966 lines
44 KiB
Java
966 lines
44 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.Environment;
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import android.os.Handler;
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import android.os.Looper;
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import android.text.TextUtils;
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import androidx.annotation.NonNull;
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import androidx.annotation.Nullable;
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import com.aros.apron.app.ApronApp;
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import com.aros.apron.base.BaseManager;
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import com.aros.apron.constant.ErrorCode;
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import com.aros.apron.entity.CurrentWayline;
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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.entity.Synchronizedstatus;
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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.aros.apron.tools.RestartAPPTool;
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import com.aros.apron.tools.TakeoffProgressScheduler;
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import com.dji.wpmzsdk.common.data.KMZInfo;
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import com.dji.wpmzsdk.manager.WPMZManager;
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import com.google.gson.Gson;
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import java.io.File;
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import java.io.FileOutputStream;
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import java.io.IOException;
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import java.io.InputStream;
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import java.util.List;
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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.value.flightcontroller.RemoteControllerFlightMode;
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import dji.sdk.wpmz.value.mission.Wayline;
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import dji.sdk.wpmz.value.mission.WaylineExecuteWaypoint;
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import dji.sdk.wpmz.value.mission.WaylineWaylinesParseInfo;
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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.aircraft.waypoint3.WaylineExecutingInfoListener;
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import dji.v5.manager.aircraft.waypoint3.WaypointActionListener;
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import dji.v5.manager.aircraft.waypoint3.WaypointMissionExecuteStateListener;
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import dji.v5.manager.aircraft.waypoint3.WaypointMissionManager;
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import dji.v5.manager.aircraft.waypoint3.model.BreakPointInfo;
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import dji.v5.manager.aircraft.waypoint3.model.WaylineExecutingInfo;
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import dji.v5.manager.aircraft.waypoint3.model.WaypointMissionExecuteState;
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import dji.v5.manager.interfaces.IWaypointMissionManager;
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import okhttp3.Call;
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import okhttp3.Callback;
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import okhttp3.OkHttpClient;
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import okhttp3.Request;
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import okhttp3.Response;
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public class MissionV3Manager extends BaseManager {
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final Handler mainHandler = new Handler(Looper.getMainLooper());
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private MissionV3Manager() {
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}
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private static class MissionHolder {
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private static final MissionV3Manager INSTANCE = new MissionV3Manager();
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}
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public static MissionV3Manager getInstance() {
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return MissionHolder.INSTANCE;
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}
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public boolean isReceiverMission = false;
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//在ENTER_WAYLINE后10秒，航线状态变为FINISH，此时无人机不起飞/悬停
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private long enterWayLineTime;
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private long finishWayLineTime;
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private boolean istakeoff_ok = false;
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private int taskRestartFailTimes = 0;
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private int totalretryStartMissiontimes = 0;
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/**
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* 重试启动任务
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*/
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private void retryStartMission() {
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if (totalretryStartMissiontimes > 51) {
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LogUtil.log(TAG, "尝试重启总次数大于50");
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sendEvent2Server("尝试重启总次数大于50", 2);
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if (!Movement.getInstance().isPlaneWing() || !Movement.getInstance().isMotorsOn()) {
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TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
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}
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return;
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}
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if (taskRestartFailTimes >= 50) {
