package com.ard.work.service.impl;
|
|
import com.ard.common.exception.ControlException;
|
import com.ard.work.aspect.annotation.CheckControlRight;
|
import com.ard.work.aspect.annotation.CheckDroneStatus;
|
import com.ard.work.aspect.annotation.CheckNoFlyZone;
|
import com.ard.work.aspect.annotation.CheckTakeoffAltitude;
|
import com.ard.work.component.forest.TyClient;
|
import com.ard.work.component.netty.TcpClientUtil;
|
import com.ard.work.component.netty.command.BaseCmd;
|
import com.ard.work.component.netty.command.camera.*;
|
import com.ard.work.component.netty.command.control.AbsAngleControlCmd;
|
import com.ard.work.component.netty.command.control.AngleControlCmd;
|
import com.ard.work.component.netty.command.control.SpeedControlCmd;
|
import com.ard.work.component.netty.command.manual.*;
|
import com.ard.work.component.netty.command.notice.BoxPowerStatusReplyCmd;
|
import com.ard.work.component.netty.command.notice.WayLineFinishedReplyCmd;
|
import com.ard.work.component.netty.command.notice.UavReadyReplyCmd;
|
import com.ard.work.component.netty.command.real.SignalInfoCmd;
|
import com.ard.work.component.netty.command.real.UavStateCmd;
|
import com.ard.work.component.netty.command.real.UavTelemetryDataCmd;
|
import com.ard.work.component.netty.command.register.*;
|
import com.ard.work.component.netty.command.settings.*;
|
import com.ard.work.component.netty.command.speaker.*;
|
import com.ard.work.component.netty.command.wayline.*;
|
import com.ard.work.component.netty.handler.ErrorCodeEnum;
|
import com.ard.work.component.netty.protobuf.TelemetryDataPB;
|
import com.ard.work.component.websocket.utils.WebSocketUtil;
|
import com.ard.work.config.RouteStateMachineService;
|
import com.ard.work.domain.cache.UavSignalInfoCache;
|
import com.ard.work.domain.cache.UavStateCache;
|
import com.ard.work.domain.cache.UavTelemetryDataCache;
|
import com.ard.work.domain.dto.BoxHistoryDTO;
|
import com.ard.work.domain.dto.BoxPhotosDTO;
|
import com.ard.work.domain.dto.BoxSettingsDTO;
|
import com.ard.work.domain.dto.BoxVideosDTO;
|
import com.ard.work.domain.dto.camera.*;
|
import com.ard.work.domain.dto.control.AbsAngleControlDTO;
|
import com.ard.work.domain.dto.control.AngleControlDTO;
|
import com.ard.work.domain.dto.control.SpeedControlDTO;
|
import com.ard.work.domain.dto.converter.wayline.PlanLineDataConverter;
|
import com.ard.work.domain.dto.manual.*;
|
import com.ard.work.domain.dto.settings.ReturnHeightSettingDTO;
|
import com.ard.work.domain.dto.settings.ReturnPointSettingDTO;
|
import com.ard.work.domain.dto.settings.VideoStreamSettingDTO;
|
import com.ard.work.domain.dto.signal.SignalInfo;
|
import com.ard.work.domain.dto.speaker.*;
|
import com.ard.work.domain.dto.state.UavState;
|
import com.ard.work.domain.dto.telemetry.TelemetryData;
|
import com.ard.work.domain.dto.wayline.*;
|
import com.ard.work.domain.entity.ArdDroneInfo;
|
import com.ard.work.domain.entity.ArdServerInfo;
|
import com.ard.work.domain.enums.RouteEvent;
|
import com.ard.work.domain.message.ServerReplyMessage;
|
import com.ard.work.domain.message.UavControlType;
|
import com.ard.work.domain.receiver.*;
|
import com.ard.work.service.IArdDroneInfoService;
|
import com.ard.work.service.IArdFlightTaskPartService;
|
import com.ard.work.service.IArdServerInfoService;
|
import com.ard.work.service.ITyService;
|
import lombok.extern.slf4j.Slf4j;
|
import org.springframework.beans.factory.annotation.Autowired;
|
import org.springframework.stereotype.Service;
|
|
import javax.annotation.Resource;
|
import java.util.*;
|
import java.util.concurrent.ConcurrentHashMap;
|
import java.util.stream.Collectors;
|
import java.util.stream.Stream;
|
|
/**
|
* TyServiceImpl
|
*
|
* @author liusuyi
|
* @date 2024年10月22日8:37
|
**/
|
@Slf4j
|
@Service
|
public class TyServiceImpl implements ITyService {
|
@Resource
|
private IArdServerInfoService ardServerService;
|
@Resource
|
private IArdDroneInfoService ardDroneService;
|
@Resource
|
private TyClient tyClient;
|
@Autowired
|
private RouteStateMachineService stateMachineService;
|
@Autowired
|
private IArdFlightTaskPartService ardFlightTaskPartService;
|
|
/**
|
* 获取边缘服务器token信息
|
*
|
* @return AccessTokenReceiver
|
*/
|
@Override
|
public AccessTokenReceiver getAccessToken(String serverId) {
