最新版

app/src/main/java/com/example/longyi_groundstation/Login/Activity/LoginActivity.java

@@ -3,6 +3,8 @@ package com.example.longyi_groundstation.Login.Activity;
 import android.annotation.SuppressLint;
 import android.content.Intent;
 import android.os.Bundle;
+import android.util.Log;
+
 import androidx.activity.EdgeToEdge;
 import androidx.appcompat.app.AppCompatActivity;
 import androidx.core.graphics.Insets;
@@ -12,7 +14,9 @@ import androidx.core.view.WindowInsetsCompat;
 import com.example.longyi_groundstation.Funcation.Activity.FuncationActivity;
 import com.example.longyi_groundstation.Login.Void.AllView;
 import com.example.longyi_groundstation.Main.Activity.MainActivity;
+import com.example.longyi_groundstation.Main.Void.MyReceiver;
 import com.example.longyi_groundstation.R;
+import com.example.longyi_groundstation.Util.Tool;
 
 
 public class LoginActivity extends AppCompatActivity {
@@ -34,6 +38,10 @@ public class LoginActivity extends AppCompatActivity {
             return insets;
         });
 
+//        Log.d("myReceiver_HEARTBEAT", Tool.getDecToFirstBin("128"));
+//        Log.d("myReceiver_HEARTBEAT", Tool.getDecToBinFull("128"));
+
+
         initData();
         initView();
         initOnClick();

app/src/main/java/com/example/longyi_groundstation/MAVLink/common/msg_mission_ack.java

@@ -12,6 +12,9 @@ import com.example.longyi_groundstation.MAVLink.Messages.MAVLinkPayload;
 import com.example.longyi_groundstation.MAVLink.Messages.Units;
 import com.example.longyi_groundstation.MAVLink.Messages.Description;
 
+import org.json.JSONException;
+import org.json.JSONObject;
+
 /**
  * Acknowledgment message during waypoint handling. The type field states if this message is a positive ack (type=0) or if an error happened (type=non-zero).
  */
@@ -159,7 +162,27 @@ public class msg_mission_ack extends MAVLinkMessage {
      */
     @Override
     public String toString() {
-        return "MAVLINK_MSG_ID_MISSION_ACK - sysid:"+sysid+" compid:"+compid+" target_system:"+target_system+" target_component:"+target_component+" type:"+type+" mission_type:"+mission_type+" opaque_id:"+opaque_id+"";
+        JSONObject jsonObject = new JSONObject();
+        try {
+            jsonObject.put("msgid",MAVLINK_MSG_ID_MISSION_ACK);
+            jsonObject.put("sysid",sysid);
+            jsonObject.put("compid",compid);
+            jsonObject.put("target_system",target_system);
+            jsonObject.put("target_component",target_component);
+            jsonObject.put("type",type);
+            jsonObject.put("mission_type",mission_type);
+            jsonObject.put("opaque_id",opaque_id);
+            return jsonObject.toString();
+        } catch (JSONException e) {
+            return null;
+        }
+//        return "MAVLINK_MSG_ID_MISSION_ACK - sysid:"+sysid+
+//                " compid:"+compid+
+//                " target_system:"+target_system+
+//                " target_component:"+target_component+
+//                " type:"+type+
+//                " mission_type:"+mission_type+
+//                " opaque_id:"+opaque_id+"";
     }
 
     /**

app/src/main/java/com/example/longyi_groundstation/MAVLink/common/msg_mission_count.java

@@ -12,6 +12,9 @@ import com.example.longyi_groundstation.MAVLink.Messages.MAVLinkPayload;
 import com.example.longyi_groundstation.MAVLink.Messages.Units;
 import com.example.longyi_groundstation.MAVLink.Messages.Description;
 
+import org.json.JSONException;
+import org.json.JSONObject;
+
 /**
  * This message is emitted as response to MISSION_REQUEST_LIST by the MAV and to initiate a write transaction. The GCS can then request the individual mission item based on the knowledge of the total number of waypoints.
  */
@@ -159,7 +162,28 @@ public class msg_mission_count extends MAVLinkMessage {
      */
     @Override
     public String toString() {
-        return "MAVLINK_MSG_ID_MISSION_COUNT - sysid:"+sysid+" compid:"+compid+" count:"+count+" target_system:"+target_system+" target_component:"+target_component+" mission_type:"+mission_type+" opaque_id:"+opaque_id+"";
+        JSONObject jsonObject = new JSONObject();
+        try {
+            jsonObject.put("msgid",MAVLINK_MSG_ID_MISSION_COUNT);
+            jsonObject.put("sysid",sysid);
+            jsonObject.put("compid",compid);
+            jsonObject.put("count",count);
+            jsonObject.put("target_system",target_system);
+            jsonObject.put("target_component",target_component);
+            jsonObject.put("mission_type",mission_type);
+            jsonObject.put("opaque_id",opaque_id);
+            return jsonObject.toString();
+        } catch (JSONException e) {
+            return null;
+        }
+
+//        return "MAVLINK_MSG_ID_MISSION_COUNT - sysid:"+sysid+
+//                " compid:"+compid+
+//                " count:"+count+
+//                " target_system:"+target_system+
+//                " target_component:"+target_component+
+//                " mission_type:"+mission_type+
+//                " opaque_id:"+opaque_id+"";
     }
 
     /**

app/src/main/java/com/example/longyi_groundstation/MAVLink/common/msg_mission_item_int.java

@@ -12,6 +12,9 @@ import com.example.longyi_groundstation.MAVLink.Messages.MAVLinkPayload;
 import com.example.longyi_groundstation.MAVLink.Messages.Units;
 import com.example.longyi_groundstation.MAVLink.Messages.Description;
 
+import org.json.JSONException;
+import org.json.JSONObject;
+
 /**
  * Message encoding a mission item. This message is emitted to announce
                 the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.
@@ -270,7 +273,49 @@ public class msg_mission_item_int extends MAVLinkMessage {
      */
     @Override
     public String toString() {
-        return "MAVLINK_MSG_ID_MISSION_ITEM_INT - sysid:"+sysid+" compid:"+compid+" param1:"+param1+" param2:"+param2+" param3:"+param3+" param4:"+param4+" x:"+x+" y:"+y+" z:"+z+" seq:"+seq+" command:"+command+" target_system:"+target_system+" target_component:"+target_component+" frame:"+frame+" current:"+current+" autocontinue:"+autocontinue+" mission_type:"+mission_type+"";
+
+        JSONObject jsonObject = new JSONObject();
+        try {
+            jsonObject.put("msgid",MAVLINK_MSG_ID_MISSION_ITEM_INT);
+            jsonObject.put("sysid",sysid);
+            jsonObject.put("compid",compid);
+            jsonObject.put("param1",param1);
+            jsonObject.put("param2",param2);
+            jsonObject.put("param3",param3);
+            jsonObject.put("param4",param4);
+            jsonObject.put("x",x);
+            jsonObject.put("y",y);
+            jsonObject.put("z",z);
+            jsonObject.put("seq",seq);
+            jsonObject.put("command",command);
+            jsonObject.put("target_system",target_system);
+            jsonObject.put("target_component",target_component);
+            jsonObject.put("frame",frame);
+            jsonObject.put("current",current);
+            jsonObject.put("autocontinue",autocontinue);
+            jsonObject.put("mission_type",mission_type);
+            return jsonObject.toString();
+        } catch (JSONException e) {
+            return null;
+        }
+
+//        return "MAVLINK_MSG_ID_MISSION_ITEM_INT - sysid:"+sysid+
+//                " compid:"+compid+
+//                " param1:"+param1+
+//                " param2:"+param2+
+//                " param3:"+param3+
+//                " param4:"+param4+
+//                " x:"+x+
+//                " y:"+y+
+//                " z:"+z+
+//                " seq:"+seq+
+//                " command:"+command+
+//                " target_system:"+target_system+
+//                " target_component:"+target_component+
+//                " frame:"+frame+
+//                " current:"+current+
+//                " autocontinue:"+autocontinue+
+//                " mission_type:"+mission_type+"";
     }
 
     /**

app/src/main/java/com/example/longyi_groundstation/MAVLink/common/msg_mission_request.java

@@ -12,6 +12,9 @@ import com.example.longyi_groundstation.MAVLink.Messages.MAVLinkPayload;
 import com.example.longyi_groundstation.MAVLink.Messages.Units;
 import com.example.longyi_groundstation.MAVLink.Messages.Description;
 
+import org.json.JSONException;
+import org.json.JSONObject;
+
 /**
  * Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM message. https://mavlink.io/en/services/mission.html
  */
@@ -148,7 +151,27 @@ public class msg_mission_request extends MAVLinkMessage {
      */
     @Override
     public String toString() {
-        return "MAVLINK_MSG_ID_MISSION_REQUEST - sysid:"+sysid+" compid:"+compid+" seq:"+seq+" target_system:"+target_system+" target_component:"+target_component+" mission_type:"+mission_type+"";
+        JSONObject jsonObject = new JSONObject();
+        try {
+            jsonObject.put("msgid",MAVLINK_MSG_ID_MISSION_REQUEST);
+            jsonObject.put("sysid",sysid);
+            jsonObject.put("compid",compid);
+            jsonObject.put("seq",seq);
+            jsonObject.put("target_system",target_system);
+            jsonObject.put("target_component",target_component);
+            jsonObject.put("mission_type",mission_type);
+            return jsonObject.toString();
+        } catch (JSONException e) {
+            return null;
+        }
+
+//        return "MAVLINK_MSG_ID_MISSION_REQUEST - sysid:"+sysid+
+//                " compid:"+compid+
+//                " seq:"+seq+
+//                " target_system:"+target_system+
+//                " target_component:"+target_component+
+//                " mission_type:"+mission_type+"";
+
     }
 
