增加：航线开始/暂停/恢复/结束

liusuyi

2024-11-01 d1f854d741456292862c8b4a84f91c0f7f9a0be9

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

@@ -3,6 +3,7 @@
import com.ard.common.utils.ByteUtils;
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;
@@ -16,10 +17,13 @@
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.converter.wayline.PlanLineDataConverter;
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.dto.wayline.*;
import com.ard.tianyu.model.receiver.*;
import com.ard.tianyu.netty.command.*;
import com.ard.tianyu.netty.TyNettyTcpClient;
@@ -35,7 +39,10 @@
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.command.wayline.*;
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 io.netty.channel.Channel;
@@ -47,6 +54,7 @@
import javax.annotation.Resource;
import java.net.InetSocketAddress;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
@@ -384,6 +392,149 @@
    }

    /**
     * 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);
    }

    /**
     * 航线上传
     */
    @Override
    public void wayLineUpload(WayLineUploadDTO wayLineUploadDTO) {
        wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据
        WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
        this.sendMessage(tyConfiguration.getIpPort(), wayLineUploadCmd);
    }

    //创建航线
    private PlanLineData CreatePlanLineData() {
        TelemetryDataPB.PointData pointData1 = TelemetryDataPB.PointData.newBuilder()
                .setLng(124.12345).setLat(45.12345).setHeight(80).setSpeed(10)
                .setFlightPathMode(1)//航线飞行模式：1=直线飞行，2=协调转弯，3=曲线飞行(停)，4=曲线飞行(不停)
                .setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是
                .build();
        TelemetryDataPB.PointData pointData2 = TelemetryDataPB.PointData.newBuilder()
                .setLng(124.22222).setLat(45.22222).setHeight(80).setSpeed(10)
                .setFlightPathMode(1)//航线飞行模式：1=直线飞行，2=协调转弯，3=曲线飞行(停)，4=曲线飞行(不停)
                .setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是
                .build();
        TelemetryDataPB.PointData pointData3 = TelemetryDataPB.PointData.newBuilder()
                .setLng(124.33333).setLat(45.33333).setHeight(80).setSpeed(10)
                .setFlightPathMode(1)//航线飞行模式：1=直线飞行，2=协调转弯，3=曲线飞行(停)，4=曲线飞行(不停)
                .setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是
                .build();

        //创建航线
        TelemetryDataPB.PlanLineData PlanLineDataPB = TelemetryDataPB.PlanLineData.newBuilder()
                .setFinishedAction(2)//结束航线后动作：1=返航，2=原地悬停，3=原地降落，4=原地绕飞
                .setMaxSpeed(10)//最大飞行速度
                .setAutoSpeed(10)//自动飞行速度
                .addPoints(pointData1)//航线点1
                .addPoints(pointData2)//航线点2
                .addPoints(pointData3)//航线点3
                .setLoseAction(1)//网络失联后动作：0=返回HOME点，1=继续航线，默认0
                .setHomeHeight(6)//返航高度：(单位:米，范围20~1500)
                .setIsSaveEnergyMode(0)////是否开启节能模式：0=不是，1=是(说明：节能模式下，飞机沿最短直线距离由起飞点到航线第一个航点，非升高到第一个航点高度再飞往第一个航点)
                .build();

        return PlanLineDataConverter.convertProtoToEntity(PlanLineDataPB);
    }

    /**
     * 航线开始
     */
    @Override
    public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
        WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO);
        this.sendMessage(tyConfiguration.getIpPort(), wayLineBeginCmd);
    }

    /**
     * 航线暂停
     */
    @Override
    public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
        WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO);
        this.sendMessage(tyConfiguration.getIpPort(), wayLinePauseCmd);
    }

    /**
     * 航线恢复
     */
    @Override
    public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
        WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO);
        this.sendMessage(tyConfiguration.getIpPort(), wayLineResumeCmd);
    }

    /**
     * 航线结束
     */
    @Override
    public void wayLineEnd(WayLineEndDTO wayLineEndDTO) {
        WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);
        this.sendMessage(tyConfiguration.getIpPort(), wayLineEndCmd);
    }

    /**
     * 处理天宇服务器返回的消息
     */
    @Override
@@ -427,6 +578,9 @@
            case (byte) 0xA9:
                // 处理无人机遥测消息
                UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
                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();

@@ -523,7 +677,12 @@
                //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());
                    logPrint("紧急制动", emergencyBrakeReplyCmd.getResult(), emergencyBrakeReplyCmd.getErrorCode());
                }
                //上传航线回复
                if (tyCommand instanceof WayLineUploadReplyCmd) {
                    WayLineUploadReplyCmd wayLineUploadReplyCmd = (WayLineUploadReplyCmd) tyCommand;
                    logPrint("上传航线", wayLineUploadReplyCmd.getResult(), wayLineUploadReplyCmd.getErrorCode());
                }
                break;
            default:
@@ -551,6 +710,9 @@
     */
    @Scheduled(fixedRate = 3000)
    public void sendHeartBeat() {
        if (!TyTcpServerCache.getTcpServerCache(tyConfiguration.getTcpserver() + ":" + tyConfiguration.getTcpport())) {
            return;
        }
        long timestamp = System.currentTimeMillis();
        log.debug("定时向天宇发送⼼跳,时间戳{}", timestamp);
        HeartbeatCmd heartbeatMessage = new HeartbeatCmd(timestamp);