package com.ard.tianyu.service.impl;
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import com.ard.common.utils.ByteUtils;
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import com.ard.tianyu.config.TyConfiguration;
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import com.ard.tianyu.http.TyClient;
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import com.ard.tianyu.model.cache.TyTcpServerCache;
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import com.ard.tianyu.model.cache.UavSignalInfoCache;
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import com.ard.tianyu.model.cache.UavStateCache;
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import com.ard.tianyu.model.cache.UavTelemetryDataCache;
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import com.ard.tianyu.model.dto.BoxHistoryDTO;
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import com.ard.tianyu.model.dto.BoxPhotosDTO;
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import com.ard.tianyu.model.dto.BoxSettingsDTO;
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import com.ard.tianyu.model.dto.camera.*;
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import com.ard.tianyu.model.dto.control.AbsAngleControlDTO;
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import com.ard.tianyu.model.dto.control.AngleControlDTO;
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import com.ard.tianyu.model.dto.control.SpeedControlDTO;
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import com.ard.tianyu.model.dto.converter.realdata.UavSignalInfoConverter;
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import com.ard.tianyu.model.dto.converter.realdata.UavStateConverter;
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import com.ard.tianyu.model.dto.converter.realdata.UavTelemetryDataConverter;
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import com.ard.tianyu.model.dto.converter.wayline.PlanLineDataConverter;
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import com.ard.tianyu.model.dto.manual.*;
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import com.ard.tianyu.model.dto.settings.ReturnHeightSettingDTO;
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import com.ard.tianyu.model.dto.settings.ReturnPointSettingDTO;
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import com.ard.tianyu.model.dto.settings.VideoStreamSettingDTO;
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import com.ard.tianyu.model.dto.signal.SignalInfo;
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import com.ard.tianyu.model.dto.speaker.*;
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import com.ard.tianyu.model.dto.state.UavState;
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import com.ard.tianyu.model.dto.telemetry.TelemetryData;
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import com.ard.tianyu.model.dto.wayline.*;
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import com.ard.tianyu.model.receiver.*;
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import com.ard.tianyu.netty.command.*;
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import com.ard.tianyu.netty.TyNettyTcpClient;
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import com.ard.tianyu.netty.command.camera.*;
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import com.ard.tianyu.netty.command.control.AbsAngleControlCmd;
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import com.ard.tianyu.netty.command.control.AngleControlCmd;
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import com.ard.tianyu.netty.command.control.SpeedControlCmd;
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import com.ard.tianyu.netty.command.manual.*;
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import com.ard.tianyu.netty.command.notice.BoxPowerStatusReplyCmd;
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import com.ard.tianyu.netty.command.notice.FlyWayEndReplyCmd;
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import com.ard.tianyu.netty.command.notice.UavReadyReplyCmd;
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import com.ard.tianyu.netty.command.real.SignalInfoCmd;
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import com.ard.tianyu.netty.command.real.UavStateCmd;
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import com.ard.tianyu.netty.command.real.UavTelemetryDataCmd;
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import com.ard.tianyu.netty.command.register.*;
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import com.ard.tianyu.netty.command.settings.*;
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import com.ard.tianyu.netty.command.speaker.*;
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import com.ard.tianyu.netty.command.wayline.*;
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import com.ard.tianyu.netty.handler.ErrorCodeEnum;
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import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
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import com.ard.tianyu.service.ITyService;
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import com.ard.tianyu.websocket.utils.WebSocketUtil;
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import com.ard.vtdu.domain.ArdVtdu;
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import com.ard.vtdu.service.IMediaService;
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import io.netty.channel.Channel;
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import io.netty.channel.ChannelFuture;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.scheduling.annotation.Scheduled;
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import org.springframework.stereotype.Service;
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import javax.annotation.Resource;
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import java.net.InetSocketAddress;
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import java.util.ArrayList;
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import java.util.List;
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/**
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* TyServiceImpl
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*
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* @author liusuyi
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* @date 2024年10月22日8:37
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**/
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@Slf4j
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@Service
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public class TyServiceImpl implements ITyService {
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@Resource
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private TyClient tyClient;
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@Resource
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private TyConfiguration tyConfiguration;
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@Resource
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private IMediaService mediaService;
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/**
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* 获取天宇token信息
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*
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* @return AccessTokenReceiver
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*/
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@Override
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public AccessTokenReceiver getAccessToken() {
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return tyConfiguration.getAccessToken();
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}
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/**
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* 获取云盒列表
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*
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* @return List<BoxInfoReceiver>
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*/
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@Override
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public List<BoxInfoReceiver> getBoxList() {
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//请求云盒列表
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try {
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TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReveiver = tyClient.getBoxList();
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return boxListReveiver.getContent();
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} catch (Exception e) {
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log.error("获取云盒列表失败:{}", e.getMessage());
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return new ArrayList<>();
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}
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}
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/**
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* 获取直播地址
