package com.ard.tianyu.service.impl;
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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.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.UavSignalInfoConverter;
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import com.ard.tianyu.model.dto.converter.UavStateConverter;
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import com.ard.tianyu.model.dto.converter.UavTelemetryDataConverter;
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import com.ard.tianyu.model.dto.manual.ReturnHomeDTO;
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import com.ard.tianyu.model.dto.manual.SwitchUavControlDTO;
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import com.ard.tianyu.model.dto.manual.TakeOffDTO;
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import com.ard.tianyu.model.dto.signal.SignalInfo;
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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.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.handler.ErrorCodeEnum;
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import com.ard.tianyu.service.ITyService;
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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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/**
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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(tyConfiguration.getAccessToken().convertFromDTO());
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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, tyConfiguration.getAccessToken().convertFromDTO());
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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, tyConfiguration.getAccessToken().convertFromDTO());
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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, tyConfiguration.getAccessToken().convertFromDTO());
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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, tyConfiguration.getAccessToken().convertFromDTO());
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return result.getState() == 1;
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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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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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}
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/**
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* 发送消息
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*/
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public void sendMessage(String key, BaseCmd msg) {
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try {
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ChannelFuture future = TyNettyTcpClient.channels.get(key).getChannelFuture();
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Channel channel = future.channel();
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if (channel.isActive()) {
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InetSocketAddress ipSocket = (InetSocketAddress) channel.remoteAddress();
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String host = ipSocket.getHostString();
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int port = ipSocket.getPort();
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channel.writeAndFlush(msg); // 发送编码后的数据
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log.debug("向天宇服务器【{}:{}】发送数据，命令码：{}", host, port, String.format("0x%02X", msg.getCmdCode() & 0xFF));
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} else {
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log.error("与天宇服务器链接断开，无法发送数据！");
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}
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} catch (Exception e) {
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log.error("发送消息异常：{}", 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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* 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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* 处理天宇服务器返回的消息
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*/
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@Override
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public void processMessage(String key, BaseCmd tyCommand) {
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byte cmdCode = tyCommand.getCmdCode();
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switch (cmdCode) {
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case 0x01:
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// 处理心跳消息
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RegisterReplyCmd registerReplyCommand = (RegisterReplyCmd) tyCommand;
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logPrint("注册消息", registerReplyCommand.getSuccess());
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if (registerReplyCommand.getSuccess() != 1) {
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// 注册失败，重新注册
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log.info("注册失败，重新注册");
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registerMessage();
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}
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break;
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case 0x02:
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// 处理注册消息
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HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
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logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
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break;
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case 0x03:
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// 处理订阅消息
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break;
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case 0x04:
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// 处理取消订阅消息
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break;
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case 0x0A:
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// 处理云盒开关机通知消息
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BoxPowerStatusReplyCmd boxPowerStatusReplyCmd = (BoxPowerStatusReplyCmd) tyCommand;
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logPrint("云盒开关机通知消息", boxPowerStatusReplyCmd.getStatus());
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break;
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case (byte) 0xA8:
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// 处理无人机状态消息
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UavStateCmd uavStateCmd = (UavStateCmd) tyCommand;
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UavState uavState = UavStateConverter.convertProtoToEntity(uavStateCmd.getUavState());
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UavStateCache.putUavState(uavState);
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logPrint("无人机状态", uavState.getBoxSn());
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break;
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case (byte) 0xA9:
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// 处理无人机遥测消息
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UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
