forked from uav/ard-uav-server
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
@@ -1,14 +1,9 @@ package com.ard.work.service.impl; import com.ard.common.constant.CacheConstants; import com.ard.common.core.redis.RedisCache; import com.ard.common.exception.ServiceException; import com.ard.common.utils.StringUtils; import com.ard.data.noflyzone.domain.ArdNoFlyZone; import com.ard.data.noflyzone.domain.Vertex; import com.ard.data.noflyzone.service.IArdNoFlyZoneService; import com.ard.data.noflyzone.utils.NoFlyZoneUtils; import com.ard.common.exception.ControlException; import com.ard.work.aspect.annotation.CheckControlRight; import com.ard.work.aspect.annotation.CheckDroneStatus; import com.ard.work.aspect.annotation.CheckNoFlyZone; import com.ard.work.aspect.annotation.CheckTakeoffAltitude; import com.ard.work.component.forest.TyClient; import com.ard.work.component.netty.TcpClientUtil; @@ -19,7 +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; @@ -31,12 +26,14 @@ 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.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; @@ -53,10 +50,12 @@ 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; @@ -65,6 +64,7 @@ import javax.annotation.Resource; import java.util.*; import java.util.concurrent.ConcurrentHashMap; import java.util.stream.Collectors; import java.util.stream.Stream; @@ -82,11 +82,11 @@ @Resource private IArdDroneInfoService ardDroneService; @Resource private IArdNoFlyZoneService ardNoFlyZoneService; @Resource private TyClient tyClient; @Resource private RedisCache redisCache; @Autowired private RouteStateMachineService stateMachineService; @Autowired private IArdFlightTaskPartService ardFlightTaskPartService; /** * 获取边缘服务器token信息 @@ -131,12 +131,10 @@ public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); } TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(), boxSn); return boxLiveUrl == null ? null : boxLiveUrl.getContent(); @@ -152,11 +150,7 @@ String boxSn = boxHistoryDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行起飞指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(ardDroneInfo.getServerId(), boxHistoryDTO); @@ -164,7 +158,7 @@ } /** * 获取盒子图片 * 获取任务图片 * * @return List<BoxPhotosReceiver> */ @@ -173,17 +167,28 @@ String boxSn = boxPhotosDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行起飞指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(ardDroneInfo.getServerId(), 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 */ @@ -192,14 +197,10 @@ String boxSn = boxSettingsDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); 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; } /** @@ -210,11 +211,7 @@ String boxSn = returnHeightSettingDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } ReturnHeightSettingCmd returnHeightSettingCmd = new ReturnHeightSettingCmd(returnHeightSettingDTO); this.sendMessage(ardDroneInfo.getServerId(), returnHeightSettingCmd); @@ -229,11 +226,7 @@ String boxSn = returnPointSettingDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } ReturnPointSettingCmd returnPointSettingCmd = new ReturnPointSettingCmd(returnPointSettingDTO); this.sendMessage(ardDroneInfo.getServerId(), returnPointSettingCmd); @@ -248,11 +241,7 @@ String boxSn = videoStreamSettingDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } VideoStreamSettingCmd videoStreamSettingCmd = new VideoStreamSettingCmd(videoStreamSettingDTO); this.sendMessage(ardDroneInfo.getServerId(), videoStreamSettingCmd); @@ -284,11 +273,7 @@ String boxSn = angleControlDto.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto); this.sendMessage(ardDroneInfo.getServerId(), controlAngleCommand); @@ -304,11 +289,7 @@ String boxSn = absAngleControlDto.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto); this.sendMessage(ardDroneInfo.getServerId(), absAngleControlCommand); @@ -324,30 +305,35 @@ String boxSn = speedControlDto.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto); this.sendMessage(ardDroneInfo.getServerId(), speedControlCommand); return true; } @Override public Boolean formatSdCard(FormatSdCardDTO formatSdCardDTO) { String boxSn = formatSdCardDTO.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); } FormatSdCardCmd formatSdCardCmd = new FormatSdCardCmd(formatSdCardDTO); this.sendMessage(ardDroneInfo.getServerId(), formatSdCardCmd); return true; } /** * 设置相机模式 */ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean updateCameraMode(CameraModeDTO cameraModeDTO) { String boxSn = cameraModeDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO); this.sendMessage(ardDroneInfo.getServerId(), cameraModeCommand); @@ -357,21 +343,19 @@ /** * 拍照 */ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean capturePic(CapturePicDTO capturePicDto) { String boxSn = capturePicDto.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); 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); @@ -381,20 +365,17 @@ /** * 录像 */ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean record(RecordDTO recordDto) { String boxSn = recordDto.