forked from uav/ard-uav-server
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
@@ -1,72 +1,61 @@ package com.ard.work.service.impl; import com.ard.common.utils.ByteUtils; import com.ard.work.aspect.annotation.CheckTakeoffAltitude; import com.ard.work.aspect.annotation.CheckControlRight; import com.ard.work.component.netty.TcpClientSession; import com.ard.work.component.netty.TyTcpClientManager; import com.ard.work.aspect.annotation.CheckTakeoffAltitude; import com.ard.work.component.forest.TyClient; import com.ard.work.component.netty.TcpClientUtil; import com.ard.work.component.netty.command.BaseCmd; import com.ard.work.component.netty.command.camera.*; import com.ard.work.component.netty.command.manual.*; import com.ard.work.component.netty.command.register.*; import com.ard.work.component.netty.command.settings.*; import com.ard.work.component.netty.command.speaker.*; import com.ard.work.component.netty.command.wayline.*; import com.ard.work.domain.dto.camera.*; import com.ard.work.domain.dto.manual.*; import com.ard.work.domain.dto.speaker.*; import com.ard.work.domain.dto.wayline.*; import com.ard.work.domain.entity.ArdDroneInfo; import com.ard.work.domain.entity.ArdServerInfo; import com.ard.work.domain.receiver.*; import com.ard.work.component.forest.TyClient; import com.ard.work.domain.cache.UavSignalInfoCache; import com.ard.work.domain.cache.UavStateCache; import com.ard.work.domain.cache.UavTelemetryDataCache; import com.ard.work.domain.dto.BoxHistoryDTO; import com.ard.work.domain.dto.BoxPhotosDTO; import com.ard.work.domain.dto.BoxSettingsDTO; import com.ard.work.domain.dto.control.AbsAngleControlDTO; import com.ard.work.domain.dto.control.AngleControlDTO; import com.ard.work.domain.dto.control.SpeedControlDTO; import com.ard.work.domain.dto.converter.wayline.PlanLineDataConverter; import com.ard.work.domain.dto.settings.ReturnHeightSettingDTO; import com.ard.work.domain.dto.settings.ReturnPointSettingDTO; import com.ard.work.domain.dto.settings.VideoStreamSettingDTO; import com.ard.work.domain.dto.signal.SignalInfo; import com.ard.work.domain.dto.state.UavState; import com.ard.work.domain.dto.telemetry.TelemetryData; import com.ard.work.component.netty.command.control.AbsAngleControlCmd; import com.ard.work.component.netty.command.control.AngleControlCmd; import com.ard.work.component.netty.command.control.SpeedControlCmd; import com.ard.work.component.netty.command.manual.*; import com.ard.work.component.netty.command.notice.BoxPowerStatusReplyCmd; import com.ard.work.component.netty.command.notice.FlyWayEndReplyCmd; import com.ard.work.component.netty.command.notice.UavReadyReplyCmd; import com.ard.work.component.netty.command.real.SignalInfoCmd; import com.ard.work.component.netty.command.real.UavStateCmd; import com.ard.work.component.netty.command.real.UavTelemetryDataCmd; import com.ard.work.component.netty.command.register.*; import com.ard.work.component.netty.command.settings.*; import com.ard.work.component.netty.command.speaker.*; import com.ard.work.component.netty.command.wayline.*; import com.ard.work.component.netty.handler.ErrorCodeEnum; import com.ard.work.component.netty.protobuf.TelemetryDataPB; import com.ard.work.service.IArdDroneService; import com.ard.work.service.IArdServerService; import com.ard.work.service.ITyService; import com.ard.work.domain.cache.UavSignalInfoCache; import com.ard.work.domain.cache.UavStateCache; import com.ard.work.domain.cache.UavTelemetryDataCache; import com.ard.work.domain.dto.BoxHistoryDTO; import com.ard.work.domain.dto.BoxPhotosDTO; import com.ard.work.domain.dto.BoxSettingsDTO; import com.ard.work.domain.dto.camera.*; import com.ard.work.domain.dto.control.AbsAngleControlDTO; import com.ard.work.domain.dto.control.AngleControlDTO; import com.ard.work.domain.dto.control.SpeedControlDTO; import com.ard.work.domain.dto.converter.wayline.PlanLineDataConverter; import com.ard.work.domain.dto.manual.*; import com.ard.work.domain.dto.settings.ReturnHeightSettingDTO; import com.ard.work.domain.dto.settings.ReturnPointSettingDTO; import com.ard.work.domain.dto.settings.VideoStreamSettingDTO; import com.ard.work.domain.dto.signal.SignalInfo; import com.ard.work.domain.dto.speaker.*; import com.ard.work.domain.dto.state.UavState; import com.ard.work.domain.dto.telemetry.TelemetryData; import com.ard.work.domain.dto.wayline.*; import com.ard.work.domain.entity.ArdDroneInfo; import com.ard.work.domain.entity.ArdServerInfo; import com.ard.work.domain.message.UavControlType; import io.netty.channel.Channel; import io.netty.channel.ChannelFuture; import com.ard.work.domain.receiver.