增加：手动飞行控制

liusuyi

2024-10-30 05ba868736725db54db1944ed5cf7a95d14efc37

 ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java

@@ -15,9 +15,7 @@
import com.ard.tianyu.model.dto.converter.UavSignalInfoConverter;
import com.ard.tianyu.model.dto.converter.UavStateConverter;
import com.ard.tianyu.model.dto.converter.UavTelemetryDataConverter;
import com.ard.tianyu.model.dto.manual.ReturnHomeDTO;
import com.ard.tianyu.model.dto.manual.SwitchUavControlDTO;
import com.ard.tianyu.model.dto.manual.TakeOffDTO;
import com.ard.tianyu.model.dto.manual.*;
import com.ard.tianyu.model.dto.signal.SignalInfo;
import com.ard.tianyu.model.dto.state.UavState;
import com.ard.tianyu.model.dto.telemetry.TelemetryData;
@@ -38,6 +36,7 @@
import com.ard.tianyu.netty.command.register.*;
import com.ard.tianyu.netty.handler.ErrorCodeEnum;
import com.ard.tianyu.service.ITyService;
import com.ard.tianyu.websocket.utils.WebSocketUtil;
import io.netty.channel.Channel;
import io.netty.channel.ChannelFuture;
import lombok.extern.slf4j.Slf4j;
@@ -300,6 +299,78 @@
    }

    /**
     * 取消返航
     */
    @Override
    public void returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) {
        ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO);
        this.sendMessage(tyConfiguration.getIpPort(), returnHomeCancelCmd);
    }

    /**
     * 降落
     */
    @Override
    public void land(LandDTO landDTO) {
        LandCmd landCmd = new LandCmd(landDTO);
        this.sendMessage(tyConfiguration.getIpPort(), landCmd);
    }

    /**
     * 取消降落
     */
    @Override
    public void landCancel(LandCancelDTO landCancelDTO) {
        LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO);
        this.sendMessage(tyConfiguration.getIpPort(), landCancelCmd);
    }

    /**
     * 强制降落
     */
    @Override
    public void landForced(LandForcedDTO landForcedDTO) {
        LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO);
        this.sendMessage(tyConfiguration.getIpPort(), landForcedCmd);
    }

    /**
     * 方向控制
     */
    @Override
    public void flyControl(FlyControlDTO flyControlDTO) {
        FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO);
        this.sendMessage(tyConfiguration.getIpPort(), flyControlCmd);
    }

    /**
     * 指点飞行控制
     */
    @Override
    public void flyPointControl(FlyPointControlDTO flyPointControlDTO) {
        FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
        this.sendMessage(tyConfiguration.getIpPort(), flyPointControlCmd);
    }

    /**
     * 停止指点飞行控制
     */
    @Override
    public void flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) {
        FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO);
        this.sendMessage(tyConfiguration.getIpPort(), flyPointControlCancelCmd);
    }

    /**
     * 紧急制动
     */
    @Override
    public void emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) {
        EmergencyBrakeCmd emergencyBrakeCmd=new EmergencyBrakeCmd(emeragencyBrakeDTO);
        this.sendMessage(tyConfiguration.getIpPort(), emergencyBrakeCmd);
    }

    /**
     * 获取无人机状态
     */
    @Override
@@ -362,6 +433,7 @@
                UavState uavState = UavStateConverter.convertProtoToEntity(uavStateCmd.getUavState());
                UavStateCache.putUavState(uavState);
                logPrint("无人机状态", uavState.getBoxSn());
                WebSocketUtil.sendMessageAll(uavState);
                break;
            case (byte) 0xA9:
                // 处理无人机遥测消息
@@ -419,6 +491,36 @@
                    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("紧急制动回复", emergencyBrakeReplyCmd.getResult(), emergencyBrakeReplyCmd.getErrorCode());
                }
                break;
            default:
                // 处理其他消息
@@ -430,6 +532,7 @@
    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：{}【{}】",