forked from uav/ard-uav-server
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
@@ -1,66 +1,65 @@ package com.ard.work.service.impl; import com.ard.common.utils.ByteUtils; import com.ard.work.aspect.annotation.CheckTakeoffAltitude; import com.ard.work.aspect.annotation.CheckControlRight; import com.ard.work.aspect.annotation.CheckTakeoffAltitude; import com.ard.work.component.forest.TyClient; import com.ard.work.component.netty.TcpClientUtil; import com.ard.work.component.netty.command.BaseCmd; import com.ard.work.component.netty.command.camera.*; import com.ard.work.component.netty.command.manual.*; import com.ard.work.component.netty.command.register.*; import com.ard.work.component.netty.command.settings.*; import com.ard.work.component.netty.command.speaker.*; import com.ard.work.component.netty.command.wayline.*; import com.ard.work.domain.dto.camera.*; import com.ard.work.domain.dto.manual.*; import com.ard.work.domain.dto.speaker.*; 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.receiver.*; import com.ard.work.component.forest.TyClient; 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.control.AbsAngleControlDTO; import com.ard.work.domain.dto.control.AngleControlDTO; import com.ard.work.domain.dto.control.SpeedControlDTO; import com.ard.work.domain.dto.converter.wayline.PlanLineDataConverter; import com.ard.work.domain.dto.settings.ReturnHeightSettingDTO; import com.ard.work.domain.dto.settings.ReturnPointSettingDTO; import com.ard.work.domain.dto.settings.VideoStreamSettingDTO; import com.ard.work.domain.dto.signal.SignalInfo; import com.ard.work.domain.dto.state.UavState; import com.ard.work.domain.dto.telemetry.TelemetryData; import com.ard.work.component.netty.command.control.AbsAngleControlCmd; import com.ard.work.component.netty.command.control.AngleControlCmd; 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.UavReadyReplyCmd; import com.ard.work.component.netty.command.real.SignalInfoCmd; import com.ard.work.component.netty.command.real.UavStateCmd; import com.ard.work.component.netty.command.real.UavTelemetryDataCmd; import com.ard.work.component.netty.command.register.*; import com.ard.work.component.netty.command.settings.*; import com.ard.work.component.netty.command.speaker.*; 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; 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.camera.*; import com.ard.work.domain.dto.control.AbsAngleControlDTO; import com.ard.work.domain.dto.control.AngleControlDTO; import com.ard.work.domain.dto.control.SpeedControlDTO; import com.ard.work.domain.dto.converter.wayline.PlanLineDataConverter; import com.ard.work.domain.dto.manual.*; import com.ard.work.domain.dto.settings.ReturnHeightSettingDTO; import com.ard.work.domain.dto.settings.ReturnPointSettingDTO; import com.ard.work.domain.dto.settings.VideoStreamSettingDTO; import com.ard.work.domain.dto.signal.SignalInfo; import com.ard.work.domain.dto.speaker.*; import com.ard.work.domain.dto.state.UavState; import com.ard.work.domain.dto.telemetry.TelemetryData; 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.message.BaseMessage; 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.IArdServerInfoService; import com.ard.work.service.ITyService; import com.ard.work.domain.message.UavControlType; import io.netty.channel.Channel; import io.netty.channel.ChannelFuture; import lombok.extern.slf4j.Slf4j; import org.springframework.stereotype.Service; import javax.annotation.Resource; import java.net.InetSocketAddress; import java.util.