大疆无人机安卓Mobile Sdk开发（二）连接无人机，获取无人机信息

大疆无人机安卓Mobile Sdk开发（一）简单介绍

大疆无人机安卓Mobile Sdk开发（二）连接无人机，获取无人机信息

大疆无人机安卓Mobile Sdk开发（三）制定航点任务WaypointMission

大疆无人机安卓Mobile Sdk开发（四）读取飞机的图片和视频并下载

大疆无人机安卓Mobile Sdk开发（五）解决M300Rtk H20相机无法获取图片视频的问题

qq505057618

我主要说核心部分，首先建议大家先下载一个官方的mobile sdk的Demo跑看一看，研究研究后再去尝试自己开发。

开发的话你需要注册一个大疆开发者账号，然后注册一个基于mobilesdk的应用，官方会分配给你一个App Key

然后在你AndroidMnifest需要填入这个key，这个key是和你的包名绑定的，另外需要声明

    <uses-feature android:name="android.hardware.usb.host" android:required="false"/>      

    <uses-feature android:name="android.hardware.usb.accessory" android:required="true"/>

   还要注意你的主activity的<intent-filter>的写法，对USB_ACCESSORY_ATTACHED不了解的可以去google一下，主要是保证安卓与外设之间的通讯的，在这里，是保证你的无人机遥控器和安卓设置能连接上的。

<?xml version="1.0" encoding="utf-8"?>
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
          package="com.dji.sdk.sample">

    <!-- SDK permission requirement -->
    <uses-permission android:name="android.permission.BLUETOOTH"/>
    <uses-permission android:name="android.permission.BLUETOOTH_ADMIN"/>
    <uses-permission android:name="android.permission.VIBRATE"/>
    <uses-permission android:name="android.permission.INTERNET"/>
    <uses-permission android:name="android.permission.ACCESS_WIFI_STATE"/>
    <uses-permission android:name="android.permission.WAKE_LOCK"/>
    <uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION"/>
    <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE"/>
    <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION"/>
    <uses-permission android:name="android.permission.CHANGE_WIFI_STATE"/>
    <uses-permission android:name="android.permission.RECORD_AUDIO"/>
    <uses-permission android:name="android.permission.MOUNT_UNMOUNT_FILESYSTEMS"/>
    <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE"/>
    <uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE"/>
    <uses-permission android:name="android.permission.SYSTEM_ALERT_WINDOW"/>
    <uses-permission android:name="android.permission.READ_PHONE_STATE"/>

    <uses-feature android:name="android.hardware.camera"/>
    <uses-feature android:name="android.hardware.camera.autofocus"/>
    <uses-feature
        android:name="android.hardware.usb.host"
        android:required="false"/>
    <uses-feature
        android:name="android.hardware.usb.accessory"
        android:required="true"/>

    <!-- SDK requirement permission end -->
    <application
        android:name=".internal.controller.DJISampleApplication"
        android:allowBackup="true"
        android:icon="@mipmap/ic_launcher"
        android:label="@string/sample_app_name"
        android:supportsRtl="true"
        android:theme="@style/AppTheme">
        <!--
            ADD API_KEY HERE and make sure you
            are connected to the Internet before
            the app is launched
        -->
        <meta-data
            android:name="com.dji.sdk.API_KEY"
            android:value="Please enter your App Key here."/>

        <!-- Required for receiving accessory attachment events.
            This is necessary for product when connecting over USB. -->

        <activity
            android:name="com.dji.sdk.sample.internal.controller.MainActivity"
            android:label="@string/sample_app_name"
            android:screenOrientation="portrait"
            android:launchMode="singleTop"
            android:configChanges="orientation|keyboardHidden|screenSize"
            android:theme="@style/AppTheme">
            <intent-filter>
                <action android:name="android.intent.action.MAIN"/>
                <category android:name="android.intent.category.LAUNCHER"/>
            </intent-filter>
            <intent-filter>
                <action android:name="android.hardware.usb.action.USB_ACCESSORY_ATTACHED"/>
            </intent-filter>
            <meta-data
                android:name="android.hardware.usb.action.USB_ACCESSORY_ATTACHED"
                android:resource="@xml/accessory_filter"/>
        </activity>
    </application>