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TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(uavTelemetryDataCmd.getTelemetryData());
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UavTelemetryDataCache.putUavTelemetryData(telemetryData);
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logPrint("无人机遥测", telemetryData.getBoxSn());
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break;
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case (byte) 0x0C:
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// 处理无人机信道质量数据
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SignalInfoCmd signalInfoCmd = (SignalInfoCmd) tyCommand;
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SignalInfo signalInfo = UavSignalInfoConverter.convertProtoToEntity(signalInfoCmd.getSignalInfo());
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UavSignalInfoCache.putUavSignalInfoCache(signalInfo);
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logPrint("无人机信道质量", signalInfo.getBoxSn());
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break;
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case (byte) 0xD1:
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// 处理无人机
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if (tyCommand instanceof UavInitReplyCmd) {
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UavInitReplyCmd uavInitReplyCmd = (UavInitReplyCmd) tyCommand;
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UavInitInfoCmd uavInitCommand = new UavInitInfoCmd(uavInitReplyCmd.getBoxSn());
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this.sendMessage(tyConfiguration.getIpPort(), uavInitCommand);
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logPrint("无人机初始化详情", uavInitCommand.getBoxSn());
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}
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if (tyCommand instanceof UavReadyReplyCmd) {
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UavReadyReplyCmd uavReadyReplyCmd = (UavReadyReplyCmd) tyCommand;
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logPrint("无人机准备完成通知", uavReadyReplyCmd.getBatteryPower());
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}
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if (tyCommand instanceof CameraModeReplyCmd) {
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CameraModeReplyCmd cameraModeReplyCommand = (CameraModeReplyCmd) tyCommand;
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logPrint("无人机设置相机模式", cameraModeReplyCommand.getResult(), cameraModeReplyCommand.getErrorCode());
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}
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if (tyCommand instanceof FlyWayEndReplyCmd) {
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FlyWayEndReplyCmd flyWayEndReplyCmd = (FlyWayEndReplyCmd) tyCommand;
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logPrint("无人机飞行结束", flyWayEndReplyCmd.getResult(), flyWayEndReplyCmd.getErrorCode());
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}
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if (tyCommand instanceof CapturePicReplyCmd) {
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CapturePicReplyCmd capturePicReplyCommand = (CapturePicReplyCmd) tyCommand;
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logPrint("无人机拍照", capturePicReplyCommand.getResult(), capturePicReplyCommand.getErrorCode());
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}
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if (tyCommand instanceof RecordStartReplyCmd) {
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RecordStartReplyCmd recordStartReplyCommand = (RecordStartReplyCmd) tyCommand;
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logPrint("无人机开始录像", recordStartReplyCommand.getResult(), recordStartReplyCommand.getErrorCode());
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}
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if (tyCommand instanceof RecordStopReplyCmd) {
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RecordStopReplyCmd recordStopReplyCommand = (RecordStopReplyCmd) tyCommand;
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logPrint("无人机停止录像", recordStopReplyCommand.getResult(), recordStopReplyCommand.getErrorCode());
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}
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//起飞回复
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if (tyCommand instanceof TakeOffReplyCmd) {
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TakeOffReplyCmd takeOffReplyCommand = (TakeOffReplyCmd) tyCommand;
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logPrint("无人机起飞", takeOffReplyCommand.getResult(), takeOffReplyCommand.getErrorCode());
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}
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//返航回复
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if (tyCommand instanceof ReturnHomeReplyCmd) {
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ReturnHomeReplyCmd returnHomeReplyCmd = (ReturnHomeReplyCmd) tyCommand;
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logPrint("无人机返航", returnHomeReplyCmd.getResult(), returnHomeReplyCmd.getErrorCode());
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}
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break;
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default:
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// 处理其他消息
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log.debug("收到其他消息-->其他消息");
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}
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}
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//公共日志打印
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private void logPrint(String message, Object obj) {
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log.debug("收到{}回复{}", message, obj);
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}
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//公共日志打印
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private void logPrint(String message, byte result, Integer errorCode) {
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log.info("收到{}回复:{} 错误码：{}【{}】",
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message,
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String.format("0x%02X", result & 0xFF),
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errorCode,
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ErrorCodeEnum.getDescByCode(errorCode));
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}
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/**
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* 定时3秒发送心跳指令
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*/
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@Scheduled(fixedRate = 3000)
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public void sendHeartBeat() {
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long timestamp = System.currentTimeMillis();
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log.debug("定时向天宇发送⼼跳,时间戳{}", timestamp);
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HeartbeatCmd heartbeatMessage = new HeartbeatCmd(timestamp);
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this.sendMessage(tyConfiguration.getIpPort(), heartbeatMessage);
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}
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}
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