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } 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); @@ -412,11 +393,7 @@ String boxSn = zoomDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } ZoomCmd zoomCommand = new ZoomCmd(zoomDTO); this.sendMessage(ardDroneInfo.getServerId(), zoomCommand); @@ -432,11 +409,7 @@ String boxSn = zoomToLevelDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO); this.sendMessage(ardDroneInfo.getServerId(), zoomToLevelCommand); @@ -446,16 +419,13 @@ /** * 切换摄像头 */ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean switchCamera(SwitchCameraDTO switchCameraDTO) { String boxSn = switchCameraDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO); this.sendMessage(ardDroneInfo.getServerId(), switchCameraCmd); @@ -465,16 +435,13 @@ /** * 切换视频源 */ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean switchSource(SwitchSourceDTO switchSourceDTO) { String boxSn = switchSourceDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO); this.sendMessage(ardDroneInfo.getServerId(), switchSourceCmd); @@ -484,16 +451,13 @@ /** * 打开或关闭照片回传 */ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) { String boxSn = photoReturnToggleDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO); this.sendMessage(ardDroneInfo.getServerId(), photoReturnToggleCmd); @@ -503,16 +467,13 @@ /** * 切换无人机控制权 */ @CheckDroneStatus @Override public Boolean switchUavControl(SwitchUavControlDTO switchUavControlDTO) { String boxSn = switchUavControlDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO); this.sendMessage(ardDroneInfo.getServerId(), switchUavControlCmd); @@ -528,11 +489,7 @@ String boxSn = takeOffDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO); this.sendMessage(ardDroneInfo.getServerId(), takeOffCmd); @@ -548,11 +505,7 @@ String boxSn = returnHomeDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO); this.sendMessage(ardDroneInfo.getServerId(), returnHomeCmd); @@ -568,11 +521,7 @@ String boxSn = returnHomeCancelDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO); this.sendMessage(ardDroneInfo.getServerId(), returnHomeCancelCmd); @@ -588,11 +537,7 @@ String boxSn = landDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } LandCmd landCmd = new LandCmd(landDTO); this.sendMessage(ardDroneInfo.getServerId(), landCmd); @@ -608,11 +553,7 @@ String boxSn = landCancelDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO); this.sendMessage(ardDroneInfo.getServerId(), landCancelCmd); @@ -628,11 +569,7 @@ String boxSn = landForcedDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO); this.sendMessage(ardDroneInfo.getServerId(), landForcedCmd); @@ -643,17 +580,13 @@ * 方向控制 */ @CheckControlRight(UavControlType.FLY) @CheckTakeoffAltitude(minAltitude = 30.0) @CheckTakeoffAltitude @Override public Boolean flyControl(FlyControlDTO flyControlDTO) { String boxSn = flyControlDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO); this.sendMessage(ardDroneInfo.getServerId(), flyControlCmd); @@ -664,28 +597,15 @@ * 指点飞行控制 */ @CheckControlRight(UavControlType.FLY) @CheckTakeoffAltitude(minAltitude = 30.0) @CheckTakeoffAltitude @CheckNoFlyZone @Override public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) { String boxSn = flyPointControlDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); } // 判断目标点是否经过禁飞区 List<ArdNoFlyZone> ardNoFlyZones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone()); if (!ardNoFlyZones.isEmpty()) { Vertex vertex = new Vertex(flyPointControlDTO.getLongitude(), flyPointControlDTO.getLatitude()); boolean inNoFlyZones = NoFlyZoneUtils.isInNoFlyZones(vertex, ardNoFlyZones); if (inNoFlyZones) { throw new ServiceException("目标点在禁飞区内，无法执行指令, boxSn: " + boxSn); } } FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO); this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd); return true; @@ -700,14 +620,43 @@ String boxSn = flyPointControlCancelDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); } FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO); this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd); return true; } /** * 环绕飞行控制 */ @Override public Boolean FlyRoundControl(FlyRoundControlDTO flyRoundControlDTO) { String boxSn = flyRoundControlDTO.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); } FlyRoundControlCmd flyRoundControlCmd = new FlyRoundControlCmd(flyRoundControlDTO); this.sendMessage(ardDroneInfo.getServerId(), flyRoundControlCmd); return true; } /** * 停止环绕飞行控制 */ @Override public Boolean FlyRoundControlCancel(FlyRoundControlCancelDTO flyRoundControlCancelDTO) { String boxSn = flyRoundControlCancelDTO.