222

liusuyi

2025-02-18 6e33e3f0ee952d768026fda82dc0000204e21c72

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

@@ -14,11 +14,14 @@
import com.ard.tianyu.model.dto.control.AbsAngleControlDTO;
import com.ard.tianyu.model.dto.control.AngleControlDTO;
import com.ard.tianyu.model.dto.control.SpeedControlDTO;
import com.ard.tianyu.model.dto.converter.UavSignalInfoConverter;
import com.ard.tianyu.model.dto.converter.UavStateConverter;
import com.ard.tianyu.model.dto.converter.UavTelemetryDataConverter;
import com.ard.tianyu.model.dto.converter.realdata.UavSignalInfoConverter;
import com.ard.tianyu.model.dto.converter.realdata.UavStateConverter;
import com.ard.tianyu.model.dto.converter.realdata.UavTelemetryDataConverter;
import com.ard.tianyu.model.dto.converter.wayline.PlanLineDataConverter;
import com.ard.tianyu.model.dto.manual.*;
import com.ard.tianyu.model.dto.settings.ReturnHeightSettingDTO;
import com.ard.tianyu.model.dto.settings.ReturnPointSettingDTO;
import com.ard.tianyu.model.dto.settings.VideoStreamSettingDTO;
import com.ard.tianyu.model.dto.signal.SignalInfo;
import com.ard.tianyu.model.dto.speaker.*;
import com.ard.tianyu.model.dto.state.UavState;
@@ -39,12 +42,15 @@
import com.ard.tianyu.netty.command.real.UavStateCmd;
import com.ard.tianyu.netty.command.real.UavTelemetryDataCmd;
import com.ard.tianyu.netty.command.register.*;
import com.ard.tianyu.netty.command.settings.*;
import com.ard.tianyu.netty.command.speaker.*;
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;
import com.ard.tianyu.websocket.utils.WebSocketUtil;
import com.ard.vtdu.domain.ArdVtdu;
import com.ard.vtdu.service.IMediaService;
import io.netty.channel.Channel;
import io.netty.channel.ChannelFuture;
import lombok.extern.slf4j.Slf4j;
@@ -54,10 +60,7 @@
import javax.annotation.Resource;
import java.net.InetSocketAddress;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;

/**
 * TyServiceImpl
@@ -75,8 +78,8 @@
    @Resource
    private TyConfiguration tyConfiguration;

    // 存储每个无人机的最后遥测处理时间
    private Map<String, Long> lastTelemetryTimes = new ConcurrentHashMap<>();
    @Resource
    private IMediaService mediaService;

    /**
     * 获取天宇token信息
@@ -97,7 +100,7 @@
    public List<BoxInfoReceiver> getBoxList() {
        //请求云盒列表
        try {
            TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReveiver = tyClient.getBoxList(tyConfiguration.getAccessToken().convertFromDTO());
            TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReveiver = tyClient.getBoxList();
            return boxListReveiver.getContent();
        } catch (Exception e) {
            log.error("获取云盒列表失败:{}", e.getMessage());
@@ -113,7 +116,7 @@
    @Override
    public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) {

        TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(boxSn, tyConfiguration.getAccessToken().convertFromDTO());
        TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(boxSn);
        return boxLiveUrl.getContent();
    }

@@ -124,7 +127,7 @@
     */
    @Override
    public List<BoxHistoryReceiver> getBoxHistory(BoxHistoryDTO boxHistoryDTO) {
        TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(boxHistoryDTO, tyConfiguration.getAccessToken().convertFromDTO());
        TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(boxHistoryDTO);
        return boxHistory.getContent();
    }

@@ -135,7 +138,7 @@
     */
    @Override
    public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) {
        TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(boxPhotosDTO, tyConfiguration.getAccessToken().convertFromDTO());
        TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(boxPhotosDTO);
        return boxPhotos.getContent();
    }

@@ -144,8 +147,35 @@
     */
    @Override
    public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) {
        TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(boxSettingsDTO, tyConfiguration.getAccessToken().convertFromDTO());
        TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(boxSettingsDTO);
        return result.getState() == 1;
    }

    /**
     * 设置返航高度
     */
    @Override
    public void updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO) {
        ReturnHeightSettingCmd returnHeightSettingCmd = new ReturnHeightSettingCmd(returnHeightSettingDTO);
        this.sendMessage(tyConfiguration.getIpPort(), returnHeightSettingCmd);
    }

    /**
     * 设置返航点
     */
    @Override
    public void updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO) {
        ReturnPointSettingCmd returnPointSettingCmd = new ReturnPointSettingCmd(returnPointSettingDTO);
        this.sendMessage(tyConfiguration.getIpPort(), returnPointSettingCmd);
    }

    /**
     * 设置视频码流
     */
    @Override
    public void updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO) {
        VideoStreamSettingCmd videoStreamSettingCmd = new VideoStreamSettingCmd(videoStreamSettingDTO);
        this.sendMessage(tyConfiguration.getIpPort(), videoStreamSettingCmd);
    }

    /**
@@ -535,6 +565,20 @@
    }

    /**
     * 点播
     */
    @Override
    public String play(String boxSn) {
        BoxStreamUrlReceiver boxLiveUrl = getBoxLiveUrl(boxSn);
        if(boxLiveUrl == null||boxLiveUrl.getRtsp() == null) {
            return "";
        }
        ArdVtdu ardVtdu = ArdVtdu.builder().name(boxSn).rtspSource(boxLiveUrl.getRtsp()).build();
        ardVtdu = mediaService.addPath(ardVtdu);
        return ardVtdu.getWebrtcUrl();
    }

