forked from uav/ard-uav-server
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
@@ -14,7 +14,7 @@ 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; @@ -26,6 +26,7 @@ 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; @@ -48,6 +49,7 @@ 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.*; @@ -55,6 +57,7 @@ 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; @@ -77,6 +80,8 @@ private IArdDroneInfoService ardDroneService; @Resource private TyClient tyClient; @Autowired private RouteStateMachineService stateMachineService; /** * 获取边缘服务器token信息 @@ -123,8 +128,8 @@ if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(), boxSn); return boxLiveUrl == null ? null : boxLiveUrl.getContent(); @@ -175,7 +180,7 @@ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(ardDroneInfo.getServerId(), boxSettingsDTO); return result.getState() == 1; return result.getState() == 0; } /** @@ -554,7 +559,7 @@ * 方向控制 */ @CheckControlRight(UavControlType.FLY) @CheckTakeoffAltitude(minAltitude = 30.0) @CheckTakeoffAltitude @Override public Boolean flyControl(FlyControlDTO flyControlDTO) { String boxSn = flyControlDTO.getBoxSn(); @@ -571,7 +576,7 @@ * 指点飞行控制 */ @CheckControlRight(UavControlType.FLY) @CheckTakeoffAltitude(minAltitude = 30.0) @CheckTakeoffAltitude @CheckNoFlyZone @Override public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) { @@ -596,8 +601,8 @@ if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO); this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd); return true; @@ -614,8 +619,8 @@ if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } FlyRoundControlCmd flyPointControlCmd = new FlyRoundControlCmd(flyRoundControlDTO); this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd); FlyRoundControlCmd flyRoundControlCmd = new FlyRoundControlCmd(flyRoundControlDTO); this.sendMessage(ardDroneInfo.getServerId(), flyRoundControlCmd); return true; } @@ -645,8 +650,8 @@ if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO); this.sendMessage(ardDroneInfo.getServerId(), emergencyBrakeCmd); return true; @@ -974,10 +979,6 @@ 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) { FormatSdCardReplyCmd formatSdCardReplyCmd = (FormatSdCardReplyCmd) tyCommand; @@ -1043,23 +1044,53 @@ } //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) {
