基于Mobile SDK V4版固件开发大疆无人机手机端遥控器(3)

第三篇文章准备单独拿出来写，因为在大疆为人机的所有功能中，航线规划的功能最为复杂，也相当的繁琐，这里需要说仔细一点，可能会将代码进行多步分解。

1航线规划

航线打点

在地图中手动选择点位选择完成航线打点；若打点位置错了可进行点位删除。

航点设置

可对航线点位进行设置，如飞行高度，速度（慢速:3m/s;中速: 7m/s;高速:10 m/s）、任务结束后操作及航向，点击[设置]按钮完成设置。

设置完成后会显示总距离及飞行总时间。

航线上传

点击[上传]按钮，进行航线上传。可以进入本地存储中选择航线文件进行上传，航线文件为 .kml结尾。

航线执行

点击 [开始]按钮，则可对航线进行执行。若中途需要暂停也可点击[暂停]安装进行暂停操作。

航线管理

按钮即可进入航线管理界面。

获取航线

点击[获取]按钮，即可将航线信息展示到地图界面中。

2主要功能代码

创建activity_setting_route.xml及SettingRouteActivity文件。

activity_setting_route.xml

SettingRouteActivity

publicclassSettingRouteActivityextendsBaseActivityimplementsAMap.OnMarkerClickListener,View.OnClickListener,AMap.OnMapClickListener,LocationSource,AMapLocationListener,AMap.InfoWindowAdapter{
@BindView(R.id.layout_route)
ViewmViewLayoutToolbar;
@BindView(R.id.ll_route)
LinearLayoutmLinearLayout;
@BindView(R.id.tv_toolbar_title)
TextViewmTextViewToolbarTitle;
//@BindView(R.id.map)
//MapViewmMapView;

@BindView(R.id.btn_delete)
ButtonmButtonDelete;
@BindView(R.id.btn_finish)
ButtonmButtonFinish;
@BindView(R.id.btn_setting)
ButtonmButtonSetting;
@BindView(R.id.btn_upload)
ButtonmButtonUpload;
@BindView(R.id.btn_start)
ButtonmButtonStart;
@BindView(R.id.btn_stop)
ButtonmButtonStop;

@BindView(R.id.ll_information)
LinearLayoutmLinearLayoutInformation;
@BindView(R.id.tv_height)
TextViewmTextViewHeight;
@BindView(R.id.tv_speed)
TextViewmTextViewSpeed;
@BindView(R.id.tv_count)
TextViewmTextViewCount;
@BindView(R.id.tv_distance)
TextViewmTextViewDistance;
@BindView(R.id.tv_time)
TextViewmTextViewTime;

privateMapViewmMapView;
privateOnLocationChangedListenermListener;
privateAMapLocationClientmlocationClient;
privateAMapLocationClientOptionmLocationOption;
privatedoubleD_latitude,D_longitude;
privateUiSettingsmUiSettings;
privateAMapaMap;
privateMarkerdroneMarker=null;

privatefloataltitude=100.0f;
privatefloatmSpeed=10.0f;

privatebooleanisAdd=false;

privatefinalMapmMarkers=newConcurrentHashMap();
privateMarkermClickMarker;
privateListwaypointList=newArrayList<>();
privateListmLatLng=newArrayList<>();
privateListmPointInfo=newArrayList<>();

publicstaticWaypointMission.BuilderwaypointMissionBuilder;
privateFlightControllermFlightController;
privateWaypointMissionOperatorinstance;
privateWaypointMissionFinishedActionmFinishedAction=WaypointMissionFinishedAction.NO_ACTION;
privateWaypointMissionHeadingModemHeadingMode=WaypointMissionHeadingMode.AUTO;

privateSQLiteHelpermSQLiteHelper;
privateStringFinishedAction,HeadingMode;

//自定义窗体
ViewinfoWindow=null;

intspeed_RG_id=0;
intactionAfterFinished_RG_id=0;
intheading_RG_id=0;

//kim
staticReadKmlreadKml=newReadKml();
privatestaticListsampleList=readKml.getCoordinateList();