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*
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* @return BoxStreamUrlReceiver
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*/
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@Override
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public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) {
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TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(boxSn);
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return boxLiveUrl.getContent();
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}
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/**
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* 获取飞行历史
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*
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* @return List<BoxHistoryReceiver>
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*/
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@Override
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public List<BoxHistoryReceiver> getBoxHistory(BoxHistoryDTO boxHistoryDTO) {
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TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(boxHistoryDTO);
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return boxHistory.getContent();
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}
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/**
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* 获取盒子图片
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*
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* @return List<BoxPhotosReceiver>
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*/
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@Override
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public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) {
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TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(boxPhotosDTO);
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return boxPhotos.getContent();
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}
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/**
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* 修改云盒设置
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*/
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@Override
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public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) {
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TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(boxSettingsDTO);
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return result.getState() == 1;
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}
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/**
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* 设置返航高度
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*/
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@Override
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public void updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO) {
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ReturnHeightSettingCmd returnHeightSettingCmd = new ReturnHeightSettingCmd(returnHeightSettingDTO);
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this.sendMessage(tyConfiguration.getIpPort(), returnHeightSettingCmd);
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}
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/**
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* 设置返航点
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*/
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@Override
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public void updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO) {
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ReturnPointSettingCmd returnPointSettingCmd = new ReturnPointSettingCmd(returnPointSettingDTO);
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this.sendMessage(tyConfiguration.getIpPort(), returnPointSettingCmd);
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}
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/**
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* 设置视频码流
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*/
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@Override
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public void updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO) {
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VideoStreamSettingCmd videoStreamSettingCmd = new VideoStreamSettingCmd(videoStreamSettingDTO);
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this.sendMessage(tyConfiguration.getIpPort(), videoStreamSettingCmd);
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}
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/**
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* 注册天宇平台
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*/
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@Override
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public void registerMessage() {
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try {
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AccessTokenReceiver tyToken = tyConfiguration.getAccessToken();
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RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
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this.sendMessage(tyConfiguration.getIpPort(), registerMessage);
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} catch (Exception e) {
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log.error("注册天宇平台失败:{}", e.getMessage());
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}
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}
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/**
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* 云台控制基于角度
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*/
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@Override
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public void angleControl(AngleControlDTO angleControlDto) {
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AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto);
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this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
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}
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/**
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* 云台绝对值控制(基于角度)
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*/
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@Override
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public void absAngleControl(AbsAngleControlDTO absAngleControlDto) {
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AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto);
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this.sendMessage(tyConfiguration.getIpPort(), absAngleControlCommand);
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}
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/**
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* 云台转动(基于速度)
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*/
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@Override
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public void speedControl(SpeedControlDTO speedControlDto) {
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SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto);
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this.sendMessage(tyConfiguration.getIpPort(), speedControlCommand);
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}
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/**
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* 设置相机模式
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*/
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@Override
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public void updateCameraMode(CameraModeDTO cameraModeDTO) {
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CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO);
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this.sendMessage(tyConfiguration.getIpPort(), cameraModeCommand);
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}
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/**
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* 拍照
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*/
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@Override
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public void capturePic(CapturePicDTO capturePicDto) {
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updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
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CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);
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this.sendMessage(tyConfiguration.getIpPort(), capturePicCommand);