|
return ardServerService.getAccessToken(serverId);
|
}
|
|
/**
|
* 获取全部云盒列表
|
*
|
* @return List<BoxInfoReceiver>
|
*/
|
@Override
|
public List<BoxInfoReceiver> getBoxList() {
|
List<ArdServerInfo> ardServerInfos = ardServerService.selectArdServerInfoList(new ArdServerInfo() {{
|
setUseDataScope(false);
|
}});
|
return getBoxList(ardServerInfos);
|
}
|
|
/**
|
* 获取指定服务器云盒列表
|
*
|
* @return List<BoxInfoReceiver>
|
*/
|
@Override
|
public List<BoxInfoReceiver> getBoxList(String serverId) {
|
TyHttpCommonReceiver<List<BoxInfoReceiver>> boxList = tyClient.getBoxList(serverId);
|
return boxList == null ? null : boxList.getContent();
|
}
|
|
/**
|
* 获取直播地址
|
*
|
* @return BoxStreamUrlReceiver
|
*/
|
@Override
|
public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) {
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
|
|
TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(),
|
boxSn);
|
return boxLiveUrl == null ? null : boxLiveUrl.getContent();
|
}
|
|
/**
|
* 获取飞行历史
|
*
|
* @return List<BoxHistoryReceiver>
|
*/
|
@Override
|
public List<BoxHistoryReceiver> getBoxHistory(BoxHistoryDTO boxHistoryDTO) {
|
String boxSn = boxHistoryDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(ardDroneInfo.getServerId(),
|
boxHistoryDTO);
|
return boxHistory == null ? null : boxHistory.getContent();
|
}
|
|
/**
|
* 获取任务图片
|
*
|
* @return List<BoxPhotosReceiver>
|
*/
|
@Override
|
public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) {
|
String boxSn = boxPhotosDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(ardDroneInfo.getServerId(),
|
boxPhotosDTO);
|
return boxPhotos == null ? null : boxPhotos.getContent();
|
}
|
/**
|
* 获取任务视频
|
*
|
* @return List<BoxVideosReceiver>
|
*/
|
@Override
|
public List<BoxVideosReceiver> getBoxVideos(BoxVideosDTO boxVideosDTO) {
|
String boxSn = boxVideosDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
TyHttpCommonReceiver<List<BoxVideosReceiver>> boxVideos = tyClient.getBoxVideos(ardDroneInfo.getServerId(),
|
boxVideosDTO);
|
return boxVideos == null ? null : boxVideos.getContent();
|
}
|
/**
|
* 修改云盒设置
|
*/
|
@Override
|
public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) {
|
String boxSn = boxSettingsDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(ardDroneInfo.getServerId(), boxSettingsDTO);
|
return result.getState() == 0;
|
}
|
|
/**
|
* 设置返航高度
|
*/
|
@Override
|
public Boolean updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO) {
|
String boxSn = returnHeightSettingDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
ReturnHeightSettingCmd returnHeightSettingCmd = new ReturnHeightSettingCmd(returnHeightSettingDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), returnHeightSettingCmd);
|
return true;
|
}
|
|
/**
|
* 设置返航点
|
*/
|
@Override
|
public Boolean updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO) {
|
String boxSn = returnPointSettingDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
ReturnPointSettingCmd returnPointSettingCmd = new ReturnPointSettingCmd(returnPointSettingDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), returnPointSettingCmd);
|
return true;
|
}
|
|
/**
|
* 设置视频码流
|
*/
|
@Override
|
public Boolean updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO) {
|
String boxSn = videoStreamSettingDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
VideoStreamSettingCmd videoStreamSettingCmd = new VideoStreamSettingCmd(videoStreamSettingDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), videoStreamSettingCmd);
|
return true;
|
}
|
|
/**
|
* 注册边缘服务器平台
|
*/
|
@Override
|
public Boolean registerMessage(String serverId) {
|
try {
|
AccessTokenReceiver tyToken = ardServerService.getAccessToken(serverId);
|
RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
|
this.sendMessage(serverId, registerMessage);
|
return true;
|
} catch (Exception e) {
|
log.error("注册边缘服务器平台失败:{}", e.getMessage());
|
return false;
|
}
|
}
|
|
/**
|
* 云台控制基于角度
|
*/
|
@CheckControlRight(UavControlType.PAYLOAD)
|
@Override
|
public Boolean angleControl(AngleControlDTO angleControlDto) {
|
String boxSn = angleControlDto.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto);
|
this.sendMessage(ardDroneInfo.getServerId(), controlAngleCommand);
|
return true;
|
}
|
|
/**
|
* 云台绝对值控制(基于角度)
