基于Mobile SDK V4版固件开发大疆无人机手机端遥控器（3）

电子设计联盟 · 发表于 2023-6-15 12:00:00

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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。

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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。

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设置完成后会显示总距离及飞行总时间。

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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。

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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。

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航线管理

按钮即可进入航线管理界面。

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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。. H) e$ m& v; F  H" ~0 J& I) u

activity_setting_route.xml

Linearlayout 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"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:orientation="vertical"
tools:context=".ui.SettingRouteActivity">
include
      android:id="@+id/layout_route"
      layout="@layout/activity_toolbar">include>
RelativeLayout
      android:layout_width="match_parent"
      android:layout_height="match_parent">
      com.amap.api.maps.MapView
         android:id="@+id/map"
         android:layout_width="match_parent"
         android:layout_height="match_parent" />
      LinearLayout
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:layout_alignParentTop="true"
         android:layout_centerInParent="true"
         android:layout_marginTop="5dp">
         Button
            android:id="@+id/btn_delete"
            android:layout_width="60dp"
            android:layout_height="30dp"
            android:visibility="gone"
            android:text="删除"
            android:textColor="@color/white"
            android:background="@drawable/button_task_background">Button>
         Button
            android:id="@+id/btn_finish"
            android:layout_width="60dp"
            android:layout_height="30dp"
            android:visibility="gone"
            android:textColor="@color/white"
            android:background="@drawable/button_task_background"
            android:text="完成">Button>
         Button
            android:id="@+id/btn_setting"
            android:layout_width="60dp"
            android:layout_height="30dp"
            android:visibility="gone"
            android:textColor="@color/white"
            android:background="@drawable/button_task_background"
            android:text="设置">Button>
         Button
            android:id="@+id/btn_upload"
            android:layout_width="60dp"
            android:layout_height="30dp"
            android:visibility="gone"
            android:textColor="@color/white"
            android:background="@drawable/button_task_background"
            android:text="上传">Button>
         Button
            android:id="@+id/btn_start"
            android:layout_width="60dp"
            android:layout_height="30dp"
            android:visibility="gone"
            android:textColor="@color/white"
            android:background="@drawable/button_task_background"
            android:text="开始">Button>
         Button
            android:id="@+id/btn_stop"
            android:layout_width="60dp"
            android:layout_height="30dp"
            android:visibility="gone"
            android:textColor="@color/white"
            android:background="@drawable/button_task_background"
            android:text="暂停">Button>
      LinearLayout>
      LinearLayout
         android:id="@+id/ll_information"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:layout_alignParentBottom="true"
         android:layout_centerInParent="true"
         android:layout_marginBottom="5dp"
         android:padding="10dp"
         android:visibility="gone"
         android:background="@color/color_nav_Item_unselected">
         TextView
            android:id="@+id/tv_height"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="高度："
            android:textColor="@color/white"
            >TextView>
         TextView
            android:id="@+id/tv_speed"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="速度："
            android:textColor="@color/white"
            android:layout_marginLeft="10dp"
            >TextView>
         TextView
            android:id="@+id/tv_count"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="航点数："
            android:textColor="@color/white"
            android:layout_marginLeft="10dp"
            >TextView>
         TextView
            android:id="@+id/tv_distance"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="总距离："
            android:textColor="@color/white"
            android:layout_marginLeft="10dp"
            >TextView>
         TextView
            android:id="@+id/tv_time"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="总时间："
            android:textColor="@color/white"
            android:layout_marginLeft="10dp"
            >TextView>
      LinearLayout>
RelativeLayout>
LinearLayout>
SettingRouteActivity

