstance().setThermal_isotherm_lower_limit(t1); } } }); //是否开启等温线 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalIsothermEnabled, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable Boolean aBoolean, @Nullable Boolean t1) { if (t1 != null) { Movement.getInstance().setThermal_isotherm_state(t1 ? 1 : 0); } } }); //相机模式 KeyManager.getInstance().listen(KeyTools.createKey(CameraKey. KeyCameraMode, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable CameraMode oldValue, @Nullable CameraMode newValue) { if (newValue != null) { //Movement.getInstance().setCamera_mode(newValue.value()); // LogUtil.log(TAG, "相机模式：" + newValue + "old" + oldValue); } } }); //当前测温模式 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalTemperatureMeasureMode, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable ThermalTemperatureMeasureMode thermalTemperatureMeasureMode, @Nullable ThermalTemperatureMeasureMode t1) { if (t1 != null && thermalTemperatureMeasureMode != null) { Movement.getInstance().setIr_metering_mode(thermalTemperatureMeasureMode.value()); } } }); //当前测温的点的位置 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalSpotMetersurePoint, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable DoublePoint2D doublePoint2D, @Nullable DoublePoint2D t1) { if (t1 != null) { Movement.getInstance().setX(t1.getX()); Movement.getInstance().setX(t1.getY()); } } }); //当前测温的点的温度 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalSpotMetersureTemperature, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable Double aDouble, @Nullable Double t1) { if (t1 != null) { Movement.getInstance().setTemperature(t1.intValue()); } } }); //当前红外变焦倍率 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalZoomRatios, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable Double aDouble, @Nullable Double t1) { if (t1 != null) { Movement.getInstance().setIr_zoom_factor(t1.intValue()); } } }); //拍照状态 KeyManager.getInstance().listen(KeyTools.createKey(CameraKey.KeyPhotoState, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable PhotoState photoState, @Nullable PhotoState t1) { if (t1 != null) { Movement.getInstance().setPhoto_state(t1.value()); } } }); //视频录制时长 KeyManager.getInstance().listen(KeyTools.createKey(CameraKey. KeyRecordingTime, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable Integer oldValue, @Nullable Integer newValue) { if (newValue != null) { Movement.getInstance().setRecord_time(newValue); } } }); //视频录制状态 KeyManager.getInstance().listen(KeyTools.createKey(CameraKey. KeyRecordingState, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable RecordingState recordingState, @Nullable RecordingState t1) { if (t1 != null) { Movement.getInstance().setRecording_state(t1.value() == 0 ? 0 : 1); } } }); //剩余照片数 KeyManager.getInstance().listen(KeyTools.createKey(CameraKey. KeySDCardAvailablePhotoCount, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable Integer integer, @Nullable Integer t1) { if (t1 != null) { //LogUtil.log(TAG, "剩余拍照数setRemain_photo_num" + t1 + "old" + integer); if (t1 != 0) { Movement.getInstance().setRemain_photo_num(t1); } } } }); //视频录制时长 KeyManager.getInstance().listen(KeyTools.createKey(CameraKey.KeyRecordingTime, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable Integer integer, @Nullable Integer t1) { if (t1 != null) { Movement.getInstance().setRecord_time(t1); } } }); //是否在录像 KeyManager.getInstance().listen(KeyTools.createKey(CameraKey.KeyVideoRecordingStatus, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable VideoRecordingStatus videoRecordingStatus, @Nullable VideoRecordingStatus t1) { if (t1 != null) { Boolean recording = t1.getIsRecording(); if (recording != null && recording) { Movement.getInstance().setRecording_state(1); // 正在录 } else { Movement.getInstance().setRecording_state(0); // 未录或未知 } } } }); //分屏是否使能 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalDisplayMode, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable ThermalDisplayMode thermalDisplayMode, @Nullable ThermalDisplayMode t1) { if (t1 != null) { Movement.getInstance().setScreen_split_enable(t1.value() == 2 ? true : false); } } }); //广角镜头曝光模式 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyExposureMode, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_WIDE), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable CameraExposureMode cameraExposureMode, @Nullable CameraExposureMode t1) { if (t1 != null) { //LogUtil.log(TAG, "监听曝光模式:" + t1.name()); Movement.getInstance().setWide_exposure_mode(t1.value()); } } }); //广角镜头曝光值 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyExposureCompensation, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_WIDE), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable CameraExposureCompensation cameraExposureCompensation, @Nullable CameraExposureCompensation t1) { if (t1!