优化

liusuyi

2024-10-26 f8a09d564aeba26eb9d729fee5e7fbcab3811de1

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

@@ -8,6 +8,10 @@
import com.ard.tianyu.model.dto.BoxHistoryDTO;
import com.ard.tianyu.model.dto.BoxPhotosDTO;
import com.ard.tianyu.model.dto.BoxSettingsDTO;
import com.ard.tianyu.model.dto.camera.*;
import com.ard.tianyu.model.dto.control.AbsAngleControlDTO;
import com.ard.tianyu.model.dto.control.AngleControlDTO;
import com.ard.tianyu.model.dto.control.SpeedControlDTO;
import com.ard.tianyu.model.dto.converter.UavSignalInfoConverter;
import com.ard.tianyu.model.dto.converter.UavStateConverter;
import com.ard.tianyu.model.dto.converter.UavTelemetryDataConverter;
@@ -17,9 +21,18 @@
import com.ard.tianyu.model.receiver.*;
import com.ard.tianyu.netty.command.*;
import com.ard.tianyu.netty.TyNettyTcpClient;
import com.ard.tianyu.netty.command.camera.*;
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.notice.BoxPowerStatusReplyCmd;
import com.ard.tianyu.netty.command.notice.FlyWayEndReplyCmd;
import com.ard.tianyu.netty.command.notice.UavReadyReplyCmd;
import com.ard.tianyu.netty.command.real.SignalInfoCmd;
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.service.ITyService;
import io.netty.buffer.ByteBuf;
import io.netty.buffer.Unpooled;
import io.netty.channel.Channel;
import io.netty.channel.ChannelFuture;
import lombok.extern.slf4j.Slf4j;
@@ -123,22 +136,14 @@
    @Override
    public void registerMessage() {
        AccessTokenReceiver tyToken = tyConfiguration.getAccessToken();
        RegisterCommand registerMessage = new RegisterCommand(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
        RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
        this.sendMessage(tyConfiguration.getIpPort(), registerMessage);
    }

    /**
     * 无人机控制订阅
     */
    public void uavControlSubscribe(String boxSn) {
        SubscribeCommand subscribeCommand = new SubscribeCommand(boxSn);
        this.sendMessage(tyConfiguration.getIpPort(), subscribeCommand);
    }

    /**
     * 发送消息
     */
    public void sendMessage(String key, BaseCommand msg) {
    public void sendMessage(String key, BaseCmd msg) {
        try {
            ChannelFuture future = TyNettyTcpClient.channels.get(key).getChannelFuture();
            Channel channel = future.channel();
@@ -146,10 +151,7 @@
                InetSocketAddress ipSocket = (InetSocketAddress) channel.remoteAddress();
                String host = ipSocket.getHostString();
                int port = ipSocket.getPort();
                // 创建 ByteBuf 并编码消息
                ByteBuf buffer = Unpooled.buffer();
                msg.encode(buffer); // 确保对消息进行编码
                channel.writeAndFlush(buffer); // 发送编码后的数据
                channel.writeAndFlush(msg); // 发送编码后的数据
                log.debug("向天宇服务器【{}:{}】发送数据，命令码：{}", host, port, 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！");
@@ -163,9 +165,106 @@
     * 云台控制基于角度
     */
    @Override
    public void controlAngle(String boxSn, Integer actionId, Integer rotationAngle) {
        ControlAngleCommand controlAngleCommand = new ControlAngleCommand(boxSn.getBytes(), (byte) 0x00, actionId.byteValue(), rotationAngle.byteValue());
    public void angleControl(AngleControlDTO angleControlDto) {
        AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto);
        this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
    }

    /**
     * 云台绝对值控制(基于角度)
     */
    @Override
    public void absAngleControl(AbsAngleControlDTO absAngleControlDto) {
        AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto);
        this.sendMessage(tyConfiguration.getIpPort(), absAngleControlCommand);
    }

    /**
     * 云台转动(基于速度)
     */
    @Override
    public void speedControl(SpeedControlDTO speedControlDto) {
        SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto);
        this.sendMessage(tyConfiguration.getIpPort(), speedControlCommand);
    }

    /**
     * 设置相机模式
     */
    @Override
    public void updateCameraMode(CameraModeDTO cameraModeDTO) {
        CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO);
        this.sendMessage(tyConfiguration.getIpPort(), cameraModeCommand);
    }

    /**
     * 拍照
     */
    @Override
    public void capturePic(CapturePicDTO capturePicDto) {
        updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
        CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);
        this.sendMessage(tyConfiguration.getIpPort(), capturePicCommand);
    }

