1870 lines
95 KiB
Java
1870 lines
95 KiB
Java
package com.aros.apron.manager;
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import static com.aros.apron.tools.Utils.getIDJIErrorMsg;
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import static dji.sdk.keyvalue.key.KeyTools.createKey;
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import android.os.Handler;
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import android.os.Looper;
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import android.util.Log;
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import androidx.annotation.NonNull;
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import androidx.annotation.Nullable;
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import com.amazonaws.services.kms.model.KeyState;
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import com.aros.apron.base.BaseManager;
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import com.aros.apron.entity.MessageDown;
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import com.aros.apron.entity.Movement;
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import com.aros.apron.tools.LogUtil;
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import com.aros.apron.tools.PreferenceUtils;
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import com.google.gson.Gson;
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import dji.sdk.keyvalue.key.CameraKey;
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import dji.sdk.keyvalue.key.FlightControllerKey;
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import dji.sdk.keyvalue.key.KeyTools;
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import dji.sdk.keyvalue.key.ProductKey;
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import dji.sdk.keyvalue.value.camera.CameraExposureCompensation;
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import dji.sdk.keyvalue.value.camera.CameraExposureMode;
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import dji.sdk.keyvalue.value.camera.CameraFocusMode;
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import dji.sdk.keyvalue.value.camera.CameraFocusState;
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import dji.sdk.keyvalue.value.camera.CameraISO;
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import dji.sdk.keyvalue.value.camera.CameraMode;
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import dji.sdk.keyvalue.value.camera.CameraShootPhotoMode;
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import dji.sdk.keyvalue.value.camera.CameraShutterSpeed;
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import dji.sdk.keyvalue.value.camera.CameraStorageInfo;
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import dji.sdk.keyvalue.value.camera.CameraStorageInfos;
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import dji.sdk.keyvalue.value.camera.CameraStorageLocation;
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import dji.sdk.keyvalue.value.camera.CameraThermalPalette;
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import dji.sdk.keyvalue.value.camera.CameraType;
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import dji.sdk.keyvalue.value.camera.CameraVideoStreamSourceType;
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import dji.sdk.keyvalue.value.camera.LaserMeasureInformation;
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import dji.sdk.keyvalue.value.camera.PanoramaExitStatus;
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import dji.sdk.keyvalue.value.camera.PhotoPanoStichingState;
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import dji.sdk.keyvalue.value.camera.PhotoState;
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import dji.sdk.keyvalue.value.camera.RecordingState;
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import dji.sdk.keyvalue.value.camera.TapZoomMode;
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import dji.sdk.keyvalue.value.camera.ThermalDigitalZoomFactor;
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import dji.sdk.keyvalue.value.camera.ThermalDisplayMode;
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import dji.sdk.keyvalue.value.camera.ThermalGainMode;
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import dji.sdk.keyvalue.value.camera.ThermalTemperatureMeasureMode;
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import dji.sdk.keyvalue.value.camera.VideoRecordingStatus;
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import dji.sdk.keyvalue.value.camera.VisionPhotoPanoramaMissionState;
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import dji.sdk.keyvalue.value.camera.ZoomTargetPointInfo;
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import dji.sdk.keyvalue.value.common.CameraLensType;
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import dji.sdk.keyvalue.value.common.ComponentIndexType;
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import dji.sdk.keyvalue.value.common.DoublePoint2D;
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import dji.sdk.keyvalue.value.common.EmptyMsg;
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import dji.sdk.keyvalue.value.product.ProductType;
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import dji.v5.common.callback.CommonCallbacks;
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import dji.v5.common.error.IDJIError;
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import dji.v5.manager.KeyManager;
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import dji.v5.manager.SDKManager;
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import dji.v5.manager.aircraft.waypoint3.WaypointMissionManager;
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import dji.v5.manager.interfaces.IWaypointMissionManager;
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public class CameraManager extends BaseManager {
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private Handler panoHandler = new Handler(Looper.getMainLooper());
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private Runnable panoRunnable;
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private boolean isPanoRunning = false;
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private static final long INTERVAL = 1000; // 1秒
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private void startReport() {
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if (isPanoRunning) return; // 已开启则忽略
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isPanoRunning = true;
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panoRunnable = new Runnable() {
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@Override
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public void run() {
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if (!isPanoRunning) return;
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sendCameraPhotoTakeProgress2Server(); // 你的方法
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panoHandler.postDelayed(this, INTERVAL); // 1秒后循环
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}
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};
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panoHandler.post(panoRunnable); // 立即执行
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}
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private void stopReport() {
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if (!isPanoRunning) return;
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isPanoRunning = false;
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panoHandler.removeCallbacks(panoRunnable);
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sendCameraPhotoTakeProgress2Server(); // 最后报一次
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Movement.getInstance().setMode_code(3);
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}
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private CameraManager() {
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}
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private static class CameraHolder {
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private static final CameraManager INSTANCE = new CameraManager();