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LogUtil.log(TAG, "任务重启失败次数达到上限，发送任务失败");
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sendEvent2Server("任务非正常结束，重启失败", 2);
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TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
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return;
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}
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taskRestartFailTimes++;
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LogUtil.log(TAG, "任务非正常结束，第" + taskRestartFailTimes + "次尝试重新启动");
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sendEvent2Server("任务非正常结束，第" + taskRestartFailTimes + "次尝试重新启动", 1);
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WaypointMissionManager.getInstance().startMission(Movement.getInstance().getWaylinename(), new CommonCallbacks.CompletionCallback() {
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@Override
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public void onSuccess() {
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isMissionStart = true;
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taskRestartFailTimes = 0;
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LogUtil.log(TAG, "任务非正常结束，重启成功");
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sendEvent2Server("任务非正常结束，重启成功", 1);
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}
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@Override
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public void onFailure(@NonNull IDJIError idjiError) {
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LogUtil.log(TAG, "任务非正常结束，第" + taskRestartFailTimes + "次重启失败：" + idjiError.toString());
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sendEvent2Server("任务非正常结束，第" + taskRestartFailTimes + "次重启失败", 1);
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// 延迟后再次尝试
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mainHandler.postDelayed(new Runnable() {
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@Override
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public void run() {
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retryStartMission();
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}
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}, 3000);
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}
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});
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}
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public void initMissionManager() {
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Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
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KeyConnection));
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WaypointMissionManager waypointMissionManager = WaypointMissionManager.getInstance();
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waypointMissionManager.init();
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// 延迟2s后注册监听
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new Handler(Looper.getMainLooper()).postDelayed(() -> {
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waypointMissionManager.addWaypointMissionExecuteStateListener(new WaypointMissionExecuteStateListener() {
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@Override
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public void onMissionStateUpdate(WaypointMissionExecuteState missionState) {
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if (missionState != null) {
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switch (missionState) {
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case DISCONNECTED:
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sendEvent2Server("任务状态:未连接", 1);
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break;
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case IDLE:
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sendEvent2Server("任务状态:初始化", 1);
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break;
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case NOT_SUPPORTED:
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sendEvent2Server("任务状态:此机型不支持航线任务3.0", 1);
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Movement.getInstance().setTask_status("rejected");
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Movement.getInstance().setMissionFinish(false);
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//这个是原来可控制那个发送最终状态的逻辑
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Movement.getInstance().setMissionFinish1(false);
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break;
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case READY:
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if (Movement.getInstance().getFlightmode() == 2 && istakeoff_ok == false) {
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Movement.getInstance().setTakeoff_status("task_ready");
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}
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if (PreferenceUtils.getInstance().getMissionType() == 2
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) {
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Movement.getInstance().setTask_status("paused");
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} else {
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Movement.getInstance().setTask_status("in_progress");
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}
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sendEvent2Server("任务状态:准备中", 1);
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break;
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case UPLOADING:
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if (PreferenceUtils.getInstance().getMissionType() == 2
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) {
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Movement.getInstance().setTask_status("paused");
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} else {
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Movement.getInstance().setTask_status("in_progress");
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}
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sendEvent2Server("任务状态:上传中", 1);
