forked from uav/ard-uav-server
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
@@ -1,71 +1,62 @@ package com.ard.work.service.impl; import com.ard.common.utils.ByteUtils; import com.ard.work.aspect.annotation.CheckTakeoffAltitude; import com.ard.work.aspect.annotation.CheckControlRight; import com.ard.work.component.netty.TcpClientSession; import com.ard.work.component.netty.TyTcpClientManager; import com.ard.work.aspect.annotation.CheckTakeoffAltitude; import com.ard.work.component.forest.TyClient; import com.ard.work.component.netty.TcpClientUtil; import com.ard.work.component.netty.command.BaseCmd; import com.ard.work.component.netty.command.camera.*; import com.ard.work.component.netty.command.manual.*; import com.ard.work.component.netty.command.register.*; import com.ard.work.component.netty.command.settings.*; import com.ard.work.component.netty.command.speaker.*; import com.ard.work.component.netty.command.wayline.*; import com.ard.work.domain.dto.camera.*; import com.ard.work.domain.dto.manual.*; import com.ard.work.domain.dto.speaker.*; import com.ard.work.domain.dto.wayline.*; import com.ard.work.domain.entity.ArdDroneInfo; import com.ard.work.domain.entity.ArdServerInfo; import com.ard.work.domain.receiver.*; import com.ard.work.component.forest.TyClient; import com.ard.work.domain.cache.UavSignalInfoCache; import com.ard.work.domain.cache.UavStateCache; import com.ard.work.domain.cache.UavTelemetryDataCache; 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.control.AbsAngleControlDTO; import com.ard.work.domain.dto.control.AngleControlDTO; import com.ard.work.domain.dto.control.SpeedControlDTO; import com.ard.work.domain.dto.converter.wayline.PlanLineDataConverter; import com.ard.work.domain.dto.settings.ReturnHeightSettingDTO; import com.ard.work.domain.dto.settings.ReturnPointSettingDTO; import com.ard.work.domain.dto.settings.VideoStreamSettingDTO; import com.ard.work.domain.dto.signal.SignalInfo; import com.ard.work.domain.dto.state.UavState; import com.ard.work.domain.dto.telemetry.TelemetryData; import com.ard.work.component.netty.command.control.AbsAngleControlCmd; import com.ard.work.component.netty.command.control.AngleControlCmd; import com.ard.work.component.netty.command.control.SpeedControlCmd; import com.ard.work.component.netty.command.manual.*; import com.ard.work.component.netty.command.notice.BoxPowerStatusReplyCmd; import com.ard.work.component.netty.command.notice.FlyWayEndReplyCmd; import com.ard.work.component.netty.command.notice.UavReadyReplyCmd; import com.ard.work.component.netty.command.real.SignalInfoCmd; import com.ard.work.component.netty.command.real.UavStateCmd; import com.ard.work.component.netty.command.real.UavTelemetryDataCmd; import com.ard.work.component.netty.command.register.*; import com.ard.work.component.netty.command.settings.*; import com.ard.work.component.netty.command.speaker.*; import com.ard.work.component.netty.command.wayline.*; import com.ard.work.component.netty.handler.ErrorCodeEnum; import com.ard.work.component.netty.protobuf.TelemetryDataPB; import com.ard.work.service.IArdDroneService; import com.ard.work.service.IArdServerService; import com.ard.work.service.ITyService; import com.ard.work.domain.cache.UavSignalInfoCache; import com.ard.work.domain.cache.UavStateCache; import com.ard.work.domain.cache.UavTelemetryDataCache; 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.camera.*; import com.ard.work.domain.dto.control.AbsAngleControlDTO; import com.ard.work.domain.dto.control.AngleControlDTO; import com.ard.work.domain.dto.control.SpeedControlDTO; import com.ard.work.domain.dto.converter.wayline.PlanLineDataConverter; import com.ard.work.domain.dto.manual.*; import com.ard.work.domain.dto.settings.ReturnHeightSettingDTO; import com.ard.work.domain.dto.settings.ReturnPointSettingDTO; 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.UavState; import com.ard.work.domain.dto.telemetry.TelemetryData; import com.ard.work.domain.dto.wayline.*; import com.ard.work.domain.entity.ArdDroneInfo; import com.ard.work.domain.entity.ArdServerInfo; import com.ard.work.domain.message.UavControlType; import io.netty.channel.Channel; import io.netty.channel.ChannelFuture; import com.ard.work.domain.receiver.