</manifest>

 然后是gradle文件，需要添加对大疆的依赖

dependencies {
    implementation 'com.android.support:multidex:1.0.2'
    implementation 'com.squareup:otto:1.3.8'
    implementation ('com.dji:dji-sdk:4.10', {
//             Uncomment the following line if your app does not need Anti Distortion for
//             Mavic 2 Pro and Mavic 2 Zoom. It will greatly reducing the size of the APK:
             exclude module: 'library-anti-distortion'
//             Uncomment the following line if your APP does not need network RTK
             exclude module: 'library-networkrtk-helper'
        })
    compileOnly 'com.dji:dji-sdk-provided:4.10'

}

下面分析主activity代码的分析,只贴出核心代码。首先你要申请指定的权限，然后在权限允许后调用registerApp方法去注册应用，在收到注册成功的回调后，调用DJISDKManager.getInstance().startConnectionToProduct()去连接无人机，连接成功后会走到onProductConnect回调函数，这时候你可以获取你想要的无人机信息了。

public class MainActivity extends AppCompatActivity {

    private static final String TAG = MainActivity.class.getSimpleName();
    private static final String[] REQUIRED_PERMISSION_LIST = new String[] {
        Manifest.permission.VIBRATE,
        Manifest.permission.INTERNET,
        Manifest.permission.ACCESS_WIFI_STATE,
        Manifest.permission.WAKE_LOCK,
        Manifest.permission.ACCESS_COARSE_LOCATION,
        Manifest.permission.ACCESS_NETWORK_STATE,
        Manifest.permission.ACCESS_FINE_LOCATION,
        Manifest.permission.CHANGE_WIFI_STATE,
        Manifest.permission.WRITE_EXTERNAL_STORAGE,
        Manifest.permission.BLUETOOTH,
        Manifest.permission.BLUETOOTH_ADMIN,
        Manifest.permission.READ_EXTERNAL_STORAGE,
        Manifest.permission.READ_PHONE_STATE,
        Manifest.permission.RECORD_AUDIO
    };
    private static final int REQUEST_PERMISSION_CODE = 12345;
    private FrameLayout contentFrameLayout;
    private Stack<ViewWrapper> stack;
    private TextView titleTextView;
    private List<String> missingPermission = new ArrayList<>();
    private AtomicBoolean isRegistrationInProgress = new AtomicBoolean(false);
    private BaseComponent.ComponentListener mDJIComponentListener = new BaseComponent.ComponentListener() {

        @Override
        public void onConnectivityChange(boolean isConnected) {
            Log.d(TAG, "onComponentConnectivityChanged: " + isConnected);
            notifyStatusChange();
        }
    };

    //region Life-cycle
    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        checkAndRequestPermissions();
        DJISampleApplication.getEventBus().register(this);

        setContentView(R.layout.activity_main);
    }


    /**
     * Result of runtime permission request
     */
    @Override
    public void onRequestPermissionsResult(int requestCode,
                                           @NonNull String[] permissions,
                                           @NonNull int[] grantResults) {
        super.onRequestPermissionsResult(requestCode, permissions, grantResults);
        // Check for granted permission and remove from missing list
        if (requestCode == REQUEST_PERMISSION_CODE) {
            for (int i = grantResults.length - 1; i >= 0; i--) {
                if (grantResults[i] == PackageManager.PERMISSION_GRANTED) {
                    missingPermission.remove(permissions[i]);
                }
            }
        }
        // If there is enough permission, we will start the registration
        if (missingPermission.isEmpty()) {
            startSDKRegistration();
        } else {
            Toast.makeText(getApplicationContext(), "Missing permissions!!!", Toast.LENGTH_LONG).show();
        }
    }

    @Override
    protected void onDestroy() {
        DJISampleApplication.getEventBus().unregister(this);
        super.onDestroy();
    }