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Movement.getInstance().setVirtualStickQuitMission(false);
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Movement.getInstance().setMissionFinish(false);
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//这个是原来可控制那个发送最终状态的逻辑
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Movement.getInstance().setMissionFinish1(false);
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break;
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case PREPARING:
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if (PreferenceUtils.getInstance().getMissionType() == 2
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) {
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Movement.getInstance().setTask_status("paused");
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} else {
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Movement.getInstance().setTask_status("in_progress");
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}
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sendEvent2Server("任务状态:执行准备中", 1);
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Movement.getInstance().setVirtualStickQuitMission(false);
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Movement.getInstance().setMissionFinish(false);
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//这个是原来可控制那个发送最终状态的逻辑
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Movement.getInstance().setMissionFinish1(false);
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break;
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case ENTER_WAYLINE:
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enterWayLineTime = System.currentTimeMillis();
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if (Movement.getInstance().getFlightmode() == 2) {
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Movement.getInstance().setTakeoff_status("wayline_progress");
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}
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if (PreferenceUtils.getInstance().getMissionType() == 2
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) {
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Movement.getInstance().setTask_status("paused");
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} else {
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Movement.getInstance().setTask_status("in_progress");
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}
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Movement.getInstance().setVirtualStickQuitMission(false);
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sendEvent2Server("任务状态:进入航线飞行,飞往指定航线的第一个航点", 1);
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Movement.getInstance().setMissionFinish(false);
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//这个是原来可控制那个发送最终状态的逻辑
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Movement.getInstance().setMissionFinish1(false);
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//航线飞行
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if (Movement.getInstance().getFlightmode() == 1) {
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Movement.getInstance().setMode_code(5);
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} else if (Movement.getInstance().getFlightmode() == 2) {
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//指令飞行
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Movement.getInstance().setMode_code(17);
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}
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break;
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case EXECUTING:
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sendEvent2Server("任务状态:航线任务执行中", 1);
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if (PreferenceUtils.getInstance().getMissionType() == 2
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) {
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Movement.getInstance().setTask_status("paused");
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} else {
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Movement.getInstance().setTask_status("in_progress");
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}
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Movement.getInstance().setVirtualStickQuitMission(false);
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Movement.getInstance().setMissionFinish(false);
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//这个是原来可控制那个发送最终状态的逻辑
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Movement.getInstance().setMissionFinish1(false);
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break;
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case INTERRUPTED:
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if (Movement.getInstance().getFlightmode() == 2) {
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Movement.getInstance().setTakeoff_status("wayline_cancel");
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}
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Movement.getInstance().setVirtualStickQuitMission(false);
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sendEvent2Server("任务状态:航线任务执行中断", 1);
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Movement.getInstance().setTask_status("paused");
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Movement.getInstance().setMissionFinish(false);
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//这个是原来可控制那个发送最终状态的逻辑
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Movement.getInstance().setMissionFinish1(false);
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//切换成手动飞行
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//Movement.getInstance().setMode_code(3);
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break;
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case RECOVERING:
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Movement.getInstance().setVirtualStickQuitMission(false);
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sendEvent2Server("任务状态:航线任务恢复中", 1);
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if (PreferenceUtils.getInstance().getMissionType() == 2
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) {
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Movement.getInstance().setTask_status("paused");