|
*/
|
@CheckControlRight(UavControlType.PAYLOAD)
|
@Override
|
public Boolean absAngleControl(AbsAngleControlDTO absAngleControlDto) {
|
String boxSn = absAngleControlDto.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto);
|
this.sendMessage(ardDroneInfo.getServerId(), absAngleControlCommand);
|
return true;
|
}
|
|
/**
|
* 云台转动(基于速度)
|
*/
|
@CheckControlRight(UavControlType.PAYLOAD)
|
@Override
|
public Boolean speedControl(SpeedControlDTO speedControlDto) {
|
String boxSn = speedControlDto.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto);
|
this.sendMessage(ardDroneInfo.getServerId(), speedControlCommand);
|
return true;
|
}
|
|
@Override
|
public Boolean formatSdCard(FormatSdCardDTO formatSdCardDTO) {
|
String boxSn = formatSdCardDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
FormatSdCardCmd formatSdCardCmd = new FormatSdCardCmd(formatSdCardDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), formatSdCardCmd);
|
return true;
|
}
|
|
/**
|
* 设置相机模式
|
*/
|
@CheckControlRight(UavControlType.PAYLOAD)
|
@Override
|
public Boolean updateCameraMode(CameraModeDTO cameraModeDTO) {
|
String boxSn = cameraModeDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), cameraModeCommand);
|
return true;
|
}
|
|
/**
|
* 拍照
|
*/
|
@CheckControlRight(UavControlType.PAYLOAD)
|
@Override
|
public Boolean capturePic(CapturePicDTO capturePicDto) {
|
String boxSn = capturePicDto.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
//设置相机模式为拍照模式
|
//updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
|
//设置拍照回传
|
//photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01)
|
// .build());
|
|
CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);
|
this.sendMessage(ardDroneInfo.getServerId(), capturePicCommand);
|
return true;
|
}
|
|
/**
|
* 录像
|
*/
|
@CheckControlRight(UavControlType.PAYLOAD)
|
@Override
|
public Boolean record(RecordDTO recordDto) {
|
String boxSn = recordDto.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
BaseCmd baseCmd;
|
if (recordDto.getIsRecord()) {
|
//updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build());
|
baseCmd = new RecordStartCmd(recordDto);
|
} else {
|
baseCmd = new RecordStopCmd(recordDto);
|
}
|
this.sendMessage(ardDroneInfo.getServerId(), baseCmd);
|
return true;
|
}
|
|
/**
|
* 变倍
|
*/
|
@CheckControlRight(UavControlType.PAYLOAD)
|
@Override
|
public Boolean zoom(ZoomDTO zoomDTO) {
|
String boxSn = zoomDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
ZoomCmd zoomCommand = new ZoomCmd(zoomDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), zoomCommand);
|
return true;
|
}
|
|
/**
|
* 变倍到指定倍数
|
*/
|
@CheckControlRight(UavControlType.PAYLOAD)
|
@Override
|
public Boolean zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) {
|
String boxSn = zoomToLevelDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), zoomToLevelCommand);
|
return true;
|
}
|
|
/**
|
* 切换摄像头
|
*/
|
@CheckControlRight(UavControlType.PAYLOAD)
|
@Override
|
public Boolean switchCamera(SwitchCameraDTO switchCameraDTO) {
|
String boxSn = switchCameraDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), switchCameraCmd);
|
return true;
|
}
|
|
/**
|
* 切换视频源
|
*/
|
@CheckControlRight(UavControlType.PAYLOAD)
|
@Override
|
public Boolean switchSource(SwitchSourceDTO switchSourceDTO) {
|
String boxSn = switchSourceDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), switchSourceCmd);
|
return true;
|
}
|
|
/**
|
* 打开或关闭照片回传
|
*/
|
@CheckControlRight(UavControlType.PAYLOAD)
|
@Override
|
public Boolean photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) {
|
String boxSn = photoReturnToggleDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), photoReturnToggleCmd);
|
return true;
|
}
|
|
/**
|
* 切换无人机控制权
|
*/
|
@CheckDroneStatus
|
@Override
|
public Boolean switchUavControl(SwitchUavControlDTO switchUavControlDTO) {
|
String boxSn = switchUavControlDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), switchUavControlCmd);
|
return true;
|
}
|
|
/**
|
* 起飞
|
*/
|
@CheckControlRight(UavControlType.FLY)
|
@Override
|
public Boolean takeOff(TakeOffDTO takeOffDTO) {
|
String boxSn = takeOffDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), takeOffCmd);
|
return true;
|
}
|
|
/**
|
* 返航
|
*/
|
@CheckControlRight(UavControlType.FLY)
