增加：无人机设置接口

liusuyi

2024-11-02 87cba28b3dc8389e1df61f3ba7d986b09fd89db0

增加：无人机设置接口

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

New file
@@ -0,0 +1,60 @@
package com.ard.tianyu.controller;

import com.ard.common.core.domain.AjaxResult;
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.settings.ReturnHeightSettingDTO;
import com.ard.tianyu.model.dto.settings.ReturnPointSettingDTO;
import com.ard.tianyu.model.dto.settings.VideoStreamSettingDTO;
import com.ard.tianyu.model.receiver.BoxHistoryReceiver;
import com.ard.tianyu.model.receiver.BoxInfoReceiver;
import com.ard.tianyu.model.receiver.BoxPhotosReceiver;
import com.ard.tianyu.model.receiver.BoxStreamUrlReceiver;
import com.ard.tianyu.service.ITyService;
import com.github.xiaoymin.knife4j.annotations.ApiOperationSupport;
import com.github.xiaoymin.knife4j.annotations.ApiSort;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
import org.springframework.web.bind.annotation.*;

import javax.annotation.Resource;
import java.util.List;

/**
 * UavBaseController
 *
 * @author liusuyi
 * @date 2024年10月21日13:52
 **/
@Api(tags = "无人机设置接口")
@ApiSort(value = 3)
@RequestMapping("/uav/settings")
@RestController
public class UavSettingsController {

    @Resource
    private ITyService tyService;

    @ApiOperation(value = "设置返航高度",notes = "高度【取值范围：20~1500,单位/米】")
    @ApiOperationSupport(order = 1)
    @PostMapping("/updateReturnHeight")
    public AjaxResult updateReturnHeight(@RequestBody ReturnHeightSettingDTO returnHeightSettingDTO) {
        tyService.updateReturnHeight(returnHeightSettingDTO);
        return AjaxResult.success();
    }
    @ApiOperation("设置返航点")
    @ApiOperationSupport(order = 2)
    @PostMapping("/updateReturnPoint")
    public AjaxResult updateReturnPoint(@RequestBody ReturnPointSettingDTO returnPointSettingDTO) {
        tyService.updateReturnPoint(returnPointSettingDTO);
        return AjaxResult.success();
    }
    @ApiOperation(value = "设置视频码流",notes = "帧率【建议值：25或30】 码率【不超过10000】")
    @ApiOperationSupport(order = 3)
    @PostMapping("/updateVideoStream")
    public AjaxResult updateVideoStream(@RequestBody VideoStreamSettingDTO videoStreamSettingDTO) {
        tyService.updateVideoStream(videoStreamSettingDTO);
        return AjaxResult.success();
    }
}

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

@@ -16,7 +16,6 @@
@Builder
@AllArgsConstructor
@NoArgsConstructor
@Validated
public class CameraModeDTO {
    private String boxSn;
    private Byte actionParam;

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

@@ -16,7 +16,6 @@
@Builder
@AllArgsConstructor
@NoArgsConstructor
@Validated
public class CapturePicDTO {
    private String boxSn;
}

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

@@ -19,7 +19,6 @@
@Builder
@AllArgsConstructor
@NoArgsConstructor
@Validated
public class SwitchCameraDTO {
    private String boxSn;
    //    0x00 FPV 0x01 载荷

 ard-work/src/main/java/com/ard/tianyu/model/dto/settings/ReturnHeightSettingDTO.java

New file
@@ -0,0 +1,29 @@
package com.ard.tianyu.model.dto.settings;

import lombok.AllArgsConstructor;
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;

/**
 * 返航高度实体对象
 *
 * @author liusuyi
 * @date 2024年11月01日10:55
 **/
@Data
@Builder
@AllArgsConstructor
@NoArgsConstructor
@Validated
public class ReturnHeightSettingDTO {
    private String boxSn;
    //取值范围：20~1500,单位/米
    @Min(value = 20, message = "返航高度 最小值为 20")
    @Max(value = 1500, message = "返航高度 最大值为 1500")
    private Short height;
}

 ard-work/src/main/java/com/ard/tianyu/model/dto/settings/ReturnPointSettingDTO.java