= null) { LogUtil.log(TAG, "监听曝光范围:" + t1.value()); Movement.getInstance().setWide_exposure_value(t1.value()); } } }); //广角镜头感光度 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyISO, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_WIDE), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable CameraISO cameraISO, @Nullable CameraISO t1) { if (t1 != null) { Movement.getInstance().setWide_iso(t1.value()); } } }); //广角镜头快门速度 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyShutterSpeed, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_WIDE), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable CameraShutterSpeed cameraShutterSpeed, @Nullable CameraShutterSpeed t1) { if (t1 != null) { Movement.getInstance().setWide_shutter_speed(t1.value()); } } }); //变焦镜头标定的最远对焦值 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyCameraFocusRingMaxValue, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_ZOOM), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable Integer integer, @Nullable Integer t1) { if (t1 != null) { Movement.getInstance().setZoom_calibrate_farthest_focus_value(t1); } } }); //变焦镜头标定的最近对焦值 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyCameraFocusRingMinValue, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_ZOOM), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable Integer integer, @Nullable Integer t1) { if (t1 != null) { Movement.getInstance().setZoom_calibrate_farthest_focus_value(t1); } } }); //变焦镜头曝光模式 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyExposureMode, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_ZOOM), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable CameraExposureMode cameraExposureMode, @Nullable CameraExposureMode t1) { if (t1 != null) { Movement.getInstance().setZoom_exposure_mode(t1.value()); } } }); //变焦镜头感光度 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyExposureCompensation, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_ZOOM), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable CameraExposureCompensation cameraExposureCompensation, @Nullable CameraExposureCompensation t1) { if (t1 != null) { Movement.getInstance().setZoom_exposure_value(t1.value()); } } }); //变焦镜头感光度 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyExposureCompensation, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_ZOOM), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable CameraExposureCompensation cameraExposureCompensation, @Nullable CameraExposureCompensation t1) { if (t1 != null) { Movement.getInstance().setZoom_exposure_value(t1.value()); } } }); KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalZoomRatios, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_ZOOM), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable Double aDouble, @Nullable Double t1) { if (t1 != null) { Movement.getInstance().setZoom_factor(t1); } } }); //变焦倍数 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyCameraZoomRatios, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_ZOOM), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable Double aDouble, @Nullable Double t1) { if (t1 != null) { Movement.getInstance().setZoom_factor(t1); } } }); //变焦镜头对焦模式 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyCameraFocusMode, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_ZOOM), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable CameraFocusMode cameraFocusMode, @Nullable CameraFocusMode t1) { if (t1 != null) { Movement.getInstance().setZoom_focus_mode(t1.value()); } } }); //变焦镜头对焦状态 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyCameraFocusState, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_ZOOM), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable CameraFocusState cameraFocusState, @Nullable CameraFocusState t1) { if (t1 != null) { Movement.getInstance().setZoom_focus_state(t1.value()); } } }); //变焦镜头对焦值 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyCameraFocusRingValue, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_ZOOM), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable Integer integer, @Nullable Integer t1) { if (t1 != null) { Movement.getInstance().setZoom_focus_value(t1); } } }); //变焦镜头感光度 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyISO, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_ZOOM), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable CameraISO cameraISO, @Nullable CameraISO t1) { if (t1 != null) { Movement.getInstance().setZoom_iso(t1.value()); } } }); //变焦镜头最大对焦值 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyCameraFocusRingMaxValue, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_ZOOM), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable Integer integer, @Nullable Integer t1) { if (t1 != null) { Movement.getInstance().setZoom_max_focus_value(t1); } } }); //变焦镜头最小对焦值 