优化

liusuyi

2024-11-01 70e77fe67c566823e90d789f418c7b24822637cc

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

@@ -3,6 +3,7 @@
import com.ard.common.utils.ByteUtils;
import com.ard.tianyu.config.TyConfiguration;
import com.ard.tianyu.http.TyClient;
import com.ard.tianyu.model.cache.TyTcpServerCache;
import com.ard.tianyu.model.cache.UavSignalInfoCache;
import com.ard.tianyu.model.cache.UavStateCache;
import com.ard.tianyu.model.cache.UavTelemetryDataCache;
@@ -16,11 +17,13 @@
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.wayline.PlanLineDataConverter;
import com.ard.tianyu.model.dto.manual.*;
import com.ard.tianyu.model.dto.signal.SignalInfo;
import com.ard.tianyu.model.dto.speaker.*;
import com.ard.tianyu.model.dto.state.UavState;
import com.ard.tianyu.model.dto.telemetry.TelemetryData;
import com.ard.tianyu.model.dto.wayline.*;
import com.ard.tianyu.model.receiver.*;
import com.ard.tianyu.netty.command.*;
import com.ard.tianyu.netty.TyNettyTcpClient;
@@ -37,7 +40,9 @@
import com.ard.tianyu.netty.command.real.UavTelemetryDataCmd;
import com.ard.tianyu.netty.command.register.*;
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 io.netty.channel.Channel;
@@ -49,6 +54,7 @@
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;
@@ -420,6 +426,7 @@
        RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO);
        this.sendMessage(tyConfiguration.getIpPort(), recordSpeakCmd);
    }

    /**
     * 设置音量
     */
@@ -437,13 +444,94 @@
        LoopSettingCmd loopSettingCmd = new LoopSettingCmd(loopSettingDTO);
        this.sendMessage(tyConfiguration.getIpPort(), loopSettingCmd);
    }

    /**
     * 停止喊话
     */
    @Override
    public void stopSpeak(StopSpeakDTO stopSpeakDTO) {
        StopSpeakCmd stopSpeakCmd=new StopSpeakCmd(stopSpeakDTO);
        StopSpeakCmd stopSpeakCmd = new StopSpeakCmd(stopSpeakDTO);
        this.sendMessage(tyConfiguration.getIpPort(), stopSpeakCmd);
    }

    /**
     * 航线上传
     */
    @Override
    public void wayLineUpload(WayLineUploadDTO wayLineUploadDTO) {
        wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据
        WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
        this.sendMessage(tyConfiguration.getIpPort(), wayLineUploadCmd);
    }

    //创建航线
    private PlanLineData CreatePlanLineData() {
        TelemetryDataPB.PointData pointData1 = TelemetryDataPB.PointData.newBuilder()
                .setLng(124.12345).setLat(45.12345).setHeight(80).setSpeed(10)
                .setFlightPathMode(1)//航线飞行模式：1=直线飞行，2=协调转弯，3=曲线飞行(停)，4=曲线飞行(不停)
                .setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是
                .build();
        TelemetryDataPB.PointData pointData2 = TelemetryDataPB.PointData.newBuilder()
                .setLng(124.22222).setLat(45.22222).setHeight(80).setSpeed(10)
                .setFlightPathMode(1)//航线飞行模式：1=直线飞行，2=协调转弯，3=曲线飞行(停)，4=曲线飞行(不停)
                .setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是
                .build();
        TelemetryDataPB.PointData pointData3 = TelemetryDataPB.PointData.newBuilder()
                .setLng(124.33333).setLat(45.33333).setHeight(80).setSpeed(10)
                .setFlightPathMode(1)//航线飞行模式：1=直线飞行，2=协调转弯，3=曲线飞行(停)，4=曲线飞行(不停)
                .setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是
                .build();

        //创建航线
        TelemetryDataPB.PlanLineData PlanLineDataPB = TelemetryDataPB.PlanLineData.newBuilder()
                .setFinishedAction(2)//结束航线后动作：1=返航，2=原地悬停，3=原地降落，4=原地绕飞
                .setMaxSpeed(10)//最大飞行速度
                .setAutoSpeed(10)//自动飞行速度
                .addPoints(pointData1)//航线点1
                .addPoints(pointData2)//航线点2
                .addPoints(pointData3)//航线点3
                .setLoseAction(1)//网络失联后动作：0=返回HOME点，1=继续航线，默认0
                .setHomeHeight(6)//返航高度：(单位:米，范围20~1500)
                .setIsSaveEnergyMode(0)////是否开启节能模式：0=不是，1=是(说明：节能模式下，飞机沿最短直线距离由起飞点到航线第一个航点，非升高到第一个航点高度再飞往第一个航点)
                .build();

        return PlanLineDataConverter.convertProtoToEntity(PlanLineDataPB);
    }

    /**
     * 航线开始
     */
    @Override
    public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
        WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO);
        this.sendMessage(tyConfiguration.getIpPort(), wayLineBeginCmd);
    }

    /**
     * 航线暂停
     */
    @Override
    public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
        WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO);
        this.sendMessage(tyConfiguration.getIpPort(), wayLinePauseCmd);
    }

    /**
     * 航线恢复
     */
    @Override
    public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
        WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO);
        this.sendMessage(tyConfiguration.getIpPort(), wayLineResumeCmd);
    }

    /**
     * 航线结束
     */
    @Override
    public void wayLineEnd(WayLineEndDTO wayLineEndDTO) {
        WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);
        this.sendMessage(tyConfiguration.getIpPort(), wayLineEndCmd);
    }

    /**
@@ -589,7 +677,32 @@
                //紧急制动回复
                if (tyCommand instanceof EmergencyBrakeReplyCmd) {
                    EmergencyBrakeReplyCmd emergencyBrakeReplyCmd = (EmergencyBrakeReplyCmd) tyCommand;
                    logPrint("紧急制动回复", emergencyBrakeReplyCmd.getResult(), emergencyBrakeReplyCmd.getErrorCode());
                    logPrint("紧急制动", emergencyBrakeReplyCmd.getResult(), emergencyBrakeReplyCmd.getErrorCode());
                }
                //上传航线回复
                if (tyCommand instanceof WayLineUploadReplyCmd) {
                    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());
                }
                break;
            default:
@@ -617,6 +730,9 @@
     */
    @Scheduled(fixedRate = 3000)
    public void sendHeartBeat() {
        if (!TyTcpServerCache.getTcpServerCache(tyConfiguration.getTcpserver() + ":" + tyConfiguration.getTcpport())) {
            return;
        }
        long timestamp = System.currentTimeMillis();
        log.debug("定时向天宇发送⼼跳,时间戳{}", timestamp);
        HeartbeatCmd heartbeatMessage = new HeartbeatCmd(timestamp);