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}
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public static CameraManager getInstance() {
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return CameraHolder.INSTANCE;
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}
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public void initCameraInfo() {
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Boolean isConnect = KeyManager.getInstance().getValue(createKey(FlightControllerKey.KeyConnection));
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LogUtil.log(TAG, "isConnect" + isConnect);
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if (isConnect != null && isConnect) {
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//全局画面中测量的最高温度
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KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalGlobalMinTemperature,
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ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), this, new CommonCallbacks.KeyListener<Double>() {
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@Override
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public void onValueChange(@Nullable Double aDouble, @Nullable Double t1) {
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if (t1 != null) {
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Movement.getInstance().setThermal_global_temperature_min(t1);
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}
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}
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});
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//全景任务状态
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KeyManager.getInstance().listen(createKey(CameraKey.KeyVisionPhotoPanoramaMissionState, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener<VisionPhotoPanoramaMissionState>() {
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@Override
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public void onValueChange(@Nullable VisionPhotoPanoramaMissionState visionPhotoPanoramaMissionState, @Nullable VisionPhotoPanoramaMissionState t1) {
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if (t1 != null) {
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if (t1 == VisionPhotoPanoramaMissionState.IDLE) {
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Movement.getInstance().setPhoto_current_step(3000);
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} else if (t1 == VisionPhotoPanoramaMissionState.RELEASE) {
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// Movement.getInstance().setPhoto_result(0);
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// Movement.getInstance().setPhoto_status("ok");
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// Movement.getInstance().setCameraMode(3);
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// stopReport();
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} else if (t1 == VisionPhotoPanoramaMissionState.RUNNING) {
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Movement.getInstance().setPhoto_status("in_progress");
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Movement.getInstance().setPhoto_current_step(3002);
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} else if (t1 == VisionPhotoPanoramaMissionState.UNKNOWN) {
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// Movement.getInstance().setPhoto_result(1);
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// Movement.getInstance().setPhoto_current_step(3000);
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// Movement.getInstance().setPhoto_status("fail");
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} else if (t1 == VisionPhotoPanoramaMissionState.PROCESSING) {
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Movement.getInstance().setPhoto_current_step(3005);
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}
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// else if (t1 == VisionPhotoPanoramaMissionState.FORBIDDEN) {
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// Movement.getInstance().setPhoto_result(1);
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// Movement.getInstance().setPhoto_current_step(3000);
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// Movement.getInstance().setPhoto_status("fail");
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// }
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}
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}
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});
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//全景退出
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KeyManager.getInstance().listen(createKey(CameraKey.KeyPanoramaExitStatus, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener<PanoramaExitStatus>() {
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@Override
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public void onValueChange(@Nullable PanoramaExitStatus panoramaExitStatus, @Nullable PanoramaExitStatus t1) {
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if (t1 != null) {
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LogUtil.log(TAG, "全景退出状态:" + t1.toString());
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// 处理 SUCCESSFUL 和 CAMERA_TOPMODE_RESET 两种完成状态
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if (t1 == PanoramaExitStatus.SUCCESSFUL) {
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Movement.getInstance().setPhoto_current_step(3000);
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Movement.getInstance().setPhoto_result(0);
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Movement.getInstance().setPhoto_status("ok");
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Movement.getInstance().setMode_code(3);
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stopReport();
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} else if (t1 == PanoramaExitStatus.CAMERA_TOPMODE_RESET) {
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Movement.getInstance().setPhoto_current_step(3000);
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Movement.getInstance().setPhoto_result(0);
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Movement.getInstance().setPhoto_status("fail");
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Movement.getInstance().setMode_code(3);
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stopReport();
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}
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}
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}
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});
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KeyManager.getInstance().listen(createKey(CameraKey.KeyPanoramaProgressInPercent, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener<Integer>() {
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@Override
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public void onValueChange(@Nullable Integer integer, @Nullable Integer t1) {
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if (t1 != null) {
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Movement.getInstance().setPhoto_percent(t1);
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if (t1 == 100) {
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Movement.getInstance().setPhoto_current_step(3000);
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Movement.getInstance().setPhoto_result(0);
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Movement.getInstance().setPhoto_status("ok");
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Movement.getInstance().setCameraMode(3);
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Movement.getInstance().setMode_code(3);
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stopReport();
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}
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}
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}
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});
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//是否正在拍全景
