forked from uav/ard-uav-server
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
@@ -1,7 +1,9 @@ package com.ard.work.service.impl; import com.ard.common.utils.ByteUtils; import com.ard.common.exception.ControlException; import com.ard.work.aspect.annotation.CheckControlRight; import com.ard.work.aspect.annotation.CheckDroneStatus; import com.ard.work.aspect.annotation.CheckNoFlyZone; import com.ard.work.aspect.annotation.CheckTakeoffAltitude; import com.ard.work.component.forest.TyClient; import com.ard.work.component.netty.TcpClientUtil; @@ -12,7 +14,7 @@ import com.ard.work.component.netty.command.control.SpeedControlCmd; import com.ard.work.component.netty.command.manual.*; import com.ard.work.component.netty.command.notice.BoxPowerStatusReplyCmd; import com.ard.work.component.netty.command.notice.FlyWayEndReplyCmd; import com.ard.work.component.netty.command.notice.WayLineFinishedReplyCmd; import com.ard.work.component.netty.command.notice.UavReadyReplyCmd; import com.ard.work.component.netty.command.real.SignalInfoCmd; import com.ard.work.component.netty.command.real.UavStateCmd; @@ -23,6 +25,8 @@ import com.ard.work.component.netty.command.wayline.*; import com.ard.work.component.netty.handler.ErrorCodeEnum; import com.ard.work.component.netty.protobuf.TelemetryDataPB; import com.ard.work.component.websocket.utils.WebSocketUtil; import com.ard.work.config.RouteStateMachineService; import com.ard.work.domain.cache.UavSignalInfoCache; import com.ard.work.domain.cache.UavStateCache; import com.ard.work.domain.cache.UavTelemetryDataCache; @@ -45,15 +49,21 @@ import com.ard.work.domain.dto.wayline.*; import com.ard.work.domain.entity.ArdDroneInfo; import com.ard.work.domain.entity.ArdServerInfo; import com.ard.work.domain.enums.RouteEvent; import com.ard.work.domain.message.ServerReplyMessage; import com.ard.work.domain.message.UavControlType; import com.ard.work.domain.receiver.*; import com.ard.work.service.IArdDroneInfoService; import com.ard.work.service.IArdFlightTaskPartService; import com.ard.work.service.IArdServerInfoService; import com.ard.work.service.ITyService; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; import javax.annotation.Resource; import java.util.*; import java.util.concurrent.ConcurrentHashMap; import java.util.stream.Collectors; import java.util.stream.Stream; @@ -72,6 +82,10 @@ private IArdDroneInfoService ardDroneService; @Resource private TyClient tyClient; @Autowired private RouteStateMachineService stateMachineService; @Autowired private IArdFlightTaskPartService ardFlightTaskPartService; /** * 获取边缘服务器token信息 @@ -90,9 +104,12 @@ */ @Override public List<BoxInfoReceiver> getBoxList() { List<ArdServerInfo> ardServerInfos = ardServerService.selectArdServerInfoList(new ArdServerInfo()); List<ArdServerInfo> ardServerInfos = ardServerService.selectArdServerInfoList(new ArdServerInfo() {{ setUseDataScope(false); }}); return getBoxList(ardServerInfos); } /** * 获取指定服务器云盒列表 * @@ -101,8 +118,9 @@ @Override public List<BoxInfoReceiver> getBoxList(String serverId) { TyHttpCommonReceiver<List<BoxInfoReceiver>> boxList = tyClient.getBoxList(serverId); return boxList.getContent(); return boxList == null ? null : boxList.getContent(); } /** * 获取直播地址 * @@ -111,8 +129,14 @@ @Override public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(),boxSn); return boxLiveUrl.getContent(); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(), boxSn); return boxLiveUrl == null ? null : boxLiveUrl.getContent(); } /** @@ -122,10 +146,14 @@ */ @Override public List<BoxHistoryReceiver> getBoxHistory(BoxHistoryDTO boxHistoryDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxHistoryDTO.getBoxSn()); String boxSn = boxHistoryDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(ardDroneInfo.getServerId(), boxHistoryDTO); return boxHistory.getContent(); return boxHistory == null ? null : boxHistory.getContent(); } /** @@ -135,9 +163,14 @@ */ @Override public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxPhotosDTO.getBoxSn()); TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(ardDroneInfo.getServerId(),boxPhotosDTO); return boxPhotos.getContent(); String boxSn = boxPhotosDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(ardDroneInfo.getServerId(), boxPhotosDTO); return boxPhotos == null ? null : boxPhotos.getContent(); } /** @@ -145,9 +178,13 @@ */ @Override public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSettingsDTO.getBoxSn()); TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(ardDroneInfo.getServerId(),boxSettingsDTO); return result.getState() == 1; String boxSn = boxSettingsDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(ardDroneInfo.getServerId(), boxSettingsDTO); return result.getState() == 0; } /** @@ -155,7 +192,11 @@ */ @Override public Boolean updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHeightSettingDTO.getBoxSn()); String boxSn = returnHeightSettingDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } ReturnHeightSettingCmd returnHeightSettingCmd = new ReturnHeightSettingCmd(returnHeightSettingDTO); this.sendMessage(ardDroneInfo.getServerId(), returnHeightSettingCmd); return true; @@ -166,7 +207,11 @@ */ @Override public Boolean updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnPointSettingDTO.getBoxSn()); String boxSn = returnPointSettingDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } ReturnPointSettingCmd returnPointSettingCmd = new ReturnPointSettingCmd(returnPointSettingDTO); this.sendMessage(ardDroneInfo.getServerId(), returnPointSettingCmd); return true; @@ -177,7 +222,11 @@ */ @Override public Boolean updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(videoStreamSettingDTO.getBoxSn()); String boxSn = videoStreamSettingDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } VideoStreamSettingCmd videoStreamSettingCmd = new VideoStreamSettingCmd(videoStreamSettingDTO); this.sendMessage(ardDroneInfo.getServerId(), videoStreamSettingCmd); return true; @@ -192,10 +241,11 @@ AccessTokenReceiver tyToken = ardServerService.getAccessToken(serverId); RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes()); this.sendMessage(serverId, registerMessage); return true; } catch (Exception e) { log.error("注册边缘服务器平台失败:{}", e.getMessage()); return false; } return true; } /** @@ -204,7 +254,11 @@ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean angleControl(AngleControlDTO angleControlDto) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(angleControlDto.getBoxSn()); String boxSn = angleControlDto.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto); this.sendMessage(ardDroneInfo.getServerId(), controlAngleCommand); return true; @@ -216,7 +270,11 @@ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean absAngleControl(AbsAngleControlDTO absAngleControlDto) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(absAngleControlDto.getBoxSn()); String boxSn = absAngleControlDto.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto); this.sendMessage(ardDroneInfo.getServerId(), absAngleControlCommand); return true; @@ -228,18 +286,39 @@ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean speedControl(SpeedControlDTO speedControlDto) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(speedControlDto.getBoxSn()); String boxSn = speedControlDto.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto); this.sendMessage(ardDroneInfo.getServerId(), speedControlCommand); return true; } @Override public Boolean formatSdCard(FormatSdCardDTO formatSdCardDTO) { String boxSn = formatSdCardDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } FormatSdCardCmd formatSdCardCmd = new FormatSdCardCmd(formatSdCardDTO); this.sendMessage(ardDroneInfo.getServerId(), formatSdCardCmd); return true; } /** * 设置相机模式 */ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean updateCameraMode(CameraModeDTO cameraModeDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(cameraModeDTO.getBoxSn()); String boxSn = cameraModeDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO); this.sendMessage(ardDroneInfo.getServerId(), cameraModeCommand); return true; @@ -248,13 +327,20 @@ /** * 拍照 */ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean capturePic(CapturePicDTO capturePicDto) { String boxSn = capturePicDto.