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyCameraFocusRingMinValue, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_ZOOM), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable Integer integer, @Nullable Integer t1) { if (t1 != null) { Movement.getInstance().setZoom_min_focus_value(t1); } } }); //变焦镜头快门速度 KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyShutterSpeed, ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_ZOOM), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable CameraShutterSpeed cameraShutterSpeed, @Nullable CameraShutterSpeed t1) { if (t1 != null) { Movement.getInstance().setZoom_shutter_speed(t1.value()); } } }); //SD卡容量 KeyManager.getInstance().listen(KeyTools.createKey(CameraKey.KeyCameraStorageInfos, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener() { @Override public void onValueChange(@Nullable CameraStorageInfos cameraStorageInfos, @Nullable CameraStorageInfos t1) { if (t1 != null) { // LogUtil.log(TAG,"剩余时间"+t1.getCurrentCameraStorageInfo().getAvailableVideoDuration()); //剩余录像时间 Movement.getInstance().setRemain_record_duration(t1.getCurrentCameraStorageInfo().getAvailableVideoDuration()); CameraStorageInfo cameraStorageInfoByLocation = t1.getCameraStorageInfoByLocation(CameraStorageLocation.SDCARD); if (cameraStorageInfoByLocation != null) { // //剩余可以拍照张数 // int pitcurenum = cameraStorageInfoByLocation.getAvailablePhotoCount(); // Movement.getInstance().setRemain_photo_num(pitcurenum); // LogUtil.log(TAG, "//剩余可以拍照张数" + pitcurenum); Movement.getInstance().setTotal(cameraStorageInfoByLocation.getStorageCapacity() * 1024); Movement.getInstance().setUsed((cameraStorageInfoByLocation.getStorageCapacity() * 1024) - (cameraStorageInfoByLocation.getStorageLeftCapacity())); } } } }); } } //切换相机拍照录像模式 public void setCameraMode(MessageDown message) { Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey. KeyConnection, ComponentIndexType.PORT_1)); if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) { if (message != null) { int cameraMode = message.getData().getCamera_mode(); // 新增：如果当前已经是该模式，直接返回成功 if (cameraMode == Movement.getInstance().getCamera_mode()) { LogUtil.log(TAG, "相机模式已是" + cameraMode + "，无需切换"); sendMsg2Server(message); return; } ProductType productType = KeyManager.getInstance().getValue(KeyTools.createKey(ProductKey.KeyProductType)); if (productType != null) { int cameraModevalue = 0; if (cameraMode == 1) { cameraModevalue = 1; } else if (cameraMode == 2) { cameraModevalue = 11; } else if (cameraMode == 3) { cameraModevalue = 12; } KeyManager.getInstance().setValue(KeyTools.createKey(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1), CameraMode.find(cameraModevalue), new CommonCallbacks.CompletionCallback() { @Override public void onSuccess() { //设置相机模式 Movement.getInstance().setCamera_mode(cameraMode); LogUtil.log(TAG, "切换成功" + Movement.getInstance().getCamera_mode()); OSDManager.getInstance().pushFlightAttitude(); sendMsg2Server(message); } @Override public void onFailure(@NonNull IDJIError error) { sendFailMsg2Server(message, "相机模式切换失败:" + getIDJIErrorMsg(error)); } }); } else { sendFailMsg2Server(message, "切换失败:当前状态相机禁止操作"); } } } else { sendFailMsg2Server(message, "当前状态相机禁止操作"); } } //框选变焦 public void camera_frame_zoom(MessageDown message) { //这个locked参数没有处理 //使用aim转过去 Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey( CameraKey.KeyConnection, ComponentIndexType.PORT_1)); if (isConnect == null || !isConnect || !getGimbalAndCameraEnabled()) { LogUtil.log(TAG, "指点对焦失败：相机未连接或禁止操作"); return; } CameraLensType type = parseLensType1(message.getData().getCamera_type()); if (type == null) { sendFailMsg2Server(message, "不支持的相机类型"); return; } KeyManager.getInstance().setValue( KeyTools.createCameraKey(CameraKey.KeyTapZoomEnable, ComponentIndexType.PORT_1, type), true, new CommonCallbacks.CompletionCallback() { @Override public void onSuccess() { LogUtil.log(TAG, "设置使能指点成功"); //使用aim 加变焦 camera_frame_zoom_and_bianjiao(message, type); } @Override public void onFailure(@NonNull IDJIError error) { LogUtil.log(TAG, "设置使能指点失败:" + new Gson().toJson(error)); sendFailMsg2Server(message, "设置使能指点失败:" + getIDJIErrorMsg(error)); } }); } private CameraLensType parseLensType1(String cameraType) { if (cameraType == null) return null; if ("ir".equals(cameraType)) { return CameraLensType.CAMERA_LENS_THERMAL; } else if ("wide".equals(cameraType)) { return CameraLensType.CAMERA_LENS_ZOOM; } else if ("zoom".equals(cameraType)) { return CameraLensType.CAMERA_LENS_ZOOM; } return null; } private void camera_frame_zoom_and_bianjiao(MessageDown message, CameraLensType type) { ZoomTargetPointInfo info = new ZoomTargetPointInfo(); info.setX(Double.valueOf(message.getData().getX())); info.setY(Double.valueOf(message.getData().getY())); info.setTapZoomModeEnable(true); double width = message.getData().getWidth(); double height = message.getData().getHeight(); double zoomRatio = calculateZoomRatio(width, height); //没有对lock判断 