增加图片回传完成通知解析

liusuyi

2025-03-19 f5f485b1b1919e6d312ed72628ed7c01d2f57def

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

@@ -1,7 +1,8 @@
package com.ard.tianyu.service.impl;

import com.ard.common.utils.ByteUtils;
import com.ard.tianyu.aspect.annotation.RequireUavControl;
import com.ard.tianyu.aspect.annotation.CheckTakeoffAltitude;
import com.ard.tianyu.aspect.annotation.CheckControlRight;
import com.ard.tianyu.config.TyConfiguration;
import com.ard.tianyu.domain.dto.camera.*;
import com.ard.tianyu.domain.dto.manual.*;
@@ -47,7 +48,6 @@
import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
import com.ard.tianyu.service.ITyService;
import com.ard.tianyu.websocket.domain.UavControlType;
import com.ard.tianyu.websocket.utils.WebSocketUtil;
import com.ard.vtdu.service.IMediaService;
import io.netty.channel.Channel;
import io.netty.channel.ChannelFuture;
@@ -197,7 +197,7 @@
    /**
     * 云台控制基于角度
     */
    @RequireUavControl(UavControlType.PAYLOAD)
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean angleControl(AngleControlDTO angleControlDto) {
        AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto);
@@ -208,7 +208,7 @@
    /**
     * 云台绝对值控制(基于角度)
     */
    @RequireUavControl(UavControlType.PAYLOAD)
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean absAngleControl(AbsAngleControlDTO absAngleControlDto) {
        AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto);
@@ -219,7 +219,7 @@
    /**
     * 云台转动(基于速度)
     */
    @RequireUavControl(UavControlType.PAYLOAD)
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean speedControl(SpeedControlDTO speedControlDto) {
        SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto);
@@ -242,7 +242,11 @@
     */
    @Override
    public Boolean capturePic(CapturePicDTO capturePicDto) {
        //设置相机模式为拍照模式
        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());

        CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);
        this.sendMessage(tyConfiguration.getIpPort(), capturePicCommand);
        return true;
@@ -267,6 +271,7 @@
    /**
     * 变倍
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean zoom(ZoomDTO zoomDTO) {
        ZoomCmd zoomCommand = new ZoomCmd(zoomDTO);
@@ -277,6 +282,7 @@
    /**
     * 变倍到指定倍数
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) {
        ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO);
@@ -327,7 +333,7 @@
    /**
     * 起飞
     */
    @RequireUavControl(UavControlType.FLY)
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean takeOff(TakeOffDTO takeOffDTO) {
        TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
@@ -338,6 +344,7 @@
    /**
     * 返航
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean returnHome(ReturnHomeDTO returnHomeDTO) {
        ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO);
@@ -348,6 +355,7 @@
    /**
     * 取消返航
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) {
        ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO);
@@ -358,6 +366,7 @@
    /**
     * 降落
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean land(LandDTO landDTO) {
        LandCmd landCmd = new LandCmd(landDTO);
@@ -368,6 +377,7 @@
    /**
     * 取消降落
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean landCancel(LandCancelDTO landCancelDTO) {
        LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO);
@@ -378,6 +388,7 @@
    /**
     * 强制降落
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean landForced(LandForcedDTO landForcedDTO) {
        LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO);
@@ -388,6 +399,8 @@
    /**
     * 方向控制
     */
    @CheckControlRight(UavControlType.FLY)
    @CheckTakeoffAltitude(minAltitude = 30.0)
    @Override
    public Boolean flyControl(FlyControlDTO flyControlDTO) {
        FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO);
@@ -398,6 +411,8 @@
    /**
     * 指点飞行控制
     */
    @CheckControlRight(UavControlType.FLY)
    @CheckTakeoffAltitude(minAltitude = 30.0)
    @Override
    public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) {
        FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
@@ -408,6 +423,7 @@
    /**
     * 停止指点飞行控制
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) {
        FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO);
@@ -418,6 +434,7 @@
    /**
     * 紧急制动
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) {
        EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO);
@@ -559,6 +576,7 @@
    /**
     * 航线开始
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
        WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO);
@@ -568,6 +586,7 @@
    /**
     * 航线暂停
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
        WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO);
@@ -577,6 +596,7 @@
    /**
     * 航线恢复
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
        WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO);
@@ -586,6 +606,7 @@
    /**
     * 航线结束
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public void wayLineEnd(WayLineEndDTO wayLineEndDTO) {
        WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);
@@ -612,13 +633,18 @@
            case 0x02:
                // 处理注册消息
                HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
                logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
                //logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
                break;
            case 0x03:
                // 处理订阅消息
                break;
            case 0x04:
                // 处理取消订阅消息
                break;
            case 0x09:
                // 处理图片上传完成通知
                PicUploadCompletedReplyCmd picUploadCompletedReplyCmd = (PicUploadCompletedReplyCmd) tyCommand;
                logPrint("图片上传完成", picUploadCompletedReplyCmd.getPicUrl());
                break;
            case 0x0A:
                // 处理云盒开关机通知消息
@@ -629,14 +655,14 @@
                // 处理无人机状态消息
                UavStateCmd uavStateCmd = (UavStateCmd) tyCommand;
                UavStateCache.putUavState(uavStateCmd.getUavState());
                logPrint("无人机状态", uavStateCmd.getUavState().getBoxSn());
               // WebSocketUtil.sendMessageAll(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());
                logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
                //logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
                //WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
                break;

