增加 拍照 录像 相机模式设置

liusuyi

2024-10-25 1157c58dc74805cbb7db57ab121bbb521f4c216b

增加 拍照 录像 相机模式设置

 ard-work/src/main/java/com/ard/tianyu/controller/UavController.java

@@ -4,11 +4,11 @@
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.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.signal.SignalInfo;
import com.ard.tianyu.model.dto.state.UavState;
import com.ard.tianyu.model.dto.telemetry.TelemetryData;
@@ -24,8 +24,6 @@
import org.springframework.web.bind.annotation.*;

import javax.annotation.Resource;
import javax.validation.constraints.Max;
import javax.validation.constraints.Min;
import java.util.List;

/**
@@ -86,7 +84,7 @@
    @ApiOperation(value = "云台转动(基于角度)", notes = "actionCode值：0-回中,1-上,2-右上,3-右,4-右下,5-下,6-左下,7-左,8-左上,254-停止")
    @ApiOperationSupport(order = 1)
    @PostMapping("/angleControl")
    public AjaxResult angleControl(@RequestBody AngleControlDto angleControlDto) {
    public AjaxResult angleControl(@RequestBody AngleControlDTO angleControlDto) {
        tyService.angleControl(angleControlDto);
        return AjaxResult.success();
    }
@@ -94,7 +92,7 @@
    @ApiOperation(value = "云台绝对值控制(基于角度)", notes = "俯仰pitch范围：[-120°至+30°] 平移yaw范围：[-180°至+180°] 横滚roll范围：[-90°至+60°]")
    @ApiOperationSupport(order = 2)
    @PostMapping("/absAngleControl")
    public AjaxResult absAngleControl(@RequestBody @Validated AbsAngleControlDto angleControlDto) {
    public AjaxResult absAngleControl(@RequestBody @Validated AbsAngleControlDTO angleControlDto) {
        tyService.absAngleControl(angleControlDto);
        return AjaxResult.success();
    }
@@ -102,7 +100,7 @@
    @ApiOperation(value = "云台转动(基于速度)", notes = "俯仰转动速度：上正下负 平移转动速度：右正左负 横滚转动速度：顺时针正，逆时针负")
    @ApiOperationSupport(order = 3)
    @PostMapping("/speedControl")
    public AjaxResult speedControl(@RequestBody @Validated SpeedControlDto speedControlDto) {
    public AjaxResult speedControl(@RequestBody @Validated SpeedControlDTO speedControlDto) {
        tyService.speedControl(speedControlDto);
        return AjaxResult.success();
    }
@@ -110,7 +108,7 @@
    @ApiOperation("拍照")
    @ApiOperationSupport(order = 4)
    @PostMapping("/capturePicDto")
    public AjaxResult capturePic(@RequestBody CapturePicDto capturePicDto) {
    public AjaxResult capturePic(@RequestBody CapturePicDTO capturePicDto) {
        tyService.capturePic(capturePicDto);
        return AjaxResult.success();
    }
@@ -118,7 +116,7 @@
    @ApiOperation("录像")
    @ApiOperationSupport(order = 5)
    @PostMapping("/record")
    public AjaxResult record(@RequestBody RecordDto recordDto) {
    public AjaxResult record(@RequestBody RecordDTO recordDto) {
        tyService.record(recordDto);
        return AjaxResult.success();
    }

 ard-work/src/main/java/com/ard/tianyu/model/dto/camera/CameraModeDTO.java

copy from ard-work/src/main/java/com/ard/tianyu/model/dto/camera/RecordDto.java
copy to ard-work/src/main/java/com/ard/tianyu/model/dto/camera/CameraModeDTO.java
File was copied from ard-work/src/main/java/com/ard/tianyu/model/dto/camera/RecordDto.java
@@ -7,7 +7,7 @@
import org.springframework.validation.annotation.Validated;

