增加：航线开始/暂停/恢复/结束的回复解析

liusuyi

2024-11-01 3181d10cd687272c20252a020eeaa9974527dc14

 ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java

@@ -23,8 +23,7 @@
import com.ard.tianyu.model.dto.speaker.*;
import com.ard.tianyu.model.dto.state.UavState;
import com.ard.tianyu.model.dto.telemetry.TelemetryData;
import com.ard.tianyu.model.dto.wayline.PlanLineData;
import com.ard.tianyu.model.dto.wayline.WayLineUploadDTO;
import com.ard.tianyu.model.dto.wayline.*;
import com.ard.tianyu.model.receiver.*;
import com.ard.tianyu.netty.command.*;
import com.ard.tianyu.netty.TyNettyTcpClient;
@@ -41,8 +40,7 @@
import com.ard.tianyu.netty.command.real.UavTelemetryDataCmd;
import com.ard.tianyu.netty.command.register.*;
import com.ard.tianyu.netty.command.speaker.*;
import com.ard.tianyu.netty.command.wayline.WayLineUploadCmd;
import com.ard.tianyu.netty.command.wayline.WayLineUploadReplyCmd;
import com.ard.tianyu.netty.command.wayline.*;
import com.ard.tianyu.netty.handler.ErrorCodeEnum;
import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
import com.ard.tianyu.service.ITyService;
@@ -501,6 +499,42 @@
    }

    /**
     * 航线开始
     */
    @Override
    public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
        WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO);
        this.sendMessage(tyConfiguration.getIpPort(), wayLineBeginCmd);
    }

    /**
     * 航线暂停
     */
    @Override
    public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
        WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO);
        this.sendMessage(tyConfiguration.getIpPort(), wayLinePauseCmd);
    }

    /**
     * 航线恢复
     */
    @Override
    public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
        WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO);
        this.sendMessage(tyConfiguration.getIpPort(), wayLineResumeCmd);
    }

    /**
     * 航线结束
     */
    @Override
    public void wayLineEnd(WayLineEndDTO wayLineEndDTO) {
        WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);
        this.sendMessage(tyConfiguration.getIpPort(), wayLineEndCmd);
    }

    /**
     * 处理天宇服务器返回的消息
     */
    @Override
@@ -650,6 +684,26 @@
                    WayLineUploadReplyCmd wayLineUploadReplyCmd = (WayLineUploadReplyCmd) tyCommand;
                    logPrint("上传航线", wayLineUploadReplyCmd.getResult(), wayLineUploadReplyCmd.getErrorCode());
                }
                //开始航线回复
                if (tyCommand instanceof WayLineBeginReplyCmd) {
                    WayLineBeginReplyCmd wayLineBeginReplyCmd = (WayLineBeginReplyCmd) tyCommand;
                    logPrint("上传航线", wayLineBeginReplyCmd.getResult(), wayLineBeginReplyCmd.getErrorCode());
                }
                //暂停航线回复
                if (tyCommand instanceof WayLinePauseReplyCmd) {
                    WayLinePauseReplyCmd wayLinePauseReplyCmd = (WayLinePauseReplyCmd) tyCommand;
                    logPrint("上传航线", wayLinePauseReplyCmd.getResult(), wayLinePauseReplyCmd.getErrorCode());
                }
                //恢复航线回复
                if (tyCommand instanceof WayLineResumeReplyCmd) {
                    WayLineResumeReplyCmd wayLineResumeReplyCmd = (WayLineResumeReplyCmd) tyCommand;
                    logPrint("上传航线", wayLineResumeReplyCmd.getResult(), wayLineResumeReplyCmd.getErrorCode());
                }
                //结束航线回复
                if (tyCommand instanceof WayLineEndReplyCmd) {
                    WayLineEndReplyCmd wayLineEndReplyCmd = (WayLineEndReplyCmd) tyCommand;
                    logPrint("上传航线", wayLineEndReplyCmd.getResult(), wayLineEndReplyCmd.getErrorCode());
                }
                break;
            default:
                // 处理其他消息
@@ -676,8 +730,7 @@
     */
    @Scheduled(fixedRate = 3000)
    public void sendHeartBeat() {
        if(!TyTcpServerCache.getTcpServerCache(tyConfiguration.getTcpserver() + ":" + tyConfiguration.getTcpport()))
        {
        if (!TyTcpServerCache.getTcpServerCache(tyConfiguration.getTcpserver() + ":" + tyConfiguration.getTcpport())) {
            return;
        }
        long timestamp = System.currentTimeMillis();