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) { runOnUiThread { updateFPVWidgetSource(availableCameraList) } } override fun onCameraStreamEnableUpdate(cameraStreamEnableMap: Map) { // } } 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( simulatorControlWidget!! ) for (panel in panels) { if (widget !== panel) { panel.visibility = View.GONE } } } private fun updateFPVWidgetSource(availableCameraList: List?) { 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, 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(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( R.id.widget_lens_control) ndviCameraPanel = findViewById( R.id.panel_ndvi_camera) visualCameraPanel = findViewById( R.id.panel_visual_camera) autoExposureLockWidget = findViewById( R.id.widget_auto_exposure_lock) focusModeWidget = findViewById( R.id.widget_focus_mode) focusExposureSwitchWidget = findViewById( R.id.widget_focus_exposure_switch) pfvFlightDisplayWidget = findViewById( R.id.widget_fpv_flight_display_widget) focalZoomWidget = findViewById( R.id.widget_focal_zoom) cameraControlsWidget = findViewById( R.id.widget_camera_controls) horizontalSituationIndicatorWidget = findViewById(R.id.widget_horizontal_situation_indicator) // gimbalAdjustDone = findViewById( R.id.fpv_gimbal_ok_btn) gimbalFineTuneWidget = findViewById( R.id.setting_menu_gimbal_fine_tune) btn_test = findViewById( R.id.btn_test) btn_test1 = findViewById( R.id.btn_test1) 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( KeyTools.createKey(FlightControllerKey.KeyStopAutoLanding), object : CommonCallbacks.CompletionCallbackWithParam { 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( KeyTools.createKey(FlightControllerKey.KeyStopAutoLanding), object : CommonCallbacks.CompletionCallbackWithParam { 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( KeyTools.createKey(FlightControllerKey.KeyStartAutoLanding), object : CommonCallbacks.CompletionCallbackWithParam { override fun onSuccess(emptyMsg: EmptyMsg?) { startArucoType = 0 LogUtil.log(TAG, "自动降落调用成功") } override fun onFailure(error: IDJIError) { LogUtil.log(TAG, "自动降落调用失败${error.description()}") } }) 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 } } }