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} else {
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Movement.getInstance().setTask_status("in_progress");
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}
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Movement.getInstance().setMissionFinish(false);
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//这个是原来可控制那个发送最终状态的逻辑
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Movement.getInstance().setMissionFinish1(false);
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break;
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case FINISHED:
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//释放锁
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Synchronizedstatus.setFlighttaskExecuteStatus(false);
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//如果是虚拟摇杆导致的退出应该要可恢复
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if (Movement.getInstance().getMode_code() == 16) {
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PreferenceUtils.getInstance().setMissionType(2);
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} else {
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}
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if (Movement.getInstance().getFlightmode() == 2) {
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//
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LogUtil.log(TAG, "设置成mode3");
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Movement.getInstance().setMode_code(3);
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istakeoff_ok = true;
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Movement.getInstance().setTakeoff_status("wayline_ok");
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new Handler(Looper.getMainLooper()).postDelayed(new Runnable() {
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@Override
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public void run() {
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TakeoffProgressScheduler.getInstance().stopReporting();
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}
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}, 2000); // 1000ms = 1秒
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}
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finishWayLineTime = System.currentTimeMillis();
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mainHandler.postDelayed(new Runnable() {
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@Override
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public void run() {
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if (finishWayLineTime - enterWayLineTime <= 8000 && !Movement.getInstance().isPlaneWing()
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) {
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isMissionStart = false;
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totalretryStartMissiontimes++;
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retryStartMission();
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}
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}
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}, 5000);
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//需要在这里保存下来机头角度，index等断点，在降落后若查询到断点，在拼接起来
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PreferenceUtils.getInstance().setAttitudeHead(Movement.getInstance().getAttitude_head() + "");
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PreferenceUtils.getInstance().setWaypointIndex(Movement.getInstance().getCurrentWaypointIndex() + "");
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queryBreakPoint();
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break;
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case RETURN_TO_START_POINT:
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//自动返航
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Movement.getInstance().setMode_code(9);
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if (PreferenceUtils.getInstance().getMissionType() == 2
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) {
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Movement.getInstance().setTask_status("paused");
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} else {
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Movement.getInstance().setTask_status("in_progress");
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}
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Movement.getInstance().setMissionFinish(false);
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//这个是原来可控制那个发送最终状态的逻辑
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Movement.getInstance().setMissionFinish1(false);
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break;
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}
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LogUtil.log(TAG, "WaypointMissionExecuteState:" + missionState.name());
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Movement.getInstance().setWaypointMissionExecuteState(missionState.name());
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Movement.getInstance().setTask_wayline_mission_state(missionState.value());
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Movement.getInstance().setMissionStateCode(missionState.value());
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}
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}
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});
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waypointMissionManager.addWaylineExecutingInfoListener(new WaylineExecutingInfoListener() {
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@Override
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public void onWaylineExecutingInfoUpdate(WaylineExecutingInfo excutingWaylineInfo) {
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if (excutingWaylineInfo != null) {
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//状态等执行完发送再更新(测试暂停时不改变index为0)
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if (excutingWaylineInfo.getCurrentWaypointIndex() != 0) {
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Movement.getInstance().setCurrentWaypointIndex(excutingWaylineInfo.getCurrentWaypointIndex());
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Movement.getInstance().setTask_current_waypoint_index(excutingWaylineInfo.getCurrentWaypointIndex());
