dji-sdk / mobile-uxsdk-beta-android Goto Github PK

Aircraft aircraft = (Aircraft) DJISDKManager.getInstance().getProduct();
        if (aircraft != null) {
            FlightController flightController = aircraft.getFlightController();
            RTK rtk = flightController.getRTK();
            // 检查设备是否支持 RTK
            boolean rtkSupported = flightController.isRTKSupported();
            if (rtkSupported) {
                // 启用 RTK 模块
                Objects.requireNonNull(rtk).setRtkEnabled(true, new CommonCallbacks.CompletionCallback() {
                    @Override
                    public void onResult(DJIError djiError) {
                        showToast("启用 RTK 模块: " + djiError);
                    }
                });

                // 判断是否成功开启 RTK
                Objects.requireNonNull(rtk).getRtkEnabled(new CommonCallbacks.CompletionCallbackWith<Boolean>() {
                    @Override
                    public void onSuccess(Boolean aBoolean) {
                        showToast("获取 RTK 状态成功: " + aBoolean);
                    }

                    @Override
                    public void onFailure(DJIError djiError) {
                        showToast("获取 RTK 状态失败: " + djiError);
                    }
                });

            }

            // 设置信号源: 网络 RTK
            Objects.requireNonNull(flightController.getRTK()).setReferenceStationSource(ReferenceStationSource
                    .BASE_STATION, new CommonCallbacks.CompletionCallback() {
                @Override
                public void onResult(DJIError djiError) {
                    showToast("设置信号源为: BASE_STATION: " + djiError);
                }
            });
            flightController.getRTK().addReferenceStationSourceCallback(new ReferenceStationSource.Callback() {
                @Override
                public void onReferenceStationSourceUpdate(ReferenceStationSource referenceStationSource) {
                    showToast("查看当前信号源: " + referenceStationSource.toString());
                }
            });
        }

E/AndroidRuntime: FATAL EXCEPTION: main
    Process: com.flyby.pilot, PID: 14394
    java.lang.ClassCastException: java.lang.NullPointerException cannot be cast to dji.ux.beta.core.base.UXSDKError
        at dji.ux.beta.core.panel.listitem.unittype.UnitModeListItemWidget$onOptionTapped$2.accept(UnitModeListItemWidget.kt:171)
        at dji.ux.beta.core.panel.listitem.unittype.UnitModeListItemWidget$onOptionTapped$2.accept(UnitModeListItemWidget.kt:67)
        at dji.thirdparty.io.reactivex.internal.observers.CallbackCompletableObserver.onError(Unknown Source)
        at dji.thirdparty.io.reactivex.internal.observers.CallbackCompletableObserver.onComplete(Unknown Source)
        at dji.thirdparty.io.reactivex.internal.operators.completable.CompletableObserveOn$ObserveOnCompletableObserver.run(Unknown Source)
        at dji.thirdparty.io.reactivex.android.schedulers.HandlerScheduler$ScheduledRunnable.run(Unknown Source)
        at android.os.Handler.handleCallback(Handler.java:755)
        at android.os.Handler.dispatchMessage(Handler.java:95)
        at android.os.Looper.loop(Looper.java:167)
        at android.app.ActivityThread.main(ActivityThread.java:6240)
        at java.lang.reflect.Method.invoke(Native Method)

public void centerMap() {
   mapWidget.setMapCenterLock(MapWidget.MapCenterLock.AIRCRAFT);
   mapWidget.setMapCenterLock(MapWidget.MapCenterLock.NONE);
}

