优化

liusuyi

2024-11-02 4acf06226c8414c7218769995660dee97271a57b

优化

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

@@ -70,6 +70,7 @@
            case (byte) 0xA8:
                byte[] uavStatus = new byte[dataLength - 1];
                in.readBytes(uavStatus);  // 读取 ProtoBuf 数据

                TelemetryDataPB.UavState uavState = TelemetryDataPB.UavState.parseFrom(uavStatus);
                baseCmd = new UavStateCmd(uavState);
                log.debug("无人机状态数据： {}", uavState.getBoxSn());
@@ -172,7 +173,7 @@
        }
        return null;
    }
    //处理D1指令回复
    //处理D2指令回复
    private BaseCmd processD2ReplyCmd(ByteBuf in, byte actionCode) {
        byte result = in.readByte();
        int errorCode = in.readInt();

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

@@ -79,8 +79,6 @@
    @Resource
    private TyConfiguration tyConfiguration;

    // 存储每个无人机的最后遥测处理时间
    private Map<String, Long> lastTelemetryTimes = new ConcurrentHashMap<>();

    /**
     * 获取天宇token信息
@@ -604,31 +602,15 @@
                UavState uavState = UavStateConverter.convertProtoToEntity(uavStateCmd.getUavState());
                UavStateCache.putUavState(uavState);
                logPrint("无人机状态", uavState.getBoxSn());
                WebSocketUtil.sendMessageAll(uavState);
               // WebSocketUtil.sendMessageAll(uavState);
                break;
            case (byte) 0xA9:
                // 处理无人机遥测消息
                UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
                if (uavTelemetryDataCmd.getBoxSn() == null) {
                    return;
                }
                String boxSn = ByteUtils.bytesToString(uavTelemetryDataCmd.getBoxSn()); // 假设有获取无人机ID的方法
                long currentTime = System.currentTimeMillis();

                // 获取无人机的最后处理时间，如果没有则设置为0
                long lastTelemetryTime = lastTelemetryTimes.getOrDefault(boxSn, 0L);

                // 检查与上次处理时间的间隔
                if (currentTime - lastTelemetryTime >= 1000) { // 1秒
                    TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(uavTelemetryDataCmd.getTelemetryData());
                    UavTelemetryDataCache.putUavTelemetryData(telemetryData);
                    logPrint("无人机遥测", telemetryData.getBoxSn());

                    // 更新最后处理时间
                    lastTelemetryTimes.put(boxSn, currentTime);
                } else {
                    log.debug("无人机 " + boxSn + " 遥测数据接收过于频繁，已跳过处理");
                }
                TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(uavTelemetryDataCmd.getTelemetryData());
                UavTelemetryDataCache.putUavTelemetryData(telemetryData);
                logPrint("无人机遥测", telemetryData.getBoxSn());
                WebSocketUtil.sendMessageAll(telemetryData);
                break;

            case (byte) 0x0C: