增加 控制权和起飞

liusuyi

2024-10-26 f2236478e434b9d1b714b51d3586fb11a59e6f14

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

@@ -15,6 +15,8 @@
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.manual.SwitchUavControlDTO;
import com.ard.tianyu.model.dto.manual.TakeOffDTO;
import com.ard.tianyu.model.dto.signal.SignalInfo;
import com.ard.tianyu.model.dto.state.UavState;
import com.ard.tianyu.model.dto.telemetry.TelemetryData;
@@ -25,6 +27,9 @@
import com.ard.tianyu.netty.command.control.AbsAngleControlCmd;
import com.ard.tianyu.netty.command.control.AngleControlCmd;
import com.ard.tianyu.netty.command.control.SpeedControlCmd;
import com.ard.tianyu.netty.command.manual.SwitchUavControlCmd;
import com.ard.tianyu.netty.command.manual.TakeOffCmd;
import com.ard.tianyu.netty.command.manual.TakeOffReplyCmd;
import com.ard.tianyu.netty.command.notice.BoxPowerStatusReplyCmd;
import com.ard.tianyu.netty.command.notice.FlyWayEndReplyCmd;
import com.ard.tianyu.netty.command.notice.UavReadyReplyCmd;
@@ -268,6 +273,24 @@
    }

    /**
     * 切换无人机控制权
     */
    @Override
    public void switchUavControl(SwitchUavControlDTO switchUavControlDTO) {
        SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO);
        this.sendMessage(tyConfiguration.getIpPort(), switchUavControlCmd);
    }

    /**
     * 起飞
     */
    @Override
    public void takeOff(TakeOffDTO takeOffDTO) {
        TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
        this.sendMessage(tyConfiguration.getIpPort(), takeOffCmd);
    }

    /**
     * 获取无人机状态
     */
    @Override
@@ -377,6 +400,11 @@
                    RecordStopReplyCmd recordStopReplyCommand = (RecordStopReplyCmd) tyCommand;
                    log.info("收到无人机停止录像回复:{} 错误码：{}", String.format("0x%02X", recordStopReplyCommand.getResult() & 0xFF), recordStopReplyCommand.getErrorCode());
                }
                //起飞回复
                if (tyCommand instanceof TakeOffReplyCmd) {
                    TakeOffReplyCmd takeOffReplyCommand = (TakeOffReplyCmd) tyCommand;
                    log.info("收到无人机起飞回复:{} 错误码：{}", String.format("0x%02X", takeOffReplyCommand.getResult() & 0xFF), takeOffReplyCommand.getErrorCode());
                }
                break;
            default:
                // 处理其他消息
@@ -384,6 +412,9 @@
        }
    }

    /**
     * 定时3秒发送心跳指令
     */
    @Scheduled(fixedRate = 3000)
    public void sendHeartBeat() {
        long timestamp = System.currentTimeMillis();