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } //设置相机模式为拍照模式 updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build()); //updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build()); //设置拍照回传 photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build()); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(capturePicDto.getBoxSn()); //photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01) // .build()); CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto); this.sendMessage(ardDroneInfo.getServerId(), capturePicCommand); return true; @@ -263,16 +349,21 @@ /** * 录像 */ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean record(RecordDTO recordDto) { String boxSn = recordDto.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } BaseCmd baseCmd; if (recordDto.getIsRecord()) { updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build()); //updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build()); baseCmd = new RecordStartCmd(recordDto); } else { baseCmd = new RecordStopCmd(recordDto); } ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(recordDto.getBoxSn()); this.sendMessage(ardDroneInfo.getServerId(), baseCmd); return true; } @@ -283,7 +374,11 @@ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean zoom(ZoomDTO zoomDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(zoomDTO.getBoxSn()); String boxSn = zoomDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } ZoomCmd zoomCommand = new ZoomCmd(zoomDTO); this.sendMessage(ardDroneInfo.getServerId(), zoomCommand); return true; @@ -295,7 +390,11 @@ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(zoomToLevelDTO.getBoxSn()); String boxSn = zoomToLevelDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO); this.sendMessage(ardDroneInfo.getServerId(), zoomToLevelCommand); return true; @@ -304,9 +403,14 @@ /** * 切换摄像头 */ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean switchCamera(SwitchCameraDTO switchCameraDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchCameraDTO.getBoxSn()); String boxSn = switchCameraDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO); this.sendMessage(ardDroneInfo.getServerId(), switchCameraCmd); return true; @@ -315,9 +419,14 @@ /** * 切换视频源 */ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean switchSource(SwitchSourceDTO switchSourceDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchSourceDTO.getBoxSn()); String boxSn = switchSourceDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO); this.sendMessage(ardDroneInfo.getServerId(), switchSourceCmd); return true; @@ -326,9 +435,14 @@ /** * 打开或关闭照片回传 */ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(photoReturnToggleDTO.getBoxSn()); String boxSn = photoReturnToggleDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO); this.sendMessage(ardDroneInfo.getServerId(), photoReturnToggleCmd); return true; @@ -337,9 +451,14 @@ /** * 切换无人机控制权 */ @CheckDroneStatus @Override public Boolean switchUavControl(SwitchUavControlDTO switchUavControlDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchUavControlDTO.getBoxSn()); String boxSn = switchUavControlDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO); this.sendMessage(ardDroneInfo.getServerId(), switchUavControlCmd); return true; @@ -351,7 +470,11 @@ @CheckControlRight(UavControlType.FLY) @Override public Boolean takeOff(TakeOffDTO takeOffDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(takeOffDTO.getBoxSn()); String boxSn = takeOffDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO); this.sendMessage(ardDroneInfo.getServerId(), takeOffCmd); return