*; import com.ard.work.service.IArdDroneInfoService; import com.ard.work.service.IArdServerInfoService; import com.ard.work.service.ITyService; import lombok.extern.slf4j.Slf4j; import org.springframework.scheduling.annotation.Scheduled; import org.springframework.stereotype.Service; import javax.annotation.Resource; import java.net.InetSocketAddress; import java.util.Collections; import java.util.List; import java.util.Optional; import java.util.*; import java.util.stream.Collectors; import java.util.stream.Stream; import static com.ard.work.component.netty.TyTcpClientManager.channels; /** * TyServiceImpl @@ -77,14 +68,14 @@ @Service public class TyServiceImpl implements ITyService { @Resource private IArdServerService ardServerService; private IArdServerInfoService ardServerService; @Resource private IArdDroneService ardDroneService; private IArdDroneInfoService ardDroneService; @Resource private TyClient tyClient; /** * 获取六合token信息 * 获取边缘服务器token信息 * * @return AccessTokenReceiver */ @@ -94,14 +85,25 @@ } /** * 获取云盒列表 * 获取全部云盒列表 * * @return List<BoxInfoReceiver> */ @Override public List<BoxInfoReceiver> getBoxList() { List<ArdServerInfo> ardServerInfos = ardServerService.selectArdServerManagementList(new ArdServerInfo()); List<ArdServerInfo> ardServerInfos = ardServerService.selectArdServerInfoList(new ArdServerInfo()); return getBoxList(ardServerInfos); } /** * 获取指定服务器云盒列表 * * @return List<BoxInfoReceiver> */ @Override public List<BoxInfoReceiver> getBoxList(String serverId) { TyHttpCommonReceiver<List<BoxInfoReceiver>> boxList = tyClient.getBoxList(serverId); return boxList == null ? null : boxList.getContent(); } /** @@ -112,9 +114,13 @@ @Override public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); String baseUrl="http://"+ardDroneInfo.getArdServerInfo().getHost()+":"+ardDroneInfo.getArdServerInfo().getHttpPort(); TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(baseUrl,boxSn); return boxLiveUrl.getContent(); if (ardDroneInfo == null) { log.warn("未找到对应的飞行器信息,boxSn:{}", boxSn); return null; } TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(), boxSn); return boxLiveUrl == null ? null : boxLiveUrl.getContent(); } /** @@ -125,9 +131,9 @@ @Override public List<BoxHistoryReceiver> getBoxHistory(BoxHistoryDTO boxHistoryDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxHistoryDTO.getBoxSn()); String baseUrl="http://"+ardDroneInfo.getArdServerInfo().getHost()+":"+ardDroneInfo.getArdServerInfo().getHttpPort(); TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(baseUrl,boxHistoryDTO); return boxHistory.getContent(); TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(ardDroneInfo.getServerId(), boxHistoryDTO); return boxHistory == null ? null : boxHistory.getContent(); } /** @@ -138,9 +144,9 @@ @Override public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxPhotosDTO.getBoxSn()); String baseUrl="http://"+ardDroneInfo.getArdServerInfo().getHost()+":"+ardDroneInfo.getArdServerInfo().getHttpPort(); TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(baseUrl,boxPhotosDTO); return boxPhotos.getContent(); TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(ardDroneInfo.getServerId(), boxPhotosDTO); return boxPhotos == null ? null : boxPhotos.getContent(); } /** @@ -149,8 +155,7 @@ @Override public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSettingsDTO.getBoxSn()); String baseUrl="http://"+ardDroneInfo.getArdServerInfo().getHost()+":"+ardDroneInfo.getArdServerInfo().getHttpPort(); TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(baseUrl,boxSettingsDTO); TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(ardDroneInfo.getServerId(), boxSettingsDTO); return result.getState() == 1; } @@ -161,7 +166,7 @@ public Boolean updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHeightSettingDTO.getBoxSn()); ReturnHeightSettingCmd returnHeightSettingCmd = new ReturnHeightSettingCmd(returnHeightSettingDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), returnHeightSettingCmd); this.sendMessage(ardDroneInfo.getServerId(), returnHeightSettingCmd); return true; } @@ -172,7 +177,7 @@ public Boolean updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnPointSettingDTO.getBoxSn()); ReturnPointSettingCmd