     /**

app/src/main/java/com/example/longyi_groundstation/MAVLink/common/msg_mission_request_int.java

@@ -148,7 +148,12 @@ public class msg_mission_request_int extends MAVLinkMessage {
      */
     @Override
     public String toString() {
-        return "MAVLINK_MSG_ID_MISSION_REQUEST_INT - sysid:"+sysid+" compid:"+compid+" seq:"+seq+" target_system:"+target_system+" target_component:"+target_component+" mission_type:"+mission_type+"";
+        return "MAVLINK_MSG_ID_MISSION_REQUEST_INT - sysid:"+sysid+
+                " compid:"+compid+
+                " seq:"+seq+
+                " target_system:"+target_system+
+                " target_component:"+target_component+
+                " mission_type:"+mission_type+"";
     }
 
     /**

app/src/main/java/com/example/longyi_groundstation/MAVLink/common/msg_mission_request_list.java

@@ -137,7 +137,14 @@ public class msg_mission_request_list extends MAVLinkMessage {
      */
     @Override
     public String toString() {
-        return "MAVLINK_MSG_ID_MISSION_REQUEST_LIST - sysid:"+sysid+" compid:"+compid+" target_system:"+target_system+" target_component:"+target_component+" mission_type:"+mission_type+"";
+
+        return "MAVLINK_MSG_ID_MISSION_REQUEST_LIST - sysid:"+sysid+
+                " compid:"+compid+
+                " target_system:"+target_system+
+                " target_component:"+target_component+
+                " mission_type:"+mission_type+"";
+
+
     }
 
     /**

app/src/main/java/com/example/longyi_groundstation/Main/Activity/MainActivity.java

@@ -74,6 +74,7 @@ import com.example.longyi_groundstation.Main.View.DpadView;
 import com.example.longyi_groundstation.Main.View.ErrorLogDialog;
 import com.example.longyi_groundstation.Main.View.FPV_Void;
 import com.example.longyi_groundstation.Main.View.LandDialog;
+import com.example.longyi_groundstation.Main.View.SlideToUnlockView;
 import com.example.longyi_groundstation.Main.View.TakeOffDialog;
 import com.example.longyi_groundstation.Main.View.TurnBackDialog;
 import com.example.longyi_groundstation.Main.Void.AllView;
@@ -90,6 +91,7 @@ import com.example.longyi_groundstation.Main.Void.SQLClass;
 import com.example.longyi_groundstation.Main.Void.XiangTuo.Protocol;
 import com.example.longyi_groundstation.Main.Void.XiangTuo.TcpClientUtil;
 import com.example.longyi_groundstation.R;
+import com.example.longyi_groundstation.Util.Tool;
 import com.google.android.flexbox.FlexDirection;
 import com.google.android.flexbox.FlexWrap;
 import com.google.android.flexbox.FlexboxLayoutManager;
@@ -126,7 +128,7 @@ public class MainActivity extends AppCompatActivity {
     //广播接收器
     private MyReceiver myReceiver_ATTITUDE, myReceiver_GPS_RAW_INT, myReceiver_GLOBAL_POSITION_INT,
             myReceiver_POWER_STATUS, myReceiver_SYS_STATUS, myReceiver_STATUSTEXT,
-            myReceiver_HEARTBEAT, myReceiver_VFR_HUD;
+            myReceiver_HEARTBEAT, myReceiver_VFR_HUD,myReceiver_MISSION_REQUEST,myReceiver_MISSION_ACK;
     //所有组件
     private AllView allView;
     private ArrayList<Msg> typeList = new ArrayList<>();
@@ -157,6 +159,7 @@ public class MainActivity extends AppCompatActivity {
     // 在成员变量部分添加
     private CreateLinkAdapter createLinkAdapter;
     private List<CreateLink> createLinkList = new ArrayList<>();
+    private ArrayList<CreateLink> selectedLinkList = null;//当前选择的航线
 
 
     @Override
@@ -266,12 +269,29 @@ public class MainActivity extends AppCompatActivity {
             registerReceiver(myReceiver_VFR_HUD, filter8);
         }
 
+        //航线上传-接收
+        myReceiver_MISSION_REQUEST = new MyReceiver();
+        IntentFilter filter9 = new IntentFilter("Broadcast_MISSION_REQUEST");
+        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
+            registerReceiver(myReceiver_MISSION_REQUEST, filter9, Context.RECEIVER_EXPORTED);
+        } else {
+            registerReceiver(myReceiver_MISSION_REQUEST, filter9);
+        }
+
+        //航线上传-异常
+        myReceiver_MISSION_ACK = new MyReceiver();
+        IntentFilter filter10 = new IntentFilter("Broadcast_MISSION_ACK");
+        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
+            registerReceiver(myReceiver_MISSION_ACK, filter10, Context.RECEIVER_EXPORTED);
+        } else {
+            registerReceiver(myReceiver_MISSION_ACK, filter10);
+        }
 
         // 初始化数据源
         typeList = new ArrayList<>();
         typeList.add(new Msg("relative_alt", "0", true));
         typeList.add(new Msg("alt", "0", true));
-        typeList.add(new Msg("throttle", "0", true));
+        typeList.add(new Msg("throttle", "0%", true));
         typeList.add(new Msg("time_boot_ms", "0", true));
         typeList.add(new Msg("home_distance", "0", true));
         typeList.add(new Msg("lat", "0", true));
@@ -285,13 +305,6 @@ public class MainActivity extends AppCompatActivity {
             Toast.makeText(this, "云台控制初始化失败", Toast.LENGTH_SHORT).show();
         }
 
-//        typeList.add(new Msg("relative_alt", MyReceiver.GLOBAL_POSITION_INT_json.optString("relative_alt"), true));
-//        typeList.add(new Msg("alt", MyReceiver.GLOBAL_POSITION_INT_json.optString("alt"), true));
-//        typeList.add(new Msg("time_boot_ms", MyReceiver.GLOBAL_POSITION_INT_json.optString("time_usec"), true));
-//        typeList.add(new Msg("satellites_visible", "", false));
-//        typeList.add(new Msg("data2", "", false));
-
-
     }
 
     /**
@@ -372,6 +385,14 @@ public class MainActivity extends AppCompatActivity {
         //拿到数据库里所有的航线
         setupAllLinkList();
 
+        //设置滑动解锁的view属性
+        allView.unlockView.setText("滑动解锁");
+        // 设置背景圆角弧度为10dp
+        allView.unlockView.setCornerRadius(4);
+        // 设置滑块圆角弧度为5dp
+        allView.unlockView.setThumbCornerRadius(4);
+        // 设置组件半透明（50%透明度）
+        allView.unlockView.setComponentAlpha(128);
     }
 
     /**
@@ -423,7 +444,11 @@ public class MainActivity extends AppCompatActivity {
                 //获取到位置后移动视角到当前位置
                 if (islocation) {
                     // 移动视图到Marker点
-                    mapVoid.aMap.moveCamera(CameraUpdateFactory.newLatLngZoom(new LatLng(MyReceiver.GLOBAL_POSITION_INT_json.optDouble("lat", 0) / 10000000, MyReceiver.GLOBAL_POSITION_INT_json.optDouble("lon", 0) / 10000000), 15)); // 15是缩放级别
+                    mapVoid.aMap.moveCamera(CameraUpdateFactory.newLatLngZoom(
+                            new LatLng(
+                                    MyReceiver.GLOBAL_POSITION_INT_json.optDouble("lat", 0) / 10000000,
+                                    MyReceiver.GLOBAL_POSITION_INT_json.optDouble("lon", 0) / 10000000),
+                            15)); // 15是缩放级别
                     islocation = false;
                     homeLatLng = new LatLng(doubles[1], doubles[0]);
                 }
@@ -502,6 +527,20 @@ public class MainActivity extends AppCompatActivity {
 
         //广播接收-setHeartbeatlistener
         myReceiver_HEARTBEAT.setHeartbeatlistener(data -> {
+
+            Log.d(TAG, "myReceiver_HEARTBEAT: " + data.toString());
+            //判断飞控是否解锁
+            if (Tool.getDecToFirstBin(MyReceiver.HEARTBEAT_json.optString("base_mode")).equals("1")){
+                //已解锁
+                allView.rl_unlock.setVisibility(View.GONE);
+            }else {
+                if (allView.rl_unlock.getVisibility() == View.GONE){
+                    //未解锁
+                    allView.rl_unlock.setVisibility(View.VISIBLE);
+                    allView.unlockView.resetToInitialState("滑动解锁");
+                }
+            }
+
             // 这里可以更新 UI 或刷新数据
             switch (MyReceiver.HEARTBEAT_json.optInt("custom_mode")) {
                 case 0:
@@ -557,7 +596,7 @@ public class MainActivity extends AppCompatActivity {
 //                    data.optDouble("throttle")/100,
 //                    1
 //            )));
-            if (data.optDouble("throttle") != 0){
+            if (data.optDouble("throttle") > 0){
                 typeList.set(2, new Msg("throttle",  String.format("%.1f", MyTool.getThrottle(
                         Double.parseDouble(FlyVoid.paramList.get("MOT_SPIN_MIN").getParam_value()),
                         Double.parseDouble(FlyVoid.paramList.get("MOT_SPIN_MAX").getParam_value()),
@@ -569,6 +608,16 @@ public class MainActivity extends AppCompatActivity {
 