    /**
     * 录像
     */
    @Override
    public void record(RecordDTO recordDto) {
        BaseCmd baseCmd;
        if (recordDto.getIsRecord()) {
            updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build());
            baseCmd = new RecordStartCmd(recordDto);
        } else {
            baseCmd = new RecordStopCmd(recordDto);
        }
        this.sendMessage(tyConfiguration.getIpPort(), baseCmd);
    }

    /**
     * 变倍
     */
    @Override
    public void zoom(ZoomDTO zoomDTO) {
        ZoomCmd zoomCommand = new ZoomCmd(zoomDTO);
        this.sendMessage(tyConfiguration.getIpPort(), zoomCommand);
    }

    /**
     * 变倍到指定倍数
     */
    @Override
    public void zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) {
        ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO);
        this.sendMessage(tyConfiguration.getIpPort(), zoomToLevelCommand);
    }

    /**
     * 切换摄像头
     */
    @Override
    public void switchCamera(SwitchCameraDTO switchCameraDTO) {
        SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO);
        this.sendMessage(tyConfiguration.getIpPort(), switchCameraCmd);
    }

    /**
     * 切换视频源
     */
    @Override
    public void switchSource(SwitchSourceDTO switchSourceDTO) {
        SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO);
        this.sendMessage(tyConfiguration.getIpPort(), switchSourceCmd);
    }

    /**
     * 打开或关闭照片回传
     */
    @Override
    public void photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) {
        PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO);
        this.sendMessage(tyConfiguration.getIpPort(), photoReturnToggleCmd);
    }

    /**
@@ -192,14 +291,17 @@
        return UavSignalInfoCache.getUavSignalInfo(boxSn);
    }