public class SettingRouteActivity extends BaseActivity implements AMap.OnMarkerClickListener, View.OnClickListener, AMap.OnMapClickListener, LocationSource, AMapLocationListener, AMap.InfoWindowAdapter {
@BindView(R.id.layout_route)
      View mViewLayoutToolbar;
      @BindView(R.id.ll_route)
      LinearLayout mLinearLayout;
      @BindView(R.id.tv_toolbar_title)
      TextView mTextViewToolbarTitle;
// @BindView(R.id.map)
// MapView mMapView;
      @BindView(R.id.btn_delete)
      Button mButtonDelete;
      @BindView(R.id.btn_finish)
      Button mButtonFinish;
      @BindView(R.id.btn_setting)
      Button mButtonSetting;
      @BindView(R.id.btn_upload)
      Button mButtonUpload;
      @BindView(R.id.btn_start)
      Button mButtonStart;
      @BindView(R.id.btn_stop)
      Button mButtonStop;
      @BindView(R.id.ll_information)
      LinearLayout mLinearLayoutInformation;
      @BindView(R.id.tv_height)
      TextView mTextViewHeight;
      @BindView(R.id.tv_speed)
      TextView mTextViewSpeed;
      @BindView(R.id.tv_count)
      TextView mTextViewCount;
      @BindView(R.id.tv_distance)
      TextView mTextViewDistance;
      @BindView(R.id.tv_time)
      TextView mTextViewTime;
      private MapView mMapView;
      private OnLocationChangedListener mListener;
      private AMapLocationClient mlocationClient;
      private AMapLocationClientOption mLocationOption;
      private double D_latitude, D_longitude;
      private UiSettings mUiSettings;
      private AMap aMap;
      private Marker droneMarker = null;
      private float altitude = 100.0f;
      private float mSpeed = 10.0f;
      private boolean isAdd = false;
      private final Map[I] mMarkers = new ConcurrentHashMap[I]();
      private Marker mClickMarker;
      private List waypointList = new ArrayList();
      private List mLatLng = new ArrayList();
      private List mPointInfo = new ArrayList();
      public static WaypointMission.Builder waypointMissionBuilder;
      private FlightController mFlightController;
      private WaypointMissionOperator instance;
      private WaypointMissionFinishedAction mFinishedAction = WaypointMissionFinishedAction.NO_ACTION;
      private WaypointMissionHeadingMode mHeadingMode = WaypointMissionHeadingMode.AUTO;
      private SQLiteHelper mSQLiteHelper;
      private String FinishedAction, HeadingMode;
      //自定义窗体
      View infoWindow = null;
      int speed_RG_id = 0;
      int actionAfterFinished_RG_id = 0;
      int heading_RG_id = 0;
      //kim
      static ReadKml readKml = new ReadKml();
      private static List sampleList = readKml.getCoordinateList();
      @Override
      public void initViews() {
         mLinearLayout.setVisibility(View.VISIBLE);
         mTextViewToolbarTitle.setText("航线规划");
         IntentFilter filter = new IntentFilter();
         filter.addAction(ReceiverApplication.FLAG_CONNECTION_CHANGE);
         registerReceiver(mReceiver, filter);
         mMapView = findViewById(R.id.map);
         mMapView.onCreate(InstanceState);
         initMapView();
         addListener();
         onProductConnectionChange();
      }
      @Override
      protected void onResume() {
         super.onResume();
         initFlightController();
         mMapView.onResume();
      }
      /**
      * 方法必须重写
      */
      @Override
      protected void onSaveInstanceState(Bundle outState) {
         super.onSaveInstanceState(outState);
         mMapView.onSaveInstanceState(outState);
      }
      @Override
      protected void onPause() {
         super.onPause();
         mMapView.onPause();
         deactivate();
      }
      @Override
      protected void onDestroy() {
         super.onDestroy();
         unregisterReceiver(mReceiver);
         removeListener();
         mMapView.onDestroy();
         if (null != mlocationClient) {
            mlocationClient.onDestroy();
         }
      }
      @Override
      public void initDatas() {
      }
      @Override
      protected void requestData() {
      }
      private void initMapView() {
         if (aMap == null) {
            aMap = mMapView.getMap();
            mUiSettings = aMap.getUiSettings();
            mUiSettings.setMyLocationButtonEnabled(true);
            mUiSettings.setScaleControlsEnabled(true);
            aMap.setOnMapClickListener(this);// add the listener for click for amap object
            aMap.setLocationSource(this);
            aMap.setMyLocationEnabled(true);
            aMap.setInfoWindowAdapter(this);
            aMap.setOnMarkerClickListener(this);
            setupLocationStyle();
         }
      }
      private void setupLocationStyle() {
         // 自定义系统定位蓝点
         MyLocationStyle myLocationStyle = new MyLocationStyle();
         // 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
      public void onClick(View v) {
         switch (v.getId()) {
            case R.id.img_back:
                  SettingRouteActivity.this.finish();
                  break;
            case R.id.img_kml_input:
                  Intent intent = new Intent(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;
            case R.id.img_setting_route:
                  enableDisableAdd();
                  break;
            case R.id.img_setting_clear:
                  runOnUiThread(new Runnable() {
                     @Override