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}
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/**
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* 录像
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*/
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@Override
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public void record(RecordDTO recordDto) {
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BaseCmd baseCmd;
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if (recordDto.getIsRecord()) {
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updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build());
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baseCmd = new RecordStartCmd(recordDto);
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} else {
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baseCmd = new RecordStopCmd(recordDto);
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}
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this.sendMessage(tyConfiguration.getIpPort(), baseCmd);
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}
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/**
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* 变倍
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*/
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@Override
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public void zoom(ZoomDTO zoomDTO) {
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ZoomCmd zoomCommand = new ZoomCmd(zoomDTO);
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this.sendMessage(tyConfiguration.getIpPort(), zoomCommand);
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}
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/**
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* 变倍到指定倍数
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*/
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@Override
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public void zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) {
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ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO);
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this.sendMessage(tyConfiguration.getIpPort(), zoomToLevelCommand);
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}
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/**
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* 切换摄像头
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*/
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@Override
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public void switchCamera(SwitchCameraDTO switchCameraDTO) {
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SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO);
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this.sendMessage(tyConfiguration.getIpPort(), switchCameraCmd);
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}
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/**
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* 切换视频源
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*/
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@Override
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public void switchSource(SwitchSourceDTO switchSourceDTO) {
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SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO);
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this.sendMessage(tyConfiguration.getIpPort(), switchSourceCmd);
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}
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/**
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* 打开或关闭照片回传
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*/
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@Override
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public void photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) {
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PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO);
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this.sendMessage(tyConfiguration.getIpPort(), photoReturnToggleCmd);
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}
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/**
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* 切换无人机控制权
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*/
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@Override
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public void switchUavControl(SwitchUavControlDTO switchUavControlDTO) {
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SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO);
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this.sendMessage(tyConfiguration.getIpPort(), switchUavControlCmd);
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}
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/**
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* 起飞
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*/
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@Override
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public void takeOff(TakeOffDTO takeOffDTO) {
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TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
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this.sendMessage(tyConfiguration.getIpPort(), takeOffCmd);
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}
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/**
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* 返航
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*/
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@Override
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public void returnHome(ReturnHomeDTO returnHomeDTO) {
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ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO);
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this.sendMessage(tyConfiguration.getIpPort(), returnHomeCmd);
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}
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/**
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* 取消返航
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*/
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@Override
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public void returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) {
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ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO);
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this.sendMessage(tyConfiguration.getIpPort(), returnHomeCancelCmd);
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}
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/**
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* 降落
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*/
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@Override
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public void land(LandDTO landDTO) {
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LandCmd landCmd = new LandCmd(landDTO);
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this.sendMessage(tyConfiguration.getIpPort(), landCmd);
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}
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/**
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* 取消降落
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*/
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@Override
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public void landCancel(LandCancelDTO landCancelDTO) {
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LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO);
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this.sendMessage(tyConfiguration.getIpPort(), landCancelCmd);
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}
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/**
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* 强制降落
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*/
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@Override
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public void landForced(LandForcedDTO landForcedDTO) {
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LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO);
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this.sendMessage(tyConfiguration.getIpPort(), landForcedCmd);
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}
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/**
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* 方向控制
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*/
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@Override
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public void flyControl(FlyControlDTO flyControlDTO) {
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FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO);
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this.sendMessage(tyConfiguration.getIpPort(), flyControlCmd);