|
@Override
|
public Boolean returnHome(ReturnHomeDTO returnHomeDTO) {
|
String boxSn = returnHomeDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), returnHomeCmd);
|
return true;
|
}
|
|
/**
|
* 取消返航
|
*/
|
@CheckControlRight(UavControlType.FLY)
|
@Override
|
public Boolean returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) {
|
String boxSn = returnHomeCancelDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), returnHomeCancelCmd);
|
return true;
|
}
|
|
/**
|
* 降落
|
*/
|
@CheckControlRight(UavControlType.FLY)
|
@Override
|
public Boolean land(LandDTO landDTO) {
|
String boxSn = landDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
LandCmd landCmd = new LandCmd(landDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), landCmd);
|
return true;
|
}
|
|
/**
|
* 取消降落
|
*/
|
@CheckControlRight(UavControlType.FLY)
|
@Override
|
public Boolean landCancel(LandCancelDTO landCancelDTO) {
|
String boxSn = landCancelDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), landCancelCmd);
|
return true;
|
}
|
|
/**
|
* 强制降落
|
*/
|
@CheckControlRight(UavControlType.FLY)
|
@Override
|
public Boolean landForced(LandForcedDTO landForcedDTO) {
|
String boxSn = landForcedDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), landForcedCmd);
|
return true;
|
}
|
|
/**
|
* 方向控制
|
*/
|
@CheckControlRight(UavControlType.FLY)
|
@CheckTakeoffAltitude
|
@Override
|
public Boolean flyControl(FlyControlDTO flyControlDTO) {
|
String boxSn = flyControlDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), flyControlCmd);
|
return true;
|
}
|
|
/**
|
* 指点飞行控制
|
*/
|
@CheckControlRight(UavControlType.FLY)
|
@CheckTakeoffAltitude
|
@CheckNoFlyZone
|
@Override
|
public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) {
|
String boxSn = flyPointControlDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
//打点之前先停止打点
|
FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(FlyPointControlCancelDTO.builder().boxSn(boxSn).build());
|
this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd);
|
|
FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd);
|
return true;
|
}
|
|
/**
|
* 停止指点飞行控制
|
*/
|
@CheckControlRight(UavControlType.FLY)
|
@Override
|
public Boolean flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) {
|
String boxSn = flyPointControlCancelDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
|
|
FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd);
|
return true;
|
}
|
|
|
/**
|
* 环绕飞行控制
|
*/
|
@Override
|
public Boolean FlyRoundControl(FlyRoundControlDTO flyRoundControlDTO) {
|
String boxSn = flyRoundControlDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
FlyRoundControlCmd flyRoundControlCmd = new FlyRoundControlCmd(flyRoundControlDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), flyRoundControlCmd);
|
return true;
|
}
|
|
/**
|
* 停止环绕飞行控制
|
*/
|
@Override
|
public Boolean FlyRoundControlCancel(FlyRoundControlCancelDTO flyRoundControlCancelDTO) {
|
String boxSn = flyRoundControlCancelDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
FlyRoundControlCancelCmd flyRoundControlCancelCmd = new FlyRoundControlCancelCmd(flyRoundControlCancelDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), flyRoundControlCancelCmd);
|
return true;
|
}
|
|
/**
|
* 紧急制动
|
*/
|
@CheckControlRight(UavControlType.FLY)
|
@Override
|
public Boolean emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) {
|
String boxSn = emeragencyBrakeDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
|
|
EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), emergencyBrakeCmd);
|
return true;
|
}
|
|
/**
|
* 获取无人机状态
|
*/
|
@Override
|
public UavState getUavState(String boxSn) {
|
return UavStateCache.get(boxSn);
|
}
|
|
/**
|
* 获取无人机遥测数据
|
*/
|
@Override
|
public TelemetryData getUavTelemetryData(String boxSn) {
|
return UavTelemetryDataCache.get(boxSn);
|
}
|
|
/**
|
* 获取无人机遥测数据
|
*/
|
@Override
|
public SignalInfo getSignalInfo(String boxSn) {
|
return UavSignalInfoCache.get(boxSn);
|
}
|
|
/**
|
* 喊话模式切换
|
*/
|
@Override
|
public Boolean speakModeSwitch(SpeakModeSwitchDTO speakModeSwitchDTO) {
|
String boxSn = speakModeSwitchDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
SpeakModeSwitchCmd speakModeSwitchCmd = new SpeakModeSwitchCmd(speakModeSwitchDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), speakModeSwitchCmd);