/**
 * 录像实体对象
 * 设置相机模式实体对象
 *
 * @author liusuyi
 * @date 2024年10月25日13:32
@@ -17,7 +17,7 @@
@AllArgsConstructor
@NoArgsConstructor
@Validated
public class RecordDto {
public class CameraModeDTO {
    private String boxSn;
    private Boolean isRecord;
    private Byte actionParam;
}

 ard-work/src/main/java/com/ard/tianyu/model/dto/camera/CapturePicDTO.java

File was renamed from ard-work/src/main/java/com/ard/tianyu/model/dto/camera/CapturePicDto.java
@@ -17,6 +17,6 @@
@AllArgsConstructor
@NoArgsConstructor
@Validated
public class CapturePicDto {
public class CapturePicDTO {
    private String boxSn;
}

 ard-work/src/main/java/com/ard/tianyu/model/dto/camera/RecordDTO.java

File was renamed from ard-work/src/main/java/com/ard/tianyu/model/dto/camera/RecordDto.java
@@ -17,7 +17,7 @@
@AllArgsConstructor
@NoArgsConstructor
@Validated
public class RecordDto {
public class RecordDTO {
    private String boxSn;
    private Boolean isRecord;
}

 ard-work/src/main/java/com/ard/tianyu/model/dto/control/AbsAngleControlDTO.java

File was renamed from ard-work/src/main/java/com/ard/tianyu/model/dto/control/AbsAngleControlDto.java
@@ -20,7 +20,7 @@
@AllArgsConstructor
@NoArgsConstructor
@Validated
public class AbsAngleControlDto {
public class AbsAngleControlDTO {
    private String boxSn;

    @Min(value = -120, message = "俯仰角 (pitch) 最小值为 -120°")

 ard-work/src/main/java/com/ard/tianyu/model/dto/control/AngleControlDTO.java

File was renamed from ard-work/src/main/java/com/ard/tianyu/model/dto/control/AngleControlDto.java
@@ -20,7 +20,7 @@
@AllArgsConstructor
@NoArgsConstructor
@Validated
public class AngleControlDto {
public class AngleControlDTO {
    private String boxSn;
    private Byte actionCode;
    @Min(value = 0, message = "转动角度 最小值为 0")

 ard-work/src/main/java/com/ard/tianyu/model/dto/control/SpeedControlDTO.java

File was renamed from ard-work/src/main/java/com/ard/tianyu/model/dto/control/SpeedControlDto.java
@@ -4,10 +4,6 @@
import lombok.Builder;
import lombok.Data;
import lombok.NoArgsConstructor;
import org.springframework.validation.annotation.Validated;

import javax.validation.constraints.Max;
import javax.validation.constraints.Min;

/**
 * AngleControlDto
@@ -19,7 +15,7 @@
@Builder
@AllArgsConstructor
@NoArgsConstructor
public class SpeedControlDto {
public class SpeedControlDTO {
    private String boxSn;

    /**

 ard-work/src/main/java/com/ard/tianyu/netty/command/camera/CameraModeCommand.java

New file
@@ -0,0 +1,38 @@
package com.ard.tianyu.netty.command.camera;

import com.ard.tianyu.model.dto.camera.CameraModeDTO;
import com.ard.tianyu.netty.command.BaseCommand;
import io.netty.buffer.ByteBuf;
import lombok.Data;

/**
 * 设置相机模式指令
 *
 * @author liusuyi
 * @date 2024年10月25日14:44
 **/
@Data
public class CameraModeCommand extends BaseCommand {
    private final byte encryptFlag = 0x00; // 加密标志
    private final byte actionCode = 0x22;  // 动作编号
    private final byte actionParam; // 动作参数


    public CameraModeCommand(CameraModeDTO cameraModeDTO) {
        setDataHeader((short) 0x7479);
        setDataLength((short) 19);
        setBoxSn(cameraModeDTO.getBoxSn().getBytes());
        setCmdCode((byte) 0xD1);
        actionParam = cameraModeDTO.getActionParam();
    }

    public void encode(ByteBuf out) {
        out.writeShort(getDataHeader());    // 写入数据头
        out.writeShort(getDataLength());    // 写入数据长度
        out.writeBytes(getBoxSn());         // 写入盒子SN
        out.writeByte(getCmdCode());        // 写入命令码
        out.writeByte(encryptFlag);         // 写入加密标志
        out.writeByte(actionCode);          // 写入动作编号
        out.writeByte(actionParam);         // 写入动作参数
    }
}

 ard-work/src/main/java/com/ard/tianyu/netty/command/camera/CameraModeReplyCommand.java

