ios - DJI 无人机未连接(未调用 sdkManagerProductDidChange 委托(delegate)方法)

Question

我似乎无法让自己的应用程序连接到特定的无人机。我已经下载了桥接器应用程序并使用它来调试。我从示例应用程序复制了“DJIBaseViewController”，并将我自己的 View Controller 作为它的委托(delegate)。在代码中添加大量断点后，我发现我的应用程序和示例应用程序之间的主要区别在于委托(delegate)方法“sdkManagerProductDidChange”。

//  DJIBaseViewController.swift


import UIKit
import DJISDK

protocol DJIProductObjectProtocol {
    func fetchAircraft() -> DJIAircraft?
    func fetchCamera() -> DJICamera?
    func fetchGimbal() -> DJIGimbal?
    func fetchFlightController() -> DJIFlightController?
    func fetchRemoteController() -> DJIRemoteController?
    func fetchBattery() -> DJIBattery?
    func fetchAirLink() -> DJIAirLink?
    func fetchHandheldController() -> DJIHandheldController?
}

class ConnectedProductManager: DJIProductObjectProtocol {
    static let sharedInstance = ConnectedProductManager()

    var connectedProduct:DJIBaseProduct? = nil

    func fetchAircraft() -> DJIAircraft? {
        if (self.connectedProduct == nil) {
            return nil
        }
        if (self.connectedProduct is DJIAircraft) {
            return (self.connectedProduct as! DJIAircraft)
        }
        return nil
    }

    func fetchCamera() -> DJICamera? {
        if (self.connectedProduct == nil) {
            return nil
        }
        if (self.connectedProduct is DJIAircraft) {
            return (self.connectedProduct as! DJIAircraft).camera
        }
        else if (self.connectedProduct is DJIHandheld) {
            return (self.connectedProduct as! DJIHandheld).camera
        }

        return nil
    }

    func fetchGimbal() -> DJIGimbal? {
        if (self.connectedProduct == nil) {
            return nil
        }
        if (self.connectedProduct is DJIAircraft) {
            return (self.connectedProduct as! DJIAircraft).gimbal
        }
        else if (self.connectedProduct is DJIHandheld) {
            return (self.connectedProduct as! DJIHandheld).gimbal
        }

        return nil
    }

    func fetchFlightController() -> DJIFlightController? {
        if (self.connectedProduct == nil) {
            return nil
        }
        if (self.connectedProduct is DJIAircraft) {
            return (self.connectedProduct as! DJIAircraft).flightController
        }
        return nil
    }

    func fetchRemoteController() -> DJIRemoteController? {
        if (self.connectedProduct == nil) {
            return nil
        }
        if (self.connectedProduct is DJIAircraft) {
            return (self.connectedProduct as! DJIAircraft).remoteController
        }
        return nil
    }

    func fetchBattery() -> DJIBattery? {
        if (self.connectedProduct == nil) {
            return nil
        }
        if (self.connectedProduct is DJIAircraft) {
            return (self.connectedProduct as! DJIAircraft).battery
        }
        else if (self.connectedProduct is DJIHandheld) {
            return (self.connectedProduct as! DJIHandheld).battery
        }

        return nil
    }

    func fetchAirLink() -> DJIAirLink? {
        if (self.connectedProduct == nil) {
            return nil
        }
        if (self.connectedProduct is DJIAircraft) {
            return (self.connectedProduct as! DJIAircraft).airLink
        }
        else if (self.connectedProduct is DJIHandheld) {
            return (self.connectedProduct as! DJIHandheld).airLink
        }

        return nil
    }

    func fetchHandheldController() -> DJIHandheldController? {
        if (self.connectedProduct == nil) {
            return nil
        }
        if (self.connectedProduct is DJIHandheld) {
            return (self.connectedProduct as! DJIHandheld).handheldController
        }
        return nil
    }

    func setDelegate(delegate:DJIBaseProductDelegate?) {
        self.connectedProduct?.delegate = delegate
    }

}

class DJIBaseViewController: UIViewController, DJIBaseProductDelegate, DJIProductObjectProtocol {

    //var connectedProduct:DJIBaseProduct?=nil
    var moduleTitle:String?=nil

    override func viewDidLoad() {
        super.viewDidLoad()
        if (moduleTitle != nil) {
            self.title = moduleTitle
        }