info.setMode(TapZoomMode.GIMBAL_FOLLOW); // 或 TAP_ZOOM模式，看需求 KeyManager.getInstance().performAction( KeyTools.createCameraKey(CameraKey.KeyTapZoomAtTarget, ComponentIndexType.PORT_1, type), info, new CommonCallbacks.CompletionCallbackWithParam() { @Override public void onSuccess(EmptyMsg emptyMsg) { //开始变焦 KeyManager.getInstance().setValue(KeyTools.createCameraKey(CameraKey.KeyCameraZoomRatios, ComponentIndexType.PORT_1, type), Double.valueOf(zoomRatio), new CommonCallbacks.CompletionCallback() { @Override public void onSuccess() { LogUtil.log(TAG, "变焦成功"); sendMsg2Server(message); } @Override public void onFailure(@NonNull IDJIError idjiError) { sendFailMsg2Server(message, "变焦失败:" + getIDJIErrorMsg(idjiError)); } }); } @Override public void onFailure(@NonNull IDJIError error) { sendFailMsg2Server(message, "aim操作失败:" + getIDJIErrorMsg(error)); } }); } //设置变焦倍率 public static double calculateZoomRatio(double width, double height) { // 防呆：如果传入 0 或负数，返回 1 倍（不 zoom） if (width <= 0 || height <= 0) { return 1.0; } // 取宽高中的大值（保证框能装下） double maxDimension = Math.max(width, height); // 反比计算：框越小，zoom 越大 // 例：max=1.0（全画面）→ zoom=1.0 // max=0.5（半屏） → zoom=2.0 // max=0.005（很小） → zoom=200.0 double zoom = 1.0 / maxDimension; // 限制在你的相机范围内 1x ~ 200x return Math.max(1.0, Math.min(200.0, zoom)); } //开始拍照 public void startShootPhoto(MessageDown message) { Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey. KeyConnection, ComponentIndexType.PORT_1)); if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) { KeyManager.getInstance().performAction(KeyTools.createKey(CameraKey.KeyStartShootPhoto, ComponentIndexType.PORT_1), new CommonCallbacks.CompletionCallbackWithParam() { @Override public void onSuccess(EmptyMsg emptyMsg) { LogUtil.log(TAG,"拍照成功"); sendMsg2Server(message); } @Override public void onFailure(@NonNull IDJIError error) { LogUtil.log(TAG, "拍照失败:" + new Gson().toJson(error)); sendFailMsg2Server(message, "拍照失败:" + getIDJIErrorMsg(error)); } }); } else { sendFailMsg2Server(message, "当前状态相机禁止操作"); } } //结束拍照 public void stopShootPhoto(MessageDown message) { Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey. KeyConnection, ComponentIndexType.PORT_1)); if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) { KeyManager.getInstance().performAction(KeyTools.createKey(CameraKey.KeyStopShootPhoto, ComponentIndexType.PORT_1), new CommonCallbacks.CompletionCallbackWithParam() { @Override public void onSuccess(EmptyMsg emptyMsg) { sendMsg2Server(message); } @Override public void onFailure(@NonNull IDJIError error) { LogUtil.log(TAG, "停止拍照失败:" + new Gson().toJson(error)); sendFailMsg2Server(message, "停止拍照失败:" + getIDJIErrorMsg(error)); } }); } else { sendFailMsg2Server(message, "当前状态相机禁止操作"); } } //开始录像 public void startRecordVideo(MessageDown message) { Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey. KeyConnection, ComponentIndexType.PORT_1)); if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) { KeyManager.getInstance().performAction(KeyTools.createKey(CameraKey.KeyStartRecord, ComponentIndexType.PORT_1), new CommonCallbacks.CompletionCallbackWithParam() { @Override public void onSuccess(EmptyMsg emptyMsg) { sendMsg2Server(message); } @Override public void onFailure(@NonNull IDJIError error) { sendFailMsg2Server(message, "开始录像失败:" + getIDJIErrorMsg(error)); } }); } else { sendFailMsg2Server(message, "当前状态相机禁止操作"); } } //停止录像 public void stopRecordVideo(MessageDown message) { Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey. KeyConnection, ComponentIndexType.PORT_1)); if (isConnect != null && isConnect) { KeyManager.getInstance().performAction(KeyTools.createKey(CameraKey.KeyStopRecord, ComponentIndexType.PORT_1), new CommonCallbacks.CompletionCallbackWithParam() { @Override public void onSuccess(EmptyMsg emptyMsg) { LogUtil.log(TAG, "停止录像成功"); sendMsg2Server(message); } @Override public void onFailure(@NonNull IDJIError error) { sendFailMsg2Server(message, "停止录像失败:" + getIDJIErrorMsg(error)); } }); } else { sendFailMsg2Server(message, "当前状态相机禁止操作"); } } // 设置变焦倍率 public void setCameraZoomRatios(MessageDown message) { Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey. KeyConnection, ComponentIndexType.PORT_1)); if (isConnect == null || !isConnect || !getGimbalAndCameraEnabled()) { sendFailMsg2Server(message, "当前状态相机禁止操作"); return; } if (message == null) return; String cameraType = message.getData().getCamera_type(); double zoomFactor = message.getData().getZoom_factor(); // 检查是否有红外（H30T） CameraType cameraTypeEnum = KeyManager.getInstance().getValue( KeyTools.createKey(CameraKey.KeyCameraType, ComponentIndexType.PORT_1)); boolean hasThermal = (cameraTypeEnum == CameraType.ZENMUSE_H30T); // 1. 