优化

liusuyi

2024-10-23 44b8d8b3407cacce19e3702c2167ecdf3db5d24c

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

@@ -6,10 +6,7 @@
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.BaseCommand;
import com.ard.tianyu.netty.command.ControlAngleCommand;
import com.ard.tianyu.netty.command.HeartbeatCommand;
import com.ard.tianyu.netty.command.RegisterCommand;
import com.ard.tianyu.netty.command.*;
import com.ard.tianyu.netty.TyNettyTcpClient;
import com.ard.tianyu.service.ITyService;
import io.netty.buffer.ByteBuf;
@@ -22,6 +19,7 @@

import javax.annotation.Resource;
import java.net.InetSocketAddress;
import java.util.ArrayList;
import java.util.List;

/**
@@ -58,8 +56,13 @@
    @Override
    public List<BoxInfoReceiver> getBoxList() {
        //请求云盒列表
        TyHttpCommonReceiver<List<BoxInfoReceiver>> 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<>();
        }
    }

    /**
@@ -116,11 +119,19 @@
    }

    /**
     * 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).getFuture();
            ChannelFuture future = TyNettyTcpClient.channels.get(key).getChannelFuture();
            Channel channel = future.channel();
            if (channel.isActive()) {
                InetSocketAddress ipSocket = (InetSocketAddress) channel.remoteAddress();
@@ -130,7 +141,7 @@
                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.info("向天宇服务器【{}:{}】发送数据，命令码：{}", host, port, String.format("0x%02X", msg.getCmdCode() & 0xFF));
                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！");
            }
@@ -139,13 +150,58 @@
        }
    }

    /**
     * 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);
    }

    @Scheduled(fixedRate = 5000)
    @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 = 3000)
    public void sendHeartBeat() {
        long timestamp = System.currentTimeMillis();
        log.debug("定时向天宇发送⼼跳,时间戳{}", timestamp);