forked from uav/ard-uav-server
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java
@@ -1,6 +1,7 @@ package com.ard.tianyu.service.impl; import com.ard.common.utils.ByteUtils; import com.ard.tianyu.aspect.annotation.CheckControlAuthority; import com.ard.tianyu.config.TyConfiguration; import com.ard.tianyu.http.TyClient; import com.ard.tianyu.model.cache.TyTcpServerCache; @@ -155,34 +156,37 @@ * 设置返航高度 */ @Override public void updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO) { public Boolean updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO) { ReturnHeightSettingCmd returnHeightSettingCmd = new ReturnHeightSettingCmd(returnHeightSettingDTO); this.sendMessage(tyConfiguration.getIpPort(), returnHeightSettingCmd); return true; } /** * 设置返航点 */ @Override public void updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO) { public Boolean updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO) { ReturnPointSettingCmd returnPointSettingCmd = new ReturnPointSettingCmd(returnPointSettingDTO); this.sendMessage(tyConfiguration.getIpPort(), returnPointSettingCmd); return true; } /** * 设置视频码流 */ @Override public void updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO) { public Boolean updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO) { VideoStreamSettingCmd videoStreamSettingCmd = new VideoStreamSettingCmd(videoStreamSettingDTO); this.sendMessage(tyConfiguration.getIpPort(), videoStreamSettingCmd); return true; } /** * 注册天宇平台 */ @Override public void registerMessage() { public Boolean registerMessage() { try { AccessTokenReceiver tyToken = tyConfiguration.getAccessToken(); RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes()); @@ -190,59 +194,65 @@ } catch (Exception e) { log.error("注册天宇平台失败:{}", e.getMessage()); } return true; } /** * 云台控制基于角度 */ @Override public void angleControl(AngleControlDTO angleControlDto) { public Boolean angleControl(AngleControlDTO angleControlDto) { AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto); this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand); return true; } /** * 云台绝对值控制(基于角度) */ @Override public void absAngleControl(AbsAngleControlDTO absAngleControlDto) { public Boolean absAngleControl(AbsAngleControlDTO absAngleControlDto) { AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto); this.sendMessage(tyConfiguration.getIpPort(), absAngleControlCommand); return true; } /** * 云台转动(基于速度) */ @Override public void speedControl(SpeedControlDTO speedControlDto) { public Boolean speedControl(SpeedControlDTO speedControlDto) { SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto); this.sendMessage(tyConfiguration.getIpPort(), speedControlCommand); return true; } /** * 设置相机模式 */ @Override public void updateCameraMode(CameraModeDTO cameraModeDTO) { public Boolean updateCameraMode(CameraModeDTO cameraModeDTO) { CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO); this.sendMessage(tyConfiguration.getIpPort(), cameraModeCommand); return true; } /** * 拍照 */ @Override public void capturePic(CapturePicDTO capturePicDto) { public Boolean capturePic(CapturePicDTO capturePicDto) { updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build()); CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto); this.sendMessage(tyConfiguration.getIpPort(), capturePicCommand); return true; } /** * 录像 */ @Override public void record(RecordDTO recordDto) { public Boolean record(RecordDTO recordDto) { BaseCmd baseCmd; if (recordDto.getIsRecord()) { updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build()); @@ -251,150 +261,168 @@ baseCmd = new RecordStopCmd(recordDto); } this.sendMessage(tyConfiguration.getIpPort(), baseCmd); return true; } /** * 变倍 */ @Override public void zoom(ZoomDTO zoomDTO) { public Boolean zoom(ZoomDTO zoomDTO) { ZoomCmd zoomCommand = new ZoomCmd(zoomDTO); this.sendMessage(tyConfiguration.getIpPort(), zoomCommand); return true; } /** * 变倍到指定倍数 */ @Override public void zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) { public Boolean zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) { ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO); this.sendMessage(tyConfiguration.getIpPort(), zoomToLevelCommand); return true; } /** * 切换摄像头 */ @Override public void switchCamera(SwitchCameraDTO switchCameraDTO) { public Boolean