forked from uav/ard-uav-server
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java
@@ -2,14 +2,24 @@ import com.ard.tianyu.config.TyConfiguration; import com.ard.tianyu.http.TyClient; import com.ard.tianyu.model.receiver.AccessTokenReceiver; import com.ard.tianyu.model.receiver.BoxReceiver; import com.ard.tianyu.model.receiver.TyHttpCommonReceiver; import com.ard.tianyu.model.dto.BoxHistoryDTO; import com.ard.tianyu.model.dto.BoxPhotosDTO; import com.ard.tianyu.model.dto.BoxSettingsDTO; import com.ard.tianyu.model.receiver.*; import com.ard.tianyu.netty.command.*; import com.ard.tianyu.netty.TyNettyTcpClient; import com.ard.tianyu.service.ITyService; import io.netty.buffer.ByteBuf; import io.netty.buffer.Unpooled; import io.netty.channel.Channel; import io.netty.channel.ChannelFuture; import lombok.extern.slf4j.Slf4j; import org.springframework.scheduling.annotation.Scheduled; import org.springframework.stereotype.Service; import javax.annotation.Resource; import java.util.Collections; import java.net.InetSocketAddress; import java.util.ArrayList; import java.util.List; /** @@ -18,24 +28,184 @@ * @author liusuyi * @date 2024年10月22日8:37 **/ @Slf4j @Service public class TyServiceImpl implements ITyService { @Resource private TyClient tyClient; @Resource private TyConfiguration tyConfiguration; /** * 获取天宇token信息 * * @return AccessTokenReceiver */ @Override public AccessTokenReceiver getAccessToken() { return tyConfiguration.getAccessToken(); } /** * 获取云盒列表 * * @return List<BoxInfoReceiver> */ @Override public List<BoxReceiver> getBoxList() { public List<BoxInfoReceiver> getBoxList() { //请求云盒列表 TyHttpCommonReceiver<List<BoxReceiver>> boxListReveiver = tyClient.getBoxList(tyConfiguration.getAccessToken().convertFromDTO()); return boxListReveiver.getContent(); try { TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReveiver = tyClient.getBoxList(tyConfiguration.getAccessToken().convertFromDTO()); return boxListReveiver.getContent(); } catch (Exception e) { log.error("获取云盒列表失败:{}", e.getMessage()); return new ArrayList<>(); } } } /** * 获取直播地址 * * @return BoxStreamUrlReceiver */ @Override public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) { TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(boxSn, tyConfiguration.getAccessToken().convertFromDTO()); return boxLiveUrl.getContent(); } /** * 获取飞行历史 * * @return List<BoxHistoryReceiver> */ @Override public List<BoxHistoryReceiver> getBoxHistory(BoxHistoryDTO boxHistoryDTO) { TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(boxHistoryDTO, tyConfiguration.getAccessToken().convertFromDTO()); return boxHistory.getContent(); } /** * 获取盒子图片 * * @return List<BoxPhotosReceiver> */ @Override public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) { TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(boxPhotosDTO, tyConfiguration.getAccessToken().convertFromDTO()); return boxPhotos.getContent(); } /** * 修改云盒设置 */ @Override public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) { TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(boxSettingsDTO, tyConfiguration.getAccessToken().convertFromDTO()); return result.getState() == 1; } /** * 注册天宇平台 */ @Override public void registerMessage() { AccessTokenReceiver tyToken = tyConfiguration.getAccessToken(); RegisterCommand registerMessage = new RegisterCommand(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes()); this.sendMessage(tyConfiguration.getIpPort(), registerMessage); } /** * 无人机控制订阅 */ public void uavControlSubscribe(String boxSn) { SubscribeCommand subscribeCommand = new SubscribeCommand(boxSn); this.sendMessage(tyConfiguration.getIpPort(), subscribeCommand); } /** * 发送消息 */ public void sendMessage(String key, BaseCommand 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(); // 创建 ByteBuf 并编码消息 ByteBuf buffer = Unpooled.buffer(); msg.encode(buffer); // 确保对消息进行编码 channel.writeAndFlush(buffer); // 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()); } } /** * 云台控制基于角度 */ @Override public void controlAngle(String boxSn) { ControlAngleCommand controlAngleCommand = new ControlAngleCommand(boxSn.getBytes(), (byte) 0x00, (byte) 0x00, (byte) 0x05); this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand); } @Override public void processMessage(String key, BaseCommand tyCommand) { byte cmdCode = tyCommand.getCmdCode(); switch (cmdCode) { case 0x01: // 处理心跳消息 RegisterReplyCommand registerReplyCommand = (RegisterReplyCommand) tyCommand; log.info("收到注册消息-->处理注册消息{}", registerReplyCommand.getSuccess()); if (registerReplyCommand.getSuccess() != 1) { // 注册失败，重新注册 log.info("注册失败，重新注册"); registerMessage(); } break; case 0x02: // 处理注册消息 HeartbeatReplyCommand heartbeatReplyCommand = (HeartbeatReplyCommand) tyCommand; log.info("收到心跳消息-->处理心跳消息{}", heartbeatReplyCommand.getTimestamp()); break; case 0x03: // 处理订阅消息 SubscribeCommand subscribeCommand = (SubscribeCommand) tyCommand; log.info("收到订阅消息-->处理订阅消息{}", subscribeCommand.getBoxSn()); break; case 0x04: // 处理取消订阅消息 subscribeCommand = (SubscribeCommand) tyCommand; log.info("收到取消订阅消息-->处理取消订阅消息{}", subscribeCommand.getBoxSn()); break; case (byte) 0xA8: // 处理无人机状态消息 log.info("收到无人机状态消息-->无人机状态消息"); break; case (byte) 0xA9: // 处理无人机遥测消息 log.info("收到无人机遥测消息-->无人机遥测消息"); break; default: // 处理其他消息 } } @Scheduled(fixedRate = 5000) public void sendHeartBeat() { long timestamp = System.currentTimeMillis(); log.debug("定时向天宇发送⼼跳,时间戳{}", timestamp); HeartbeatCommand heartbeatMessage = new HeartbeatCommand(timestamp); this.sendMessage(tyConfiguration.getIpPort(), heartbeatMessage); } }