                     public void run() {
                        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;
            case R.id.img_start_fly:
                  atyAction(WaypointActivity.class, MyStatic.REQUEST_CODE_ID);
                  break;
            case R.id.btn_delete:
                  runOnUiThread(new Runnable() {
                     @Override
                     public void run() {
                        aMap.clear();
                     }
                  });
                  for (int i = 0; i if (mMarkers.get(i).getTitle().equals(mClickMarker.getTitle())) {
                        for (int j = i; j 1; j++) {
                              mMarkers.put(j, mMarkers.get(j + 1));
                        }
                        mMarkers.remove(mMarkers.size() - 1);
                     }
                  }
                  for (int i = 0; i "航点" + (i + 1));
                  }
                  updateMarkWaypoint();
                  break;
            case R.id.btn_finish:
                  MyLog.d("航点数：" + waypointMissionBuilder.getWaypointCount());
                  MyLog.d("总距离：" + waypointMissionBuilder.calculateTotalDistance());
                  MyLog.d("总时间：" + waypointMissionBuilder.calculateTotalTime());
                  isAdd = false;
                  mButtonFinish.setVisibility(View.GONE);
                  mButtonSetting.setVisibility(View.VISIBLE);
                  mButtonUpload.setVisibility(View.VISIBLE);
                  showSettingDialog();
                  break;
            case R.id.btn_setting:
                  showSettingDialog();
                  break;
            case R.id.btn_upload:
                  uploadWayPointMission();
                  break;
            case R.id.btn_start:
                  startWaypointMission();
                  break;
            case R.id.btn_stop:
                  stopWaypointMission();
                  break;
         }
      }
      private void enableDisableAdd() {
         if (isAdd == false) {
            isAdd = true;
            mButtonFinish.setVisibility(View.VISIBLE);
         } else {
            isAdd = false;
         }
      }
      private void initFlightController() {
         BaseProduct product = ReceiverApplication.getProductInstance();
         if (product != null && product.isConnected()) {
            if (product instanceof Aircraft) {
                  mFlightController = ((Aircraft) product).getFlightController();
            }
         }
         if (mFlightController != null) {
            mFlightController.setStateCallback(
                     new FlightControllerState.Callback() {
                        @Override
                        public void onUpdate(FlightControllerState
                                                      djiFlightControllerCurrentState) {
                              if (djiFlightControllerCurrentState.getAircraftLocation().getLatitude() != 0.0 && djiFlightControllerCurrentState.getAircraftLocation().getLongitude() != 0.0) {
                                 D_latitude = djiFlightControllerCurrentState.getAircraftLocation().getLatitude();
                                 D_longitude = djiFlightControllerCurrentState.getAircraftLocation().getLongitude();
                              }
                              updateDroneLocation();
                        }
                     });
         }
      }
      private void updateDroneLocation() {
         LatLng pos = new LatLng(D_latitude, D_longitude);
         //Create MarkerOptions object
         final MarkerOptions markerOptions = new MarkerOptions();
         markerOptions.position(pos);
         markerOptions.icon(BitmapDescriptorFactory.fromResource(R.mipmap.ic_aircraft_write_36dp));
         runOnUiThread(new Runnable() {
            @Override
            public void run() {
                  if (droneMarker != null) {
                     droneMarker.remove();
                  }
                  if (checkGpsCoordination(D_latitude, D_longitude)) {
                     droneMarker = aMap.addMarker(markerOptions);
                  }
            }
         });
      }
      public static boolean checkGpsCoordination(double latitude, double longitude) {
         return (latitude > -90 && latitude 90 && longitude > -180 && longitude 180) && (latitude != 0f && longitude != 0f);
      }
      protected BroadcastReceiver mReceiver = new BroadcastReceiver() {
         @Override
         public void onReceive(Context context, Intent intent) {
            onProductConnectionChange();
         }
      };
      private void onProductConnectionChange() {
         initFlightController();
      }
      private void addListener() {
         if (getWaypointMissionOperator() != null) {
            getWaypointMissionOperator().addListener(eventNotificationListener);
         }
      }
      private void removeListener() {
         if (getWaypointMissionOperator() != null) {
            getWaypointMissionOperator().removeListener(eventNotificationListener);
         }
      }
      private WaypointMissionOperatorListener eventNotificationListener = new WaypointMissionOperatorListener() {
         @Override
         public void onDownloadUpdate(WaypointMissionDownloadEvent downloadEvent) {
         }
         @Override