         });
 
+        //广播接收-setMissionAcklistener
+        myReceiver_MISSION_REQUEST.setMissionRequestlistener(data -> {
+            Log.d(TAG, "myReceiver_MISSION_REQUEST: "+data.toString());
+        });
+
+        //广播接收-setMissionAcklistener
+        myReceiver_MISSION_ACK.setMissionAcklistener(data -> {
+            Log.d(TAG, "myReceiver_MISSION_ACK: "+data.toString());
+        });
+
     }
 
     /**
@@ -653,6 +702,7 @@ public class MainActivity extends AppCompatActivity {
         allView.ll_icon_land.setOnClickListener(v -> {
             landDialog.show();
         });
+
         //进设置页面
         allView.ll_setting.setOnClickListener(v -> {
 //            Toast.makeText(this, "维护中..", Toast.LENGTH_SHORT).show();
@@ -662,6 +712,8 @@ public class MainActivity extends AppCompatActivity {
 
         //路线执行
         allView.ll_line_fly_layout.setOnClickListener(v -> {
+
+            //清空所有线路，并且退出执行页面
             refreshLinkList();
             allView.v_mainDisplay.setVisibility(GONE);
             allView.ll_open_layout.setVisibility(GONE);
@@ -669,40 +721,43 @@ public class MainActivity extends AppCompatActivity {
             allView.ll_link_start.setVisibility(VISIBLE);
             allView.ll_all_link_layout.setVisibility(VISIBLE);
             allView.fpvWidget.setVisibility(GONE);
-
-//            mapVoid.showLine(!mapVoid.polyline.isVisible());
-            //清除现有任务
-//            msg_mission_clear_all clearCmd = new msg_mission_clear_all();
-//            clearCmd.target_system = 1;      // 无人机系统ID
-//            clearCmd.target_component = 1;   // 无人机组件ID
-//            flyVoid.sendMavlinkMessage(MyBoundService.type,clearCmd);
-//
-//            // 创建航点消息
-//            msg_mission_item waypoint = new msg_mission_item();
-//            waypoint.target_system = 1;      // 无人机系统ID
-//            waypoint.target_component = 1;   // 无人机组件ID
-//            waypoint.seq = 0;                // 航点序号
-//            waypoint.frame = MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT; // 坐标系
-//            waypoint.command = MAV_CMD.MAV_CMD_NAV_WAYPOINT; // 航点指令
-//            waypoint.current = 0;            // 0=不是当前航点
-//            waypoint.autocontinue = 1;       // 自动继续到下一个航点
-//            waypoint.param1 = 10;             // 停留时间(秒)
-//            waypoint.param2 = 0;             // 接受半径(m)
-//            waypoint.param3 = 0;             // 通过半径(m)
-//            waypoint.param4 = Float.NaN;     // 航向角(NaN表示不指定)
-//            waypoint.x = (float)mapVoid.flyPointList.get(0).latitude;        // 纬度
-//            waypoint.y = (float) mapVoid.flyPointList.get(0).longitude;        // 经度
-//            waypoint.z = 15;                // 高度(相对)
-//            flyVoid.sendMavlinkMessage(MyBoundService.type,waypoint);
-//
-//
-//            // 发送航点计数
-//            msg_mission_count count = new msg_mission_count();
-//            count.target_system = 1;
-//            count.target_component = 1;
-//            count.count = 1; // 航点数量
-//            flyVoid.sendMavlinkMessage(MyBoundService.type,count);
         });
+
+        //路线执行-上传航线
+        allView.ll_link_start_fun1.setOnClickListener(v -> {
+            // 添加航线发送功能
+            if (selectedLinkList != null) {
+                // 调用FlyVoid中的方法发送航线到飞控
+                flyVoid.sendMissionToFlightController(this,selectedLinkList);
+
+            }
+//            // 清除当前地图上的所有航点和航线
+//            clearWaypoints();
+//            allView.v_mainDisplay.setVisibility(VISIBLE);
+//            allView.ll_open_layout.setVisibility(VISIBLE);
+//            allView.ll_text.setVisibility(VISIBLE);
+//            allView.ll_link_start.setVisibility(GONE);
+//            allView.ll_all_link_layout.setVisibility(GONE);
+//            allView.fpvWidget.setVisibility(VISIBLE);
+        });
+        //开始执行
+        allView.ll_link_start_fun2.setOnClickListener(v -> {
+            // 添加航线发送功能
+            if (selectedLinkList != null) {
+                // 调用FlyVoid中的方法发送航线到飞控
+                flyVoid.requestMissionStart(0,-1);
+                Toast.makeText(this, "开始执行", Toast.LENGTH_SHORT).show();
+            }
+            // 清除当前地图上的所有航点和航线
+            clearWaypoints();
+            allView.v_mainDisplay.setVisibility(VISIBLE);
+            allView.ll_open_layout.setVisibility(VISIBLE);
+            allView.ll_text.setVisibility(VISIBLE);
+            allView.ll_link_start.setVisibility(GONE);
+            allView.ll_all_link_layout.setVisibility(GONE);
+            allView.fpvWidget.setVisibility(VISIBLE);
+        });
+
         //路线执行-退出
         allView.ll_link_start_back.setOnClickListener(v -> {
             // 清除当前地图上的所有航点和航线
@@ -796,7 +851,6 @@ public class MainActivity extends AppCompatActivity {
             AlertDialog dialog = builder.create();
             dialog.show();
         });
-
         // 路线规划功能-2：清除所有线路
         allView.ll_link_fun2.setOnClickListener(v -> {
             // 创建确认对话框
@@ -1195,7 +1249,6 @@ public class MainActivity extends AppCompatActivity {
             tcpClient.sendBytes(testData);
         });
 
-
         // 为ll_PTZ_amplify添加按下和抬起事件
         allView.ll_PTZ_amplify.setOnTouchListener((v, event) -> {
             switch (event.getAction()) {
@@ -1256,7 +1309,6 @@ public class MainActivity extends AppCompatActivity {
             return true; // 返回true表示处理了触摸事件
         });
 
-
         // 设置地图点击监听器以添加航点
         allView.map.getMap().setOnMapClickListener(latLng -> {
             if (isSetLink) {
@@ -1298,6 +1350,15 @@ public class MainActivity extends AppCompatActivity {
             }
         });
 
+        allView.unlockView.setOnUnlockListener(new SlideToUnlockView.OnUnlockListener() {
+            @Override
+            public void onUnlock() {
+                // 解锁飞机
+                flyVoid.requestArm();
+                allView.rl_unlock.setVisibility(View.GONE);
+            }
+        });
+
 
     }
 
@@ -1499,9 +1560,9 @@ public class MainActivity extends AppCompatActivity {
             public void onItemClick(int listId, int position) {
                 // 清除当前地图上的所有航点和航线
                 clearWaypoints();
-
+                selectedLinkList = null;
                 // 从数据库中获取选中的航线数据
-                ArrayList<CreateLink> selectedLinkList = sqlClass.getCreateLinkList(listId);
+                selectedLinkList = sqlClass.getCreateLinkList(listId);
 
                 if (selectedLinkList != null && !selectedLinkList.isEmpty()) {
                     // 在地图上显示航线
@@ -1645,6 +1706,12 @@ public class MainActivity extends AppCompatActivity {
             unregisterReceiver(myReceiver_VFR_HUD);
             myReceiver_VFR_HUD.isReceiverRegistered = false;
         }
+        //注销广播接收器（避免内存泄漏）
+        if (myReceiver_MISSION_REQUEST.isReceiverRegistered) {
+            unregisterReceiver(myReceiver_MISSION_REQUEST);
+            myReceiver_MISSION_REQUEST.isReceiverRegistered = false;
+        }
+
         fpvVoid.Fstop(allView.fpvWidget);
     }
 

app/src/main/java/com/example/longyi_groundstation/Main/Service/MyBoundService.java

@@ -4,6 +4,9 @@ import static com.example.longyi_groundstation.MAVLink.common.msg_attitude.MAVLI
 import static com.example.longyi_groundstation.MAVLink.common.msg_attitude_target.MAVLINK_MSG_ID_ATTITUDE_TARGET;
 import static com.example.longyi_groundstation.MAVLink.common.msg_global_position_int.MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
 import static com.example.longyi_groundstation.MAVLink.common.msg_gps_raw_int.MAVLINK_MSG_ID_GPS_RAW_INT;
+import static com.example.longyi_groundstation.MAVLink.common.msg_mission_ack.MAVLINK_MSG_ID_MISSION_ACK;
+import static com.example.longyi_groundstation.MAVLink.common.msg_mission_count.MAVLINK_MSG_ID_MISSION_COUNT;
+import static com.example.longyi_groundstation.MAVLink.common.msg_mission_request.MAVLINK_MSG_ID_MISSION_REQUEST;
 import static com.example.longyi_groundstation.MAVLink.common.msg_param_request_list.MAVLINK_MSG_ID_PARAM_REQUEST_LIST;
 import static com.example.longyi_groundstation.MAVLink.common.msg_param_request_read.MAVLINK_MSG_ID_PARAM_REQUEST_READ;
 import static com.example.longyi_groundstation.MAVLink.common.msg_param_value.MAVLINK_MSG_ID_PARAM_VALUE;
@@ -61,7 +64,7 @@ import tp.xmaihh.serialport.bean.ComBean;
 
 public class MyBoundService extends Service {
 
-    private ArrayList<String> MsgList;
+    public static ArrayList<String> MsgList;
     public static int type = 0;//0串口 1UDP
 