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}
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}
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}
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@Override
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public void onWaylineExecutingInterruptReasonUpdate(IDJIError error) {
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}
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});
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waypointMissionManager.addWaypointActionListener(new WaypointActionListener() {
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@Override
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public void onExecutionStart(int actionId) {
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}
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@Override
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public void onExecutionFinish(int actionId, @Nullable IDJIError error) {
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}
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@Override
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public void onExecutionStart(int actionGroup, int actionId) {
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}
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@Override
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public void onExecutionFinish(int actionGroup, int actionId, @Nullable IDJIError error) {
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}
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});
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}, 2000); // 参数别改：2s延迟
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}
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|
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//收到航线
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public void taskExecute(MessageDown message) {
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PreferenceUtils.getInstance().setMissionType(0);
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Movement.getInstance().setMission_type(0);
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PreferenceUtils.getInstance().setFlightId(message.getData().getFlight_id());
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PreferenceUtils.getInstance().setAlternatePointLon(message.getData().getAlternate_land_point().getLongitude() + "");
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PreferenceUtils.getInstance().setAlternatePointLat(message.getData().getAlternate_land_point().getLatitude() + "");
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PreferenceUtils.getInstance().setAlternatePointSecurityHeight(message.getData().getAlternate_land_point().getSafe_land_height() + "");
|
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|
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//设置全局返航高度
|
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KeyManager.getInstance().setValue(KeyTools.createKey(FlightControllerKey.KeyGoHomeHeight), message.getData().getRth_altitude(), new CommonCallbacks.CompletionCallback() {
|
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@Override
|
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public void onSuccess() {
|
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LogUtil.log(TAG, "设置全局返航高度成功");
|
||
}
|
||
|
||
@Override
|
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public void onFailure(@NonNull IDJIError idjiError) {
|
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LogUtil.log(TAG, "设置全局返航高度失败");
|
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}
|
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});
|
||
|
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Movement.getInstance().setTask_current_step(5);
|
||
|
||
|
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//1.检查图传是否连接
|
||
checkVtxWithDelay(() -> {
|
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//避免重复执行
|
||
if (isReceiverMission == false) {
|
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isReceiverMission = true;
|
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}
|
||
//2.回复收到指令
|
||
|
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//3.检查飞机状态（不满足条件直接taskFail入库）
|
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boolean statusOk = verifyAircraftStatus(message);
|
||
//4.信号收敛(等待GPS搜星)
|
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if (statusOk) {
|
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sendEvent2Server("条件满足进入自建和下发航线", 1);
|
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verifyGpsAndMissionState(message);
|
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}
|
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});
|
||
}
|
||
|
||
|
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/**
|
||
* 1.校验飞机状态
|
||
*/
|
||
private boolean verifyAircraftStatus(MessageDown message) {
|
||
Boolean isConnect = KeyManager.getInstance().getValue(createKey(FlightControllerKey.KeyConnection));
|
||
if (isConnect != null && isConnect) {
|
||
//1.若当前处于虚拟摇杆状态，取消虚拟摇杆
|
||
if (Movement.getInstance().getIsVirtualStickEnable() == 1) {
|
||
StickManager.getInstance().disableVirtualStick(null);
|
||
}
|
||
//2.关闭避障
|
||
PerceptionManager.getInstance().setPerceptionEnable(false);
|
||
|
||
PerceptionManager.getInstance().setObstacleAvoidanceHorizontalEnabled(false);
|
||
//3.清空sd卡
|
||
CameraManager.getInstance().formatStorage(null);
|
||
//4.返航或降落状态无法执行航线
|
||
if (Movement.getInstance().getGoHomeState() == 1 || Movement.getInstance().getGoHomeState() == 2) {
|
||
sendFailMsg2Server(message, "返航中,无法执行航线任务");
|
||
return false;
|
||
}
|
||
//5.检查航线备降点参数
|
||
if (message.getData().getAlternate_land_point() == null) {
|
||
sendEvent2Server("备降点参数异常", 2);
|
||
TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
|
||
return false;
|
||
}
|
||
//6.检查航线参数
|
||
if (message.getData().getFile() == null) {
|
||
sendEvent2Server("航线参数异常", 2);
|
||
TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
|
||
return false;
|
||
}
|
||
//7.检查电池电量
|
||
Integer value = KeyManager.getInstance().getValue(createKey(FlightControllerKey.
|
||
KeyBatteryPowerPercent, 0));
|
||
if (value != null && value < Integer.parseInt(PreferenceUtils.getInstance().getMinumumBattery())) {