New file
@@ -0,0 +1,33 @@
package com.ard.tianyu.netty.command.camera;

import com.ard.tianyu.model.dto.camera.CameraModeDTO;
import com.ard.tianyu.netty.command.BaseCommand;
import io.netty.buffer.ByteBuf;
import lombok.Data;

/**
 * 设置相机模式回复指令
 *
 * @author liusuyi
 * @date 2024年10月25日14:44
 **/
@Data
public class CameraModeReplyCommand extends BaseCommand {
    private final byte encryptFlag = 0x00; // 加密标志
    private final byte actionCode = 0x22;  // 动作编号
    private final byte result;             // 执行结果
    private final Integer errorCode;       // 错误码

    public CameraModeReplyCommand(String boxSn,Byte result,Integer errorCode) {
        setDataHeader((short) 0x6A77);
        //setDataLength((short) 18);
        setCmdCode((byte) 0xD1);
        setBoxSn(boxSn.getBytes());
        this.result = result;
        this.errorCode = errorCode;
    }

    public void encode(ByteBuf out) {

    }
}

 ard-work/src/main/java/com/ard/tianyu/netty/command/camera/CapturePicCommand.java

@@ -1,6 +1,6 @@
package com.ard.tianyu.netty.command.camera;

import com.ard.tianyu.model.dto.camera.CapturePicDto;
import com.ard.tianyu.model.dto.camera.CapturePicDTO;
import com.ard.tianyu.netty.command.BaseCommand;
import io.netty.buffer.ByteBuf;
import lombok.Data;
@@ -17,7 +17,7 @@
    private final byte actionCode=0x23;  // 动作编号


    public CapturePicCommand(CapturePicDto captureDto) {
    public CapturePicCommand(CapturePicDTO captureDto) {
        setDataHeader((short) 0x7479);
        setDataLength((short) 18);
        setBoxSn(captureDto.getBoxSn().getBytes());

 ard-work/src/main/java/com/ard/tianyu/netty/command/camera/RecordStartCommand.java

@@ -1,7 +1,6 @@
package com.ard.tianyu.netty.command.camera;

import com.ard.tianyu.model.dto.camera.CapturePicDto;
import com.ard.tianyu.model.dto.camera.RecordDto;
import com.ard.tianyu.model.dto.camera.RecordDTO;
import com.ard.tianyu.netty.command.BaseCommand;
import io.netty.buffer.ByteBuf;
import lombok.Data;
@@ -18,7 +17,7 @@
    private final byte actionCode=0x24;    // 动作编号


    public RecordStartCommand(RecordDto recordDto) {
    public RecordStartCommand(RecordDTO recordDto) {
        setDataHeader((short) 0x7479);
        setDataLength((short) 18);
        setBoxSn(recordDto.getBoxSn().getBytes());

 ard-work/src/main/java/com/ard/tianyu/netty/command/camera/RecordStopCommand.java

@@ -1,7 +1,6 @@
package com.ard.tianyu.netty.command.camera;

import com.ard.tianyu.model.dto.camera.CapturePicDto;
import com.ard.tianyu.model.dto.camera.RecordDto;
import com.ard.tianyu.model.dto.camera.RecordDTO;
import com.ard.tianyu.netty.command.BaseCommand;
import io.netty.buffer.ByteBuf;
import lombok.Data;
@@ -18,7 +17,7 @@
    private final byte actionCode = 0x25;    // 动作编号


    public RecordStopCommand(RecordDto recordDto) {
    public RecordStopCommand(RecordDTO recordDto) {
        setDataHeader((short) 0x7479);
        setDataLength((short) 18);
        setBoxSn(recordDto.getBoxSn().getBytes());

 ard-work/src/main/java/com/ard/tianyu/netty/command/control/AbsAngleControlCommand.java