returnPointSettingCmd = new ReturnPointSettingCmd(returnPointSettingDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), returnPointSettingCmd); this.sendMessage(ardDroneInfo.getServerId(), returnPointSettingCmd); return true; } @@ -183,12 +188,12 @@ public Boolean updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(videoStreamSettingDTO.getBoxSn()); VideoStreamSettingCmd videoStreamSettingCmd = new VideoStreamSettingCmd(videoStreamSettingDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), videoStreamSettingCmd); this.sendMessage(ardDroneInfo.getServerId(), videoStreamSettingCmd); return true; } /** * 注册六合平台 * 注册边缘服务器平台 */ @Override public Boolean registerMessage(String serverId) { @@ -197,7 +202,7 @@ RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes()); this.sendMessage(serverId, registerMessage); } catch (Exception e) { log.error("注册六合平台失败:{}", e.getMessage()); log.error("注册边缘服务器平台失败:{}", e.getMessage()); } return true; } @@ -210,7 +215,7 @@ public Boolean angleControl(AngleControlDTO angleControlDto) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(angleControlDto.getBoxSn()); AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto); this.sendMessage(ardDroneInfo.getServerInfoId(), controlAngleCommand); this.sendMessage(ardDroneInfo.getServerId(), controlAngleCommand); return true; } @@ -222,7 +227,7 @@ public Boolean absAngleControl(AbsAngleControlDTO absAngleControlDto) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(absAngleControlDto.getBoxSn()); AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto); this.sendMessage(ardDroneInfo.getServerInfoId(), absAngleControlCommand); this.sendMessage(ardDroneInfo.getServerId(), absAngleControlCommand); return true; } @@ -234,7 +239,7 @@ public Boolean speedControl(SpeedControlDTO speedControlDto) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(speedControlDto.getBoxSn()); SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto); this.sendMessage(ardDroneInfo.getServerInfoId(), speedControlCommand); this.sendMessage(ardDroneInfo.getServerId(), speedControlCommand); return true; } @@ -245,7 +250,7 @@ public Boolean updateCameraMode(CameraModeDTO cameraModeDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(cameraModeDTO.getBoxSn()); CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), cameraModeCommand); this.sendMessage(ardDroneInfo.getServerId(), cameraModeCommand); return true; } @@ -260,7 +265,7 @@ photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build()); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(capturePicDto.getBoxSn()); CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto); this.sendMessage(ardDroneInfo.getServerInfoId(), capturePicCommand); this.sendMessage(ardDroneInfo.getServerId(), capturePicCommand); return true; } @@ -277,7 +282,7 @@ baseCmd = new RecordStopCmd(recordDto); } ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(recordDto.getBoxSn()); this.sendMessage(ardDroneInfo.getServerInfoId(), baseCmd); this.sendMessage(ardDroneInfo.getServerId(), baseCmd); return true; } @@ -289,7 +294,7 @@ public Boolean zoom(ZoomDTO zoomDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(zoomDTO.getBoxSn()); ZoomCmd zoomCommand = new ZoomCmd(zoomDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), zoomCommand); this.sendMessage(ardDroneInfo.getServerId(), zoomCommand); return true; } @@ -301,7 +306,7 @@ public Boolean zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(zoomToLevelDTO.getBoxSn()); ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), zoomToLevelCommand); this.sendMessage(ardDroneInfo.getServerId(), zoomToLevelCommand); return true; } @@ -312,7 +317,7 @@ public Boolean switchCamera(SwitchCameraDTO switchCameraDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchCameraDTO.getBoxSn()); SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), switchCameraCmd); this.sendMessage(ardDroneInfo.getServerId(), switchCameraCmd); return true; } @@ -323,7 +328,7 @@ public Boolean switchSource(SwitchSourceDTO switchSourceDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchSourceDTO.getBoxSn()); SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), switchSourceCmd); this.sendMessage(ardDroneInfo.getServerId(), switchSourceCmd); return