映射视频流类型和镜头类型 CameraVideoStreamSourceType streamSource; CameraLensType lensType; double minZoom, maxZoom; final boolean isWide; final boolean isIr; switch (cameraType) { case "ir": if (!hasThermal) { sendFailMsg2Server(message, "当前负载无红外功能，仅H30T支持"); return; } streamSource = CameraVideoStreamSourceType.INFRARED_CAMERA; lensType = CameraLensType.CAMERA_LENS_THERMAL; minZoom = 2; maxZoom = 20; // 红外 2-20倍 isWide = false; isIr = true; break; case "wide": streamSource = CameraVideoStreamSourceType.WIDE_CAMERA; lensType = CameraLensType.CAMERA_LENS_WIDE; minZoom = 1; maxZoom = 1; isWide = true; isIr = false; break; case "zoom": streamSource = CameraVideoStreamSourceType.ZOOM_CAMERA; lensType = CameraLensType.CAMERA_LENS_ZOOM; minZoom = 2; maxZoom = 200; isWide = false; isIr = false; break; default: streamSource = CameraVideoStreamSourceType.DEFAULT_CAMERA; lensType = CameraLensType.CAMERA_LENS_ZOOM; minZoom = 2; maxZoom = 200; isWide = false; isIr = false; break; } // 2. 切换视频流 final double finalMinZoom = minZoom; final double finalMaxZoom = maxZoom; KeyManager.getInstance().setValue( KeyTools.createKey(CameraKey.KeyCameraVideoStreamSource, ComponentIndexType.PORT_1), streamSource, new CommonCallbacks.CompletionCallback() { @Override public void onSuccess() { // 广角不设置变焦 if (isWide) { LogUtil.log(TAG, "广角切换成功，无需设置变焦"); Movement.getInstance().setZoom_factor(1); sendMsg2Server(message); return; } // 强制截断变焦范围 final double validZoom = Math.max(finalMinZoom, Math.min(finalMaxZoom, zoomFactor)); new Handler(Looper.getMainLooper()).postDelayed(() -> { if (isIr) { KeyManager.getInstance().setValue( KeyTools.createCameraKey(CameraKey.KeyThermalZoomRatios, ComponentIndexType.PORT_1, lensType), validZoom, new CommonCallbacks.CompletionCallback() { @Override public void onSuccess() { LogUtil.log(TAG, "红外变焦成功: " + validZoom); Movement.getInstance().setZoom_factor((int) validZoom); sendMsg2Server(message); } @Override public void onFailure(@NonNull IDJIError error) { sendFailMsg2Server(message, "红外变焦失败:" + getIDJIErrorMsg(error)); } } ); } else { // 可见光变焦 KeyManager.getInstance().setValue( KeyTools.createCameraKey(CameraKey.KeyCameraZoomRatios, ComponentIndexType.PORT_1, lensType), validZoom, new CommonCallbacks.CompletionCallback() { @Override public void onSuccess() { LogUtil.log(TAG, "变焦成功: " + cameraType + "=" + validZoom); Movement.getInstance().setZoom_factor((int) validZoom); sendMsg2Server(message); } @Override public void onFailure(@NonNull IDJIError error) { sendFailMsg2Server(message, "设置变焦倍率失败:" + getIDJIErrorMsg(error)); } } ); } }, 200); } @Override public void onFailure(@NonNull IDJIError error) { sendFailMsg2Server(message, "切换相机视频流失败:" + getIDJIErrorMsg(error)); } } ); } // private void setstepThermalZoomRatios(){ // KeyManager.getInstance().setValue( // KeyTools.createKey(CameraKey.KeyThermalDigitalZoomFactor, ComponentIndexType.PORT_1), // ThermalDigitalZoomFactor.FACTOR_X2, // new CommonCallbacks.CompletionCallback() { // @Override // public void onSuccess() { // // // LogUtil.log(TAG,"设置红外步长为2x"); // } // // @Override // public void onFailure(@NonNull IDJIError idjiError) { // LogUtil.log(TAG,"设置红外步长为1x失败"+idjiError); // // } // } // ); // } // //设置红外变焦倍率(支持1x、2x、4x、8x变焦倍率) // public void setThermalZoomRatios(MQMessage message) { // Boolean isConnect =KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey. // KeyConnection,ComponentIndexType.PORT_1)); // if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) { // if (message != null) { // int type = message.getThermalZoomRatios(); // KeyManager.getInstance().setValue(KeyTools.createCameraKey(CameraKey.KeyThermalZoomRatios, // ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), Double.valueOf(type), // new CommonCallbacks.CompletionCallback() { // @Override // public void onSuccess() { // sendMsg2Server(message); // } // // @Override // public void onFailure(@NonNull IDJIError error) { // LogUtil.log(TAG,"设置红外变焦倍率失败:"+new Gson().toJson(error)); // sendMsg2Server(message, "设置红外变焦倍率失败:" + getIDJIErrorMsg(error)); // } // }); // } // } else { // sendMsg2Server(message, "当前状态相机禁止操作"); // } // } //切换广角变焦红外 public void setCameraVideoStreamSource(MessageDown message) { Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey. KeyConnection, ComponentIndexType.PORT_1)); if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) { if (message != null) { int type = 1; switch (message.getData().getVideo_type()) { case "ir": type = 3; break; case "normal": type = 0; break; case "wide": type = 1; break; case "zoom": type = 2; break; } KeyManager.getInstance().setValue(KeyTools.createKey(CameraKey.KeyCameraVideoStreamSource, ComponentIndexType.PORT_1) , CameraVideoStreamSourceType.find(type), new CommonCallbacks.CompletionCallback() { @Override public void onSuccess() { sendMsg2Server(message); } @Override public void onFailure(@NonNull IDJIError error) { sendFailMsg2Server(message, "切换相机视频流失败:" + getIDJIErrorMsg(error)); } }); // if (type == 