    /**
     * 处理天宇服务器返回的消息
     */
    @Override
    public void processMessage(String key, BaseCommand tyCommand) {
    public void processMessage(String key, BaseCmd tyCommand) {
        byte cmdCode = tyCommand.getCmdCode();
        switch (cmdCode) {
            case 0x01:
                // 处理心跳消息
                RegisterReplyCommand registerReplyCommand = (RegisterReplyCommand) tyCommand;
                log.info("收到注册消息-->处理注册消息{}", registerReplyCommand.getSuccess());
                RegisterReplyCmd registerReplyCommand = (RegisterReplyCmd) tyCommand;
                log.debug("收到注册消息-->处理注册消息:{}", registerReplyCommand.getSuccess());
                if (registerReplyCommand.getSuccess() != 1) {
                    // 注册失败，重新注册
                    log.info("注册失败，重新注册");
@@ -208,47 +310,72 @@
                break;
            case 0x02:
                // 处理注册消息
                HeartbeatReplyCommand heartbeatReplyCommand = (HeartbeatReplyCommand) tyCommand;
                log.debug("收到心跳消息-->处理心跳消息{}", heartbeatReplyCommand.getTimestamp());
                HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
                log.debug("收到心跳消息-->处理心跳消息:{}", heartbeatReplyCmd.getTimestamp());
                break;
            case 0x03:
                // 处理订阅消息
                SubscribeCommand subscribeCommand = (SubscribeCommand) tyCommand;
                log.info("收到订阅消息-->处理订阅消息{}", subscribeCommand.getBoxSn());
                break;
            case 0x04:
                // 处理取消订阅消息
                subscribeCommand = (SubscribeCommand) tyCommand;
                log.info("收到取消订阅消息-->处理取消订阅消息{}", subscribeCommand.getBoxSn());
                break;
            case 0x0A:
                // 处理云盒开关机通知消息
                BoxPowerStatusReplyCmd boxPowerStatusReplyCmd = (BoxPowerStatusReplyCmd) tyCommand;
                log.debug("收到云盒开关机通知消息-->状态:{}", boxPowerStatusReplyCmd.getStatus());
                break;
            case (byte) 0xA8:
                // 处理无人机状态消息
                log.debug("收到无人机状态消息-->无人机状态消息");
                UavStateCommand uavStateCommand = (UavStateCommand) tyCommand;
                UavState uavState = UavStateConverter.convertProtoToEntity(uavStateCommand.getUavState());
                UavStateCmd uavStateCmd = (UavStateCmd) tyCommand;
                UavState uavState = UavStateConverter.convertProtoToEntity(uavStateCmd.getUavState());
                UavStateCache.putUavState(uavState);
                break;
            case (byte) 0xA9:
                // 处理无人机遥测消息
                log.debug("收到无人机遥测消息-->无人机遥测消息");
                UavTelemetryDataCommand uavTelemetryDataCommand = (UavTelemetryDataCommand) tyCommand;
                TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(uavTelemetryDataCommand.getTelemetryData());
                UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
                TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(uavTelemetryDataCmd.getTelemetryData());
                UavTelemetryDataCache.putUavTelemetryData(telemetryData);
                break;
            case (byte) 0x0C:
                // 处理无人机信道质量数据
                log.debug("收到无人机信道质量数据消息-->无人机信道质量数据消息");
                SignalInfoCommand signalInfoCommand = (SignalInfoCommand) tyCommand;
                SignalInfo signalInfo = UavSignalInfoConverter.convertProtoToEntity(signalInfoCommand.getSignalInfo());
                SignalInfoCmd signalInfoCmd = (SignalInfoCmd) tyCommand;
                SignalInfo signalInfo = UavSignalInfoConverter.convertProtoToEntity(signalInfoCmd.getSignalInfo());
                UavSignalInfoCache.putUavSignalInfoCache(signalInfo);
                break;
            case (byte) 0xD1:
                // 处理无人机
                DroneReadyNotificationCommand droneReadyNotificationCommand = (DroneReadyNotificationCommand) tyCommand;
                if (droneReadyNotificationCommand.getActionCode() == (byte) 0x42) {
                    UavInitInfoCommand uavInitCommand = new UavInitInfoCommand((byte) 0x00, (byte) 0x42, (byte) 0x01);
                if (tyCommand instanceof UavInitReplyCmd) {
                    UavInitReplyCmd uavInitReplyCmd = (UavInitReplyCmd) tyCommand;
                    UavInitInfoCmd uavInitCommand = new UavInitInfoCmd(uavInitReplyCmd.getBoxSn());
                    this.sendMessage(tyConfiguration.getIpPort(), uavInitCommand);
                    log.info("收到无人机初始化详情-回复防止再次发送");
                }
                if (tyCommand instanceof UavReadyReplyCmd) {
                    UavReadyReplyCmd uavReadyReplyCmd = (UavReadyReplyCmd) tyCommand;
                    log.info("收到无人机准备完成通知,电池电量{} 经度{} 纬度{} 海拔{}",uavReadyReplyCmd.getBatteryPower(),uavReadyReplyCmd.getLongitude(),uavReadyReplyCmd.getLatitude(),uavReadyReplyCmd.getAltitude());
                }
                if (tyCommand instanceof CameraModeReplyCmd) {
                    CameraModeReplyCmd cameraModeReplyCommand = (CameraModeReplyCmd) tyCommand;
                    log.info("收到无人机设置相机模式回复:{} 错误码：{}", String.format("0x%02X", cameraModeReplyCommand.getResult() & 0xFF), cameraModeReplyCommand.getErrorCode());
                }
                if (tyCommand instanceof FlyWayEndReplyCmd) {
                    FlyWayEndReplyCmd flyWayEndReplyCmd = (FlyWayEndReplyCmd) tyCommand;
                    log.info("收到无人机飞行结束通知:状态：{}",flyWayEndReplyCmd.getResult());
                }
                if (tyCommand instanceof CapturePicReplyCmd) {
                    CapturePicReplyCmd capturePicReplyCommand = (CapturePicReplyCmd) tyCommand;
                    log.info("收到无人机拍照回复:{} 错误码：{}", String.format("0x%02X", capturePicReplyCommand.getResult() & 0xFF), capturePicReplyCommand.getErrorCode());
                }
                if (tyCommand instanceof RecordStartReplyCmd) {
                    RecordStartReplyCmd recordStartReplyCommand = (RecordStartReplyCmd) tyCommand;
                    log.info("收到无人机开始录像回复:{} 错误码：{}", String.format("0x%02X", recordStartReplyCommand.getResult() & 0xFF), recordStartReplyCommand.getErrorCode());
                }
                if (tyCommand instanceof RecordStopReplyCmd) {
                    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());
                }
                break;
            default:
@@ -261,7 +388,7 @@
    public void sendHeartBeat() {
        long timestamp = System.currentTimeMillis();
        log.debug("定时向天宇发送⼼跳,时间戳{}", timestamp);
        HeartbeatCommand heartbeatMessage = new HeartbeatCommand(timestamp);
        HeartbeatCmd heartbeatMessage = new HeartbeatCmd(timestamp);
        this.sendMessage(tyConfiguration.getIpPort(), heartbeatMessage);
    }
}