@@ -1,6 +1,6 @@
package com.ard.tianyu.netty.command.control;

import com.ard.tianyu.model.dto.control.AbsAngleControlDto;
import com.ard.tianyu.model.dto.control.AbsAngleControlDTO;
import com.ard.tianyu.netty.command.BaseCommand;
import io.netty.buffer.ByteBuf;
import lombok.Data;
@@ -20,7 +20,7 @@
    private final float yaw;               // 平移
    private final float roll;              // 横滚

    public AbsAngleControlCommand(AbsAngleControlDto absAngleControlDto) {
    public AbsAngleControlCommand(AbsAngleControlDTO absAngleControlDto) {
        setDataHeader((short) 0x7479);
        setDataLength((short) 30);
        setBoxSn(absAngleControlDto.getBoxSn().getBytes());

 ard-work/src/main/java/com/ard/tianyu/netty/command/control/AngleControlCommand.java

@@ -1,6 +1,6 @@
package com.ard.tianyu.netty.command.control;

import com.ard.tianyu.model.dto.control.AngleControlDto;
import com.ard.tianyu.model.dto.control.AngleControlDTO;
import com.ard.tianyu.netty.command.BaseCommand;
import io.netty.buffer.ByteBuf;
import lombok.Data;
@@ -18,7 +18,7 @@
    private final byte actionCode; // 动作编号
    private final byte rotationAngle; // 转动角度

    public AngleControlCommand(AngleControlDto angleControlDto) {
    public AngleControlCommand(AngleControlDTO angleControlDto) {
        setDataHeader((short) 0x7479);
        setDataLength((short) 19);
        setBoxSn(angleControlDto.getBoxSn().getBytes());

 ard-work/src/main/java/com/ard/tianyu/netty/command/control/SpeedControlCommand.java

@@ -1,6 +1,6 @@
package com.ard.tianyu.netty.command.control;

import com.ard.tianyu.model.dto.control.SpeedControlDto;
import com.ard.tianyu.model.dto.control.SpeedControlDTO;
import com.ard.tianyu.netty.command.BaseCommand;
import io.netty.buffer.ByteBuf;
import lombok.Data;
@@ -22,7 +22,7 @@
    private final short execTime = 200;             // 执行时间


    public SpeedControlCommand(SpeedControlDto speedControlDto) {
    public SpeedControlCommand(SpeedControlDTO speedControlDto) {
        setDataHeader((short) 0x7479);
        setDataLength((short) 32);
        setBoxSn(speedControlDto.getBoxSn().getBytes());

 ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java

@@ -1,6 +1,7 @@
package com.ard.tianyu.netty.handler;// MessageProtocolDecoder.java

import com.ard.tianyu.netty.command.*;
import com.ard.tianyu.netty.command.camera.CameraModeReplyCommand;
import com.ard.tianyu.netty.command.camera.CapturePicReplyCommand;
import com.ard.tianyu.netty.command.camera.RecordStartReplyCommand;
import com.ard.tianyu.netty.command.camera.RecordStopReplyCommand;
@@ -83,21 +84,30 @@
                byte encryptionFlag = in.readByte();
                byte actionCode = in.readByte();
                switch (actionCode) {
                    case 0x23:
                    case 0x22:
                        byte result = in.readByte();
                        int errorCode = in.readInt();
                        uavData = new byte[15];
                        in.readBytes(uavData);
                        String boxSn = new String(uavData);
                        baseCommand = new CameraModeReplyCommand(boxSn, result, errorCode);
                        log.debug("设置相机模式回复: {}", boxSn);
                        break;
                    case 0x23:
                        result = in.readByte();
                        errorCode = in.readInt();
                        uavData = new byte[15];
                        in.readBytes(uavData);
                        boxSn = new String(uavData);
                        baseCommand = new CapturePicReplyCommand(boxSn, result, errorCode);
                        log.debug("拍照回复: {}", boxSn);
                        break;
                    case 0x24:
                         result = in.readByte();
                         errorCode = in.readInt();
                        result = in.readByte();
                        errorCode = in.readInt();
                        uavData = new byte[15];
                        in.readBytes(uavData);
                         boxSn = new String(uavData);
                        boxSn = new String(uavData);
                        baseCommand = new RecordStartReplyCommand(boxSn, result, errorCode);
                        log.debug("开始录像回复: {}", boxSn);
                        break;

 ard-work/src/main/java/com/ard/tianyu/service/ITyService.java

@@ -3,11 +3,12 @@
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.camera.CameraModeDTO;
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.signal.SignalInfo;
import com.ard.tianyu.model.dto.state.UavState;
import com.ard.tianyu.model.dto.telemetry.TelemetryData;
@@ -70,27 +71,32 @@
    /**
     * 云台转动(基于角度)
     */
    void angleControl(AngleControlDto angleControlDto);
    void angleControl(AngleControlDTO angleControlDto);

