增加回复指令通过websocket返回给前端

liusuyi

2025-10-22 1a09dd79bd0b156ceb13470c312e44e522238780

 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;
@@ -103,7 +104,7 @@
    @Override
    public List<BoxInfoReceiver> getBoxList(String serverId) {
        TyHttpCommonReceiver<List<BoxInfoReceiver>> boxList = tyClient.getBoxList(serverId);
        return boxList.getContent();
        return boxList == null ? null : boxList.getContent();
    }

    /**
@@ -133,7 +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();
    }

    /**
@@ -146,7 +147,7 @@
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxPhotosDTO.getBoxSn());
        TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(ardDroneInfo.getServerId(),
                boxPhotosDTO);
        return boxPhotos.getContent();
        return boxPhotos == null ? null : boxPhotos.getContent();
    }

    /**
@@ -481,7 +482,7 @@
     */
    @Override
    public UavState getUavState(String boxSn) {
        return UavStateCache.getUavState(boxSn);
        return UavStateCache.get(boxSn);
    }

    /**
@@ -489,7 +490,7 @@
     */
    @Override
    public TelemetryData getUavTelemetryData(String boxSn) {
        return UavTelemetryDataCache.getUavTelemetryData(boxSn);
        return UavTelemetryDataCache.get(boxSn);
    }

    /**
@@ -497,7 +498,7 @@
     */
    @Override
    public SignalInfo getSignalInfo(String boxSn) {
        return UavSignalInfoCache.getUavSignalInfo(boxSn);
        return UavSignalInfoCache.get(boxSn);
    }

    /**
@@ -700,14 +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;
@@ -715,7 +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:
@@ -901,21 +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);