     //UDP
@@ -337,7 +340,6 @@ public class MyBoundService extends Service {
 //                    Log.d("cuijigzhou_msg_all", msg.toString());
                     LogUtil.d("cuijigzhou_msg_all", msg.toString());
 
-
                     MsgList.set(msg.msgid, msg.toString());
                     if (msgOld == null) {
                         MsgList.set(msg.msgid, msg.toString());
@@ -388,9 +390,12 @@ public class MyBoundService extends Service {
                         BroadcastUtil.Broadcast_RC_CHANNELS_RAW(getApplication(), MsgList.get(MAVLINK_MSG_ID_RC_CHANNELS_RAW));
                     }
                     if (MsgList.get(MAVLINK_MSG_ID_VFR_HUD) != null) {
-//                        Log.e("MAVLINK_MSG_ID_ATTITUDE_TARGET", 1+"");
                         BroadcastUtil.Broadcast_VFR_HUD(getApplication(), MsgList.get(MAVLINK_MSG_ID_VFR_HUD));
                     }
+                    if (MsgList.get(MAVLINK_MSG_ID_MISSION_ACK) != null) {
+                        BroadcastUtil.Broadcast_MISSION_ACK(getApplication(), MsgList.get(MAVLINK_MSG_ID_MISSION_ACK));
+                    }
+
 
                     Thread.sleep(50);
                 }
@@ -432,6 +437,17 @@ public class MyBoundService extends Service {
                     FlyVoid.setParamUpdateComplete(false);
                 }
 
+            case MAVLINK_MSG_ID_MISSION_REQUEST:
+                if (MsgList.get(MAVLINK_MSG_ID_MISSION_REQUEST) != null) {
+                    BroadcastUtil.Broadcast_MISSION_REQUEST(getApplication(), MsgList.get(MAVLINK_MSG_ID_MISSION_REQUEST));
+                }
+
+            case MAVLINK_MSG_ID_MISSION_COUNT:
+                Log.d(TAG, "wordT1: ");
+                if (MsgList.get(MAVLINK_MSG_ID_MISSION_REQUEST) != null) {
+                    BroadcastUtil.Broadcast_MISSION_REQUEST(getApplication(), MsgList.get(MAVLINK_MSG_ID_MISSION_REQUEST));
+                }
+
             default:
 //                Log.d("cuijigzhou_msg_all_id", "不做处理:"+msg.msgid);
 
@@ -463,7 +479,6 @@ public class MyBoundService extends Service {
         getData();
         getDataSerial();
 
-
         return binder;
     }
 

app/src/main/java/com/example/longyi_groundstation/Main/View/SlideToUnlockView.java

@@ -20,6 +20,11 @@ public class SlideToUnlockView extends View {
     private float thumbSize; // 滑块尺寸
     private float minX, maxX; // 滑块X轴边界
 
+    private float cornerRadius; // 背景圆角弧度
+    private float thumbCornerRadius; // 滑块圆角弧度
+    private int componentAlpha = 255; // 组件透明度，默认为完全不透明
+
+
     public interface OnUnlockListener {
         void onUnlock();
     }
@@ -53,16 +58,29 @@ public class SlideToUnlockView extends View {
         reboundAnimator.addUpdateListener(animation -> {
             setProgress((float) animation.getAnimatedValue());
         });
+
+        // 初始化默认圆角弧度
+        cornerRadius = dpToPx(20); // 默认背景圆角
+        thumbCornerRadius = dpToPx(10); // 默认滑块圆角
     }
 
+
     @Override
     protected void onDraw(Canvas canvas) {
         super.onDraw(canvas);
 
+        // 保存画笔原始透明度
+        int originalPaintAlpha = paint.getAlpha();
+        int originalTextPaintAlpha = textPaint.getAlpha();
+
+        // 应用组件透明度
+        paint.setAlpha(componentAlpha);
+        textPaint.setAlpha(componentAlpha);
+
         // 1. 绘制背景（渐变）
         int currentBgColor = blendColors(bgColor, activeColor, progress);
         paint.setColor(currentBgColor);
-        canvas.drawRoundRect(0, 0, getWidth(), getHeight(), getHeight()/2f, getHeight()/2f, paint);
+        canvas.drawRoundRect(0, 0, getWidth(), getHeight(), cornerRadius, cornerRadius, paint);
 
         // 2. 绘制滑块（严格限制边界）
         float thumbX = minX + progress * (maxX - minX);
@@ -73,16 +91,22 @@ public class SlideToUnlockView extends View {
                 getHeight()*0.9f
         );
         paint.setColor(Color.WHITE);
-        canvas.drawOval(thumbRect, paint);
+        canvas.drawRoundRect(thumbRect, thumbCornerRadius, thumbCornerRadius, paint);
 
         // 3. 绘制文本（始终可见）
-        textPaint.setAlpha(255); // 固定不透明
+        textPaint.setAlpha(componentAlpha); // 固定不透明度
         canvas.drawText(DEFAULT_TEXT,
                 getWidth()/2f,
                 getHeight()/2f + textPaint.getTextSize()/3,
                 textPaint);
+
+        // 恢复画笔原始透明度
+        paint.setAlpha(originalPaintAlpha);
+        textPaint.setAlpha(originalTextPaintAlpha);
     }
 
+
+
     @Override
     public boolean onTouchEvent(MotionEvent event) {
         float eventX = event.getX();
@@ -117,7 +141,7 @@ public class SlideToUnlockView extends View {
         DEFAULT_TEXT = s;
     }
 
-    private void resetProgress() {
+    public void resetProgress() {
         ValueAnimator animator = ValueAnimator.ofFloat(progress, 0);
         animator.setDuration(300);
         animator.addUpdateListener(animation -> {
@@ -141,5 +165,76 @@ public class SlideToUnlockView extends View {
     public void setOnUnlockListener(OnUnlockListener listener) {
         this.listener = listener;
     }
+
+    /**
+     * 恢复到初始化状态
+     */
+    public void resetToInitialState(String  text) {
+        // 重置进度为0
+        progress = 0f;
+
+        if (text != null){
+            setText(text);
+        }else {
+            // 重置默认文本
+            DEFAULT_TEXT = "滑动执行";
+        }
+
+
+        // 重置颜色为默认值
+        bgColor = Color.parseColor("#cfcfcf");
+        activeColor = Color.parseColor("#029A45");
+
+        // 停止所有正在进行的动画
+        if (reboundAnimator != null && reboundAnimator.isRunning()) {
+            reboundAnimator.cancel();
+        }
+
+        // 重新绘制视图
+        invalidate();
+    }
+
+    /**
+     * 设置组件的圆角弧度
+     * @param cornerRadiusDp 圆角弧度（单位：dp）
+     */
+    public void setCornerRadius(float cornerRadiusDp) {
+        this.cornerRadius = dpToPx(cornerRadiusDp);
+        invalidate();
+    }
+
+    /**
+     * 设置滑块的圆角弧度
+     * @param thumbCornerRadiusDp 滑块圆角弧度（单位：dp）
+     */
+    public void setThumbCornerRadius(float thumbCornerRadiusDp) {
+        this.thumbCornerRadius = dpToPx(thumbCornerRadiusDp);
+        invalidate();
+    }
+
+    /**
+     * 设置组件的透明度
+     * @param alpha 透明度值，范围为0-255，0为完全透明，255为完全不透明
+     */
+    public void setComponentAlpha(int alpha) {
+        // 限制alpha值在有效范围内
+        this.componentAlpha = Math.max(0, Math.min(255, alpha));
+
+        // 重新绘制视图
+        invalidate();
+    }
+
+    /**
+     * 获取当前组件的透明度
+     * @return 当前透明度值，范围为0-255
+     */
+    public int getComponentAlpha() {
+        return componentAlpha;
+    }
+
+
+
+
+
 }
 

app/src/main/java/com/example/longyi_groundstation/Main/Void/AllView.java

@@ -14,6 +14,7 @@ import com.amap.api.maps.MapView;
 import com.example.longyi_groundstation.Main.View.AttitudeIndicatorView;
 import com.example.longyi_groundstation.Main.View.CircularLinearLayout;
 import com.example.longyi_groundstation.Main.View.DpadView;
+import com.example.longyi_groundstation.Main.View.SlideToUnlockView;
 import com.example.longyi_groundstation.R;
 import com.skydroid.fpvplayer.FPVWidget;
 
@@ -93,6 +94,9 @@ public class AllView {
     public LinearLayout ll_link_start_fun2;
     public LinearLayout ll_link_start_back;
 
+    public SlideToUnlockView unlockView;
+    public RelativeLayout rl_unlock;
+
 
 
     public AllView(Activity activity) {
@@ -171,6 +175,8 @@ public class AllView {
         ll_link_start_fun1 = activity.findViewById(R.id.ll_link_start_fun1);
         ll_link_start_fun2 = activity.findViewById(R.id.ll_link_start_fun2);
         ll_link_start_back = activity.findViewById(R.id.ll_link_start_back);
+        unlockView = activity.findViewById(R.id.unlockView);
+        rl_unlock = activity.findViewById(R.id.rl_unlock);
 