         public void onUploadUpdate(WaypointMissionUploadEvent uploadEvent) {
         }
         @Override
         public void onExecutionUpdate(WaypointMissionExecutionEvent executionEvent) {
         }
         @Override
         public void onExecutionStart() {
         }
         @Override
         public void onExecutionFinish(@Nullable final DJIError error) {
            showToasts("Execution finished: " + (error == null ? "Success!" : error.getDescription()));
         }
      };
      public WaypointMissionOperator getWaypointMissionOperator() {
         if (instance == null) {
            instance = DJISDKManager.getInstance().getMissionControl().getWaypointMissionOperator();
         }
         return instance;
      }
      @Override
      public void onMapClick(LatLng point) {
         if (isAdd == true) {
            markWaypoint(point);
            Waypoint mWaypoint = new Waypoint(point.latitude, point.longitude, altitude);
            //Add Waypoints to Waypoint arraylist;
            if (waypointMissionBuilder != null) {
                  waypointList.add(mWaypoint);
                  waypointMissionBuilder.waypointList(waypointList).waypointCount(waypointList.size());
            } else {
                  waypointMissionBuilder = new WaypointMission.Builder();
                  waypointList.add(mWaypoint);
                  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");
         } else {
            if (mClickMarker != null && mClickMarker.isInfoWindowShown()) {
                  mClickMarker.hideInfoWindow();
                  mButtonDelete.setVisibility(View.GONE);
            }
            //          showToasts("当前未开启增加点模式");
         }
      }
      private void markWaypoint(LatLng point) {
         MarkerOptions markerOptions = new MarkerOptions();
         markerOptions.position(point);
         mPointInfo.add(new PointInfo(point.latitude, point.longitude));
         markerOptions.title("航点" + (mMarkers.size() + 1));
         markerOptions.snippet("事件：");
         markerOptions.icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_BLUE));
         markerOptions.infoWindowEnable(true);
         Marker marker = aMap.addMarker(markerOptions);
         mMarkers.put(mMarkers.size(), marker);
         marker.showInfoWindow();
         if (mMarkers.size() > 0) {
            mLatLng.clear();
            PolylineOptions PolylineOptions = new PolylineOptions();
            for (int i = 0; i 10);
            PolylineOptions.color(Color.argb(255, 1, 1, 1));
            aMap.addPolyline(PolylineOptions);
         }
      }
      private void updateMarkWaypoint() {
         mLatLng.clear();
         waypointList.clear();
         mPointInfo.clear();
         waypointMissionBuilder.waypointList(waypointList);
         for (int i = 0; i new PointInfo(mMarkers.get(i).getPosition().latitude, mMarkers.get(i).getPosition().longitude));
            MarkerOptions markerOptions = new MarkerOptions();
            Waypoint mWaypoint = new Waypoint(mMarkers.get(i).getPosition().latitude, mMarkers.get(i).getPosition().longitude, altitude);
            waypointList.add(mWaypoint);
            markerOptions.position(mMarkers.get(i).getPosition());
            markerOptions.title(mMarkers.get(i).getTitle());
            markerOptions.snippet(mMarkers.get(i).getSnippet());
            markerOptions.icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_BLUE));
            aMap.addMarker(markerOptions);
            mLatLng.add(mMarkers.get(i).getPosition());
         }
         if (mMarkers.size() > 0) {
            PolylineOptions PolylineOptions = new PolylineOptions();
            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
      public void onLocationChanged(AMapLocation amapLocation) {
         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 {
                  String errText = "定位失败," + amapLocation.getErrorCode() + ": " + amapLocation.getErrorInfo();
                  Log.e("AmapErr", errText);
            }
         }
      }
      @Override
      public void activate(OnLocationChangedListener listener) {
         mListener = listener;
         if (mlocationClient == null) {
            try {
                  mlocationClient = new AMapLocationClient(this);
            } catch (Exception e) {
                  e.printStackTrace();
            }
            mLocationOption = new AMapLocationClientOption();
            //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
      public void deactivate() {
         mListener = null;
         if (mlocationClient != null) {
            mlocationClient.stopLocation();
            mlocationClient.onDestroy();
         }
         mlocationClient = null;
      }
      @Override
      public View getInfoWindow(Marker marker) {
         if (infoWindow == null) {
            infoWindow = LayoutInflater.from(this).inflate(R.layout.amap_info_window, null);
         }
         render(marker, infoWindow);
         return infoWindow;
      }
      /**
      * 自定义infoWindow窗口
      */
      private void render(Marker marker, View infoWindow) {
         TextView title = infoWindow.findViewById(R.id.info_window_title);
         TextView content = infoWindow.findViewById(R.id.info_window_content);
         title.setText(marker.getTitle());
         content.setText(marker.getSnippet());
      }