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}
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/**
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* 指点飞行控制
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*/
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@Override
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public void flyPointControl(FlyPointControlDTO flyPointControlDTO) {
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FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
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this.sendMessage(tyConfiguration.getIpPort(), flyPointControlCmd);
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}
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/**
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* 停止指点飞行控制
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*/
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@Override
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public void flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) {
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FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO);
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this.sendMessage(tyConfiguration.getIpPort(), flyPointControlCancelCmd);
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}
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/**
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* 紧急制动
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*/
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@Override
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public void emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) {
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EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO);
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this.sendMessage(tyConfiguration.getIpPort(), emergencyBrakeCmd);
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}
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/**
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* 获取无人机状态
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*/
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@Override
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public UavState getUavState(String boxSn) {
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return UavStateCache.getUavState(boxSn);
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}
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/**
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* 获取无人机遥测数据
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*/
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@Override
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public TelemetryData getUavTelemetryData(String boxSn) {
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return UavTelemetryDataCache.getUavTelemetryData(boxSn);
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}
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/**
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* 获取无人机遥测数据
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*/
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@Override
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public SignalInfo getSignalInfo(String boxSn) {
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return UavSignalInfoCache.getUavSignalInfo(boxSn);
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}
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/**
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* 喊话模式切换
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*/
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@Override
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public void speakModeSwitch(SpeakModeSwitchDTO speakModeSwitchDTO) {
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SpeakModeSwitchCmd speakModeSwitchCmd = new SpeakModeSwitchCmd(speakModeSwitchDTO);
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this.sendMessage(tyConfiguration.getIpPort(), speakModeSwitchCmd);
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}
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/**
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* 文字喊话
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*/
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@Override
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public void textSpeak(TextSpeakDTO textSpeakDTO) {
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TextSpeakCmd textSpeakCmd = new TextSpeakCmd(textSpeakDTO);
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this.sendMessage(tyConfiguration.getIpPort(), textSpeakCmd);
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}
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/**
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* 实时喊话
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*/
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@Override
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public void realSpeak(RealSpeakDTO realSpeakDTO) {
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RealSpeakCmd realSpeakCmd = new RealSpeakCmd(realSpeakDTO);
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this.sendMessage(tyConfiguration.getIpPort(), realSpeakCmd);
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}
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/**
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* 录音喊话
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*/
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@Override
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public void recordSpeak(RecordSpeakDTO recordSpeakDTO) {
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RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO);
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this.sendMessage(tyConfiguration.getIpPort(), recordSpeakCmd);
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}
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/**
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* 设置音量
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*/
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@Override
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public void volumeSetting(VolumeSettingDTO volumeSettingDTO) {
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VolumeSettingCmd volumeSettingCmd = new VolumeSettingCmd(volumeSettingDTO);
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this.sendMessage(tyConfiguration.getIpPort(), volumeSettingCmd);
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}
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/**
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* 设置循环播放
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*/
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@Override
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public void loopSetting(LoopSettingDTO loopSettingDTO) {
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LoopSettingCmd loopSettingCmd = new LoopSettingCmd(loopSettingDTO);
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this.sendMessage(tyConfiguration.getIpPort(), loopSettingCmd);
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}
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/**
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* 停止喊话
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*/
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@Override
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public void stopSpeak(StopSpeakDTO stopSpeakDTO) {
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StopSpeakCmd stopSpeakCmd = new StopSpeakCmd(stopSpeakDTO);
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this.sendMessage(tyConfiguration.getIpPort(), stopSpeakCmd);
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}
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/**
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* 航线上传
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*/
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@Override
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public void wayLineUpload(WayLineUploadDTO wayLineUploadDTO) {
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wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据
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WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
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this.sendMessage(tyConfiguration.getIpPort(), wayLineUploadCmd);
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}
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//创建航线
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private PlanLineData CreatePlanLineData() {
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TelemetryDataPB.PointData pointData1 = TelemetryDataPB.PointData.newBuilder()
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.setLng(124.12345).setLat(45.12345).setHeight(80).setSpeed(10)