   Not supported(255)
        at dji.ux.beta.core.base.DJISDKModel$3.onFailure(DJISDKModel.java:212)
        at dji.keysdk.KeyManager$3.onFails(Unknown Source:6)
        at dji.sdksharedlib.hardware.abstractions.gfd.run(Unknown Source:8)
        at android.os.Handler.handleCallback(Handler.java:873)
        at android.os.Handler.dispatchMessage(Handler.java:99)
        at android.os.Looper.loop(Looper.java:214)
        at android.app.ActivityThread.main(ActivityThread.java:7073)
        at java.lang.reflect.Method.invoke(Native Method)
        at com.android.internal.os.RuntimeInit$MethodAndArgsCaller.run(RuntimeInit.java:494)
        at com.android.internal.os.ZygoteInit.main(ZygoteInit.java:964)

dji.thirdparty.io.reactivex.exceptions.MissingBackpressureException: Could not deliver value due to lack of requests
        at dji.thirdparty.io.reactivex.processors.BehaviorProcessor$BehaviorSubscription.test()
        at dji.thirdparty.io.reactivex.processors.BehaviorProcessor$BehaviorSubscription.emitNext()
        at dji.thirdparty.io.reactivex.processors.BehaviorProcessor.onNext()
        at dji.ux.beta.core.util.DataProcessor.onNext(DataProcessor.java:64)
        at dji.ux.beta.core.widget.compass.CompassWidgetModel.updateStates(CompassWidgetModel.kt:188)
        at dji.ux.beta.core.widget.compass.CompassWidgetModel.onSensorChanged(CompassWidgetModel.kt:240)
        at android.hardware.SystemSensorManager$SensorEventQueue.dispatchSensorEvent(SystemSensorManager.java:699)
        at android.os.MessageQueue.nativePollOnce(Native Method)
        at android.os.MessageQueue.next(MessageQueue.java:323)
        at android.os.Looper.loop(Looper.java:136)
        at android.app.ActivityThread.main(ActivityThread.java:6240)
        at java.lang.reflect.Method.invoke(Native Method)
        at com.android.internal.os.ZygoteInit$MethodAndArgsCaller.run(ZygoteInit.java:1000)
        at com.android.internal.os.ZygoteInit.main(ZygoteInit.java:868)

fpvWidget.getWidgetStateUpdate()
            .observeOn(AndroidSchedulers.mainThread())
            .subscribe(fpvWidgetState -> {
                if (fpvWidgetState instanceof FPVWidget.FPVWidgetState.ProductConnected) {
                    FPVWidget.FPVWidgetState.ProductConnected productConnected = (FPVWidget.FPVWidgetState.ProductConnected) fpvWidgetState;
                    Log.d(TAG, "Product connected: " + productConnected.isConnected());
                }
                if (fpvWidgetState instanceof FPVWidget.FPVWidgetState.VideoFeedUpdate) {
                    FPVWidget.FPVWidgetState.VideoFeedUpdate videoFeedUpdate = (FPVWidget.FPVWidgetState.VideoFeedUpdate) fpvWidgetState;
                    Log.d(TAG, "Feed size: " + videoFeedUpdate.getSize());
                    Log.d(TAG, "Buffer: " + Arrays.toString(videoFeedUpdate.getVideoBuffer()));
                }
            });

override fun onCreate() {
        super.onCreate()
        GlobalPreferencesManager.initialize(AppGlobalPreferences(this))
        UXKeys.addNewKeyClass(CustomKeys::class.java)
  }

implementation ('com.dji:dji-sdk:4.16.1')
compileOnly ('com.dji:dji-sdk-provided:4.16.1')
implementation 'com.github.dji-sdk:Mobile-UXSDK-Beta-Android:v0.5.1'

FlightController flightController = djiDroneData.getFlightController();
                flightController.setVirtualStickAdvancedModeEnabled(true);
                flightController.setRollPitchControlMode(RollPitchControlMode.VELOCITY);
                flightController.setRollPitchCoordinateSystem(FlightCoordinateSystem.BODY);
                flightController.setVerticalControlMode(VerticalControlMode.VELOCITY);
                flightController.setYawControlMode(YawControlMode.ANGULAR_VELOCITY);

                djiDroneData.getFlightController().sendVirtualStickFlightControlData(
                        new FlightControlData(
                                mPitch, mRoll, mYaw, mThrottle
                        ), new CommonCallbacks.CompletionCallback() {
                            @Override
                            public void onResult(DJIError djiError) {
                                if (djiError != null) {
                                    Log.e(TAG, djiError.getDescription());
                                } else {
                                    Log.d(TAG, String.format("Attitude: %f %f %f %f", mPitch, mRoll, mYaw, mThrottle));
                                }
                            }
                        }
                );