    /**
     * 云台绝对值控制(基于角度)
     */
    void absAngleControl(AbsAngleControlDto absAngleControlDto);
    void absAngleControl(AbsAngleControlDTO absAngleControlDto);

    /**
     * 云台转动(基于速度)
     */
    void speedControl(SpeedControlDto speedControlDto);
    void speedControl(SpeedControlDTO speedControlDto);

    /**
     * 设置相机模式
     */
    void updateCameraMode(CameraModeDTO cameraModeDTO);

    /**
     * 拍照
     */
    void capturePic(CapturePicDto capturePicDto);
    void capturePic(CapturePicDTO capturePicDto);

    /**
     * 录像
     */
    void record(RecordDto recordDto);
    void record(RecordDTO recordDto);

    /**
     * 获取无人机状态

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

@@ -8,11 +8,12 @@
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.camera.CameraModeDTO;
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;
@@ -34,7 +35,6 @@
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;

@@ -165,7 +165,7 @@
     * 云台控制基于角度
     */
    @Override
    public void angleControl(AngleControlDto angleControlDto) {
    public void angleControl(AngleControlDTO angleControlDto) {
        AngleControlCommand controlAngleCommand = new AngleControlCommand(angleControlDto);
        this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
    }
@@ -174,7 +174,7 @@
     * 云台绝对值控制(基于角度)
     */
    @Override
    public void absAngleControl(AbsAngleControlDto absAngleControlDto) {
    public void absAngleControl(AbsAngleControlDTO absAngleControlDto) {
        AbsAngleControlCommand absAngleControlCommand = new AbsAngleControlCommand(absAngleControlDto);
        this.sendMessage(tyConfiguration.getIpPort(), absAngleControlCommand);
    }
@@ -183,16 +183,26 @@
     * 云台转动(基于速度)
     */
    @Override
    public void speedControl(SpeedControlDto speedControlDto) {
    public void speedControl(SpeedControlDTO speedControlDto) {
        SpeedControlCommand speedControlCommand = new SpeedControlCommand(speedControlDto);
        this.sendMessage(tyConfiguration.getIpPort(), speedControlCommand);
    }

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

    /**
     * 拍照
     */
    @Override
    public void capturePic(CapturePicDto capturePicDto) {
    public void capturePic(CapturePicDTO capturePicDto) {
        updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte)0x01).build());
        CapturePicCommand capturePicCommand = new CapturePicCommand(capturePicDto);
        this.sendMessage(tyConfiguration.getIpPort(), capturePicCommand);
    }
@@ -201,9 +211,10 @@
     * 录像
     */
    @Override
    public void record(RecordDto recordDto) {
    public void record(RecordDTO recordDto) {
        BaseCommand baseCommand;
        if (recordDto.getIsRecord()) {
            updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte)0x02).build());
            baseCommand = new RecordStartCommand(recordDto);
        } else {
            baseCommand = new RecordStopCommand(recordDto);
@@ -291,6 +302,13 @@
                        log.info("收到无人机初始化详情-回复防止再次发送");
                    }
                }
                if (tyCommand instanceof CameraModeReplyCommand) {
                    CameraModeReplyCommand cameraModeReplyCommand = (CameraModeReplyCommand) tyCommand;
                    if (cameraModeReplyCommand.getActionCode() == (byte) 0x22) {
                        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 CapturePicReplyCommand) {
                    CapturePicReplyCommand capturePicReplyCommand = (CapturePicReplyCommand) tyCommand;
                    if (capturePicReplyCommand.getActionCode() == (byte) 0x23) {