我们采用MSDK4.15在mobile-sdk-android4.15 demo的基础上进行开发。我们测试用M210...

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DJI Developer Support
我们采用MSDK4.15在mobile-sdk-android4.15 demo的基础上进行开发。我们测试用M210 RTK V2无人机和自定义网络RTK，当无人机开机后，startNetworkService后不久，程序闪退。查看日志如下。闪退目前概率不高，但是存在，请问如何避免闪退。 java.util.concurrent.RejectedExecutionException: Task dji.internal.rtk.rtcm.fdd.fdd.nhf@397620c rejected from java.util.concurrent.ThreadPoolExecutor@89c9755[Terminated, pool size = 0, active threads = 0, queued tasks = 0, completed tasks = 0] at java.util.concurrent.ThreadPoolExecutor$AbortPolicy.rejectedExecution(ThreadPoolExecutor.java:2086) at java.util.concurrent.ThreadPoolExecutor.reject(ThreadPoolExecutor.java:848) at java.util.concurrent.ThreadPoolExecutor.execute(ThreadPoolExecutor.java:1394) at java.util.concurrent.Executors$DelegatedExecutorService.execute(Executors.java:630) at dji.internal.rtk.rtcm.fdd.fdd.dgh.fdd(Unknown Source:35) at dji.internal.rtk.rtcm.fdd.fdd.ghu.onConnect(Unknown Source:70) at dji.internal.rtk.rtcm.fdd.fdd.koy.run(Unknown Source:2) at android.os.Handler.handleCallback(Handler.java:883) at android.os.Handler.dispatchMessage(Handler.java:100) at android.os.Looper.loop(Looper.java:224) at android.os.HandlerThread.run(HandlerThread.java:67)
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  • DJI Developer Support
    这个应该不是闪退日志吧，这个确实是报错日志但是应该被catch住了。闪退应该有fatal exception之类的字样，你能把全部的报错给我吗？
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  • smallUniv

    日志就收集到这些。除非下次再出现，不过就要等了。

    我猜测会不会是我们调用方法的问题。

    rtk.setStateCallback(new RTKState.Callback() {
        @Override
        public void onUpdate(@NonNull RTKState rtkState) {
            // after connected with D-RTK2 station or NTRIP network, location info is already calculated
            isRTKBeingUsed = rtkState.isRTKBeingUsed();     
            if (isRTKBeingUsed) {
                if (!isRTKHaveBeUsed){
                    isRTKHaveBeUsed = true;
                }
            }
            else{
                if (!isRTKHaveBeUsed){
                    Calendar now = Calendar.getInstance();
                    if (rtkCloseTime.before(now)){
                        rtk.setStateCallback(null);
                        ToastUtils.showToast("rtk长时间连接不上，断开重连");
                        closeRtk((err)->{
                            initRtk();
                        });//长时间连接不上，则断开，重新连
                    }
                }
                //启动网络RTK服务
                mRTKNetworkServiceProvider = DJISDKManager.getInstance().getRTKNetworkServiceProvider();
                mRTKNetworkServiceProvider.startNetworkService(new CommonCallbacks.CompletionCallback() {
                    @Override
                    public void onResult(DJIError djiError) {
                        if(djiError != null){
                            FileLog.d(TAG, "startNetworkService ERROR: " + djiError.getDescription());
                        }
                        else{
                            FileLog.d(TAG, "startNetworkService 启动网络服务成功");
                        }
                    }
                });          
            }     
        }
    });
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  • smallUniv

    我们在rtk状态回调里，判断rtk是否被使用，没有的话，则重复启用网络服务。这样行不行？如果不合适，有没有更好的建议？

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  • DJI Developer Support
    isRTKBeingUsed为false不代表RTK服务就没有连接，有可能是连接了，但是positionSolution不是Fix或者是接收RTK数据的时间过长，所以即使isRTKBeingUsed为false也不需要重启，重启是没用的。只要你RTKNetworkServiceProvider的NetworkServiceChannelState是TRANSMITTING则说明RTK已启动，就只需要等待就可以了。
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  • smallUniv

    如果本来isRTKBeingUsed为true，但是飞行过程中rtk，isRTKBeingUsed为false了。如何重连？需要怎么写代码？

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  • DJI Developer Support
    无法重连，只能等待重启变为true。
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  • smallUniv

    又闪退了。虽然概率不高，但是会发生。请问如何避免

    java.util.concurrent.RejectedExecutionException: Task dji.internal.rtk.rtcm.fdd.fdd.nhf@916980 rejected from java.util.concurrent.ThreadPoolExecutor@50f1bb9[Terminated, pool size = 0, active threads = 0, queued tasks = 0, completed tasks = 0]
    at java.util.concurrent.ThreadPoolExecutor$AbortPolicy.rejectedExecution(ThreadPoolExecutor.java:2086)
    at java.util.concurrent.ThreadPoolExecutor.reject(ThreadPoolExecutor.java:848)
    at java.util.concurrent.ThreadPoolExecutor.execute(ThreadPoolExecutor.java:1394)
    at java.util.concurrent.Executors$DelegatedExecutorService.execute(Executors.java:630)
    at dji.internal.rtk.rtcm.fdd.fdd.dgh.fdd(Unknown Source:35)
    at dji.internal.rtk.rtcm.fdd.fdd.ghu.onConnect(Unknown Source:70)
    at dji.internal.rtk.rtcm.fdd.fdd.koy.run(Unknown Source:2)
    at android.os.Handler.handleCallback(Handler.java:883)
    at android.os.Handler.dispatchMessage(Handler.java:100)
    at android.os.Looper.loop(Looper.java:224)
    at android.os.HandlerThread.run(HandlerThread.java:67)

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  • DJI Developer Support
    你的proguard-rules.pro里面有没有包含-keep class com.qx.wz.dj.rtcm.* { *; } 检查一下你的proguard-rules.pro是否和sample的一致。
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  • smallUniv

    检查过了。有的。因为我们就是在sample上修改的

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  • DJI Developer Support
    MSDK最好建议使用4.15.1的，因为最后崩溃的地方被加密了，4.15.1的我们才可以解密知道是哪个函数崩溃了，4.15的解密映射文件找不到了。然后确认一下M210RTKV2的固件最新，再复现一次发给我所有信息，我安排研发查一下这个问题。
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