新版+mqtt

app/build.gradle

@@ -73,6 +73,9 @@ dependencies {
     implementation 'com.squareup.okio:okio:3.2.0'
     implementation 'com.google.code.gson:gson:2.10.1'
     implementation(files("libs/mobile-ffmpeg.aar"))
+//    implementation files("libs/org.eclipse.paho.mqttv5.client-1.2.5.jar")
+
+
 
 
 

app/src/main/AndroidManifest.xml

@@ -25,6 +25,7 @@
         android:roundIcon="@mipmap/logo"
         android:supportsRtl="true"
         android:theme="@style/Theme.LongYiGroundStation"
+        android:usesCleartextTraffic="true"
         tools:targetApi="31">
         <activity
             android:name=".Main.Activity.PlayBackActivity"

app/src/main/java/com/example/longyi_groundstation/Funcation/Activity/FuncationActivity.java

@@ -11,6 +11,7 @@ import androidx.core.view.ViewCompat;
 import androidx.core.view.WindowInsetsCompat;
 
 import com.example.longyi_groundstation.Funcation.Void.AllView;
+import com.example.longyi_groundstation.Funcation.Void.UrlVoid;
 import com.example.longyi_groundstation.Main.Activity.MainActivity;
 import com.example.longyi_groundstation.Main.Service.MyBoundService;
 import com.example.longyi_groundstation.R;
@@ -19,6 +20,7 @@ public class FuncationActivity extends AppCompatActivity {
 
     private AllView allView;
     private Intent intent;
+    private UrlVoid urlVoid = new UrlVoid();
 
     @Override
     protected void onCreate(Bundle savedInstanceState) {
@@ -56,7 +58,7 @@ public class FuncationActivity extends AppCompatActivity {
      */
     private void initView() {
         allView = new AllView(this);
-
+        urlVoid.createForAndroid(this);
 
     }
 

app/src/main/java/com/example/longyi_groundstation/Funcation/Void/UrlVoid.java

@@ -0,0 +1,72 @@
+package com.example.longyi_groundstation.Funcation.Void;
+
+import static com.example.longyi_groundstation.Util.Http.HttpUrl.CREATE_FOR_ANDROID;
+import static com.example.longyi_groundstation.Util.Http.HttpUrl.LOGIN;
+
+import android.app.Activity;
+import android.content.Intent;
+import android.util.Log;
+import android.widget.EditText;
+import android.widget.Toast;
+
+import androidx.annotation.NonNull;
+
+import com.example.longyi_groundstation.Funcation.Activity.FuncationActivity;
+import com.example.longyi_groundstation.Util.Http.HttpUtil;
+import com.example.longyi_groundstation.Util.SharedPreferencesTool;
+
+import org.json.JSONObject;
+
+import java.io.IOException;
+import java.util.HashMap;
+
+import okhttp3.Call;
+import okhttp3.Response;
+
+public class UrlVoid {
+
+    public void createForAndroid(Activity activity) {
+        try{
+            HttpUtil httpUtil = new HttpUtil(activity);
+            HashMap<String, String> headersMap = new HashMap();
+            headersMap.put("tenant-id", "1");
+            headersMap.put("clientid", "Android");
+            headersMap.put("Authorization", SharedPreferencesTool.getToken(activity));
+            JSONObject jsonObject = new JSONObject();
+            jsonObject.put("planeId", "LY266548TRE");
+            httpUtil.postJson(
+                    CREATE_FOR_ANDROID,
+                    jsonObject.toString(),
+                    headersMap,
+                    new okhttp3.Callback() {
+                        @Override
+                        public void onFailure(@NonNull Call call, @NonNull IOException e) {
+                            Log.d("Login", "onFailure: "+e);
+                        }
+
+                        @Override
+                        public void onResponse(@NonNull Call call, @NonNull Response response) throws IOException {
+                            try {
+                                String json = response.body().string();
+                                JSONObject jsonObject = new JSONObject(json);
+                                Log.d("Login", jsonObject.getString("data"));
+//                                Toast.makeText(activity, jsonObject.getString("data"), Toast.LENGTH_SHORT).show();
+                            } catch (Exception e) {
+                                Log.d("Login", " err");
+//                                Toast.makeText(activity, "网络解析错误"+ response.body(), Toast.LENGTH_SHORT).show();
+                            }
+
+//                            activity.runOnUiThread(new Runnable() {
+//                                @Override
+//                                public void run() {
+//
+//                                }
+//                            });
+                        }
+                    });
+        }catch (Exception e){
+
+        }
+    }
+
+}

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

@@ -4,6 +4,7 @@ import android.annotation.SuppressLint;
 import android.content.Intent;
 import android.os.Bundle;
 import android.util.Log;
+import android.widget.Toast;
 
 import androidx.activity.EdgeToEdge;
 import androidx.appcompat.app.AppCompatActivity;
@@ -13,9 +14,11 @@ 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.Login.Void.UrlVoid;
 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.Http.HttpUtil;
 import com.example.longyi_groundstation.Util.Tool;
 
 
@@ -26,6 +29,7 @@ public class LoginActivity extends AppCompatActivity {
     private int type = 0;//0=串口 1=UDP
 
     private boolean isSelect = true;
+    private UrlVoid urlVoid = new UrlVoid();
 
     @Override
     protected void onCreate(Bundle savedInstanceState) {
@@ -74,17 +78,22 @@ public class LoginActivity extends AppCompatActivity {
     private void initOnClick() {
 
         allView.btn_login.setOnClickListener(v -> {
-            //todo 没有用
             if (allView.et_username.getText().toString().equals("admin1")){
                 type = 1;
             }
+//            if (allView.et_username.getText().toString().length() > 0 && allView.et_password.getText().toString().length() > 0){
+//                urlVoid.Login(LoginActivity.this, allView.et_username, allView.et_password);
+//            }else {
+//                Toast.makeText(LoginActivity.this, "请输入用户名和密码", Toast.LENGTH_SHORT).show();
+//            }
+//            type = 1;
             Intent intent = new Intent(LoginActivity.this, FuncationActivity.class);
             intent.putExtra("type", type);
             if (type != 0){
                 intent.putExtra("port", "14551");
             }
             startActivity(intent);
-            finish();
+
         });
 
         //选择是否记住密码

app/src/main/java/com/example/longyi_groundstation/Login/Void/UrlVoid.java

@@ -5,59 +5,84 @@ import static com.example.longyi_groundstation.Util.Http.HttpUrl.LOGIN;
 
 import android.app.Activity;
 import android.content.Intent;
+import android.util.Log;
 import android.widget.EditText;
 import android.widget.Toast;
 
 import androidx.annotation.NonNull;
 
 import com.example.longyi_groundstation.Funcation.Activity.FuncationActivity;
+import com.example.longyi_groundstation.Login.Activity.LoginActivity;
 import com.example.longyi_groundstation.Util.Http.HttpUtil;
 import com.example.longyi_groundstation.Util.SharedPreferencesTool;
 
 import org.json.JSONObject;
 
 import java.io.IOException;
+import java.util.HashMap;
 
 import okhttp3.Call;
 import okhttp3.Response;
 
 public class UrlVoid {
 
-    public static HttpUtil httpUtil = new HttpUtil();
+    public void Login(Activity activity, EditText et_username, EditText et_password) {
-
+        try {
-    private void Login(Activity activity, EditText et_username, EditText et_password) {
+            HttpUtil httpUtil = new HttpUtil(activity);
-        httpUtil.postForm(
+//        Log.d("Login", "mobile=" + et_username.getText().toString() +
+//                "&password=" + et_password.getText().toString());
+            HashMap<String, String> headersMap = new HashMap();
+            headersMap.put("tenant-id", "1");
+            headersMap.put("clientid", "Android");
+            JSONObject jsonObject = new JSONObject();
+            jsonObject.put("username", et_username.getText().toString());
+            jsonObject.put("password", et_password.getText().toString());
+            httpUtil.postJson(
                     LOGIN,
-                "mobile=" + et_username.getText().toString() +
+                    jsonObject.toString(),
-                        "&password=" + et_password.getText().toString(),
+                    headersMap,
-                null, new okhttp3.Callback() {
+                    new okhttp3.Callback() {
                         @Override
                         public void onFailure(@NonNull Call call, @NonNull IOException e) {
-
+                            Log.d("Login", "onFailure: " + e);
                         }
 
                         @Override
                         public void onResponse(@NonNull Call call, @NonNull Response response) throws IOException {
-                        activity.runOnUiThread(new Runnable() {
-                            @Override
-                            public void run() {
                             try {
                                 String json = response.body().string();
                                 JSONObject jsonObject = new JSONObject(json);
-                                    if (jsonObject.getInt("code") == 1) {
+                                if (jsonObject.getInt("code") == 0) {
+                                    activity.runOnUiThread(new Runnable() {
+                                        @Override
+                                        public void run() {
+                                            Toast.makeText(activity, "ok", Toast.LENGTH_SHORT).show();
+                                        }
+                                    });
+
                                     SharedPreferencesTool.saveLogin(activity, jsonObject.getJSONObject("data"));
-                                        activity.startActivity(new Intent(activity, FuncationActivity.class));
+                                    Intent intent = new Intent(activity, FuncationActivity.class);
+                                    intent.putExtra("type", 1);
+                                    activity.startActivity(intent);
+                                    activity.overridePendingTransition(0, 0);
                                     activity.finish();
+
+
                                 } else {
-                                        Toast.makeText(activity, "账号密码错误", Toast.LENGTH_SHORT).show();
+//                                    Toast.makeText(activity, jsonObject.getString("msg"), Toast.LENGTH_SHORT).show();
+                                    Log.d("Login", "code: err");
                                 }
                             } catch (Exception e) {
-                                    Toast.makeText(activity, "网络解析错误", Toast.LENGTH_SHORT).show();
+                                Log.d("Login", "网络解析错误" + e);
-                                }
+
-                            }
+//                                Toast.makeText(activity, "网络解析错误"+ response.body(), Toast.LENGTH_SHORT).show();
-                        });
+                            }
-                    }
+
-                });
+                        }
+                    });
+        } catch (Exception e) {
+
+        }
     }
 
 }

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

@@ -11,8 +11,6 @@ import com.example.longyi_groundstation.MAVLink.Messages.MAVLinkMessage;
 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 com.example.longyi_groundstation.Main.Void.MyTool;
-import com.example.longyi_groundstation.Util.Tool;
 
 import org.json.JSONException;
 import org.json.JSONObject;

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

@@ -2,23 +2,12 @@ package com.example.longyi_groundstation.Main.Activity;
 
 import static android.app.PendingIntent.getActivity;
 import static android.view.View.GONE;
-import static android.view.View.INVISIBLE;
 import static android.view.View.VISIBLE;
 
-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.Void.AllVoid.rtsp_push;
-import static javax.xml.transform.OutputKeys.VERSION;
-
-import android.Manifest;
-import android.animation.ObjectAnimator;
 import android.annotation.SuppressLint;
-import android.app.AlertDialog;
 import android.content.ComponentName;
 import android.content.Context;
 import android.content.Intent;
-import android.content.IntentFilter;
 import android.content.ServiceConnection;
 import android.graphics.Bitmap;
 import android.graphics.Color;
@@ -26,44 +15,27 @@ import android.graphics.Outline;
 import android.os.Build;
 import android.os.Bundle;
 import android.os.IBinder;
-import android.text.Editable;
-import android.text.TextWatcher;
 import android.util.Log;
-import android.view.MotionEvent;
 import android.view.View;
 import android.view.ViewOutlineProvider;
-import android.view.WindowManager;
-import android.widget.Button;
-import android.widget.ImageView;
-import android.widget.LinearLayout;
 import android.widget.TextView;
 import android.widget.Toast;
 
 import androidx.activity.EdgeToEdge;
 import androidx.annotation.RequiresApi;
 import androidx.appcompat.app.AppCompatActivity;
-import androidx.core.app.ActivityCompat;
 import androidx.core.graphics.Insets;
 import androidx.core.view.ViewCompat;
 import androidx.core.view.WindowInsetsCompat;
 import androidx.recyclerview.widget.LinearLayoutManager;
 
-import com.amap.api.location.AMapLocationClientOption;
-import com.amap.api.maps.AMap;
 import com.amap.api.maps.CameraUpdateFactory;
 import com.amap.api.maps.model.BitmapDescriptorFactory;
 import com.amap.api.maps.model.LatLng;
 import com.amap.api.maps.model.Marker;
 import com.amap.api.maps.model.MarkerOptions;
-import com.amap.api.maps.model.MyLocationStyle;
 import com.amap.api.maps.model.Polyline;
 import com.amap.api.maps.model.PolylineOptions;
-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.enums.MAV_CMD;
-import com.example.longyi_groundstation.MAVLink.enums.MAV_FRAME;
 import com.example.longyi_groundstation.Main.Adapter.AllLinkAdapter;
 import com.example.longyi_groundstation.Main.Adapter.CreateLinkAdapter;
 import com.example.longyi_groundstation.Main.Adapter.LogAdapter;
@@ -73,31 +45,26 @@ import com.example.longyi_groundstation.Main.Base.LogItem;
 import com.example.longyi_groundstation.Main.Base.Msg;
 import com.example.longyi_groundstation.Main.Click.MainClick;
 import com.example.longyi_groundstation.Main.Service.MyBoundService;
-import com.example.longyi_groundstation.Main.Setting.Activity.SettingActivity;
 import com.example.longyi_groundstation.Main.View.BombingDialog;
-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.PointFlyDialog;
 import com.example.longyi_groundstation.Main.View.SaveLinkNameDialog;
-import com.example.longyi_groundstation.Main.View.SlideToUnlockView;
 import com.example.longyi_groundstation.Main.View.StartExecuteDialog;
 import com.example.longyi_groundstation.Main.View.TakeOffDialog;
 import com.example.longyi_groundstation.Main.View.TurnBackDialog;
 import com.example.longyi_groundstation.Main.Void.AllView;
 import com.example.longyi_groundstation.Main.Void.AllVoid;
-import com.example.longyi_groundstation.Main.Void.ContrastTool;
+import com.example.longyi_groundstation.Main.Void.Fly.ContrastTool;
-import com.example.longyi_groundstation.Main.Void.CoordinateConverter;
+import com.example.longyi_groundstation.Main.Void.Fly.FlightDataMonitor;
-import com.example.longyi_groundstation.Main.Void.FlyVoid;
+import com.example.longyi_groundstation.Main.Void.Map.CoordinateConverter;
-import com.example.longyi_groundstation.Main.Void.FpvGestureHandler;
+import com.example.longyi_groundstation.Main.Void.Fly.FlyVoid;
-import com.example.longyi_groundstation.Main.Void.KeDaTTS;
+import com.example.longyi_groundstation.Main.Void.XiangTuo.FpvGestureHandler;
-import com.example.longyi_groundstation.Main.Void.LidarDataParser;
+import com.example.longyi_groundstation.Main.Void.Fly.LidarDataParser;
-import com.example.longyi_groundstation.Main.Void.MapVoid;
+import com.example.longyi_groundstation.Main.Void.Map.MapVoid;
-import com.example.longyi_groundstation.Main.Void.MyReceiver;
+import com.example.longyi_groundstation.Main.Void.Mqtt.MqttV5Util;
-import com.example.longyi_groundstation.Main.Void.MyTool;
+import com.example.longyi_groundstation.Main.Void.Tool.MyTool;
-import com.example.longyi_groundstation.Main.Void.SQLClass;
+import com.example.longyi_groundstation.Main.Void.Sql.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;
@@ -109,8 +76,6 @@ import java.text.SimpleDateFormat;
 import java.util.ArrayList;
 import java.util.Date;
 import java.util.List;
-import java.util.Random;
-import java.util.stream.Collectors;
 
 
 public class MainActivity extends AppCompatActivity {
@@ -134,8 +99,9 @@ public class MainActivity extends AppCompatActivity {
     };
     //地图方法
     private MapVoid mapVoid;
-    //广播接收器
+    // 参数获取线程
-    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_MISSION_REQUEST, myReceiver_MISSION_ACK, myReceiver_MISSION_CURRENT;
+    private FlightDataMonitor flightDataMonitor;
+
     //所有组件
     private AllView allView;
     private ArrayList<Msg> typeList = new ArrayList<>();
@@ -197,19 +163,36 @@ public class MainActivity extends AppCompatActivity {
         // 关键初始化保留在主线程
         initData();
         initView();
-        initReceiver();
-
         // 异步初始化非关键组件
         new Thread(() -> {
-            LidarDataParser.startHeightUpdate(allView.tv_height);
+            try {
-            mapVoid.startFlightTracking();
+                initXiangTuo();
+            } catch (Exception e) {
+                Log.d(TAG, "翔拓初始化失败: " + e);
+            }
+            try {
+                initMQTT();
+            }catch (Exception e){
+                Log.d(TAG, "MQTT初始化失败: " + e);
+            }
+            try {
+                initReceiver();
+            } catch (Exception e) {
+                Log.d(TAG, "初始化广播参数失败: " + e);
+            }
+            try {
+                initOnClick();
+            } catch (Exception e) {
+                Log.d(TAG, "初始化点击事件失败: " + e);
+            }
         }).start();
 
