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

@@ -23,8 +23,7 @@
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.PlanLineData;
import com.ard.tianyu.model.dto.wayline.WayLineUploadDTO;
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;
@@ -41,8 +40,7 @@
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.WayLineUploadCmd;
import com.ard.tianyu.netty.command.wayline.WayLineUploadReplyCmd;
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;
@@ -501,6 +499,42 @@
    }

    /**
     * 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
@@ -676,8 +710,7 @@
     */
    @Scheduled(fixedRate = 3000)
    public void sendHeartBeat() {
        if(!TyTcpServerCache.getTcpServerCache(tyConfiguration.getTcpserver() + ":" + tyConfiguration.getTcpport()))
        {
        if (!TyTcpServerCache.getTcpServerCache(tyConfiguration.getTcpserver() + ":" + tyConfiguration.getTcpport())) {
            return;
        }
        long timestamp = System.currentTimeMillis();