@Override
publicvoidinitViews(){
mLinearLayout.setVisibility(View.VISIBLE);
mTextViewToolbarTitle.setText("航线规划");
IntentFilterfilter=newIntentFilter();
filter.addAction(ReceiverApplication.FLAG_CONNECTION_CHANGE);
registerReceiver(mReceiver,filter);
mMapView=findViewById(R.id.map);
mMapView.onCreate(InstanceState);
initMapView();
addListener();
onProductConnectionChange();

}

@Override
protectedvoidonResume(){
super.onResume();
initFlightController();
mMapView.onResume();
}

/**
*方法必须重写
*/
@Override
protectedvoidonSaveInstanceState(BundleoutState){
super.onSaveInstanceState(outState);
mMapView.onSaveInstanceState(outState);
}

@Override
protectedvoidonPause(){
super.onPause();
mMapView.onPause();
deactivate();
}

@Override
protectedvoidonDestroy(){
super.onDestroy();
unregisterReceiver(mReceiver);
removeListener();
mMapView.onDestroy();
if(null!=mlocationClient){
mlocationClient.onDestroy();
}

}

@Override
publicvoidinitDatas(){

}

@Override
protectedvoidrequestData(){

}

privatevoidinitMapView(){
if(aMap==null){
aMap=mMapView.getMap();
mUiSettings=aMap.getUiSettings();
mUiSettings.setMyLocationButtonEnabled(true);
mUiSettings.setScaleControlsEnabled(true);
aMap.setOnMapClickListener(this);//addthelistenerforclickforamapobject
aMap.setLocationSource(this);
aMap.setMyLocationEnabled(true);
aMap.setInfoWindowAdapter(this);
aMap.setOnMarkerClickListener(this);
setupLocationStyle();
}
}

privatevoidsetupLocationStyle(){
//自定义系统定位蓝点
MyLocationStylemyLocationStyle=newMyLocationStyle();
//自定义定位蓝点图标
myLocationStyle.myLocationIcon(BitmapDescriptorFactory.
fromResource(R.mipmap.icv_gps_point_36dp));
//自定义精度范围的圆形边框颜色
myLocationStyle.strokeColor(Color.parseColor("#00000000"));
//自定义精度范围的圆形边框宽度
myLocationStyle.strokeWidth(5);
//设置圆形的填充颜色
myLocationStyle.radiusFillColor(Color.parseColor("#00000000"));
//将自定义的myLocationStyle对象添加到地图上
aMap.setMyLocationStyle(myLocationStyle);
}