|
||
sendEvent2Server("任务执行失败,电量过低", 2);
|
||
TaskFailManager.getInstance().sendTaskFailMsg2Server(ErrorCode.DEVICE_BATTERY_LEVEL_TOO_LOW);
|
||
return false;
|
||
}
|
||
RemoteControllerFlightMode remoteControllerFlightMode =
|
||
KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyRemoteControllerFlightMode));
|
||
if (remoteControllerFlightMode != null && remoteControllerFlightMode != RemoteControllerFlightMode.P) {
|
||
sendEvent2Server("任务执行失败,请将遥控器切换为P/N挡", 2);
|
||
TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
|
||
return false;
|
||
|
||
}
|
||
|
||
return true;
|
||
} else {
|
||
sendFailMsg2Server(message, "无人机未连接");
|
||
return false;
|
||
|
||
}
|
||
}
|
||
|
||
private int verifyGpsAndMissionStateTimes;
|
||
private boolean verifyGpsAndMissionStateSuccess;
|
||
private final int maxRetries = 100;
|
||
|
||
/**
|
||
* 3.GPS信号校验
|
||
*/
|
||
private void verifyGpsAndMissionState(MessageDown message) {
|
||
int missionStateCode = Movement.getInstance().getMissionStateCode();
|
||
String planeMessage = Movement.getInstance().getPlaneMessage();
|
||
int quality = Movement.getInstance().getQuality();
|
||
int GPSSatelliteCount = Movement.getInstance().getGPSSatelliteCount();
|
||
|
||
boolean isMissionStateValid = (missionStateCode == 2 || missionStateCode == 0 || missionStateCode == 7);
|
||
boolean isPlaneMessageValid = !TextUtils.isEmpty(planeMessage) && !planeMessage.equals("无法起飞");
|
||
boolean isGpsQualityValid = (quality == 4 || quality == 5 || quality == 10);
|
||
boolean GPSSatelliteCountValid = GPSSatelliteCount > 15;
|
||
|
||
LogUtil.log(TAG, "isMissionStateValid" + isMissionStateValid + "isPlaneMessageValid" + isPlaneMessageValid + "isGpsQualityValid" + isGpsQualityValid);
|
||
// if (isMissionStateValid && isPlaneMessageValid && isGpsQualityValid) {
|
||
|
||
sendEvent2Server("卫星数量" + GPSSatelliteCount + "gps是否ok" + GPSSatelliteCountValid, 1);
|
||
if (isGpsQualityValid || GPSSatelliteCountValid) {
|
||
//5.下载航线
|
||
downLoadKMZFile(message);
|
||
sendEvent2Server("执行下载航线成功", 1);
|
||
verifyGpsAndMissionStateSuccess = true;
|
||
Movement.getInstance().setIs_fixed(2);
|
||
} else {
|
||
|
||
if (!verifyGpsAndMissionStateSuccess) {
|
||
if (verifyGpsAndMissionStateTimes < maxRetries) {
|
||
mainHandler.postDelayed(new Runnable() {
|
||
@Override
|
||
public void run() {
|
||
verifyGpsAndMissionStateTimes++;
|
||
verifyGpsAndMissionState(message);
|
||
sendEvent2Server("航线状态第" + verifyGpsAndMissionStateTimes + "次检索失败:" +
|
||
WaypointMissionExecuteState.find(missionStateCode).name() +
|
||
"-RTK:" + Movement.getInstance().getIs_fixed() + "-飞行器状态:" +
|
||
Movement.getInstance().getPlaneMessage() +
|
||
"-GPS信号等级:" + Movement.getInstance().getQuality(), 1);
|
||
}
|
||
}, 2000);
|
||
|
||
} else {
|
||
sendEvent2Server("飞行器自检异常:" + WaypointMissionExecuteState.find(missionStateCode).name() +
|
||
"-RTK:" + Movement.getInstance().getIs_fixed() + "-飞行器状态:" +
|
||
Movement.getInstance().getPlaneMessage() +
|
||
"-GPS信号等级:" + Movement.getInstance().getQuality(), 2);
|
||
|
||
TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
|
||
}
|
||
}
|
||
|
||
|
||
}
|
||
}
|
||
|
||
/**
|
||
* 5.下载航线
|
||
*
|
||
* @param message
|
||
*/
|
||
public void downLoadKMZFile(MessageDown message) {
|
||
Movement.getInstance().setTask_current_step(16);
|
||
Request request = new Request.Builder().url(message.getData().getFile().getUrl()).build();
|
||
new OkHttpClient().newCall(request).enqueue(new Callback() {
|
||
@Override
|
||
public void onFailure(Call call, IOException e) {
|
||
sendEvent2Server("任务下载失败:" + e.toString(), 2);
|
||
TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
|
||
}
|
||
|
||
@Override
|
||
public void onResponse(Call call, Response response) throws IOException {
|
||
if (response != null) {
|
||
InputStream is = null;
|
||
byte[] buf = new byte[2048];
|
||
int len = 0;
|
||
FileOutputStream fos = null;
|
||
// 储存下载文件的目录
|
||
File dir = new File(Environment.getExternalStorageDirectory().getPath());
|
||
if (!dir.exists()) {
|
||
dir.mkdirs();
|
||
}
|
||
File file = new File(dir, "aros.kmz");
|
||
try {
|
||
is = response.body().byteStream();
|
||
fos = new FileOutputStream(file);
|
||
while ((len = is.read(buf)) != -1) {
|
||
fos.write(buf, 0, len);
|
||
}
|
||
fos.flush();
|
||
sendEvent2Server("航线下载成功 ", 1);
|
||
mainHandler.post(new Runnable() {
|
||
@Override
|
||
public void run() {
|
||
pushKMZFileToAircraft(message);
|
||
}
|
||
});
|
||
} catch (Exception e) {
|
||
sendEvent2Server("任务下载失败,网络异常:" + e.toString(), 2);
|
||
TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
|
||
}
|
||
}
|
||
}
|
||
});
|
||
|
||
}
|
||
|
||
private int pushKMZFileTimes = 0;
|
||
public static long pushKMZFailTimeMillis;
|
||
public boolean isPushKMZSuccess;
|
||
|
||
public boolean isPushKMZFailTimes() {
|
||
long time = System.currentTimeMillis();
|
||
if (time - pushKMZFailTimeMillis > 3000) {
|
||
pushKMZFailTimeMillis = time;
|
||
return true;
|
||
}
|
||
return false;
|
||
}
|
||
|
||
/**
|
||
* 6.上传航线
|
||
*
|
||
* @param message
|
||
*/
|
||
private void pushKMZFileToAircraft(MessageDown message) {
|
||
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
|
||
KeyConnection));
|
||
if (isConnect != null && isConnect) {
|
||
|
||
KMZInfo kmzInfo = WPMZManager.getInstance().getKMZInfo(
|
||
Environment.getExternalStorageDirectory().getPath() + "/" + "aros.kmz");
|
||
if (kmzInfo != null) {
|
||
// Utils.printJson(TAG,"航点详情:"+new Gson().toJson(kmzInfo));
|
||
WaylineWaylinesParseInfo waylineWaylinesParseInfo = kmzInfo.getWaylineWaylinesParseInfo();
|
||
if (waylineWaylinesParseInfo != null) {
|
||
List<Wayline> waylines = waylineWaylinesParseInfo.getWaylines();
|
||
if (waylines != null && waylines.size() > 0) {
|
||
List<WaylineExecuteWaypoint> waypoints = waylines.get(0).getWaypoints();
|
||
if (waypoints != null && waypoints.size() > 0) {
|
||
|
||
CurrentWayline.getInstance().setWaypoints(waypoints);
|
||
|
||
LogUtil.log(TAG, "该航线有" + waypoints.size() + "个航点");
|
||
} else {
|
||
LogUtil.log(TAG, "WPMZManager getWaypointInfo有误");
|
||
}
|
||
} else {
|
||
LogUtil.log(TAG, "WPMZManager getTemplates有误");
|
||
}
|
||
|
||
} else {
|
||
LogUtil.log(TAG, "WPMZManager getKMZInfo有误");
|
||
}
|
||
} else {
|
||
LogUtil.log(TAG, "WPMZManager getKMZInfo有误");
|
||
|
||
}
|
||
|
||
|
||