true; @@ -363,7 +486,11 @@ @CheckControlRight(UavControlType.FLY) @Override public Boolean returnHome(ReturnHomeDTO returnHomeDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHomeDTO.getBoxSn()); String boxSn = returnHomeDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO); this.sendMessage(ardDroneInfo.getServerId(), returnHomeCmd); return true; @@ -375,7 +502,11 @@ @CheckControlRight(UavControlType.FLY) @Override public Boolean returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHomeCancelDTO.getBoxSn()); String boxSn = returnHomeCancelDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO); this.sendMessage(ardDroneInfo.getServerId(), returnHomeCancelCmd); return true; @@ -387,7 +518,11 @@ @CheckControlRight(UavControlType.FLY) @Override public Boolean land(LandDTO landDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landDTO.getBoxSn()); String boxSn = landDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } LandCmd landCmd = new LandCmd(landDTO); this.sendMessage(ardDroneInfo.getServerId(), landCmd); return true; @@ -399,7 +534,11 @@ @CheckControlRight(UavControlType.FLY) @Override public Boolean landCancel(LandCancelDTO landCancelDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landCancelDTO.getBoxSn()); String boxSn = landCancelDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO); this.sendMessage(ardDroneInfo.getServerId(), landCancelCmd); return true; @@ -411,7 +550,11 @@ @CheckControlRight(UavControlType.FLY) @Override public Boolean landForced(LandForcedDTO landForcedDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landForcedDTO.getBoxSn()); String boxSn = landForcedDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO); this.sendMessage(ardDroneInfo.getServerId(), landForcedCmd); return true; @@ -421,10 +564,14 @@ * 方向控制 */ @CheckControlRight(UavControlType.FLY) @CheckTakeoffAltitude(minAltitude = 30.0) @CheckTakeoffAltitude @Override public Boolean flyControl(FlyControlDTO flyControlDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyControlDTO.getBoxSn()); String boxSn = flyControlDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO); this.sendMessage(ardDroneInfo.getServerId(), flyControlCmd); return true; @@ -434,10 +581,15 @@ * 指点飞行控制 */ @CheckControlRight(UavControlType.FLY) @CheckTakeoffAltitude(minAltitude = 30.0) @CheckTakeoffAltitude @CheckNoFlyZone @Override public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyPointControlDTO.getBoxSn()); String boxSn = flyPointControlDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO); this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd); return true; @@ -449,9 +601,46 @@ @CheckControlRight(UavControlType.FLY) @Override public Boolean flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyPointControlCancelDTO.getBoxSn()); String boxSn = flyPointControlCancelDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO); this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd); return true; } /** * 环绕飞行控制 */ @Override public Boolean FlyRoundControl(FlyRoundControlDTO flyRoundControlDTO) { String boxSn = flyRoundControlDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } FlyRoundControlCmd flyRoundControlCmd = new FlyRoundControlCmd(flyRoundControlDTO); this.sendMessage(ardDroneInfo.getServerId(), flyRoundControlCmd); return true; } /** * 停止环绕飞行控制 */ @Override public Boolean FlyRoundControlCancel(FlyRoundControlCancelDTO flyRoundControlCancelDTO) { String boxSn = flyRoundControlCancelDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } FlyRoundControlCancelCmd flyRoundControlCancelCmd = new FlyRoundControlCancelCmd(flyRoundControlCancelDTO); this.sendMessage(ardDroneInfo.getServerId(), flyRoundControlCancelCmd); return true; } @@ -461,7 +650,13 @@ @CheckControlRight(UavControlType.FLY) @Override public Boolean emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(emeragencyBrakeDTO.getBoxSn()); String boxSn = emeragencyBrakeDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO); this.sendMessage(ardDroneInfo.getServerId(), emergencyBrakeCmd); return true; @@ -472,7 +667,7 @@ */ @Override public UavState getUavState(String boxSn) { return UavStateCache.getUavState(boxSn); return UavStateCache.get(boxSn); } /** @@ -480,7 +675,7 @@ */ @Override public TelemetryData getUavTelemetryData(String boxSn) { return UavTelemetryDataCache.getUavTelemetryData(boxSn); return UavTelemetryDataCache.get(boxSn); } /** @@ -488,88 +683,132 @@ */ @Override public SignalInfo getSignalInfo(String boxSn) { return UavSignalInfoCache.getUavSignalInfo(boxSn); return UavSignalInfoCache.get(boxSn); } /** * 喊话模式切换 */ @Override public void speakModeSwitch(SpeakModeSwitchDTO speakModeSwitchDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(speakModeSwitchDTO.getBoxSn()); public Boolean speakModeSwitch(SpeakModeSwitchDTO speakModeSwitchDTO) { String boxSn = speakModeSwitchDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } SpeakModeSwitchCmd speakModeSwitchCmd = new SpeakModeSwitchCmd(speakModeSwitchDTO); this.sendMessage(ardDroneInfo.getServerId(), speakModeSwitchCmd); return true; } /** * 文字喊话 */ @Override public void textSpeak(TextSpeakDTO textSpeakDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(textSpeakDTO.getBoxSn()); public Boolean textSpeak(TextSpeakDTO textSpeakDTO) { String boxSn = textSpeakDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } TextSpeakCmd textSpeakCmd = new TextSpeakCmd(textSpeakDTO); this.sendMessage(ardDroneInfo.getServerId(), textSpeakCmd); return true; } /** * 实时喊话 */ @Override public void realSpeak(RealSpeakDTO realSpeakDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(realSpeakDTO.getBoxSn()); public Boolean realSpeak(RealSpeakDTO realSpeakDTO) { String boxSn = realSpeakDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } RealSpeakCmd realSpeakCmd = new RealSpeakCmd(realSpeakDTO); this.sendMessage(ardDroneInfo.getServerId(), realSpeakCmd); return true; } /** * 录音喊话 */ @Override public void recordSpeak(RecordSpeakDTO recordSpeakDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(recordSpeakDTO.getBoxSn()); public Boolean recordSpeak(RecordSpeakDTO recordSpeakDTO) { String boxSn = recordSpeakDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO); this.sendMessage(ardDroneInfo.getServerId(), recordSpeakCmd); return true; } /** * 设置音量 */ @Override public void volumeSetting(VolumeSettingDTO volumeSettingDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(volumeSettingDTO.getBoxSn()); public Boolean volumeSetting(VolumeSettingDTO volumeSettingDTO) { String boxSn = volumeSettingDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } VolumeSettingCmd volumeSettingCmd = new VolumeSettingCmd(volumeSettingDTO); this.sendMessage(ardDroneInfo.getServerId(), volumeSettingCmd); return true; } /** * 设置循环播放 */ @Override public void loopSetting(LoopSettingDTO loopSettingDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(loopSettingDTO.getBoxSn()); public Boolean loopSetting(LoopSettingDTO loopSettingDTO) { String boxSn = loopSettingDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } LoopSettingCmd loopSettingCmd = new LoopSettingCmd(loopSettingDTO); this.sendMessage(ardDroneInfo.getServerId(), loopSettingCmd); return true; } /** * 停止喊话 */ @Override public void stopSpeak(StopSpeakDTO stopSpeakDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(stopSpeakDTO.getBoxSn()); public Boolean stopSpeak(StopSpeakDTO stopSpeakDTO) { String boxSn = stopSpeakDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } StopSpeakCmd stopSpeakCmd = new StopSpeakCmd(stopSpeakDTO); this.sendMessage(ardDroneInfo.getServerId(), stopSpeakCmd); return true; } /** * 航线上传 */ @CheckControlRight(UavControlType.FLY) @Override public void wayLineUpload(WayLineUploadDTO wayLineUploadDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineUploadDTO.getBoxSn()); wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据 