forked from uav/ard-uav-server
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java
@@ -1,7 +1,9 @@ package com.ard.tianyu.service.impl; import com.ard.common.utils.ByteUtils; import com.ard.tianyu.config.TyConfiguration; import com.ard.tianyu.http.TyClient; import com.ard.tianyu.model.cache.TyTcpServerCache; import com.ard.tianyu.model.cache.UavSignalInfoCache; import com.ard.tianyu.model.cache.UavStateCache; import com.ard.tianyu.model.cache.UavTelemetryDataCache; @@ -12,13 +14,19 @@ import com.ard.tianyu.model.dto.control.AbsAngleControlDTO; import com.ard.tianyu.model.dto.control.AngleControlDTO; import com.ard.tianyu.model.dto.control.SpeedControlDTO; 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.converter.realdata.UavSignalInfoConverter; import com.ard.tianyu.model.dto.converter.realdata.UavStateConverter; import com.ard.tianyu.model.dto.converter.realdata.UavTelemetryDataConverter; import com.ard.tianyu.model.dto.converter.wayline.PlanLineDataConverter; import com.ard.tianyu.model.dto.manual.*; import com.ard.tianyu.model.dto.settings.ReturnHeightSettingDTO; import com.ard.tianyu.model.dto.settings.ReturnPointSettingDTO; import com.ard.tianyu.model.dto.settings.VideoStreamSettingDTO; import com.ard.tianyu.model.dto.signal.SignalInfo; import com.ard.tianyu.model.dto.speaker.*; import com.ard.tianyu.model.dto.state.UavState; import com.ard.tianyu.model.dto.telemetry.TelemetryData; import com.ard.tianyu.model.dto.wayline.*; import com.ard.tianyu.model.receiver.*; import com.ard.tianyu.netty.command.*; import com.ard.tianyu.netty.TyNettyTcpClient; @@ -34,9 +42,15 @@ import com.ard.tianyu.netty.command.real.UavStateCmd; import com.ard.tianyu.netty.command.real.UavTelemetryDataCmd; import com.ard.tianyu.netty.command.register.*; import com.ard.tianyu.netty.command.settings.*; import com.ard.tianyu.netty.command.speaker.*; import com.ard.tianyu.netty.command.wayline.*; import com.ard.tianyu.netty.handler.ErrorCodeEnum; import com.ard.tianyu.netty.protobuf.TelemetryDataPB; import com.ard.tianyu.service.ITyService; import com.ard.tianyu.websocket.utils.WebSocketUtil; import com.ard.vtdu.domain.ArdVtdu; import com.ard.vtdu.service.IMediaService; import io.netty.channel.Channel; import io.netty.channel.ChannelFuture; import lombok.extern.slf4j.Slf4j; @@ -64,6 +78,9 @@ @Resource private TyConfiguration tyConfiguration; @Resource private IMediaService mediaService; /** * 获取天宇token信息 * @@ -83,7 +100,7 @@ public List<BoxInfoReceiver> getBoxList() { //请求云盒列表 try { TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReveiver = tyClient.getBoxList(tyConfiguration.getAccessToken().convertFromDTO()); TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReveiver = tyClient.getBoxList(); return boxListReveiver.getContent(); } catch (Exception e) { log.error("获取云盒列表失败:{}", e.getMessage()); @@ -99,7 +116,7 @@ @Override public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) { TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(boxSn, tyConfiguration.getAccessToken().convertFromDTO()); TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(boxSn); return boxLiveUrl.getContent(); } @@ -110,7 +127,7 @@ */ @Override public List<BoxHistoryReceiver> getBoxHistory(BoxHistoryDTO boxHistoryDTO) { TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(boxHistoryDTO, tyConfiguration.getAccessToken().convertFromDTO()); TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(boxHistoryDTO); return boxHistory.getContent(); } @@ -121,7 +138,7 @@ */ @Override public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) { TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(boxPhotosDTO, tyConfiguration.getAccessToken().convertFromDTO()); TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(boxPhotosDTO); return boxPhotos.getContent(); } @@ -130,8 +147,35 @@ */ @Override public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) { TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(boxSettingsDTO, tyConfiguration.getAccessToken().convertFromDTO()); TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(boxSettingsDTO); return