优化单词

liusuyi

2025-03-22 89729154a93c436803b224ce36404b48dd7354b0

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

@@ -3,13 +3,20 @@
import com.ard.common.utils.ByteUtils;
import com.ard.tianyu.aspect.annotation.CheckTakeoffAltitude;
import com.ard.tianyu.aspect.annotation.CheckControlRight;
import com.ard.tianyu.component.netty.command.BaseCmd;
import com.ard.tianyu.component.netty.command.camera.*;
import com.ard.tianyu.component.netty.command.manual.*;
import com.ard.tianyu.component.netty.command.register.*;
import com.ard.tianyu.component.netty.command.settings.*;
import com.ard.tianyu.component.netty.command.speaker.*;
import com.ard.tianyu.component.netty.command.wayline.*;
import com.ard.tianyu.config.TyConfiguration;
import com.ard.tianyu.domain.dto.camera.*;
import com.ard.tianyu.domain.dto.manual.*;
import com.ard.tianyu.domain.dto.speaker.*;
import com.ard.tianyu.domain.dto.wayline.*;
import com.ard.tianyu.domain.receiver.*;
import com.ard.tianyu.forest.TyClient;
import com.ard.tianyu.component.forest.TyClient;
import com.ard.tianyu.domain.cache.TyTcpServerCache;
import com.ard.tianyu.domain.cache.UavSignalInfoCache;
import com.ard.tianyu.domain.cache.UavStateCache;
@@ -27,28 +34,20 @@
import com.ard.tianyu.domain.dto.signal.SignalInfo;
import com.ard.tianyu.domain.dto.state.UavState;
import com.ard.tianyu.domain.dto.telemetry.TelemetryData;
import com.ard.tianyu.netty.command.*;
import com.ard.tianyu.netty.TyNettyTcpClient;
import com.ard.tianyu.netty.command.camera.*;
import com.ard.tianyu.netty.command.control.AbsAngleControlCmd;
import com.ard.tianyu.netty.command.control.AngleControlCmd;
import com.ard.tianyu.netty.command.control.SpeedControlCmd;
import com.ard.tianyu.netty.command.manual.*;
import com.ard.tianyu.netty.command.notice.BoxPowerStatusReplyCmd;
import com.ard.tianyu.netty.command.notice.FlyWayEndReplyCmd;
import com.ard.tianyu.netty.command.notice.UavReadyReplyCmd;
import com.ard.tianyu.netty.command.real.SignalInfoCmd;
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.component.netty.TyNettyTcpClient;
import com.ard.tianyu.component.netty.command.control.AbsAngleControlCmd;
import com.ard.tianyu.component.netty.command.control.AngleControlCmd;
import com.ard.tianyu.component.netty.command.control.SpeedControlCmd;
import com.ard.tianyu.component.netty.command.notice.BoxPowerStatusReplyCmd;
import com.ard.tianyu.component.netty.command.notice.FlyWayEndReplyCmd;
import com.ard.tianyu.component.netty.command.notice.UavReadyReplyCmd;
import com.ard.tianyu.component.netty.command.real.SignalInfoCmd;
import com.ard.tianyu.component.netty.command.real.UavStateCmd;
import com.ard.tianyu.component.netty.command.real.UavTelemetryDataCmd;
import com.ard.tianyu.component.netty.handler.ErrorCodeEnum;
import com.ard.tianyu.component.netty.protobuf.TelemetryDataPB;
import com.ard.tianyu.service.ITyService;
import com.ard.tianyu.websocket.domain.UavControlType;
import com.ard.vtdu.service.IMediaService;
import com.ard.tianyu.domain.message.UavControlType;
import io.netty.channel.Channel;
import io.netty.channel.ChannelFuture;
import lombok.extern.slf4j.Slf4j;
@@ -76,8 +75,6 @@
    @Resource
    private TyConfiguration tyConfiguration;

    @Resource
    private IMediaService mediaService;

    /**
     * 获取天宇token信息
@@ -98,8 +95,8 @@
    public List<BoxInfoReceiver> getBoxList() {
        //请求云盒列表
        try {
            TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReveiver = tyClient.getBoxList();
            return boxListReveiver.getContent();
            TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReceiver = tyClient.getBoxList();
            return boxListReceiver.getContent();
        } catch (Exception e) {
            log.error("获取云盒列表失败:{}", e.getMessage());
            return new ArrayList<>();
@@ -242,7 +239,11 @@
     */
    @Override
    public Boolean capturePic(CapturePicDTO capturePicDto) {
        //设置相机模式为拍照模式
        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());

        CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);
        this.sendMessage(tyConfiguration.getIpPort(), capturePicCommand);
        return true;
@@ -628,14 +629,19 @@
                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
                break;
            case 0x04:
                // 处理取消订阅消息
                break;
            case 0x09:
                // 处理图片上传完成通知
                PicUploadCompletedReplyCmd picUploadCompletedReplyCmd = (PicUploadCompletedReplyCmd) tyCommand;
                logPrint("图片上传完成", picUploadCompletedReplyCmd.getPicUrl());
                break;
            case 0x0A:
                // 处理云盒开关机通知消息
@@ -646,14 +652,14 @@
                // 处理无人机状态消息
                UavStateCmd uavStateCmd = (UavStateCmd) tyCommand;
                UavStateCache.putUavState(uavStateCmd.getUavState());
                logPrint("无人机状态", uavStateCmd.getUavState().getBoxSn());
               // WebSocketUtil.sendMessageAll(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());
                logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
                //logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
                //WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
                break;

@@ -661,7 +667,7 @@
                // 处理无人机信道质量数据
                SignalInfoCmd signalInfoCmd = (SignalInfoCmd) tyCommand;
                UavSignalInfoCache.putUavSignalInfoCache(signalInfoCmd.getSignalInfo());
                logPrint("无人机信道质量", signalInfoCmd.getSignalInfo().getBoxSn());
                //logPrint("无人机信道质量", signalInfoCmd.getSignalInfo().getBoxSn());
                break;
            case (byte) 0xD1:
                // 处理无人机
@@ -728,7 +734,8 @@
                //到达指点飞行位置回复
                if (tyCommand instanceof PointControlReachedReplyCmd) {
                    PointControlReachedReplyCmd pointControlReachedReplyCmd = (PointControlReachedReplyCmd) tyCommand;
                    logPrint("到达指点飞行位置", pointControlReachedReplyCmd.getResult(), pointControlReachedReplyCmd.getErrorCode());
                    logPrint("到达指点飞行位置", pointControlReachedReplyCmd.getResult(),
                            pointControlReachedReplyCmd.getErrorCode());
                }
                //紧急制动回复
                if (tyCommand instanceof EmergencyBrakeReplyCmd) {
@@ -763,19 +770,22 @@
                //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());
                    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());
                    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());
                    logPrint("设置视频码流", videoStreamSettingReplyCmd.getResult(),
                            videoStreamSettingReplyCmd.getErrorCode());
                }
                break;
            default:
@@ -786,7 +796,7 @@

    //公共日志打印
    private void logPrint(String message, Object obj) {
        log.debug("收到{}回复{}", message, obj);
        log.warn("收到{}回复{}", message, obj);
    }

    //公共日志打印