3) { // KeyManager.getInstance().setValue(KeyTools.createCameraKey(CameraKey.KeyThermalDisplayMode, // ComponentIndexType.PORT_1, // CameraLensType.CAMERA_LENS_THERMAL), // ThermalDisplayMode.THERMAL_ONLY, new CommonCallbacks.CompletionCallback() { // @Override // public void onSuccess() { //// setThermalPIPPosition(mqttAndroidClient, message); // } // // @Override // public void onFailure(@NonNull IDJIError error) { // LogUtil.log(TAG,"红外镜头的显示模式设置失败:"+new Gson().toJson(error)); // sendMsg2Server(message, "红外镜头的显示模式设置失败:" + getIDJIErrorMsg(error)); // } // }); // } } } else { sendFailMsg2Server(message, "当前状态相机禁止操作"); } } // //设置红外镜头的显示模式 // public void setThermalDisplayMode(MQMessage message) { // Boolean isConnect =KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey. // KeyConnection,ComponentIndexType.PORT_1)); // if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) { // KeyManager.getInstance().setValue(KeyTools.createCameraKey(CameraKey.KeyThermalDisplayMode, // ComponentIndexType.PORT_1, // CameraLensType.CAMERA_LENS_THERMAL), // ThermalDisplayMode.PIP, new CommonCallbacks.CompletionCallback() { // @Override // public void onSuccess() { // setThermalPIPPosition(message); // } // // @Override // public void onFailure(@NonNull IDJIError error) { // LogUtil.log(TAG,"红外镜头的显示模式设置失败:"+new Gson().toJson(error)); // sendMsg2Server(message, "红外镜头的显示模式设置失败:" + getIDJIErrorMsg(error)); // } // }); // } else { // sendMsg2Server(message, "当前状态相机禁止操作"); // } // } // // //设置红外镜头分屏显示位置 // public void setThermalPIPPosition(MQMessage message) { // Boolean isConnect =KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey. // KeyConnection,ComponentIndexType.PORT_1)); // if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) { // KeyManager.getInstance().setValue(KeyTools.createCameraKey(CameraKey.KeyThermalPIPPosition, // ComponentIndexType.PORT_1, // CameraLensType.CAMERA_LENS_THERMAL), // ThermalPIPPosition.SIDE_BY_SIDE, // new CommonCallbacks.CompletionCallback() { // @Override // public void onSuccess() { // sendMsg2Server(message); // } // // @Override // public void onFailure(@NonNull IDJIError error) { // LogUtil.log(TAG,"分屏的显示位置设置失败:"+new Gson().toJson(error)); // sendMsg2Server(message, "分屏的显示位置设置失败:" + getIDJIErrorMsg(error)); // } // }); // } else { // sendMsg2Server(message, "当前状态相机禁止操作"); // } // } // // /// /设置对焦模式 //public void setCameraFocusMode(MQMessage message) { // Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey. // KeyConnection,ComponentIndexType.PORT_1)); // if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) { // if (message != null) { // KeyManager.getInstance().setValue(KeyTools.createCameraKey(CameraKey.KeyCameraFocusMode, // ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_ZOOM), // CameraFocusMode.find(message.getCameraFocusMode()), new CommonCallbacks.CompletionCallback() { // @Override // public void onSuccess() { // sendMsg2Server(message); // } // // @Override // public void onFailure(@NonNull IDJIError error) { // LogUtil.log(TAG,"设置对焦模式失败:"+new Gson().toJson(error)); // sendMsg2Server(message, "设置对焦模式失败:" + getIDJIErrorMsg(error)); // } // }); // } else { // sendMsg2Server(message, "设置对焦模式失败:参数有误"); // } // } else { // sendMsg2Server(message, "当前状态相机禁止操作"); // } //} // //格式化SD卡 public void formatStorage(MessageDown message) { Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey. KeyConnection, ComponentIndexType.PORT_1)); if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) { KeyManager.getInstance().performAction(KeyTools.createKey(CameraKey.KeyFormatStorage, ComponentIndexType.PORT_1), CameraStorageLocation.SDCARD, new CommonCallbacks.CompletionCallbackWithParam() { @Override public void onSuccess(EmptyMsg emptyMsg) { if (message != null) { sendMsg2Server(message); } LogUtil.log(TAG, "sd卡已格式化"); } @Override public void onFailure(@NonNull IDJIError error) { if (message != null) { sendFailMsg2Server(message, "SD卡格式化失败:" + getIDJIErrorMsg(error)); } LogUtil.log(TAG, "sd卡格式化失败:" + new Gson().toJson(error)); } }); } else { if (message != null) { sendFailMsg2Server(message, "当前状态相机禁止操作"); } LogUtil.log(TAG, "当前状态相机禁止操作"); } // // } //// // // //设置曝光模式 // public void setExposureMode(MQMessage message) { // Boolean isConnect =KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey. // KeyConnection,ComponentIndexType.PORT_1)); // if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) { // KeyManager.getInstance().setValue(KeyTools.createCameraKey(CameraKey.KeyExposureMode, // ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_ZOOM), // CameraExposureMode.find(message.getCameraExposureMode()), new CommonCallbacks.CompletionCallback() { // @Override // public void onSuccess() { // LogUtil.log(TAG, "曝光模式切换成功"); // sendMsg2Server(message); // } // // @Override // public void onFailure(@NonNull IDJIError error) { // LogUtil.log(TAG,"切换曝光模式失败:"+new Gson().toJson(error)); // sendMsg2Server(message, "切换曝光模式失败:" + getIDJIErrorMsg(error)); // } // }); // // } else { // LogUtil.log(TAG, "切换曝光失败：当前状态相机禁止操作"); // } // // } // // //设置曝光补偿数值 // public void setExposureCompensation(MQMessage message) { // Boolean isConnect =KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey. // KeyConnection,ComponentIndexType.PORT_1)); // if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) { // KeyManager.getInstance().setValue(KeyTools.createCameraKey(CameraKey.KeyExposureCompensation, // ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_ZOOM), // CameraExposureCompensation.find(message.getCameraExposureCompensation()), new CommonCallbacks.CompletionCallback() { // @Override // public void onSuccess() { // sendMsg2Server(message); // } // // @Override // public void onFailure(@NonNull IDJIError error) { // LogUtil.log(TAG,"设置曝光补偿数值失败:"+new Gson().toJson(error)); // sendMsg2Server(message, "设置曝光补偿数值失败:" + getIDJIErrorMsg(error)); // } // }); // } else { // LogUtil.log(TAG, "设置曝光补偿数值失败:当前状态相机禁止操作"); // } // } ////重置相机参数 //public void resetCameraSetting(MQMessage message) { // Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey. // KeyConnection)); // if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) { // KeyManager.getInstance().performAction(KeyTools.createKey(CameraKey.KeyResetCameraSetting, // ComponentIndexType.PORT_1), new CommonCallbacks.CompletionCallbackWithParam() { // @Override // public void onSuccess(EmptyMsg emptyMsg) { // sendMsg2Server(message); // } // // @Override // public void onFailure(@NonNull IDJIError error) { // LogUtil.log(TAG,"重置相机参数失败:"+new Gson().toJson(error)); // sendMsg2Server(message, "重置相机参数失败:" + getIDJIErrorMsg(error)); // } // }); // } else { // sendMsg2Server(message, "当前状态相机禁止操作"); // } //} // } //指点对焦 public void tapZoomAtTarget(MessageDown message) { Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey( CameraKey.KeyConnection, ComponentIndexType.PORT_1)); // LogUtil.log(TAG, "双击回中" + message.toString()); if (isConnect == null || !isConnect || !getGimbalAndCameraEnabled()) { LogUtil.log(TAG, "指点对焦失败：相机未连接或禁止操作"); return; } CameraLensType type = parseLensType(message.getData().getCamera_type()); if (type == null) { sendFailMsg2Server(message, "不支持的相机类型"); return; } KeyManager.getInstance().setValue( KeyTools.createCameraKey(CameraKey.KeyTapZoomEnable, ComponentIndexType.PORT_1, type), true, new CommonCallbacks.CompletionCallback() { @Override public void onSuccess() { LogUtil.log(TAG, "设置使能指点成功"); performTapZoom(message, type); } @Override public void onFailure(@NonNull IDJIError error) { LogUtil.log(TAG, "设置使能指点失败:" + new Gson().toJson(error)); sendFailMsg2Server(message, "设置使能指点失败:" + getIDJIErrorMsg(error)); } }); } private void performTapZoom(MessageDown message, CameraLensType type) { ZoomTargetPointInfo info = new ZoomTargetPointInfo(); info.setX(Double.valueOf(message.getData().getX())); info.setY(Double.valueOf(message.getData().getY())); info.setTapZoomModeEnable(true); //没有对lock判断 info.setMode(TapZoomMode.GIMBAL_FOLLOW); // 或 TAP_ZOOM模式，看需求 KeyManager.getInstance().performAction( KeyTools.createCameraKey(CameraKey.KeyTapZoomAtTarget, ComponentIndexType.PORT_1, type), info, new CommonCallbacks.CompletionCallbackWithParam() { @Override public void onSuccess(EmptyMsg emptyMsg) { sendMsg2Server(message); } @Override public void onFailure(@NonNull IDJIError error) { sendFailMsg2Server(message, "指点变焦失败:" + getIDJIErrorMsg(error)); } }); } private CameraLensType parseLensType(String cameraType) { if (cameraType == null) return null; if ("ir".equals(cameraType)) { return CameraLensType.CAMERA_LENS_THERMAL; } else if ("wide".equals(cameraType)) { return CameraLensType.CAMERA_LENS_WIDE; } else if ("zoom".equals(cameraType)) { return CameraLensType.CAMERA_LENS_ZOOM; } return null; } //切换为广角镜头，降低曝光率 public void resumeLensToWideISOManual() { Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey. KeyConnection, ComponentIndexType.PORT_1)); if (isConnect != null && isConnect) { //切换成广角镜头 KeyManager.getInstance().setValue(KeyTools.createKey(CameraKey.KeyCameraVideoStreamSource, ComponentIndexType.PORT_1), CameraVideoStreamSourceType.WIDE_CAMERA, new CommonCallbacks.CompletionCallback() { @Override public void onSuccess() { LogUtil.log(TAG, "返航时将镜头切为广角"); } @Override public void onFailure(@NonNull IDJIError error) { LogUtil.log(TAG, "返航切换广角失败：" + new Gson().toJson(error)); } }); } else { LogUtil.log(TAG, "降落切换广角失败：当前状态相机禁止操作"); } } // //设置自定义文件后缀 // public void setCustomExpandNameSetting() { // Boolean isConnect =KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey. // KeyConnection,ComponentIndexType.PORT_1)); // if (isConnect != null && isConnect) { // CustomExpandNameSettings customExpandNameSettings = new