WaypointMissionManager.getInstance().pushKMZFileToAircraft(Environment.getExternalStorageDirectory().getPath() + "/" + "aros.kmz", new CommonCallbacks.CompletionCallbackWithProgress<Double>() {
|
||
@Override
|
||
public void onProgressUpdate(Double progress) {
|
||
sendEvent2Server("航线上传进度:" + progress, 1);
|
||
Movement.getInstance().setTask_current_step(17);
|
||
}
|
||
|
||
@Override
|
||
public void onSuccess() {
|
||
Movement.getInstance().setWaylinename("aros");
|
||
|
||
// "2": "起飞准备完毕",
|
||
Movement.getInstance().setMode_code(2);
|
||
LogUtil.log(TAG, "航线上传成功,准备执行任务");
|
||
sendEvent2Server("航线上传成功,准备执行任务", 1);
|
||
isPushKMZSuccess = true;
|
||
mainHandler.postDelayed(new Runnable() {
|
||
@Override
|
||
public void run() {
|
||
/**
|
||
* 7.开始任务
|
||
*/
|
||
|
||
//自主起飞
|
||
Movement.getInstance().setMode_code(4);
|
||
|
||
Movement.getInstance().setTask_current_step(22);
|
||
//关闭避障
|
||
PerceptionManager.getInstance().setPerceptionEnable(false);
|
||
PerceptionManager.getInstance().setObstacleAvoidanceHorizontalEnabled(false);
|
||
|
||
startMission(message);
|
||
pushKMZFileTimes = 0;
|
||
}
|
||
}, 2000);
|
||
}
|
||
|
||
@Override
|
||
public void onFailure(@NonNull IDJIError error) {
|
||
|
||
if (!isPushKMZSuccess) {
|
||
if (pushKMZFileTimes < 10) {
|
||
if (isPushKMZFailTimes()) {
|
||
mainHandler.postDelayed(new Runnable() {
|
||
@Override
|
||
public void run() {
|
||
LogUtil.log(TAG, "上传航线第" + pushKMZFileTimes + "次失败,重新上传" + ":" + new Gson().toJson(error));
|
||
pushKMZFileTimes++;
|
||
pushKMZFileToAircraft(message);
|
||
}
|
||
}, 3000);
|
||
} else {
|
||
LogUtil.log(TAG, "上传航线只处理一次回调" + ":" + new Gson().toJson(error));
|
||
}
|
||
} else {
|
||
//待机
|
||
Movement.getInstance().setMode_code(0);
|
||
|
||
|
||
sendEvent2Server("航线第" + pushKMZFileTimes + "次上传失败,直接关机", 2);
|
||
TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
|
||
}
|
||
} else {
|
||
sendEvent2Server("航线上传已经执行onSuccess回调:" + WaypointMissionExecuteState.find(Movement.getInstance().getMissionStateCode()).name(), 1);
|
||
}
|
||
}
|
||
});
|
||
}
|
||
}
|
||
|
||
private int startMissionFailTimes = 0;
|
||
private boolean isMissionStart = false;
|
||
|
||
/**
|
||
* 6.开始航线
|
||
*
|
||
* @param message
|
||
*/
|
||
public void startMission(MessageDown message) {
|
||
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
|
||
KeyConnection));
|
||
if (isConnect != null && isConnect) {
|
||
int missionStateCode = Movement.getInstance().getMissionStateCode();
|
||
//每次航线开始时，重置是否需要识别二维码状态，避免刚起飞就识别二维码/并确保不是飞向备降点的航线
|
||
PreferenceUtils.getInstance().setNeedTriggerApronArucoLand(false);
|
||
PreferenceUtils.getInstance().setNeedTriggerAlterArucoLand(false);
|
||
PreferenceUtils.getInstance().setTriggerToAlternatePoint(false);
|
||
PreferenceUtils.getInstance().setFlightId(message.getData().getFlight_id());
|
||
CommonCallbacks.CompletionCallback callback = new CommonCallbacks.CompletionCallback() {
|
||
@Override
|
||
public void onSuccess() {
|
||
isMissionStart = true;
|
||
LogUtil.log(TAG, "航线第" + startMissionFailTimes + "次开始成功");
|
||
Movement.getInstance().setTask_status("in_progress");
|
||
startMissionFailTimes = 0;
|
||
sendEvent2Server("任务开始执行", 1);
|
||
Movement.getInstance().setTask_current_step(23);
|
||
|
||
// Movement.getInstance().setMode_code(5);
|
||
|
||
// // 自动起飞
|
||
// Movement.getInstance().setMode_code(4);
|
||
//
|
||
// new android.os.Handler(android.os.Looper.getMainLooper()).postDelayed(() -> {
|
||
// Movement.getInstance().setMode_code(5);
|
||
// }, 2000);
|
||
|
||
|
||
}
|
||
|
||
@Override
|
||
public void onFailure(@NonNull IDJIError error) {
|
||
LogUtil.log(TAG, "航线执行失败:" + new Gson().toJson(error));
|
||
if (!isMissionStart) {
|
||
if (missionStateCode != 3 && missionStateCode != 4 && missionStateCode != 5 && missionStateCode != 6
|
||
&& missionStateCode != 7 && missionStateCode != 8 && missionStateCode != 9 && missionStateCode != 10) {
|
||
if (startMissionFailTimes < 50) {
|
||
mainHandler.postDelayed(new Runnable() {
|
||
@Override
|
||
public void run() {
|
||
startMission(message);
|
||
sendEvent2Server("航线第" + startMissionFailTimes + "次开始失败" + "---" + new Gson().toJson(error) + "--" + Movement.getInstance().getQuality(), 2);
|
||
startMissionFailTimes++;
|
||
}
|
||
}, 2000);
|
||
} else {
|
||
if (!Movement.getInstance().isPlaneWing()) {
|
||
|
||
//待机
|
||
Movement.getInstance().setMode_code(0);
|
||
|
||
|
||
sendEvent2Server("航线第" + startMissionFailTimes + "次开始失败,直接关机:" + "---" + new Gson().toJson(error) + "--" + Movement.getInstance().getQuality(), 2);
|
||
TaskFailManager.getInstance().sendTaskFailMsg2Server(-1);
|
||
}
|
||
}
|
||
} else {
|
||
sendEvent2Server("航线已经执行:" + WaypointMissionExecuteState.find(missionStateCode).name(), 1);
|
||
}
|
||
}
|
||
}
|
||
};
|
||
|
||
if (message.getData() != null && message.getData().getBreak_point() != null && message.getData().getBreak_point().getIndex() > 0) {
|
||
BreakPointInfo breakPointInfo = new BreakPointInfo
|
||
(message.getData().getBreak_point().getWayline_id(),
|
||
message.getData().getBreak_point().getIndex(),
|
||
message.getData().getBreak_point().getProgress());
|
||
WaypointMissionManager.getInstance().startMission("aros", breakPointInfo,
|
||
callback);
|
||
} else {
|
||
WaypointMissionManager.getInstance().startMission("aros", callback);
|
||
}
|
||
|
||
} else {
|
||
sendEvent2Server("任务开始失败,设备未连接", 2);
|
||
}
|
||
}
|
||
|
||
/**
|
||
* 暂停航线
|
||
*
|
||
* @param message
|
||
*/
|
||
public void pauseMission(MessageDown message) {
|
||
|
||
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
|
||
KeyConnection));
|
||
if (isConnect != null && isConnect) {
|
||
IWaypointMissionManager missionManager = WaypointMissionManager.getInstance();
|
||
missionManager.pauseMission(new CommonCallbacks.CompletionCallback() {
|
||
@Override
|
||
public void onSuccess() {
|
||
sendMsg2Server(message);
|
||
Movement.getInstance().setTask_status("paused");
|
||
|
||
|
||
//暂停成功就是手动飞行
|
||
Movement.getInstance().setMode_code(3);
|
||
|
||
}
|
||
|
||
@Override
|
||
public void onFailure(@NonNull IDJIError error) {
|
||
sendFailMsg2Server(message, "航线任务暂停失败:" + getIDJIErrorMsg(error));
|
||
}
|
||
});
|
||
} else {
|
||
LogUtil.log(TAG, "航线任务暂停失败:飞控未连接");
|
||
}
|
||
}
|
||
|
||
//恢复航线
|
||
public void resumeMission(MessageDown message) {
|
||
Boolean isConnect = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.