      @Override
      public View getInfoContents(Marker marker) {
         return null;
      }
      @Override
      public boolean onMarkerClick(Marker marker) {
         marker.showInfoWindow();
         mClickMarker = marker;
         mButtonDelete.setVisibility(View.VISIBLE);
         //       aMap.moveCamera(CameraUpdateFactory.newCameraPosition(new CameraPosition(marker.getPosition(),18,0,0)));
         return true;
      }
      private void showSettingDialog() {
         LinearLayout wayPointSettings = (LinearLayout) getLayoutInflater().inflate(R.layout.dialog_waypointsetting, null);
         final TextView wpAltitude_TV = (TextView) wayPointSettings.findViewById(R.id.altitude);
         RadioGroup speed_RG = (RadioGroup) wayPointSettings.findViewById(R.id.speed);
         RadioGroup actionAfterFinished_RG = (RadioGroup) wayPointSettings.findViewById(R.id.actionAfterFinished);
         RadioGroup heading_RG = (RadioGroup) wayPointSettings.findViewById(R.id.heading);
         wpAltitude_TV.setText(Math.round(altitude) + "");
         if (speed_RG_id != 0) {
            RadioButton radioButton = (RadioButton) speed_RG.findViewById(speed_RG_id);
            radioButton.setChecked(true);
         }
         if (actionAfterFinished_RG_id != 0) {
            RadioButton radioButton = (RadioButton) actionAfterFinished_RG.findViewById(actionAfterFinished_RG_id);
            radioButton.setChecked(true);
         }
         if (heading_RG_id != 0) {
            RadioButton radioButton = (RadioButton) heading_RG.findViewById(heading_RG_id);
            radioButton.setChecked(true);
         }
         speed_RG.setOnCheckedChangeListener(new RadioGroup.OnCheckedChangeListener() {
            @Override
            public void onCheckedChanged(RadioGroup group, int checkedId) {
                  if (checkedId == R.id.lowSpeed) {
                     mSpeed = 3.0f;
                  } else if (checkedId == R.id.MidSpeed) {
                     mSpeed = 5.0f;
                  } else if (checkedId == R.id.HighSpeed) {
                     mSpeed = 10.0f;
                  }
                  speed_RG_id = checkedId;
            }
         });
         actionAfterFinished_RG.setOnCheckedChangeListener(new RadioGroup.OnCheckedChangeListener() {
            @Override
            public void onCheckedChanged(RadioGroup group, int checkedId) {
                  MyLog.d("选择动作完成");
                  if (checkedId == R.id.finishNone) {
                     mFinishedAction = WaypointMissionFinishedAction.NO_ACTION;
                     FinishedAction = "0";
                  } else if (checkedId == R.id.finishGoHome) {
                     mFinishedAction = WaypointMissionFinishedAction.GO_HOME;
                     FinishedAction = "1";
                  } else if (checkedId == R.id.finishAutoLanding) {
                     mFinishedAction = WaypointMissionFinishedAction.AUTO_LAND;
                     FinishedAction = "2";
                  } else if (checkedId == R.id.finishToFirst) {
                     mFinishedAction = WaypointMissionFinishedAction.GO_FIRST_WAYPOINT;
                     FinishedAction = "3";
                  }
                  actionAfterFinished_RG_id = checkedId;
            }
         });
         heading_RG.setOnCheckedChangeListener(new RadioGroup.OnCheckedChangeListener() {
            @Override
            public void onCheckedChanged(RadioGroup group, int checkedId) {
                  MyLog.d("选择标题");
                  if (checkedId == R.id.headingNext) {
                     mHeadingMode = WaypointMissionHeadingMode.AUTO;
                     HeadingMode = "0";
                  } else if (checkedId == R.id.headingInitDirec) {
                     mHeadingMode = WaypointMissionHeadingMode.USING_INITIAL_DIRECTION;
                     HeadingMode = "1";
                  } else if (checkedId == R.id.headingRC) {
                     mHeadingMode = WaypointMissionHeadingMode.CONTROL_BY_REMOTE_CONTROLLER;
                     HeadingMode = "2";
                  } else if (checkedId == R.id.headingWP) {
                     mHeadingMode = WaypointMissionHeadingMode.USING_WAYPOINT_HEADING;
                     HeadingMode = "3";
                  }
                  heading_RG_id = checkedId;
            }
         });
         new AlertDialog.Builder(this)
                  .setTitle("航点设置")
                  .setView(wayPointSettings)
                  .setNeutralButton("设置", new DialogInterface.OnClickListener() {
                     public void onClick(DialogInterface dialog, int id) {