CustomExpandNameSettings(); // customExpandNameSettings.setEncodingType(EnCodingType.UTF8); // customExpandNameSettings.setForceCreateFolder(false); // customExpandNameSettings.setRelativePosition(RelativePosition.POSITION_END); // customExpandNameSettings.setPriority(0); // customExpandNameSettings.setCustomContent("flightId111" + PreferenceUtils.getInstance().getFlightId()); // KeyManager.getInstance().setValue(DJIKey.create(CameraKey.KeyCustomExpandFileNameSettings), customExpandNameSettings, new CommonCallbacks.CompletionCallback() { // @Override // public void onSuccess() { // LogUtil.log(TAG, "设置文件后缀success"); // } // // @Override // public void onFailure(@NonNull IDJIError idjiError) { // LogUtil.log(TAG, "设置自定义文件后缀失败：" + new Gson().toJson(idjiError)); // } // }); // } else { // LogUtil.log(TAG, "设置自定义文件后缀失败：当前状态相机禁止操作"); // } // } // //切换为广角镜头，恢复曝光 // public void resumeLensToWideISOProgram() { // Boolean isConnect =KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey. // KeyConnection,ComponentIndexType.PORT_1)); // if (isConnect != null && isConnect) { // // KeyManager.getInstance().setValue(DJIKey.create(CameraKey.KeyExposureMode), // CameraExposureMode.PROGRAM, new CommonCallbacks.CompletionCallback() { // @Override // public void onSuccess() { // LogUtil.log(TAG, "降落后切换曝光模式为自动成功"); // // KeyManager.getInstance().setValue(DJIKey.create(CameraKey.KeyExposureCompensation), // CameraExposureCompensation.POS_1P0EV, new CommonCallbacks.CompletionCallback() { // @Override // public void onSuccess() { // LogUtil.log(TAG, "降落后设置曝光补偿数值成功"); // } // @Override // public void onFailure(@NonNull IDJIError idjiError) { // LogUtil.log(TAG, "降落后设置曝光补偿数值失败"); // } // }); // } // // @Override // public void onFailure(@NonNull IDJIError idjiError) { // LogUtil.log(TAG, "降落后切换曝光模式为自动失败:" + new Gson().toJson(idjiError)); // } // }); // } else { // LogUtil.log(TAG, "降落后降落完成切换曝光失败：当前状态相机禁止操作"); // } // } // //设置测温模式 // public void setThermalTemperatureMeasureMode(MQMessage message) { // Boolean isConnect =KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey. // KeyConnection,ComponentIndexType.PORT_1)); // if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) { // KeyManager.getInstance().setValue(KeyTools.createCameraKey(CameraKey.KeyThermalTemperatureMeasureMode, // ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), // ThermalTemperatureMeasureMode.find(message.getThermalTemperatureMeasureMode()), new CommonCallbacks.CompletionCallback() { // @Override // public void onSuccess() { // sendMsg2Server(message); // } // // @Override // public void onFailure(@NonNull IDJIError error) { // LogUtil.log(TAG,"设置测温模式:"+new Gson().toJson(error)); // sendMsg2Server(message, "设置测温模式:" + getIDJIErrorMsg(error)); // } // }); // } else { // LogUtil.log(TAG, "设置测温模式失败：当前状态相机禁止操作"); // } // } // // //设置需要测温的点的位置 // public void setThermalSpotMetersurePoint(MQMessage message) { // Boolean isConnect =KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey. // KeyConnection,ComponentIndexType.PORT_1)); // if (isConnect != null && isConnect && getGimbalAndCameraEnabled()) { // DoublePoint2D doublePoint2D = new DoublePoint2D(); // doublePoint2D.setX(Double.parseDouble(message.getMetersurePointX())); // doublePoint2D.setY(Double.parseDouble(message.getMetersurePointY())); // KeyManager.getInstance().setValue(KeyTools.createCameraKey(CameraKey.KeyThermalSpotMetersurePoint, // ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), doublePoint2D, new CommonCallbacks.CompletionCallback() { // @Override // public void onSuccess() { // sendMsg2Server(message); // } // // @Override // public void onFailure(@NonNull IDJIError error) { // LogUtil.log(TAG,"设置点测温失败:"+new Gson().toJson(error)); // sendMsg2Server(message, "设置点测温失败:" + getIDJIErrorMsg(error)); // // } // }); // // } else { // LogUtil.log(TAG, "测温点设置失败：当前状态相机禁止操作"); // } // } // // //设置需要测温的区域位置 // public void setThermalRegionMetersureArea(MQMessage message) { // Boolean isConnect =KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey. // KeyConnection,ComponentIndexType.PORT_1)); // if (isConnect != null && isConnect) { // DoubleRect doubleRect = new DoubleRect(); // doubleRect.setX(Double.parseDouble(message.getMetersureAreaX())); // doubleRect.setY(Double.parseDouble(message.getMetersureAreaY())); // doubleRect.setHeight(Double.parseDouble(message.getMetersureAreaHeight())); // doubleRect.setWidth(Double.parseDouble(message.getMetersureAreaWidth())); // KeyManager.getInstance().setValue(KeyTools.createCameraKey(CameraKey.KeyThermalRegionMetersureArea, // ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), doubleRect, new CommonCallbacks.CompletionCallback() { // @Override // public void onSuccess() { // sendMsg2Server(message); // } // // @Override // public void onFailure(@NonNull IDJIError error) { // LogUtil.log(TAG,"设置区域测温失败:"+new Gson().toJson(error)); // sendMsg2Server(message, "设置区域测温失败:" + getIDJIErrorMsg(error)); // } // }); // } else { // LogUtil.log(TAG, "测温区域设置失败：当前状态相机禁止操作"); // } // } }