@OnClick({R.id.img_kml_input,R.id.img_setting_route,R.id.img_start_fly,R.id.btn_delete,
R.id.img_setting_clear,R.id.btn_finish,R.id.btn_setting,R.id.btn_upload,
R.id.btn_start,R.id.btn_stop,R.id.img_back})
@Override
publicvoidonClick(Viewv){
switch(v.getId()){
caseR.id.img_back:
SettingRouteActivity.this.finish();
break;
caseR.id.img_kml_input:
Intentintent=newIntent(Intent.ACTION_GET_CONTENT);
intent.setType("*/*");//设置类型，我这里是任意类型，任意后缀的可以这样写。
intent.addCategory(Intent.CATEGORY_OPENABLE);
startActivityForResult(intent,MyStatic.REQUEST_CODE_FILE);
break;
caseR.id.img_setting_route:
enableDisableAdd();
break;
caseR.id.img_setting_clear:
runOnUiThread(newRunnable(){
@Override
publicvoidrun(){
aMap.clear();
mMarkers.clear();
mPointInfo.clear();
mLinearLayoutInformation.setVisibility(View.GONE);
mButtonFinish.setVisibility(View.GONE);
mButtonSetting.setVisibility(View.GONE);
mButtonUpload.setVisibility(View.GONE);
mButtonStart.setVisibility(View.GONE);
mButtonStop.setVisibility(View.GONE);
}
});
waypointList.clear();
waypointMissionBuilder.waypointList(waypointList);
break;
caseR.id.img_start_fly:
atyAction(WaypointActivity.class,MyStatic.REQUEST_CODE_ID);
break;
caseR.id.btn_delete:
runOnUiThread(newRunnable(){
@Override
publicvoidrun(){
aMap.clear();
}
});
for(inti=0;i-90&&latitude-180&&longitude0){
mLatLng.clear();
PolylineOptionsPolylineOptions=newPolylineOptions();
for(inti=0;i0){
PolylineOptionsPolylineOptions=newPolylineOptions();
PolylineOptions.addAll(mLatLng);
PolylineOptions.width(10);
PolylineOptions.color(Color.argb(255,1,1,1));
aMap.addPolyline(PolylineOptions);
}
waypointMissionBuilder.waypointList(waypointList).waypointCount(waypointList.size());
mTextViewCount.setText("航点数："+waypointMissionBuilder.getWaypointCount());
mTextViewDistance.setText("总距离："+Math.round(waypointMissionBuilder.calculateTotalDistance())+"m");
mTextViewTime.setText("总时间："+Math.round(waypointMissionBuilder.calculateTotalTime())+"min");
MyLog.d("航点数："+waypointMissionBuilder.getWaypointCount());
MyLog.d("总距离："+waypointMissionBuilder.calculateTotalDistance());
MyLog.d("总时间："+waypointMissionBuilder.calculateTotalTime());
mButtonDelete.setVisibility(View.GONE);
}


/**
*定位成功后回调函数
*/
@Override
publicvoidonLocationChanged(AMapLocationamapLocation){
if(mListener!=null&&amapLocation!=null){
if(amapLocation!=null
&&amapLocation.getErrorCode()==0){
D_latitude=amapLocation.getLatitude();//获取纬度
D_longitude=amapLocation.getLongitude();//获取经度
mListener.onLocationChanged(amapLocation);//显示系统小蓝点
aMap.moveCamera(CameraUpdateFactory.zoomTo(18));
}else{
StringerrText="定位失败,"+amapLocation.getErrorCode()+":"+amapLocation.getErrorInfo();
Log.e("AmapErr",errText);
}
}
}

@Override
publicvoidactivate(OnLocationChangedListenerlistener){
mListener=listener;
if(mlocationClient==null){
try{
mlocationClient=newAMapLocationClient(this);
}catch(Exceptione){
e.printStackTrace();
}
mLocationOption=newAMapLocationClientOption();
//设置定位监听
mlocationClient.setLocationListener(this);
//设置为高精度定位模式
mLocationOption.setLocationMode(AMapLocationClientOption.AMapLocationMode.Hight_Accuracy);
//设置定位参数
mLocationOption.setOnceLocation(true);
mlocationClient.setLocationOption(mLocationOption);
//此方法为每隔固定时间会发起一次定位请求，为了减少电量消耗或网络流量消耗，
//注意设置合适的定位时间的间隔（最小间隔支持为2000ms），并且在合适时间调用stopLocation()方法来取消定位请求
//在定位结束后，在合适的生命周期调用onDestroy()方法
//在单次定位情况下，定位无论成功与否，都无需调用stopLocation()方法移除请求，定位sdk内部会移除
mlocationClient.startLocation();
}
}

@Override
publicvoiddeactivate(){
mListener=null;
if(mlocationClient!=null){
mlocationClient.stopLocation();
mlocationClient.onDestroy();
}
mlocationClient=null;
}

@Override
publicViewgetInfoWindow(Markermarker){
if(infoWindow==null){
infoWindow=LayoutInflater.from(this).inflate(R.layout.amap_info_window,null);
}
render(marker,infoWindow);
returninfoWindow;
}

/**
*自定义infoWindow窗口
*/
privatevoidrender(Markermarker,ViewinfoWindow){
TextViewtitle=infoWindow.findViewById(R.id.info_window_title);
TextViewcontent=infoWindow.findViewById(R.id.info_window_content);
title.setText(marker.getTitle());
content.setText(marker.getSnippet());
}


