增加：喊话器

liusuyi

2024-11-01 c5551fc0fb643f85aafeb6827687af4df88bd1f7

 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;
@@ -17,6 +18,7 @@
import com.ard.tianyu.model.dto.converter.UavTelemetryDataConverter;
import com.ard.tianyu.model.dto.manual.*;
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.receiver.*;
@@ -34,6 +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.command.speaker.*;
import com.ard.tianyu.netty.handler.ErrorCodeEnum;
import com.ard.tianyu.service.ITyService;
import com.ard.tianyu.websocket.utils.WebSocketUtil;
@@ -47,6 +50,8 @@
import java.net.InetSocketAddress;
import java.util.ArrayList;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;

/**
 * TyServiceImpl
@@ -63,6 +68,9 @@

    @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
@@ -139,29 +147,12 @@
     */
    @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());
        }
    }

@@ -366,7 +357,7 @@
     */
    @Override
    public void emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) {
        EmergencyBrakeCmd emergencyBrakeCmd=new EmergencyBrakeCmd(emeragencyBrakeDTO);
        EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO);
        this.sendMessage(tyConfiguration.getIpPort(), emergencyBrakeCmd);
    }

@@ -395,10 +386,71 @@
    }

    /**
     * 喊话模式切换
     */
    @Override
    public void speakModeSwitch(SpeakModeSwitchDTO speakModeSwitchDTO) {
        SpeakModeSwitchCmd speakModeSwitchCmd = new SpeakModeSwitchCmd(speakModeSwitchDTO);
        this.sendMessage(tyConfiguration.getIpPort(), speakModeSwitchCmd);
    }

    /**
     * 文字喊话
     */
    @Override
    public void textSpeak(TextSpeakDTO textSpeakDTO) {
        TextSpeakCmd textSpeakCmd = new TextSpeakCmd(textSpeakDTO);
        this.sendMessage(tyConfiguration.getIpPort(), textSpeakCmd);
    }

    /**
     * 实时喊话
     */
    @Override
    public void realSpeak(RealSpeakDTO realSpeakDTO) {
        RealSpeakCmd realSpeakCmd = new RealSpeakCmd(realSpeakDTO);
        this.sendMessage(tyConfiguration.getIpPort(), realSpeakCmd);
    }

    /**
     * 录音喊话
     */
    @Override
    public void recordSpeak(RecordSpeakDTO recordSpeakDTO) {
        RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO);
        this.sendMessage(tyConfiguration.getIpPort(), recordSpeakCmd);
    }
    /**
     * 设置音量
     */
    @Override
    public void volumeSetting(VolumeSettingDTO volumeSettingDTO) {
        VolumeSettingCmd volumeSettingCmd = new VolumeSettingCmd(volumeSettingDTO);
        this.sendMessage(tyConfiguration.getIpPort(), volumeSettingCmd);
    }

    /**
     * 设置循环播放
     */
    @Override
    public void loopSetting(LoopSettingDTO loopSettingDTO) {
        LoopSettingCmd loopSettingCmd = new LoopSettingCmd(loopSettingDTO);
        this.sendMessage(tyConfiguration.getIpPort(), loopSettingCmd);
    }
    /**
     * 停止喊话
     */
    @Override
    public void stopSpeak(StopSpeakDTO stopSpeakDTO) {
        StopSpeakCmd stopSpeakCmd=new StopSpeakCmd(stopSpeakDTO);
        this.sendMessage(tyConfiguration.getIpPort(), stopSpeakCmd);
    }

    /**
     * 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:
@@ -438,10 +490,28 @@
            case (byte) 0xA9:
                // 处理无人机遥测消息
                UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
                TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(uavTelemetryDataCmd.getTelemetryData());
                UavTelemetryDataCache.putUavTelemetryData(telemetryData);
                logPrint("无人机遥测", telemetryData.getBoxSn());
                if (uavTelemetryDataCmd.getBoxSn() == null) {
                    return;
                }
                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
                SignalInfoCmd signalInfoCmd = (SignalInfoCmd) tyCommand;
@@ -524,7 +594,7 @@
                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());
        }
    }

@@ -537,7 +607,7 @@
    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),
                ByteUtils.byteToHex(result),
                errorCode,
                ErrorCodeEnum.getDescByCode(errorCode));
    }
@@ -552,4 +622,25 @@
        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());
        }
    }
}