forked from uav/ard-uav-server
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
@@ -1,6 +1,7 @@ package com.ard.work.service.impl; import com.ard.common.exception.ControlException; import com.ard.vtdu.config.MediamtxConfig; import com.ard.work.aspect.annotation.CheckControlRight; import com.ard.work.aspect.annotation.CheckDroneStatus; import com.ard.work.aspect.annotation.CheckNoFlyZone; @@ -33,6 +34,7 @@ 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.BoxVideosDTO; import com.ard.work.domain.dto.camera.*; import com.ard.work.domain.dto.control.AbsAngleControlDTO; import com.ard.work.domain.dto.control.AngleControlDTO; @@ -44,6 +46,7 @@ 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.PointData; import com.ard.work.domain.dto.state.UavState; import com.ard.work.domain.dto.telemetry.TelemetryData; import com.ard.work.domain.dto.wayline.*; @@ -84,9 +87,10 @@ private TyClient tyClient; @Autowired private RouteStateMachineService stateMachineService; @Autowired private IArdFlightTaskPartService ardFlightTaskPartService; @Resource private UavPositionChangeService uavPositionChangeService; @Resource private UavRegionDetectService uavRegionDetectService; /** * 获取边缘服务器token信息 * @@ -157,7 +161,7 @@ } /** * 获取盒子图片 * 获取任务图片 * * @return List<BoxPhotosReceiver> */ @@ -172,7 +176,22 @@ boxPhotosDTO); return boxPhotos == null ? null : boxPhotos.getContent(); } /** * 获取任务视频 * * @return List<BoxVideosReceiver> */ @Override public List<BoxVideosReceiver> getBoxVideos(BoxVideosDTO boxVideosDTO) { String boxSn = boxVideosDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } TyHttpCommonReceiver<List<BoxVideosReceiver>> boxVideos = tyClient.getBoxVideos(ardDroneInfo.getServerId(), boxVideosDTO); return boxVideos == null ? null : boxVideos.getContent(); } /** * 修改云盒设置 */ @@ -336,9 +355,10 @@ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } //设置相机模式为拍照模式 updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build()); //updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build()); //设置拍照回传 photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build()); //photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01) // .build()); CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto); this.sendMessage(ardDroneInfo.getServerId(), capturePicCommand); @@ -358,7 +378,7 @@ } BaseCmd baseCmd; if (recordDto.getIsRecord()) { updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build()); //updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build()); baseCmd = new RecordStartCmd(recordDto); } else { baseCmd = new RecordStopCmd(recordDto); @@ -589,6 +609,10 @@ if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } //打点之前先停止打点 FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(FlyPointControlCancelDTO.builder().boxSn(boxSn).build()); this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd); FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO); this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd); return true; @@ -616,6 +640,9 @@ /** * 环绕飞行控制 */ // @CheckControlRight(UavControlType.FLY) // @CheckTakeoffAltitude // @CheckNoFlyZone @Override public Boolean FlyRoundControl(FlyRoundControlDTO flyRoundControlDTO) { String boxSn = flyRoundControlDTO.getBoxSn(); @@ -801,13 +828,33 @@ if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } if ("3".equals(wayLineUploadDTO.getWayLineData().getRouteType())){ CreateWayLineUploadDTO(wayLineUploadDTO); } //wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据 System.out.println("wayLineUploadDTO:-----------------" + wayLineUploadDTO); log.info("打印数据 ++++ wayLineUploadDTO:-----------------" + wayLineUploadDTO); log.info("打印航线上传数据 ++++++++ wayLineUploadDTO:~~~~~~~~~~~~~~~" + wayLineUploadDTO); WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO); System.out.println("wayLineUploadCmd:-----------------" + wayLineUploadCmd); this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd); return true; } /** * 根据航线类型重新加工每个行点的高度 * 如果行点类型是精细化巡检 */ private void CreateWayLineUploadDTO(WayLineUploadDTO wayLineUploadDTO) { // 先获取遥测数据 String boxSn = wayLineUploadDTO.getBoxSn(); TelemetryData telemetryData = getUavTelemetryData(boxSn); if (telemetryData == null) { throw new ControlException("获取遥测数据失败, boxSn:{}" + boxSn); } float altitude = telemetryData.getAltitude(); for (PointData interest : wayLineUploadDTO.getWayLineData().getInterests()) { interest.setHeight(interest.getHeight() - altitude); } } //创建航线 @@ -957,6 +1004,16 @@ // 处理无人机遥测消息 UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand; TelemetryData telemetryData = uavTelemetryDataCmd.getTelemetryData(); // 判断是否需要触发区域检测 if (uavPositionChangeService.shouldTriggerRegionCheck(telemetryData)) { log.debug("无人机 {} 位置变化，触发区域检测", telemetryData.getBoxSn()); // 异步触发区域检测（不阻塞） uavRegionDetectService.detectRegionAsync(telemetryData); } else { log.debug("无人机 {} 位置未变化，跳过区域检测", telemetryData.getBoxSn()); } UavTelemetryDataCache.put(telemetryData); //logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn()); //WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData()); @@ -1146,6 +1203,30 @@ } /** * 开启爆闪灯 */ @Override public Boolean turnOnLight() { return null; } /** * 关闭爆闪灯 */ @Override public Boolean turnOffLight() { return null; } /** * 亮度调节 */ @Override public Boolean adjustBrightness() { return null; } /** * 根据[服务器id]查询无人机盒子列表 */ private List<ArdDroneInfo> getDroneLs(String serverId) {
