优化

liusuyi

2024-10-25 fddccbf217223e7287d6861c3020d9ba5cc15e55

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

@@ -2,18 +2,39 @@

import com.ard.tianyu.config.TyConfiguration;
import com.ard.tianyu.http.TyClient;
import com.ard.tianyu.model.cache.UavSignalInfoCache;
import com.ard.tianyu.model.cache.UavStateCache;
import com.ard.tianyu.model.cache.UavTelemetryDataCache;
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.CapturePicDto;
import com.ard.tianyu.model.dto.camera.RecordDto;
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;
import com.ard.tianyu.model.dto.signal.SignalInfo;
import com.ard.tianyu.model.dto.state.UavState;
import com.ard.tianyu.model.dto.telemetry.TelemetryData;
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.AbsAngleControlCommand;
import com.ard.tianyu.netty.command.control.AngleControlCommand;
import com.ard.tianyu.netty.command.control.SpeedControlCommand;
import com.ard.tianyu.netty.command.real.SignalInfoCommand;
import com.ard.tianyu.netty.command.real.UavStateCommand;
import com.ard.tianyu.netty.command.real.UavTelemetryDataCommand;
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;
import org.apache.poi.hssf.record.Record;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Service;

@@ -118,13 +139,6 @@
        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
@@ -137,10 +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！");
@@ -154,9 +165,74 @@
     * 云台控制基于角度
     */
    @Override
    public void controlAngle(String boxSn) {
        ControlAngleCommand controlAngleCommand = new ControlAngleCommand(boxSn.getBytes(), (byte) 0x00, (byte) 0x00, (byte) 0x05);
    public void angleControl(AngleControlDto angleControlDto) {
        AngleControlCommand controlAngleCommand = new AngleControlCommand(angleControlDto);
        this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
    }

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

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

    /**
     * 拍照
     */
    @Override
    public void capturePic(CapturePicDto capturePicDto) {
        CapturePicCommand capturePicCommand = new CapturePicCommand(capturePicDto);
        this.sendMessage(tyConfiguration.getIpPort(), capturePicCommand);
    }

    /**
     * 录像
     */
    @Override
    public void record(RecordDto recordDto) {
        BaseCommand baseCommand;
        if (recordDto.getIsRecord()) {
            baseCommand = new RecordStartCommand(recordDto);
        } else {
            baseCommand = new RecordStopCommand(recordDto);
        }
        this.sendMessage(tyConfiguration.getIpPort(), baseCommand);
    }

    /**
     * 获取无人机状态
     */
    @Override
    public UavState getUavState(String boxSn) {
        return UavStateCache.getUavState(boxSn);
    }

    /**
     * 获取无人机遥测数据
     */
    @Override
    public TelemetryData getUavTelemetryData(String boxSn) {
        return UavTelemetryDataCache.getUavTelemetryData(boxSn);
    }

    /**
     * 获取无人机遥测数据
     */
    @Override
    public SignalInfo getSignalInfo(String boxSn) {
        return UavSignalInfoCache.getUavSignalInfo(boxSn);
    }

    @Override
@@ -176,28 +252,68 @@
            case 0x02:
                // 处理注册消息
                HeartbeatReplyCommand heartbeatReplyCommand = (HeartbeatReplyCommand) tyCommand;
                log.info("收到心跳消息-->处理心跳消息{}", heartbeatReplyCommand.getTimestamp());
                log.debug("收到心跳消息-->处理心跳消息{}", heartbeatReplyCommand.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 (byte) 0xA8:
                // 处理无人机状态消息
                log.info("收到无人机状态消息-->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());
                UavStateCache.putUavState(uavState);
                break;
            case (byte) 0xA9:
                // 处理无人机遥测消息
                log.info("收到无人机遥测消息-->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());
                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());
                UavSignalInfoCache.putUavSignalInfoCache(signalInfo);
                break;
            case (byte) 0xD1:
                // 处理无人机
                if (tyCommand instanceof UavReadyNotificationCommand) {
                    UavReadyNotificationCommand droneReadyNotificationCommand = (UavReadyNotificationCommand) tyCommand;
                    if (droneReadyNotificationCommand.getActionCode() == (byte) 0x42) {
                        UavInitInfoCommand uavInitCommand = new UavInitInfoCommand(droneReadyNotificationCommand.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 CapturePicReplyCommand) {
                    CapturePicReplyCommand capturePicReplyCommand = (CapturePicReplyCommand) tyCommand;
                    if (capturePicReplyCommand.getActionCode() == (byte) 0x23) {
                        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 RecordStartReplyCommand) {
                    RecordStartReplyCommand recordStartReplyCommand = (RecordStartReplyCommand) tyCommand;
                    if (recordStartReplyCommand.getActionCode() == (byte) 0x24) {
                        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 RecordStopReplyCommand) {
                    RecordStopReplyCommand recordStopReplyCommand = (RecordStopReplyCommand) tyCommand;
                    if (recordStopReplyCommand.getActionCode() == (byte) 0x25) {
                        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:
                // 处理其他消息
                log.debug("收到其他消息-->其他消息");
        }
    }