Fatal Exception: kotlin.TypeCastException: null cannot be cast to non-null type android.widget.RadioButton
       at dji.ux.beta.core.base.widget.ListItemRadioButtonWidget.setSelected(ListItemRadioButtonWidget.kt:196)
       at dji.ux.beta.core.listitemwidget.rcstickmode.RCStickModeListItemWidget.updateUI(RCStickModeListItemWidget.kt:121)
       at dji.ux.beta.core.listitemwidget.rcstickmode.RCStickModeListItemWidget.access$updateUI(RCStickModeListItemWidget.kt:50)
       at dji.ux.beta.core.listitemwidget.rcstickmode.RCStickModeListItemWidget$reactToModelChanges$1.accept(RCStickModeListItemWidget.kt:81)
       at dji.ux.beta.core.listitemwidget.rcstickmode.RCStickModeListItemWidget$reactToModelChanges$1.accept(RCStickModeListItemWidget.kt:50)
       at dji.thirdparty.io.reactivex.internal.subscribers.LambdaSubscriber.onNext(:8)
       at dji.thirdparty.io.reactivex.internal.operators.flowable.FlowableObserveOn$ObserveOnSubscriber.runAsync(:68)
       at dji.thirdparty.io.reactivex.internal.operators.flowable.FlowableObserveOn$BaseObserveOnSubscriber.run(:17)
       at dji.thirdparty.io.reactivex.android.schedulers.HandlerScheduler$ScheduledRunnable.run(:2)
       at android.os.Handler.handleCallback(Handler.java:938)
       at android.os.Handler.dispatchMessage(Handler.java:99)
       at android.os.Looper.loop(Looper.java:246)
       at android.app.ActivityThread.main(ActivityThread.java:8512)
       at java.lang.reflect.Method.invoke(Method.java)
       at com.android.internal.os.RuntimeInit$MethodAndArgsCaller.run(RuntimeInit.java:596)
       at com.android.internal.os.ZygoteInit.main(ZygoteInit.java:1130)

AAPT: error: resource attr/uxsdk_cameraColorTextAppearance
AAPT: error: resource attr/uxsdk_cameraColorTextColor
AAPT: error: resource attr/uxsdk_cameraColorTextBackground
AAPT: error: resource attr/uxsdk_cameraColorTextSize
AAPT: error: resource attr/uxsdk_titleTextBackground
AAPT: error: resource attr/uxsdk_titleTextBackground