@Override
publicViewgetInfoContents(Markermarker){
returnnull;
}

@Override
publicbooleanonMarkerClick(Markermarker){
marker.showInfoWindow();
mClickMarker=marker;
mButtonDelete.setVisibility(View.VISIBLE);
//aMap.moveCamera(CameraUpdateFactory.newCameraPosition(newCameraPosition(marker.getPosition(),18,0,0)));
returntrue;
}

privatevoidshowSettingDialog(){
LinearLayoutwayPointSettings=(LinearLayout)getLayoutInflater().inflate(R.layout.dialog_waypointsetting,null);

finalTextViewwpAltitude_TV=(TextView)wayPointSettings.findViewById(R.id.altitude);
RadioGroupspeed_RG=(RadioGroup)wayPointSettings.findViewById(R.id.speed);
RadioGroupactionAfterFinished_RG=(RadioGroup)wayPointSettings.findViewById(R.id.actionAfterFinished);
RadioGroupheading_RG=(RadioGroup)wayPointSettings.findViewById(R.id.heading);
wpAltitude_TV.setText(Math.round(altitude)+"");
if(speed_RG_id!=0){
RadioButtonradioButton=(RadioButton)speed_RG.findViewById(speed_RG_id);
radioButton.setChecked(true);
}
if(actionAfterFinished_RG_id!=0){
RadioButtonradioButton=(RadioButton)actionAfterFinished_RG.findViewById(actionAfterFinished_RG_id);
radioButton.setChecked(true);
}
if(heading_RG_id!=0){
RadioButtonradioButton=(RadioButton)heading_RG.findViewById(heading_RG_id);
radioButton.setChecked(true);
}
speed_RG.setOnCheckedChangeListener(newRadioGroup.OnCheckedChangeListener(){
@Override
publicvoidonCheckedChanged(RadioGroupgroup,intcheckedId){
if(checkedId==R.id.lowSpeed){
mSpeed=3.0f;
}elseif(checkedId==R.id.MidSpeed){
mSpeed=5.0f;
}elseif(checkedId==R.id.HighSpeed){
mSpeed=10.0f;
}
speed_RG_id=checkedId;
}

});

actionAfterFinished_RG.setOnCheckedChangeListener(newRadioGroup.OnCheckedChangeListener(){

@Override
publicvoidonCheckedChanged(RadioGroupgroup,intcheckedId){
MyLog.d("选择动作完成");
if(checkedId==R.id.finishNone){
mFinishedAction=WaypointMissionFinishedAction.NO_ACTION;
FinishedAction="0";
}elseif(checkedId==R.id.finishGoHome){
mFinishedAction=WaypointMissionFinishedAction.GO_HOME;
FinishedAction="1";
}elseif(checkedId==R.id.finishAutoLanding){
mFinishedAction=WaypointMissionFinishedAction.AUTO_LAND;
FinishedAction="2";
}elseif(checkedId==R.id.finishToFirst){
mFinishedAction=WaypointMissionFinishedAction.GO_FIRST_WAYPOINT;
FinishedAction="3";
}
actionAfterFinished_RG_id=checkedId;
}
});

heading_RG.setOnCheckedChangeListener(newRadioGroup.OnCheckedChangeListener(){
@Override
publicvoidonCheckedChanged(RadioGroupgroup,intcheckedId){
MyLog.d("选择标题");
if(checkedId==R.id.headingNext){
mHeadingMode=WaypointMissionHeadingMode.AUTO;
HeadingMode="0";
}elseif(checkedId==R.id.headingInitDirec){
mHeadingMode=WaypointMissionHeadingMode.USING_INITIAL_DIRECTION;
HeadingMode="1";
}elseif(checkedId==R.id.headingRC){
mHeadingMode=WaypointMissionHeadingMode.CONTROL_BY_REMOTE_CONTROLLER;
HeadingMode="2";
}elseif(checkedId==R.id.headingWP){
mHeadingMode=WaypointMissionHeadingMode.USING_WAYPOINT_HEADING;
HeadingMode="3";
}
heading_RG_id=checkedId;
}
});