 
     }

app/src/main/java/com/example/longyi_groundstation/Main/Void/CoordinateConverter.java

@@ -11,15 +11,39 @@ public class CoordinateConverter {
     private static final double A = 6378245.0;
     private static final double EE = 0.00669342162296594323;
 
-    // 高德(GCJ02)转谷歌(WGS84)
+    /**
+     * 高德(GCJ02)转谷歌(WGS84)
+     *
+     * @param lng 经度 (GCJ02坐标)
+     * @param lat 纬度 (GCJ02坐标)
+     * @return double数组，[0]为转换后的经度，[1]为转换后的纬度(WGS84坐标)
+     */
     public static double[] gcj02ToWgs84(double lng, double lat) {
         if (outOfChina(lng, lat)) {
+            // 如果不在中国境内，GCJ02和WGS84坐标基本一致
             return new double[]{lng, lat};
         }
-        double[] gcj = wgs84ToGcj02(lng, lat);
+
-        return new double[]{lng * 2 - gcj[0], lat * 2 - gcj[1]};
+        // 使用迭代法进行更精确的转换
+        double dLat = transformLat(lng - 105.0, lat - 35.0);
+        double dLon = transformLng(lng - 105.0, lat - 35.0);
+
+        double radLat = lat / 180.0 * PI;
+        double magic = Math.sin(radLat);
+        magic = 1 - EE * magic * magic;
+        double sqrtMagic = Math.sqrt(magic);
+
+        dLat = (dLat * 180.0) / ((A * (1 - EE)) / (magic * sqrtMagic) * PI);
+        dLon = (dLon * 180.0) / (A / sqrtMagic * Math.cos(radLat) * PI);
+
+        // 从GCJ02转换到WGS84需要减去偏移量
+        double wgsLon = lng - dLon;
+        double wgsLat = lat - dLat;
+
+        return new double[]{wgsLon, wgsLat};
     }
 
+
     // 谷歌(WGS84)转高德(GCJ02)
     public static double[] wgs84ToGcj02(double lng, double lat) {
         if (outOfChina(lng, lat)) {

app/src/main/java/com/example/longyi_groundstation/Main/Void/FlyVoid.java

@@ -1,31 +1,53 @@
 package com.example.longyi_groundstation.Main.Void;
 
+import static com.example.longyi_groundstation.MAVLink.common.msg_mission_count.MAVLINK_MSG_ID_MISSION_COUNT;
+import static com.example.longyi_groundstation.MAVLink.common.msg_mission_item_int.MAVLINK_MSG_ID_MISSION_ITEM_INT;
+import static com.example.longyi_groundstation.MAVLink.common.msg_mission_request.MAVLINK_MSG_ID_MISSION_REQUEST;
+import static com.example.longyi_groundstation.MAVLink.common.msg_mission_request_int.MAVLINK_MSG_ID_MISSION_REQUEST_INT;
 import static com.example.longyi_groundstation.MAVLink.enums.MAV_CMD.MAV_CMD_NAV_LAND;
 import static com.example.longyi_groundstation.MAVLink.enums.MAV_CMD.MAV_CMD_NAV_RETURN_TO_LAUNCH;
 import static com.example.longyi_groundstation.MAVLink.enums.MAV_CMD.MAV_CMD_NAV_TAKEOFF;
+import static com.example.longyi_groundstation.Main.Service.MyBoundService.MsgList;
 import static com.example.longyi_groundstation.Main.Service.MyBoundService.type;
 
+import android.app.Activity;
 import android.content.Context;
 import android.os.Handler;
 import android.os.Looper;
 import android.util.Log;
 import android.view.ViewGroup;
 import android.widget.TextView;
+import android.widget.Toast;
 
+import com.amap.api.maps.model.LatLng;
 import com.amap.api.services.auto.ListData;
 import com.example.longyi_groundstation.MAVLink.MAVLinkPacket;
 import com.example.longyi_groundstation.MAVLink.Messages.MAVLinkMessage;
 import com.example.longyi_groundstation.MAVLink.common.msg_command_long;
+import com.example.longyi_groundstation.MAVLink.common.msg_mission_clear_all;
+import com.example.longyi_groundstation.MAVLink.common.msg_mission_count;
+import com.example.longyi_groundstation.MAVLink.common.msg_mission_item;
+import com.example.longyi_groundstation.MAVLink.common.msg_mission_item_int;
+import com.example.longyi_groundstation.MAVLink.common.msg_mission_request_int;
+import com.example.longyi_groundstation.MAVLink.common.msg_mission_request_list;
 import com.example.longyi_groundstation.MAVLink.common.msg_param_request_read;
 import com.example.longyi_groundstation.MAVLink.common.msg_param_set;
 import com.example.longyi_groundstation.MAVLink.enums.MAV_CMD;
 import com.example.longyi_groundstation.MAVLink.enums.MAV_COMPONENT;
+import com.example.longyi_groundstation.MAVLink.enums.MAV_FRAME;
+import com.example.longyi_groundstation.Main.Activity.MainActivity;
+import com.example.longyi_groundstation.Main.Base.CreateLink;
 import com.example.longyi_groundstation.Main.Service.MyBoundService;
 import com.example.longyi_groundstation.Main.Setting.Base.Param;
 import com.example.longyi_groundstation.Main.Setting.Base.ParamGroup;
 
+import org.json.JSONException;
+import org.json.JSONObject;
+
+import java.math.BigDecimal;
 import java.net.DatagramPacket;
 import java.net.InetAddress;
+import java.util.ArrayList;
 import java.util.Collections;
 import java.util.HashMap;
 import java.util.Map;
@@ -54,6 +76,7 @@ public class FlyVoid {
     public static void setParamUpdateComplete(boolean isComplete) {
         isParamUpdateComplete = isComplete;
     }
+
     public void setAttitude(Context content, AllView allView, double roll, double pitch, double yaw) {
         //设置偏航
 //        allView.iv_yaw.setRotation((int) Math.round(yaw * 57.2));
@@ -62,25 +85,24 @@ public class FlyVoid {
         //设置翻滚
         allView.cll_layout.setPivotX((float) allView.cll_layout.getWidth() / 2);
         allView.cll_layout.setPivotY((float) allView.cll_layout.getHeight() / 2);
-        allView.cll_layout.setRotation((int) Math.round(roll * 57.2)*-1);
+        allView.cll_layout.setRotation((int) Math.round(roll * 57.2) * -1);
 
 //        Log.d("setAttitude: ",allView.cll_layout.getWidth()+ "++"+allView.cll_layout.getHeight());
         //设置俯仰
         ViewGroup.MarginLayoutParams params = (ViewGroup.MarginLayoutParams) allView.ll_pitch.getLayoutParams();
-        params.topMargin = MyTool.dpToPx(content,(int) Math.round(pitch *  57.2)) / 2; // 设置上边距（像素单位）
+        params.topMargin = MyTool.dpToPx(content, (int) Math.round(pitch * 57.2)) / 2; // 设置上边距（像素单位）
         allView.ll_pitch.setLayoutParams(params);
 
 
-        allView.v_welkin.getLayoutParams().height = MyTool.dpToPx(content,35+(int) Math.round(pitch *  57.2));
+        allView.v_welkin.getLayoutParams().height = MyTool.dpToPx(content, 35 + (int) Math.round(pitch * 57.2));
         // 最后必须应用参数
         allView.v_welkin.requestLayout(); // 或 view.setLayoutParams(view.getLayoutParams());
     }
 
 
-
-
     /**
      * 请求特定参数 (MAVLINK_MSG_ID_PARAM_REQUEST_READ)
+     *
      * @param paramId 参数名称（如"COM_RC_IN_MODE"）
      */
     public void requestParamRead(String paramId) {
@@ -93,7 +115,7 @@ public class FlyVoid {
         request.param_index = -1;       // 使用名称查询时设为-1
 
         // 编码为MAVLinkPacket
-        sendMavlinkMessage(type,request);
+        sendMavlinkMessage(type, request);
     }
 
     /**
@@ -101,7 +123,7 @@ public class FlyVoid {
      *
      * @cuijingzhou
      */
-    public void requestParamSet(String paramId,String paramValue,String paramType) {
+    public void requestParamSet(String paramId, String paramValue, String paramType) {
         msg_param_set paramSet = new msg_param_set();
         paramSet.target_system = 1;      // 目标系统ID (飞控)
         paramSet.target_component = 1;   // 目标组件ID
@@ -111,7 +133,7 @@ public class FlyVoid {
         paramSet.param_value = Float.parseFloat(paramValue);// 参数值
         paramSet.param_type = Short.parseShort(paramType); // 参数类型
         // 发送命令
-        sendMavlinkMessage(MyBoundService.type,paramSet);
+        sendMavlinkMessage(MyBoundService.type, paramSet);
         paramList.get(paramId).setParam_value(paramValue);
     }
 
@@ -120,7 +142,7 @@ public class FlyVoid {
      *
      * @cuijingzhou
      */
-    public void requestParamSet(String paramId,String paramValue) {
+    public void requestParamSet(String paramId, String paramValue) {
         msg_param_set paramSet = new msg_param_set();
         paramSet.target_system = 1;      // 目标系统ID (飞控)
         paramSet.target_component = 1;   // 目标组件ID
@@ -130,7 +152,7 @@ public class FlyVoid {
         paramSet.param_value = Float.parseFloat(paramValue);// 参数值
         paramSet.param_type = Short.parseShort(paramList.get(paramId).getParam_type()); // 参数类型
         // 发送命令
-        sendMavlinkMessage(MyBoundService.type,paramSet);
+        sendMavlinkMessage(MyBoundService.type, paramSet);
         paramList.get(paramId).setParam_value(paramValue);
     }
 
