我似乎无法让我的独立课程连接到我的幻像4，无论我做什么，因为它是作为一个独立的类实现的，可以随意旋转。永远不会达到回调，数据似乎永远不会从设备返回。
公共类DjiManager {
private static DjiManager instance = null;
private Context mContext;
private DJIBaseProduct mProduct;
private SendData mData;
private DJIFlightController mFlightController = null;
private Handler mConnectHandler = null;
private Runnable mConnectRunnable = null;
public DjiManager(Context context) {
mContext = context;
//start eventbus
EventBus.getDefault().register(this);
//set reference to data storage
mData = iOtManager.deviceData;
//Initialize DJI SDK Manager
initSdk();
}
public static DjiManager getIntance(Context context) {
if (instance==null) {
instance = new DjiManager(context);
}
return instance;
}
public void shutDown() {
Log.d("DJI", "DGI Shutting down");
//stop eventbus
EventBus.getDefault().unregister(this);
//stop the sdk
stopSdk();
//clear data buffer reference
mData = null;
//clear instance
instance = null;
}
@Subscribe
public void usbAttached(UsbAttachedEvent event) {
Log.d("DJI", "DGI Usb attached event");
connectDrone();
}
@Subscribe
public void commandSent(SdkCommandSent event) {
}
private void stopSdk() {
Log.d("DJI", "DGI stopSdk");
//shutdown geo interface
DJIFlyZoneManager.getInstance().setGEOSystemEnabled(false, new DJICommonCallbacks.DJICompletionCallback() {
@Override
public void onResult(DJIError djiError) {
if (null != djiError) {
Log.d("DJI", "Stopping Geo interface");
Toast.showError((Activity) mContext, djiError.getDescription());
}
}
});
//stop connection
DJISDKManager.getInstance().stopConnectionToProduct();
}
private void initSdk() {
//Initialize DJI SDK Manager
DJISDKManager.getInstance().initSDKManager(mContext, mDJISDKManagerCallback);
}
private void reInitSdk() {
new Handler().postDelayed(new Runnable() {
@Override
public void run() {
initSdk();
}
},5000);
}
private void connectDrone() {
if (mConnectHandler!=null && mConnectRunnable!=null) {
mConnectHandler.removeCallbacks(mConnectRunnable);
}
mConnectHandler = new Handler();
mConnectRunnable = new Runnable() {
@Override
public void run() {
DJISDKManager.getInstance().startConnectionToProduct();
}
};
mConnectHandler.postDelayed(mConnectRunnable,1000);
}
private void setupCallbacks() {
//start geo sytem interface
Log.d("DJI", "Setting up callbacks");
DJIFlyZoneManager.getInstance().setGEOSystemEnabled(true, new DJICommonCallbacks.DJICompletionCallback() {
@Override
public void onResult(DJIError djiError) {
if (null != djiError) {
Log.d("DJI", "Error in callbacks: " + djiError.getDescription());
Toast.showError((Activity) mContext, djiError.getDescription());
} else {
initFlightController();
}
}
});
}
private void initFlightController() {
if (isFlightControllerSupported()) {
Log.d("DJI", "Flight controller supported");
mFlightController = ((DJIAircraft) DJISDKManager.getInstance().getDJIProduct()).getFlightController();
mFlightController.setUpdateSystemStateCallback(new DJIFlightControllerDelegate.FlightControllerUpdateSystemStateCallback() {
@Override
public void onResult(final DJIFlightControllerCurrentState state) {
mData.sdk_speed_h = String.valueOf(state.getVelocityX());
mData.sdk_speed_v = String.valueOf(state.getVelocityY());
mData.sdk_lat = String.valueOf(state.getAircraftLocation().getLatitude());
mData.sdk_lng = String.valueOf(state.getAircraftLocation().getLongitude());
mData.sdk_altitude = String.valueOf(state.getUltrasonicHeight());
}
});
} else {
Log.d("DJI", "Flight controller not supported");
connectDrone();
}
}
private boolean isFlightControllerSupported() {
return DJISDKManager.getInstance().getDJIProduct() != null &&
DJISDKManager.getInstance().getDJIProduct() instanceof DJIAircraft &&
((DJIAircraft) DJISDKManager.getInstance().getDJIProduct()).getFlightController() != null;
}
//CALLBACKS
private DJISDKManager.DJISDKManagerCallback mDJISDKManagerCallback = new DJISDKManager.DJISDKManagerCallback() {
@Override
public void onGetRegisteredResult(DJIError error) {
Log.d("DJI", error == null ? "success" : error.getDescription());
if(error == DJISDKError.REGISTRATION_SUCCESS) {
connectDrone();
Handler handler = new Handler(Looper.getMainLooper());
handler.post(new Runnable() {
@Override
public void run() {
Log.d("DJI", "DGI Registration Succcessfull!");
}
});
} else {
Handler handler = new Handler(Looper.getMainLooper());
handler.post(new Runnable() {
@Override
public void run() {
Log.d("DJI", "Register App Failed! Please enter your App Key and check the network.");
Toast.showError((Activity) mContext, "The purplebox failed to connect to a Dji Drone");
reInitSdk();
}
});
}
}
@Override
public void onProductChanged(DJIBaseProduct oldProduct, DJIBaseProduct newProduct) {
mProduct = newProduct;
if(mProduct != null) {
Log.d("DJI", "Product found: " + newProduct.getModel());
mProduct.setDJIBaseProductListener(mDJIBaseProductListener);
//setup product
setupCallbacks();
} else {
Log.d("DJI", "Product Not Found, reconnecting...");
//connectDrone();
}
}
};
private DJIBaseProduct.DJIBaseProductListener mDJIBaseProductListener = new DJIBaseProduct.DJIBaseProductListener() {
@Override
public void onComponentChange(DJIBaseProduct.DJIComponentKey key, DJIBaseComponent oldComponent, DJIBaseComponent newComponent) {
Log.d("DJI", "Component Changed");
}
@Override
public void onProductConnectivityChanged(boolean isConnected) {
Log.d("DJI", "DGI Connected: " + isConnected);
}
};
}