*; import com.ard.work.service.IArdDroneInfoService; import com.ard.work.service.IArdServerInfoService; import com.ard.work.service.ITyService; import lombok.extern.slf4j.Slf4j; import org.springframework.scheduling.annotation.Scheduled; import org.springframework.stereotype.Service; import javax.annotation.Resource; import java.net.InetSocketAddress; import java.util.ArrayList; import java.util.Collections; import java.util.List; import java.util.Optional; import java.util.*; import java.util.stream.Collectors; import java.util.stream.Stream; import static com.ard.work.component.netty.TyTcpClientManager.channels; /** * TyServiceImpl @@ -78,9 +67,9 @@ @Service public class TyServiceImpl implements ITyService { @Resource private IArdServerService ardServerService; private IArdServerInfoService ardServerService; @Resource private IArdDroneService ardDroneService; private IArdDroneInfoService ardDroneService; @Resource private TyClient tyClient; @@ -101,7 +90,7 @@ */ @Override public List<BoxInfoReceiver> getBoxList() { List<ArdServerInfo> ardServerInfos = ardServerService.selectArdServerManagementList(new ArdServerInfo()); List<ArdServerInfo> ardServerInfos = ardServerService.selectArdServerInfoList(new ArdServerInfo()); return getBoxList(ardServerInfos); } @@ -113,8 +102,7 @@ @Override public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); String baseUrl="http://"+ardDroneInfo.getArdServerInfo().getHost()+":"+ardDroneInfo.getArdServerInfo().getHttpPort(); TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(baseUrl,boxSn); TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(),boxSn); return boxLiveUrl.getContent(); } @@ -126,8 +114,8 @@ @Override public List<BoxHistoryReceiver> getBoxHistory(BoxHistoryDTO boxHistoryDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxHistoryDTO.getBoxSn()); String baseUrl="http://"+ardDroneInfo.getArdServerInfo().getHost()+":"+ardDroneInfo.getArdServerInfo().getHttpPort(); TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(baseUrl,boxHistoryDTO); TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(ardDroneInfo.getServerId(), boxHistoryDTO); return boxHistory.getContent(); } @@ -139,8 +127,7 @@ @Override public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxPhotosDTO.getBoxSn()); String baseUrl="http://"+ardDroneInfo.getArdServerInfo().getHost()+":"+ardDroneInfo.getArdServerInfo().getHttpPort(); TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(baseUrl,boxPhotosDTO); TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(ardDroneInfo.getServerId(),boxPhotosDTO); return boxPhotos.getContent(); } @@ -150,8 +137,7 @@ @Override public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSettingsDTO.getBoxSn()); String baseUrl="http://"+ardDroneInfo.getArdServerInfo().getHost()+":"+ardDroneInfo.getArdServerInfo().getHttpPort(); TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(baseUrl,boxSettingsDTO); TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(ardDroneInfo.getServerId(),boxSettingsDTO); return result.getState() == 1; } @@ -162,7 +148,7 @@ public Boolean updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHeightSettingDTO.getBoxSn()); ReturnHeightSettingCmd returnHeightSettingCmd = new ReturnHeightSettingCmd(returnHeightSettingDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), returnHeightSettingCmd); this.sendMessage(ardDroneInfo.getServerId(), returnHeightSettingCmd); return true; } @@ -173,7 +159,7 @@ public Boolean updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnPointSettingDTO.getBoxSn()); ReturnPointSettingCmd returnPointSettingCmd = new ReturnPointSettingCmd(returnPointSettingDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), returnPointSettingCmd); this.sendMessage(ardDroneInfo.getServerId(), returnPointSettingCmd); return true; } @@ -184,7 +170,7 @@ public Boolean updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(videoStreamSettingDTO.getBoxSn()); VideoStreamSettingCmd videoStreamSettingCmd = new VideoStreamSettingCmd(videoStreamSettingDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), videoStreamSettingCmd); this.sendMessage(ardDroneInfo.getServerId(), videoStreamSettingCmd); return true; } @@ -211,7 +197,7 @@ public Boolean angleControl(AngleControlDTO angleControlDto) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(angleControlDto.getBoxSn()); AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto); this.sendMessage(ardDroneInfo.getServerInfoId(), controlAngleCommand); this.sendMessage(ardDroneInfo.getServerId(), controlAngleCommand); return