增加：错误码打印

liusuyi

2024-10-29 8c0516f9ce33bc398689a7f3e95cf9e08d05f3bf

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

@@ -2,15 +2,42 @@

import com.ard.tianyu.config.TyConfiguration;
import com.ard.tianyu.http.TyClient;
import com.ard.tianyu.model.cache.UavSignalInfoCache;
import com.ard.tianyu.model.cache.UavStateCache;
import com.ard.tianyu.model.cache.UavTelemetryDataCache;
import com.ard.tianyu.model.dto.BoxHistoryDTO;
import com.ard.tianyu.model.dto.BoxPhotosDTO;
import com.ard.tianyu.model.dto.BoxSettingsDTO;
import com.ard.tianyu.model.dto.camera.*;
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.manual.ReturnHomeDTO;
import com.ard.tianyu.model.dto.manual.SwitchUavControlDTO;
import com.ard.tianyu.model.dto.manual.TakeOffDTO;
import com.ard.tianyu.model.dto.signal.SignalInfo;
import com.ard.tianyu.model.dto.state.UavState;
import com.ard.tianyu.model.dto.telemetry.TelemetryData;
import com.ard.tianyu.model.receiver.*;
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.handler.ErrorCodeEnum;
import com.ard.tianyu.service.ITyService;
import io.netty.buffer.ByteBuf;
import io.netty.buffer.Unpooled;
import io.netty.channel.Channel;
import io.netty.channel.ChannelFuture;
import lombok.extern.slf4j.Slf4j;
@@ -114,22 +141,14 @@
    @Override
    public void registerMessage() {
        AccessTokenReceiver tyToken = tyConfiguration.getAccessToken();
        RegisterCommand registerMessage = new RegisterCommand(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
        RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
        this.sendMessage(tyConfiguration.getIpPort(), registerMessage);
    }

    /**
     * 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) {
    public void sendMessage(String key, BaseCmd msg) {
        try {
            ChannelFuture future = TyNettyTcpClient.channels.get(key).getChannelFuture();
            Channel channel = future.channel();
@@ -137,10 +156,7 @@
                InetSocketAddress ipSocket = (InetSocketAddress) channel.remoteAddress();
                String host = ipSocket.getHostString();
                int port = ipSocket.getPort();
                // 创建 ByteBuf 并编码消息
                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
                channel.writeAndFlush(msg); // 发送编码后的数据
                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！");
@@ -154,19 +170,170 @@
     * 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);
    public void angleControl(AngleControlDTO angleControlDto) {
        AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto);
        this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
    }

    /**
     * 云台绝对值控制(基于角度)
     */
    @Override
    public void processMessage(String key, BaseCommand tyCommand) {
    public void absAngleControl(AbsAngleControlDTO absAngleControlDto) {
        AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto);
        this.sendMessage(tyConfiguration.getIpPort(), absAngleControlCommand);
    }

    /**
     * 云台转动(基于速度)
     */
    @Override
    public void speedControl(SpeedControlDTO speedControlDto) {
        SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto);
        this.sendMessage(tyConfiguration.getIpPort(), speedControlCommand);
    }

    /**
     * 设置相机模式
     */
    @Override
    public void updateCameraMode(CameraModeDTO cameraModeDTO) {
        CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO);
        this.sendMessage(tyConfiguration.getIpPort(), cameraModeCommand);
    }

    /**
     * 拍照
     */
    @Override
    public void capturePic(CapturePicDTO capturePicDto) {
        updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
        CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);
        this.sendMessage(tyConfiguration.getIpPort(), capturePicCommand);
    }

    /**
     * 录像
     */
    @Override
    public void record(RecordDTO recordDto) {
        BaseCmd baseCmd;
        if (recordDto.getIsRecord()) {
            updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build());
            baseCmd = new RecordStartCmd(recordDto);
        } else {
            baseCmd = new RecordStopCmd(recordDto);
        }
        this.sendMessage(tyConfiguration.getIpPort(), baseCmd);
    }