    @Override
    protected void onNewIntent(@NonNull Intent intent) {
        String action = intent.getAction();
        if (UsbManager.ACTION_USB_ACCESSORY_ATTACHED.equals(action)) {
            Intent attachedIntent = new Intent();
            attachedIntent.setAction(DJISDKManager.USB_ACCESSORY_ATTACHED);
            sendBroadcast(attachedIntent);
        }
    }

    //region Registration n' Permissions Helpers

    /**
     * Checks if there is any missing permissions, and
     * requests runtime permission if needed.
     */
    private void checkAndRequestPermissions() {
        // Check for permissions
        for (String eachPermission : REQUIRED_PERMISSION_LIST) {
            if (ContextCompat.checkSelfPermission(this, eachPermission) != PackageManager.PERMISSION_GRANTED) {
                missingPermission.add(eachPermission);
            }
        }
        // Request for missing permissions
        if (missingPermission.isEmpty()) {
            startSDKRegistration();
        } else if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.M) {
            ActivityCompat.requestPermissions(this,
                    missingPermission.toArray(new String[missingPermission.size()]),
                    REQUEST_PERMISSION_CODE);
        }

    }

    private void startSDKRegistration() {
        if (isRegistrationInProgress.compareAndSet(false, true)) {
            AsyncTask.execute(new Runnable() {
                @Override
                public void run() {
                    ToastUtils.setResultToToast(MainActivity.this.getString(R.string.sdk_registration_doing_message));
                    DJISDKManager.getInstance().registerApp(MainActivity.this.getApplicationContext(), new DJISDKManager.SDKManagerCallback() {
                        @Override
                        public void onRegister(DJIError djiError) {
                            if (djiError == DJISDKError.REGISTRATION_SUCCESS) {
                                DJILog.e("App registration", DJISDKError.REGISTRATION_SUCCESS.getDescription());
                                DJISDKManager.getInstance().startConnectionToProduct();
                                ToastUtils.setResultToToast(MainActivity.this.getString(R.string.sdk_registration_success_message));
                            } else {
                                ToastUtils.setResultToToast(MainActivity.this.getString(R.string.sdk_registration_message) + djiError.getDescription());
                            }
                            Log.v(TAG, djiError.getDescription());
                        }
                        @Override
                        public void onProductDisconnect() {
                            Log.d(TAG, "onProductDisconnect");
                            notifyStatusChange();
                        }
                        @Override
                        public void onProductConnect(BaseProduct baseProduct) {
                            Log.d(TAG, String.format("onProductConnect newProduct:%s", baseProduct));
                            notifyStatusChange();
                        }
                        @Override
                        public void onComponentChange(BaseProduct.ComponentKey componentKey,
                                                      BaseComponent oldComponent,
                                                      BaseComponent newComponent) {
                            if (newComponent != null) {
                                newComponent.setComponentListener(mDJIComponentListener);
                            }
                            Log.d(TAG,
                                  String.format("onComponentChange key:%s, oldComponent:%s, newComponent:%s",
                                                componentKey,
                                                oldComponent,
                                                newComponent));

                            notifyStatusChange();
                        }

                        @Override
                        public void onInitProcess(DJISDKInitEvent djisdkInitEvent, int i) {

                        }
                    });
                }
            });
        }
    }

    private void notifyStatusChange() {
        DJISampleApplication.getEventBus().post(new ConnectivityChangeEvent());
    }
    //endregion

    private void refreshTitle() {
        if (stack.size() > 1) {
            ViewWrapper wrapper = stack.peek();
            titleTextView.setText(wrapper.getTitleId());
        } else if (stack.size() == 1) {
            BaseProduct product = DJISampleApplication.getProductInstance();
            if (product != null && product.getModel() != null) {
                titleTextView.setText("" + product.getModel().getDisplayName());
            } else {
                titleTextView.setText(R.string.sample_app_name);
            }
        }
    }

    @Subscribe
    public void onConnectivityChange(ConnectivityChangeEvent event) {
        runOnUiThread(new Runnable() {
            @Override
            public void run() {
                refreshTitle();
            }
        });
    }


}