                        String altitudeString = 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();
      }
      String nulltoIntegerDefalt(String value) {
         if (!isIntValue(value))
            value = "0";
         return value;
      }
      boolean isIntValue(String val) {
         try {
            val = val.replace(" ", "");
            Integer.parseInt(val);
         } catch (Exception e) {
            return false;
         }
         return true;
      }
      private void configWayPointMission() {
         if (waypointMissionBuilder == null) {
            waypointMissionBuilder = new WaypointMission.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 (int i = 0; i if (error == null) {
            if (mLinearLayoutInformation.getVisibility() == View.GONE) {
                  mLinearLayoutInformation.setVisibility(View.VISIBLE);
            }
            mTextViewHeight.setText("高度：" + altitude + "m");
            mTextViewSpeed.setText("速度：" + mSpeed + "m/s");
            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());
            showToasts("航路点配置成功");
         } else {
            showToasts("航路点配置失败 " + error.getDescription());
         }
      }
      private void uploadWayPointMission() {
         getWaypointMissionOperator().uploadMission(new CommonCallbacks.CompletionCallback() {
            @Override
            public void onResult(DJIError error) {
                  if (error == null) {
                     runOnUiThread(new Runnable() {
                        @Override
                        public void run() {
                              mButtonSetting.setVisibility(View.GONE);
                              mButtonUpload.setVisibility(View.GONE);
                              mButtonStart.setVisibility(View.VISIBLE);
                              mButtonStop.setVisibility(View.VISIBLE);
                        }
                     });
                     showToasts("任务上传成功!");
                     mSQLiteHelper = new SQLiteHelper(SettingRouteActivity.this);
                     MyLog.d("航点值:" + GsonUtil.GsonString(mPointInfo));
                     mSQLiteHelper.doInsert(GsonUtil.GsonString(mPointInfo), altitude, mSpeed, HeadingMode, FinishedAction,
                              waypointMissionBuilder.getWaypointCount(), Math.round(waypointMissionBuilder.calculateTotalDistance()),
                              Math.round(waypointMissionBuilder.calculateTotalTime()), DateUtils.getCurrentDate());
                     mSQLiteHelper.close();
                  } else {
                     showToasts("任务上传失败, error: " + error.getDescription() + " retrying...");
                     getWaypointMissionOperator().retryUploadMission(null);
                  }
            }
         });
      }
      private void startWaypointMission() {
         getWaypointMissionOperator().startMission(new CommonCallbacks.CompletionCallback() {
            @Override
            public void onResult(DJIError error) {
                  showToasts("任务开始: " + (error == null ? "成功" : "失败：" + error.getDescription()));
            }
         });
      }
      private void stopWaypointMission() {
         getWaypointMissionOperator().stopMission(new CommonCallbacks.CompletionCallback() {
            @Override
            public void onResult(DJIError error) {
                  showToasts("任务暂停: " + (error == null ? "成功" : "失败" + error.getDescription()));
            }
         });
      }
      @Override
      protected void onActivityResult(int requestCode, int resultCode, Intent data) {
         switch (requestCode) {
            case 101:
                  int Id = data.getExtras().getInt("id");
                  MyLog.d("返回的ID：" + Id);
                  if (Id > -1) {
                     refreshMapPoint(Id);
                  }
                  break;
            case 102:
                  if (data.getData() != null) {
                     Uri uri = data.getData();//得到uri，后面就是将uri转化成file的过程。
                     String img_path = uri.getPath();
                     try {
                        if (!TextUtils.isEmpty(img_path)) {
                              readKml.parseKml(img_path);
                              addSampleMarker();
                        }
                     } catch (Exception e) {
                        e.printStackTrace();
                     }
                  }
                  break;
            default:
                  break;
         }
      }
      private void refreshMapPoint(int id) {
         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 = new SQLiteHelper(SettingRouteActivity.this);
