增加飞行高度控制切面

liusuyi

2025-03-17 a82c9a2633c519d5d7d868d3ec89832f77849700

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

@@ -1,34 +1,32 @@
package com.ard.tianyu.service.impl;

import com.ard.common.utils.ByteUtils;
import com.ard.tianyu.aspect.annotation.CheckControlAuthority;
import com.ard.tianyu.aspect.annotation.CheckTakeoffAltitude;
import com.ard.tianyu.aspect.annotation.CheckControlRight;
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;
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.realdata.UavSignalInfoConverter;
import com.ard.tianyu.model.dto.converter.realdata.UavStateConverter;
import com.ard.tianyu.model.dto.converter.realdata.UavTelemetryDataConverter;
import com.ard.tianyu.model.dto.converter.wayline.PlanLineDataConverter;
import com.ard.tianyu.model.dto.manual.*;
import com.ard.tianyu.model.dto.settings.ReturnHeightSettingDTO;
import com.ard.tianyu.model.dto.settings.ReturnPointSettingDTO;
import com.ard.tianyu.model.dto.settings.VideoStreamSettingDTO;
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.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.domain.cache.TyTcpServerCache;
import com.ard.tianyu.domain.cache.UavSignalInfoCache;
import com.ard.tianyu.domain.cache.UavStateCache;
import com.ard.tianyu.domain.cache.UavTelemetryDataCache;
import com.ard.tianyu.domain.dto.BoxHistoryDTO;
import com.ard.tianyu.domain.dto.BoxPhotosDTO;
import com.ard.tianyu.domain.dto.BoxSettingsDTO;
import com.ard.tianyu.domain.dto.control.AbsAngleControlDTO;
import com.ard.tianyu.domain.dto.control.AngleControlDTO;
import com.ard.tianyu.domain.dto.control.SpeedControlDTO;
import com.ard.tianyu.domain.dto.converter.wayline.PlanLineDataConverter;
import com.ard.tianyu.domain.dto.settings.ReturnHeightSettingDTO;
import com.ard.tianyu.domain.dto.settings.ReturnPointSettingDTO;
import com.ard.tianyu.domain.dto.settings.VideoStreamSettingDTO;
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.*;
@@ -49,8 +47,7 @@
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 com.ard.vtdu.domain.ArdVtdu;
import com.ard.tianyu.websocket.domain.UavControlType;
import com.ard.vtdu.service.IMediaService;
import io.netty.channel.Channel;
import io.netty.channel.ChannelFuture;
@@ -200,6 +197,7 @@
    /**
     * 云台控制基于角度
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean angleControl(AngleControlDTO angleControlDto) {
        AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto);
@@ -210,6 +208,7 @@
    /**
     * 云台绝对值控制(基于角度)
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean absAngleControl(AbsAngleControlDTO absAngleControlDto) {
        AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto);
@@ -220,6 +219,7 @@
    /**
     * 云台转动(基于速度)
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean speedControl(SpeedControlDTO speedControlDto) {
        SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto);
@@ -267,6 +267,7 @@
    /**
     * 变倍
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean zoom(ZoomDTO zoomDTO) {
        ZoomCmd zoomCommand = new ZoomCmd(zoomDTO);
@@ -277,6 +278,7 @@
    /**
     * 变倍到指定倍数
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) {
        ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO);
@@ -327,7 +329,7 @@
    /**
     * 起飞
     */
    @CheckControlAuthority
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean takeOff(TakeOffDTO takeOffDTO) {
        TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
@@ -338,6 +340,7 @@
    /**
     * 返航
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean returnHome(ReturnHomeDTO returnHomeDTO) {
        ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO);
@@ -348,6 +351,7 @@
    /**
     * 取消返航
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) {
        ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO);
@@ -358,6 +362,7 @@
    /**
     * 降落
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean land(LandDTO landDTO) {
        LandCmd landCmd = new LandCmd(landDTO);
@@ -368,6 +373,7 @@
    /**
     * 取消降落
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean landCancel(LandCancelDTO landCancelDTO) {
        LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO);
@@ -378,6 +384,7 @@
    /**
     * 强制降落
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean landForced(LandForcedDTO landForcedDTO) {
        LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO);
@@ -388,6 +395,8 @@
    /**
     * 方向控制
     */
    @CheckControlRight(UavControlType.FLY)
    @CheckTakeoffAltitude(minAltitude = 30.0)
    @Override
    public Boolean flyControl(FlyControlDTO flyControlDTO) {
        FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO);
@@ -398,6 +407,8 @@
    /**
     * 指点飞行控制
     */
    @CheckControlRight(UavControlType.FLY)
    @CheckTakeoffAltitude(minAltitude = 30.0)
    @Override
    public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) {
        FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
@@ -408,6 +419,7 @@
    /**
     * 停止指点飞行控制
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) {
        FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO);
@@ -418,6 +430,7 @@
    /**
     * 紧急制动
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) {
        EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO);
@@ -559,6 +572,7 @@
    /**
     * 航线开始
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
        WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO);
@@ -568,6 +582,7 @@
    /**
     * 航线暂停
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
        WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO);
@@ -577,6 +592,7 @@
    /**
     * 航线恢复
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
        WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO);
@@ -586,24 +602,11 @@
    /**
     * 航线结束
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public void wayLineEnd(WayLineEndDTO wayLineEndDTO) {
        WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);
        this.sendMessage(tyConfiguration.getIpPort(), wayLineEndCmd);
    }

    /**
     * 点播
     */
    @Override
    public ArdVtdu play(String boxSn) {
        BoxStreamUrlReceiver boxLiveUrl = getBoxLiveUrl(boxSn);
        if(boxLiveUrl == null||boxLiveUrl.getRtsp() == null) {
            return null;
        }
        ArdVtdu ardVtdu = ArdVtdu.builder().name(boxSn).rtspSource(boxLiveUrl.getRtsp()).build();
        ardVtdu = mediaService.addPath(ardVtdu);
        return ardVtdu;
    }

    /**
@@ -644,14 +647,14 @@
                UavStateCmd uavStateCmd = (UavStateCmd) tyCommand;
                UavStateCache.putUavState(uavStateCmd.getUavState());
                logPrint("无人机状态", uavStateCmd.getUavState().getBoxSn());
                WebSocketUtil.sendMessageAll(uavStateCmd.getUavState());
               // 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());
                WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
                //WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
                break;

            case (byte) 0x0C: