forked from uav/ard-uav-server
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
@@ -23,6 +23,7 @@ import com.ard.work.component.netty.command.wayline.*; 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.domain.cache.UavSignalInfoCache; import com.ard.work.domain.cache.UavStateCache; import com.ard.work.domain.cache.UavTelemetryDataCache; @@ -52,6 +53,7 @@ import com.ard.work.service.ITyService; import lombok.extern.slf4j.Slf4j; import org.springframework.stereotype.Service; import javax.annotation.Resource; import java.util.*; import java.util.stream.Collectors; @@ -93,6 +95,7 @@ List<ArdServerInfo> ardServerInfos = ardServerService.selectArdServerInfoList(new ArdServerInfo()); return getBoxList(ardServerInfos); } /** * 获取指定服务器云盒列表 * @@ -101,8 +104,9 @@ @Override public List<BoxInfoReceiver> getBoxList(String serverId) { TyHttpCommonReceiver<List<BoxInfoReceiver>> boxList = tyClient.getBoxList(serverId); return boxList.getContent(); return boxList == null ? null : boxList.getContent(); } /** * 获取直播地址 * @@ -111,12 +115,13 @@ @Override public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if(ardDroneInfo== null){ log.warn("未找到对应的飞行器信息,boxSn:{}",boxSn); if (ardDroneInfo == null) { log.warn("未找到对应的飞行器信息,boxSn:{}", boxSn); return null; } TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(),boxSn); return boxLiveUrl.getContent(); TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(), boxSn); return boxLiveUrl == null ? null : boxLiveUrl.getContent(); } /** @@ -129,7 +134,7 @@ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxHistoryDTO.getBoxSn()); TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(ardDroneInfo.getServerId(), boxHistoryDTO); return boxHistory.getContent(); return boxHistory == null ? null : boxHistory.getContent(); } /** @@ -140,8 +145,9 @@ @Override public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxPhotosDTO.getBoxSn()); TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(ardDroneInfo.getServerId(),boxPhotosDTO); return boxPhotos.getContent(); TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(ardDroneInfo.getServerId(), boxPhotosDTO); return boxPhotos == null ? null : boxPhotos.getContent(); } /** @@ -150,7 +156,7 @@ @Override public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSettingsDTO.getBoxSn()); TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(ardDroneInfo.getServerId(),boxSettingsDTO); TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(ardDroneInfo.getServerId(), boxSettingsDTO); return result.getState() == 1; } @@ -476,7 +482,7 @@ */ @Override public UavState getUavState(String boxSn) { return UavStateCache.getUavState(boxSn); return UavStateCache.get(boxSn); } /** @@ -484,7 +490,7 @@ */ @Override public TelemetryData getUavTelemetryData(String boxSn) { return UavTelemetryDataCache.getUavTelemetryData(boxSn); return UavTelemetryDataCache.get(boxSn); } /** @@ -492,7 +498,7 @@ */ @Override public SignalInfo getSignalInfo(String boxSn) { return UavSignalInfoCache.getUavSignalInfo(boxSn); return UavSignalInfoCache.get(boxSn); } /** @@ -673,8 +679,8 @@ break; case 0x02: // 处理注册消息 HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand; logPrint("心跳消息", heartbeatReplyCmd.getTimestamp()); HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand; logPrint("心跳消息", heartbeatReplyCmd.getTimestamp()); break; case 0x03: // 处理订阅消息 @@ -695,14 +701,14 @@ case (byte) 0xA8: // 处理无人机状态消息 UavStateCmd uavStateCmd = (UavStateCmd) tyCommand; UavStateCache.putUavState(uavStateCmd.getUavState()); UavStateCache.put(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; UavTelemetryDataCache.putUavTelemetryData(uavTelemetryDataCmd.getTelemetryData()); UavTelemetryDataCache.put(uavTelemetryDataCmd.getTelemetryData()); //logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn()); //WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData()); break; @@ -710,7 +716,7 @@ case (byte) 0x0C: // 处理无人机信道质量数据 SignalInfoCmd signalInfoCmd = (SignalInfoCmd) tyCommand; UavSignalInfoCache.putUavSignalInfoCache(signalInfoCmd.getSignalInfo()); UavSignalInfoCache.put(signalInfoCmd.getSignalInfo()); //logPrint("无人机信道质量", signalInfoCmd.getSignalInfo().getBoxSn()); break; case (byte) 0xD1: @@ -896,21 +902,27 @@ //公共日志打印 private void logPrint(String message, Object obj) { log.debug("收到{}回复{}", message, obj); String text = String.format("收到%s回复%s", message, obj); WebSocketUtil.sendMessageAll(text); log.info(text); } //公共日志打印 private void logPrint(String message, byte result, Integer errorCode) { log.info("收到{}回复:{} 错误码：{}【{}】", String text = String.format( "收到%s回复:%s 错误码：%d【%s】", message, ByteUtils.byteToHex(result), errorCode, ErrorCodeEnum.getDescByCode(errorCode)); ErrorCodeEnum.getDescByCode(errorCode) ); WebSocketUtil.sendMessageAll(text); log.info(text); } /** * 发送消息 * 发送tcp消息 */ private void sendMessage(String key, BaseCmd msg) { TcpClientUtil.sendMessage(key, msg);
