forked from uav/ard-uav-server
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java
@@ -1,14 +1,22 @@ 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.component.netty.command.BaseCmd; import com.ard.tianyu.component.netty.command.camera.*; import com.ard.tianyu.component.netty.command.manual.*; import com.ard.tianyu.component.netty.command.register.*; import com.ard.tianyu.component.netty.command.settings.*; import com.ard.tianyu.component.netty.command.speaker.*; import com.ard.tianyu.component.netty.command.wayline.*; import com.ard.tianyu.config.TyConfiguration; import com.ard.tianyu.domain.dto.camera.*; import com.ard.tianyu.domain.dto.manual.*; import com.ard.tianyu.domain.dto.speaker.*; import com.ard.tianyu.domain.dto.wayline.*; import com.ard.tianyu.domain.receiver.*; import com.ard.tianyu.forest.TyClient; import com.ard.tianyu.component.forest.TyClient; import com.ard.tianyu.domain.cache.TyTcpServerCache; import com.ard.tianyu.domain.cache.UavSignalInfoCache; import com.ard.tianyu.domain.cache.UavStateCache; @@ -26,29 +34,20 @@ import com.ard.tianyu.domain.dto.signal.SignalInfo; import com.ard.tianyu.domain.dto.state.UavState; import com.ard.tianyu.domain.dto.telemetry.TelemetryData; 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.manual.*; 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.netty.command.settings.*; import com.ard.tianyu.netty.command.speaker.*; import com.ard.tianyu.netty.command.wayline.*; import com.ard.tianyu.netty.handler.ErrorCodeEnum; import com.ard.tianyu.netty.protobuf.TelemetryDataPB; import com.ard.tianyu.component.netty.NettyTcpClient; import com.ard.tianyu.component.netty.command.control.AbsAngleControlCmd; import com.ard.tianyu.component.netty.command.control.AngleControlCmd; import com.ard.tianyu.component.netty.command.control.SpeedControlCmd; import com.ard.tianyu.component.netty.command.notice.BoxPowerStatusReplyCmd; import com.ard.tianyu.component.netty.command.notice.FlyWayEndReplyCmd; import com.ard.tianyu.component.netty.command.notice.UavReadyReplyCmd; import com.ard.tianyu.component.netty.command.real.SignalInfoCmd; import com.ard.tianyu.component.netty.command.real.UavStateCmd; import com.ard.tianyu.component.netty.command.real.UavTelemetryDataCmd; import com.ard.tianyu.component.netty.handler.ErrorCodeEnum; import com.ard.tianyu.component.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 com.ard.tianyu.domain.message.UavControlType; import io.netty.channel.Channel; import io.netty.channel.ChannelFuture; import lombok.extern.slf4j.Slf4j; @@ -76,8 +75,6 @@ @Resource private TyConfiguration tyConfiguration; @Resource private IMediaService mediaService; /** * 获取天宇token信息 @@ -98,8 +95,8 @@ public List<BoxInfoReceiver> getBoxList() { //请求云盒列表 try { TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReveiver = tyClient.getBoxList(); return boxListReveiver.getContent(); TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReceiver = tyClient.getBoxList(); return boxListReceiver.getContent(); } catch (Exception e) { log.error("获取云盒列表失败:{}", e.getMessage()); return new ArrayList<>(); @@ -197,7 +194,7 @@ /** * 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 +205,7 @@ /** * 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 +216,7 @@ /** * 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 +239,11 @@ */ @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 +268,7 @@ /** * 变倍 */ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean zoom(ZoomDTO zoomDTO) { ZoomCmd zoomCommand = new ZoomCmd(zoomDTO); @@ -277,6 +279,7 @@ /** * 变倍到指定倍数 */ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) { ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO); @@ -327,7 +330,7 @@ /** * 起飞 */ @RequireUavControl(UavControlType.FLY) @CheckControlRight(UavControlType.FLY) @Override public Boolean takeOff(TakeOffDTO takeOffDTO) { TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO); @@ -338,6 +341,7 @@ /** * 返航 */ @CheckControlRight(UavControlType.FLY) @Override public Boolean returnHome(ReturnHomeDTO returnHomeDTO) { ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO); @@ -348,6 +352,7 @@ /** * 取消返航 */ @CheckControlRight(UavControlType.FLY) @Override public Boolean returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) { ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO); @@ -358,6 +363,7 @@ /** * 降落 */ @CheckControlRight(UavControlType.FLY) @Override public Boolean land(LandDTO landDTO) { LandCmd landCmd = new LandCmd(landDTO); @@ -368,6 +374,7 @@ /** * 取消降落 */ @CheckControlRight(UavControlType.FLY) @Override public Boolean landCancel(LandCancelDTO landCancelDTO) { LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO); @@ -378,6 +385,7 @@ /** * 强制降落 */ @CheckControlRight(UavControlType.FLY) @Override public Boolean landForced(LandForcedDTO landForcedDTO) { LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO); @@ -388,6 +396,8 @@ /** * 方向控制 */ @CheckControlRight(UavControlType.FLY) @CheckTakeoffAltitude(minAltitude = 30.0) @Override public Boolean flyControl(FlyControlDTO flyControlDTO) { FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO); @@ -398,6 +408,8 @@ /** * 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 +420,7 @@ /** * 停止指点飞行控制 */ @CheckControlRight(UavControlType.FLY) @Override public Boolean flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) { FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO); @@ -418,6 +431,7 @@ /** * 紧急制动 */ @CheckControlRight(UavControlType.FLY) @Override public Boolean emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) { EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO); @@ -559,6 +573,7 @@ /** * 航线开始 */ @CheckControlRight(UavControlType.FLY) @Override public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) { WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO); @@ -568,6 +583,7 @@ /** * 航线暂停 */ @CheckControlRight(UavControlType.FLY) @Override public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) { WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO); @@ -577,6 +593,7 @@ /** * 航线恢复 */ @CheckControlRight(UavControlType.FLY) @Override public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) { WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO); @@ -586,6 +603,7 @@ /** * 航线结束 */ @CheckControlRight(UavControlType.FLY) @Override public void wayLineEnd(WayLineEndDTO wayLineEndDTO) { WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO); @@ -611,14 +629,19 @@ break; case 0x02: // 处理注册消息 HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand; logPrint("心跳消息", heartbeatReplyCmd.getTimestamp()); HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand; 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 @@ -629,22 +652,22 @@ // 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()); WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData()); //logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn()); //WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData()); break; case (byte) 0x0C: // 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 +734,8 @@ //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 +770,22 @@ //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 +796,7 @@ //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 @@ -800,7 +827,7 @@ */ private void sendMessage(String key, BaseCmd msg) { try { ChannelFuture future = TyNettyTcpClient.channels.get(key).getChannelFuture(); ChannelFuture future = NettyTcpClient.channels.get(key).getChannelFuture(); Channel channel = future.channel(); if (channel.isActive()) { InetSocketAddress ipSocket = (InetSocketAddress) channel.remoteAddress();
