forked from uav/ard-uav-server
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java
@@ -36,6 +36,7 @@ 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.channel.Channel; import io.netty.channel.ChannelFuture; @@ -294,7 +295,7 @@ */ @Override public void returnHome(ReturnHomeDTO returnHomeDTO) { ReturnHomeCmd returnHomeCmd=new ReturnHomeCmd(returnHomeDTO); ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO); this.sendMessage(tyConfiguration.getIpPort(), returnHomeCmd); } @@ -332,7 +333,7 @@ case 0x01: // 处理心跳消息 RegisterReplyCmd registerReplyCommand = (RegisterReplyCmd) tyCommand; log.debug("收到注册消息-->处理注册消息:{}", registerReplyCommand.getSuccess()); 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"); @@ -342,7 +343,7 @@ case 0x02: // 处理注册消息 HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand; log.debug("收到心跳消息-->处理心跳消息:{}", heartbeatReplyCmd.getTimestamp()); logPrint("心跳消息", heartbeatReplyCmd.getTimestamp()); break; case 0x03: // 处理订阅消息 @@ -353,28 +354,28 @@ case 0x0A: // 处理云盒开关机通知消息 BoxPowerStatusReplyCmd boxPowerStatusReplyCmd = (BoxPowerStatusReplyCmd) tyCommand; log.debug("收到云盒开关机通知消息-->状态:{}", boxPowerStatusReplyCmd.getStatus()); 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.debug("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.debug("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 log.debug("收到无人机信道质量数据消息-->无人机信道质量数据消息"); 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 @@ -382,41 +383,41 @@ UavInitReplyCmd uavInitReplyCmd = (UavInitReplyCmd) tyCommand; UavInitInfoCmd uavInitCommand = new UavInitInfoCmd(uavInitReplyCmd.getBoxSn()); this.sendMessage(tyConfiguration.getIpPort(), uavInitCommand); log.info("收到无人机初始化详情-回复防止再次发送"); logPrint("无人机初始化详情", uavInitCommand.getBoxSn()); } if (tyCommand instanceof UavReadyReplyCmd) { UavReadyReplyCmd uavReadyReplyCmd = (UavReadyReplyCmd) tyCommand; log.info("收到无人机准备完成通知,电池电量{} 经度{} 纬度{} 海拔{}", uavReadyReplyCmd.getBatteryPower(), uavReadyReplyCmd.getLongitude(), uavReadyReplyCmd.getLatitude(), uavReadyReplyCmd.getAltitude()); logPrint("无人机准备完成通知", uavReadyReplyCmd.getBatteryPower()); } if (tyCommand instanceof CameraModeReplyCmd) { CameraModeReplyCmd cameraModeReplyCommand = (CameraModeReplyCmd) tyCommand; log.info("收到无人机设置相机模式回复:{} 错误码：{}", String.format("0x%02X", cameraModeReplyCommand.getResult() & 0xFF), cameraModeReplyCommand.getErrorCode()); logPrint("无人机设置相机模式", cameraModeReplyCommand.getResult(), cameraModeReplyCommand.getErrorCode()); } if (tyCommand instanceof FlyWayEndReplyCmd) { FlyWayEndReplyCmd flyWayEndReplyCmd = (FlyWayEndReplyCmd) tyCommand; log.info("收到无人机飞行结束通知:状态：{}", flyWayEndReplyCmd.getResult()); logPrint("无人机飞行结束", flyWayEndReplyCmd.getResult(), flyWayEndReplyCmd.getErrorCode()); } if (tyCommand instanceof CapturePicReplyCmd) { CapturePicReplyCmd capturePicReplyCommand = (CapturePicReplyCmd) tyCommand; log.info("收到无人机拍照回复:{} 错误码：{}", String.format("0x%02X", capturePicReplyCommand.getResult() & 0xFF), capturePicReplyCommand.getErrorCode()); logPrint("无人机拍照", capturePicReplyCommand.getResult(), capturePicReplyCommand.getErrorCode()); } if (tyCommand instanceof RecordStartReplyCmd) { RecordStartReplyCmd recordStartReplyCommand = (RecordStartReplyCmd) tyCommand; log.info("收到无人机开始录像回复:{} 错误码：{}", String.format("0x%02X", recordStartReplyCommand.getResult() & 0xFF), recordStartReplyCommand.getErrorCode()); logPrint("无人机开始录像", recordStartReplyCommand.getResult(), recordStartReplyCommand.getErrorCode()); } if (tyCommand instanceof RecordStopReplyCmd) { RecordStopReplyCmd recordStopReplyCommand = (RecordStopReplyCmd) tyCommand; log.info("收到无人机停止录像回复:{} 错误码：{}", String.format("0x%02X", recordStopReplyCommand.getResult() & 0xFF), recordStopReplyCommand.getErrorCode()); logPrint("无人机停止录像", recordStopReplyCommand.getResult(), recordStopReplyCommand.getErrorCode()); } //起飞回复 if (tyCommand instanceof TakeOffReplyCmd) { TakeOffReplyCmd takeOffReplyCommand = (TakeOffReplyCmd) tyCommand; log.info("收到无人机起飞回复:{} 错误码：{}", String.format("0x%02X", takeOffReplyCommand.getResult() & 0xFF), takeOffReplyCommand.getErrorCode()); logPrint("无人机起飞", takeOffReplyCommand.getResult(), takeOffReplyCommand.getErrorCode()); } //返航回复 if (tyCommand instanceof ReturnHomeReplyCmd) { ReturnHomeReplyCmd returnHomeReplyCmd = (ReturnHomeReplyCmd) tyCommand; log.info("收到无人机返航回复:{} 错误码：{}", String.format("0x%02X", returnHomeReplyCmd.getResult() & 0xFF), returnHomeReplyCmd.getErrorCode()); logPrint("无人机返航", returnHomeReplyCmd.getResult(), returnHomeReplyCmd.getErrorCode()); } break; default: @@ -425,6 +426,19 @@ } } //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 */