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); } FlyRoundControlCancelCmd flyRoundControlCancelCmd = new FlyRoundControlCancelCmd(flyRoundControlCancelDTO); this.sendMessage(ardDroneInfo.getServerId(), flyRoundControlCancelCmd); return true; } @@ -720,12 +669,10 @@ String boxSn = emeragencyBrakeDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); } EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO); this.sendMessage(ardDroneInfo.getServerId(), emergencyBrakeCmd); return true; @@ -763,11 +710,7 @@ String boxSn = speakModeSwitchDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } SpeakModeSwitchCmd speakModeSwitchCmd = new SpeakModeSwitchCmd(speakModeSwitchDTO); this.sendMessage(ardDroneInfo.getServerId(), speakModeSwitchCmd); @@ -782,11 +725,7 @@ String boxSn = textSpeakDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } TextSpeakCmd textSpeakCmd = new TextSpeakCmd(textSpeakDTO); this.sendMessage(ardDroneInfo.getServerId(), textSpeakCmd); @@ -801,11 +740,7 @@ String boxSn = realSpeakDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } RealSpeakCmd realSpeakCmd = new RealSpeakCmd(realSpeakDTO); this.sendMessage(ardDroneInfo.getServerId(), realSpeakCmd); @@ -820,11 +755,7 @@ String boxSn = recordSpeakDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO); this.sendMessage(ardDroneInfo.getServerId(), recordSpeakCmd); @@ -839,11 +770,7 @@ String boxSn = volumeSettingDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } VolumeSettingCmd volumeSettingCmd = new VolumeSettingCmd(volumeSettingDTO); this.sendMessage(ardDroneInfo.getServerId(), volumeSettingCmd); @@ -858,11 +785,7 @@ String boxSn = loopSettingDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } LoopSettingCmd loopSettingCmd = new LoopSettingCmd(loopSettingDTO); this.sendMessage(ardDroneInfo.getServerId(), loopSettingCmd); @@ -877,11 +800,7 @@ String boxSn = stopSpeakDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } StopSpeakCmd stopSpeakCmd = new StopSpeakCmd(stopSpeakDTO); this.sendMessage(ardDroneInfo.getServerId(), stopSpeakCmd); @@ -891,19 +810,19 @@ /** * 航线上传 */ @CheckControlRight(UavControlType.FLY) @Override public Boolean wayLineUpload(WayLineUploadDTO wayLineUploadDTO) { String boxSn = wayLineUploadDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); 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); WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO); System.out.println("wayLineUploadCmd:-----------------" + wayLineUploadCmd); this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd); return true; } @@ -951,11 +870,7 @@ String boxSn = wayLineBeginDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO); this.sendMessage(ardDroneInfo.getServerId(), wayLineBeginCmd); @@ -971,11 +886,7 @@ String boxSn = wayLinePauseDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO); this.sendMessage(ardDroneInfo.getServerId(), wayLinePauseCmd); @@ -991,11 +902,7 @@ String boxSn = wayLineResumeDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO); this.sendMessage(ardDroneInfo.getServerId(), wayLineResumeCmd); @@ -1011,11 +918,7 @@ String boxSn = wayLineEndDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO); this.sendMessage(ardDroneInfo.getServerId(), wayLineEndCmd); @@ -1042,7 +945,7 @@ case 0x02: // 处理注册消息 HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand; logPrint("心跳消息", heartbeatReplyCmd.getTimestamp()); //logPrint("心跳消息", heartbeatReplyCmd.getTimestamp()); break; case 0x03: // 处理订阅消息 @@ -1070,7 +973,9 @@ case (byte) 0xA9: // 处理无人机遥测消息 UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand; UavTelemetryDataCache.put(uavTelemetryDataCmd.getTelemetryData()); TelemetryData telemetryData = uavTelemetryDataCmd.getTelemetryData(); telemetryData.setTimestamp(System.currentTimeMillis());//由于六合提供的状态时间戳不准，先以接收状态作为时间戳 UavTelemetryDataCache.put(telemetryData); //logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn()); //WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData()); break; @@ -1097,9 +1002,10 @@ 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; logPrint("格式化存储卡", formatSdCardReplyCmd.getResult(), formatSdCardReplyCmd.getErrorCode()); } if (tyCommand instanceof CapturePicReplyCmd) { CapturePicReplyCmd capturePicReplyCommand = (CapturePicReplyCmd) tyCommand; @@ -1161,23 +1067,53 @@ } //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) { @@ -1190,6 +1126,12 @@ ReturnPointSettingReplyCmd returnPointSettingReplyCmd = (ReturnPointSettingReplyCmd) tyCommand; logPrint("设置返航点", returnPointSettingReplyCmd.getResult(), returnPointSettingReplyCmd.getErrorCode()); } //到达环绕位置回复 if (tyCommand instanceof FlyRoundReplyCmd) { FlyRoundReplyCmd flyRoundReplyCmd = (FlyRoundReplyCmd) tyCommand; logPrint("到达环绕位置", flyRoundReplyCmd.getResult(), flyRoundReplyCmd.getErrorCode()); } break; case (byte) 0xD2: @@ -1291,14 +1233,4 @@ private void sendMessage(String key, BaseCmd msg) { TcpClientUtil.sendMessage(key, msg); } // 判断无人机是否在线 private boolean isDroneOnline(String boxSn) { if (StringUtils.isBlank(boxSn)) { return false; } Object obj = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn); return obj != null; } }