@@ -644,7 +670,7 @@
                // 处理无人机信道质量数据
                SignalInfoCmd signalInfoCmd = (SignalInfoCmd) tyCommand;
                UavSignalInfoCache.putUavSignalInfoCache(signalInfoCmd.getSignalInfo());
                logPrint("无人机信道质量", signalInfoCmd.getSignalInfo().getBoxSn());
                //logPrint("无人机信道质量", signalInfoCmd.getSignalInfo().getBoxSn());
                break;
            case (byte) 0xD1:
                // 处理无人机
@@ -711,7 +737,8 @@
                //到达指点飞行位置回复
                if (tyCommand instanceof PointControlReachedReplyCmd) {
                    PointControlReachedReplyCmd pointControlReachedReplyCmd = (PointControlReachedReplyCmd) tyCommand;
                    logPrint("到达指点飞行位置", pointControlReachedReplyCmd.getResult(), pointControlReachedReplyCmd.getErrorCode());
                    logPrint("到达指点飞行位置", pointControlReachedReplyCmd.getResult(),
                            pointControlReachedReplyCmd.getErrorCode());
                }
                //紧急制动回复
                if (tyCommand instanceof EmergencyBrakeReplyCmd) {
@@ -746,19 +773,22 @@
                //设置返航高度回复
                if (tyCommand instanceof ReturnHeightSettingReplyCmd) {
                    ReturnHeightSettingReplyCmd returnHeightSettingReplyCmd = (ReturnHeightSettingReplyCmd) tyCommand;
                    logPrint("设置返航高度", returnHeightSettingReplyCmd.getResult(), returnHeightSettingReplyCmd.getErrorCode());
                    logPrint("设置返航高度", returnHeightSettingReplyCmd.getResult(),
                            returnHeightSettingReplyCmd.getErrorCode());
                }
                //设置返航点回复
                if (tyCommand instanceof ReturnPointSettingReplyCmd) {
                    ReturnPointSettingReplyCmd returnPointSettingReplyCmd = (ReturnPointSettingReplyCmd) tyCommand;
                    logPrint("设置返航点", returnPointSettingReplyCmd.getResult(), returnPointSettingReplyCmd.getErrorCode());
                    logPrint("设置返航点", returnPointSettingReplyCmd.getResult(),
                            returnPointSettingReplyCmd.getErrorCode());
                }
                break;
            case (byte) 0xD2:
                //设置视频码流回复
                if (tyCommand instanceof VideoStreamSettingReplyCmd) {
                    VideoStreamSettingReplyCmd videoStreamSettingReplyCmd = (VideoStreamSettingReplyCmd) tyCommand;
                    logPrint("设置视频码流", videoStreamSettingReplyCmd.getResult(), videoStreamSettingReplyCmd.getErrorCode());
                    logPrint("设置视频码流", videoStreamSettingReplyCmd.getResult(),
                            videoStreamSettingReplyCmd.getErrorCode());
                }
                break;
            default:
@@ -769,7 +799,7 @@

    //公共日志打印
    private void logPrint(String message, Object obj) {
        log.debug("收到{}回复{}", message, obj);
        log.warn("收到{}回复{}", message, obj);
    }

    //公共日志打印