forked from uav/ard-uav-server
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java
@@ -1,5 +1,6 @@ package com.ard.tianyu.service.impl; import com.ard.common.utils.ByteUtils; import com.ard.tianyu.config.TyConfiguration; import com.ard.tianyu.http.TyClient; import com.ard.tianyu.model.cache.UavSignalInfoCache; @@ -15,8 +16,7 @@ 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.SwitchUavControlDTO; import com.ard.tianyu.model.dto.manual.TakeOffDTO; import com.ard.tianyu.model.dto.manual.*; import com.ard.tianyu.model.dto.signal.SignalInfo; import com.ard.tianyu.model.dto.state.UavState; import com.ard.tianyu.model.dto.telemetry.TelemetryData; @@ -27,9 +27,7 @@ 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.SwitchUavControlCmd; import com.ard.tianyu.netty.command.manual.TakeOffCmd; import com.ard.tianyu.netty.command.manual.TakeOffReplyCmd; 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; @@ -37,7 +35,9 @@ 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 com.ard.tianyu.websocket.utils.WebSocketUtil; import io.netty.channel.Channel; import io.netty.channel.ChannelFuture; import lombok.extern.slf4j.Slf4j; @@ -48,6 +48,8 @@ import java.net.InetSocketAddress; import java.util.ArrayList; import java.util.List; import java.util.Map; import java.util.concurrent.ConcurrentHashMap; /** * TyServiceImpl @@ -64,6 +66,9 @@ @Resource private TyConfiguration tyConfiguration; // 存储每个无人机的最后遥测处理时间 private Map<String, Long> lastTelemetryTimes = new ConcurrentHashMap<>(); /** * 获取天宇token信息 @@ -140,29 +145,12 @@ */ @Override public void registerMessage() { AccessTokenReceiver tyToken = tyConfiguration.getAccessToken(); RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes()); this.sendMessage(tyConfiguration.getIpPort(), registerMessage); } /** * 发送消息 */ public void sendMessage(String key, BaseCmd 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！"); } AccessTokenReceiver tyToken = tyConfiguration.getAccessToken(); RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes()); this.sendMessage(tyConfiguration.getIpPort(), registerMessage); } catch (Exception e) { log.error("发送消息异常：{}", e.getMessage()); log.error("注册天宇平台失败:{}", e.getMessage()); } } @@ -291,6 +279,87 @@ } /** * 返航 */ @Override public void returnHome(ReturnHomeDTO returnHomeDTO) { ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO); this.sendMessage(tyConfiguration.getIpPort(), returnHomeCmd); } /** * 取消返航 */ @Override public void returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) { ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO); this.sendMessage(tyConfiguration.getIpPort(), returnHomeCancelCmd); } /** * 降落 */ @Override public void land(LandDTO landDTO) { LandCmd landCmd = new LandCmd(landDTO); this.sendMessage(tyConfiguration.getIpPort(), landCmd); } /** * 取消降落 */ @Override public void landCancel(LandCancelDTO landCancelDTO) { LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO); this.sendMessage(tyConfiguration.getIpPort(), landCancelCmd); } /** * 强制降落 */ @Override public void landForced(LandForcedDTO landForcedDTO) { LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO); this.sendMessage(tyConfiguration.getIpPort(), landForcedCmd); } /** * 方向控制 */ @Override public void flyControl(FlyControlDTO flyControlDTO) { FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO); this.sendMessage(tyConfiguration.getIpPort(), flyControlCmd); } /** * 指点飞行控制 */ @Override public void flyPointControl(FlyPointControlDTO flyPointControlDTO) { FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO); this.sendMessage(tyConfiguration.getIpPort(), flyPointControlCmd); } /** * 停止指点飞行控制 */ @Override public void flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) { FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO); this.sendMessage(tyConfiguration.getIpPort(), flyPointControlCancelCmd); } /** * 紧急制动 */ @Override public void emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) { EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO); this.sendMessage(tyConfiguration.getIpPort(), emergencyBrakeCmd); } /** * 获取无人机状态 */ @Override @@ -318,13 +387,13 @@ * 处理天宇服务器返回的消息 */ @Override public void processMessage(String key, BaseCmd tyCommand) { public void processReplyMessage(String key, BaseCmd tyCommand) { byte cmdCode = tyCommand.getCmdCode(); switch (cmdCode) { 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"); @@ -334,7 +403,7 @@ 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 @@ -345,28 +414,44 @@ 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()); WebSocketUtil.sendMessageAll(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"); UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand; TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(uavTelemetryDataCmd.getTelemetryData()); UavTelemetryDataCache.putUavTelemetryData(telemetryData); String boxSn = ByteUtils.bytesToString(uavTelemetryDataCmd.getBoxSn()); // 假设有获取无人机ID的方法 long currentTime = System.currentTimeMillis(); // 获取无人机的最后处理时间，如果没有则设置为0 long lastTelemetryTime = lastTelemetryTimes.getOrDefault(boxSn, 0L); // 检查与上次处理时间的间隔 if (currentTime - lastTelemetryTime >= 1000) { // 1秒 TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(uavTelemetryDataCmd.getTelemetryData()); UavTelemetryDataCache.putUavTelemetryData(telemetryData); logPrint("无人机遥测", telemetryData.getBoxSn()); // 更新最后处理时间 lastTelemetryTimes.put(boxSn, currentTime); } else { log.debug("无人机 " + boxSn + " 遥测数据接收过于频繁，已跳过处理"); } 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 @@ -374,42 +459,91 @@ 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; logPrint("无人机返航", returnHomeReplyCmd.getResult(), returnHomeReplyCmd.getErrorCode()); } //取消返航回复 if (tyCommand instanceof ReturnHomeCancelReplyCmd) { ReturnHomeCancelReplyCmd returnHomeCancelReplyCmd = (ReturnHomeCancelReplyCmd) tyCommand; logPrint("取消无人机返航", returnHomeCancelReplyCmd.getResult(), returnHomeCancelReplyCmd.getErrorCode()); } //降落回复 if (tyCommand instanceof LandReplyCmd) { LandReplyCmd landReplyCmd = (LandReplyCmd) tyCommand; logPrint("降落", landReplyCmd.getResult(), landReplyCmd.getErrorCode()); } //取消降落回复 if (tyCommand instanceof LandCancelReplyCmd) { LandCancelReplyCmd landCancelReplyCmd = (LandCancelReplyCmd) tyCommand; logPrint("取消降落", landCancelReplyCmd.getResult(), landCancelReplyCmd.getErrorCode()); } //强制降落回复 if (tyCommand instanceof LandForcedReplyCmd) { LandForcedReplyCmd landForcedReplyCmd = (LandForcedReplyCmd) tyCommand; logPrint("强制降落", landForcedReplyCmd.getResult(), landForcedReplyCmd.getErrorCode()); } //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()); } //紧急制动回复 if (tyCommand instanceof EmergencyBrakeReplyCmd) { EmergencyBrakeReplyCmd emergencyBrakeReplyCmd = (EmergencyBrakeReplyCmd) tyCommand; logPrint("紧急制动回复", emergencyBrakeReplyCmd.getResult(), emergencyBrakeReplyCmd.getErrorCode()); } break; default: // 处理其他消息 log.debug("收到其他消息-->其他消息"); log.warn("收到其他消息-->{}", tyCommand.getCmdCode()); } } //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, ByteUtils.byteToHex(result), errorCode, ErrorCodeEnum.getDescByCode(errorCode)); } /** @@ -422,4 +556,25 @@ HeartbeatCmd heartbeatMessage = new HeartbeatCmd(timestamp); this.sendMessage(tyConfiguration.getIpPort(), heartbeatMessage); } /** * 发送消息 */ private void sendMessage(String key, BaseCmd 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()); } } }
