大疆Mobile SDK 5.x 实例一
由于大疆新的无人机采用Mobile SDK 5.x版本(Kotlin)，而之前学习的版本是4.x(Java)，并且大疆对于5.x版本的文档写的实在不怎么样(相比4.x来说)，所以从新记录一下。
获取已集成 MSDK 的空白工程SDKSample.zip，解压用后 IntelliJ IDEA 打开。
应用程序密钥
在 DJI 开发者网站的开发者中心申请 Key 后填入项目，在AndroidManifest.xml中填入 API Key
<application
....
<meta-data
android:name="com.dji.sdk.API_KEY"
android:value="你的密钥" />
...
</application>初始化类库
初始化类库，即在应用程序的 Application 对象中，通过 com.secneo.sdk.Helper 类的 install(Application app)方法注册 Mobile SDK
class MyApplication : Application() {
private val TAG = this::class.simpleName
override fun attachBaseContext(base: Context?) {
super.attachBaseContext(base)
// 在调用install前，请勿调用任何MSDK相关
com.secneo.sdk.Helper.install(this)
}
// Other methods and logic
}注册应用程序
override fun onCreate() {
super.onCreate()
// 初始化MSDK，建议初始化逻辑放在Application中，当然也可以根据自己的需要放在任意地方。
SDKManager.getInstance().init(this,object:SDKManagerCallback{
override fun onInitProcess(event: DJISDKInitEvent?, totalProcess: Int) {
Log.i(TAG, "onInitProcess: ")
if (event == DJISDKInitEvent.INITIALIZE_COMPLETE) {
SDKManager.getInstance().registerApp()
}
}
override fun onRegisterSuccess() {
Log.i(TAG, "onRegisterSuccess: ")
}
override fun onRegisterFailure(error: IDJIError?) {
Log.i(TAG, "onRegisterFailure: ")
}
override fun onProductConnect(productId: Int) {
Log.i(TAG, "onProductConnect: ")
}
override fun onProductDisconnect(productId: Int) {
Log.i(TAG, "onProductDisconnect: ")
}
override fun onProductChanged(productId: Int)
{
Log.i(TAG, "onProductChanged: ")
}
override fun onDatabaseDownloadProgress(current: Long, total: Long) {
Log.i(TAG, "onDatabaseDownloadProgress: ${current/total}")
}
})
}App 申请权限
可以参考之前的文章Android App 申请权限
在 MainActivity 接收 MyApplication 的消息
可以参考之前的文章Android 使用 BroadcastReceiver 广播数据
在activity_main.xml 添加如下布局
<?xml version="1.0" encoding="utf-8"?>
<ScrollView xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:layout_margin="16dp">
<LinearLayout android:layout_width="match_parent" android:layout_height="wrap_content"
android:orientation="vertical">
<TextView
style="?android:listSeparatorTextViewStyle"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:text="应用程序激活与无人机绑定" />
<TextView
android:id="@+id/tv_status_application"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:gravity="center"
android:padding="8dp"
android:text="当前应用程序激活状态：UNKNOWN" />
<Button
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:id="@+id/btn_flight_controller"
android:text="飞行控制器" />
</LinearLayout>
</ScrollView>效果如下：
这里的逻辑是，当MyApplication里 MSDK 初始化成功后发送sendBroadcast(Intent(REGISTER_SUCCESS))广播，MainActivity接收到广播后显示当前应用程序激活状态：已激活，然后才能通过点击"飞行控制器"按钮进入下一个活动。
修改MainActivity的代码
class MainActivity : AppCompatActivity(){
private lateinit var tvAppActivation: TextView
private lateinit var tvAppActivationState: String
// 注册一个 BroadcastReceiver 以监听这些操作
private val registerReceiver = object : BroadcastReceiver(){
override fun onReceive(context: Context, intent: Intent){
when (intent.action){
MyApplication.REGISTER_SUCCESS -> {
Toast.makeText(context, "Register Success", Toast.LENGTH_SHORT).show()
tvAppActivationState = "已激活"
tvAppActivationUpdate()
}
MyApplication.REGISTER_FAILURE -> {
val errorMessage = intent.getStringExtra("error_message")
tvAppActivationState = "未激活"
tvAppActivationUpdate()
Toast.makeText(context, "Register Failure: $errorMessage", Toast.LENGTH_SHORT).show()
}
// Other
}
}
}
override fun onCreate(savedInstanceState: Bundle?){
super.onCreate(savedInstanceState)
setContentView(R.layout.activity_main)