*; import java.util.stream.Collectors; import java.util.stream.Stream; import static com.ard.work.component.netty.TyTcpClientManager.channels; /** * TyServiceImpl @@ -79,7 +78,7 @@ private TyClient tyClient; /** * 获取六合token信息 * 获取边缘服务器token信息 * * @return AccessTokenReceiver */ @@ -89,14 +88,25 @@ } /** * 获取云盒列表 * 获取全部云盒列表 * * @return List<BoxInfoReceiver> */ @Override public List<BoxInfoReceiver> getBoxList() { List<ArdServerInfo> ardServerInfos = ardServerService.selectArdServerInfoList(new ArdServerInfo()); List<ArdServerInfo> ardServerInfos = ardServerService.getServerLsNoPermission(new ArdServerInfo()); return getBoxList(ardServerInfos); } /** * 获取指定服务器云盒列表 * * @return List<BoxInfoReceiver> */ @Override public List<BoxInfoReceiver> getBoxList(String serverId) { TyHttpCommonReceiver<List<BoxInfoReceiver>> boxList = tyClient.getBoxList(serverId); return boxList == null ? null : boxList.getContent(); } /** @@ -107,8 +117,13 @@ @Override public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(),boxSn); return boxLiveUrl.getContent(); 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 == null ? null : boxLiveUrl.getContent(); } /** @@ -121,7 +136,7 @@ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxHistoryDTO.getBoxSn()); TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(ardDroneInfo.getServerId(), boxHistoryDTO); return boxHistory.getContent(); return boxHistory == null ? null : boxHistory.getContent(); } /** @@ -132,8 +147,9 @@ @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(); } /** @@ -142,7 +158,7 @@ @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; } @@ -180,7 +196,7 @@ } /** * 注册六合平台 * 注册边缘服务器平台 */ @Override public Boolean registerMessage(String serverId) { @@ -189,7 +205,7 @@ RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes()); this.sendMessage(serverId, registerMessage); } catch (Exception e) { log.error("注册六合平台失败:{}", e.getMessage()); log.error("注册边缘服务器平台失败:{}", e.getMessage()); } return true; } @@ -468,7 +484,7 @@ */ @Override public UavState getUavState(String boxSn) { return UavStateCache.getUavState(boxSn); return UavStateCache.get(boxSn); } /** @@ -476,7 +492,7 @@ */ @Override public TelemetryData getUavTelemetryData(String boxSn) { return UavTelemetryDataCache.getUavTelemetryData(boxSn); return UavTelemetryDataCache.get(boxSn); } /** @@ -484,7 +500,7 @@ */ @Override public SignalInfo getSignalInfo(String boxSn) { return UavSignalInfoCache.getUavSignalInfo(boxSn); return UavSignalInfoCache.get(boxSn); } /** @@ -647,7 +663,7 @@ } /** * 处理六合服务器返回的消息 * 处理边缘服务器返回的消息 */ @Override public void processReplyMessage(String key, BaseCmd tyCommand) { @@ -665,8 +681,8 @@ 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 @@ -687,14 +703,14 @@ 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; @@ -702,7 +718,7 @@ 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: @@ -831,7 +847,7 @@ } /** * 根据[服务器id]获取六合盒子列表 * 根据[服务器id]获取边缘服务器盒子列表 */ @Override public List<BoxInfoReceiver> getBoxSnToList(String id) { @@ -873,6 +889,7 @@ private List<BoxInfoReceiver> getBoxList(List<ArdServerInfo> ls) { return ls.stream() .filter(ardServerInfo -> ardServerInfo.getServerStatus().equals("1")) .flatMap(ardServerInfo -> { try { List<BoxInfoReceiver> boxes = tyClient.getBoxList(ardServerInfo.getId()).getContent(); @@ -887,37 +904,32 @@ //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); ServerReplyMessage serverReplyMessage = ServerReplyMessage.builder().message(text).build(); WebSocketUtil.sendMessage("reply", serverReplyMessage); log.debug(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 状态码：%d【%s】", message, ByteUtils.byteToHex(result), //ByteUtils.byteToHex(result), errorCode, ErrorCodeEnum.getDescByCode(errorCode)); ErrorCodeEnum.getDescByCode(errorCode) ); ServerReplyMessage serverReplyMessage = ServerReplyMessage.builder().message(text).build(); WebSocketUtil.sendMessage("reply", serverReplyMessage); log.debug(text); } /** * 发送消息 * 发送tcp消息 */ private void sendMessage(String key, BaseCmd msg) { try { ChannelFuture future = 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("向六合服务器【{}:{}】发送数据，命令码：{}", host, port, String.format("0x%02X", msg.getCmdCode() & 0xFF)); } else { log.error("与六合服务器链接断开，无法发送数据！"); } } catch (Exception e) { log.error("发送消息异常：{}", e.getMessage()); } TcpClientUtil.sendMessage(key, msg); } }
