增加环绕飞行控制

liusuyi

2025-11-25 87689cefac709bdc2414c8d365b03ad0585e5bc5

增加环绕飞行控制

 ard-admin/src/main/java/com/ard/web/controller/work/UavManualFlyController.java

@@ -108,6 +108,25 @@
        return AjaxResult.success();
    }

    @ApiOperation(value = "开始环绕飞行", notes = "速度speed:0~20 单位m/s " +
            "环绕半径radius：单位m，"+
            "飞行模式flyMode：0-节能模式【飞机直线飞到目标点，需飞机在空中】，" +
            "1-安全模式【飞机飞行至目标点高度再平飞到目标点，飞机可以在地面或空中】 默认为节能模式")
    @ApiOperationSupport(order = 9)
    @PostMapping("/flyRoundControl")
    public AjaxResult flyRoundControl(@RequestBody FlyRoundControlDTO flyRoundControlDTO) {
        tyService.FlyRoundControl(flyRoundControlDTO);
        return AjaxResult.success();
    }

    @ApiOperation("停止环绕飞行")
    @ApiOperationSupport(order = 10)
    @PostMapping("/flyRoundControlCancel")
    public AjaxResult flyRoundControlCancel(@RequestBody FlyRoundControlCancelDTO flyRoundControlCancelDTO) {
        tyService.FlyRoundControlCancel(flyRoundControlCancelDTO);
        return AjaxResult.success();
    }

    @ApiOperation(value = "紧急制动", notes = "动作参数actionParam： 0-解除紧急制动 1-紧急制动")
    @ApiOperationSupport(order = 11)
    @PostMapping("/emeragencyBrake")

 ard-work/src/main/java/com/ard/work/component/netty/command/manual/FlyRoundControlCancelCmd.java

New file
@@ -0,0 +1,33 @@
package com.ard.work.component.netty.command.manual;

import com.ard.work.component.netty.command.BaseCmd;
import com.ard.work.domain.dto.manual.FlyRoundControlCancelDTO;
import com.ard.work.domain.dto.manual.FlyRoundControlDTO;
import io.netty.buffer.ByteBuf;

/**
 * 环绕飞行控制指令
 *
 * @author liusuyi
 * @date 2024年10月26日15:43
 **/
public class FlyRoundControlCancelCmd extends BaseCmd {


    public FlyRoundControlCancelCmd(FlyRoundControlCancelDTO flyRoundControlCancelDTO) {
        setDataHeader((short) 0x7479);
        setDataLength((short) 18);
        setBoxSn(flyRoundControlCancelDTO.getBoxSn().getBytes());
        setCmdCode((byte) 0xD1);
    }


    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(0x00);          // 写入加密标志
        out.writeByte(0x3C);          // 写入动作编号
    }
}

 ard-work/src/main/java/com/ard/work/component/netty/command/manual/FlyRoundControlCmd.java

New file
@@ -0,0 +1,50 @@
package com.ard.work.component.netty.command.manual;

import com.ard.work.component.netty.command.BaseCmd;
import com.ard.work.domain.dto.manual.FlyPointControlDTO;
import com.ard.work.domain.dto.manual.FlyRoundControlDTO;
import io.netty.buffer.ByteBuf;

/**
 * 环绕飞行控制指令
 *
 * @author liusuyi
 * @date 2024年10月26日15:43
 **/
public class FlyRoundControlCmd extends BaseCmd {
    private final double longitude;                  // 兴趣点经度
    private final double latitude;                   // 兴趣点纬度
    private final float altitude;                    // 兴趣点高度
    private final float speed;                       // 环绕速度
    private final float radius;                      // 环绕半径
    private final byte flyMode;                      // 飞行模式

    public FlyRoundControlCmd(FlyRoundControlDTO flyRoundControlDTO) {
        setDataHeader((short) 0x7479);
        setDataLength((short) 47);
        setBoxSn(flyRoundControlDTO.getBoxSn().getBytes());
        setCmdCode((byte) 0xD1);
        this.longitude = flyRoundControlDTO.getLongitude();
        this.latitude = flyRoundControlDTO.getLatitude();
        this.altitude = flyRoundControlDTO.getAltitude();
        this.speed = flyRoundControlDTO.getSpeed();
        this.radius= flyRoundControlDTO.getRadius();
        this.flyMode = flyRoundControlDTO.getFlyMode();
    }


    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(0x00);          // 写入加密标志
        out.writeByte(0x3B);          // 写入动作编号
        out.writeDouble(longitude);         // 写入兴趣点经度
        out.writeDouble(latitude);          // 写入兴趣点纬度
        out.writeFloat(altitude);           // 写入兴趣点高度
        out.writeFloat(speed);              // 写入环绕速度
        out.writeFloat(radius);             // 写入环绕半径
        out.writeByte(flyMode);             // 写入飞行模式
    }
}

 ard-work/src/main/java/com/ard/work/component/netty/command/manual/FlyRoundReplyCmd.java