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KeyManager.getInstance().listen(createKey(CameraKey.KeyIsShootingPhotoPanorama, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener<Boolean>() {
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@Override
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public void onValueChange(@Nullable Boolean aBoolean, @Nullable Boolean t1) {
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if (t1 != null) {
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if (t1 == true) {
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startReport();
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} else {
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stopReport();
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}
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}
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}
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});
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//激光测距信息
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KeyManager.getInstance().listen(createKey(CameraKey.KeyLaserMeasureInformation, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener<LaserMeasureInformation>() {
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@Override
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public void onValueChange(@Nullable LaserMeasureInformation laserMeasureInformation, @Nullable LaserMeasureInformation t1) {
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if (t1 != null) {
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if (t1.getLocation3D() != null) {
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Movement.getInstance().setMeasure_target_altitude(t1.getLocation3D().getAltitude());
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Movement.getInstance().setMeasure_target_latitude(t1.getLocation3D().getLatitude());
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Movement.getInstance().setMeasure_target_longitude(t1.getLocation3D().getLongitude());
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Movement.getInstance().setMeasure_target_distance(t1.getDistance().intValue());
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Movement.getInstance().setMeasure_target_error_state(t1.getLaserMeasureState().value());
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Movement.getInstance().setPayload_index("53-0-0");
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}
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}
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}
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});
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//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"}
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KeyManager.getInstance().listen(createKey(CameraKey.KeyThermalPalette, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener<CameraThermalPalette>() {
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@Override
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public void onValueChange(@Nullable CameraThermalPalette cameraThermalPalette, @Nullable CameraThermalPalette t1) {
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if (t1 != null) {
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Movement.getInstance().setThermal_current_palette_style(t1.value());
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}
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}
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});
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//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"}
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KeyManager.getInstance().listen(createKey(CameraKey.KeyThermalGainMode, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener<ThermalGainMode>() {
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@Override
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public void onValueChange(@Nullable ThermalGainMode thermalGainMode, @Nullable ThermalGainMode t1) {
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if (t1 != null) {
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Movement.getInstance().setThermal_gain_mode(t1.value());
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}
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}
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});
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//全局画面中测量的最高温度
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KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalGlobalMaxTemperature,
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ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), this, new CommonCallbacks.KeyListener<Double>() {
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@Override
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public void onValueChange(@Nullable Double aDouble, @Nullable Double t1) {
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if (t1 != null) {
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Movement.getInstance().setThermal_global_temperature_max(t1);
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}
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}
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});
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//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。
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KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalIsothermUpperValue,
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ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), this, new CommonCallbacks.KeyListener<Integer>() {
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@Override
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public void onValueChange(@Nullable Integer integer, @Nullable Integer t1) {
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if (t1 != null) {
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Movement.getInstance().setThermal_isotherm_upper_limit(t1);
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}
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}
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});
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//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。
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KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalIsothermLowerValue,
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ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), this, new CommonCallbacks.KeyListener<Integer>() {
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@Override
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public void onValueChange(@Nullable Integer integer, @Nullable Integer t1) {
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if (t1 != null) {
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Movement.getInstance().setThermal_isotherm_lower_limit(t1);
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}
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}
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});
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//是否开启等温线
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KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalIsothermEnabled,
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ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), this, new CommonCallbacks.KeyListener<Boolean>() {
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@Override
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public void onValueChange(@Nullable Boolean aBoolean, @Nullable Boolean t1) {
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if (t1 != null) {
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Movement.getInstance().setThermal_isotherm_state(t1 ? 1 : 0);
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}
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}
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});
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//相机模式
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KeyManager.getInstance().listen(KeyTools.createKey(CameraKey.