public Boolean wayLineUpload(WayLineUploadDTO wayLineUploadDTO) { String boxSn = wayLineUploadDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } //wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据 System.out.println("wayLineUploadDTO:-----------------" + wayLineUploadDTO); log.info("打印数据 ++++ wayLineUploadDTO:-----------------" + wayLineUploadDTO); WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO); System.out.println("wayLineUploadCmd:-----------------" + wayLineUploadCmd); this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd); return true; } //创建航线 @@ -611,10 +850,15 @@ */ @CheckControlRight(UavControlType.FLY) @Override public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineBeginDTO.getBoxSn()); public Boolean wayLineBegin(WayLineBeginDTO wayLineBeginDTO) { String boxSn = wayLineBeginDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO); this.sendMessage(ardDroneInfo.getServerId(), wayLineBeginCmd); return true; } /** @@ -622,10 +866,15 @@ */ @CheckControlRight(UavControlType.FLY) @Override public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLinePauseDTO.getBoxSn()); public Boolean wayLinePause(WayLinePauseDTO wayLinePauseDTO) { String boxSn = wayLinePauseDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO); this.sendMessage(ardDroneInfo.getServerId(), wayLinePauseCmd); return true; } /** @@ -633,10 +882,15 @@ */ @CheckControlRight(UavControlType.FLY) @Override public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineResumeDTO.getBoxSn()); public Boolean wayLineResume(WayLineResumeDTO wayLineResumeDTO) { String boxSn = wayLineResumeDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO); this.sendMessage(ardDroneInfo.getServerId(), wayLineResumeCmd); return true; } /** @@ -644,10 +898,15 @@ */ @CheckControlRight(UavControlType.FLY) @Override public void wayLineEnd(WayLineEndDTO wayLineEndDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineEndDTO.getBoxSn()); public Boolean wayLineEnd(WayLineEndDTO wayLineEndDTO) { String boxSn = wayLineEndDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO); this.sendMessage(ardDroneInfo.getServerId(), wayLineEndCmd); return true; } /** @@ -669,8 +928,8 @@ break; case 0x02: // 处理注册消息 HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand; logPrint("心跳消息", heartbeatReplyCmd.getTimestamp()); HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand; //logPrint("心跳消息", heartbeatReplyCmd.getTimestamp()); break; case 0x03: // 处理订阅消息 @@ -691,14 +950,16 @@ case (byte) 0xA8: // 处理无人机状态消息 UavStateCmd uavStateCmd = (UavStateCmd) tyCommand; UavStateCache.putUavState(uavStateCmd.getUavState()); UavStateCache.put(uavStateCmd.getUavState()); //logPrint("无人机状态", uavStateCmd.getUavState().getBoxSn()); // 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()); TelemetryData telemetryData = uavTelemetryDataCmd.getTelemetryData(); telemetryData.setTimestamp(System.currentTimeMillis());//由于六合提供的状态时间戳不准，先以接收状态作为时间戳 UavTelemetryDataCache.put(telemetryData); //logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn()); //WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData()); break; @@ -706,7 +967,7 @@ case (byte) 0x0C: // 处理无人机信道质量数据 SignalInfoCmd signalInfoCmd = (SignalInfoCmd) tyCommand; UavSignalInfoCache.putUavSignalInfoCache(signalInfoCmd.getSignalInfo()); UavSignalInfoCache.put(signalInfoCmd.getSignalInfo()); //logPrint("无人机信道质量", signalInfoCmd.getSignalInfo().getBoxSn()); break; case (byte) 0xD1: @@ -725,9 +986,10 @@ CameraModeReplyCmd cameraModeReplyCommand = (CameraModeReplyCmd) tyCommand; logPrint("无人机设置相机模式", cameraModeReplyCommand.getResult(), cameraModeReplyCommand.getErrorCode()); } if (tyCommand instanceof FlyWayEndReplyCmd) { FlyWayEndReplyCmd flyWayEndReplyCmd = (FlyWayEndReplyCmd) tyCommand; logPrint("无人机飞行结束", flyWayEndReplyCmd.getResult(), flyWayEndReplyCmd.getErrorCode()); //格式化存储卡 if (tyCommand