        // Do any additional setup after loading the view.
    }


    override func viewWillAppear(animated: Bool) {
        super.viewWillAppear(animated)

        if (ConnectedProductManager.sharedInstance.connectedProduct != nil) {
            ConnectedProductManager.sharedInstance.setDelegate(self)
        }
    }

    override func viewWillDisappear(
        animated: Bool) {
        super.viewWillDisappear(animated)
        if (ConnectedProductManager.sharedInstance.connectedProduct != nil &&
            ConnectedProductManager.sharedInstance.connectedProduct?.delegate === self) {
            ConnectedProductManager.sharedInstance.setDelegate(nil)
        }
    }

    override func didReceiveMemoryWarning() {
        super.didReceiveMemoryWarning()
        // Dispose of any resources that can be recreated.
    }

    func product(product: DJIBaseProduct, connectivityChanged isConnected: Bool) {
        if isConnected {
            NSLog("\(product.model) connected. ")
            ConnectedProductManager.sharedInstance.connectedProduct = product
            ConnectedProductManager.sharedInstance.setDelegate(self)

        }
        else {
            NSLog("Product disconnected. ")
            ConnectedProductManager.sharedInstance.connectedProduct = nil
        }
    }

    func componentWithKey(withKey key: String, changedFrom oldComponent: DJIBaseComponent?, to newComponent: DJIBaseComponent?) {
        //     (newComponent as? DJICamera)?.delegate = self
        if ((newComponent is DJICamera) == true && (self is DJICameraDelegate) == true) {
            (newComponent as! DJICamera).delegate = self as? DJICameraDelegate

        }
        if ((newComponent is DJICamera) == true && (self is DJIPlaybackDelegate) == true) {
            (newComponent as! DJICamera).playbackManager?.delegate = self as? DJIPlaybackDelegate
        }

        if ((newComponent is DJIFlightController) == true && (self is DJIFlightControllerDelegate) == true) {
            (newComponent as! DJIFlightController).delegate = self as? DJIFlightControllerDelegate
        }

        if ((newComponent is DJIBattery) == true && (self is DJIBatteryDelegate) == true) {
            (newComponent as! DJIBattery).delegate = self as? DJIBatteryDelegate
        }

        if ((newComponent is DJIGimbal) == true && (self is DJIGimbalDelegate) == true) {
            (newComponent as! DJIGimbal).delegate = self as? DJIGimbalDelegate
        }

        if ((newComponent is DJIRemoteController) == true && (self is DJIRemoteControllerDelegate) == true) {
            (newComponent as! DJIRemoteController).delegate = self as? DJIRemoteControllerDelegate
        }

    }


    func showAlertResult(info:String) {
        // create the alert
        var message:String? = info

        if info.hasSuffix(":nil") {
            message = info.stringByReplacingOccurrencesOfString(":nil", withString: " success")
        }

        let alert = UIAlertController(title: "Message", message: "\(message ?? "")", preferredStyle: .Alert)
        // add an action (button)
        alert.addAction(UIAlertAction(title: "OK", style: .Default, handler: nil))
        // show the alert
        self.presentViewController(alert, animated: true, completion: nil)
    }


    func fetchAircraft() -> DJIAircraft?{
        return ConnectedProductManager.sharedInstance.fetchAircraft()
    }

    func fetchCamera() -> DJICamera? {
        return ConnectedProductManager.sharedInstance.fetchCamera()
    }

    func fetchGimbal() -> DJIGimbal? {
        return ConnectedProductManager.sharedInstance.fetchGimbal()
    }

    func fetchFlightController() -> DJIFlightController? {
        return ConnectedProductManager.sharedInstance.fetchFlightController()
    }

    func fetchRemoteController() -> DJIRemoteController? {
        return ConnectedProductManager.sharedInstance.fetchRemoteController()
    }

    func fetchBattery() -> DJIBattery? {
        return ConnectedProductManager.sharedInstance.fetchBattery()
    }
    func fetchAirLink() -> DJIAirLink? {
        return ConnectedProductManager.sharedInstance.fetchAirLink()
    }
    func fetchHandheldController() -> DJIHandheldController?{
        return ConnectedProductManager.sharedInstance.fetchHandheldController()
    }
}

启动画面加载后加载的第一个 View 是。

//  MenuViewController.swift
import UIKit
import DJISDK

let enterDebugMode=true

class MenuViewController: DJIBaseViewController {

    @IBOutlet weak var aircraft: UILabel!
    @IBOutlet weak var productID: UILabel!
              // Do any additional setup after loading the view.
    @IBOutlet weak var appConectivity: UILabel!