    /**
     * 变倍
     */
    @Override
    public void zoom(ZoomDTO zoomDTO) {
        ZoomCmd zoomCommand = new ZoomCmd(zoomDTO);
        this.sendMessage(tyConfiguration.getIpPort(), zoomCommand);
    }

    /**
     * 变倍到指定倍数
     */
    @Override
    public void zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) {
        ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO);
        this.sendMessage(tyConfiguration.getIpPort(), zoomToLevelCommand);
    }

    /**
     * 切换摄像头
     */
    @Override
    public void switchCamera(SwitchCameraDTO switchCameraDTO) {
        SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO);
        this.sendMessage(tyConfiguration.getIpPort(), switchCameraCmd);
    }

    /**
     * 切换视频源
     */
    @Override
    public void switchSource(SwitchSourceDTO switchSourceDTO) {
        SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO);
        this.sendMessage(tyConfiguration.getIpPort(), switchSourceCmd);
    }

    /**
     * 打开或关闭照片回传
     */
    @Override
    public void photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) {
        PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO);
        this.sendMessage(tyConfiguration.getIpPort(), photoReturnToggleCmd);
    }

    /**
     * 切换无人机控制权
     */
    @Override
    public void switchUavControl(SwitchUavControlDTO switchUavControlDTO) {
        SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO);
        this.sendMessage(tyConfiguration.getIpPort(), switchUavControlCmd);
    }

    /**
     * 起飞
     */
    @Override
    public void takeOff(TakeOffDTO takeOffDTO) {
        TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
        this.sendMessage(tyConfiguration.getIpPort(), takeOffCmd);
    }

    /**
     * 返航
     */
    @Override
    public void returnHome(ReturnHomeDTO returnHomeDTO) {
        ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO);
        this.sendMessage(tyConfiguration.getIpPort(), returnHomeCmd);
    }

    /**
     * 获取无人机状态
     */
    @Override
    public UavState getUavState(String boxSn) {
        return UavStateCache.getUavState(boxSn);
    }

    /**
     * 获取无人机遥测数据
     */
    @Override
    public TelemetryData getUavTelemetryData(String boxSn) {
        return UavTelemetryDataCache.getUavTelemetryData(boxSn);
    }

    /**
     * 获取无人机遥测数据
     */
    @Override
    public SignalInfo getSignalInfo(String boxSn) {
        return UavSignalInfoCache.getUavSignalInfo(boxSn);
    }