newAlertDialog.Builder(this)
.setTitle("航点设置")
.setView(wayPointSettings)
.setNeutralButton("设置",newDialogInterface.OnClickListener(){
publicvoidonClick(DialogInterfacedialog,intid){
StringaltitudeString=wpAltitude_TV.getText().toString();
altitude=Integer.parseInt(nulltoIntegerDefalt(altitudeString));
MyLog.e("altitude"+altitude);
MyLog.e("speed"+mSpeed);
MyLog.e("mFinishedAction"+mFinishedAction);
MyLog.e("mHeadingMode"+mHeadingMode);
configWayPointMission();
}
})
.setCancelable(false)
.create()
.show();
}

StringnulltoIntegerDefalt(Stringvalue){
if(!isIntValue(value))
value="0";
returnvalue;
}

booleanisIntValue(Stringval){
try{
val=val.replace("","");
Integer.parseInt(val);
}catch(Exceptione){
returnfalse;
}
returntrue;
}

privatevoidconfigWayPointMission(){

if(waypointMissionBuilder==null){

waypointMissionBuilder=newWaypointMission.Builder().finishedAction(mFinishedAction)
.headingMode(mHeadingMode)
.autoFlightSpeed(mSpeed)
.maxFlightSpeed(mSpeed)
.flightPathMode(WaypointMissionFlightPathMode.NORMAL);

}else{
waypointMissionBuilder.finishedAction(mFinishedAction)
.headingMode(mHeadingMode)
.autoFlightSpeed(mSpeed)
.maxFlightSpeed(mSpeed)
.flightPathMode(WaypointMissionFlightPathMode.NORMAL);

}

if(waypointMissionBuilder.getWaypointList().size()>0){
for(inti=0;i-1){
refreshMapPoint(Id);
}
break;
case102:
if(data.getData()!=null){
Uriuri=data.getData();//得到uri，后面就是将uri转化成file的过程。
Stringimg_path=uri.getPath();
try{
if(!TextUtils.isEmpty(img_path)){
readKml.parseKml(img_path);
addSampleMarker();
}
}catch(Exceptione){
e.printStackTrace();
}
}
break;
default:
break;
}

}

privatevoidrefreshMapPoint(intid){
aMap.clear();
mMarkers.clear();
mPointInfo.clear();
mLinearLayoutInformation.setVisibility(View.GONE);
mButtonFinish.setVisibility(View.GONE);
mButtonSetting.setVisibility(View.GONE);
mButtonUpload.setVisibility(View.GONE);
mButtonStart.setVisibility(View.GONE);
mButtonStop.setVisibility(View.GONE);
waypointList.clear();
mSQLiteHelper=newSQLiteHelper(SettingRouteActivity.this);
Cursorc=mSQLiteHelper.doSelectWaypoint(id);
if(c!=null){
if(c.moveToNext()){
MyLog.d("航点："+"{'pointInfo':"+c.getString(1)+"}");
mPointInfo.addAll(GsonUtil.GsonToBean("{'pointInfo':"+c.getString(1)+"}",Root.class).getPointInfo());
altitude=c.getFloat(2);
mSpeed=c.getFloat(3);
switch(c.getString(4)){
case"0":
mHeadingMode=WaypointMissionHeadingMode.AUTO;
break;
case"1":
mHeadingMode=WaypointMissionHeadingMode.USING_INITIAL_DIRECTION;
break;
case"2":
mHeadingMode=WaypointMissionHeadingMode.CONTROL_BY_REMOTE_CONTROLLER;
break;
case"3":
mHeadingMode=WaypointMissionHeadingMode.USING_WAYPOINT_HEADING;
break;
case"4":
mHeadingMode=WaypointMissionHeadingMode.TOWARD_POINT_OF_INTEREST;
break;
}
switch(c.getString(5)){
case"0":
mFinishedAction=WaypointMissionFinishedAction.NO_ACTION;
break;
case"1":
mFinishedAction=WaypointMissionFinishedAction.GO_HOME;
break;
case"2":
mFinishedAction=WaypointMissionFinishedAction.AUTO_LAND;
break;
case"3":
mFinishedAction=WaypointMissionFinishedAction.GO_FIRST_WAYPOINT;
break;
case"4":
mFinishedAction=WaypointMissionFinishedAction.CONTINUE_UNTIL_END;
break;
}
}
}
for(inti=0;i0){
mLatLng.clear();
PolylineOptionsPolylineOptions=newPolylineOptions();
for(inti=0;i0){
for(inti=0;i