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KeyCameraMode, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener<CameraMode>() {
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@Override
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public void onValueChange(@Nullable CameraMode oldValue, @Nullable CameraMode newValue) {
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if (newValue != null) {
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//Movement.getInstance().setCamera_mode(newValue.value());
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// LogUtil.log(TAG, "相机模式：" + newValue + "old" + oldValue);
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}
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}
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});
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//当前测温模式
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KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalTemperatureMeasureMode,
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ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), this, new CommonCallbacks.KeyListener<ThermalTemperatureMeasureMode>() {
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@Override
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public void onValueChange(@Nullable ThermalTemperatureMeasureMode thermalTemperatureMeasureMode, @Nullable ThermalTemperatureMeasureMode t1) {
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if (t1 != null && thermalTemperatureMeasureMode != null) {
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Movement.getInstance().setIr_metering_mode(thermalTemperatureMeasureMode.value());
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}
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}
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});
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//当前测温的点的位置
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KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalSpotMetersurePoint,
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ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), this, new CommonCallbacks.KeyListener<DoublePoint2D>() {
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@Override
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public void onValueChange(@Nullable DoublePoint2D doublePoint2D, @Nullable DoublePoint2D t1) {
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if (t1 != null) {
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Movement.getInstance().setX(t1.getX());
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Movement.getInstance().setX(t1.getY());
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}
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}
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});
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//当前测温的点的温度
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KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalSpotMetersureTemperature,
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ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), this, new CommonCallbacks.KeyListener<Double>() {
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@Override
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public void onValueChange(@Nullable Double aDouble, @Nullable Double t1) {
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if (t1 != null) {
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Movement.getInstance().setTemperature(t1.intValue());
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}
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}
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});
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//当前红外变焦倍率
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KeyManager.getInstance().listen(KeyTools.createCameraKey(CameraKey.KeyThermalZoomRatios,
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ComponentIndexType.PORT_1, CameraLensType.CAMERA_LENS_THERMAL), this, new CommonCallbacks.KeyListener<Double>() {
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@Override
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public void onValueChange(@Nullable Double aDouble, @Nullable Double t1) {
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if (t1 != null) {
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Movement.getInstance().setIr_zoom_factor(t1.intValue());
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}
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}
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});
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//拍照状态
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KeyManager.getInstance().listen(KeyTools.createKey(CameraKey.KeyPhotoState,
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ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener<PhotoState>() {
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@Override
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public void onValueChange(@Nullable PhotoState photoState, @Nullable PhotoState t1) {
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if (t1 != null) {
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Movement.getInstance().setPhoto_state(t1.value());
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}
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}
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});
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//视频录制时长
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KeyManager.getInstance().listen(KeyTools.createKey(CameraKey.
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KeyRecordingTime, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener<Integer>() {
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@Override
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public void onValueChange(@Nullable Integer oldValue, @Nullable Integer newValue) {
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if (newValue != null) {
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Movement.getInstance().setRecord_time(newValue);
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}
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}
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});
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//视频录制状态
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KeyManager.getInstance().listen(KeyTools.createKey(CameraKey.