|
return true;
|
}
|
|
/**
|
* 文字喊话
|
*/
|
@Override
|
public Boolean textSpeak(TextSpeakDTO textSpeakDTO) {
|
String boxSn = textSpeakDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
TextSpeakCmd textSpeakCmd = new TextSpeakCmd(textSpeakDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), textSpeakCmd);
|
return true;
|
}
|
|
/**
|
* 实时喊话
|
*/
|
@Override
|
public Boolean realSpeak(RealSpeakDTO realSpeakDTO) {
|
String boxSn = realSpeakDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
RealSpeakCmd realSpeakCmd = new RealSpeakCmd(realSpeakDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), realSpeakCmd);
|
return true;
|
}
|
|
/**
|
* 录音喊话
|
*/
|
@Override
|
public Boolean recordSpeak(RecordSpeakDTO recordSpeakDTO) {
|
String boxSn = recordSpeakDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), recordSpeakCmd);
|
return true;
|
}
|
|
/**
|
* 设置音量
|
*/
|
@Override
|
public Boolean volumeSetting(VolumeSettingDTO volumeSettingDTO) {
|
String boxSn = volumeSettingDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
VolumeSettingCmd volumeSettingCmd = new VolumeSettingCmd(volumeSettingDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), volumeSettingCmd);
|
return true;
|
}
|
|
/**
|
* 设置循环播放
|
*/
|
@Override
|
public Boolean loopSetting(LoopSettingDTO loopSettingDTO) {
|
String boxSn = loopSettingDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
LoopSettingCmd loopSettingCmd = new LoopSettingCmd(loopSettingDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), loopSettingCmd);
|
return true;
|
}
|
|
/**
|
* 停止喊话
|
*/
|
@Override
|
public Boolean stopSpeak(StopSpeakDTO stopSpeakDTO) {
|
String boxSn = stopSpeakDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
StopSpeakCmd stopSpeakCmd = new StopSpeakCmd(stopSpeakDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), stopSpeakCmd);
|
return true;
|
}
|
|
/**
|
* 航线上传
|
*/
|
@CheckControlRight(UavControlType.FLY)
|
@Override
|
public Boolean wayLineUpload(WayLineUploadDTO wayLineUploadDTO) {
|
String boxSn = wayLineUploadDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
//wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据
|
System.out.println("wayLineUploadDTO:-----------------" + wayLineUploadDTO);
|
log.info("打印数据 ++++ wayLineUploadDTO:-----------------" + wayLineUploadDTO);
|
WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
|
System.out.println("wayLineUploadCmd:-----------------" + wayLineUploadCmd);
|
this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd);
|
return true;
|
}
|
|
//创建航线
|
private PlanLineData CreatePlanLineData() {
|
TelemetryDataPB.PointData pointData1 = TelemetryDataPB.PointData.newBuilder()
|
.setLng(124.12345).setLat(45.12345).setHeight(80).setSpeed(10)
|
.setFlightPathMode(1)//航线飞行模式：1=直线飞行，2=协调转弯，3=曲线飞行(停)，4=曲线飞行(不停)
|
.setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是
|
.build();
|
TelemetryDataPB.PointData pointData2 = TelemetryDataPB.PointData.newBuilder()
|
.setLng(124.22222).setLat(45.22222).setHeight(80).setSpeed(10)
|
.setFlightPathMode(1)//航线飞行模式：1=直线飞行，2=协调转弯，3=曲线飞行(停)，4=曲线飞行(不停)
|
.setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是
|
.build();
|
TelemetryDataPB.PointData pointData3 = TelemetryDataPB.PointData.newBuilder()
|
.setLng(124.33333).setLat(45.33333).setHeight(80).setSpeed(10)
|
.setFlightPathMode(1)//航线飞行模式：1=直线飞行，2=协调转弯，3=曲线飞行(停)，4=曲线飞行(不停)
|
.setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是
|
.build();
|
|
//创建航线
|
TelemetryDataPB.PlanLineData PlanLineDataPB = TelemetryDataPB.PlanLineData.newBuilder()
|
.setFinishedAction(2)//结束航线后动作：1=返航，2=原地悬停，3=原地降落，4=原地绕飞
|
.setMaxSpeed(10)//最大飞行速度
|
.setAutoSpeed(10)//自动飞行速度
|
.addPoints(pointData1)//航线点1
|
.addPoints(pointData2)//航线点2
|
.addPoints(pointData3)//航线点3
|
.setLoseAction(1)//网络失联后动作：0=返回HOME点，1=继续航线，默认0
|
.setHomeHeight(6)//返航高度：(单位:米，范围20~1500)
|
.setIsSaveEnergyMode(0)////是否开启节能模式：0=不是，1=是(说明：节能模式下，飞机沿最短直线距离由起飞点到航线第一个航点，非升高到第一个航点高度再飞往第一个航点)
|
.build();
|
|
return PlanLineDataConverter.convertProtoToEntity(PlanLineDataPB);
|
}
|
|
/**
|
* 航线开始
|
*/
|
@CheckControlRight(UavControlType.FLY)
|
@Override
|
public Boolean wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
|