true; } @@ -334,7 +339,7 @@ public Boolean photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(photoReturnToggleDTO.getBoxSn()); PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), photoReturnToggleCmd); this.sendMessage(ardDroneInfo.getServerId(), photoReturnToggleCmd); return true; } @@ -345,7 +350,7 @@ public Boolean switchUavControl(SwitchUavControlDTO switchUavControlDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchUavControlDTO.getBoxSn()); SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), switchUavControlCmd); this.sendMessage(ardDroneInfo.getServerId(), switchUavControlCmd); return true; } @@ -357,7 +362,7 @@ public Boolean takeOff(TakeOffDTO takeOffDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(takeOffDTO.getBoxSn()); TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), takeOffCmd); this.sendMessage(ardDroneInfo.getServerId(), takeOffCmd); return true; } @@ -369,7 +374,7 @@ public Boolean returnHome(ReturnHomeDTO returnHomeDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHomeDTO.getBoxSn()); ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), returnHomeCmd); this.sendMessage(ardDroneInfo.getServerId(), returnHomeCmd); return true; } @@ -381,7 +386,7 @@ public Boolean returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHomeCancelDTO.getBoxSn()); ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), returnHomeCancelCmd); this.sendMessage(ardDroneInfo.getServerId(), returnHomeCancelCmd); return true; } @@ -393,7 +398,7 @@ public Boolean land(LandDTO landDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landDTO.getBoxSn()); LandCmd landCmd = new LandCmd(landDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), landCmd); this.sendMessage(ardDroneInfo.getServerId(), landCmd); return true; } @@ -405,7 +410,7 @@ public Boolean landCancel(LandCancelDTO landCancelDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landCancelDTO.getBoxSn()); LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), landCancelCmd); this.sendMessage(ardDroneInfo.getServerId(), landCancelCmd); return true; } @@ -417,7 +422,7 @@ public Boolean landForced(LandForcedDTO landForcedDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landForcedDTO.getBoxSn()); LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), landForcedCmd); this.sendMessage(ardDroneInfo.getServerId(), landForcedCmd); return true; } @@ -430,7 +435,7 @@ public Boolean flyControl(FlyControlDTO flyControlDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyControlDTO.getBoxSn()); FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), flyControlCmd); this.sendMessage(ardDroneInfo.getServerId(), flyControlCmd); return true; } @@ -443,7 +448,7 @@ public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyPointControlDTO.getBoxSn()); FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), flyPointControlCmd); this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd); return true; } @@ -455,7 +460,7 @@ public Boolean flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyPointControlCancelDTO.getBoxSn()); FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), flyPointControlCancelCmd); this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd); return true; } @@ -467,7 +472,7 @@ public Boolean emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(emeragencyBrakeDTO.getBoxSn()); EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), emergencyBrakeCmd); this.sendMessage(ardDroneInfo.getServerId(), emergencyBrakeCmd); return true; } @@ -476,7 +481,7 @@ */ @Override public UavState getUavState(String boxSn) { return UavStateCache.getUavState(boxSn); return UavStateCache.get(boxSn); } /** @@ -484,7 +489,7 @@ */ @Override public TelemetryData getUavTelemetryData(String boxSn) { return UavTelemetryDataCache.getUavTelemetryData(boxSn); return UavTelemetryDataCache.get(boxSn); } /** @@ -492,7 +497,7 @@ */ @Override public SignalInfo getSignalInfo(String boxSn) { return UavSignalInfoCache.getUavSignalInfo(boxSn); return UavSignalInfoCache.get(boxSn); } /** @@ -502,7 +507,7 @@ public void speakModeSwitch(SpeakModeSwitchDTO speakModeSwitchDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(speakModeSwitchDTO.getBoxSn()); SpeakModeSwitchCmd speakModeSwitchCmd = new SpeakModeSwitchCmd(speakModeSwitchDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), speakModeSwitchCmd); this.sendMessage(ardDroneInfo.getServerId(), speakModeSwitchCmd); } /** @@ -512,7 +517,7 @@ public void textSpeak(TextSpeakDTO textSpeakDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(textSpeakDTO.getBoxSn()); TextSpeakCmd textSpeakCmd = new TextSpeakCmd(textSpeakDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), textSpeakCmd); this.sendMessage(ardDroneInfo.getServerId(), textSpeakCmd); } /** @@ -522,7 +527,7 @@ public void realSpeak(RealSpeakDTO realSpeakDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(realSpeakDTO.getBoxSn()); RealSpeakCmd realSpeakCmd = new RealSpeakCmd(realSpeakDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), realSpeakCmd); this.sendMessage(ardDroneInfo.getServerId(), realSpeakCmd); } /** @@ -532,7 +537,7 @@ public void recordSpeak(RecordSpeakDTO recordSpeakDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(recordSpeakDTO.getBoxSn()); RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), recordSpeakCmd); this.sendMessage(ardDroneInfo.getServerId(), recordSpeakCmd); } /** @@ -542,7 +547,7 @@ public void volumeSetting(VolumeSettingDTO volumeSettingDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(volumeSettingDTO.getBoxSn()); VolumeSettingCmd volumeSettingCmd = new VolumeSettingCmd(volumeSettingDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), volumeSettingCmd); this.sendMessage(ardDroneInfo.getServerId(), volumeSettingCmd); } /** @@ -552,7 +557,7 @@ public void loopSetting(LoopSettingDTO loopSettingDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(loopSettingDTO.getBoxSn()); LoopSettingCmd loopSettingCmd = new LoopSettingCmd(loopSettingDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), loopSettingCmd); this.sendMessage(ardDroneInfo.getServerId(), loopSettingCmd); } /** @@ -562,7 +567,7 @@ public void stopSpeak(StopSpeakDTO stopSpeakDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(stopSpeakDTO.getBoxSn()); StopSpeakCmd stopSpeakCmd = new StopSpeakCmd(stopSpeakDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), stopSpeakCmd); this.sendMessage(ardDroneInfo.getServerId(), stopSpeakCmd); } /** @@ -573,7 +578,7 @@ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineUploadDTO.getBoxSn()); wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据 WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), wayLineUploadCmd); this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd); } //创建航线 @@ -618,7 +623,7 @@ public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineBeginDTO.getBoxSn()); WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), wayLineBeginCmd); this.sendMessage(ardDroneInfo.getServerId(), wayLineBeginCmd); } /** @@ -629,7 +634,7 @@ public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLinePauseDTO.getBoxSn()); WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), wayLinePauseCmd); this.sendMessage(ardDroneInfo.getServerId(), wayLinePauseCmd); } /** @@ -640,7 +645,7 @@ public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineResumeDTO.getBoxSn()); WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), wayLineResumeCmd); this.sendMessage(ardDroneInfo.getServerId(), wayLineResumeCmd); } /** @@ -651,11 +656,11 @@ public void wayLineEnd(WayLineEndDTO wayLineEndDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineEndDTO.getBoxSn()); WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), wayLineEndCmd); this.sendMessage(ardDroneInfo.getServerId(), wayLineEndCmd); } /** * 处理六合服务器返回的消息 * 处理边缘服务器返回的消息 */ @Override public void processReplyMessage(String key, BaseCmd tyCommand) { @@ -673,8 +678,8 @@ break; case 0x02: // 处理注册消息 HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand; logPrint("心跳消息", heartbeatReplyCmd.getTimestamp()); HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand; logPrint("心跳消息", heartbeatReplyCmd.getTimestamp()); break; case 0x03: // 处理订阅消息 @@ -695,14 +700,14 @@ case (byte) 0xA8: // 处理无人机状态消息 UavStateCmd uavStateCmd = (UavStateCmd) tyCommand; UavStateCache.putUavState(uavStateCmd.getUavState()); UavStateCache.put(uavStateCmd.getUavState()); //logPrint("无人机状态", uavStateCmd.getUavState().getBoxSn()); // WebSocketUtil.sendMessageAll(uavStateCmd.getUavState()); break; case (byte) 0xA9: // 处理无人机遥测消息 UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand; UavTelemetryDataCache.putUavTelemetryData(uavTelemetryDataCmd.getTelemetryData()); UavTelemetryDataCache.put(uavTelemetryDataCmd.getTelemetryData()); //logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn()); //WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData()); break; @@ -710,7 +715,7 @@ case (byte) 0x0C: // 处理无人机信道质量数据 SignalInfoCmd signalInfoCmd = (SignalInfoCmd) tyCommand; UavSignalInfoCache.putUavSignalInfoCache(signalInfoCmd.getSignalInfo()); UavSignalInfoCache.put(signalInfoCmd.getSignalInfo()); //logPrint("无人机信道质量", signalInfoCmd.getSignalInfo().getBoxSn()); break; case (byte) 0xD1: @@ -839,26 +844,55 @@ } /** * 根据boxSn获取六合盒子列表 * @return List<BoxInfoReceiver> * 根据[服务器id]获取边缘服务器盒子列表 */ @Override public List<BoxInfoReceiver> getBoxSnToList(String boxSn) { ArdServerInfo serverInfo = new ArdServerInfo(); serverInfo.setHost(boxSn); List<ArdServerInfo> ardServerInfos = ardServerService.selectArdServerManagementList(serverInfo); return getBoxList(ardServerInfos); public List<BoxInfoReceiver> getBoxSnToList(String id) { try { List<BoxInfoReceiver> remoteBoxList = tyClient.getBoxList(id).getContent(); List<ArdDroneInfo> existingDrones = getDroneLs(id); return existingDrones.isEmpty() ? remoteBoxList : filterBoxInfoReceivers(remoteBoxList, existingDrones); } catch (Exception e) { log.error("获取云盒列表失败, 服务器id: {}", id, e); return Collections.emptyList(); // 返回不可变空列表，更安全 } } /** * 根据[服务器id]查询无人机盒子列表 */ private List<ArdDroneInfo> getDroneLs(String serverId) { ArdDroneInfo query = new ArdDroneInfo(); query.setServerId(serverId); return ardDroneService.selectArdDroneList(query); } /** * 过滤掉在ardDroneInfos中已存在的boxSn */ public List<BoxInfoReceiver> filterBoxInfoReceivers( List<BoxInfoReceiver> boxInfoReceivers, List<ArdDroneInfo> ardDroneInfos) { Set<String> existingBoxSns = ardDroneInfos.stream() .map(ArdDroneInfo::getBoxSn) .filter(Objects::nonNull) .collect(Collectors.toSet()); return boxInfoReceivers.stream() .filter(box -> box.getBoxSn() != null && !existingBoxSns.contains(box.getBoxSn())) .collect(Collectors.toList()); } private List<BoxInfoReceiver> getBoxList(List<ArdServerInfo> ls) { return ls.stream() .filter(ardServerInfo -> ardServerInfo.getServerStatus().equals("1")) .flatMap(ardServerInfo -> { String baseUrl = "http://" + ardServerInfo.getHost() + ":" + ardServerInfo.getHttpPort(); try { List<BoxInfoReceiver> boxes = tyClient.getBoxList(baseUrl).getContent(); List<BoxInfoReceiver> boxes = tyClient.getBoxList(ardServerInfo.getId()).getContent(); return Optional.ofNullable(boxes).orElse(Collections.emptyList()).stream(); } catch (Exception e) { log.error("获取云盒列表失败: {}", baseUrl, e); log.error("获取云盒列表失败: {}", ardServerInfo.getId(), e); return Stream.empty(); } }) @@ -881,45 +915,10 @@ /** * 定时向所有已连接的六合服务器发送心跳 */ @Scheduled(fixedRate = 5000) // 每5秒执行一次 public void sendHeartBeat() { long timestamp = System.currentTimeMillis(); for (TcpClientSession session : channels.values()) { ChannelFuture future = session.getChannelFuture(); if (future == null || !future.channel().isActive()) { log.warn("边缘服务器 [{}] 连接未激活，跳过心跳发送", session.getServerId()); continue; } HeartbeatCmd heartbeat = new HeartbeatCmd(timestamp); future.channel().writeAndFlush(heartbeat); log.info("→ 向边缘服务器 [{}] ({}:{}) 发送心跳，时间戳={}", session.getServerId(), session.getHost(), session.getPort(), timestamp); } } /** * 发送消息 */ private void sendMessage(String key, BaseCmd msg) { try { ChannelFuture future = channels.get(key).getChannelFuture(); Channel channel = future.channel(); if (channel.isActive()) { InetSocketAddress ipSocket = (InetSocketAddress) channel.remoteAddress(); String host = ipSocket.getHostString(); int port = ipSocket.getPort(); channel.writeAndFlush(msg); // 发送编码后的数据 log.debug("向六合服务器【{}:{}】发送数据，命令码：{}", host, port, String.format("0x%02X", msg.getCmdCode() & 0xFF)); } else { log.error("与六合服务器链接断开，无法发送数据！"); } } catch (Exception e) { log.error("发送消息异常：{}", e.getMessage()); } TcpClientUtil.sendMessage(key, msg); } }