-        // 用户交互相关的初始化保留在主线程
+
-        initOnClick();
 
     }
 
+
+
     /**
      * 方法：初始化数据
      *
@@ -220,114 +203,6 @@ public class MainActivity extends AppCompatActivity {
     private void initData() {
 //        data = PrefsUtil.getUserObject(this, User.class);
         intent = getIntent();
-        //定位权限
-        ActivityCompat.requestPermissions(this, new String[]{Manifest.permission.ACCESS_FINE_LOCATION, Manifest.permission.ACCESS_COARSE_LOCATION}, 1000);
-        AMapLocationClientOption option = new AMapLocationClientOption();
-        option.setLocationMode(AMapLocationClientOption.AMapLocationMode.Hight_Accuracy); // 设置为高精度模式
-        //开启广播监听-基础数据
-        myReceiver_ATTITUDE = new MyReceiver();
-        myReceiver_ATTITUDE.isReceiverRegistered = true;
-        IntentFilter filter1 = new IntentFilter("Broadcast_ATTITUDE");
-        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
-            registerReceiver(myReceiver_ATTITUDE, filter1, Context.RECEIVER_EXPORTED);
-        } else {
-            registerReceiver(myReceiver_ATTITUDE, filter1);
-        }
-
-        //开启广播监听-GPS
-        myReceiver_GPS_RAW_INT = new MyReceiver();
-        myReceiver_GPS_RAW_INT.isReceiverRegistered = true;
-        IntentFilter filter2 = new IntentFilter("Broadcast_GPS_RAW_INT");
-        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
-            registerReceiver(myReceiver_GPS_RAW_INT, filter2, Context.RECEIVER_EXPORTED);
-        } else {
-            registerReceiver(myReceiver_GPS_RAW_INT, filter2);
-        }
-
-        //开启广播监听-位置
-        myReceiver_GLOBAL_POSITION_INT = new MyReceiver();
-        IntentFilter filter3 = new IntentFilter("Broadcast_GLOBAL_POSITION_INT");
-        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
-            registerReceiver(myReceiver_GLOBAL_POSITION_INT, filter3, Context.RECEIVER_EXPORTED);
-        } else {
-            registerReceiver(myReceiver_GLOBAL_POSITION_INT, filter3);
-        }
-
-        //开启广播监听-电量
-        myReceiver_POWER_STATUS = new MyReceiver();
-        IntentFilter filter4 = new IntentFilter("Broadcast_POWER_STATUS");
-        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
-            registerReceiver(myReceiver_POWER_STATUS, filter4, Context.RECEIVER_EXPORTED);
-        } else {
-            registerReceiver(myReceiver_POWER_STATUS, filter4);
-        }
-
-
-        //开启广播监听-系统位置
-        myReceiver_SYS_STATUS = new MyReceiver();
-        IntentFilter filter5 = new IntentFilter("Broadcast_SYS_STATUS");
-        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
-            registerReceiver(myReceiver_SYS_STATUS, filter5, Context.RECEIVER_EXPORTED);
-        } else {
-            registerReceiver(myReceiver_SYS_STATUS, filter5);
-        }
-
-
-        //开启广播监听-告警
-        myReceiver_STATUSTEXT = new MyReceiver();
-        IntentFilter filter6 = new IntentFilter("Broadcast_STATUSTEXT");
-        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
-            registerReceiver(myReceiver_STATUSTEXT, filter6, Context.RECEIVER_EXPORTED);
-        } else {
-            registerReceiver(myReceiver_STATUSTEXT, filter6);
-        }
-
-
-        //开启广播监听-飞行模式
-        myReceiver_HEARTBEAT = new MyReceiver();
-        IntentFilter filter7 = new IntentFilter("Broadcast_HEARTBEAT");
-        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
-            registerReceiver(myReceiver_HEARTBEAT, filter7, Context.RECEIVER_EXPORTED);
-        } else {
-            registerReceiver(myReceiver_HEARTBEAT, filter7);
-        }
-
-        //油门
-        myReceiver_VFR_HUD = new MyReceiver();
-        IntentFilter filter8 = new IntentFilter("Broadcast_VFR_HUD");
-        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
-            registerReceiver(myReceiver_VFR_HUD, filter8, Context.RECEIVER_EXPORTED);
-        } else {
-            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);
-        }
-
-        //目标航点
-        myReceiver_MISSION_CURRENT = new MyReceiver();
-        IntentFilter filter11 = new IntentFilter("Broadcast_MISSION_CURRENT");
-        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
-            registerReceiver(myReceiver_MISSION_CURRENT, filter11, Context.RECEIVER_EXPORTED);
-        } else {
-            registerReceiver(myReceiver_MISSION_CURRENT, filter11);
-        }
-
 
         // 初始化数据源
         typeList = new ArrayList<>();
@@ -339,14 +214,6 @@ public class MainActivity extends AppCompatActivity {
         typeList.add(new Msg("lat", "0", true));
         typeList.add(new Msg("lon", "0", true));
 
-        // 使用新的静态方法:
-        try {
-            tcpClient = new TcpClientUtil();
-            AllVoid.connectToPTZWithRetry(tcpClient, "192.168.144.119", 2000, this, TAG);
-        } catch (Exception e) {
-            Toast.makeText(this, "云台控制初始化失败", Toast.LENGTH_SHORT).show();
-        }
-
     }
 
     /**
@@ -355,6 +222,7 @@ public class MainActivity extends AppCompatActivity {
      * @cuijingzhou
      */
     private void initView() {
+
         //所有组件
         allView = new AllView(this);
         //地图全局方法类
@@ -381,19 +249,7 @@ public class MainActivity extends AppCompatActivity {
         allView.rv_type_list.setAdapter(typeAdapter);
 
         // 延迟初始化FPV视频流
-        allView.fpvWidget.post(() -> {
-            try {
-                fpvVoid.setupFpvWidget(allView.fpvWidget, "rtsp://192.168.144.119/live");
-//                Thread.sleep(5000);
-//                Toast.makeText(this, "推送："
-//                        +rtsp_push.pushStreamToServer("rtsp://192.168.144.119/live", "rtmp://192.168.101.102:21935/live/stream_116?sign=hCuYagBHZQ"), Toast.LENGTH_SHORT).show();
 
-            }catch (Exception e){
-
-            }
-
-
-        });
         // 初始化FPV手势处理
 
         //起飞弹窗
@@ -442,6 +298,31 @@ public class MainActivity extends AppCompatActivity {
 
     }
 
+    /**
+     * 方法：初始化翔拓云台
+     *
+     * @cuijingzhou
+     */
+    private void initXiangTuo(){
+        // 初始化rtsp和云台控制
+        try {
+            fpvVoid.setupFpvWidget(allView.fpvWidget, "rtsp://192.168.144.119/live");
+            tcpClient = new TcpClientUtil();
+            if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
+                AllVoid.connectToPTZWithRetry(tcpClient, "192.168.144.119", 2000, this, TAG);
+            }
+        } catch (Exception e) {
+            Toast.makeText(this, "云台控制初始化失败", Toast.LENGTH_SHORT).show();
+        }
+    }
+
+    private void initMQTT() {
+        MqttV5Util mqttV5Util = new MqttV5Util("ws://192.168.101.102:8083/mqtt", "app-"+new Date().getTime());
+        if (mqttV5Util.connect("longyi", "LryP0e/wpr;G")) {
+//            mqttV5Util.publish()
+        }
+    }
+
     /**
      * 方法：所有广播监听
      *
@@ -450,47 +331,72 @@ public class MainActivity extends AppCompatActivity {
     @SuppressLint({"NotifyDataSetChanged", "DefaultLocale"})
     private void initReceiver() {
 
+        // 初始化飞行数据监听器
+        flightDataMonitor = new FlightDataMonitor();
+
+        // 设置更新间隔（可以根据实际需求调整）
+        flightDataMonitor.setIntervals(
+                30,   // attitudeInterval
+                500,   // gpsInterval
+                500,   // globalPositionInterval
+                1000,  // powerStatusInterval
+                1000,  // sysStatusInterval
+                500,   // statusTextInterval
+                500,   // heartbeatInterval
+                30,   // vfrHudInterval
+                1000,  // missionAckInterval
+                500    // missionCurrentInterval
+        );
+        // 在 onCreate() 方法中添加
+        flightDataMonitor.startMonitoring();
+
         //广播接收-ATTITUDE
-        myReceiver_ATTITUDE.setATTITUDEListener(data -> {
+        flightDataMonitor.setAttitudeListener(data -> {
+
             // 这里可以更新 UI 或刷新数据
-//            Log.d(TAG, "收到新数据ATTITUDE：" +MyReceiver.ATTITUDE_json.optDouble("yaw"));
+//            Log.d(TAG, "收到新数据ATTITUDE：" + data.optDouble("yaw"));
 //            allView.tv_connect.setText("已连接");
 
             // 示例：更新 typeList 数据并刷新 RecyclerView
-            if (data != null) {
+            flyVoid.setAttitude(
-                flyVoid.setAttitude(getApplicationContext(), allView, MyReceiver.ATTITUDE_json.optDouble("roll"), MyReceiver.ATTITUDE_json.optDouble("pitch"), (int) Math.round(MyReceiver.ATTITUDE_json.optDouble("yaw") * 57.3));
+                    getApplicationContext(),
-            }
+                    allView,
+                    data.optDouble("roll"),
+                    data.optDouble("pitch"),
+                    (int) Math.round(data.optDouble("yaw") * 57.3));
             //地图上飞机的朝向
-            mainMarker.setRotateAngle((int) Math.round(MyReceiver.ATTITUDE_json.optDouble("yaw") * 57.3) * -1);
+            mainMarker.setRotateAngle((int) Math.round(data.optDouble("yaw") * 57.3) * -1);
 
-            allView.tv_yaw.setText((int) Math.round(MyReceiver.ATTITUDE_json.optDouble("yaw") * 57.3) + "°");
+            allView.tv_yaw.setText((int) Math.round(data.optDouble("yaw") * 57.3) + "°");
             mainMarker.setVisible(true);
+
         });
 
         //广播接收-setGPSListener
-        myReceiver_GPS_RAW_INT.setGPSListener(data -> {
+        flightDataMonitor.setGpsListener(data -> {
             // 这里可以更新 UI 或刷新数据
 //            Log.d(TAG, "收到新数据GPS：" + data.toString());
-            if (!MyReceiver.GPS_RAW_INT_json.optString("satellites_visible").equals("0")) {
+            if (!data.optString("satellites_visible").equals("0")) {
-                allView.tv_satellite.setText(MyReceiver.GPS_RAW_INT_json.optString("satellites_visible"));
+                allView.tv_satellite.setText(data.optString("satellites_visible"));
             }
-            allView.tv_vel.setText((MyReceiver.GPS_RAW_INT_json.optDouble("vel") / 100) + "m/s");
+            allView.tv_vel.setText((data.optDouble("vel") / 100) + "m/s");
         });
 
         //广播接收-setGlobalPositionIntlistener
-        myReceiver_GLOBAL_POSITION_INT.setGlobalPositionIntlistener(data -> {
+        flightDataMonitor.setGlobalPositionListener(data -> {
             // 这里可以更新 UI 或刷新数据
 //            Log.d(TAG, "收到新数据GLOBAL：" + data.toString());
 
             //要把经纬度转换成高德经纬度
-            doubles = CoordinateConverter.wgs84ToGcj02((MyReceiver.GLOBAL_POSITION_INT_json.optDouble("lon", 0) / 10000000), (MyReceiver.GLOBAL_POSITION_INT_json.optDouble("lat", 0) / 10000000));
+            doubles = CoordinateConverter.
-
+                    wgs84ToGcj02(
-
+                            (data.optDouble("lon", 0) / 10000000),
+                            (data.optDouble("lat", 0) / 10000000));
             if (doubles[1] != 0) {
                 //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(data.optDouble("lat", 0) / 10000000, data.optDouble("lon", 0) / 10000000), 15)); // 15是缩放级别
                     islocation = false;
                     homeLatLng = new LatLng(doubles[1], doubles[0]);
                 }
@@ -501,9 +407,9 @@ public class MainActivity extends AppCompatActivity {
             // 示例：更新 typeList 数据并刷新 RecyclerView
             if (data != null) {
 //                typeList.clear();
-                typeList.set(0, new Msg("relative_alt", MyReceiver.GLOBAL_POSITION_INT_json.optString("relative_alt"), true));
+                typeList.set(0, new Msg("relative_alt", data.optString("relative_alt"), true));
-                typeList.set(1, new Msg("alt", MyReceiver.GLOBAL_POSITION_INT_json.optString("alt"), true));
+                typeList.set(1, new Msg("alt", data.optString("alt"), true));
-                typeList.set(3, new Msg("time_boot_ms", MyReceiver.GLOBAL_POSITION_INT_json.optString("time_boot_ms"), true));
+                typeList.set(3, new Msg("time_boot_ms", data.optString("time_boot_ms"), true));
                 typeList.set(4, new Msg("home_distance", mapVoid.calculateDistance(homeLatLng, new LatLng(doubles[1], doubles[0])) + "m", true));
                 typeList.set(5, new Msg("lat", doubles[1] + "", true));
                 typeList.set(6, new Msg("lon", doubles[0] + "", true));
@@ -511,46 +417,31 @@ public class MainActivity extends AppCompatActivity {
                 // 添加更多字段...
                 typeAdapter.notifyDataSetChanged();
             }
-
+            //获取到数据开始执行
-            //如果有相同的点位就不添加到列表里面去
+            mapVoid.startFlightTracking();
-            if (doubles.length != 0) {
-                if (doubles[1] != mapVoid.latLngss.get(mapVoid.latLngss.size() - 1).latitude) {
-                    mapVoid.latLngss.add(new LatLng(doubles[1], doubles[0]));
-                }
-
-            }
-
-            //实时更新飞机的线路，如果线路长度超过10个点，则删除最后一个点位
-            if (mapVoid.latLngss.size() > 10) {
-                mapVoid.latLngss.remove(0);
-                String coordinates = mapVoid.latLngss.stream().map(latLng -> "(" + latLng.latitude + "," + latLng.longitude + ")").collect(Collectors.joining(", "));
-                Log.d("没用", coordinates);
-            }
-
-
         });
 