String boxSn = wayLineBeginDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), wayLineBeginCmd);
|
return true;
|
}
|
|
/**
|
* 航线暂停
|
*/
|
@CheckControlRight(UavControlType.FLY)
|
@Override
|
public Boolean wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
|
String boxSn = wayLinePauseDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), wayLinePauseCmd);
|
return true;
|
}
|
|
/**
|
* 航线恢复
|
*/
|
@CheckControlRight(UavControlType.FLY)
|
@Override
|
public Boolean wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
|
String boxSn = wayLineResumeDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), wayLineResumeCmd);
|
return true;
|
}
|
|
/**
|
* 航线结束
|
*/
|
@CheckControlRight(UavControlType.FLY)
|
@Override
|
public Boolean wayLineEnd(WayLineEndDTO wayLineEndDTO) {
|
String boxSn = wayLineEndDTO.getBoxSn();
|
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
|
if (ardDroneInfo == null) {
|
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
|
}
|
WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);
|
this.sendMessage(ardDroneInfo.getServerId(), wayLineEndCmd);
|
return true;
|
}
|
|
/**
|
* 处理边缘服务器返回的消息
|
*/
|
@Override
|
public void processReplyMessage(String key, BaseCmd tyCommand) {
|
byte cmdCode = tyCommand.getCmdCode();
|
switch (cmdCode) {
|
case 0x01:
|
// 处理心跳消息
|
RegisterReplyCmd registerReplyCommand = (RegisterReplyCmd) tyCommand;
|
logPrint("注册消息", registerReplyCommand.getSuccess());
|
if (registerReplyCommand.getSuccess() != 1) {
|
// 注册失败，重新注册
|
log.info("注册失败，重新注册");
|
registerMessage(key);
|
}
|
break;
|
case 0x02:
|
// 处理注册消息
|
HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
|
//logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
|
break;
|
case 0x03:
|
// 处理订阅消息
|
break;
|
case 0x04:
|
// 处理取消订阅消息
|
break;
|
case 0x09:
|
// 处理图片上传完成通知
|
PicUploadCompletedReplyCmd picUploadCompletedReplyCmd = (PicUploadCompletedReplyCmd) tyCommand;
|
logPrint("图片上传完成", picUploadCompletedReplyCmd.getPicUrl());
|
break;
|
case 0x0A:
|
// 处理云盒开关机通知消息
|
BoxPowerStatusReplyCmd boxPowerStatusReplyCmd = (BoxPowerStatusReplyCmd) tyCommand;
|
logPrint("云盒开关机通知消息", boxPowerStatusReplyCmd.getStatus());
|
break;
|
case (byte) 0xA8:
|
// 处理无人机状态消息
|
UavStateCmd uavStateCmd = (UavStateCmd) tyCommand;
|
UavStateCache.put(uavStateCmd.getUavState());
|
//logPrint("无人机状态", uavStateCmd.getUavState().getBoxSn());
|
// WebSocketUtil.sendMessageAll(uavStateCmd.getUavState());
|
break;
|
case (byte) 0xA9:
|
// 处理无人机遥测消息
|
UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
|
TelemetryData telemetryData = uavTelemetryDataCmd.getTelemetryData();
|
telemetryData.setTimestamp(System.currentTimeMillis());//由于六合提供的状态时间戳不准，先以接收状态作为时间戳
|
UavTelemetryDataCache.put(telemetryData);
|
//logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
|
//WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
|
break;
|
|
case (byte) 0x0C:
|
// 处理无人机信道质量数据
|
SignalInfoCmd signalInfoCmd = (SignalInfoCmd) tyCommand;
|
UavSignalInfoCache.put(signalInfoCmd.getSignalInfo());
|
//logPrint("无人机信道质量", signalInfoCmd.getSignalInfo().getBoxSn());
|
break;
|
case (byte) 0xD1:
|
// 处理无人机
|
if (tyCommand instanceof UavInitReplyCmd) {
|
UavInitReplyCmd uavInitReplyCmd = (UavInitReplyCmd) tyCommand;
|
UavInitInfoCmd uavInitCommand = new UavInitInfoCmd(uavInitReplyCmd.getBoxSn());
|
this.sendMessage(key, uavInitCommand);
|
logPrint("无人机初始化详情", uavInitCommand.getBoxSn());
|
}
|
if (tyCommand instanceof UavReadyReplyCmd) {
|
UavReadyReplyCmd uavReadyReplyCmd = (UavReadyReplyCmd) tyCommand;
|
logPrint("无人机准备完成通知", uavReadyReplyCmd.getBatteryPower());
|
}
|
if (tyCommand instanceof CameraModeReplyCmd) {
|
CameraModeReplyCmd cameraModeReplyCommand = (CameraModeReplyCmd) tyCommand;
|
logPrint("无人机设置相机模式", cameraModeReplyCommand.getResult(), cameraModeReplyCommand.getErrorCode());
|
}
|
//格式化存储卡
|
if (tyCommand instanceof FormatSdCardReplyCmd) {
|
FormatSdCardReplyCmd formatSdCardReplyCmd = (FormatSdCardReplyCmd) tyCommand;
|
logPrint("格式化存储卡", formatSdCardReplyCmd.getResult(), formatSdCardReplyCmd.getErrorCode());
|
}
|
if (tyCommand instanceof CapturePicReplyCmd) {
|
CapturePicReplyCmd capturePicReplyCommand = (CapturePicReplyCmd) tyCommand;
|
logPrint("无人机拍照", capturePicReplyCommand.getResult(), capturePicReplyCommand.getErrorCode());