	

	3

	航线管理

	创建activity_waypoint.xml和WaypointActivity文件。

	activity_waypoint.xml

	







	

	WaypointActivity

	
@Layout(R.layout.activity_waypoint)
publicclassWaypointActivityextendsBaseActivityimplementsView.OnClickListener{
@BindView(R.id.layout_waypoint)
ViewmViewLayoutToolbar;
@BindView(R.id.ll_waypoint)
LinearLayoutmLinearLayout;
@BindView(R.id.tv_toolbar_title)
TextViewmTextViewToolbarTitle;
@BindView(R.id.rv_waypoint)
RecyclerViewmRecyclerView;

privateSQLiteHelpermSQLiteHelper;
privateListmWaypointInfo=newArrayList<>();
privateWaypointAdaptermWaypointAdapter;

privateListmWaypointId=newArrayList<>();
privateStringStrId="";

@Override
publicvoidinitViews(){
mLinearLayout.setVisibility(View.VISIBLE);
mTextViewToolbarTitle.setText("航线管理");
MyStatic.isChoose=false;
}

@Override
publicvoidinitDatas(){
mSQLiteHelper=newSQLiteHelper(WaypointActivity.this);
Cursorc=mSQLiteHelper.doSelect();
if(c!=null){
while(c.moveToNext()){
mWaypointInfo.add(newWaypointInfo(c.getInt(0),c.getString(1),c.getFloat(2),c.getFloat(3),
c.getString(4),c.getString(5),c.getString(6),c.getInt(7),c.getInt(8),
c.getInt(9),c.getString(10)));
}
}
c.close();
mSQLiteHelper.close();
mWaypointAdapter=newWaypointAdapter(R.layout.item_waypoint);
mWaypointAdapter.setNewData(mWaypointInfo);
initRv(mRecyclerView,mWaypointAdapter);
mWaypointAdapter.setOnItemChildClickListener(newBaseQuickAdapter.OnItemChildClickListener(){
@Override
publicvoidonItemChildClick(BaseQuickAdapteradapter,Viewview,intposition){
Intentintent=newIntent();
intent.putExtra("id",mWaypointInfo.get(position).getId());
setResult(RESULT_OK,intent);
finish();
}
});
mWaypointAdapter.setOnCheckboxCheckedListener(newWaypointAdapter.OnCheckboxCheckedListener(){
@Override
publicvoidOnCheckboxChecked(booleanisCheck,intposition){
if(isCheck){
mWaypointId.add(position);
}else{
if(mWaypointId.contains(position)){
mWaypointId.remove(position);
}
}
}
});

}

@Override
protectedvoidrequestData(){

}

@OnClick({R.id.img_way_choose,R.id.img_way_delete,R.id.img_back})
@Override
publicvoidonClick(Viewv){
switch(v.getId()){
caseR.id.img_way_choose:
if(MyStatic.isChoose){
MyStatic.isChoose=false;
}else{
MyStatic.isChoose=true;
}
if(mWaypointAdapter!=null){
mWaypointAdapter.notifyDataSetChanged();
}
break;
caseR.id.img_way_delete:
if(mWaypointId.size()>0){
for(inti=0;i

	

	以上代码仅供参考，如果想了解更多的大疆无人机二次开发过程可以私信我，源代码因为涉及到商业使用不能给大家共享，有什么问题我可以帮你解决。

	审核编辑：汤梓红