@@ -139,7 +161,7 @@ public class FlyVoid {
      *
      * @cuijingzhou
      */
-    public void rotateMotorForOneSecond(int param1,int param3, int param4) {
+    public void rotateMotorForOneSecond(int param1, int param3, int param4) {
         // 创建MAVLink命令
         msg_command_long msg = new msg_command_long();
         msg.target_system = 1; // 目标系统ID
@@ -157,7 +179,7 @@ public class FlyVoid {
 
 
         // 发送MAVLink消息 (需要实现您的MAVLink发送接口)
-        sendMavlinkMessage(MyBoundService.type,msg);
+        sendMavlinkMessage(MyBoundService.type, msg);
     }
 
 
@@ -181,7 +203,7 @@ public class FlyVoid {
         command.param7 = Float.parseFloat(height);
 
         // 发送命令
-        sendMavlinkMessage(MyBoundService.type,command);
+        sendMavlinkMessage(MyBoundService.type, command);
     }
 
     /**
@@ -205,7 +227,7 @@ public class FlyVoid {
         command.param7 = 0;
 
         // 发送命令
-        sendMavlinkMessage(MyBoundService.type,command);
+        sendMavlinkMessage(MyBoundService.type, command);
     }
 
     /**
@@ -229,7 +251,7 @@ public class FlyVoid {
         command.param7 = 0;
 
         // 发送命令
-        sendMavlinkMessage(MyBoundService.type,command);
+        sendMavlinkMessage(MyBoundService.type, command);
     }
 
     /**
@@ -245,31 +267,25 @@ public class FlyVoid {
 
         Log.d("串口2发送的数据", SerialTool.bytesToHex(testData));
         // 发送命令
-        sendMessage_com2(MyBoundService.type,testData);
+        sendMessage_com2(MyBoundService.type, testData);
     }
 
 
-
-
-
     /**
      * 通用MAVLink消息发送方法-串口1 mavlink通道
      */
-    public void sendMavlinkMessage(int type,MAVLinkMessage msg) {
+    public void sendMavlinkMessage(int type, MAVLinkMessage msg) {
         MAVLinkPacket packet = msg.pack();
 
         if (type == 0) { // 串口
             if (MyBoundService.serialHelper != null) {
+//                Log.d("串口1发送的数据", SerialTool.bytesToHex(packet.encodePacket()));
                 MyBoundService.serialHelper.send(packet.encodePacket());
             }
         } else { // UDP
             try {
                 InetAddress targetAddress = InetAddress.getByName("127.0.0.1"); // 改为飞控IP
-                DatagramPacket udpPacket = new DatagramPacket(
+                DatagramPacket udpPacket = new DatagramPacket(packet.encodePacket(), packet.encodePacket().length, targetAddress, 14553 // MAVLink标准端口
-                        packet.encodePacket(),
-                        packet.encodePacket().length,
-                        targetAddress,
-                        14553 // MAVLink标准端口
                 );
                 MyBoundService.serverSocket.send(udpPacket);
             } catch (Exception e) {
@@ -281,24 +297,20 @@ public class FlyVoid {
     /**
      * 通用MAVLink消息发送方法-串口2 其它硬件通道
      */
-    public void sendMessage_com2(int type,byte[] testData) {
+    public void sendMessage_com2(int type, byte[] testData) {
         if (type == 0) { // 串口
             if (MyBoundService.serialHelper2 != null) {
                 MyBoundService.serialHelper2.send(testData);
-                Log.e("cuijinggzhou-发送", "发送成功 " );
+                Log.e("cuijinggzhou-发送", "发送成功 ");
             }
         } else { // UDP
             try {
                 if (MyBoundService.serverSocket2 != null) {
                     InetAddress targetAddress = InetAddress.getByName("127.0.0.1"); // IP
-                    DatagramPacket udpPacket = new DatagramPacket(
+                    DatagramPacket udpPacket = new DatagramPacket(testData, testData.length, targetAddress, 13553 // 标准端口
-                            testData,
-                            testData.length,
-                            targetAddress,
-                            13553 // 标准端口
                     );
                     MyBoundService.serverSocket2.send(udpPacket);
-                    Log.e("cuijinggzhou-发送", "发送成功 " );
+                    Log.e("cuijinggzhou-发送", "发送成功 ");
                 }
 
             } catch (Exception e) {
@@ -314,6 +326,7 @@ public class FlyVoid {
     private static Handler handler = new Handler(Looper.getMainLooper());
     private static Runnable updateProgressRunnable;
     private static TextView tvParamLoad; // 假设 tvParamLoad 是用于显示进度的 TextView
+
     public static void startParamLoadMonitoring(TextView tvParamLoad) {
         FlyVoid.tvParamLoad = tvParamLoad;
 
@@ -343,7 +356,338 @@ public class FlyVoid {
         handler.post(updateProgressRunnable);
     }
 
+    /**
+     * 方法：发送航线任务到飞控并启动任务执行
+     *
+     * @param createLinkList 航线航点列表
+     * @cuijingzhou
+     */
+    public void sendMissionToFlightController(Activity context, ArrayList<CreateLink> createLinkList) {
+        if (createLinkList == null || createLinkList.isEmpty()) {
+            return;
+        }
 