tvAppActivation = findViewById(R.id.tv_status_application)
val btnFlightController: Button = findViewById(R.id.btn_flight_controller)
btnFlightController.setOnClickListener {
if(tvAppActivationState == "已激活") {
val intent = Intent(this, FlightActivity::class.java)
startActivity(intent)
} else {
Toast.makeText(this, "应用程序还未激活", Toast.LENGTH_SHORT).show()
}
}
// Other
}
private fun tvAppActivationUpdate() {
runOnUiThread {
tvAppActivation.text = "当前应用程序激活状态：$tvAppActivationState"
}
}
override fun onDestroy() {
super.onDestroy()
// Other
}
// Other
}飞行控制器
创建FlightActivity和对应的视图activity_flight
<?xml version="1.0" encoding="utf-8"?>
<ScrollView xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:layout_margin="16dp">
<LinearLayout android:layout_width="match_parent" android:layout_height="wrap_content"
android:orientation="vertical">
<TextView
style="?android:listSeparatorTextViewStyle"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:text="飞行控制" />
<Button android:layout_width="match_parent" android:layout_height="wrap_content"
android:id="@+id/btn_takeoff"
android:text="起飞" />
<Button android:layout_width="match_parent" android:layout_height="wrap_content"
android:id="@+id/btn_landing"
android:text="降落" />
<Button android:layout_width="match_parent" android:layout_height="wrap_content"
android:id="@+id/btn_gohome"
android:text="返航" />
</LinearLayout>
</ScrollView>布局效果如下：
class FlightActivity : AppCompatActivity(), View.OnClickListener {
private lateinit var mBtnTakeoff: Button
private lateinit var mBtnLanding: Button
private lateinit var mBtnGoHome: Button
override fun onCreate(savedInstanceState: Bundle?) {
super.onCreate(savedInstanceState)
setContentView(R.layout.activity_flight)
initUI()
initListener()
}
override fun onDestroy() {
super.onDestroy()
}
private fun initUI() {
mBtnTakeoff = findViewById(R.id.btn_takeoff)
mBtnLanding = findViewById(R.id.btn_landing)
mBtnGoHome = findViewById(R.id.btn_gohome)
}
private fun initListener() {
mBtnTakeoff.setOnClickListener(this)
mBtnLanding.setOnClickListener(this)
mBtnGoHome.setOnClickListener(this)
}
override fun onClick(v: View) {
when(v.id) {
R.id.btn_takeoff -> {
takeoff()
}
R.id.btn_landing -> {
landing()
}
R.id.btn_gohome -> {
goHome()
}
}
}
// 获取键值管理器
private fun getKeyManager(): KeyManager {
return KeyManager.getInstance()
}
// 起飞
private fun takeoff(){
getKeyManager().performAction(KeyTools.createKey(FlightControllerKey.KeyStartTakeoff),
object : CommonCallbacks.CompletionCallbackWithParam<EmptyMsg> {
override fun onSuccess(msg: EmptyMsg) {
showToast("起飞成功 $msg")
}
override fun onFailure(p0: IDJIError) {
showToast("起飞失败 $p0")
}
})
}
// 降落
private fun landing(){
getKeyManager().performAction(KeyTools.createKey(FlightControllerKey.KeyStartAutoLanding),
object : CommonCallbacks.CompletionCallbackWithParam<EmptyMsg> {
override fun onSuccess(msg: EmptyMsg) {
showToast("降落成功 $msg")
}
override fun onFailure(p0: IDJIError) {
showToast("降落失败 $p0")
}
})
}
// 返航
private fun goHome(){
getKeyManager().performAction(KeyTools.createKey(FlightControllerKey.KeyStartGoHome),
object : CommonCallbacks.CompletionCallbackWithParam<EmptyMsg> {
override fun onSuccess(msg: EmptyMsg) {
showToast("返航成功 $msg")
}
override fun onFailure(p0: IDJIError) {
showToast("返航失败 $p0")
}
})
}
// 在主线程中显示提示
private fun showToast(message: String) {
runOnUiThread {
Toast.makeText(applicationContext, message, Toast.LENGTH_LONG).show()
}
}
}打包运行程序，等待程序激活后进入飞行控制界面，点击起飞降落等功能即可控制无人机的起飞降落等
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