    /**
     * 处理天宇服务器返回的消息
     */
    @Override
    public void processMessage(String key, BaseCmd 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());
                RegisterReplyCmd registerReplyCommand = (RegisterReplyCmd) tyCommand;
                logPrint("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");
@@ -175,37 +342,111 @@
                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());
                HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
                logPrint("心跳消息", heartbeatReplyCmd.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 0x0A:
                // 处理云盒开关机通知消息
                BoxPowerStatusReplyCmd boxPowerStatusReplyCmd = (BoxPowerStatusReplyCmd) tyCommand;
                logPrint("云盒开关机通知消息", boxPowerStatusReplyCmd.getStatus());
                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");
                UavStateCmd uavStateCmd = (UavStateCmd) tyCommand;
                UavState uavState = UavStateConverter.convertProtoToEntity(uavStateCmd.getUavState());
                UavStateCache.putUavState(uavState);
                logPrint("无人机状态", uavState.getBoxSn());
                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");
                UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
                TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(uavTelemetryDataCmd.getTelemetryData());
                UavTelemetryDataCache.putUavTelemetryData(telemetryData);
                logPrint("无人机遥测", telemetryData.getBoxSn());
                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());
                break;
            case (byte) 0xD1:
                // 处理无人机
                if (tyCommand instanceof UavInitReplyCmd) {
                    UavInitReplyCmd uavInitReplyCmd = (UavInitReplyCmd) tyCommand;
                    UavInitInfoCmd uavInitCommand = new UavInitInfoCmd(uavInitReplyCmd.getBoxSn());
                    this.sendMessage(tyConfiguration.getIpPort(), uavInitCommand);
                    logPrint("无人机初始化详情", uavInitCommand.getBoxSn());
                }
                if (tyCommand instanceof UavReadyReplyCmd) {
                    UavReadyReplyCmd uavReadyReplyCmd = (UavReadyReplyCmd) tyCommand;
                    logPrint("无人机准备完成通知", uavReadyReplyCmd.getBatteryPower());
                }
                if (tyCommand instanceof CameraModeReplyCmd) {
                    CameraModeReplyCmd cameraModeReplyCommand = (CameraModeReplyCmd) tyCommand;
                    logPrint("无人机设置相机模式", cameraModeReplyCommand.getResult(), cameraModeReplyCommand.getErrorCode());
                }
                if (tyCommand instanceof FlyWayEndReplyCmd) {
                    FlyWayEndReplyCmd flyWayEndReplyCmd = (FlyWayEndReplyCmd) tyCommand;
                    logPrint("无人机飞行结束", flyWayEndReplyCmd.getResult(), flyWayEndReplyCmd.getErrorCode());
                }
                if (tyCommand instanceof CapturePicReplyCmd) {
                    CapturePicReplyCmd capturePicReplyCommand = (CapturePicReplyCmd) tyCommand;
                    logPrint("无人机拍照", capturePicReplyCommand.getResult(), capturePicReplyCommand.getErrorCode());
                }
                if (tyCommand instanceof RecordStartReplyCmd) {
                    RecordStartReplyCmd recordStartReplyCommand = (RecordStartReplyCmd) tyCommand;
                    logPrint("无人机开始录像", recordStartReplyCommand.getResult(), recordStartReplyCommand.getErrorCode());
                }
                if (tyCommand instanceof RecordStopReplyCmd) {
                    RecordStopReplyCmd recordStopReplyCommand = (RecordStopReplyCmd) tyCommand;
                    logPrint("无人机停止录像", recordStopReplyCommand.getResult(), recordStopReplyCommand.getErrorCode());
                }
                //起飞回复
                if (tyCommand instanceof TakeOffReplyCmd) {
                    TakeOffReplyCmd takeOffReplyCommand = (TakeOffReplyCmd) tyCommand;
                    logPrint("无人机起飞", takeOffReplyCommand.getResult(), takeOffReplyCommand.getErrorCode());
                }
                //返航回复
                if (tyCommand instanceof ReturnHomeReplyCmd) {
                    ReturnHomeReplyCmd returnHomeReplyCmd = (ReturnHomeReplyCmd) tyCommand;
                    logPrint("无人机返航", returnHomeReplyCmd.getResult(), returnHomeReplyCmd.getErrorCode());
                }
                break;
            default:
                // 处理其他消息
                log.debug("收到其他消息-->其他消息");
        }
    }

    @Scheduled(fixedRate = 5000)
    //公共日志打印
    private void logPrint(String message, Object obj) {
        log.debug("收到{}回复{}", message, obj);
    }
    //公共日志打印
    private void logPrint(String message, byte result, Integer errorCode) {
        log.info("收到{}回复:{} 错误码：{}【{}】",
                message,
                String.format("0x%02X", result & 0xFF),
                errorCode,
                ErrorCodeEnum.getDescByCode(errorCode));
    }

    /**
     * 定时3秒发送心跳指令
     */
    @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);
        HeartbeatCommand heartbeatMessage = new HeartbeatCommand(timestamp);
        HeartbeatCmd heartbeatMessage = new HeartbeatCmd(timestamp);
        this.sendMessage(tyConfiguration.getIpPort(), heartbeatMessage);
    }
}