result.getState() == 1; } /** * 设置返航高度 */ @Override public void updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO) { ReturnHeightSettingCmd returnHeightSettingCmd = new ReturnHeightSettingCmd(returnHeightSettingDTO); this.sendMessage(tyConfiguration.getIpPort(), returnHeightSettingCmd); } /** * 设置返航点 */ @Override public void updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO) { ReturnPointSettingCmd returnPointSettingCmd = new ReturnPointSettingCmd(returnPointSettingDTO); this.sendMessage(tyConfiguration.getIpPort(), returnPointSettingCmd); } /** * 设置视频码流 */ @Override public void updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO) { VideoStreamSettingCmd videoStreamSettingCmd = new VideoStreamSettingCmd(videoStreamSettingDTO); this.sendMessage(tyConfiguration.getIpPort(), videoStreamSettingCmd); } /** @@ -139,29 +183,12 @@ */ @Override public void registerMessage() { AccessTokenReceiver tyToken = tyConfiguration.getAccessToken(); RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes()); this.sendMessage(tyConfiguration.getIpPort(), registerMessage); } /** * 发送消息 */ public 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！"); } AccessTokenReceiver tyToken = tyConfiguration.getAccessToken(); RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes()); this.sendMessage(tyConfiguration.getIpPort(), registerMessage); } catch (Exception e) { log.error("发送消息异常：{}", e.getMessage()); log.error("注册天宇平台失败:{}", e.getMessage()); } } @@ -366,7 +393,7 @@ */ @Override public void emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) { EmergencyBrakeCmd emergencyBrakeCmd=new EmergencyBrakeCmd(emeragencyBrakeDTO); EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO); this.sendMessage(tyConfiguration.getIpPort(), emergencyBrakeCmd); } @@ -395,10 +422,167 @@ } /** * 喊话模式切换 */ @Override public void speakModeSwitch(SpeakModeSwitchDTO speakModeSwitchDTO) { SpeakModeSwitchCmd speakModeSwitchCmd = new SpeakModeSwitchCmd(speakModeSwitchDTO); this.sendMessage(tyConfiguration.getIpPort(), speakModeSwitchCmd); } /** * 文字喊话 */ @Override public void textSpeak(TextSpeakDTO textSpeakDTO) { TextSpeakCmd textSpeakCmd = new TextSpeakCmd(textSpeakDTO); this.sendMessage(tyConfiguration.getIpPort(), textSpeakCmd); } /** * 实时喊话 */ @Override public void realSpeak(RealSpeakDTO realSpeakDTO) { RealSpeakCmd realSpeakCmd = new RealSpeakCmd(realSpeakDTO); this.sendMessage(tyConfiguration.getIpPort(), realSpeakCmd); } /** * 录音喊话 */ @Override public void recordSpeak(RecordSpeakDTO recordSpeakDTO) { RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO); this.sendMessage(tyConfiguration.getIpPort(), recordSpeakCmd); } /** * 设置音量 */ @Override public void volumeSetting(VolumeSettingDTO volumeSettingDTO) { VolumeSettingCmd volumeSettingCmd = new VolumeSettingCmd(volumeSettingDTO); this.sendMessage(tyConfiguration.getIpPort(), volumeSettingCmd); } /** * 设置循环播放 */ @Override public void loopSetting(LoopSettingDTO loopSettingDTO) { LoopSettingCmd loopSettingCmd = new LoopSettingCmd(loopSettingDTO); this.sendMessage(tyConfiguration.getIpPort(), loopSettingCmd); } /** * 停止喊话 */ @Override public void stopSpeak(StopSpeakDTO stopSpeakDTO) { StopSpeakCmd stopSpeakCmd = new StopSpeakCmd(stopSpeakDTO); this.sendMessage(tyConfiguration.getIpPort(), stopSpeakCmd); } /** * 航线上传 */ @Override public void wayLineUpload(WayLineUploadDTO wayLineUploadDTO) { wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据 WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO); this.sendMessage(tyConfiguration.getIpPort(), wayLineUploadCmd); } //创建航线 private PlanLineData CreatePlanLineData() { TelemetryDataPB.PointData pointData1 = TelemetryDataPB.PointData.newBuilder() .setLng(124.12345).setLat(45.12345).setHeight(80).setSpeed(10) .