true; } @@ -223,7 +209,7 @@ public Boolean absAngleControl(AbsAngleControlDTO absAngleControlDto) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(absAngleControlDto.getBoxSn()); AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto); this.sendMessage(ardDroneInfo.getServerInfoId(), absAngleControlCommand); this.sendMessage(ardDroneInfo.getServerId(), absAngleControlCommand); return true; } @@ -235,7 +221,7 @@ public Boolean speedControl(SpeedControlDTO speedControlDto) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(speedControlDto.getBoxSn()); SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto); this.sendMessage(ardDroneInfo.getServerInfoId(), speedControlCommand); this.sendMessage(ardDroneInfo.getServerId(), speedControlCommand); return true; } @@ -246,7 +232,7 @@ public Boolean updateCameraMode(CameraModeDTO cameraModeDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(cameraModeDTO.getBoxSn()); CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), cameraModeCommand); this.sendMessage(ardDroneInfo.getServerId(), cameraModeCommand); return true; } @@ -261,7 +247,7 @@ photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build()); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(capturePicDto.getBoxSn()); CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto); this.sendMessage(ardDroneInfo.getServerInfoId(), capturePicCommand); this.sendMessage(ardDroneInfo.getServerId(), capturePicCommand); return true; } @@ -278,7 +264,7 @@ baseCmd = new RecordStopCmd(recordDto); } ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(recordDto.getBoxSn()); this.sendMessage(ardDroneInfo.getServerInfoId(), baseCmd); this.sendMessage(ardDroneInfo.getServerId(), baseCmd); return true; } @@ -290,7 +276,7 @@ public Boolean zoom(ZoomDTO zoomDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(zoomDTO.getBoxSn()); ZoomCmd zoomCommand = new ZoomCmd(zoomDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), zoomCommand); this.sendMessage(ardDroneInfo.getServerId(), zoomCommand); return true; } @@ -302,7 +288,7 @@ public Boolean zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(zoomToLevelDTO.getBoxSn()); ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), zoomToLevelCommand); this.sendMessage(ardDroneInfo.getServerId(), zoomToLevelCommand); return true; } @@ -313,7 +299,7 @@ public Boolean switchCamera(SwitchCameraDTO switchCameraDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchCameraDTO.getBoxSn()); SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), switchCameraCmd); this.sendMessage(ardDroneInfo.getServerId(), switchCameraCmd); return true; } @@ -324,7 +310,7 @@ public Boolean switchSource(SwitchSourceDTO switchSourceDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchSourceDTO.getBoxSn()); SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), switchSourceCmd); this.sendMessage(ardDroneInfo.getServerId(), switchSourceCmd); return true; } @@ -335,7 +321,7 @@ public Boolean photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(photoReturnToggleDTO.getBoxSn()); PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), photoReturnToggleCmd); this.sendMessage(ardDroneInfo.getServerId(), photoReturnToggleCmd); return true; } @@ -346,7 +332,7 @@ public Boolean switchUavControl(SwitchUavControlDTO switchUavControlDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchUavControlDTO.getBoxSn()); SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), switchUavControlCmd); this.sendMessage(ardDroneInfo.getServerId(), switchUavControlCmd); return true; } @@ -358,7 +344,7 @@ public Boolean takeOff(TakeOffDTO takeOffDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(takeOffDTO.getBoxSn()); TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), takeOffCmd); this.sendMessage(ardDroneInfo.getServerId(), takeOffCmd); return true; } @@ -370,7 +356,7 @@ public Boolean returnHome(ReturnHomeDTO returnHomeDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHomeDTO.getBoxSn()); ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), returnHomeCmd); this.sendMessage(ardDroneInfo.getServerId(), returnHomeCmd); return true; } @@ -382,7 +368,7 @@ public Boolean returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHomeCancelDTO.getBoxSn()); ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), returnHomeCancelCmd); this.sendMessage(ardDroneInfo.getServerId(), returnHomeCancelCmd); return true; } @@ -394,7 +380,7 @@ public Boolean land(LandDTO landDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landDTO.getBoxSn()); LandCmd