-//        //广播接收-setPowrStatuslistener
+        //广播接收-setPowrStatuslistener
-//        myReceiver_POWER_STATUS.setPowrStatuslistener(data -> {
+        flightDataMonitor.setPowerStatusListener(data -> {
-//            // 这里可以更新 UI 或刷新数据
+            // 这里可以更新 UI 或刷新数据
-////            Log.d(TAG, "收到新数据POWER_STATUS：" + data.toString());
+//            Log.d(TAG, "收到新数据POWER_STATUS：" + data.toString());
-////            allView.tv_power.setText(
+            allView.tv_power.setText(
-////                    MyReceiver.POWER_STATUS_json.optDouble("Vcc") / 100
+                    data.optDouble("Vcc") / 100
-////                            + " V");
+                            + " V");
-//        });
+        });
 
         //广播接收-setSysStatuslistener
-        myReceiver_SYS_STATUS.setSysStatuslistener(data -> {
+        flightDataMonitor.setSysStatusListener(data -> {
             // 这里可以更新 UI 或刷新数据
 //            Log.d(TAG, "收到新数据SYS_STATUS：" + data.toString());
-            allView.tv_power.setText(String.format("%.1f", MyReceiver.SYS_STATUS_json.optDouble("voltage_battery") / 1000) + "V");
+            allView.tv_power.setText(String.format("%.1f", data.optDouble("voltage_battery") / 1000) + "V");
         });
 
         //广播接收-setStatustextlistener
-        myReceiver_STATUSTEXT.setStatustextlistener(data -> {
+        flightDataMonitor.setStatusTextListener(data -> {
             // 这里可以更新 UI 或刷新数据
-            if (MyReceiver.STATUSTEXT_json.optInt("severity") <= 5) {
+            if (data.optInt("severity") <= 5) {
-                LogItemList.add(0, new LogItem(MyReceiver.STATUSTEXT_json.optString("text"), ContrastTool.findMostSimilarMatch(MyReceiver.STATUSTEXT_json.optString("text")), new Date(), MyReceiver.STATUSTEXT_json.optInt("severity")));
+                LogItemList.add(0, new LogItem(data.optString("text"), ContrastTool.findMostSimilarMatch(data.optString("text")), new Date(), data.optInt("severity")));
                 adapter.setList(LogItemList);
                 allView.iv_error.setVisibility(VISIBLE);
             }
@@ -559,14 +450,14 @@ public class MainActivity extends AppCompatActivity {
         });
 
         //广播接收-setHeartbeatlistener
-        myReceiver_HEARTBEAT.setHeartbeatlistener(data -> {
+        flightDataMonitor.setHeartbeatListener(data -> {
 
-            isUnlock = Tool.getDecToFirstBin(MyReceiver.HEARTBEAT_json.optString("base_mode")).equals("1");
+            isUnlock = Tool.getDecToFirstBin(data.optString("base_mode")).equals("1");
 
             if (allView.ll_link_start.getVisibility() == VISIBLE) {
 //                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")) {
+                if (Tool.getDecToFirstBin(data.optString("base_mode")).equals("1")) {
                     //已解锁
 //                    allView.rl_unlock.setVisibility(View.GONE);
 //                    allView.ll_link_start_fun2.setVisibility(VISIBLE);
@@ -582,7 +473,7 @@ public class MainActivity extends AppCompatActivity {
 
 
             // 这里可以更新 UI 或刷新数据
-            switch (MyReceiver.HEARTBEAT_json.optInt("custom_mode")) {
+            switch (data.optInt("custom_mode")) {
                 case 0:
                     allView.tv_connect.setText("姿态模式");
                     break;
@@ -623,7 +514,7 @@ public class MainActivity extends AppCompatActivity {
         });
 
         //广播接收-setAttitudeTargetlistener
-        myReceiver_VFR_HUD.setVfrHudlistener(data -> {
+        flightDataMonitor.setVfrHudListener(data -> {
 //            Log.d(TAG, "myReceiver_VFR_HUD: "+ FlyVoid.paramList.get("MOT_SPIN_MIN").getParam_value()+"-"+
 //                    Double.parseDouble(FlyVoid.paramList.get("MOT_SPIN_MAX").getParam_value())+"-"+
 //                    Double.parseDouble(FlyVoid.paramList.get("MOT_THST_EXPO").getParam_value())+"-"+
@@ -637,7 +528,10 @@ public class MainActivity extends AppCompatActivity {
 //                    1
 //            )));
             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()), Double.parseDouble(FlyVoid.paramList.get("MOT_THST_EXPO").getParam_value()), data.optDouble("throttle") / 100, 1) * 100) + "%", true));
+                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()), Double.parseDouble(FlyVoid.paramList.get("MOT_THST_EXPO").getParam_value()), data.optDouble("throttle") / 100, 1) * 100) + "%", true));
             } else {
                 typeList.set(2, new Msg("throttle", "0%", true));
             }
@@ -647,14 +541,13 @@ public class MainActivity extends AppCompatActivity {
 //        myReceiver_MISSION_REQUEST.setMissionRequestlistener(data -> {
 ////            Log.d(TAG, "myReceiver_MISSION_REQUEST: "+data.toString());
 //        });
-//
+
         //广播接收-setMissionAcklistener
-//        myReceiver_MISSION_ACK.setMissionAcklistener(data -> {
+        flightDataMonitor.setMissionAckListener(data -> {
-//            Log.d(TAG, "myReceiver_MISSION_ACK: " + data.toString());
+            Log.d(TAG, "myReceiver_MISSION_ACK: " + data.toString());
-//        });
+        });
-//
         //广播接收-setMissionAcklistener
-        myReceiver_MISSION_CURRENT.setMissionCurrentlistener(data -> {
+        flightDataMonitor.setMissionCurrentListener(data -> {
 //            Log.d(TAG, "myReceiver_MISSION_CURRENT: " + data.toString());
             allView.tv_test1.setText(data.optInt("seq") + "");
         });
@@ -1038,51 +931,9 @@ public class MainActivity extends AppCompatActivity {
             // 在需要停止服务的地方（如按钮点击事件）
             isBound = false;
         }
-        //注销广播接收器（避免内存泄漏）
+        // 停止飞行数据监听器
-        if (myReceiver_ATTITUDE.isReceiverRegistered) {
+        if (flightDataMonitor != null) {
-            unregisterReceiver(myReceiver_ATTITUDE);
+            flightDataMonitor.stopMonitoring();
-            myReceiver_ATTITUDE.isReceiverRegistered = false;
-        }
-        //注销广播接收器（避免内存泄漏）
-        if (myReceiver_GPS_RAW_INT.isReceiverRegistered) {
-            unregisterReceiver(myReceiver_GPS_RAW_INT);
-            myReceiver_GPS_RAW_INT.isReceiverRegistered = false;
-        }
-        //注销广播接收器（避免内存泄漏）
-        if (myReceiver_GLOBAL_POSITION_INT.isReceiverRegistered) {
-            unregisterReceiver(myReceiver_GLOBAL_POSITION_INT);
-            myReceiver_GLOBAL_POSITION_INT.isReceiverRegistered = false;
-        }
-        //注销广播接收器（避免内存泄漏）
-        if (myReceiver_POWER_STATUS.isReceiverRegistered) {
-            unregisterReceiver(myReceiver_POWER_STATUS);
-            myReceiver_POWER_STATUS.isReceiverRegistered = false;
-        }
-        //注销广播接收器（避免内存泄漏）
-        if (myReceiver_SYS_STATUS.isReceiverRegistered) {
-            unregisterReceiver(myReceiver_SYS_STATUS);
-            myReceiver_SYS_STATUS.isReceiverRegistered = false;
-        }
-        //注销广播接收器（避免内存泄漏）·
-        if (myReceiver_STATUSTEXT.isReceiverRegistered) {
-            unregisterReceiver(myReceiver_STATUSTEXT);
-            myReceiver_STATUSTEXT.isReceiverRegistered = false;
-        }
-        //注销广播接收器（避免内存泄漏）
-        if (myReceiver_HEARTBEAT.isReceiverRegistered) {
-            unregisterReceiver(myReceiver_HEARTBEAT);
-            myReceiver_HEARTBEAT.isReceiverRegistered = false;
-        }
-
-        //注销广播接收器（避免内存泄漏）
-        if (myReceiver_VFR_HUD.isReceiverRegistered) {
-            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/Activity/PlayBackActivity.java

@@ -10,7 +10,7 @@ import androidx.core.view.ViewCompat;
 import androidx.core.view.WindowInsetsCompat;
 
 import com.example.longyi_groundstation.Main.View.CustomSeekBar;
-import com.example.longyi_groundstation.Main.Void.MyTool;
+import com.example.longyi_groundstation.Main.Void.Tool.MyTool;
 import com.example.longyi_groundstation.R;
 
 import java.math.BigDecimal;

app/src/main/java/com/example/longyi_groundstation/Main/Adapter/AllLinkAdapter.java

@@ -5,7 +5,6 @@ import android.util.Log;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
-import android.widget.Button;
 import android.widget.LinearLayout;
 import android.widget.TextView;
 import android.widget.Toast;
@@ -14,7 +13,7 @@ import androidx.annotation.NonNull;
 import androidx.recyclerview.widget.RecyclerView;
 
 import com.example.longyi_groundstation.Main.Base.CreateLink;
-import com.example.longyi_groundstation.Main.Void.SQLClass;
+import com.example.longyi_groundstation.Main.Void.Sql.SQLClass;
 import com.example.longyi_groundstation.R;
 
 import java.text.SimpleDateFormat;

app/src/main/java/com/example/longyi_groundstation/Main/Click/MainClick.java

@@ -1,9 +1,6 @@
 package com.example.longyi_groundstation.Main.Click;
 
-import android.Manifest;
-import android.annotation.SuppressLint;
 import android.app.AlertDialog;
-import android.content.Context;
 import android.content.Intent;
 import android.graphics.Bitmap;
 import android.graphics.Color;
@@ -20,7 +17,6 @@ import com.amap.api.maps.model.BitmapDescriptorFactory;
 import com.amap.api.maps.model.LatLng;
 import com.amap.api.maps.model.Marker;
 import com.amap.api.maps.model.MarkerOptions;
-import com.amap.api.maps.model.PolylineOptions;
 import com.example.longyi_groundstation.Main.Activity.MainActivity;
 import com.example.longyi_groundstation.Main.Adapter.AllLinkAdapter;
 import com.example.longyi_groundstation.Main.Adapter.CreateLinkAdapter;
@@ -28,31 +24,23 @@ import com.example.longyi_groundstation.Main.Base.CreateLink;
 import com.example.longyi_groundstation.Main.Service.MyBoundService;
 import com.example.longyi_groundstation.Main.Setting.Activity.SettingActivity;
 import com.example.longyi_groundstation.Main.Void.AllView;
-import com.example.longyi_groundstation.Main.Void.CoordinateConverter;
+import com.example.longyi_groundstation.Main.Void.Fly.FlyVoid;
-import com.example.longyi_groundstation.Main.Void.FlyVoid;
+import com.example.longyi_groundstation.Main.Void.XiangTuo.FpvGestureHandler;
-import com.example.longyi_groundstation.Main.Void.FpvGestureHandler;
+import com.example.longyi_groundstation.Main.Void.Map.MapVoid;
-import com.example.longyi_groundstation.Main.Void.KeDaTTS;
-import com.example.longyi_groundstation.Main.Void.LidarDataParser;
-import com.example.longyi_groundstation.Main.Void.MapVoid;
 import com.example.longyi_groundstation.Main.Void.MyReceiver;
-import com.example.longyi_groundstation.Main.Void.MyTool;
+import com.example.longyi_groundstation.Main.Void.Tool.MyTool;
-import com.example.longyi_groundstation.Main.Void.SQLClass;
+import com.example.longyi_groundstation.Main.Void.Sql.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 java.text.SimpleDateFormat;
 import java.util.ArrayList;
 import java.util.Date;
 import java.util.List;
-import java.util.stream.Collectors;
 
 import static android.view.View.GONE;
 import static android.view.View.VISIBLE;
-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.Activity.MainActivity.selectedLinkList;
 
 public class MainClick implements View.OnClickListener {

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

@@ -1,15 +1,12 @@
 package com.example.longyi_groundstation.Main.Service;
 
 import static com.example.longyi_groundstation.MAVLink.common.msg_attitude.MAVLINK_MSG_ID_ATTITUDE;
-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_current.MAVLINK_MSG_ID_MISSION_CURRENT;
 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;
 import static com.example.longyi_groundstation.MAVLink.common.msg_power_status.MAVLINK_MSG_ID_POWER_STATUS;
 import static com.example.longyi_groundstation.MAVLink.common.msg_rc_channels.MAVLINK_MSG_ID_RC_CHANNELS;
@@ -19,8 +16,6 @@ import static com.example.longyi_groundstation.MAVLink.common.msg_sys_status.MAV
 import static com.example.longyi_groundstation.MAVLink.common.msg_vfr_hud.MAVLINK_MSG_ID_VFR_HUD;
 import static com.example.longyi_groundstation.MAVLink.enums.MAV_DATA_STREAM.MAV_DATA_STREAM_ALL;
 import static com.example.longyi_groundstation.MAVLink.minimal.msg_heartbeat.MAVLINK_MSG_ID_HEARTBEAT;
-import static com.example.longyi_groundstation.Main.Void.SerialTool.bytesToHex;
-import static com.example.longyi_groundstation.Main.Void.SerialTool.parseSerialData;
 
 import android.app.Service;
 import android.content.Intent;
@@ -30,37 +25,25 @@ import android.os.IBinder;
 import android.os.Looper;
 import android.util.Log;
 import android.widget.TextView;
-import android.widget.Toast;
 
 import com.example.longyi_groundstation.MAVLink.MAVLinkPacket;
 import com.example.longyi_groundstation.MAVLink.Messages.MAVLinkMessage;
 import com.example.longyi_groundstation.MAVLink.Parser;
 import com.example.longyi_groundstation.MAVLink.common.msg_param_request_list;
-import com.example.longyi_groundstation.MAVLink.common.msg_param_request_read;
 import com.example.longyi_groundstation.MAVLink.common.msg_request_data_stream;
-import com.example.longyi_groundstation.Main.Base.MLData;
+import com.example.longyi_groundstation.Main.Service.Void.HeartBeat;
 import com.example.longyi_groundstation.Main.Setting.Base.Param;
-import com.example.longyi_groundstation.Main.Void.FlyVoid;
+import com.example.longyi_groundstation.Main.Void.Fly.FlyVoid;
-import com.example.longyi_groundstation.Main.Void.HeartbeatManager;
+import com.example.longyi_groundstation.Main.Void.Fly.LidarDataParser;
-import com.example.longyi_groundstation.Main.Void.LidarDataParser;
-import com.example.longyi_groundstation.Main.Void.LogCat.LogUtil;
-import com.example.longyi_groundstation.Main.Void.MyTool;
 import com.example.longyi_groundstation.Util.BroadcastUtil;
-import com.example.longyi_groundstation.Util.Tool;
 import com.google.gson.Gson;
 
-import org.json.JSONException;
-import org.json.JSONObject;
-
 import java.io.IOException;
 import java.net.DatagramPacket;
 import java.net.DatagramSocket;
 import java.net.InetAddress;
 import java.net.SocketException;
 import java.util.ArrayList;
-import java.util.HashMap;
-import java.util.IllegalFormatCodePointException;
-import java.util.Objects;
 
 import tp.xmaihh.serialport.SerialHelper;
 import tp.xmaihh.serialport.bean.ComBean;
@@ -77,7 +60,7 @@ public class MyBoundService extends Service {
     public static DatagramSocket serverSocket2;
 
     private boolean isRunning = false;
-    private String serverPort = "14551"; // 服务端监听端口
+    private String serverPort = "13551"; // 服务端监听端口
 
 
     // 定义一个 Binder 子类，用于返回本地服务实例
@@ -122,7 +105,7 @@ public class MyBoundService extends Service {
     private boolean isAttitudeDataRequested = false;
     private boolean isParamReadListRequested = false;
     // 在成员变量区域添加
-    private HeartbeatManager heartbeatManager;
+    private HeartBeat heartBeat ;
 