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.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)
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.setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是
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.build();
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TelemetryDataPB.PointData pointData2 = TelemetryDataPB.PointData.newBuilder()
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.setLng(124.22222).setLat(45.22222).setHeight(80).setSpeed(10)
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.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)
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.setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是
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.build();
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TelemetryDataPB.PointData pointData3 = TelemetryDataPB.PointData.newBuilder()
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.setLng(124.33333).setLat(45.33333).setHeight(80).setSpeed(10)
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.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)
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.setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是
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.build();
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//创建航线
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TelemetryDataPB.PlanLineData PlanLineDataPB = TelemetryDataPB.PlanLineData.newBuilder()
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.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
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.setMaxSpeed(10)//最大飞行速度
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.setAutoSpeed(10)//自动飞行速度
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.addPoints(pointData1)//航线点1
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.addPoints(pointData2)//航线点2
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.addPoints(pointData3)//航线点3
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.setLoseAction(1)//网络失联后动作：0=返回HOME点，1=继续航线，默认0
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.setHomeHeight(6)//返航高度：(单位:米，范围20~1500)
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.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)
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.build();
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return PlanLineDataConverter.convertProtoToEntity(PlanLineDataPB);
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}
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/**
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* 航线开始
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*/
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@Override
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public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
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WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO);
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this.sendMessage(tyConfiguration.getIpPort(), wayLineBeginCmd);
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}
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/**
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* 航线暂停
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*/
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@Override
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public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
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WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO);
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this.sendMessage(tyConfiguration.getIpPort(), wayLinePauseCmd);
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}
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/**
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* 航线恢复
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*/
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@Override
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public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
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WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO);
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this.sendMessage(tyConfiguration.getIpPort(), wayLineResumeCmd);
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}
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/**
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* 航线结束
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*/
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@Override
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public void wayLineEnd(WayLineEndDTO wayLineEndDTO) {
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WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);
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this.sendMessage(tyConfiguration.getIpPort(), wayLineEndCmd);
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}
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/**
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* 点播
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*/
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@Override
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public String play(String boxSn) {
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BoxStreamUrlReceiver boxLiveUrl = getBoxLiveUrl(boxSn);
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if(boxLiveUrl == null||boxLiveUrl.getRtsp() == null) {
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return "";
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}
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ArdVtdu ardVtdu = ArdVtdu.builder().name(boxSn).rtspSource(boxLiveUrl.getRtsp()).build();
|
ardVtdu = mediaService.addPath(ardVtdu);
|
return ardVtdu.getWebrtcUrl();
|
}
|
|
/**
|
* 处理天宇服务器返回的消息
|
*/
|
@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();
|
}
|
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 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.putUavState(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;
|
UavTelemetryDataCache.putUavTelemetryData(uavTelemetryDataCmd.getTelemetryData());
|
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.putUavSignalInfoCache(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(tyConfiguration.getIpPort(), 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());
|
}
|
if (tyCommand instanceof FlyWayEndReplyCmd) {
|
FlyWayEndReplyCmd flyWayEndReplyCmd = (FlyWayEndReplyCmd) tyCommand;
|
logPrint("无人机飞行结束", flyWayEndReplyCmd.getResult(), flyWayEndReplyCmd.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());
|
}
|
//暂停航线回复
|
if (tyCommand instanceof WayLinePauseReplyCmd) {
|
WayLinePauseReplyCmd wayLinePauseReplyCmd = (WayLinePauseReplyCmd) tyCommand;
|
logPrint("暂停航线", wayLinePauseReplyCmd.getResult(), wayLinePauseReplyCmd.getErrorCode());
|
}
|
//恢复航线回复
|
if (tyCommand instanceof WayLineResumeReplyCmd) {
|
WayLineResumeReplyCmd wayLineResumeReplyCmd = (WayLineResumeReplyCmd) tyCommand;
|
logPrint("恢复航线", wayLineResumeReplyCmd.getResult(), wayLineResumeReplyCmd.getErrorCode());
|
}
|
//结束航线回复
|
if (tyCommand instanceof WayLineEndReplyCmd) {
|
WayLineEndReplyCmd wayLineEndReplyCmd = (WayLineEndReplyCmd) tyCommand;
|
logPrint("结束航线", wayLineEndReplyCmd.getResult(), wayLineEndReplyCmd.getErrorCode());
|
}
|
//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());
|
}
|
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());
|
}
|
}
|
|
//公共日志打印
|
private void logPrint(String message, Object obj) {
|
log.debug("收到{}回复{}", message, obj);
|
}
|
|
//公共日志打印
|
private void logPrint(String message, byte result, Integer errorCode) {
|
log.info("收到{}回复:{} 错误码：{}【{}】",
|
message,
|
ByteUtils.byteToHex(result),
|
errorCode,
|
ErrorCodeEnum.getDescByCode(errorCode));
|
}
|
|
/**
|
* 定时3秒发送心跳指令
|
*/
|
@Scheduled(fixedRate = 3000)
|
public void sendHeartBeat() {
|
if (!TyTcpServerCache.getTcpServerCache(tyConfiguration.getTcpserver() + ":" + tyConfiguration.getTcpport())) {
|
return;
|
}
|
long timestamp = System.currentTimeMillis();
|
log.debug("定时向天宇发送⼼跳,时间戳{}", timestamp);
|
HeartbeatCmd heartbeatMessage = new HeartbeatCmd(timestamp);
|
this.sendMessage(tyConfiguration.getIpPort(), heartbeatMessage);
|
}
|
|
/**
|
* 发送消息
|
*/
|
private void sendMessage(String key, BaseCmd msg) {
|
try {
|
ChannelFuture future = TyNettyTcpClient.channels.get(key).getChannelFuture();
|
Channel channel = future.channel();
|
if (channel.isActive()) {
|
InetSocketAddress ipSocket = (InetSocketAddress) channel.remoteAddress();
|
String host = ipSocket.getHostString();
|
int port = ipSocket.getPort();
|
channel.writeAndFlush(msg); // 发送编码后的数据
|
log.debug("向天宇服务器【{}:{}】发送数据，命令码：{}", host, port, String.format("0x%02X", msg.getCmdCode() & 0xFF));
|
} else {
|
log.error("与天宇服务器链接断开，无法发送数据！");
|
}
|
} catch (Exception e) {
|
log.error("发送消息异常：{}", e.getMessage());
|
}
|
}
|
|
}
|