|
}
|
if (tyCommand instanceof RecordStartReplyCmd) {
|
RecordStartReplyCmd recordStartReplyCommand = (RecordStartReplyCmd) tyCommand;
|
logPrint("无人机开始录像", recordStartReplyCommand.getResult(), recordStartReplyCommand.getErrorCode());
|
}
|
if (tyCommand instanceof RecordStopReplyCmd) {
|
RecordStopReplyCmd recordStopReplyCommand = (RecordStopReplyCmd) tyCommand;
|
logPrint("无人机停止录像", recordStopReplyCommand.getResult(), recordStopReplyCommand.getErrorCode());
|
}
|
//起飞回复
|
if (tyCommand instanceof TakeOffReplyCmd) {
|
TakeOffReplyCmd takeOffReplyCommand = (TakeOffReplyCmd) tyCommand;
|
logPrint("无人机起飞", takeOffReplyCommand.getResult(), takeOffReplyCommand.getErrorCode());
|
}
|
//返航回复
|
if (tyCommand instanceof ReturnHomeReplyCmd) {
|
ReturnHomeReplyCmd returnHomeReplyCmd = (ReturnHomeReplyCmd) tyCommand;
|
logPrint("无人机返航", returnHomeReplyCmd.getResult(), returnHomeReplyCmd.getErrorCode());
|
}
|
//取消返航回复
|
if (tyCommand instanceof ReturnHomeCancelReplyCmd) {
|
ReturnHomeCancelReplyCmd returnHomeCancelReplyCmd = (ReturnHomeCancelReplyCmd) tyCommand;
|
logPrint("取消无人机返航", returnHomeCancelReplyCmd.getResult(), returnHomeCancelReplyCmd.getErrorCode());
|
}
|
//降落回复
|
if (tyCommand instanceof LandReplyCmd) {
|
LandReplyCmd landReplyCmd = (LandReplyCmd) tyCommand;
|
logPrint("降落", landReplyCmd.getResult(), landReplyCmd.getErrorCode());
|
}
|
//取消降落回复
|
if (tyCommand instanceof LandCancelReplyCmd) {
|
LandCancelReplyCmd landCancelReplyCmd = (LandCancelReplyCmd) tyCommand;
|
logPrint("取消降落", landCancelReplyCmd.getResult(), landCancelReplyCmd.getErrorCode());
|
}
|
//强制降落回复
|
if (tyCommand instanceof LandForcedReplyCmd) {
|
LandForcedReplyCmd landForcedReplyCmd = (LandForcedReplyCmd) tyCommand;
|
logPrint("强制降落", landForcedReplyCmd.getResult(), landForcedReplyCmd.getErrorCode());
|
}
|
//到达指点飞行位置回复
|
if (tyCommand instanceof PointControlReachedReplyCmd) {
|
PointControlReachedReplyCmd pointControlReachedReplyCmd = (PointControlReachedReplyCmd) tyCommand;
|
logPrint("到达指点飞行位置", pointControlReachedReplyCmd.getResult(),
|
pointControlReachedReplyCmd.getErrorCode());
|
}
|
//紧急制动回复
|
if (tyCommand instanceof EmergencyBrakeReplyCmd) {
|
EmergencyBrakeReplyCmd emergencyBrakeReplyCmd = (EmergencyBrakeReplyCmd) tyCommand;
|
logPrint("紧急制动", emergencyBrakeReplyCmd.getResult(), emergencyBrakeReplyCmd.getErrorCode());
|
}
|
//上传航线回复
|
if (tyCommand instanceof WayLineUploadReplyCmd) {
|
WayLineUploadReplyCmd wayLineUploadReplyCmd = (WayLineUploadReplyCmd) tyCommand;
|
logPrint("上传航线", wayLineUploadReplyCmd.getResult(), wayLineUploadReplyCmd.getErrorCode());
|
}
|
//开始航线回复
|
if (tyCommand instanceof WayLineBeginReplyCmd) {
|
|
WayLineBeginReplyCmd wayLineBeginReplyCmd = (WayLineBeginReplyCmd) tyCommand;
|
logPrint("开始航线", wayLineBeginReplyCmd.getResult(), wayLineBeginReplyCmd.getErrorCode());
|
if (wayLineBeginReplyCmd.getResult() == 0) {
|
byte[] boxSnBytes = tyCommand.getBoxSn();
|
String boxSn = new String(boxSnBytes);
|
stateMachineService.sendEvent(boxSn, RouteEvent.START_SUCCESS);
|
}
|
}
|
//暂停航线回复
|
if (tyCommand instanceof WayLinePauseReplyCmd) {
|
WayLinePauseReplyCmd wayLinePauseReplyCmd = (WayLinePauseReplyCmd) tyCommand;
|
logPrint("暂停航线", wayLinePauseReplyCmd.getResult(), wayLinePauseReplyCmd.getErrorCode());
|
if (wayLinePauseReplyCmd.getResult() == 0) {
|
byte[] boxSnBytes = tyCommand.getBoxSn();
|
String boxSn = new String(boxSnBytes);
|
stateMachineService.sendEvent(boxSn, RouteEvent.PAUSE_SUCCESS);
|
}
|
}
|
//恢复航线回复
|
if (tyCommand instanceof WayLineResumeReplyCmd) {
|
WayLineResumeReplyCmd wayLineResumeReplyCmd = (WayLineResumeReplyCmd) tyCommand;
|
logPrint("恢复航线", wayLineResumeReplyCmd.getResult(), wayLineResumeReplyCmd.getErrorCode());
|
if (wayLineResumeReplyCmd.getResult() == 0) {
|
byte[] boxSnBytes = tyCommand.getBoxSn();
|
String boxSn = new String(boxSnBytes);
|
stateMachineService.sendEvent(boxSn, RouteEvent.RESUME_SUCCESS);
|
}
|
}
|
//结束航线回复
|
if (tyCommand instanceof WayLineEndReplyCmd) {
|
WayLineEndReplyCmd wayLineEndReplyCmd = (WayLineEndReplyCmd) tyCommand;
|
logPrint("结束航线", wayLineEndReplyCmd.getResult(), wayLineEndReplyCmd.getErrorCode());
|
if (wayLineEndReplyCmd.getResult() == 0) {
|
byte[] boxSnBytes = tyCommand.getBoxSn();
|
String boxSn = new String(boxSnBytes);