 
 
@@ -133,8 +116,8 @@ public class MyBoundService extends Service {
         //        serialPortFinder = new SerialPortFinder();
         //判断打开方式0：串口 1：UDP
         if (type == 0) {
-//            serialHelper = new SerialHelper("/dev/ttyHS0", 115200) {
+            serialHelper = new SerialHelper("/dev/ttyHS0", 115200) {
-            serialHelper = new SerialHelper("/dev/ttyHS0", 57600) {
+//            serialHelper = new SerialHelper("/dev/ttyHS0", 57600) {
                 @Override
                 protected void onDataReceived(final ComBean comBean) {
 //                Log.d("cuijingzhou", Tool.bytesToHex(comBean.bRec));
@@ -143,6 +126,8 @@ public class MyBoundService extends Service {
                     dataWork(receivedData, receivedData.length);
                 }
             };
+            // 初始化 HeartBeat
+            heartBeat = new HeartBeat(type, serialHelper,null);
             try {
                 serialHelper.open();
             } catch (IOException e) {
@@ -155,6 +140,8 @@ public class MyBoundService extends Service {
             new Thread(() -> {
                 try {
                     serverSocket = new DatagramSocket(Integer.parseInt(serverPort));
+                    // 初始化 HeartBeat
+                    heartBeat = new HeartBeat(type, null, serverSocket);
                     byte[] buffer = new byte[512];
                     while (isRunning) {
                         try {
@@ -174,7 +161,7 @@ public class MyBoundService extends Service {
 
                         }
                     }
-                } catch (SocketException e) {
+                } catch (Exception e) {
                     Log.e(TAG, "启动服务端失败: " + e.getMessage());
 
                 } finally {
@@ -193,6 +180,8 @@ public class MyBoundService extends Service {
         requestParamReadList();
         // 请求姿态数据（只执行一次）
         requestAttitudeData();
+        // 启动心跳 只执行一次
+        heartBeat.startHeartbeat();
     }
 
 
@@ -274,9 +263,9 @@ public class MyBoundService extends Service {
         request.req_message_rate = 5;  // 10Hz频率
         request.start_stop = 1;         // 1=开启
 
+        request.isMavlink2 = true;
         // 编码为MAVLinkPacket
         MAVLinkPacket packet = request.pack();
-
         // 发送数据（根据连接方式选择）
         if (type == 0) {
             // 串口发送
@@ -287,7 +276,7 @@ public class MyBoundService extends Service {
             // UDP发送（需指定目标IP和端口）
             try {
                 InetAddress targetAddress = InetAddress.getByName("127.0.0.1");
-                int targetPort = 14553; // 默认MAVLink端口
+                int targetPort = 14552; // 默认MAVLink端口
                 DatagramPacket udpPacket = new DatagramPacket(
                         packet.encodePacket(),
                         packet.encodePacket().length,
@@ -316,6 +305,7 @@ public class MyBoundService extends Service {
         request.target_system = 1;      // 飞控系统ID
         request.target_component = 1;   // 飞控组件ID
 
+        request.isMavlink2 = true;
         // 编码为MAVLinkPacket
         MAVLinkPacket packet = request.pack();
 
@@ -329,7 +319,7 @@ public class MyBoundService extends Service {
             // UDP发送（需指定目标IP和端口）
             try {
                 InetAddress targetAddress = InetAddress.getByName("127.0.0.1");
-                int targetPort = 14553; // 默认MAVLink端口
+                int targetPort = 14552; // 默认MAVLink端口
                 DatagramPacket udpPacket = new DatagramPacket(
                         packet.encodePacket(),
                         packet.encodePacket().length,
@@ -457,12 +447,14 @@ public class MyBoundService extends Service {
                 }
 
             } catch (Exception e) {
-                Log.e("cuijingzhou", e.toString());
+//                Log.e("cuijingzhou", e.toString());
             }
         }).start();
     }
 
 
+
+
     private long lastParamReceiveTime = 0; // 最后一次收到参数的时间
     private static final long PARAM_TIMEOUT = 2000; // 超时时间（毫秒）
     private boolean isAllParamsReceived = false; // 是否已接收完毕
@@ -504,10 +496,10 @@ public class MyBoundService extends Service {
                     BroadcastUtil.Broadcast_MISSION_REQUEST(getApplication(), MsgList.get(MAVLINK_MSG_ID_MISSION_REQUEST));
                 }
 
-//            case MAVLINK_MSG_ID_MISSION_ACK:
+            case MAVLINK_MSG_ID_MISSION_ACK:
-//                if (MsgList.get(MAVLINK_MSG_ID_MISSION_ACK) != null) {
+                if (MsgList.get(MAVLINK_MSG_ID_MISSION_ACK) != null) {
-//                    BroadcastUtil.Broadcast_MISSION_ACK(getApplication(), MsgList.get(MAVLINK_MSG_ID_MISSION_ACK));
+                    BroadcastUtil.Broadcast_MISSION_ACK(getApplication(), MsgList.get(MAVLINK_MSG_ID_MISSION_ACK));
-//                }
+                }
 
             default:
 //                Log.d("cuijigzhou_msg_all_id", "不做处理:"+msg.msgid);
@@ -565,6 +557,11 @@ public class MyBoundService extends Service {
         stopUdpServer();
         paramTimeoutHandler.removeCallbacks(paramTimeoutRunnable);
 
+        // 停止心跳
+        if (heartBeat != null) {
+            heartBeat.stopHeartbeat();
+        }
+
     }
 
 

app/src/main/java/com/example/longyi_groundstation/Main/Service/Void/HeartBeat.java

@@ -0,0 +1,115 @@
+// HeartBeat.java
+package com.example.longyi_groundstation.Main.Service.Void;
+
+import android.os.Handler;
+import android.os.Looper;
+import android.util.Log;
+
+import com.example.longyi_groundstation.MAVLink.MAVLinkPacket;
+import com.example.longyi_groundstation.MAVLink.Messages.MAVLinkMessage;
+import com.example.longyi_groundstation.MAVLink.enums.MAV_AUTOPILOT;
+import com.example.longyi_groundstation.MAVLink.enums.MAV_STATE;
+import com.example.longyi_groundstation.MAVLink.enums.MAV_TYPE;
+import com.example.longyi_groundstation.MAVLink.minimal.msg_heartbeat;
+
+import java.net.DatagramPacket;
+import java.net.InetAddress;
+
+import tp.xmaihh.serialport.SerialHelper;
+
+public class HeartBeat {
+    private static final String TAG = "HeartBeat";
+    private Handler heartbeatHandler = new Handler(Looper.getMainLooper());
+    private Runnable heartbeatRunnable;
+    private int type; // 0: 串口, 1: UDP
+    private SerialHelper serialHelper;
+    private java.net.DatagramSocket serverSocket;
+
+    public HeartBeat(int connectionType, SerialHelper serialHelper, java.net.DatagramSocket serverSocket) {
+        this.type = connectionType;
+        this.serialHelper = serialHelper;
+        this.serverSocket = serverSocket;
+    }
+
+    /**
+     * 方法：发送心跳包 (HEARTBEAT)
+     */
+    private void sendHeartbeat() {
+        try {
+            // 创建MAVLink心跳消息
+            msg_heartbeat heartbeat = new msg_heartbeat();
+            heartbeat.type = MAV_TYPE.MAV_TYPE_GCS;           // 发送方类型：地面站
+            heartbeat.autopilot = MAV_AUTOPILOT.MAV_AUTOPILOT_INVALID;  // 自动驾驶仪类型
+            heartbeat.base_mode = 0;                          // 基本模式
+            heartbeat.custom_mode = 0;                        // 自定义模式
+            heartbeat.system_status = MAV_STATE.MAV_STATE_ACTIVE;  // 系统状态：活跃
+            // MAVLink2 特有字段
+            heartbeat.mavlink_version = 3;
+//            heartbeat.isMavlink2 = true;// MAVLink版本号（MAVLink2为3）
+            // 发送MAVLink消息
+            sendMavlinkMessage(heartbeat);
+//            Log.d(TAG, "sendHeartbeat: ok -"+heartbeat.pack().len);
+        } catch (Exception e) {
+            Log.e(TAG, "发送心跳包失败: " + e.getMessage());
+        }
+    }
+
+    /**
+     * 通用MAVLink消息发送方法
+     */
+    private void sendMavlinkMessage(MAVLinkMessage msg) {
+        MAVLinkPacket packet = msg.pack();
+
+        if (type == 0) { // 串口
+            if (serialHelper != null) {
+                serialHelper.send(packet.encodePacket());
+            }
+        } else { // UDP
+            // 将网络操作放到后台线程执行
+            new Thread(() -> {
+                try {
+                    InetAddress targetAddress = InetAddress.getByName("127.0.0.1"); // 改为飞控IP
+                    DatagramPacket udpPacket = new DatagramPacket(
+                            packet.encodePacket(),
+                            packet.encodePacket().length,
+                            targetAddress,
+                            14552 // MAVLink标准端口
+                    );
+                    if (serverSocket != null && !serverSocket.isClosed()) {
+                        serverSocket.send(udpPacket);
+                    }
+                } catch (Exception e) {
+                    Log.e(TAG, "发送失败: " + e);
+                }
+            }).start();
+        }
+    }
+
+
+    /**
+     * 方法：启动心跳包发送定时器
+     */
+    public void startHeartbeat() {
+        if (heartbeatRunnable == null) {
+            heartbeatRunnable = new Runnable() {
+                @Override
+                public void run() {
+                    sendHeartbeat();
+//                    Log.d(TAG, "run: 11");
+                    heartbeatHandler.postDelayed(this, 1000); // 每1秒发送一次
+                }
+            };
+            heartbeatHandler.post(heartbeatRunnable); // 立即发送第一次心跳
+        }
+    }
+
+    /**
+     * 方法：停止心跳包发送定时器
+     */
+    public void stopHeartbeat() {
+        if (heartbeatRunnable != null) {
+            heartbeatHandler.removeCallbacks(heartbeatRunnable);
+            heartbeatRunnable = null;
+        }
+    }
+}

app/src/main/java/com/example/longyi_groundstation/Main/Setting/Activity/SettingActivity.java

@@ -25,7 +25,7 @@ import com.example.longyi_groundstation.Main.Setting.Fragment.SecureFragment;
 import com.example.longyi_groundstation.Main.Setting.Fragment.SensorFragment;
 import com.example.longyi_groundstation.Main.Setting.Fragment.SettingsFragment;
 import com.example.longyi_groundstation.Main.Setting.Void.AllView;
-import com.example.longyi_groundstation.Main.Void.FlyVoid;
+import com.example.longyi_groundstation.Main.Void.Fly.FlyVoid;
 import com.example.longyi_groundstation.R;
 
 public class SettingActivity extends AppCompatActivity {

app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/ControlFragment.java

@@ -16,7 +16,7 @@ import androidx.recyclerview.widget.GridLayoutManager;
 import androidx.recyclerview.widget.RecyclerView;
 
 import com.example.longyi_groundstation.Main.Setting.Adapter.ParamGridAdapter;
-import com.example.longyi_groundstation.Main.Void.FlyVoid;
+import com.example.longyi_groundstation.Main.Void.Fly.FlyVoid;
 import com.example.longyi_groundstation.Main.Void.MyReceiver;
 import com.example.longyi_groundstation.R;
 
@@ -125,7 +125,7 @@ public class ControlFragment extends Fragment {
                     getList();
                     adapter.notifyDataSetChanged();
                 } catch (Exception e) {
-                    Log.d("cuijingzhou", "没事");
+//                    Log.d("cuijingzhou", "没事");
                 }
 
             }

app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/FlyFragment.java

@@ -10,7 +10,7 @@ import android.widget.Toast;
 
 import androidx.fragment.app.Fragment;
 
-import com.example.longyi_groundstation.Main.Void.FlyVoid;
+import com.example.longyi_groundstation.Main.Void.Fly.FlyVoid;
 import com.example.longyi_groundstation.R;
 
 

app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/FoundationFragment.java

@@ -14,16 +14,11 @@ import android.widget.TextView;
 import android.widget.Toast;
 
 import androidx.fragment.app.Fragment;
-import androidx.viewpager2.widget.ViewPager2;
 
-import com.example.longyi_groundstation.Main.Setting.Adapter.SecurePagerAdapter;
-import com.example.longyi_groundstation.Main.Setting.Base.ChannelItem;
 import com.example.longyi_groundstation.Main.Setting.Base.ModeItem;
-import com.example.longyi_groundstation.Main.Void.FlyVoid;
+import com.example.longyi_groundstation.Main.Void.Fly.FlyVoid;
 import com.example.longyi_groundstation.R;
-import com.google.android.material.tabs.TabLayout;
 import com.google.android.material.tabs.TabLayoutMediator;
-import com.example.longyi_groundstation.Main.Setting.Adapter.FoundationPagerAdapter;
 
 import java.util.ArrayList;
 import java.util.List;

app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/LoadFragment.java

@@ -21,7 +21,7 @@ import androidx.annotation.Nullable;
 import androidx.fragment.app.Fragment;
 
 import com.example.longyi_groundstation.Main.Setting.Base.ChannelItem;
-import com.example.longyi_groundstation.Main.Void.FlyVoid;
+import com.example.longyi_groundstation.Main.Void.Fly.FlyVoid;
 import com.example.longyi_groundstation.R;
 
 import java.util.ArrayList;

app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/MotorFragment.java

@@ -15,7 +15,7 @@ import androidx.recyclerview.widget.RecyclerView;
 
 import com.example.longyi_groundstation.Main.Setting.Adapter.MultiSelectAdapter;
 import com.example.longyi_groundstation.Main.Setting.Base.Motor;
-import com.example.longyi_groundstation.Main.Void.FlyVoid;
+import com.example.longyi_groundstation.Main.Void.Fly.FlyVoid;
 import com.example.longyi_groundstation.R;
 
 import java.util.ArrayList;

app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/SecureFragment.java

@@ -14,7 +14,6 @@ import android.widget.TextView;
 
 import androidx.fragment.app.Fragment;
 
-import com.example.longyi_groundstation.Main.Void.MyTool;
 import com.example.longyi_groundstation.R;
 
 

app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/SensorFragment.java

@@ -5,14 +5,12 @@ import android.util.Log;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
-import android.widget.EditText;
-import android.widget.TextView;
 
 import androidx.fragment.app.Fragment;
 
 import com.example.longyi_groundstation.Main.Setting.Void.MyTool;
 import com.example.longyi_groundstation.Main.Setting.Void.SensorAllView;
-import com.example.longyi_groundstation.Main.Void.FlyVoid;
+import com.example.longyi_groundstation.Main.Void.Fly.FlyVoid;
 import com.example.longyi_groundstation.R;
 
 

app/src/main/java/com/example/longyi_groundstation/Main/Setting/Fragment/SettingsFragment.java

@@ -1,51 +1,35 @@
 package com.example.longyi_groundstation.Main.Setting.Fragment;
 
 import android.annotation.SuppressLint;
-import android.content.Context;
-import android.content.IntentFilter;
-import android.os.Build;
 import android.os.Bundle;
 import android.os.Handler;
 import android.text.Editable;
 import android.text.TextWatcher;
-import android.util.Log;
 import android.view.KeyEvent;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
 import android.view.inputmethod.EditorInfo;
-import android.widget.Button;
 import android.widget.EditText;
-import android.widget.PopupMenu;
 import android.widget.RelativeLayout;
 import android.widget.TextView;
 import android.widget.Toast;
 
-import androidx.core.content.ContextCompat;
 import androidx.fragment.app.Fragment;
 import androidx.recyclerview.widget.LinearLayoutManager;
 import androidx.recyclerview.widget.RecyclerView;
 
-import com.example.longyi_groundstation.MAVLink.MAVLinkPacket;
-import com.example.longyi_groundstation.MAVLink.common.msg_param_request_list;
-import com.example.longyi_groundstation.MAVLink.common.msg_param_set;
-import com.example.longyi_groundstation.Main.Service.MyBoundService;
 import com.example.longyi_groundstation.Main.Setting.Adapter.ParamGroupAdapter;
 import com.example.longyi_groundstation.Main.Setting.Base.Param;
 import com.example.longyi_groundstation.Main.Setting.Base.ParamGroup;
 import com.example.longyi_groundstation.Main.Setting.Adapter.ParamAdapter;
 import com.example.longyi_groundstation.Main.Setting.Void.ProgressDialogUtil;
 import com.example.longyi_groundstation.Main.Setting.Void.ViewTool;
-import com.example.longyi_groundstation.Main.Void.FlyVoid;
+import com.example.longyi_groundstation.Main.Void.Fly.FlyVoid;
-import com.example.longyi_groundstation.Main.Void.MyReceiver;
-import com.example.longyi_groundstation.Main.Void.MyTool;
 import com.example.longyi_groundstation.R;
-import com.google.gson.Gson;
 
 import java.util.ArrayList;
-import java.util.Comparator;
 import java.util.HashMap;
-import java.util.List;
 
 public class SettingsFragment extends Fragment {
     private View view;

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

@@ -1,7 +1,5 @@
 package com.example.longyi_groundstation.Main.View;
 
-import static com.example.longyi_groundstation.MAVLink.enums.MAV_CMD.MAV_CMD_NAV_TAKEOFF;
-
 import android.annotation.SuppressLint;
 import android.app.Activity;
 import android.app.AlertDialog;
@@ -14,10 +12,8 @@ import android.widget.EditText;
 import android.widget.TextView;
 import android.widget.Toast;
 
-import com.example.longyi_groundstation.MAVLink.common.msg_command_long;
+import com.example.longyi_groundstation.Main.Void.Fly.FlyVoid;
-import com.example.longyi_groundstation.Main.Service.MyBoundService;
+import com.example.longyi_groundstation.Main.Void.Tool.MyTool;
-import com.example.longyi_groundstation.Main.Void.FlyVoid;
-import com.example.longyi_groundstation.Main.Void.MyTool;
 import com.example.longyi_groundstation.R;
 
 public class BombingDialog {

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

@@ -14,7 +14,7 @@ import androidx.recyclerview.widget.LinearLayoutManager;
 import androidx.recyclerview.widget.RecyclerView;
 
 import com.example.longyi_groundstation.Main.Adapter.LogAdapter;
-import com.example.longyi_groundstation.Main.Void.MyTool;
+import com.example.longyi_groundstation.Main.Void.Tool.MyTool;
 import com.example.longyi_groundstation.R;
 
 public class ErrorLogDialog {

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

@@ -3,18 +3,16 @@ package com.example.longyi_groundstation.Main.View;
 import android.annotation.SuppressLint;
 import android.app.Activity;
 import android.app.AlertDialog;
-import android.content.Context;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
 import android.view.Window;
 import android.view.WindowManager;
-import android.widget.EditText;
 import android.widget.TextView;
 import android.widget.Toast;
 
-import com.example.longyi_groundstation.Main.Void.FlyVoid;
+import com.example.longyi_groundstation.Main.Void.Fly.FlyVoid;
-import com.example.longyi_groundstation.Main.Void.MyTool;
+import com.example.longyi_groundstation.Main.Void.Tool.MyTool;
 import com.example.longyi_groundstation.R;
 
 public class LandDialog {

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

@@ -13,8 +13,8 @@ import android.widget.TextView;
 import android.widget.Toast;
 
 import com.amap.api.maps.model.LatLng;
-import com.example.longyi_groundstation.Main.Void.FlyVoid;
+import com.example.longyi_groundstation.Main.Void.Fly.FlyVoid;
-import com.example.longyi_groundstation.Main.Void.MyTool;
+import com.example.longyi_groundstation.Main.Void.Tool.MyTool;
 import com.example.longyi_groundstation.R;
 
 public class PointFlyDialog {

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

@@ -1,7 +1,6 @@
 package com.example.longyi_groundstation.Main.View;
 
 import android.annotation.SuppressLint;
-import android.app.Activity;
 import android.app.AlertDialog;
 import android.view.LayoutInflater;
 import android.view.View;
@@ -13,8 +12,8 @@ import android.widget.TextView;
 import android.widget.Toast;
 
 import com.example.longyi_groundstation.Main.Activity.MainActivity;
-import com.example.longyi_groundstation.Main.Void.FlyVoid;
+import com.example.longyi_groundstation.Main.Void.Fly.FlyVoid;
-import com.example.longyi_groundstation.Main.Void.MyTool;
+import com.example.longyi_groundstation.Main.Void.Tool.MyTool;
 import com.example.longyi_groundstation.R;
 
 public class SaveLinkNameDialog {

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

@@ -11,14 +11,13 @@ import android.view.Window;
 import android.view.WindowManager;
 import android.widget.AdapterView;
 import android.widget.ArrayAdapter;
-import android.widget.EditText;
 import android.widget.Spinner;
 import android.widget.TextView;
 import android.widget.Toast;
 
 import com.example.longyi_groundstation.Main.Activity.MainActivity;
-import com.example.longyi_groundstation.Main.Void.FlyVoid;
+import com.example.longyi_groundstation.Main.Void.Fly.FlyVoid;
-import com.example.longyi_groundstation.Main.Void.MyTool;
+import com.example.longyi_groundstation.Main.Void.Tool.MyTool;
 import com.example.longyi_groundstation.R;
 
 public class StartExecuteDialog {

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

@@ -1,11 +1,8 @@
 package com.example.longyi_groundstation.Main.View;
 
-import static com.example.longyi_groundstation.MAVLink.enums.MAV_CMD.MAV_CMD_NAV_TAKEOFF;
-
 import android.annotation.SuppressLint;
 import android.app.Activity;
 import android.app.AlertDialog;
-import android.content.Context;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
@@ -15,14 +12,8 @@ import android.widget.EditText;
 import android.widget.TextView;
 import android.widget.Toast;
 
-import androidx.recyclerview.widget.LinearLayoutManager;
+import com.example.longyi_groundstation.Main.Void.Fly.FlyVoid;
-import androidx.recyclerview.widget.RecyclerView;
+import com.example.longyi_groundstation.Main.Void.Tool.MyTool;
-
-import com.example.longyi_groundstation.MAVLink.common.msg_command_long;
-import com.example.longyi_groundstation.Main.Adapter.LogAdapter;
-import com.example.longyi_groundstation.Main.Service.MyBoundService;
-import com.example.longyi_groundstation.Main.Void.FlyVoid;
-import com.example.longyi_groundstation.Main.Void.MyTool;
 import com.example.longyi_groundstation.R;
 
 public class TakeOffDialog {

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

@@ -1,13 +1,8 @@
 package com.example.longyi_groundstation.Main.View;
 
-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 android.annotation.SuppressLint;
 import android.app.Activity;
 import android.app.AlertDialog;
-import android.content.Context;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
@@ -17,10 +12,8 @@ import android.widget.EditText;
 import android.widget.TextView;
 import android.widget.Toast;
 
-import com.example.longyi_groundstation.MAVLink.common.msg_command_long;
+import com.example.longyi_groundstation.Main.Void.Fly.FlyVoid;
-import com.example.longyi_groundstation.Main.Service.MyBoundService;
+import com.example.longyi_groundstation.Main.Void.Tool.MyTool;
-import com.example.longyi_groundstation.Main.Void.FlyVoid;
-import com.example.longyi_groundstation.Main.Void.MyTool;
 import com.example.longyi_groundstation.R;
 
 public class TurnBackDialog {

app/src/main/java/com/example/longyi_groundstation/Main/Void/Fly/ContrastTool.java

@@ -1,8 +1,6 @@
-package com.example.longyi_groundstation.Main.Void;
+package com.example.longyi_groundstation.Main.Void.Fly;
 
 import java.util.HashMap;
-import java.util.HashSet;
-import java.util.Set;
 
 /**
  * 对比工具类

app/src/main/java/com/example/longyi_groundstation/Main/Void/Fly/FlightDataMonitor.java