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KeyRecordingState, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener<RecordingState>() {
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@Override
|
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public void onValueChange(@Nullable RecordingState recordingState, @Nullable RecordingState t1) {
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if (t1 != null) {
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Movement.getInstance().setRecording_state(t1.value() == 0 ? 0 : 1);
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}
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}
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});
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//剩余照片数
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KeyManager.getInstance().listen(KeyTools.createKey(CameraKey.
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KeySDCardAvailablePhotoCount, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener<Integer>() {
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@Override
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public void onValueChange(@Nullable Integer integer, @Nullable Integer t1) {
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if (t1 != null) {
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//LogUtil.log(TAG, "剩余拍照数setRemain_photo_num" + t1 + "old" + integer);
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if (t1 != 0) {
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Movement.getInstance().setRemain_photo_num(t1);
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}
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}
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}
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});
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//视频录制时长
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KeyManager.getInstance().listen(KeyTools.createKey(CameraKey.KeyRecordingTime, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener<Integer>() {
|
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@Override
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public void onValueChange(@Nullable Integer integer, @Nullable Integer t1) {
|
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if (t1 != null) {
|
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Movement.getInstance().setRecord_time(t1);
|
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}
|
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}
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});
|
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//是否在录像
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KeyManager.getInstance().listen(KeyTools.createKey(CameraKey.KeyVideoRecordingStatus, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener<VideoRecordingStatus>() {
|
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@Override
|
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public void onValueChange(@Nullable VideoRecordingStatus videoRecordingStatus, @Nullable VideoRecordingStatus t1) {
|
||
if (t1 != null) {
|
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Boolean recording = t1.getIsRecording();
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||
if (recording != null && recording) {
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Movement.getInstance().setRecording_state(1); // 正在录
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} else {
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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<ThermalDisplayMode>() {
|
||
@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<CameraExposureMode>() {
|
||
@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<CameraExposureCompensation>() {
|
||
@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<CameraISO>() {
|
||
@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<CameraShutterSpeed>() {
