forked from uav/ard-uav-server
blame | history | patch | commit | commitdiff | ignore whitespace
liusuyi
2025-10-17 f9ee3fa619d478e5e592dfaa99a5b993feb6c67a 
 ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java


@@ -1,66 +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.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.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 com.ard.work.domain.receiver.*;


import com.ard.work.service.IArdDroneInfoService;


import com.ard.work.service.IArdServerInfoService;


import com.ard.work.service.ITyService;


import com.ard.work.domain.message.UavControlType;


import io.netty.channel.Channel;


import io.netty.channel.ChannelFuture;


import lombok.extern.slf4j.Slf4j;


import org.springframework.stereotype.Service;




import javax.annotation.Resource;


import java.net.InetSocketAddress;


import java.util.*;


import java.util.stream.Collectors;


import java.util.stream.Stream;




import static com.ard.work.component.netty.TyTcpClientManager.channels;




/**


 * TyServiceImpl


@@ -900,25 +895,12 @@


                ErrorCodeEnum.getDescByCode(errorCode));


    }






    /**


     * 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);


    }




}