@@ -0,0 +1,406 @@
+package com.example.longyi_groundstation.Main.Void.Fly;
+
+import static com.example.longyi_groundstation.MAVLink.common.msg_attitude.MAVLINK_MSG_ID_ATTITUDE;
+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_current.MAVLINK_MSG_ID_MISSION_CURRENT;
+import static com.example.longyi_groundstation.MAVLink.common.msg_power_status.MAVLINK_MSG_ID_POWER_STATUS;
+import static com.example.longyi_groundstation.MAVLink.common.msg_statustext.MAVLINK_MSG_ID_STATUSTEXT;
+import static com.example.longyi_groundstation.MAVLink.common.msg_sys_status.MAVLINK_MSG_ID_SYS_STATUS;
+import static com.example.longyi_groundstation.MAVLink.common.msg_vfr_hud.MAVLINK_MSG_ID_VFR_HUD;
+import static com.example.longyi_groundstation.MAVLink.minimal.msg_heartbeat.MAVLINK_MSG_ID_HEARTBEAT;
+import static com.example.longyi_groundstation.Main.Service.MyBoundService.MsgList;
+
+import android.os.Handler;
+import android.os.Looper;
+import android.util.Log;
+
+import com.example.longyi_groundstation.Main.Void.MyReceiver;
+
+import org.json.JSONObject;
+
+/**
+ * 飞行数据监听工具类，替代原有的广播接收器方式
+ *
+ * @author cuijingzhou
+ */
+public class FlightDataMonitor {
+
+    private static final String TAG = "FlightDataMonitor";
+
+    // 主线程Handler，用于切换到UI线程更新界面
+    private Handler mainHandler = new Handler(Looper.getMainLooper());
+
+    // 监听器接口定义
+    public interface AttitudeListener {
+        void onAttitudeUpdate(JSONObject data);
+    }
+
+    public interface GpsListener {
+        void onGpsUpdate(JSONObject data);
+    }
+
+    public interface GlobalPositionListener {
+        void onGlobalPositionUpdate(JSONObject data);
+    }
+
+    public interface PowerStatusListener {
+        void onPowerStatusUpdate(JSONObject data);
+    }
+
+    public interface SysStatusListener {
+        void onSysStatusUpdate(JSONObject data);
+    }
+
+    public interface StatusTextListener {
+        void onStatusTextUpdate(JSONObject data);
+    }
+
+    public interface HeartbeatListener {
+        void onHeartbeatUpdate(JSONObject data);
+    }
+
+    public interface VfrHudListener {
+        void onVfrHudUpdate(JSONObject data);
+    }
+
+    public interface MissionAckListener {
+        void onMissionAckUpdate(JSONObject data);
+    }
+
+    public interface MissionCurrentListener {
+        void onMissionCurrentUpdate(JSONObject data);
+    }
+
+    // 监听器实例
+    private AttitudeListener attitudeListener;
+    private GpsListener gpsListener;
+    private GlobalPositionListener globalPositionListener;
+    private PowerStatusListener powerStatusListener;
+    private SysStatusListener sysStatusListener;
+    private StatusTextListener statusTextListener;
+    private HeartbeatListener heartbeatListener;
+    private VfrHudListener vfrHudListener;
+    private MissionAckListener missionAckListener;
+    private MissionCurrentListener missionCurrentListener;
+
+    // 控制线程运行状态
+    private volatile boolean isRunning = false;
+    private Thread monitorThread;
+
+    // 各数据类型的更新间隔（毫秒）
+    private long attitudeInterval = 30;       // 姿态数据更新间隔
+    private long gpsInterval = 500;           // GPS数据更新间隔
+    private long globalPositionInterval = 200; // 全局位置更新间隔
+    private long powerStatusInterval = 1000;   // 电源状态更新间隔
+    private long sysStatusInterval = 1000;     // 系统状态更新间隔
+    private long statusTextInterval = 200;     // 状态文本更新间隔
+    private long heartbeatInterval = 1000;      // 心跳包更新间隔
+    private long vfrHudInterval = 30;         // 油门数据更新间隔
+    private long missionAckInterval = 1000;    // 任务确认更新间隔
+    private long missionCurrentInterval = 1000; // 当前任务更新间隔
+
+    // 上次更新时间记录
+    private long lastAttitudeTime = 0;
+    private long lastGpsTime = 0;
+    private long lastGlobalPositionTime = 0;
+    private long lastPowerStatusTime = 0;
+    private long lastSysStatusTime = 0;
+    private long lastStatusTextTime = 0;
+    private long lastHeartbeatTime = 0;
+    private long lastVfrHudTime = 0;
+    private long lastMissionAckTime = 0;
+    private long lastMissionCurrentTime = 0;
+
+    public FlightDataMonitor() {
+    }
+
+    /**
+     * 设置各数据类型的更新间隔
+     */
+    public void setIntervals(long attitude, long gps, long globalPosition, long powerStatus,
+                             long sysStatus, long statusText, long heartbeat, long vfrHud,
+                             long missionAck, long missionCurrent) {
+        this.attitudeInterval = attitude;
+        this.gpsInterval = gps;
+        this.globalPositionInterval = globalPosition;
+        this.powerStatusInterval = powerStatus;
+        this.sysStatusInterval = sysStatus;
+        this.statusTextInterval = statusText;
+        this.heartbeatInterval = heartbeat;
+        this.vfrHudInterval = vfrHud;
+        this.missionAckInterval = missionAck;
+        this.missionCurrentInterval = missionCurrent;
+    }
+
+    /**
+     * 设置监听器
+     */
+    public void setAttitudeListener(AttitudeListener listener) {
+        this.attitudeListener = listener;
+    }
+
+    public void setGpsListener(GpsListener listener) {
+        this.gpsListener = listener;
+    }
+
+    public void setGlobalPositionListener(GlobalPositionListener listener) {
+        this.globalPositionListener = listener;
+    }
+
+    public void setPowerStatusListener(PowerStatusListener listener) {
+        this.powerStatusListener = listener;
+    }
+
+    public void setSysStatusListener(SysStatusListener listener) {
+        this.sysStatusListener = listener;
+    }
+
+    public void setStatusTextListener(StatusTextListener listener) {
+        this.statusTextListener = listener;
+    }
+
+    public void setHeartbeatListener(HeartbeatListener listener) {
+        this.heartbeatListener = listener;
+    }
+
+    public void setVfrHudListener(VfrHudListener listener) {
+        this.vfrHudListener = listener;
+    }
+
+    public void setMissionAckListener(MissionAckListener listener) {
+        this.missionAckListener = listener;
+    }
+
+    public void setMissionCurrentListener(MissionCurrentListener listener) {
+        this.missionCurrentListener = listener;
+    }
+
+    /**
+     * 开始监听
+     */
+    public void startMonitoring() {
+        if (isRunning) {
+            return;
+        }
+
+        isRunning = true;
+        monitorThread = new Thread(() -> {
+            while (isRunning) {
+                long currentTime = System.currentTimeMillis();
+
+                // 检查并更新各类数据
+                checkAndUpdateAttitude(currentTime);
+                checkAndUpdateGps(currentTime);
+                checkAndUpdateGlobalPosition(currentTime);
+                checkAndUpdatePowerStatus(currentTime);
+                checkAndUpdateSysStatus(currentTime);
+                checkAndUpdateStatusText(currentTime);
+                checkAndUpdateHeartbeat(currentTime);
+                checkAndUpdateVfrHud(currentTime);
+                checkAndUpdateMissionAck(currentTime);
+                checkAndUpdateMissionCurrent(currentTime);
+
+                try {
+                    Thread.sleep(30); // 每50ms检查一次
+                } catch (InterruptedException e) {
+                    Thread.currentThread().interrupt();
+                    break;
+                }
+            }
+        });
+        monitorThread.setName("FlightDataMonitor");
+        monitorThread.start();
+    }
+
+    /**
+     * 停止监听
+     */
+    public void stopMonitoring() {
+        isRunning = false;
+        if (monitorThread != null) {
+            monitorThread.interrupt();
+        }
+    }
+
+    private void checkAndUpdateAttitude(long currentTime) {
+        if (attitudeListener != null && (currentTime - lastAttitudeTime) >= attitudeInterval) {
+            try {
+                if (MsgList.get(MAVLINK_MSG_ID_ATTITUDE) == null){
+                    return;
+                }
+                JSONObject data = new JSONObject(MsgList.get(MAVLINK_MSG_ID_ATTITUDE));
+                if (data != null) {
+                    // 切换到主线程执行回调，避免在子线程中更新UI
+                    mainHandler.post(() -> attitudeListener.onAttitudeUpdate(data));
+                }
+                lastAttitudeTime = currentTime;
+            } catch (Exception e) {
+                Log.e(TAG, "Error updating attitude data", e);
+            }
+        }
+    }
+
+    private void checkAndUpdateGps(long currentTime) {
+        if (gpsListener != null && (currentTime - lastGpsTime) >= gpsInterval) {
+            try {
+                if (MsgList.get(MAVLINK_MSG_ID_GPS_RAW_INT) == null){
+                    return;
+                }
+                JSONObject data = new JSONObject(MsgList.get(MAVLINK_MSG_ID_GPS_RAW_INT));
+                if (data != null) {
+                    // 切换到主线程执行回调，避免在子线程中更新UI
+                    mainHandler.post(() -> gpsListener.onGpsUpdate(data));
+                }
+                lastGpsTime = currentTime;
+            } catch (Exception e) {
+                Log.e(TAG, "Error updating GPS data", e);
+            }
+        }
+    }
+
+    private void checkAndUpdateGlobalPosition(long currentTime) {
+        if (globalPositionListener != null && (currentTime - lastGlobalPositionTime) >= globalPositionInterval ) {
+            try {
+                if (MsgList.get(MAVLINK_MSG_ID_GLOBAL_POSITION_INT) == null){
+                    return;
+                }
+                JSONObject data = new JSONObject(MsgList.get(MAVLINK_MSG_ID_GLOBAL_POSITION_INT));
+                if (data != null) {
+                    // 切换到主线程执行回调，避免在子线程中更新UI
+                    mainHandler.post(() -> globalPositionListener.onGlobalPositionUpdate(data));
+                }
+                lastGlobalPositionTime = currentTime;
+            } catch (Exception e) {
+                Log.e(TAG, "Error updating global position data", e);
+            }
+        }
+    }
+
+    private void checkAndUpdatePowerStatus(long currentTime) {
+        if (powerStatusListener != null && (currentTime - lastPowerStatusTime) >= powerStatusInterval ) {
+            try {
+                if (MsgList.get(MAVLINK_MSG_ID_POWER_STATUS) == null){
+                    return;
+                }
+                JSONObject data = new JSONObject(MsgList.get(MAVLINK_MSG_ID_POWER_STATUS));
+                if (data != null) {
+                    // 切换到主线程执行回调，避免在子线程中更新UI
+                    mainHandler.post(() -> powerStatusListener.onPowerStatusUpdate(data));
+                }
+                lastPowerStatusTime = currentTime;
+            } catch (Exception e) {
+                Log.e(TAG, "Error updating power status data", e);
+            }
+        }
+    }
+
+    private void checkAndUpdateSysStatus(long currentTime) {
+        if (sysStatusListener != null && (currentTime - lastSysStatusTime) >= sysStatusInterval ) {
+            try {
+                if (MsgList.get(MAVLINK_MSG_ID_SYS_STATUS) == null){
+                    return;
+                }
+                JSONObject data = new JSONObject(MsgList.get(MAVLINK_MSG_ID_SYS_STATUS));
+                if (data != null) {
+                    // 切换到主线程执行回调，避免在子线程中更新UI
+                    mainHandler.post(() -> sysStatusListener.onSysStatusUpdate(data));
+                }
+                lastSysStatusTime = currentTime;
+            } catch (Exception e) {
+                Log.e(TAG, "Error updating sys status data", e);
+            }
+        }
+    }
+
+    private void checkAndUpdateStatusText(long currentTime) {
+        if (statusTextListener != null && (currentTime - lastStatusTextTime) >= statusTextInterval ) {
+            try {
+                if (MsgList.get(MAVLINK_MSG_ID_STATUSTEXT) == null){
+                    return;
+                }
+                JSONObject data = new JSONObject(MsgList.get(MAVLINK_MSG_ID_STATUSTEXT));
+                if (data != null) {
+                    // 切换到主线程执行回调，避免在子线程中更新UI
+                    mainHandler.post(() -> statusTextListener.onStatusTextUpdate(data));
+                }
+                lastStatusTextTime = currentTime;
+            } catch (Exception e) {
+                Log.e(TAG, "Error updating status text data", e);
+            }
+        }
+    }
+
+    private void checkAndUpdateHeartbeat(long currentTime) {
+        if (heartbeatListener != null && (currentTime - lastHeartbeatTime) >= heartbeatInterval ) {
+            try {
+                if (MsgList.get(MAVLINK_MSG_ID_HEARTBEAT) == null){
+                    return;
+                }
+                JSONObject data = new JSONObject(MsgList.get(MAVLINK_MSG_ID_HEARTBEAT));
+                if (data != null) {
+                    // 切换到主线程执行回调，避免在子线程中更新UI
+                    mainHandler.post(() -> heartbeatListener.onHeartbeatUpdate(data));
+                }
+                lastHeartbeatTime = currentTime;
+            } catch (Exception e) {
+                Log.e(TAG, "Error updating heartbeat data", e);
+            }
+        }
+    }
+
+    private void checkAndUpdateVfrHud(long currentTime) {
+        if (vfrHudListener != null && (currentTime - lastVfrHudTime) >= vfrHudInterval ) {
+            try {
+                if (MsgList.get(MAVLINK_MSG_ID_VFR_HUD) == null){
+                    return;
+                }
+                JSONObject data = new JSONObject(MsgList.get(MAVLINK_MSG_ID_VFR_HUD));
+                if (data != null) {
+                    // 切换到主线程执行回调，避免在子线程中更新UI
+                    mainHandler.post(() -> vfrHudListener.onVfrHudUpdate(data));
+                }
+                lastVfrHudTime = currentTime;
+            } catch (Exception e) {
+                Log.e(TAG, "Error updating VFR HUD data", e);
+            }
+        }
+    }
+
+    private void checkAndUpdateMissionAck(long currentTime) {
+        if (missionAckListener != null && (currentTime - lastMissionAckTime) >= missionAckInterval ) {
+            try {
+                if (MsgList.get(MAVLINK_MSG_ID_MISSION_ACK) == null){
+                    return;
+                }
+                JSONObject data = new JSONObject(MsgList.get(MAVLINK_MSG_ID_MISSION_ACK));
+                if (data != null) {
+                    // 切换到主线程执行回调，避免在子线程中更新UI
+                    mainHandler.post(() -> missionAckListener.onMissionAckUpdate(data));
+                }
+                lastMissionAckTime = currentTime;
+            } catch (Exception e) {
+                Log.e(TAG, "Error updating mission ACK data", e);
+            }
+        }
+    }
+
+    private void checkAndUpdateMissionCurrent(long currentTime) {
+        if (missionCurrentListener != null && (currentTime - lastMissionCurrentTime) >= missionCurrentInterval ) {
+            try {
+                if (MsgList.get(MAVLINK_MSG_ID_MISSION_CURRENT) == null){
+                    return;
+                }
+                JSONObject data = new JSONObject(MsgList.get(MAVLINK_MSG_ID_MISSION_CURRENT));
+                if (data != null) {
+                    // 切换到主线程执行回调，避免在子线程中更新UI
+                    mainHandler.post(() -> missionCurrentListener.onMissionCurrentUpdate(data));
+                }
+                lastMissionCurrentTime = currentTime;
+            } catch (Exception e) {
+                Log.e(TAG, "Error updating mission current data", e);
+            }
+        }
+    }
+}

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

@@ -1,14 +1,11 @@
-package com.example.longyi_groundstation.Main.Void;
+package com.example.longyi_groundstation.Main.Void.Fly;
 
-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_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.Activity.MainActivity.startExecuteDialog;
 import static com.example.longyi_groundstation.Main.Service.MyBoundService.MsgList;
 import static com.example.longyi_groundstation.Main.Service.MyBoundService.type;
 
@@ -22,13 +19,10 @@ 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;
@@ -36,19 +30,19 @@ 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.common.msg_set_position_target_global_int;
 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.MAVLink.enums.MAV_MISSION_TYPE;
 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 com.example.longyi_groundstation.Main.Void.AllView;
+import com.example.longyi_groundstation.Main.Void.Map.CoordinateConverter;
+import com.example.longyi_groundstation.Main.Void.Tool.MyTool;
+import com.example.longyi_groundstation.Main.Void.Tool.SerialTool;
 
-import org.json.JSONException;
 import org.json.JSONObject;
 
-import java.math.BigDecimal;
 import java.net.DatagramPacket;
 import java.net.InetAddress;
 import java.util.ArrayList;
@@ -275,10 +269,14 @@ public class FlyVoid {
     }
 
 
+    /**
+     * 通用MAVLink消息发送方法-串口1 mavlink通道
+     */
     /**
      * 通用MAVLink消息发送方法-串口1 mavlink通道
      */
     public void sendMavlinkMessage(int type, MAVLinkMessage msg) {
+        msg.isMavlink2 = true;
         MAVLinkPacket packet = msg.pack();
 
         if (type == 0) { // 串口
@@ -287,17 +285,25 @@ public class FlyVoid {
                 MyBoundService.serialHelper.send(packet.encodePacket());
             }
         } else { // UDP
+            // 将网络操作放到后台线程执行
+            new Thread(() -> {
                 try {
                     InetAddress targetAddress = InetAddress.getByName("127.0.0.1"); // 改为飞控IP
-                DatagramPacket udpPacket = new DatagramPacket(packet.encodePacket(), packet.encodePacket().length, targetAddress, 14553 // MAVLink标准端口
+                    DatagramPacket udpPacket = new DatagramPacket(
+                            packet.encodePacket(),
+                            packet.encodePacket().length,
+                            targetAddress,
+                            14552 // MAVLink标准端口
                     );
                     MyBoundService.serverSocket.send(udpPacket);
                 } catch (Exception e) {
                     Log.e("cuijinggzhou-发送", "发送失败: " + e.getMessage());
                 }
+            }).start();
         }
     }
 
+
     /**
      * 通用MAVLink消息发送方法-串口2 其它硬件通道
      */
@@ -522,7 +528,7 @@ public class FlyVoid {
             speedChange.z = Float.parseFloat("10");
             list1.add(speedChange);
             //第一个点特殊处理
-            if ( i-1 == -1){
+            if ( i-1 == -1 && link.getStop_time() > 0){
                 msg_mission_item_int command = new msg_mission_item_int();
                 command.target_system = 1;
                 command.target_component = 1;

app/src/main/java/com/example/longyi_groundstation/Main/Void/Fly/LidarDataParser.java

@@ -1,8 +1,7 @@
-package com.example.longyi_groundstation.Main.Void;
+package com.example.longyi_groundstation.Main.Void.Fly;
 
 import android.os.Handler;
 import android.os.Looper;
-import android.util.Log;
 import android.widget.TextView;
 
 /**

app/src/main/java/com/example/longyi_groundstation/Main/Void/Fly/MavlinkErrorTranslator.java

@@ -1,4 +1,4 @@
-package com.example.longyi_groundstation.Main.Void;
+package com.example.longyi_groundstation.Main.Void.Fly;
 
 import com.example.longyi_groundstation.MAVLink.enums.MAV_SEVERITY;
 import java.util.HashMap;

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

@@ -1,140 +0,0 @@
-// 新建文件 HeartbeatManager.java
-package com.example.longyi_groundstation.Main.Void;
-
-import android.os.Handler;
-import android.os.Looper;
-import android.util.Log;
-
-import com.example.longyi_groundstation.MAVLink.MAVLinkPacket;
-import com.example.longyi_groundstation.MAVLink.minimal.msg_heartbeat;
-
-import java.net.DatagramPacket;
-import java.net.InetAddress;
-
-import tp.xmaihh.serialport.SerialHelper;
-
-/**
- * 心跳管理器类，用于管理与飞控的心跳通信
- */
-public class HeartbeatManager {
-    private static final String TAG = "HeartbeatManager";
-    private static final long HEARTBEAT_INTERVAL = 1000; // 心跳间隔1秒
-    
-    private Handler heartbeatHandler;
-    private Runnable heartbeatRunnable;
-    private boolean isHeartbeatRunning = false;
-    private int connectionType; // 0: 串口, 1: UDP
-    private SerialHelper serialHelper;
-    private java.net.DatagramSocket serverSocket;
-    
-    public HeartbeatManager(int type, SerialHelper serialHelper, java.net.DatagramSocket serverSocket) {
-        this.connectionType = type;
-        this.serialHelper = serialHelper;
-        this.serverSocket = serverSocket;
-        this.heartbeatHandler = new Handler(Looper.getMainLooper());
-    }
-    
-    /**
-     * 方法：启动心跳包发送
-     */
-    public void startHeartbeat() {
-        if (!isHeartbeatRunning) {
-            isHeartbeatRunning = true;
-            heartbeatRunnable = new Runnable() {
-                @Override
-                public void run() {
-                    if (isHeartbeatRunning) {
-                        sendHeartbeat();
-                        heartbeatHandler.postDelayed(this, HEARTBEAT_INTERVAL);
-                    }
-                }
-            };
-            heartbeatHandler.post(heartbeatRunnable);
-        }
-    }
-    
-    /**
-     * 方法：停止心跳包发送
-     */
-    public void stopHeartbeat() {
-        isHeartbeatRunning = false;
-        if (heartbeatHandler != null && heartbeatRunnable != null) {
-            heartbeatHandler.removeCallbacks(heartbeatRunnable);
-        }
-    }
-    
-    /**
-     * 方法：发送心跳包到飞控
-     */
-    private void sendHeartbeat() {
-        try {
-            // 创建心跳消息
-            msg_heartbeat heartbeat = new msg_heartbeat();
-            
-            // 设置心跳参数
-            heartbeat.type = 6; // GCS类型
-            heartbeat.autopilot = 8; // MAV_AUTOPILOT_INVALID
-            heartbeat.base_mode = 0;
-            heartbeat.custom_mode = 0;
-            heartbeat.system_status = 0; // MAV_STATE_UNINIT
-            
-            // 编码为MAVLinkPacket
-            MAVLinkPacket packet = heartbeat.pack();
-            
-            // 发送数据（根据连接方式选择）
-            if (connectionType == 0) {
-                // 串口发送
-                if (serialHelper != null) {
-                    serialHelper.send(packet.encodePacket());
-                }
-            } else {
-                // UDP发送
-                try {
-                    if (serverSocket != null && !serverSocket.isClosed()) {
-                        InetAddress targetAddress = InetAddress.getByName("127.0.0.1");
-                        int targetPort = 14553; // 默认MAVLink端口
-                        DatagramPacket udpPacket = new DatagramPacket(
-                            packet.encodePacket(),
-                            packet.encodePacket().length,
-                            targetAddress,
-                            targetPort
-                        );
-                        serverSocket.send(udpPacket);
-                    }
-                } catch (Exception e) {
-                    Log.e(TAG, "发送心跳包失败: " + e.getMessage());
-                }
-            }
-        } catch (Exception e) {
-            Log.e(TAG, "构建心跳包失败: " + e.getMessage());
-        }
-    }
-    
-    /**
-     * 方法：设置连接类型
-     */
-    public void setConnectionType(int type) {
-        this.connectionType = type;
-    }
-    
-    /**
-     * 方法：设置串口助手
-     */
-    public void setSerialHelper(SerialHelper serialHelper) {
-        this.serialHelper = serialHelper;
-    }
-    
-    /**
-     * 方法：设置UDP套接字
-     */
-    public void setServerSocket(java.net.DatagramSocket serverSocket) {
-        this.serverSocket = serverSocket;
-    }
-    
-    /**
-     * 方法：检查心跳是否正在运行
-     */
-    public boolean isRunning() {
-        return isHeartbeatRunning;
-    }
-}

