增加：返航

liusuyi

2024-10-26 b9f46001860bf194601b4bdf848545bfc72eefa5

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

@@ -15,6 +15,9 @@
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;
@@ -25,6 +28,7 @@
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.*;
import com.ard.tianyu.netty.command.notice.BoxPowerStatusReplyCmd;
import com.ard.tianyu.netty.command.notice.FlyWayEndReplyCmd;
import com.ard.tianyu.netty.command.notice.UavReadyReplyCmd;
@@ -268,6 +272,33 @@
    }

    /**
     * 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
@@ -355,7 +386,7 @@
                }
                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());
                    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());
                }
                if (tyCommand instanceof CameraModeReplyCmd) {
                    CameraModeReplyCmd cameraModeReplyCommand = (CameraModeReplyCmd) tyCommand;
@@ -363,7 +394,7 @@
                }
                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());
                    log.info("收到无人机飞行结束通知:状态：{}", flyWayEndReplyCmd.getResult());
                }
                if (tyCommand instanceof CapturePicReplyCmd) {
                    CapturePicReplyCmd capturePicReplyCommand = (CapturePicReplyCmd) tyCommand;
@@ -377,6 +408,16 @@
                    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());
                }
                //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());
                }
                //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());
                }
                break;
            default:
                // 处理其他消息
@@ -384,6 +425,9 @@
        }
    }

    /**
     * 定时3秒发送心跳指令
     */
    @Scheduled(fixedRate = 3000)
    public void sendHeartBeat() {
        long timestamp = System.currentTimeMillis();