|
||
KeyConnection));
|
||
if (isConnect != null && isConnect) {
|
||
IWaypointMissionManager missionManager = WaypointMissionManager.getInstance();
|
||
//如果航线是暂停状态,直接恢复航线，否则查询断点信息
|
||
|
||
if (Movement.getInstance().getMissionStateCode() == 7) {
|
||
missionManager.resumeMission(new CommonCallbacks.CompletionCallback() {
|
||
@Override
|
||
public void onSuccess() {
|
||
sendMsg2Server(message);
|
||
Movement.getInstance().setTask_status("in_progress");
|
||
|
||
//继续就是指令 或者 航线
|
||
if (Movement.getInstance().getFlightmode() == 1) {
|
||
Movement.getInstance().setMode_code(5);
|
||
} else if (Movement.getInstance().getFlightmode() == 2) {
|
||
Movement.getInstance().setMode_code(17);
|
||
}
|
||
|
||
}
|
||
|
||
@Override
|
||
public void onFailure(@NonNull IDJIError error) {
|
||
sendFailMsg2Server(message, "航线继续失败:" + getIDJIErrorMsg(error));
|
||
}
|
||
});
|
||
} else {
|
||
missionManager.queryBreakPointInfoFromAircraft("aros", new CommonCallbacks.CompletionCallbackWithParam<BreakPointInfo>() {
|
||
@Override
|
||
public void onSuccess(BreakPointInfo breakPointInfo) {
|
||
if (breakPointInfo != null) {
|
||
LogUtil.log(TAG, "查询断点成功:" + new Gson().toJson(breakPointInfo));
|
||
mainHandler.postDelayed(new Runnable() {
|
||
@Override
|
||
public void run() {
|
||
WaypointMissionManager.getInstance().startMission("aros", breakPointInfo,
|
||
new CommonCallbacks.CompletionCallback() {
|
||
@Override
|
||
public void onSuccess() {
|
||
sendMsg2Server(message);
|
||
PreferenceUtils.getInstance().setIsNewRoute(false);
|
||
LogUtil.log(TAG, "恢复断点航线成功");
|
||
Movement.getInstance().setTask_status("in_progress");
|
||
|
||
}
|
||
|
||
@Override
|
||
public void onFailure(@NonNull IDJIError idjiError) {
|
||
LogUtil.log(TAG, "恢复断点航线失败:" + getIDJIErrorMsg(idjiError));
|
||
sendFailMsg2Server(message, "恢复断点航线失败:" + getIDJIErrorMsg(idjiError));
|
||
}
|
||
});
|
||
}
|
||
}, 500);
|
||
} else {
|
||
LogUtil.log(TAG, "未查询到断点信息");
|
||
}
|
||
}
|
||
|
||
@Override
|
||
public void onFailure(@NonNull IDJIError idjiError) {
|
||
LogUtil.log(TAG, "查询断点失败:" + getIDJIErrorMsg(idjiError));
|
||
}
|
||
});
|
||
}
|
||
|
||
} else {
|
||
LogUtil.log(TAG, "设备未连接");
|
||
}
|
||
}
|
||
|
||
|
||
private void checkVtxWithDelay(Runnable onVtxReady) {
|
||
|
||
if (Movement.getInstance().isVtx()) {
|
||
// 图传正常，直接继续后面的流程
|
||
PreferenceUtils.getInstance().setRestartAMSTimes(0);
|
||
LogUtil.log(TAG, "图传正常，继续执行任务流程");
|
||
onVtxReady.run();
|
||
return;
|
||
}
|
||
|
||
LogUtil.log(TAG, "未检测到图传，5 秒后再次确认...");
|
||
|
||
mainHandler.postDelayed(() -> {
|
||
if (!Movement.getInstance().isVtx()) {
|
||
// 图传仍未恢复 → 执行重启逻辑
|
||
int times = PreferenceUtils.getInstance().getRestartAMSTimes();
|
||
if (times < 5) {
|
||
PreferenceUtils.getInstance().setRestartAMSTimes(times + 1);
|
||
LogUtil.log(TAG, "图传仍未恢复，重启 AMS 第 " + (times + 1) + " 次");
|
||
RestartAPPTool.INSTANCE.restartApp(ApronApp.Companion.getContext());
|
||
}
|
||
} else {
|
||
// 图传恢复 → 执行后续逻辑
|
||
PreferenceUtils.getInstance().setRestartAMSTimes(0);
|
||
LogUtil.log(TAG, "图传在延迟期间恢复，继续执行任务流程");
|
||
onVtxReady.run();
|
||
}
|
||
}, 5000);
|
||
}
|
||
|
||
}
|