android - スタンドアロン クラスとして実装されている場合、DJI Sdk は接続されません。

Question

ファントム4は自由にスピンアップできるスタンドアロンクラスとして実装されているため、何をしてもスタンドアロンクラスをファントム4に接続できないようです。コールバックに到達することはなく、データがデバイスから戻ってくることはありません。

public class DjiManager {

private static DjiManager instance = null;

private Context mContext;
private DJIBaseProduct mProduct;
private SendData mData;
private DJIFlightController mFlightController = null;
private Handler mConnectHandler = null;
private Runnable mConnectRunnable = null;

public DjiManager(Context context) {
    mContext = context;
    //start eventbus
    EventBus.getDefault().register(this);
    //set reference to data storage
    mData = iOtManager.deviceData;
    //Initialize DJI SDK Manager
    initSdk();
}

public static DjiManager getIntance(Context context) {
    if (instance==null) {
        instance = new DjiManager(context);
    }
    return instance;
}

public void shutDown() {
    Log.d("DJI", "DGI Shutting down");
    //stop eventbus
    EventBus.getDefault().unregister(this);
    //stop the sdk
    stopSdk();
    //clear data buffer reference
    mData = null;
    //clear instance
    instance = null;
}

@Subscribe
public void usbAttached(UsbAttachedEvent event) {
    Log.d("DJI", "DGI Usb attached event");
    connectDrone();
}

@Subscribe
public void commandSent(SdkCommandSent event) {

}

private void stopSdk() {
    Log.d("DJI", "DGI stopSdk");
    //shutdown geo interface
    DJIFlyZoneManager.getInstance().setGEOSystemEnabled(false, new DJICommonCallbacks.DJICompletionCallback() {
        @Override
        public void onResult(DJIError djiError) {
            if (null != djiError) {
                Log.d("DJI", "Stopping Geo interface");
                Toast.showError((Activity) mContext, djiError.getDescription());
            }
        }
    });
    //stop connection
    DJISDKManager.getInstance().stopConnectionToProduct();
}

private void initSdk() {
    //Initialize DJI SDK Manager
    DJISDKManager.getInstance().initSDKManager(mContext, mDJISDKManagerCallback);
}

private void reInitSdk() {
    new Handler().postDelayed(new Runnable() {
        @Override
        public void run() {
            initSdk();
        }
    },5000);
}

private void connectDrone() {
    if (mConnectHandler!=null && mConnectRunnable!=null) {
        mConnectHandler.removeCallbacks(mConnectRunnable);
    }
    mConnectHandler = new Handler();
    mConnectRunnable = new Runnable() {
        @Override
        public void run() {
            DJISDKManager.getInstance().startConnectionToProduct();
        }
    };
    mConnectHandler.postDelayed(mConnectRunnable,1000);
}

private void setupCallbacks() {
    //start geo sytem interface
    Log.d("DJI", "Setting up callbacks");
    DJIFlyZoneManager.getInstance().setGEOSystemEnabled(true, new DJICommonCallbacks.DJICompletionCallback() {
        @Override
        public void onResult(DJIError djiError) {
            if (null != djiError) {
                Log.d("DJI", "Error in callbacks: " + djiError.getDescription());
                Toast.showError((Activity) mContext, djiError.getDescription());
            } else {
                initFlightController();
            }
        }
    });
}


private void initFlightController() {
    if (isFlightControllerSupported()) {
        Log.d("DJI", "Flight controller supported");
        mFlightController = ((DJIAircraft) DJISDKManager.getInstance().getDJIProduct()).getFlightController();
        mFlightController.setUpdateSystemStateCallback(new DJIFlightControllerDelegate.FlightControllerUpdateSystemStateCallback() {
            @Override
            public void onResult(final DJIFlightControllerCurrentState state) {
                mData.sdk_speed_h = String.valueOf(state.getVelocityX());
                mData.sdk_speed_v = String.valueOf(state.getVelocityY());
                mData.sdk_lat = String.valueOf(state.getAircraftLocation().getLatitude());
                mData.sdk_lng = String.valueOf(state.getAircraftLocation().getLongitude());
                mData.sdk_altitude = String.valueOf(state.getUltrasonicHeight());
            }
        });
    } else {
        Log.d("DJI", "Flight controller not supported");
        connectDrone();
    }
}
private boolean isFlightControllerSupported() {
    return DJISDKManager.getInstance().getDJIProduct() != null &&
            DJISDKManager.getInstance().getDJIProduct() instanceof DJIAircraft &&
            ((DJIAircraft) DJISDKManager.getInstance().getDJIProduct()).getFlightController() != null;
}












//CALLBACKS

private DJISDKManager.DJISDKManagerCallback mDJISDKManagerCallback = new DJISDKManager.DJISDKManagerCallback() {
    @Override
    public void onGetRegisteredResult(DJIError error) {
        Log.d("DJI", error == null ? "success" : error.getDescription());
        if(error == DJISDKError.REGISTRATION_SUCCESS) {
            connectDrone();
            Handler handler = new Handler(Looper.getMainLooper());
            handler.post(new Runnable() {
                @Override
                public void run() {
                    Log.d("DJI", "DGI Registration Succcessfull!");
                }
            });
        } else {
            Handler handler = new Handler(Looper.getMainLooper());
            handler.post(new Runnable() {
                @Override
                public void run() {
                    Log.d("DJI", "Register App Failed! Please enter your App Key and check the network.");
                    Toast.showError((Activity) mContext, "The purplebox failed to connect to a Dji Drone");
                    reInitSdk();
                }
            });
        }
    }
    @Override
    public void onProductChanged(DJIBaseProduct oldProduct, DJIBaseProduct newProduct) {
        mProduct = newProduct;
        if(mProduct != null) {
            Log.d("DJI", "Product found: " + newProduct.getModel());
            mProduct.setDJIBaseProductListener(mDJIBaseProductListener);
            //setup product
            setupCallbacks();
        } else {
            Log.d("DJI", "Product Not Found, reconnecting...");
            //connectDrone();
        }
    }
};

private DJIBaseProduct.DJIBaseProductListener mDJIBaseProductListener = new DJIBaseProduct.DJIBaseProductListener() {
    @Override
    public void onComponentChange(DJIBaseProduct.DJIComponentKey key, DJIBaseComponent oldComponent, DJIBaseComponent newComponent) {
        Log.d("DJI", "Component Changed");
    }
    @Override
    public void onProductConnectivityChanged(boolean isConnected) {
        Log.d("DJI", "DGI Connected: " + isConnected);
    }
};

}