instanceof FormatSdCardReplyCmd) { FormatSdCardReplyCmd formatSdCardReplyCmd = (FormatSdCardReplyCmd) tyCommand; logPrint("格式化存储卡", formatSdCardReplyCmd.getResult(), formatSdCardReplyCmd.getErrorCode()); } if (tyCommand instanceof CapturePicReplyCmd) { CapturePicReplyCmd capturePicReplyCommand = (CapturePicReplyCmd) tyCommand; @@ -789,23 +1051,53 @@ } //开始航线回复 if (tyCommand instanceof WayLineBeginReplyCmd) { WayLineBeginReplyCmd wayLineBeginReplyCmd = (WayLineBeginReplyCmd) tyCommand; logPrint("开始航线", wayLineBeginReplyCmd.getResult(), wayLineBeginReplyCmd.getErrorCode()); if (wayLineBeginReplyCmd.getResult() == 0) { byte[] boxSnBytes = tyCommand.getBoxSn(); String boxSn = new String(boxSnBytes); stateMachineService.sendEvent(boxSn, RouteEvent.START_SUCCESS); } } //暂停航线回复 if (tyCommand instanceof WayLinePauseReplyCmd) { WayLinePauseReplyCmd wayLinePauseReplyCmd = (WayLinePauseReplyCmd) tyCommand; logPrint("暂停航线", wayLinePauseReplyCmd.getResult(), wayLinePauseReplyCmd.getErrorCode()); if (wayLinePauseReplyCmd.getResult() == 0) { byte[] boxSnBytes = tyCommand.getBoxSn(); String boxSn = new String(boxSnBytes); stateMachineService.sendEvent(boxSn, RouteEvent.PAUSE_SUCCESS); } } //恢复航线回复 if (tyCommand instanceof WayLineResumeReplyCmd) { WayLineResumeReplyCmd wayLineResumeReplyCmd = (WayLineResumeReplyCmd) tyCommand; logPrint("恢复航线", wayLineResumeReplyCmd.getResult(), wayLineResumeReplyCmd.getErrorCode()); if (wayLineResumeReplyCmd.getResult() == 0) { byte[] boxSnBytes = tyCommand.getBoxSn(); String boxSn = new String(boxSnBytes); stateMachineService.sendEvent(boxSn, RouteEvent.RESUME_SUCCESS); } } //结束航线回复 if (tyCommand instanceof WayLineEndReplyCmd) { WayLineEndReplyCmd wayLineEndReplyCmd = (WayLineEndReplyCmd) tyCommand; logPrint("结束航线", wayLineEndReplyCmd.getResult(), wayLineEndReplyCmd.getErrorCode()); if (wayLineEndReplyCmd.getResult() == 0) { byte[] boxSnBytes = tyCommand.getBoxSn(); String boxSn = new String(boxSnBytes); stateMachineService.sendEvent(boxSn, RouteEvent.STOP_SUCCESS); } } if (tyCommand instanceof WayLineFinishedReplyCmd) { WayLineFinishedReplyCmd wayLineFinishedReplyCmd = (WayLineFinishedReplyCmd) tyCommand; logPrint("航线执行完成", wayLineFinishedReplyCmd.getResult(), wayLineFinishedReplyCmd.getErrorCode()); if (wayLineFinishedReplyCmd.getResult() == 0) { byte[] boxSnBytes = tyCommand.getBoxSn(); String boxSn = new String(boxSnBytes); stateMachineService.sendEvent(boxSn, RouteEvent.RESET_ROUTE); } } //设置返航高度回复 if (tyCommand instanceof ReturnHeightSettingReplyCmd) { @@ -818,6 +1110,12 @@ ReturnPointSettingReplyCmd returnPointSettingReplyCmd = (ReturnPointSettingReplyCmd) tyCommand; logPrint("设置返航点", returnPointSettingReplyCmd.getResult(), returnPointSettingReplyCmd.getErrorCode()); } //到达环绕位置回复 if (tyCommand instanceof FlyRoundReplyCmd) { FlyRoundReplyCmd flyRoundReplyCmd = (FlyRoundReplyCmd) tyCommand; logPrint("到达环绕位置", flyRoundReplyCmd.getResult(), flyRoundReplyCmd.getErrorCode()); } break; case (byte) 0xD2: @@ -892,24 +1190,31 @@ //公共日志打印 private void logPrint(String message, Object obj) { log.debug("收到{}回复{}", message, obj); String text = String.format("收到%s回复 %s", message, obj); ServerReplyMessage serverReplyMessage = ServerReplyMessage.builder().message(text).build(); WebSocketUtil.sendMessage("reply", serverReplyMessage); log.debug(text); } //公共日志打印 private void logPrint(String message, byte result, Integer errorCode) { log.info("收到{}回复:{} 错误码：{}【{}】", String text = String.format( "收到%s回复 状态码：%d【%s】", message, ByteUtils.byteToHex(result), //ByteUtils.byteToHex(result), errorCode, ErrorCodeEnum.getDescByCode(errorCode)); ErrorCodeEnum.getDescByCode(errorCode) ); ServerReplyMessage serverReplyMessage = ServerReplyMessage.builder().message(text).build(); WebSocketUtil.sendMessage("reply", serverReplyMessage); log.debug(text); } /** * 发送消息 * 发送tcp消息 */ private void sendMessage(String key, BaseCmd msg) { TcpClientUtil.sendMessage(key, msg); } }