|
||
@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<Integer>() {
|
||
@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<Integer>() {
|
||
@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<CameraExposureMode>() {
|
||
@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<CameraExposureCompensation>() {
|
||
@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<CameraExposureCompensation>() {
|
||
@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<Double>() {
|
||
@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<Double>() {
|
||
@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<CameraFocusMode>() {
|
||
@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<CameraFocusState>() {
|
||
@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<Integer>() {
|
||
@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<CameraISO>() {
|
||
@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<Integer>() {
|
||
@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<Integer>() {
|
||
@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<CameraShutterSpeed>() {
|
||
@Override
|
||
public void onValueChange(@Nullable CameraShutterSpeed cameraShutterSpeed, @Nullable CameraShutterSpeed t1) {
|
||
if (t1 != null) {
|
||
Movement.getInstance().setZoom_shutter_speed(t1.value());
|
||
}
|
||
}
|
||
});
|
||
|
||
|
||
KeyManager.getInstance().listen(
|
||
KeyTools.createKey(CameraKey.KeyConnection, ComponentIndexType.PORT_1),
|
||
this,
|
||
new CommonCallbacks.KeyListener<Boolean>() {
|
||
@Override
|
||
public void onValueChange(@Nullable Boolean oldValue, @Nullable Boolean newValue) {
|
||
if (Boolean.TRUE.equals(newValue)) {
|
||
CameraStorageInfos cameraStorageInfos =
|
||
KeyManager.getInstance().getValue(KeyTools.createKey(CameraKey.KeyCameraStorageInfos, ComponentIndexType.PORT_1));
|
||
if (cameraStorageInfos == null || cameraStorageInfos.getCameraStorageInfoList() ==
|
||
null || cameraStorageInfos.getCameraStorageInfoList().isEmpty()) {
|
||
//LogUtil.log(TAG, "相机存储信息为空，相机可能未连接");
|
||
return;
|
||
}
|
||
CameraStorageInfo CameraStorageInfo =
|
||
cameraStorageInfos.getCameraStorageInfoList().get(0);
|
||
if(CameraStorageInfo.getAvailableVideoDuration()!=0){
|
||
Movement.getInstance().setRemain_record_duration(CameraStorageInfo.getAvailableVideoDuration());
|
||
LogUtil.log(TAG, "剩余时间" + CameraStorageInfo.getAvailableVideoDuration());
|
||
}
|
||
// LogUtil.log(TAG, "剩余时间" + CameraStorageInfo.getAvailableVideoDuration());
|
||
}
|
||
}
|
||
});
|
||
|
||
|
||
|
||
//SD卡容量
|
||
KeyManager.getInstance().listen(KeyTools.createKey(CameraKey.KeyCameraStorageInfos, ComponentIndexType.PORT_1), this, new CommonCallbacks.KeyListener<CameraStorageInfos>() {
|
||
@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
|
||
if(t1.getCurrentCameraStorageInfo().getAvailableVideoDuration()!=0){
|
||
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;
|
||
}
|
||
|
||
// if (cameraMode == 3) {
|
||
// // 全景模式：DJI MSDK v5 中全景是 PHOTO_NORMAL 下的子模式 PANO_APP，
|
||
// // 不能用 CameraMode.find(12)，需先确保处于 PHOTO_NORMAL，再设置拍照子模式
|
||
// KeyManager.getInstance().setValue(KeyTools.createKey(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1),
|
||
// CameraMode.PHOTO_NORMAL,
|
||
// new CommonCallbacks.CompletionCallback() {
|
||
// @Override
|
||
// public void onSuccess() {
|
||
// KeyManager.getInstance().setValue(
|
||
// KeyTools.createKey(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1),
|
||
// CameraMode.PHOTO_PANORAMA,
|
||
// new CommonCallbacks.CompletionCallback() {
|
||
// @Override
|
||
// public void onSuccess() {
|
||
// Movement.getInstance().setCamera_mode(cameraMode);
|
||
// LogUtil.log(TAG, "切换全景模式成功");
|
||
// OSDManager.getInstance().pushFlightAttitude();
|
||
// sendMsg2Server(message);
|
||
// }
|
||
//
|
||
// @Override
|
||
// public void onFailure(@NonNull IDJIError error) {
|
||
// sendFailMsg2Server(message, "全景子模式设置失败:" + getIDJIErrorMsg(error));
|
||
// }
|
||
// });
|
||
// }
|
||
//
|
||
// @Override
|
||
// public void onFailure(@NonNull IDJIError error) {
|
||
// sendFailMsg2Server(message, "相机模式切换失败:" + getIDJIErrorMsg(error));
|
||
// }
|
||
// });
|
||
// return;
|
||
// }
|
||
|
||
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, "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<EmptyMsg>() {
|
||
@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()) {
|
||
// 判断当前是否是全景模式 (mode 3)
|
||
if (Movement.getInstance().getCamera_mode() == 3) {
|
||
|
||
String missionExecuteState = Movement.getInstance().getWaypointMissionExecuteState();
|
||
LogUtil.log(TAG, "全景拍照前检查航线状态：" + missionExecuteState);
|
||
if ("EXECUTING".equals(missionExecuteState) || "INTERRUPTED".equals(missionExecuteState)) {
|
||
LogUtil.log(TAG, "航线正在执行或暂停，先退出航线");
|
||
IWaypointMissionManager missionManager = WaypointMissionManager.getInstance();
|
||
missionManager.stopMission(PreferenceUtils.getInstance().getWaylinename(), new CommonCallbacks.CompletionCallback() {
|
||
@Override
|
||
public void onSuccess() {
|
||
LogUtil.log(TAG, "航线退出成功，等待 2 秒让相机控制权释放");
|
||
// 等待航线退出后，延迟 2 秒再设置全景模式并拍照
|
||
new Handler().postDelayed(() -> {
|
||
KeyManager.getInstance().setValue(KeyTools.createKey(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1),
|
||
CameraMode.find(12),
|
||
new CommonCallbacks.CompletionCallback() {
|
||
@Override
|
||
public void onSuccess() {
|
||
Movement.getInstance().setCamera_mode(3);
|
||
LogUtil.log(TAG, "切换全景模式成功，等待 500ms 后拍照");
|
||
// 再等待 500ms 让相机模式稳定
|
||
new Handler().postDelayed(() -> {
|
||
KeyManager.getInstance().performAction(KeyTools.createKey(CameraKey.KeyStartShootPhoto,
|
||
ComponentIndexType.PORT_1),
|
||
new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
|
||
@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));
|
||
}
|
||
});
|
||
}, 500);
|
||
}
|
||
|
||
@Override
|
||
public void onFailure(@NonNull IDJIError error) {
|
||
LogUtil.log(TAG, "切换全景模式失败:" + new Gson().toJson(error));
|
||
sendFailMsg2Server(message, "切换全景模式失败:" + getIDJIErrorMsg(error));
|
||
}
|
||
});
|
||
}, 2000);
|
||
}
|
||
|
||
@Override
|
||
public void onFailure(@NonNull IDJIError idjiError) {
|
||
LogUtil.log(TAG, "退出航线失败:" + new Gson().toJson(idjiError));
|
||
// 退出失败也直接设置全景模式拍照
|
||
new Handler().postDelayed(() -> {
|
||
KeyManager.getInstance().setValue(KeyTools.createKey(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1),
|
||
CameraMode.find(12),
|
||
new CommonCallbacks.CompletionCallback() {
|
||
@Override
|
||
public void onSuccess() {
|
||
Movement.getInstance().setCamera_mode(3);
|
||
KeyManager.getInstance().performAction(KeyTools.createKey(CameraKey.KeyStartShootPhoto,
|
||
ComponentIndexType.PORT_1),
|
||
new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
|
||
@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));
|
||
}
|
||
});
|
||
}
|
||
|
||
@Override
|
||
public void onFailure(@NonNull IDJIError error) {
|
||
LogUtil.log(TAG, "退出拍照失败");
|
||
}
|
||
});
|
||
}, 2000);
|
||
}
|
||
});
|
||
|
||
} else {
|
||
// 没有航线执行，先读取相机实际模式
|
||
CameraMode currentMode = KeyManager.getInstance().getValue(
|
||
KeyTools.createKey(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1));
|
||
LogUtil.log(TAG, "当前相机模式：" + currentMode);
|
||
|
||
if (currentMode == CameraMode.PHOTO_PANORAMA) {
|
||
// 已经是全景模式，等待 500ms 让相机稳定后拍照
|
||
LogUtil.log(TAG, "已是全景模式，等待 500ms 后拍照");
|
||
new Handler().postDelayed(() -> {
|
||
KeyManager.getInstance().performAction(KeyTools.createKey(CameraKey.KeyStartShootPhoto,
|
||
ComponentIndexType.PORT_1),
|
||
new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
|
||
@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));
|
||
}
|
||
});
|
||
}, 500);
|
||
} else {
|
||
// 不是全景模式，先切换
|
||
KeyManager.getInstance().setValue(KeyTools.createKey(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1),
|
||
CameraMode.PHOTO_PANORAMA,
|
||
new CommonCallbacks.CompletionCallback() {
|
||
@Override
|
||
public void onSuccess() {
|
||
Movement.getInstance().setCamera_mode(3);
|
||
LogUtil.log(TAG, "切换成功" + Movement.getInstance().getCamera_mode());
|
||
// 切换成功后等待 500ms 再拍照
|
||
new Handler().postDelayed(() -> {
|
||
KeyManager.getInstance().performAction(KeyTools.createKey(CameraKey.KeyStartShootPhoto,
|
||
ComponentIndexType.PORT_1),
|
||
new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
|
||
@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));
|
||
}
|
||
});
|
||
}, 500);
|
||
}
|
||
|
||
@Override
|
||
public void onFailure(@NonNull IDJIError error) {
|
||
LogUtil.log(TAG, "切换全景模式失败:" + new Gson().toJson(error));
|
||
sendFailMsg2Server(message, "切换全景模式失败:" + getIDJIErrorMsg(error));
|
||
}
|
||
});
|
||
}
|
||
}
|
||
|
||
} else {
|
||
// 普通拍照模式：使用 KeyStartShootPhoto
|
||
KeyManager.getInstance().performAction(KeyTools.createKey(CameraKey.KeyStartShootPhoto,
|
||
ComponentIndexType.PORT_1),
|
||
new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
|
||
@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<EmptyMsg>() {
|
||
@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()) {
|
||
// 检查当前相机模式，确保在录像模式
|
||
CameraMode currentCameraMode = KeyManager.getInstance().getValue(
|
||
KeyTools.createKey(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1));
|
||
|
||
// new Handler().postDelayed(() -> {
|
||
// KeyManager.getInstance().setValue(
|
||
// KeyTools.createKey(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1),
|
||
// CameraMode.VIDEO_NORMAL, new CommonCallbacks.CompletionCallback() {
|
||
// @Override
|
||
// public void onSuccess() {
|
||
// }
|
||
// @Override
|
||
// public void onFailure(@NonNull IDJIError idjiError) {
|
||
// }
|
||
// });
|
||
// },500);
|
||
|
||
|
||
if (currentCameraMode != CameraMode.VIDEO_NORMAL) {
|
||
// 不在录像模式，先切换到录像模式
|
||
LogUtil.log(TAG, "相机模式不在录像模式，先切换模式");
|
||
KeyManager.getInstance().setValue(
|
||
KeyTools.createKey(CameraKey.KeyCameraMode, ComponentIndexType.PORT_1),
|
||
CameraMode.VIDEO_NORMAL,
|
||
new CommonCallbacks.CompletionCallback() {
|
||
@Override
|
||
public void onSuccess() {
|
||
LogUtil.log(TAG, "切换到录像模式成功，开始录像");
|
||
|
||
new Handler().postDelayed(() -> {
|
||
doStartRecord(message);
|
||
}, 500);
|
||
|
||
}
|
||
|
||
@Override
|
||
public void onFailure(@NonNull IDJIError error) {
|
||
LogUtil.log(TAG, "切换到录像模式失败:" + new Gson().toJson(error));
|
||
sendFailMsg2Server(message, "切换录像模式失败:" + getIDJIErrorMsg(error));
|
||
}
|
||
});
|
||
} else {
|
||
// 已经在录像模式，直接录像
|
||
doStartRecord(message);
|
||
}
|
||
} else {
|
||
sendFailMsg2Server(message, "当前状态相机禁止操作");
|
||
}
|
||
}
|
||
|
||
// 执行录像的私有方法
|
||
private void doStartRecord(MessageDown message) {
|
||
KeyManager.getInstance().performAction(KeyTools.createKey(CameraKey.KeyStartRecord,
|
||
ComponentIndexType.PORT_1), new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
|
||
@Override
|
||
public void onSuccess(EmptyMsg emptyMsg) {
|
||
|
||
LogUtil.log(TAG, "开始录像成功");
|
||
sendMsg2Server(message);
|
||
}
|
||
|
||
@Override
|
||
public void onFailure(@NonNull IDJIError error) {
|
||
LogUtil.log(TAG, "开始录像失败:" + new Gson().toJson(error));
|
||
sendFailMsg2Server(message, "开始录像失败:" + getIDJIErrorMsg(error));
|
||
}
|
||
});
|
||
}
|
||
|
||
//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<EmptyMsg>() {
|
||
@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<EmptyMsg>() {
|
||
@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<EmptyMsg>() {
|
||
// @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<EmptyMsg>() {
|
||
@Override
|
||
public void onSuccess(EmptyMsg emptyMsg) {
|
||
sendMsg2Server(message);
|
||
}
|
||
|
||
@Override
|
||
public void onFailure(@NonNull IDJIError error) {
|
||
sendFailMsg2Server(message, "aim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_ZOOM;
|
||
} 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");
|
||
// }
|
||
// }
|
||
|
||
|
||
}
|