    /**
     * 处理天宇服务器返回的消息
     */
    @Override
@@ -570,42 +614,23 @@
            case (byte) 0xA8:
                // 处理无人机状态消息
                UavStateCmd uavStateCmd = (UavStateCmd) tyCommand;
                UavState uavState = UavStateConverter.convertProtoToEntity(uavStateCmd.getUavState());
                UavStateCache.putUavState(uavState);
                logPrint("无人机状态", uavState.getBoxSn());
                WebSocketUtil.sendMessageAll(uavState);
                UavStateCache.putUavState(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;
                if (uavTelemetryDataCmd.getBoxSn() == null) {
                    return;
                }
                String boxSn = ByteUtils.bytesToString(uavTelemetryDataCmd.getBoxSn()); // 假设有获取无人机ID的方法
                long currentTime = System.currentTimeMillis();

                // 获取无人机的最后处理时间，如果没有则设置为0
                long lastTelemetryTime = lastTelemetryTimes.getOrDefault(boxSn, 0L);

                // 检查与上次处理时间的间隔
                if (currentTime - lastTelemetryTime >= 1000) { // 1秒
                    TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(uavTelemetryDataCmd.getTelemetryData());
                    UavTelemetryDataCache.putUavTelemetryData(telemetryData);
                    logPrint("无人机遥测", telemetryData.getBoxSn());

                    // 更新最后处理时间
                    lastTelemetryTimes.put(boxSn, currentTime);
                } else {
                    log.debug("无人机 " + boxSn + " 遥测数据接收过于频繁，已跳过处理");
                }
                UavTelemetryDataCache.putUavTelemetryData(uavTelemetryDataCmd.getTelemetryData());
                logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
                WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
                break;

            case (byte) 0x0C:
                // 处理无人机信道质量数据
                SignalInfoCmd signalInfoCmd = (SignalInfoCmd) tyCommand;
                SignalInfo signalInfo = UavSignalInfoConverter.convertProtoToEntity(signalInfoCmd.getSignalInfo());
                UavSignalInfoCache.putUavSignalInfoCache(signalInfo);
                logPrint("无人机信道质量", signalInfo.getBoxSn());
                UavSignalInfoCache.putUavSignalInfoCache(signalInfoCmd.getSignalInfo());
                logPrint("无人机信道质量", signalInfoCmd.getSignalInfo().getBoxSn());
                break;
            case (byte) 0xD1:
                // 处理无人机
@@ -684,6 +709,43 @@
                    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("开始航线", wayLineBeginReplyCmd.getResult(), wayLineBeginReplyCmd.getErrorCode());
                }
                //暂停航线回复
                if (tyCommand instanceof WayLinePauseReplyCmd) {
                    WayLinePauseReplyCmd wayLinePauseReplyCmd = (WayLinePauseReplyCmd) tyCommand;
                    logPrint("暂停航线", wayLinePauseReplyCmd.getResult(), wayLinePauseReplyCmd.getErrorCode());
                }
                //恢复航线回复
                if (tyCommand instanceof WayLineResumeReplyCmd) {
                    WayLineResumeReplyCmd wayLineResumeReplyCmd = (WayLineResumeReplyCmd) tyCommand;
                    logPrint("恢复航线", wayLineResumeReplyCmd.getResult(), wayLineResumeReplyCmd.getErrorCode());
                }
                //结束航线回复
                if (tyCommand instanceof WayLineEndReplyCmd) {
                    WayLineEndReplyCmd wayLineEndReplyCmd = (WayLineEndReplyCmd) tyCommand;
                    logPrint("结束航线", wayLineEndReplyCmd.getResult(), wayLineEndReplyCmd.getErrorCode());
                }
                //设置返航高度回复
                if (tyCommand instanceof ReturnHeightSettingReplyCmd) {
                    ReturnHeightSettingReplyCmd returnHeightSettingReplyCmd = (ReturnHeightSettingReplyCmd) tyCommand;
                    logPrint("设置返航高度", returnHeightSettingReplyCmd.getResult(), returnHeightSettingReplyCmd.getErrorCode());
                }
                //设置返航点回复
                if (tyCommand instanceof ReturnPointSettingReplyCmd) {
                    ReturnPointSettingReplyCmd returnPointSettingReplyCmd = (ReturnPointSettingReplyCmd) tyCommand;
                    logPrint("设置返航点", returnPointSettingReplyCmd.getResult(), returnPointSettingReplyCmd.getErrorCode());
                }
                break;
            case (byte) 0xD2:
                //设置视频码流回复
                if (tyCommand instanceof VideoStreamSettingReplyCmd) {
                    VideoStreamSettingReplyCmd videoStreamSettingReplyCmd = (VideoStreamSettingReplyCmd) tyCommand;
                    logPrint("设置视频码流", videoStreamSettingReplyCmd.getResult(), videoStreamSettingReplyCmd.getErrorCode());
                }
                break;
            default:
                // 处理其他消息
@@ -739,4 +801,5 @@
            log.error("发送消息异常：{}", e.getMessage());
        }
    }

}