+        // 创建 ProgressDialog
+        android.app.ProgressDialog progressDialog = new android.app.ProgressDialog(context);
+        progressDialog.setTitle("任务执行中");
+        progressDialog.setMessage("正在发送航线到飞控...");
+        progressDialog.setProgressStyle(android.app.ProgressDialog.STYLE_HORIZONTAL);
+        progressDialog.setCancelable(false); // 设置不可手动关闭
+        progressDialog.setMax(100);
+        progressDialog.show();
+        MsgList.set(MAVLINK_MSG_ID_MISSION_REQUEST,null);
+        new Thread(() -> {
+            try {
+                // 2. 发送航点计数
+                msg_mission_count count = new msg_mission_count();
+                count.target_system = 1;
+                count.target_component = 1;
+                count.count = createLinkList.size() + 1; // 航点数量
+                sendMavlinkMessage(type, count);
+
+                boolean isOk = true;
+                int sentWaypoints = 0;
+                int totalWaypoints = createLinkList.size() + 1;
+
+                while (isOk) {
+                    try {
+                        String msgRequest = MsgList.get(MAVLINK_MSG_ID_MISSION_REQUEST);
+                        if (msgRequest != null) {
+                            JSONObject jsonObject = new JSONObject(msgRequest);
+                            int seq = jsonObject.optInt("seq");
+                            upDataLinkPoint(seq, createLinkList);
+                            sentWaypoints = seq + 1;
+
+                            // 更新发送进度
+                            final int progress = (int) ((sentWaypoints / (float) totalWaypoints) * 50); // 发送占50%进度
+                            context.runOnUiThread(() -> {
+                                progressDialog.setProgress(progress);
+                            });
+
+                            Log.d("Missions", "--" + seq);
+                            // 如果当前序号+1大于等于航点总数，则结束循环
+                            if ((seq + 1) > createLinkList.size()) {
+                                isOk = false;
+                            }
+                        }
+
+                        // 添加短暂延迟以避免过度占用CPU
+                        Thread.sleep(100);
+                    } catch (Exception e) {
+                        Log.e("Mission", "Error processing mission request: " + e.getMessage());
+                        // 出错时也退出循环避免无限循环
+                        isOk = false;
+                    }
+                }
+
+                context.runOnUiThread(() -> {
+                    progressDialog.setMessage("正在校验航线...");
+                });
+
+                // 校验点位是否正常上传
+                boolean verifyResult = verifyPoint(createLinkList);
+
+                // 更新校验进度
+                context.runOnUiThread(() -> {
+                    progressDialog.setProgress(100);
+                    progressDialog.dismiss();
+
+                    if (verifyResult) {
+                        Toast.makeText(context, "航线已发送到飞控并校验通过", Toast.LENGTH_SHORT).show();
+                    } else {
+                        Toast.makeText(context, "航线发送完成但校验失败", Toast.LENGTH_SHORT).show();
+                    }
+
+                });
+
+            } catch (Exception e) {
+                context.runOnUiThread(() -> {
+                    progressDialog.dismiss();
+                    Toast.makeText(context, "航线发送过程中出现错误", Toast.LENGTH_SHORT).show();
+                });
+                e.printStackTrace();
+            }
+
+        }).start();
+    }
+
+
+    /**
+     * 方法：给飞控发送点位
+     *
+     * @cuijingzhou
+     */
+    private void upDataLinkPoint(int i,ArrayList<CreateLink> createLinkList) throws InterruptedException {
+
+        //由于第一个点是home点，所以要从第2个点开始上传
+        if (i == 0){
+            msg_mission_item_int waypoint = new msg_mission_item_int();
+            waypoint.target_system = 1;      // 无人机系统ID
+            waypoint.target_component = 1;   // 无人机组件ID
+            waypoint.seq = 0;                // 航点序号
+            waypoint.frame = MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT; // 坐标系
+            waypoint.command = MAV_CMD.MAV_CMD_NAV_WAYPOINT; // 航点指令
+            waypoint.current = 0;  // 第一个航点设为当前航点
+            waypoint.autocontinue = 1;       // 自动继续到下一个航点
+            waypoint.param1 = 0;             // 停留时间(秒)
+            waypoint.param2 = 0;             // 接受半径(m)
+            waypoint.param3 = 0;             // 通过半径(m)
+            waypoint.param4 = 0;             // 航向角
+            waypoint.x = 0;
+            waypoint.y = 0;
+            waypoint.z = 0;         // 高度(相对)
+            sendMavlinkMessage(type, waypoint);
+            Thread.sleep(50);
+        }
+        //正常上传
+        else {
+            CreateLink link = createLinkList.get(i-1);
+            LatLng latLng = link.getLatLng();
+            double[] doubles = CoordinateConverter.gcj02ToWgs84(latLng.longitude, latLng.latitude);
+            if (doubles != null) {
+                msg_mission_item_int waypoint = new msg_mission_item_int();
+                waypoint.target_system = 1;      // 无人机系统ID
+                waypoint.target_component = 1;   // 无人机组件ID
+                waypoint.seq = i;                // 航点序号
+                waypoint.frame = MAV_FRAME.MAV_FRAME_GLOBAL_RELATIVE_ALT; // 坐标系
+                waypoint.command = MAV_CMD.MAV_CMD_NAV_WAYPOINT; // 航点指令
+                waypoint.current = 0;  // 第一个航点设为当前航点
+                waypoint.autocontinue = 1;       // 自动继续到下一个航点
+                waypoint.param1 = 0;             // 停留时间(秒)
+                waypoint.param2 = 0;             // 接受半径(m)
+                waypoint.param3 = 0;             // 通过半径(m)
+                waypoint.param4 = 0;             // 航向角
+                waypoint.x = (int) (doubles[1] * 10000000);
+                waypoint.y = (int) (doubles[0] * 10000000);
+                // 经度
+                waypoint.z = (float) link.getHeight();         // 高度(相对)
+                sendMavlinkMessage(type, waypoint);
+                Thread.sleep(50);
+            }
+        }
+
+    }
+
+    /**
+     * 方法：校验发送的点位是否正确
+     *
+     * @cuijingzhou
+     */
+    private boolean verifyPoint(ArrayList<CreateLink> createLinkList) {
+        try {
+            MsgList.set(MAVLINK_MSG_ID_MISSION_COUNT,null);
+            // 创建MISSION_REQUEST_LIST消息
+            msg_mission_request_list requestList = new msg_mission_request_list();
+            requestList.target_system = 1;      // 飞控系统ID
+            requestList.target_component = 1;   // 飞控组件ID
+            requestList.mission_type = 0;       // 任务类型，0表示默认任务
+
+            // 发送消息请求航点列表
+            sendMavlinkMessage(type, requestList);
+            boolean isTrue = true;
+            while (isTrue) {
+                Thread.sleep(120);
+                String countMsg = MsgList.get(MAVLINK_MSG_ID_MISSION_COUNT);
+                if (countMsg != null) {
+                    JSONObject countObject = new JSONObject(countMsg);
+                    int count = countObject.optInt("count", 0);
+
+                    // 检查飞控上的航点数是否与本地一致
+                    if ((count-1) != createLinkList.size()) {
+                        Log.e("VerifyPoint", "航点数量不一致：本地=" + createLinkList.size() + ", 飞控=" + count);
+                        return false;
+                    }
+
+                    // 逐一比对每个航点
+                    for (int i = 1; i < count; ) {
+                        // 请求飞控发送特定序号的航点
+                        // 这里需要飞控支持自动发送或我们主动请求
+                        // 由于MAVLink协议通常是飞控在收到MISSION_REQUEST_LIST后自动发送MISSION_ITEM，
+                        // 我们需要监听并比对这些消息
+                        // 创建MISSION_REQUEST_LIST消息
+                        msg_mission_request_int requestLists = new msg_mission_request_int();
+                        requestLists.seq = i;
+                        requestLists.target_system = 1;      // 飞控系统ID
+                        requestLists.target_component = 1;   // 飞控组件ID        this.seq = seq;
+                        requestLists.mission_type = 0;       // 任务类型，0表示默认任务
+                        // 发送消息请求航点列表
+                        sendMavlinkMessage(type, requestLists);
+
+
+                        // 等待一段时间让飞控发送对应序号的航点信息
+                        Thread.sleep(50);
+
+
+                        // 从MsgList获取飞控发送的航点信息
+                        String missionItemMsg = MsgList.get(MAVLINK_MSG_ID_MISSION_ITEM_INT);
+                        if (missionItemMsg != null) {
+                            JSONObject missionItemObject = new JSONObject(missionItemMsg);
+                            int seq = missionItemObject.optInt("seq", -1);
+                            Log.e("VerifyPoint", "第几个:" + seq + "+"+ i);
+                            // 确保是当前要检查的序号
+                            // 修复：确保seq有效且i在有效范围内
+                            if (seq == i) {
+                                // 获取飞控发送的航点坐标
+                                double flyLat = Double.parseDouble(missionItemObject.optString("x")) / 10000000;
+                                double flyLng = Double.parseDouble(missionItemObject.optString("y")) / 10000000;
+                                double flyAlt = Double.parseDouble(missionItemObject.optString("z") );
+
+                                Log.e("VerifyPoint", "坐标"+seq+"-" + flyLat + "+"+flyLng);
+                                // 获取本地对应序号的航点
+                                CreateLink localLink = createLinkList.get(i-1);
+                                LatLng localLatLng = localLink.getLatLng();
+                                double localHeight = localLink.getHeight();
+
+                                // 坐标转换（如果需要）
+                                double[] convertedCoords = CoordinateConverter.gcj02ToWgs84(localLatLng.longitude, localLatLng.latitude);
+                                if (convertedCoords != null) {
+                                    double localLat = convertedCoords[1];
+                                    double localLng = convertedCoords[0];
+
+                                    // 比对坐标（允许小误差）
+                                    if (Math.abs(flyLat - localLat) > 0.000001 ||
+                                            Math.abs(flyLng - localLng) > 0.000001 ||
+                                            Math.abs(flyAlt - localHeight) > 0.1) {
+                                        Log.e("VerifyPoint", "航点" + i + "坐标不一致");
+                                        return false;
+                                    }
+                                } else {
+                                    Log.e("VerifyPoint", "坐标转换失败，航点" + i);
+                                    return false;
+                                }
+                                i++;
+                            }
+
+                        } else {
+                            Log.e("VerifyPoint", "未收到飞控返回的航点" + i);
+//                        return false;
+                        }
+                    }
+
+                    Log.d("VerifyPoint", "所有航点校验通过");
+                    isTrue = false;
+                    return true;
+                } else {
+                    Log.e("VerifyPoint", "未收到飞控返回的航点数量");
+                }
+            }
+            return true;
+        } catch (Exception e) {
+            Log.e("VerifyPoint", "校验过程中发生错误: " + e + " at " + getClass().getSimpleName() + ".java:" + Thread.currentThread().getStackTrace()[2].getLineNumber());
+            return false;
+        }
+    }
+
+
+    /**
+     * 方法：解锁飞机指令
+     *
+     * @param arm 1表示解锁，0表示上锁
+     * @cuijingzhou
+     */
+    public void requestArmDisarm(int arm) {
+        // 构造命令
+        msg_command_long command = new msg_command_long();
+        command.target_system = 1;      // 目标系统ID（飞控）
+        command.target_component = 1;   // 目标组件ID
+        command.command = MAV_CMD.MAV_CMD_COMPONENT_ARM_DISARM; // 解锁/上锁命令
+        command.confirmation = 0;       // 确认位
+        command.param1 = arm;           // 1: 解锁, 0: 上锁
+        command.param2 = 0;             // 保留
+        command.param3 = 0;             // 保留
+        command.param4 = 0;             // 保留
+        command.param5 = 0;             // 保留
+        command.param6 = 0;             // 保留
+        command.param7 = 0;             // 保留
+
+        // 发送命令
+        sendMavlinkMessage(MyBoundService.type, command);
+    }
+
+    /**
+     * 方法：解锁飞机指令（简化版）
+     *
+     * @cuijingzhou
+     */
+    public void requestArm() {
+        requestArmDisarm(1); // 1表示解锁
+    }
+
+    /**
+     * 方法：上锁飞机指令（简化版）
+     *
+     * @cuijingzhou
+     */
+    public void requestDisarm() {
+        requestArmDisarm(0); // 0表示上锁
+    }
+
+
+    /**
+     * 方法：执行航线任务（指定起始和结束点）
+     *
+     * @param startSeq 起始航点序号（从0开始）
+     * @param endSeq   结束航点序号（-1表示到最后一个航点）
+     * @cuijingzhou
+     */
+    public void requestMissionStart(int startSeq, int endSeq) {
+        // 构造命令
+        msg_command_long command = new msg_command_long();
+        command.target_system = 1;      // 目标系统ID（飞控）
+        command.target_component = 1;   // 目标组件ID
+        command.command = MAV_CMD.MAV_CMD_MISSION_START; // 开始任务命令
+        command.confirmation = 0;       // 确认位
+        command.param1 = startSeq;      // 首先要执行的任务项索引
+        command.param2 = endSeq;        // 最后要执行的任务项索引
+        command.param3 = 0;             // 保留
+        command.param4 = 0;             // 保留
+        command.param5 = 0;             // 保留
+        command.param6 = 0;             // 保留
+        command.param7 = 0;             // 保留
+
+        // 发送命令
+        sendMavlinkMessage(MyBoundService.type, command);
+    }
 