|
stateMachineService.sendEvent(boxSn, RouteEvent.STOP_SUCCESS);
|
}
|
}
|
if (tyCommand instanceof WayLineFinishedReplyCmd) {
|
WayLineFinishedReplyCmd wayLineFinishedReplyCmd = (WayLineFinishedReplyCmd) tyCommand;
|
logPrint("航线执行完成", wayLineFinishedReplyCmd.getResult(), wayLineFinishedReplyCmd.getErrorCode());
|
if (wayLineFinishedReplyCmd.getResult() == 0) {
|
byte[] boxSnBytes = tyCommand.getBoxSn();
|
String boxSn = new String(boxSnBytes);
|
stateMachineService.sendEvent(boxSn, RouteEvent.RESET_ROUTE);
|
}
|
}
|
//设置返航高度回复
|
if (tyCommand instanceof ReturnHeightSettingReplyCmd) {
|
ReturnHeightSettingReplyCmd returnHeightSettingReplyCmd = (ReturnHeightSettingReplyCmd) tyCommand;
|
logPrint("设置返航高度", returnHeightSettingReplyCmd.getResult(),
|
returnHeightSettingReplyCmd.getErrorCode());
|
}
|
//设置返航点回复
|
if (tyCommand instanceof ReturnPointSettingReplyCmd) {
|
ReturnPointSettingReplyCmd returnPointSettingReplyCmd = (ReturnPointSettingReplyCmd) tyCommand;
|
logPrint("设置返航点", returnPointSettingReplyCmd.getResult(),
|
returnPointSettingReplyCmd.getErrorCode());
|
}
|
//到达环绕位置回复
|
if (tyCommand instanceof FlyRoundReplyCmd) {
|
FlyRoundReplyCmd flyRoundReplyCmd = (FlyRoundReplyCmd) tyCommand;
|
logPrint("到达环绕位置", flyRoundReplyCmd.getResult(),
|
flyRoundReplyCmd.getErrorCode());
|
}
|
break;
|
case (byte) 0xD2:
|
//设置视频码流回复
|
if (tyCommand instanceof VideoStreamSettingReplyCmd) {
|
VideoStreamSettingReplyCmd videoStreamSettingReplyCmd = (VideoStreamSettingReplyCmd) tyCommand;
|
logPrint("设置视频码流", videoStreamSettingReplyCmd.getResult(),
|
videoStreamSettingReplyCmd.getErrorCode());
|
}
|
break;
|
default:
|
// 处理其他消息
|
log.warn("收到其他消息-->{}", tyCommand.getCmdCode());
|
}
|
}
|
|
/**
|
* 根据[服务器id]获取边缘服务器盒子列表
|
*/
|
@Override
|
public List<BoxInfoReceiver> getBoxSnToList(String id) {
|
try {
|
List<BoxInfoReceiver> remoteBoxList = tyClient.getBoxList(id).getContent();
|
List<ArdDroneInfo> existingDrones = getDroneLs(id);
|
return existingDrones.isEmpty() ? remoteBoxList : filterBoxInfoReceivers(remoteBoxList, existingDrones);
|
} catch (Exception e) {
|
log.error("获取云盒列表失败, 服务器id: {}", id, e);
|
return Collections.emptyList(); // 返回不可变空列表，更安全
|
}
|
}
|
|
/**
|
* 根据[服务器id]查询无人机盒子列表
|
*/
|
private List<ArdDroneInfo> getDroneLs(String serverId) {
|
ArdDroneInfo query = new ArdDroneInfo();
|
query.setServerId(serverId);
|
return ardDroneService.selectArdDroneList(query);
|
}
|
|
/**
|
* 过滤掉在ardDroneInfos中已存在的boxSn
|
*/
|
public List<BoxInfoReceiver> filterBoxInfoReceivers(
|
List<BoxInfoReceiver> boxInfoReceivers,
|
List<ArdDroneInfo> ardDroneInfos) {
|
|
Set<String> existingBoxSns = ardDroneInfos.stream()
|
.map(ArdDroneInfo::getBoxSn)
|
.filter(Objects::nonNull)
|
.collect(Collectors.toSet());
|
|
return boxInfoReceivers.stream()
|
.filter(box -> box.getBoxSn() != null && !existingBoxSns.contains(box.getBoxSn()))
|
.collect(Collectors.toList());
|
}
|
|
private List<BoxInfoReceiver> getBoxList(List<ArdServerInfo> ls) {
|
return ls.stream()
|
.filter(ardServerInfo -> ardServerInfo.getServerStatus().equals("1"))
|
.flatMap(ardServerInfo -> {
|
try {
|
List<BoxInfoReceiver> boxes = tyClient.getBoxList(ardServerInfo.getId()).getContent();
|
return Optional.ofNullable(boxes).orElse(Collections.emptyList()).stream();
|
} catch (Exception e) {
|
log.error("获取云盒列表失败: {}", ardServerInfo.getId(), e);
|
return Stream.empty();
|
}
|
})
|
.collect(Collectors.toList());
|
}
|
|
//公共日志打印
|
private void logPrint(String message, Object obj) {
|
String text = String.format("收到%s回复 %s", message, obj);
|
ServerReplyMessage serverReplyMessage = ServerReplyMessage.builder().message(text).build();
|
WebSocketUtil.sendMessage("reply", serverReplyMessage);
|
log.debug(text);
|
}
|
|
//公共日志打印
|
private void logPrint(String message, byte result, Integer errorCode) {
|
String text = String.format(
|
"收到%s回复 状态码：%d【%s】",
|
message,
|
//ByteUtils.byteToHex(result),
|
errorCode,
|
ErrorCodeEnum.getDescByCode(errorCode)
|
);
|
ServerReplyMessage serverReplyMessage = ServerReplyMessage.builder().message(text).build();
|
WebSocketUtil.sendMessage("reply", serverReplyMessage);
|
log.debug(text);
|
}
|
|
|
/**
|
* 发送tcp消息
|
*/
|
private void sendMessage(String key, BaseCmd msg) {
|
TcpClientUtil.sendMessage(key, msg);
|
}
|
}
|
