forked from uav/ard-uav-server
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
@@ -1,6 +1,7 @@ package com.ard.work.service.impl; import com.ard.common.exception.ControlException; import com.ard.vtdu.config.MediamtxConfig; import com.ard.work.aspect.annotation.CheckControlRight; import com.ard.work.aspect.annotation.CheckDroneStatus; import com.ard.work.aspect.annotation.CheckNoFlyZone; @@ -14,7 +15,7 @@ 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.FlyWayEndReplyCmd; 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; @@ -26,13 +27,14 @@ 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.cache.UavWaylineCache; 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; @@ -49,17 +51,21 @@ 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; @@ -78,7 +84,12 @@ private IArdDroneInfoService ardDroneService; @Resource private TyClient tyClient; @Autowired private RouteStateMachineService stateMachineService; @Resource private UavPositionChangeService uavPositionChangeService; @Resource private UavRegionDetectService uavRegionDetectService; /** * 获取边缘服务器token信息 * @@ -149,7 +160,7 @@ } /** * 获取盒子图片 * 获取任务图片 * * @return List<BoxPhotosReceiver> */ @@ -164,7 +175,22 @@ 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 */ @@ -328,9 +354,10 @@ 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()); //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()); //photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01) // .build()); CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto); this.sendMessage(ardDroneInfo.getServerId(), capturePicCommand); @@ -350,7 +377,7 @@ } BaseCmd baseCmd; if (recordDto.getIsRecord()) { updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build()); //updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build()); baseCmd = new RecordStartCmd(recordDto); } else { baseCmd = new RecordStopCmd(recordDto); @@ -555,7 +582,7 @@ * 方向控制 */ @CheckControlRight(UavControlType.FLY) @CheckTakeoffAltitude(minAltitude = 30.0) @CheckTakeoffAltitude @Override public Boolean flyControl(FlyControlDTO flyControlDTO) { String boxSn = flyControlDTO.getBoxSn(); @@ -572,7 +599,7 @@ * 指点飞行控制 */ @CheckControlRight(UavControlType.FLY) @CheckTakeoffAltitude(minAltitude = 30.0) @CheckTakeoffAltitude @CheckNoFlyZone @Override public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) { @@ -581,6 +608,10 @@ 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; @@ -608,6 +639,9 @@ /** * 环绕飞行控制 */ // @CheckControlRight(UavControlType.FLY) // @CheckTakeoffAltitude // @CheckNoFlyZone @Override public Boolean FlyRoundControl(FlyRoundControlDTO flyRoundControlDTO) { String boxSn = flyRoundControlDTO.getBoxSn(); @@ -794,10 +828,8 @@ 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); log.info("打印航线上传数据 ++++++++ wayLineUploadDTO:~~~~~~~~~~~~~~~" + wayLineUploadDTO); WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO); System.out.println("wayLineUploadCmd:-----------------" + wayLineUploadCmd); this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd); return true; } @@ -948,7 +980,18 @@ case (byte) 0xA9: // 处理无人机遥测消息 UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand; UavTelemetryDataCache.put(uavTelemetryDataCmd.getTelemetryData()); TelemetryData telemetryData = uavTelemetryDataCmd.getTelemetryData(); // 判断是否需要触发区域检测 if (uavPositionChangeService.shouldTriggerRegionCheck(telemetryData)) { log.debug("无人机 {} 位置变化，触发区域检测", telemetryData.getBoxSn()); // 异步触发区域检测（不阻塞） uavRegionDetectService.detectRegionAsync(telemetryData); } else { log.debug("无人机 {} 位置未变化，跳过区域检测", telemetryData.getBoxSn()); } UavTelemetryDataCache.put(telemetryData); //logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn()); //WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData()); break; @@ -974,10 +1017,6 @@ 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()); } //格式化存储卡 if (tyCommand instanceof FormatSdCardReplyCmd) { @@ -1044,23 +1083,53 @@ } //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) {