switchCamera(SwitchCameraDTO switchCameraDTO) { SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO); this.sendMessage(tyConfiguration.getIpPort(), switchCameraCmd); return true; } /** * 切换视频源 */ @Override public void switchSource(SwitchSourceDTO switchSourceDTO) { public Boolean switchSource(SwitchSourceDTO switchSourceDTO) { SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO); this.sendMessage(tyConfiguration.getIpPort(), switchSourceCmd); return true; } /** * 打开或关闭照片回传 */ @Override public void photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) { public Boolean photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) { PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO); this.sendMessage(tyConfiguration.getIpPort(), photoReturnToggleCmd); return true; } /** * 切换无人机控制权 */ @Override public void switchUavControl(SwitchUavControlDTO switchUavControlDTO) { public Boolean switchUavControl(SwitchUavControlDTO switchUavControlDTO) { SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO); this.sendMessage(tyConfiguration.getIpPort(), switchUavControlCmd); return true; } /** * 起飞 */ @CheckControlAuthority @Override public void takeOff(TakeOffDTO takeOffDTO) { public Boolean takeOff(TakeOffDTO takeOffDTO) { TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO); this.sendMessage(tyConfiguration.getIpPort(), takeOffCmd); return true; } /** * 返航 */ @Override public void returnHome(ReturnHomeDTO returnHomeDTO) { public Boolean returnHome(ReturnHomeDTO returnHomeDTO) { ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO); this.sendMessage(tyConfiguration.getIpPort(), returnHomeCmd); return true; } /** * 取消返航 */ @Override public void returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) { public Boolean returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) { ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO); this.sendMessage(tyConfiguration.getIpPort(), returnHomeCancelCmd); return true; } /** * 降落 */ @Override public void land(LandDTO landDTO) { public Boolean land(LandDTO landDTO) { LandCmd landCmd = new LandCmd(landDTO); this.sendMessage(tyConfiguration.getIpPort(), landCmd); return true; } /** * 取消降落 */ @Override public void landCancel(LandCancelDTO landCancelDTO) { public Boolean landCancel(LandCancelDTO landCancelDTO) { LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO); this.sendMessage(tyConfiguration.getIpPort(), landCancelCmd); return true; } /** * 强制降落 */ @Override public void landForced(LandForcedDTO landForcedDTO) { public Boolean landForced(LandForcedDTO landForcedDTO) { LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO); this.sendMessage(tyConfiguration.getIpPort(), landForcedCmd); return true; } /** * 方向控制 */ @Override public void flyControl(FlyControlDTO flyControlDTO) { public Boolean flyControl(FlyControlDTO flyControlDTO) { FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO); this.sendMessage(tyConfiguration.getIpPort(), flyControlCmd); return true; } /** * 指点飞行控制 */ @Override public void flyPointControl(FlyPointControlDTO flyPointControlDTO) { public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) { FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO); this.sendMessage(tyConfiguration.getIpPort(), flyPointControlCmd); return true; } /** * 停止指点飞行控制 */ @Override public void flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) { public Boolean flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) { FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO); this.sendMessage(tyConfiguration.getIpPort(), flyPointControlCancelCmd); return true; } /** * 紧急制动 */ @Override public void emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) { public Boolean emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) { EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO); this.sendMessage(tyConfiguration.getIpPort(), emergencyBrakeCmd); return true; } /** @@ -568,14 +596,14 @@ * 点播 */ @Override public String play(String boxSn) { public ArdVtdu play(String boxSn) { BoxStreamUrlReceiver boxLiveUrl = getBoxLiveUrl(boxSn); if(boxLiveUrl == null||boxLiveUrl.getRtsp() == null) { return ""; return null; } ArdVtdu ardVtdu = ArdVtdu.builder().name(boxSn).rtspSource(boxLiveUrl.getRtsp()).build(); ardVtdu = mediaService.addPath(ardVtdu); return ardVtdu.getWebrtcUrl(); return ardVtdu; } /**