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) .setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是 .build(); TelemetryDataPB.PointData pointData2 = TelemetryDataPB.PointData.newBuilder() .setLng(124.22222).setLat(45.22222).setHeight(80).setSpeed(10) .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) .setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是 .build(); TelemetryDataPB.PointData pointData3 = TelemetryDataPB.PointData.newBuilder() .setLng(124.33333).setLat(45.33333).setHeight(80).setSpeed(10) .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) .setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是 .build(); //创建航线 TelemetryDataPB.PlanLineData PlanLineDataPB = TelemetryDataPB.PlanLineData.newBuilder() .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 .setMaxSpeed(10)//最大飞行速度 .setAutoSpeed(10)//自动飞行速度 .addPoints(pointData1)//航线点1 .addPoints(pointData2)//航线点2 .addPoints(pointData3)//航线点3 .setLoseAction(1)//网络失联后动作：0=返回HOME点，1=继续航线，默认0 .setHomeHeight(6)//返航高度：(单位:米，范围20~1500) .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) .build(); return PlanLineDataConverter.convertProtoToEntity(PlanLineDataPB); } /** * 航线开始 */ @Override public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) { WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO); this.sendMessage(tyConfiguration.getIpPort(), wayLineBeginCmd); } /** * 航线暂停 */ @Override public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) { WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO); this.sendMessage(tyConfiguration.getIpPort(), wayLinePauseCmd); } /** * 航线恢复 */ @Override public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) { WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO); this.sendMessage(tyConfiguration.getIpPort(), wayLineResumeCmd); } /** * 航线结束 */ @Override public void wayLineEnd(WayLineEndDTO wayLineEndDTO) { WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO); this.sendMessage(tyConfiguration.getIpPort(), wayLineEndCmd); } /** * 点播 */ @Override public ArdVtdu play(String boxSn) { BoxStreamUrlReceiver boxLiveUrl = getBoxLiveUrl(boxSn); if(boxLiveUrl == null||boxLiveUrl.getRtsp() == null) { return null; } ArdVtdu ardVtdu = ArdVtdu.builder().name(boxSn).rtspSource(boxLiveUrl.getRtsp()).build(); ardVtdu = mediaService.addPath(ardVtdu); return ardVtdu; } /** * 处理天宇服务器返回的消息 */ @Override public void processMessage(String key, BaseCmd tyCommand) { public void processReplyMessage(String key, BaseCmd tyCommand) { byte cmdCode = tyCommand.getCmdCode(); switch (cmdCode) { case 0x01: @@ -430,24 +614,23 @@ case (byte) 0xA8: // 处理无人机状态消息 UavStateCmd uavStateCmd = (UavStateCmd) tyCommand; UavState uavState = UavStateConverter.convertProtoToEntity(uavStateCmd.getUavState()); UavStateCache.putUavState(uavState); logPrint("无人机状态", uavState.getBoxSn()); WebSocketUtil.sendMessageAll(uavState); 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; TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(uavTelemetryDataCmd.getTelemetryData()); UavTelemetryDataCache.putUavTelemetryData(telemetryData); logPrint("无人机遥测", telemetryData.getBoxSn()); 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; SignalInfo signalInfo = UavSignalInfoConverter.convertProtoToEntity(signalInfoCmd.getSignalInfo()); UavSignalInfoCache.putUavSignalInfoCache(signalInfo); logPrint("无人机信道质量", signalInfo.getBoxSn()); UavSignalInfoCache.putUavSignalInfoCache(signalInfoCmd.getSignalInfo()); logPrint("无人机信道质量", signalInfoCmd.getSignalInfo().getBoxSn()); break; case (byte) 0xD1: // 处理无人机 @@ -519,12 +702,54 @@ //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()); 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.debug("收到其他消息-->其他消息"); log.warn("收到其他消息-->{}", tyCommand.getCmdCode()); } } @@ -537,7 +762,7 @@ private void logPrint(String message, byte result, Integer errorCode) { log.info("收到{}回复:{} 错误码：{}【{}】", message, String.format("0x%02X", result & 0xFF), ByteUtils.byteToHex(result), errorCode, ErrorCodeEnum.getDescByCode(errorCode)); } @@ -547,9 +772,34 @@ */ @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()); } } }