         Cursor c = 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 (int i = 0; i new LatLng(mPointInfo.get(i).getLatitude(), mPointInfo.get(i).getLongitude()));
            Waypoint mWaypoint = new Waypoint(mPointInfo.get(i).getLatitude(), mPointInfo.get(i).getLongitude(), altitude);
            if (waypointMissionBuilder != null) {
                  waypointList.add(mWaypoint);
                  waypointMissionBuilder.waypointList(waypointList).waypointCount(waypointList.size());
            } else {
                  waypointMissionBuilder = new WaypointMission.Builder();
                  waypointList.add(mWaypoint);
                  waypointMissionBuilder.waypointList(waypointList).waypointCount(waypointList.size());
            }
         }
         aMap.moveCamera(CameraUpdateFactory.newCameraPosition(new CameraPosition(new LatLng(mPointInfo.get(0).getLatitude(), mPointInfo.get(0).getLongitude()), 18, 0, 0)));
         ResultconfigWayPointMission();
         getWaypointMissionOperator().uploadMission(new CommonCallbacks.CompletionCallback() {
            @Override
            public void onResult(DJIError djiError) {
                  if (djiError == null) {
                     showToasts("获取任务成功!");
                  }
            }
         });
      }
      private void showWaypoint(LatLng point) {
         MarkerOptions markerOptions = new MarkerOptions();
         markerOptions.position(point);
         markerOptions.title("航点" + (mMarkers.size() + 1));
         markerOptions.snippet("事件：");
         markerOptions.icon(BitmapDescriptorFactory.defaultMarker(BitmapDescriptorFactory.HUE_BLUE));
         markerOptions.infoWindowEnable(true);
         Marker marker = aMap.addMarker(markerOptions);
         mMarkers.put(mMarkers.size(), marker);
         marker.showInfoWindow();
         if (mMarkers.size() > 0) {
            mLatLng.clear();
            PolylineOptions PolylineOptions = new PolylineOptions();
            for (int i = 0; i 10);
            PolylineOptions.color(Color.argb(255, 1, 1, 1));
            aMap.addPolyline(PolylineOptions);
         }
      }
      private void ResultconfigWayPointMission() {
         if (waypointMissionBuilder == null) {
            waypointMissionBuilder = new WaypointMission.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 (int i = 0; i if (error == null) {
            if (mLinearLayoutInformation.getVisibility() == View.GONE) {
                  mLinearLayoutInformation.setVisibility(View.VISIBLE);
            }
            mButtonStart.setVisibility(View.VISIBLE);
            mButtonStop.setVisibility(View.VISIBLE);
            mTextViewHeight.setText("高度：" + altitude + "m");
            mTextViewSpeed.setText("速度：" + mSpeed + "m/s");
            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");
         }
      }
      private void addSampleMarker() {
         if (ReadKml.addSampleSuccess) {
            aMap.clear();
            mMarkers.clear();
            mPointInfo.clear();
            waypointList.clear();
            if (mLinearLayoutInformation.getVisibility() == View.VISIBLE) {
                  mLinearLayoutInformation.setVisibility(View.GONE);
            }
            mButtonFinish.setVisibility(View.GONE);
            mButtonSetting.setVisibility(View.GONE);
            mButtonUpload.setVisibility(View.GONE);
            mButtonStart.setVisibility(View.GONE);
            mButtonStop.setVisibility(View.GONE);
            for (int i = 0; i new LatLng(sampleList.get(i).getX(), sampleList.get(i).getY()));
                  Waypoint mWaypoint = new Waypoint(sampleList.get(i).getX(), sampleList.get(i).getY(), altitude);
                  //Add Waypoints to Waypoint arraylist;
                  if (waypointMissionBuilder != null) {
                     waypointList.add(mWaypoint);
                     waypointMissionBuilder.waypointList(waypointList).waypointCount(waypointList.size());
                  } else {
                     waypointMissionBuilder = new WaypointMission.Builder();
                     waypointList.add(mWaypoint);
                     waypointMissionBuilder.waypointList(waypointList).waypointCount(waypointList.size());
                  }
            }
            aMap.moveCamera(CameraUpdateFactory.newCameraPosition(new CameraPosition(new LatLng(sampleList.get(0).getX(), sampleList.get(0).getY()), 18, 0, 0)));
            showSettingDialog();
            mButtonSetting.setVisibility(View.VISIBLE);
            mButtonUpload.setVisibility(View.VISIBLE);
         } else {
            Log.d("MainActivity", "addSampleSuccess is false or aMap is null");
         }
      }