        var connectedProduct:DJIBaseProduct?=nil
        var componentDictionary = Dictionary<String, Array<DJIBaseComponent>>()

        let APP_KEY = "*******"//Please enter App Key Here
        override func viewDidLoad() {

            super.viewDidLoad()
            let air = self.fetchAircraft()

            if air == nil{
                aircraft.text?="no aircraft connected"
            }
            print(air?.model)
            initUI();

            guard !APP_KEY.isEmpty else {
                showAlert("Please enter your app key.")
                return
            }
            DJISDKManager.registerApp(APP_KEY, withDelegate: self)


            if DJISDKManager.product() == nil{
                productID.text?="Drone Not Connected"
            }
            else{
                productID.text? = "Drone Connected"
            }
        }

        func initUI() {
            self.title = "DJI iOS SDK Sample"
            //sdkVersionLabel.text = "DJI SDK Version: \(DJISDKManager.getSDKVersion())"
            //openComponents.isEnabled = false;
            //bluetoothConnectorButton.isEnabled = true;
            //productModel.isHidden = true
            //productFirmwarePackageVersion.isHidden = true
            //debugModeLabel.isHidden = !enterDebugMode
        }
    func showAlert(msg: String?) {
        // create the alert
        let alert = UIAlertController(title: "", message: msg, preferredStyle: .Alert)
        // add the actions (buttons)
        alert.addAction(UIAlertAction(title: "OK", style: .Default, handler: nil))
        // show the alert
        self.presentViewController(alert, animated: true, completion: nil)
    }

    override func didReceiveMemoryWarning() {
        super.didReceiveMemoryWarning()
        // Dispose of any resources that can be recreated.
    }



    /*
    // MARK: - Navigation

    // In a storyboard-based application, you will often want to do a little preparation before navigation
    override func prepare(for segue: UIStoryboardSegue, sender: Any?) {
        // Get the new view controller using segue.destinationViewController.
        // Pass the selected object to the new view controller.
    }
    */
}
extension MenuViewController: DJISDKManagerDelegate{

        func sdkManagerDidRegisterAppWithError(error: NSError?) {

            guard error == nil  else {
                self.showAlertResult("Error:\(error!.localizedDescription)")
                appConectivity.text?="app isn't registering properly"
                return
            }

            //Debug("Registered!")

            if enterDebugMode {

                DJISDKManager.enterDebugModeWithDebugId("10.202.38.238")
                print("WTF")
            }else{
                //DJISDKManager.enterDebugModeWithDebugId("10.202.38.238")
                DJISDKManager.startConnectionToProduct()
            }

        }

        func sdkManagerProductDidChange(From oldProduct: DJIBaseProduct?, To newProduct: DJIBaseProduct?) {

            print("entered changed product")
            if oldProduct==nil{
                print("old product is nill")
            }
            if newProduct==nil{
                print("new product is nill")
            }

            guard let newProduct = newProduct else
            {
                appConectivity.text? = "Status: No Product Connected"

                ConnectedProductManager.sharedInstance.connectedProduct = nil
                //logDebug("Product Disconnected")
                return
            }

            //Updates the product's model
            productID.text = "Model: \((newProduct.model)!)"
            productID.hidden = false

            if let oldProduct = oldProduct {
                print("Product changed from: \(oldProduct.model) to \((newProduct.model)!)")
            }
            //Updates the product's firmware version - COMING SOON

            //Updates the product's connection status
            //appConectivity.text = "Status: Product Connected"

            ConnectedProductManager.sharedInstance.connectedProduct = newProduct
            productID.text?="product connected"
            //openComponents.isEnabled = true;
            //openComponents.alpha = 1.0;
            //logDebug("Product Connected")

        }
    override func product(product: DJIBaseProduct, connectivityChanged isConnected: Bool) {

            if isConnected {
                print("Status: Product Connected")
                //appConectivity.text?="Drone Recognized"
            } else {
                print("Status: No Product Connected")
                //appConectivity.text="Atleast Its trying"
            }
        }


    }

sdkManager 正在使用给定的应用程序 key 和捆绑程序标识符正确注册。我还在我的 info.plist 文件中添加了“支持的外部附件协议(protocol)”，其中包含三个元素 com.dji.video、com.dji.protocol 和 com.dji.common。

被困在这里很长一段时间了，真是令人沮丧。希望有人帮忙打电话。

提前致谢。

Answer 1

我明白了。这里的问题是示例应用程序已命名其委托(delegate)

func sdkManagerProductDidChange(from oldProduct: DJIBaseProduct?, to newProduct: DJIBaseProduct?)

无论出于何种原因，在我的示例应用程序中，DJISDK 都知道我的委托(delegate)函数为

func sdkManagerProductDidChangeFrom(oldProduct: DJIBaseProduct?, to newProduct: DJIBaseProduct?)

有点烦人，这造成了如此大的差异，但我想这就是我复制代码所得到的结果。希望这对其他人有帮助......

干杯

附注他们可能会再次更改它，就像我在扩展部分中输入 func 时发现的那样，Xcode 会吐出我可以使用的函数列表，而 sdkManagerDidChange 是其中一个具有不同输入变量的函数。

编辑:如果有人能解释为什么它在示例应用程序上运行而不是在我的应用程序上运行，那就太好了。