增加：云台控制基于角度

liusuyi

2024-10-22 de44eb3187c8a88c2942f8904701b96be09c61da

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

@@ -7,10 +7,12 @@
import com.ard.tianyu.model.dto.BoxSettingsDTO;
import com.ard.tianyu.model.receiver.*;
import com.ard.tianyu.netty.command.BaseCommand;
import com.ard.tianyu.netty.command.ControlAngleCommand;
import com.ard.tianyu.netty.command.HeartbeatCommand;
import com.ard.tianyu.netty.command.RegisterCommand;
import com.ard.tianyu.netty.TyNettyTcpClient;
import com.ard.tianyu.service.ITyService;
import com.ard.vtdu.util.ArdTool;
import io.netty.buffer.ByteBuf;
import io.netty.buffer.Unpooled;
import io.netty.channel.Channel;
@@ -104,14 +106,18 @@
        return result.getState() == 1;
    }


    /**
     * 注册天宇平台
     */
    @Override
    public void registerMessage() {
        AccessTokenReceiver tyToken = tyConfiguration.getAccessToken();
        RegisterCommand registerMessage = new RegisterCommand(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
        this.sendMessage(tyConfiguration.getIpPort(), registerMessage);
    }

    /**
     * 发送消息
     */
    public boolean sendMessage(String key, BaseCommand msg) {
        //将从用户接收的信息发送到天宇 commandCache
        boolean cmdResult = false;
@@ -128,7 +134,7 @@

                channel.writeAndFlush(buffer); // 发送编码后的数据
                cmdResult = true;
                log.info("向天宇服务器" + host + ":" + port + "发送数据" + "，命令码：" + msg.getCmdCode());
                log.info("向天宇服务器" + host + ":" + port + "发送数据" + "，命令码：" + 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！");
            }
@@ -140,10 +146,16 @@
        }
    }

    @Override
    public void controlAngle(String boxSn) {
        ControlAngleCommand controlAngleCommand = new ControlAngleCommand(boxSn.getBytes(),(byte)0x00,(byte)0x00,(byte)0x05);
        this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
    }

    @Scheduled(fixedRate = 5000)
    public void sendHeartBeat() {
        long timestamp = System.currentTimeMillis();
        log.debug("定时向天宇发送⼼跳,时间戳{}", timestamp);
        log.info("定时向天宇发送⼼跳,时间戳{}", timestamp);
        HeartbeatCommand heartbeatMessage = new HeartbeatCommand(timestamp);
        this.sendMessage(tyConfiguration.getIpPort(), heartbeatMessage);
    }