3
航线管理
创建activity_waypoint.xml和WaypointActivity文件。

activity_waypoint.xml

LinearLayout 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"
android:layout_width="match_parent"
android:layout_height="match_parent"
tools:context=".ui.WaypointActivity"
android:orientation="vertical"
android:background="@drawable/shape_corner_eight">
include
      android:id="@+id/layout_waypoint"
      layout="@layout/activity_toolbar">include>
View
      android:layout_width="match_parent"
      android:layout_height="1dp"
      android:background="#5B6782"
      android:layout_marginTop="1dp"
      android:layout_marginRight="20dp"
      android:layout_marginLeft="20dp"
      >View>
androidx.recyclerview.widget.RecyclerView
      android:id="@+id/rv_waypoint"
      android:layout_width="match_parent"
      android:layout_height="match_parent"
      android:layout_marginRight="20dp"
      android:layout_marginLeft="20dp">androidx.recyclerview.widget.RecyclerView>
LinearLayout>
WaypointActivity

@Layout(R.layout.activity_waypoint)
public class WaypointActivity extends BaseActivity implements View.OnClickListener {
@BindView(R.id.layout_waypoint)
View mViewLayoutToolbar;
@BindView(R.id.ll_waypoint)
LinearLayout mLinearLayout;
@BindView(R.id.tv_toolbar_title)
TextView mTextViewToolbarTitle;
@BindView(R.id.rv_waypoint)
RecyclerView mRecyclerView;
private SQLiteHelper mSQLiteHelper;
private List mWaypointInfo = new ArrayList();
private WaypointAdapter mWaypointAdapter;
private List[I] mWaypointId = new ArrayList();
private String StrId = "";
@Override
public void initViews() {
      mLinearLayout.setVisibility(View.VISIBLE);
      mTextViewToolbarTitle.setText("航线管理");
      MyStatic.isChoose = false;
}
@Override
public void initDatas() {
      mSQLiteHelper = new SQLiteHelper(WaypointActivity.this);
      Cursor c = mSQLiteHelper.doSelect();
      if (c!=null){
         while (c.moveToNext()){
            mWaypointInfo.add(new WaypointInfo(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 = new WaypointAdapter(R.layout.item_waypoint);
      mWaypointAdapter.setNewData(mWaypointInfo);
      initRv(mRecyclerView,mWaypointAdapter);
      mWaypointAdapter.setOnItemchildClickListener(new BaseQuickAdapter.OnItemChildClickListener() {
         @Override
         public void onItemChildClick(BaseQuickAdapter adapter, View view, int position) {
            Intent intent = new Intent();
            intent.putExtra("id", mWaypointInfo.get(position).getId());
            setResult(RESULT_OK, intent);
            finish();
         }
      });
      mWaypointAdapter.setOnCheckboxCheckedListener(new WaypointAdapter.OnCheckboxCheckedListener() {
         @Override
         public void OnCheckboxChecked(boolean isCheck, int position) {
            if (isCheck){
                  mWaypointId.add(position);
            }else {
                  if (mWaypointId.contains(position)){
                     mWaypointId.remove(position);
                  }
            }
         }
      });
}
@Override
protected void requestData() {
}
@OnClick({R.id.img_way_choose,R.id.img_way_delete,R.id.img_back})
@Override
public void onClick(View v) {
      switch (v.getId()){
         case R.id.img_way_choose:
            if (MyStatic.isChoose){
                  MyStatic.isChoose = false;
            }else {
                  MyStatic.isChoose = true;
            }
            if (mWaypointAdapter!=null){
                  mWaypointAdapter.notifyDataSetChanged();
            }
            break;
         case R.id.img_way_delete:
            if (mWaypointId.size() > 0){
                  for (int i = 0; i ",";
                  }
                  if (!TextUtils.isEmpty(StrId)){
                     StrId = StrId.substring(0,StrId.length()-1);
                     mSQLiteHelper = new SQLiteHelper(WaypointActivity.this);
                     mSQLiteHelper.doDelete(StrId);
                     mSQLiteHelper.close();
                     for (int j = 0; j if (mWaypointAdapter!=null){
                        mWaypointId.clear();
                        MyStatic.isChoose = false;
                        mWaypointAdapter.setNewData(mWaypointInfo);
                     }
                  }
            }else {
                  showToasts("请先选择删除的航线！");
            }
            break;
         case R.id.img_back:
            Intent intent = new Intent();
            intent.putExtra("id", -1);
            setResult(RESULT_OK, intent);
            finish();
            break;
      }
}
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。

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