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

@@ -1,4 +1,4 @@
-package com.example.longyi_groundstation.Main.Void;
+package com.example.longyi_groundstation.Main.Void.Map;
 
 
 /**

app/src/main/java/com/example/longyi_groundstation/Main/Void/Map/MapVoid.java

@@ -1,33 +1,26 @@
-package com.example.longyi_groundstation.Main.Void;
+package com.example.longyi_groundstation.Main.Void.Map;
+
+import static com.example.longyi_groundstation.Main.Activity.MainActivity.doubles;
 
 import android.app.Activity;
-import android.graphics.Bitmap;
-import android.graphics.Canvas;
 import android.graphics.Color;
-import android.graphics.Paint;
-import android.graphics.Rect;
 import android.location.Location;
 import android.os.Bundle;
 import android.os.Handler;
 import android.os.Looper;
 import android.util.Log;
-import android.view.View;
-import android.widget.TextView;
 
 import com.amap.api.maps.AMap;
 import com.amap.api.maps.AMapUtils;
-import com.amap.api.maps.MapView;
 import com.amap.api.maps.MapsInitializer;
-import com.amap.api.maps.model.BitmapDescriptorFactory;
 import com.amap.api.maps.model.LatLng;
 import com.amap.api.maps.model.Marker;
-import com.amap.api.maps.model.MarkerOptions;
 import com.amap.api.maps.model.MyLocationStyle;
 import com.amap.api.maps.model.Polyline;
 import com.amap.api.maps.model.PolylineOptions;
-import com.example.longyi_groundstation.MAVLink.Messages.MAVLinkPayload;
+import com.example.longyi_groundstation.Main.Service.MyBoundService;
-import com.example.longyi_groundstation.Main.Activity.MainActivity;
+import com.example.longyi_groundstation.Main.Void.AllView;
-import com.example.longyi_groundstation.R;
+import com.example.longyi_groundstation.Main.Void.MyReceiver;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -42,11 +35,8 @@ public class MapVoid {
     private Bundle savedInstanceState;
     //初始化地图控制器对象
     public AMap aMap = null;
-    //初始化地图控制器对象
     //画线
-
+    public List<LatLng> latLngss = new ArrayList<>();
-    //画线
-    public List<LatLng> latLngss;
 
     public List<Marker> waypointMarkers = new ArrayList<>();
     public List<LatLng> waypointPositions = new ArrayList<>();
@@ -141,8 +131,12 @@ public class MapVoid {
                 try {
                     if (isTracking) {
                         // 获取当前飞机位置
-                        double lat = MyReceiver.GLOBAL_POSITION_INT_json.optDouble("lat", 0) / 10000000;
+                        if (doubles ==  null){
-                        double lon = MyReceiver.GLOBAL_POSITION_INT_json.optDouble("lon", 0) / 10000000;
+                            // 2秒后再次执行
+                            flightTrackHandler.postDelayed(this, 600);
+                        }
+                        double lat = doubles[1];
+                        double lon = doubles[0];
 
                         // 检查坐标有效性
                         if (lat != 0 && lon != 0) {
@@ -158,13 +152,13 @@ public class MapVoid {
                                 updateFlightTrack();
                             }
                         }
-                        // 0.3秒后再次执行
+                        // 0.6秒后再次执行
                         flightTrackHandler.postDelayed(this, 600);
                     }
                 } catch (Exception e) {
 //                    e.printStackTrace();
                     Log.d("cui_error", "error: "+e);
-                    // 2秒后再次执行
+                    // 0.6秒后再次执行
                     flightTrackHandler.postDelayed(this, 600);
                 }
 

app/src/main/java/com/example/longyi_groundstation/Main/Void/Mqtt/MqttV5Util.java

@@ -0,0 +1,195 @@
+package com.example.longyi_groundstation.Main.Void.Mqtt;
+
+import org.eclipse.paho.mqttv5.client.IMqttToken;
+import org.eclipse.paho.mqttv5.client.MqttClient;
+import org.eclipse.paho.mqttv5.client.MqttConnectionOptions;
+import org.eclipse.paho.mqttv5.client.MqttDisconnectResponse;
+import org.eclipse.paho.mqttv5.client.persist.MemoryPersistence;
+import org.eclipse.paho.mqttv5.common.MqttException;
+import org.eclipse.paho.mqttv5.common.MqttMessage;
+import org.eclipse.paho.mqttv5.common.packet.MqttProperties;
+import org.eclipse.paho.mqttv5.client.MqttCallback;
+
+import android.util.Log;
+
+import com.example.longyi_groundstation.Main.Void.Tool.MyTool;
+
+/**
+ * MQTT v5 工具类
+ */
+public class MqttV5Util {
+    private static final String TAG = "MqttV5Util";
+    private MqttClient client;
+    private String brokerUrl;
+    private String clientId;
+
+    public MqttV5Util(String brokerUrl, String clientId) {
+        this.brokerUrl = brokerUrl;
+        this.clientId = clientId;
+    }
+
+    /**
+     * 连接MQTT v5服务器
+     * @param username 用户名
+     * @param password 密码
+     * @return 是否连接成功
+     */
+    public boolean connect(String username, String password) {
+        try {
+            // 使用内存持久化避免文件权限问题
+            client = new MqttClient(brokerUrl, clientId, new MemoryPersistence());
+
+            // 设置连接参数
+            MqttConnectionOptions options = new MqttConnectionOptions();
+            options.setCleanStart(true);
+            options.setConnectionTimeout(30);
+            options.setKeepAliveInterval(60);
+            options.setAutomaticReconnect(true);
+            // 只有当用户名和密码非空时才设置
+            if (username != null && !username.isEmpty()) {
+                options.setUserName(username);
+            }
+            if (password != null && !password.isEmpty()) {
+                options.setPassword(password.getBytes());
+            }
+
+            // 设置回调
+            client.setCallback(new MqttCallback() {
+                @Override
+                public void disconnected(MqttDisconnectResponse disconnectResponse) {
+                    Log.d(TAG, "MQTT v5连接已断开: " + disconnectResponse.getReasonString());
+
+                }
+
+                @Override
+                public void mqttErrorOccurred(MqttException exception) {
+                    Log.e(TAG, "MQTT v5错误发生: " + exception.getMessage(), exception);
+                }
+
+                @Override
+                public void messageArrived(String topic, MqttMessage message) throws Exception {
+
+                    Log.d(TAG, "收到消息 - Topic: " + topic + ", Message: " + MyTool.bytesToHex(message.getPayload(),message.getPayload().length));
+                }
+
+                @Override
+                public void deliveryComplete(IMqttToken token) {
+                    Log.d(TAG, "消息发送完成");
+                }
+
+                @Override
+                public void connectComplete(boolean reconnect, String serverURI) {
+                    Log.d(TAG, "MQTT v5连接完成 - Reconnect: " + reconnect + ", ServerURI: " + serverURI);
+                    subscribe("/ee", 1);
+
+                }
+
+                @Override
+                public void authPacketArrived(int reasonCode, MqttProperties properties) {
+                    Log.d(TAG, "认证包到达 - ReasonCode: " + reasonCode);
+                }
+            });
+
+            // 连接服务器
+            Log.d(TAG, "尝试连接到MQTT服务器: " + brokerUrl);
+            client.connect(options);
+            Log.d(TAG, "MQTT v5连接成功");
+            return true;
+
+        } catch (MqttException e) {
+            Log.e(TAG, "MQTT v5连接失败: " + e.getMessage() + " - 错误码: " + e.getReasonCode(), e);
+            return false;
+        } catch (Exception e) {
+            Log.e(TAG, "MQTT v5连接发生未知错误: " + e.getMessage(), e);
+            return false;
+        }
+    }
+
+    /**
+     * 断开MQTT v5连接
+     */
+    public void disconnect() {
+        try {
+            if (client != null && client.isConnected()) {
+                client.disconnect();
+                Log.d(TAG, "MQTT v5连接已断开");
+            }
+        } catch (MqttException e) {
+            Log.e(TAG, "断开MQTT v5连接时出错: " + e.getMessage(), e);
+        }
+    }
+
+    /**
+     * 发布消息
+     * @param topic 主题
+     * @param message 消息内容
+     * @param qos 服务质量等级
+     * @return 是否发布成功
+     */
+    public boolean publish(String topic, byte[] message, int qos) {
+        try {
+            if (client != null && client.isConnected()) {
+                MqttMessage mqttMessage = new MqttMessage(message);
+                mqttMessage.setQos(qos);
+                client.publish(topic, mqttMessage);
+                return true;
+            }
+        } catch (MqttException e) {
+            Log.e(TAG, "发布消息失败: " + e.getMessage(), e);
+        }
+        return false;
+    }
+
+    /**
+     * 订阅主题
+     * @param topic 主题
+     * @param qos 服务质量等级
+     * @return 是否订阅成功
+     */
+    public boolean subscribe(String topic, int qos) {
+        try {
+            if (client != null && client.isConnected()) {
+                client.subscribe(topic, qos);
+                Log.d(TAG, "订阅主题成功: " + topic);
+                return true;
+            }
+        } catch (MqttException e) {
+            Log.e(TAG, "订阅主题失败: " + e.getMessage(), e);
+        }
+        return false;
+    }
+
+    /**
+     * 取消订阅主题
+     * @param topic 主题
+     * @return 是否取消订阅成功
+     */
+    public boolean unsubscribe(String topic) {
+        try {
+            if (client != null && client.isConnected()) {
+                client.unsubscribe(topic);
+                Log.d(TAG, "取消订阅主题成功: " + topic);
+                return true;
+            }
+        } catch (MqttException e) {
+            Log.e(TAG, "取消订阅主题失败: " + e.getMessage(), e);
+        }
+        return false;
+    }
+
+    /**
+     * 检查是否已连接
+     * @return 是否已连接
+     */
+    public boolean isConnected() {
+        return client != null && client.isConnected();
+    }
+
+    /**
+     * 获取客户端实例
+     * @return MqttClient实例
+     */
+    public MqttClient getClient() {
+        return client;
+    }
+}

app/src/main/java/com/example/longyi_groundstation/Main/Void/Mqtt/SerialProtocolV2Packer.java