New file
@@ -0,0 +1,35 @@
package com.ard.work.component.netty.command.manual;

import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
import lombok.EqualsAndHashCode;

/**
 * 到达环绕位置回复指令
 *
 * @author liusuyi
 * @date 2024年10月26日15:43
 **/
@Data
@EqualsAndHashCode(callSuper = false)
public class FlyRoundReplyCmd extends BaseCmd {

    private final byte encryptFlag = 0x00; // 加密标志
    private final byte actionCode = 0x3B;  // 动作编号
    private final byte result;             // 执行结果
    private final Integer errorCode;       // 错误码

    public FlyRoundReplyCmd(String boxSn, Byte result, Integer errorCode) {
        setDataHeader((short) 0x6A77);
        setDataLength((short) 19);
        setBoxSn(boxSn.getBytes());
        setCmdCode((byte) 0xD1);
        this.result = result;
        this.errorCode = errorCode;
    }

    public void encode(ByteBuf out) {

    }
}

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

@@ -174,6 +174,8 @@
                return new EmergencyBrakeReplyCmd(boxSn, result, errorCode);
            case 0x39:
                return new PointControlReachedReplyCmd(boxSn, result, errorCode);
            case 0x3B:
                return new FlyRoundReplyCmd(boxSn, result, errorCode);
            case 0x22:
                return new CameraModeReplyCmd(boxSn, result, errorCode);
            case 0x23:

 ard-work/src/main/java/com/ard/work/domain/dto/manual/FlyRoundControlCancelDTO.java

New file
@@ -0,0 +1,22 @@
package com.ard.work.domain.dto.manual;

import lombok.AllArgsConstructor;
import lombok.Builder;
import lombok.Data;
import lombok.NoArgsConstructor;

/**
 * 环绕飞行控制实体对象
 *
 * @author liusuyi
 * @date 2024年10月26日9:02
 **/
@Data
@Builder
@AllArgsConstructor
@NoArgsConstructor
public class FlyRoundControlCancelDTO {

    private String boxSn;

}

 ard-work/src/main/java/com/ard/work/domain/dto/manual/FlyRoundControlDTO.java

New file
@@ -0,0 +1,51 @@
package com.ard.work.domain.dto.manual;

import lombok.AllArgsConstructor;
import lombok.Builder;
import lombok.Data;
import lombok.NoArgsConstructor;

/**
 * 环绕飞行控制实体对象
 *
 * @author liusuyi
 * @date 2024年10月26日9:02
 **/
@Data
@Builder
@AllArgsConstructor
@NoArgsConstructor
public class FlyRoundControlDTO {

    private String boxSn;

    /**
     * 兴趣点经度
     */
    private Double longitude;
    /**
     * 兴趣点纬度
     */
    private Double latitude;
    /**
     * 兴趣点高度
     */
    private Float altitude;

    /**
     * 环绕速度
     */
    private Float speed;

    /**
     * 环绕半径
     */
    private Float radius;

    /**
     * 飞行模式
     */
    @Builder.Default
    private byte flyMode = 0;

}

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

@@ -206,6 +206,17 @@
     */
    Boolean flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO);


    /**
     * 环绕飞行控制
     */
    Boolean FlyRoundControl(FlyRoundControlDTO flyRoundControlDTO);

    /**
     * 停止环绕飞行
     */
    Boolean FlyRoundControlCancel(FlyRoundControlCancelDTO flyRoundControlCancelDTO);

    /**
     * 紧急制动
     */

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

@@ -603,6 +603,37 @@
        return true;
    }


    /**
     * 环绕飞行控制
     */
    @Override
    public Boolean FlyRoundControl(FlyRoundControlDTO flyRoundControlDTO) {
        String boxSn = flyRoundControlDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        FlyRoundControlCmd flyPointControlCmd = new FlyRoundControlCmd(flyRoundControlDTO);
        this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd);
        return true;
    }

    /**
     * 停止环绕飞行控制
     */
    @Override
    public Boolean FlyRoundControlCancel(FlyRoundControlCancelDTO flyRoundControlCancelDTO) {
        String boxSn = flyRoundControlCancelDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        FlyRoundControlCancelCmd flyRoundControlCancelCmd = new FlyRoundControlCancelCmd(flyRoundControlCancelDTO);
        this.sendMessage(ardDroneInfo.getServerId(), flyRoundControlCancelCmd);
        return true;
    }

    /**
     * 紧急制动
     */
@@ -1042,6 +1073,12 @@
                    logPrint("设置返航点", returnPointSettingReplyCmd.getResult(),
                            returnPointSettingReplyCmd.getErrorCode());
                }
                //到达环绕位置回复
                if (tyCommand instanceof FlyRoundReplyCmd) {
                    FlyRoundReplyCmd flyRoundReplyCmd = (FlyRoundReplyCmd) tyCommand;
                    logPrint("到达环绕位置", flyRoundReplyCmd.getResult(),
                            flyRoundReplyCmd.getErrorCode());
                }
                break;
            case (byte) 0xD2:
                //设置视频码流回复