landCmd = new LandCmd(landDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), landCmd); this.sendMessage(ardDroneInfo.getServerId(), landCmd); return true; } @@ -406,7 +392,7 @@ public Boolean landCancel(LandCancelDTO landCancelDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landCancelDTO.getBoxSn()); LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), landCancelCmd); this.sendMessage(ardDroneInfo.getServerId(), landCancelCmd); return true; } @@ -418,7 +404,7 @@ public Boolean landForced(LandForcedDTO landForcedDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landForcedDTO.getBoxSn()); LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), landForcedCmd); this.sendMessage(ardDroneInfo.getServerId(), landForcedCmd); return true; } @@ -431,7 +417,7 @@ public Boolean flyControl(FlyControlDTO flyControlDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyControlDTO.getBoxSn()); FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), flyControlCmd); this.sendMessage(ardDroneInfo.getServerId(), flyControlCmd); return true; } @@ -444,7 +430,7 @@ public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyPointControlDTO.getBoxSn()); FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), flyPointControlCmd); this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd); return true; } @@ -456,7 +442,7 @@ public Boolean flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyPointControlCancelDTO.getBoxSn()); FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), flyPointControlCancelCmd); this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd); return true; } @@ -468,7 +454,7 @@ public Boolean emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(emeragencyBrakeDTO.getBoxSn()); EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), emergencyBrakeCmd); this.sendMessage(ardDroneInfo.getServerId(), emergencyBrakeCmd); return true; } @@ -503,7 +489,7 @@ public void speakModeSwitch(SpeakModeSwitchDTO speakModeSwitchDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(speakModeSwitchDTO.getBoxSn()); SpeakModeSwitchCmd speakModeSwitchCmd = new SpeakModeSwitchCmd(speakModeSwitchDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), speakModeSwitchCmd); this.sendMessage(ardDroneInfo.getServerId(), speakModeSwitchCmd); } /** @@ -513,7 +499,7 @@ public void textSpeak(TextSpeakDTO textSpeakDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(textSpeakDTO.getBoxSn()); TextSpeakCmd textSpeakCmd = new TextSpeakCmd(textSpeakDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), textSpeakCmd); this.sendMessage(ardDroneInfo.getServerId(), textSpeakCmd); } /** @@ -523,7 +509,7 @@ public void realSpeak(RealSpeakDTO realSpeakDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(realSpeakDTO.getBoxSn()); RealSpeakCmd realSpeakCmd = new RealSpeakCmd(realSpeakDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), realSpeakCmd); this.sendMessage(ardDroneInfo.getServerId(), realSpeakCmd); } /** @@ -533,7 +519,7 @@ public void recordSpeak(RecordSpeakDTO recordSpeakDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(recordSpeakDTO.getBoxSn()); RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), recordSpeakCmd); this.sendMessage(ardDroneInfo.getServerId(), recordSpeakCmd); } /** @@ -543,7 +529,7 @@ public void volumeSetting(VolumeSettingDTO volumeSettingDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(volumeSettingDTO.getBoxSn()); VolumeSettingCmd volumeSettingCmd = new VolumeSettingCmd(volumeSettingDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), volumeSettingCmd); this.sendMessage(ardDroneInfo.getServerId(), volumeSettingCmd); } /** @@ -553,7 +539,7 @@ public void loopSetting(LoopSettingDTO loopSettingDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(loopSettingDTO.getBoxSn()); LoopSettingCmd loopSettingCmd = new LoopSettingCmd(loopSettingDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), loopSettingCmd); this.sendMessage(ardDroneInfo.getServerId(), loopSettingCmd); } /** @@ -563,7 +549,7 @@ public void stopSpeak(StopSpeakDTO stopSpeakDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(stopSpeakDTO.getBoxSn()); StopSpeakCmd stopSpeakCmd = new StopSpeakCmd(stopSpeakDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), stopSpeakCmd); this.sendMessage(ardDroneInfo.getServerId(), stopSpeakCmd); } /** @@ -574,7 +560,7 @@ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineUploadDTO.getBoxSn()); wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据 WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), wayLineUploadCmd); this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd); } //创建航线 @@ -619,7 +605,7 @@ public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineBeginDTO.getBoxSn()); WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), wayLineBeginCmd); this.sendMessage(ardDroneInfo.getServerId(), wayLineBeginCmd); } /** @@ -630,7 +616,7 @@ public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLinePauseDTO.getBoxSn()); WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), wayLinePauseCmd); this.sendMessage(ardDroneInfo.getServerId(), wayLinePauseCmd); } /** @@ -641,7 +627,7 @@ public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineResumeDTO.getBoxSn()); WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), wayLineResumeCmd); this.sendMessage(ardDroneInfo.getServerId(), wayLineResumeCmd); } /** @@ -652,7 +638,7 @@ public void wayLineEnd(WayLineEndDTO wayLineEndDTO) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineEndDTO.getBoxSn()); WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO); this.sendMessage(ardDroneInfo.getServerInfoId(), wayLineEndCmd); this.sendMessage(ardDroneInfo.getServerId(), wayLineEndCmd); } /** @@ -840,32 +826,55 @@ } /** * 根据boxSn获取六合盒子列表 * @return List<BoxInfoReceiver> * 根据[服务器id]获取六合盒子列表 */ @Override public List<BoxInfoReceiver> getBoxSnToList(String id) { ArdServerInfo ardServerInfos = ardServerService.selectArdServerManagementById(id); String baseUrl = "http://" + ardServerInfos.getHost() + ":" + ardServerInfos.getHttpPort(); List<BoxInfoReceiver> lisbox = new ArrayList<>(); try { lisbox = tyClient.getBoxList(baseUrl).getContent(); return lisbox; List<BoxInfoReceiver> remoteBoxList = tyClient.getBoxList(id).getContent(); List<ArdDroneInfo> existingDrones = getDroneLs(id); return existingDrones.isEmpty() ? remoteBoxList : filterBoxInfoReceivers(remoteBoxList, existingDrones); } catch (Exception e) { log.error("获取云盒列表失败: {}", baseUrl, e); return lisbox; log.error("获取云盒列表失败, 服务器id: {}", id, e); return Collections.emptyList(); // 返回不可变空列表，更安全 } } /** * 根据[服务器id]查询无人机盒子列表 */ private List<ArdDroneInfo> getDroneLs(String serverId) { ArdDroneInfo query = new ArdDroneInfo(); query.setServerId(serverId); return ardDroneService.selectArdDroneList(query); } /** * 过滤掉在ardDroneInfos中已存在的boxSn */ public List<BoxInfoReceiver> filterBoxInfoReceivers( List<BoxInfoReceiver> boxInfoReceivers, List<ArdDroneInfo> ardDroneInfos) { Set<String> existingBoxSns = ardDroneInfos.stream() .map(ArdDroneInfo::getBoxSn) .filter(Objects::nonNull) .collect(Collectors.toSet()); return boxInfoReceivers.stream() .filter(box -> box.getBoxSn() != null && !existingBoxSns.contains(box.getBoxSn())) .collect(Collectors.toList()); } private List<BoxInfoReceiver> getBoxList(List<ArdServerInfo> ls) { return ls.stream() .filter(ardServerInfo -> ardServerInfo.getServerStatus().equals("1")) .flatMap(ardServerInfo -> { String baseUrl = "http://" + ardServerInfo.getHost() + ":" + ardServerInfo.getHttpPort(); try { List<BoxInfoReceiver> boxes = tyClient.getBoxList(baseUrl).getContent(); List<BoxInfoReceiver> boxes = tyClient.getBoxList(ardServerInfo.getId()).getContent(); return Optional.ofNullable(boxes).orElse(Collections.emptyList()).stream(); } catch (Exception e) { log.error("获取云盒列表失败: {}", baseUrl, e); log.error("获取云盒列表失败: {}", ardServerInfo.getId(), e); return Stream.empty(); } }) @@ -888,45 +897,10 @@ /** * 定时向所有已连接的六合服务器发送心跳 */ @Scheduled(fixedRate = 5000) // 每5秒执行一次 public void sendHeartBeat() { long timestamp = System.currentTimeMillis(); for (TcpClientSession session : channels.values()) { ChannelFuture future = session.getChannelFuture(); if (future == null || !future.channel().isActive()) { log.warn("边缘服务器 [{}] 连接未激活，跳过心跳发送", session.getServerId()); continue; } HeartbeatCmd heartbeat = new HeartbeatCmd(timestamp); future.channel().writeAndFlush(heartbeat); log.info("→ 向边缘服务器 [{}] ({}:{}) 发送心跳，时间戳={}", session.getServerId(), session.getHost(), session.getPort(), timestamp); } } /** * 发送消息 */ private void sendMessage(String key, BaseCmd msg) { try { ChannelFuture future = channels.get(key).getChannelFuture(); Channel channel = future.channel(); if (channel.isActive()) { InetSocketAddress ipSocket = (InetSocketAddress) channel.remoteAddress(); String host = ipSocket.getHostString(); int port = ipSocket.getPort(); channel.writeAndFlush(msg); // 发送编码后的数据 log.debug("向六合服务器【{}:{}】发送数据，命令码：{}", host, port, String.format("0x%02X", msg.getCmdCode() & 0xFF)); } else { log.error("与六合服务器链接断开，无法发送数据！"); } } catch (Exception e) { log.error("发送消息异常：{}", e.getMessage()); } TcpClientUtil.sendMessage(key, msg); } }