 
 

app/src/main/java/com/example/longyi_groundstation/Main/Void/MyReceiver.java

@@ -20,7 +20,8 @@ public class MyReceiver extends BroadcastReceiver {
     public static JSONObject PARAM_VALUE_json = null;//飞机基础飞行模式
     public static JSONObject RC_CHANNELS_json = null;//RC通道监控
     public static JSONObject VFR_HUD_json = null;//油门量
-
+    public static JSONObject MISSION_REQUEST_json = null;//路线上传报错回调
+    public static JSONObject MISSION_ACK_json = null;//路线上传穿插回调
 
 
     //ATTITUDE
@@ -82,6 +83,18 @@ public class MyReceiver extends BroadcastReceiver {
     }
     private OnVfrHudListener VfrHudlistener;
 
+    public interface OnMissionRequestListener {
+        void onMissionRequest(JSONObject data);
+    }
+    private OnMissionRequestListener MissionRequestlistener;
+
+    public interface OnMissionAckListener {
+        void onMissionAck(JSONObject data);
+    }
+    private OnMissionAckListener MissionAcklistener;
+
+
+
 
     public void setATTITUDEListener(OnATTITUDEListener listener) {
         this.ATTITUDElistener = listener;
@@ -116,6 +129,14 @@ public class MyReceiver extends BroadcastReceiver {
         this.VfrHudlistener = listener;
     }
 
+    public void setMissionRequestlistener(OnMissionRequestListener listener) {
+        this.MissionRequestlistener = listener;
+    }
+
+    public void setMissionAcklistener(OnMissionAckListener listener) {
+        this.MissionAcklistener = listener;
+    }
+
 
     @Override
     public void onReceive(Context context, Intent intent) {
@@ -281,7 +302,7 @@ public class MyReceiver extends BroadcastReceiver {
                 }
 
             } catch (Exception e) {
-                Log.e("cuijingzhou-e Broadcast_RC_CHANNELS_RAW", e.toString());
+                Log.e("cuijingzhou-e Broadcast_RC_CHANNELS", e.toString());
             }
         }
 
@@ -300,7 +321,43 @@ public class MyReceiver extends BroadcastReceiver {
                 }
 
             } catch (Exception e) {
-                Log.e("cuijingzhou-e Broadcast_RC_CHANNELS_RAW", e.toString());
+                Log.e("cuijingzhou-e Broadcast_VFR_HUD", e.toString());
+            }
+        }
+
+        if ("Broadcast_MISSION_REQUEST".equals(intent.getAction())) {
+            try {
+                String receivedData = intent.getStringExtra("data");
+                if (receivedData != null) {
+                    MISSION_REQUEST_json = new JSONObject(receivedData);
+                    MISSION_REQUEST_json.optString("jsonObject");
+//                    Log.d("cuijingzhou", "onReceive: " + receivedData);
+                    // 触发回调
+                    if (MissionRequestlistener != null) {
+                        MissionRequestlistener.onMissionRequest(MISSION_REQUEST_json);
+                    }
+                }
+
+            } catch (Exception e) {
+                Log.e("cuijingzhou-e Broadcast_MISSION_REQUEST", e.toString());
+            }
+        }
+
+        if ("Broadcast_MISSION_ACK".equals(intent.getAction())) {
+            try {
+                String receivedData = intent.getStringExtra("data");
+                if (receivedData != null) {
+                    MISSION_ACK_json = new JSONObject(receivedData);
+                    MISSION_ACK_json.optString("jsonObject");
+//                    Log.d("cuijingzhou", "onReceive: " + receivedData);
+                    // 触发回调
+                    if (MissionAcklistener != null) {
+                        MissionAcklistener.onMissionAck(MISSION_ACK_json);
+                    }
+                }
+
+            } catch (Exception e) {
+                Log.e("cuijingzhou-e Broadcast_MISSION_ACK", e.toString());
             }
         }
     }

app/src/main/java/com/example/longyi_groundstation/Util/BroadcastUtil.java

@@ -146,5 +146,32 @@ public class BroadcastUtil {
         intent.clone();
     }
 
+    /**
+     * MAVLINK_MSG_ID_MISSION_REQUEST
+     *
+     * @param context 上下文
+     * @param data    数据-json
+     */
+    public static void Broadcast_MISSION_REQUEST(Context context, String data) {
+        Intent intent = new Intent("Broadcast_MISSION_REQUEST");
+        intent.putExtra("data", data);
+        context.sendBroadcast(intent);
+        intent.clone();
+    }
+
+    /**
+     * MAVLINK_MSG_ID_MISSION_ACK
+     *
+     * @param context 上下文
+     * @param data    数据-json
+     */
+    public static void Broadcast_MISSION_ACK(Context context, String data) {
+        Intent intent = new Intent("Broadcast_MISSION_ACK");
+        intent.putExtra("data", data);
+        context.sendBroadcast(intent);
+        intent.clone();
+    }
+
+
 
 }

app/src/main/java/com/example/longyi_groundstation/Util/Tool.java

@@ -57,4 +57,59 @@ public class Tool {
     }
 
 
+    /**
+     * 方法：DEC转BIN(只获取第一位) - 8位表示
+     *
+     * @param data 十进制字符串
+     * @return 二进制表示的最高位（0或1）
+     * @cuijingzhou
+     */
+    public static String getDecToFirstBin(String data) {
+        try {
+            // 将输入的十进制字符串转换为整数
+            int decimal = Integer.parseInt(data);
+
+            // 确保数值在byte范围内(0-255)
+            decimal = decimal & 0xFF;
+
+            // 获取最高位（第8位）: 右移7位后与1进行按位与操作
+            int firstBit = (decimal >> 7) & 1;
+
+            // 返回第一位作为字符串
+            return String.valueOf(firstBit);
+        } catch (NumberFormatException e) {
+            // 如果输入不是有效的数字，返回默认值"0"
+            return "0";
+        }
+    }
+
+    /**
+     * 方法：DEC转BIN - 8位表示
+     *
+     * @param data 十进制字符串
+     * @return 8位二进制字符串表示
+     * @cuijingzhou
+     */
+    public static String getDecToBinFull(String data) {
+        try {
+            // 将输入的十进制字符串转换为整数
+            int decimal = Integer.parseInt(data);
+
+            // 确保数值在byte范围内(0-255)
+            decimal = decimal & 0xFF;
+
+            // 将整数转换为二进制字符串
+            String binaryString = Integer.toBinaryString(decimal);
+
+            // 确保返回8位二进制字符串，不足位数前面补0
+            return String.format("%8s", binaryString).replace(' ', '0');
+        } catch (NumberFormatException e) {
+            // 如果输入不是有效的数字，返回默认值"00000000"
+            return "00000000";
+        }
+    }
+
+
+
+
 }

app/src/main/res/drawable/ff03a9f4_4round_1stroke_bg.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+
+    <corners android:radius="4dp"/>
+
+    <solid android:color="#03A9F4"/>
+
+    <stroke
+        android:width="0.5dp"
+        android:color="#303030"/>
+
+</shape>

app/src/main/res/layout/activity_main.xml

@@ -546,6 +546,24 @@
 
         </LinearLayout>
 
+        <!-- 滑动解锁飞机  -->
+        <RelativeLayout
+            android:id="@+id/rl_unlock"
+            android:layout_below="@+id/ll_title"
+            android:layout_centerHorizontal="true"
+            android:layout_width="120dp"
+            android:layout_height="42dp">
+
+            <com.example.longyi_groundstation.Main.View.SlideToUnlockView
+                android:background="#00000000"
+                android:id="@+id/unlockView"
+                android:layout_width="wrap_content"
+                android:layout_height="35dp"
+                android:layout_margin="8dp" />
+
+        </RelativeLayout>
+
+
         <!-- 左侧功能布局 -->
         <RelativeLayout
             android:layout_width="wrap_content"
@@ -1611,7 +1629,7 @@
                     android:layout_width="wrap_content"
                     android:layout_height="28dp"
                     android:gravity="center"
-                    android:text="开始执行"
+                    android:text="上传航线"
                     android:textColor="#ffffff"
                     android:textSize="9sp" />
 
@@ -1619,27 +1637,26 @@
 
             <LinearLayout
                 android:id="@+id/ll_link_start_fun2"
-                android:layout_marginTop="10dp"
+                android:layout_marginTop="4dp"
-                android:layout_width="60dp"
+                android:layout_width="65dp"
-                android:layout_height="25dp"
+                android:layout_height="28dp"
-                android:background="@drawable/b2101010_4round_1stroke_bg"
+                android:background="@drawable/ff03a9f4_4round_1stroke_bg"
                 android:gravity="center"
                 android:orientation="horizontal">
 
-
                 <TextView
                     android:layout_width="wrap_content"
-                    android:layout_height="25dp"
+                    android:layout_height="28dp"
                     android:gravity="center"
-                    android:text="重新编辑"
+                    android:text="开始执行"
                     android:textColor="#ffffff"
-                    android:textSize="8sp" />
+                    android:textSize="9sp" />
 
             </LinearLayout>
 
             <LinearLayout
                 android:id="@+id/ll_link_start_back"
-                android:layout_marginTop="4dp"
+                android:layout_marginTop="10dp"
                 android:layout_width="60dp"
                 android:layout_height="25dp"
                 android:background="@drawable/b2101010_4round_1stroke_bg"