@@ -0,0 +1,315 @@
+package com.example.longyi_groundstation.Main.Void.Mqtt;
+
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+
+/**
+ * 串口协议V2消息打包工具（根据新的字段定义）
+ * 帧格式：帧头(2) + 源地址(1) + 目的地址(1) + 功能码(1) + 序号(1) + 长度(1) + 负载(N) + CRC16(2)
+ * 负载长度固定为33字节。
+ */
+public class SerialProtocolV2Packer {
+
+    private static final byte STX1 = (byte) 0xFE;
+    private static final byte STX2 = (byte) 0xEF;
+    private static final int PAYLOAD_LENGTH = 33;
+
+    public static class FrameInfo {
+        private byte srcAddr;
+        private byte dstAddr;
+        private byte functionCode;
+        private byte sequence;
+        private byte length;
+        private MessagePayload payload;
+        private boolean crcValid;
+
+        public byte getSrcAddr() { return srcAddr; }
+        public byte getDstAddr() { return dstAddr; }
+        public byte getFunctionCode() { return functionCode; }
+        public byte getSequence() { return sequence; }
+        public byte getLength() { return length; }
+        public MessagePayload getPayload() { return payload; }
+        public boolean isCrcValid() { return crcValid; }
+
+        void setSrcAddr(byte srcAddr) { this.srcAddr = srcAddr; }
+        void setDstAddr(byte dstAddr) { this.dstAddr = dstAddr; }
+        void setFunctionCode(byte functionCode) { this.functionCode = functionCode; }
+        void setSequence(byte sequence) { this.sequence = sequence; }
+        void setLength(byte length) { this.length = length; }
+        void setPayload(MessagePayload payload) { this.payload = payload; }
+        void setCrcValid(boolean crcValid) { this.crcValid = crcValid; }
+    }
+
+    /**
+     * 新协议负载
+     */
+    public static class MessagePayload {
+        private int longitude;              // int32_t, *1e7
+        private int latitude;               // int32_t, *1e7
+        private int altitude;               // int32_t, *1e3
+        private short speed;                // int16_t, *1e2
+        private int satelliteCount;         // uint8_t
+        private int voltage;                // uint16_t, *1e2
+        private int reserved;               // uint16_t
+        private short roll;                 // int16_t, *1e2
+        private short pitch;                // int16_t, *1e2
+        private short yaw;                  // int16_t, *1e2
+        private int unlockStatus;           // uint8_t
+        private int rtkHeadingStatus;       // uint8_t
+        private int flightMode;             // uint8_t
+        private long flightTime;            // uint32_t, 秒
+        private int throttle;               // uint8_t 0-100
+
+        public int getLongitude() { return longitude; }
+        public void setLongitude(int longitude) { this.longitude = longitude; }
+
+        public int getLatitude() { return latitude; }
+        public void setLatitude(int latitude) { this.latitude = latitude; }
+
+        public int getAltitude() { return altitude; }
+        public void setAltitude(int altitude) { this.altitude = altitude; }
+
+        public short getSpeed() { return speed; }
+        public void setSpeed(short speed) { this.speed = speed; }
+
+        public int getSatelliteCount() { return satelliteCount; }
+        public void setSatelliteCount(int satelliteCount) {
+            this.satelliteCount = satelliteCount & 0xFF;
+        }
+
+        public int getVoltage() { return voltage; }
+        public void setVoltage(int voltage) { this.voltage = voltage & 0xFFFF; }
+
+        public int getReserved() { return reserved; }
+        public void setReserved(int reserved) { this.reserved = reserved & 0xFFFF; }
+
+        public short getRoll() { return roll; }
+        public void setRoll(short roll) { this.roll = roll; }
+
+        public short getPitch() { return pitch; }
+        public void setPitch(short pitch) { this.pitch = pitch; }
+
+        public short getYaw() { return yaw; }
+        public void setYaw(short yaw) { this.yaw = yaw; }
+
+        public int getUnlockStatus() { return unlockStatus; }
+        public void setUnlockStatus(int unlockStatus) {
+            this.unlockStatus = unlockStatus & 0xFF;
+        }
+
+        public int getRtkHeadingStatus() { return rtkHeadingStatus; }
+        public void setRtkHeadingStatus(int rtkHeadingStatus) {
+            this.rtkHeadingStatus = rtkHeadingStatus & 0xFF;
+        }
+
+        public int getFlightMode() { return flightMode; }
+        public void setFlightMode(int flightMode) {
+            this.flightMode = flightMode & 0xFF;
+        }
+
+        public long getFlightTime() { return flightTime; }
+        public void setFlightTime(long flightTime) {
+            this.flightTime = flightTime & 0xFFFFFFFFL;
+        }
+
+        public int getThrottle() { return throttle; }
+        public void setThrottle(int throttle) {
+            this.throttle = throttle & 0xFF;
+        }
+
+        @Override
+        public String toString() {
+            return String.format(
+                    "MessagePayload{lon=%d, lat=%d, alt=%d, speed=%d, sat=%d, volt=%d, reserved=%d, "
+                            + "roll=%d, pitch=%d, yaw=%d, unlock=%d, rtkHeading=%d, flightMode=%d, "
+                            + "flightTime=%d, throttle=%d}",
+                    longitude, latitude, altitude, speed, satelliteCount, voltage, reserved,
+                    roll, pitch, yaw, unlockStatus, rtkHeadingStatus, flightMode, flightTime, throttle
+            );
+        }
+    }
+
+    public static int crc16Xmodem(byte[] data, int offset, int length) {
+        int crc = 0x0000;
+        int polynomial = 0x1021;
+        for (int i = offset; i < offset + length; i++) {
+            crc ^= (data[i] & 0xFF) << 8;
+            for (int j = 0; j < 8; j++) {
+                if ((crc & 0x8000) != 0) {
+                    crc = (crc << 1) ^ polynomial;
+                } else {
+                    crc <<= 1;
+                }
+                crc &= 0xFFFF;
+            }
+        }
+        return crc;
+    }
+
+    private static byte[] packPayload(MessagePayload payload) {
+        ByteBuffer buffer = ByteBuffer.allocate(PAYLOAD_LENGTH);
+        buffer.order(ByteOrder.LITTLE_ENDIAN);
+
+        buffer.putInt(payload.getLongitude());                // +0
+        buffer.putInt(payload.getLatitude());                 // +4
+        buffer.putInt(payload.getAltitude());                 // +8
+        buffer.putShort(payload.getSpeed());                  // +12
+        buffer.put((byte) (payload.getSatelliteCount() & 0xFF)); // +14
+        buffer.putShort((short) (payload.getVoltage() & 0xFFFF)); // +15
+        buffer.putShort((short) (payload.getReserved() & 0xFFFF)); // +17
+        buffer.putShort(payload.getRoll());                   // +19
+        buffer.putShort(payload.getPitch());                  // +21
+        buffer.putShort(payload.getYaw());                    // +23
+        buffer.put((byte) (payload.getUnlockStatus() & 0xFF)); // +25
+        buffer.put((byte) (payload.getRtkHeadingStatus() & 0xFF)); // +26
+        buffer.put((byte) (payload.getFlightMode() & 0xFF));  // +27
+        buffer.putInt((int) (payload.getFlightTime() & 0xFFFFFFFFL)); // +28
+        buffer.put((byte) (payload.getThrottle() & 0xFF));    // +32
+
+        return buffer.array();
+    }
+
+    private static MessagePayload unpackPayload(byte[] data, int offset) {
+        if (data.length < offset + PAYLOAD_LENGTH) {
+            throw new IllegalArgumentException("数据长度不足，无法解析V2负载");
+        }
+
+        ByteBuffer buffer = ByteBuffer.wrap(data, offset, PAYLOAD_LENGTH);
+        buffer.order(ByteOrder.LITTLE_ENDIAN);
+
+        MessagePayload payload = new MessagePayload();
+        payload.setLongitude(buffer.getInt());
+        payload.setLatitude(buffer.getInt());
+        payload.setAltitude(buffer.getInt());
+        payload.setSpeed(buffer.getShort());
+        payload.setSatelliteCount(buffer.get() & 0xFF);
+        payload.setVoltage(buffer.getShort() & 0xFFFF);
+        payload.setReserved(buffer.getShort() & 0xFFFF);
+        payload.setRoll(buffer.getShort());
+        payload.setPitch(buffer.getShort());
+        payload.setYaw(buffer.getShort());
+        payload.setUnlockStatus(buffer.get() & 0xFF);
+        payload.setRtkHeadingStatus(buffer.get() & 0xFF);
+        payload.setFlightMode(buffer.get() & 0xFF);
+        payload.setFlightTime(buffer.getInt() & 0xFFFFFFFFL);
+        payload.setThrottle(buffer.get() & 0xFF);
+        return payload;
+    }
+
+    public static byte[] packFrame(byte srcAddr, byte dstAddr, byte functionCode,
+                                   byte sequence, MessagePayload payload) {
+        byte[] payloadBytes = packPayload(payload);
+        int frameLength = 2 + 1 + 1 + 1 + 1 + 1 + payloadBytes.length + 2;
+        ByteBuffer frame = ByteBuffer.allocate(frameLength);
+        frame.order(ByteOrder.LITTLE_ENDIAN);
+
+        frame.put(STX1);
+        frame.put(STX2);
+        frame.put(srcAddr);
+        frame.put(dstAddr);
+        frame.put(functionCode);
+        frame.put(sequence);
+        frame.put((byte) payloadBytes.length);
+        frame.put(payloadBytes);
+
+        byte[] frameData = frame.array();
+        int crcStartOffset = 0;
+        int crcLength = frameLength - 2;
+        int crc16 = crc16Xmodem(frameData, crcStartOffset, crcLength);
+        frame.put((byte) (crc16 & 0xFF));
+        frame.put((byte) ((crc16 >> 8) & 0xFF));
+        return frame.array();
+    }
+
+    public static FrameInfo unpackFrame(byte[] frameData) {
+        if (frameData == null || frameData.length < 9) {
+            throw new IllegalArgumentException("帧数据长度不足，最小长度为9字节");
+        }
+
+        if (frameData[0] != STX1 || frameData[1] != STX2) {
+            throw new IllegalArgumentException("帧头错误，无法解析V2帧");
+        }
+
+        FrameInfo frameInfo = new FrameInfo();
+        frameInfo.setSrcAddr(frameData[2]);
+        frameInfo.setDstAddr(frameData[3]);
+        frameInfo.setFunctionCode(frameData[4]);
+        frameInfo.setSequence(frameData[5]);
+        frameInfo.setLength(frameData[6]);
+
+        int payloadLength = frameInfo.getLength() & 0xFF;
+        int expectedFrameLength = 2 + 1 + 1 + 1 + 1 + 1 + payloadLength + 2;
+        if (frameData.length < expectedFrameLength) {
+            throw new IllegalArgumentException("帧数据长度不足，无法解析完整V2帧");
+        }
+
+        int crcStartOffset = 0;
+        int crcLength = expectedFrameLength - 2;
+        int calculatedCrc = crc16Xmodem(frameData, crcStartOffset, crcLength);
+        int frameCrc = (frameData[expectedFrameLength - 2] & 0xFF) |
+                ((frameData[expectedFrameLength - 1] & 0xFF) << 8);
+        frameInfo.setCrcValid(calculatedCrc == frameCrc);
+
+        int payloadOffset = 7;
+        MessagePayload payload = unpackPayload(frameData, payloadOffset);
+        frameInfo.setPayload(payload);
+        return frameInfo;
+    }
+
+    public static FrameInfo findAndUnpackFrame(byte[] data, int offset) {
+        if (data == null || data.length < offset + 9) {
+            return null;
+        }
+
+        for (int i = offset; i <= data.length - 9; i++) {
+            if (data[i] == STX1 && data[i + 1] == STX2) {
+                try {
+                    int payloadLength = data[i + 6] & 0xFF;
+                    int frameLength = 2 + 1 + 1 + 1 + 1 + 1 + payloadLength + 2;
+                    if (i + frameLength <= data.length) {
+                        byte[] frameData = new byte[frameLength];
+                        System.arraycopy(data, i, frameData, 0, frameLength);
+                        return unpackFrame(frameData);
+                    }
+                } catch (IllegalArgumentException ignored) {
+                    // continue searching next frame head
+                }
+            }
+        }
+        return null;
+    }
+
+    public static byte[] getBytes(String[] args) {
+        MessagePayload payload = new MessagePayload();
+        payload.setLongitude(1163974210);
+        payload.setLatitude(399062310);
+        payload.setAltitude(123450);          // 123.450 m => *1e3
+        payload.setSpeed((short) 250);        // 2.50 m/s => *1e2
+        payload.setSatelliteCount(15);
+        payload.setVoltage(3780);             // 37.80 V => *1e2
+        payload.setReserved(0);
+        payload.setRoll((short) -500);        // -5.00 deg => *1e2
+        payload.setPitch((short) 300);        // 3.00 deg
+        payload.setYaw((short) -1700);        // -17.00 deg
+        payload.setUnlockStatus(1);
+        payload.setRtkHeadingStatus(255);
+        payload.setFlightMode(255);
+        payload.setFlightTime(3600);          // 1 hour
+        payload.setThrottle(80);              // 80%
+
+        byte[] frame = packFrame((byte) 0x01, (byte) 0x02, (byte) 0x20, (byte) 0x11, payload);
+        return frame;
+//        System.out.println("=== V2 Frame ===");
+//        System.out.println("Length: " + frame.length + " bytes");
+//        StringBuilder sb = new StringBuilder();
+//        for (byte b : frame) {
+//            sb.append(String.format("%02X ", b & 0xFF));
+//        }
+//        System.out.println(sb.toString());
+//
+//        FrameInfo frameInfo = unpackFrame(frame);
+//        System.out.println("CRC valid: " + frameInfo.isCrcValid());
+//        System.out.println("Payload: " + frameInfo.getPayload());
+    }
+}
+

app/src/main/java/com/example/longyi_groundstation/Main/Void/Sql/SQLClass.java

@@ -1,4 +1,4 @@
-package com.example.longyi_groundstation.Main.Void;
+package com.example.longyi_groundstation.Main.Void.Sql;
 
 import android.content.ContentValues;
 import android.content.Context;

app/src/main/java/com/example/longyi_groundstation/Main/Void/Tool/MyTool.java

@@ -1,4 +1,4 @@
-package com.example.longyi_groundstation.Main.Void;
+package com.example.longyi_groundstation.Main.Void.Tool;
 
 import android.app.Activity;
 import android.content.Context;
@@ -50,6 +50,8 @@ public class MyTool {
     }
 
 
+
+
     // 添加以下成员变量
     public long lastClickTime = 0;
     public int clickCount = 0;

app/src/main/java/com/example/longyi_groundstation/Main/Void/Tool/SerialTool.java

@@ -1,4 +1,4 @@
-package com.example.longyi_groundstation.Main.Void;
+package com.example.longyi_groundstation.Main.Void.Tool;
 
 public class SerialTool {
 

app/src/main/java/com/example/longyi_groundstation/Main/Void/XiangTuo/FpvGestureHandler.java

@@ -1,12 +1,10 @@
-package com.example.longyi_groundstation.Main.Void;
+package com.example.longyi_groundstation.Main.Void.XiangTuo;
 
 import android.view.GestureDetector;
 import android.view.MotionEvent;
 import android.view.ScaleGestureDetector;
 import android.view.View;
 
-import com.example.longyi_groundstation.R;
-
 public class FpvGestureHandler implements View.OnTouchListener {
     private GestureDetector gestureDetector;
     private ScaleGestureDetector scaleGestureDetector;

app/src/main/java/com/example/longyi_groundstation/Util/Http/HttpUrl.java

@@ -2,7 +2,13 @@ package com.example.longyi_groundstation.Util.Http;
 
 public class HttpUrl {
 
-    public static final String BASE_URL = "https://api.longyi-uav-cloud.com";
+//    public static final String BASE_URL = "https://api.longyi-uav-cloud.com";
+    public static final String BASE_URL = "http://192.168.101.102:48080";
+    //登录
     public static final String LOGIN = BASE_URL + "/admin-api/system/auth/login";
+    //刷新token
+    public static final String REFRESH_TOKEN = BASE_URL + " /admin-api/system/auth/refresh-token";
+    //创建飞机
+    public static final String CREATE_FOR_ANDROID = BASE_URL + "/admin-api/uav/base/createForAndroid";
 
 }

app/src/main/java/com/example/longyi_groundstation/Util/Http/HttpUtil.java

@@ -1,5 +1,7 @@
 package com.example.longyi_groundstation.Util.Http;
 
+import android.content.Context;
+
 import java.io.IOException;
 import java.util.Map;
 import java.util.concurrent.TimeUnit;
@@ -20,7 +22,7 @@ public class HttpUtil {
 
     private OkHttpClient client;
 
-    public HttpUtil() {
+    public HttpUtil(Context context) {
         this.client = new OkHttpClient.Builder()
                 .connectTimeout(10, TimeUnit.SECONDS)
                 .readTimeout(30, TimeUnit.SECONDS)
@@ -115,6 +117,23 @@ public class HttpUtil {
         return client.newCall(request).execute();
     }
 
+    /**
+     * 同步POST请求 - 表单格式
+     * @param url 请求地址
+     * @param formData 表单数据
+     * @param headers 请求头
+     * @return Response响应对象
+     * @throws IOException IO异常
+     */
+    public Response executePostForm(String url, String formData, Map<String, String> headers) throws IOException {
+        RequestBody body = RequestBody.create(formData, MEDIA_TYPE_FORM);
+        Request.Builder builder = new Request.Builder().url(url).post(body);
+        addHeaders(builder, headers);
+
+        Request request = builder.build();
+        return client.newCall(request).execute();
+    }
+
     /**
      * 添加请求头
      * @param builder Request.Builder构建器
@@ -127,4 +146,7 @@ public class HttpUtil {
             }
         }
     }
+
+
+    
 }

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

@@ -18,15 +18,10 @@ public class SharedPreferencesTool {
                     context.getSharedPreferences("user_info", MODE_PRIVATE);
             android.content.SharedPreferences.Editor editor = sharedPreferences.edit();
 
-            editor.putInt("id", userData.getInt("id"));
+//            editor.putInt("id", userData.getInt("id"));
-            editor.putString("avatar", userData.getString("avatar"));
+            editor.putString("userId", userData.getString("userId"));
-            editor.putString("nickname", userData.getString("nickname"));
+            editor.putString("accessToken", userData.getString("accessToken"));
-            editor.putString("mobile", userData.getString("mobile"));
+            editor.putString("refreshToken", userData.getString("refreshToken"));
-            editor.putLong("create_time", userData.getLong("create_time"));
-            editor.putLong("update_time", userData.getLong("update_time"));
-            editor.putInt("is_active", userData.getInt("is_active"));
-            editor.putInt("sort", userData.getInt("sort"));
-            editor.putString("token", userData.getString("token"));
             editor.apply(); // 异步保存
         }catch (Exception e){
             Log.d(TAG, "saveLogin:error " + e);
@@ -37,29 +32,10 @@ public class SharedPreferencesTool {
     public static String getToken(Context context){
         android.content.SharedPreferences sharedPreferences =
                 context.getSharedPreferences("user_info", MODE_PRIVATE);
-        String token = sharedPreferences.getString("token", null);
+        String token = sharedPreferences.getString("accessToken", null);
         return token;
     }
 
-    public static JSONObject getUserInfo(Context context){
 
-        android.content.SharedPreferences sharedPreferences =
-                context.getSharedPreferences("user_info", MODE_PRIVATE);
-                JSONObject userInfo = new JSONObject();
-                try {
-                    userInfo.put("id", sharedPreferences.getInt("id", 0));
-                    userInfo.put("avatar", sharedPreferences.getString("avatar", ""));
-                    userInfo.put("nickname", sharedPreferences.getString("nickname", ""));
-                    userInfo.put("mobile", sharedPreferences.getString("mobile", ""));
-                    userInfo.put("create_time", sharedPreferences.getLong("create_time", 0));
-                    userInfo.put("update_time", sharedPreferences.getLong( "update_time", 0));
-                    userInfo.put("is_active", sharedPreferences.getInt("is_active", 0));
-                    userInfo.put("sort", sharedPreferences.getInt("sort", 0));
-                    userInfo.put("token", sharedPreferences.getString("token", ""));
-                    return userInfo;
-                }catch (Exception e){
-                    return null;
-                }
-    }
 
 }

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

@@ -27,7 +27,7 @@
             android:layout_marginBottom="10dp"/>
 
         <EditText
-            android:text="admin1"
+            android:text="longyi001"
             android:textSize="12sp"
             android:id="@+id/et_username"
             android:layout_width="match_parent"

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

@@ -914,7 +914,7 @@
                         android:gravity="center_horizontal"
                         android:orientation="vertical"
                         android:padding="5dp"
-                        android:visibility="gone">
+                        android:visibility="visible">
 
                         <ImageView
                             android:layout_width="15dp"