优化

liusuyi

2024-10-25 91f6e60919b92b7f99a41f2ddeb42df17cd0c487

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

@@ -2,14 +2,31 @@

import com.ard.tianyu.config.TyConfiguration;
import com.ard.tianyu.http.TyClient;
import com.ard.tianyu.model.receiver.AccessTokenReceiver;
import com.ard.tianyu.model.receiver.BoxReceiver;
import com.ard.tianyu.model.receiver.TyHttpCommonReceiver;
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.converter.UavSignalInfoConverter;
import com.ard.tianyu.model.dto.converter.UavStateConverter;
import com.ard.tianyu.model.dto.converter.UavTelemetryDataConverter;
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.service.ITyService;
import io.netty.channel.Channel;
import io.netty.channel.ChannelFuture;
import lombok.extern.slf4j.Slf4j;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Service;

import javax.annotation.Resource;
import java.util.Collections;
import java.net.InetSocketAddress;
import java.util.ArrayList;
import java.util.List;

/**
@@ -18,30 +35,222 @@
 * @author liusuyi
 * @date 2024年10月22日8:37
 **/
@Slf4j
@Service
public class TyServiceImpl implements ITyService {

    @Resource
    private TyClient tyClient;

    @Resource
    private TyConfiguration tyConfiguration;

    /**
     * 获取天宇token信息
     * @return
     *
     * @return AccessTokenReceiver
     */
    @Override
    public AccessTokenReceiver getAccessToken() {
        return tyConfiguration.getAccessToken();
    }

    /**
     * 获取云盒列表
     * @return
     *
     * @return List<BoxInfoReceiver>
     */
    @Override
    public List<BoxReceiver> getBoxList() {
    public List<BoxInfoReceiver> getBoxList() {
        //请求云盒列表
        TyHttpCommonReceiver<List<BoxReceiver>> boxListReveiver = tyClient.getBoxList(tyConfiguration.getAccessToken().convertFromDTO());
        return boxListReveiver.getContent();
        try {
            TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReveiver = tyClient.getBoxList(tyConfiguration.getAccessToken().convertFromDTO());
            return boxListReveiver.getContent();
        } catch (Exception e) {
            log.error("获取云盒列表失败:{}", e.getMessage());
            return new ArrayList<>();
        }
    }
}

    /**
     * 获取直播地址
     *
     * @return BoxStreamUrlReceiver
     */
    @Override
    public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) {

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

    /**
     * 获取飞行历史
     *
     * @return List<BoxHistoryReceiver>
     */
    @Override
    public List<BoxHistoryReceiver> getBoxHistory(BoxHistoryDTO boxHistoryDTO) {
        TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(boxHistoryDTO, tyConfiguration.getAccessToken().convertFromDTO());
        return boxHistory.getContent();
    }

    /**
     * 获取盒子图片
     *
     * @return List<BoxPhotosReceiver>
     */
    @Override
    public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) {
        TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(boxPhotosDTO, tyConfiguration.getAccessToken().convertFromDTO());
        return boxPhotos.getContent();
    }

    /**
     * 修改云盒设置
     */
    @Override
    public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) {
        TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(boxSettingsDTO, tyConfiguration.getAccessToken().convertFromDTO());
        return result.getState() == 1;
    }

    /**
     * 注册天宇平台
     */
    @Override
    public void registerMessage() {
        AccessTokenReceiver tyToken = tyConfiguration.getAccessToken();
        RegisterCommand registerMessage = new RegisterCommand(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
        this.sendMessage(tyConfiguration.getIpPort(), registerMessage);
    }


    /**
     * 发送消息
     */
    public void sendMessage(String key, BaseCommand msg) {
        try {
            ChannelFuture future = TyNettyTcpClient.channels.get(key).getChannelFuture();
            Channel channel = future.channel();
            if (channel.isActive()) {
                InetSocketAddress ipSocket = (InetSocketAddress) channel.remoteAddress();
                String host = ipSocket.getHostString();
                int port = ipSocket.getPort();
                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！");
            }
        } catch (Exception e) {
            log.error("发送消息异常：{}", e.getMessage());
        }
    }

    /**
     * 云台控制基于角度
     */
    @Override
    public void angleControl(String boxSn, Integer actionId, Integer rotationAngle) {
        ControlAngleCommand controlAngleCommand = new ControlAngleCommand(boxSn, actionId.byteValue(), rotationAngle.byteValue());
        this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
    }

    @Override
    public void absAngleControl(String boxSn, Integer actionId, float pitch, float yaw, float roll) {

    }

    /**
     * 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);
    }

    @Override
    public void processMessage(String key, BaseCommand 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());
                if (registerReplyCommand.getSuccess() != 1) {
                    // 注册失败，重新注册
                    log.info("注册失败，重新注册");
                    registerMessage();
                }
                break;
            case 0x02:
                // 处理注册消息
                HeartbeatReplyCommand heartbeatReplyCommand = (HeartbeatReplyCommand) tyCommand;
                log.debug("收到心跳消息-->处理心跳消息{}", heartbeatReplyCommand.getTimestamp());
                break;
            case 0x03:
                // 处理订阅消息
                break;
            case 0x04:
                // 处理取消订阅消息
                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");
                UavStateCommand uavStateCommand = (UavStateCommand) tyCommand;
                UavState uavState = UavStateConverter.convertProtoToEntity(uavStateCommand.getUavState());
                UavStateCache.putUavState(uavState);
                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");
                UavTelemetryDataCommand uavTelemetryDataCommand = (UavTelemetryDataCommand) tyCommand;
                TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(uavTelemetryDataCommand.getTelemetryData());
                UavTelemetryDataCache.putUavTelemetryData(telemetryData);
                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");
                SignalInfoCommand signalInfoCommand = (SignalInfoCommand) tyCommand;
                SignalInfo signalInfo = UavSignalInfoConverter.convertProtoToEntity(signalInfoCommand.getSignalInfo());
                UavSignalInfoCache.putUavSignalInfoCache(signalInfo);
                break;
            case (byte) 0xD1:
                // 处理无人机
                UavReadyNotificationCommand droneReadyNotificationCommand = (UavReadyNotificationCommand) tyCommand;
                if (droneReadyNotificationCommand.getActionCode() == (byte) 0x42) {
                    UavInitInfoCommand uavInitCommand = new UavInitInfoCommand(droneReadyNotificationCommand.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");
                }
                break;
            default:
                // 处理其他消息
                log.debug("收到其他消息-->其他消息");
        }
    }

    @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);
        this.sendMessage(tyConfiguration.getIpPort(), heartbeatMessage);
    }
}