E/AndroidRuntime: FATAL EXCEPTION: main
    Process: com.flyby.pilot, PID: 9846
    java.lang.NullPointerException: Attempt to invoke interface method 'boolean dji.ux.beta.core.base.GlobalPreferencesInterface.isAirSenseTermsNeverShown()' on a null object reference
        at dji.ux.beta.core.widget.airsense.AirSenseWidget.showWarningDialog(:282)
        at dji.ux.beta.core.widget.airsense.AirSenseWidget.updateAirSenseWarningLevel(:248)
        at dji.ux.beta.core.widget.airsense.AirSenseWidget.access$updateAirSenseWarningLevel(:91)
        at dji.ux.beta.core.widget.airsense.AirSenseWidget$reactToModelChanges$1.accept(:231)
        at dji.ux.beta.core.widget.airsense.AirSenseWidget$reactToModelChanges$1.accept(:91)
        at dji.thirdparty.io.reactivex.internal.subscribers.LambdaSubscriber.onNext()
        at dji.thirdparty.io.reactivex.internal.operators.flowable.FlowableObserveOn$ObserveOnSubscriber.runAsync()
        at dji.thirdparty.io.reactivex.internal.operators.flowable.FlowableObserveOn$BaseObserveOnSubscriber.run()
        at dji.thirdparty.io.reactivex.android.schedulers.HandlerScheduler$ScheduledRunnable.run()
        at android.os.Handler.handleCallback(Handler.java:755)
        at android.os.Handler.dispatchMessage(Handler.java:95)
        at android.os.Looper.loop(Looper.java:167)
        at android.app.ActivityThread.main(ActivityThread.java:6240)
        at java.lang.reflect.Method.invoke(Native Method)
        at com.android.internal.os.ZygoteInit$MethodAndArgsCaller.run(ZygoteInit.java:1000)
        at com.android.internal.os.ZygoteInit.main(ZygoteInit.java:868)
E/fdd: runMethod: null

<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android" xmlns:app= "http://schemas.android.com/apk/res-auto"
    xmlns:tools="http://schemas.android.com/tools"
    xmlns:custom="http://schemas.android.com/apk/res-auto"
    android:layout_width="match_parent"
    android:layout_height="match_parent"
    android:orientation="horizontal"
    android:layout_gravity="center"
    android:layout_centerHorizontal="true"
    tools:context=".MainActivity">

    <dji.ux.beta.core.panelwidget.topbar.TopBarPanelWidget
        android:id="@+id/panel_top_bar"
        android:layout_width="0dp"
        android:layout_height="0dp"
        android:background="@color/black"
        app:layout_constraintHeight_percent="0.08"
        app:layout_constraintStart_toStartOf="parent"
        app:layout_constraintTop_toTopOf="parent" />

     [...]

</androidx.constraintlayout.widget.ConstraintLayout>

private void initFlightController() {

    BaseProduct product = SampleApplication.getProductInstance();
    if (product != null && product.isConnected()) {
        if (product instanceof Aircraft) {
            mFlightController = ((Aircraft) product).getFlightController();
            Log.d(TAG, "mFlightController :"+mFlightController);
            Log.d(TAG, "getAircraftlocaiton :"+mFlightController.getState().getAircraftLocation());



        }
    }

    if (mFlightController != null) {
        mFlightController.setStateCallback(new FlightControllerState.Callback() {

            @Override
            public void onUpdate(FlightControllerState djiFlightControllerCurrentState) {
                droneLocationLat = djiFlightControllerCurrentState.getAircraftLocation().getLatitude();
                droneLocationLng = djiFlightControllerCurrentState.getAircraftLocation().getLongitude();
                Log.d(TAG, "droneLocationLat :"+droneLocationLat+",\""+"droneLocationLng :"+droneLocationLng);
                Log.d(TAG, "getAircraftlocaiton :"+mFlightController.getState().getAircraftLocation());
                updateDroneLocation();
            }
        });
    }
}

private void updateDroneLocation(){

    DJILatLng pos = new DJILatLng(droneLocationLat, droneLocationLng);
    //Create MarkerOptions object
    final DJIMarkerOptions markerOptions = new DJIMarkerOptions();
    markerOptions.position(pos);
    markerOptions.icon(DJIBitmapDescriptorFactory.fromResource(R.drawable.ic_drone));

    runOnUiThread(new Runnable() {
        @Override
        public void run() {
            if (droneMarker != null) {
                droneMarker.remove();
            }

            if (checkGpsCoordination(droneLocationLat, droneLocationLng)) {
                droneMarker = mapWidget.getMap().addMarker(markerOptions);
            }
        }
    });
}

public static boolean checkGpsCoordination(double latitude, double longitude) {
    return (latitude > -90 && latitude < 90 && longitude > -180 && longitude < 180) && (latitude != 0f && longitude != 0f);
}