New file
@@ -0,0 +1,26 @@
package com.ard.tianyu.model.dto.settings;

import lombok.AllArgsConstructor;
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;

/**
 * 返航点实体对象
 *
 * @author liusuyi
 * @date 2024年11月01日10:55
 **/
@Data
@Builder
@AllArgsConstructor
@NoArgsConstructor
public class ReturnPointSettingDTO {
    private String boxSn;
    private Double longitude;
    private Double latitude;
}

 ard-work/src/main/java/com/ard/tianyu/model/dto/settings/VideoStreamSettingDTO.java

New file
@@ -0,0 +1,41 @@
package com.ard.tianyu.model.dto.settings;

import lombok.AllArgsConstructor;
import lombok.Builder;
import lombok.Data;
import lombok.NoArgsConstructor;
import org.springframework.validation.annotation.Validated;

import javax.validation.constraints.Max;

/**
 * 返航点实体对象
 *
 * @author liusuyi
 * @date 2024年11月01日10:55
 **/
@Data
@Builder
@AllArgsConstructor
@NoArgsConstructor
@Validated
public class VideoStreamSettingDTO {
    private String boxSn;
    /**
     * 分辨率宽度
     */
    private Integer resolutionWidth;
    /**
     * 分辨率高度
     */
    private Integer resolutionHeight;
    /**
     *  帧率 （建议值：25或30）
     */
    private Byte frameRate;
    /**
     *  码率
     */
    @Max(value = 10000, message = "码率 最大值为 10000")
    private Integer bitrate;
}

 ard-work/src/main/java/com/ard/tianyu/netty/command/manual/ReturnHomeCancelReplyCmd.java

@@ -14,7 +14,7 @@
public class ReturnHomeCancelReplyCmd extends BaseCmd {

    private final byte encryptFlag = 0x00; // 加密标志
    private final byte actionCode = 0x13;  // 动作编号
    private final byte actionCode = 0x21;  // 动作编号
    private final byte result;             // 执行结果
    private final Integer errorCode;       // 错误码


 ard-work/src/main/java/com/ard/tianyu/netty/command/settings/ReturnHeightSettingCmd.java

New file
@@ -0,0 +1,35 @@
package com.ard.tianyu.netty.command.settings;

import com.ard.tianyu.model.dto.settings.ReturnHeightSettingDTO;
import com.ard.tianyu.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;

/**
 * 修改返航高度指令
 *
 * @author liusuyi
 * @date 2024年10月30日16:20
 **/
public class ReturnHeightSettingCmd extends BaseCmd {

    private final Short height;

    public ReturnHeightSettingCmd(ReturnHeightSettingDTO returnHeightSettingDTO) {
        setDataHeader((short) 0x7479);
        setDataLength((short) 20);
        setBoxSn(returnHeightSettingDTO.getBoxSn().getBytes());
        setCmdCode((byte) 0xD1);
        this.height = returnHeightSettingDTO.getHeight();
    }

    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(0x21);          // 写入动作编号
        out.writeShort(height);               // 写入返航高度
    }
}

 ard-work/src/main/java/com/ard/tianyu/netty/command/settings/ReturnHeightSettingReplyCmd.java

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

import com.ard.tianyu.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;

/**
 * 修改返航高度回复指令
 *
 * @author liusuyi
 * @date 2024年10月30日16:20
 **/
@Data
public class ReturnHeightSettingReplyCmd extends BaseCmd {

    private final byte encryptFlag = 0x00; // 加密标志
    private final byte actionCode = 0x21;  // 动作编号
    private final byte result;             // 执行结果
    private final Integer errorCode;       // 错误码

    public ReturnHeightSettingReplyCmd(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/settings/ReturnPointSettingCmd.java

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

import com.ard.tianyu.model.dto.settings.ReturnHeightSettingDTO;
import com.ard.tianyu.model.dto.settings.ReturnPointSettingDTO;
import com.ard.tianyu.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;

/**
 * 修改返航点指令
 *
 * @author liusuyi
 * @date 2024年10月30日16:20
 **/
public class ReturnPointSettingCmd extends BaseCmd {

    private final Double longitude;
    private final Double latitude;

    public ReturnPointSettingCmd(ReturnPointSettingDTO returnPointSettingDTO) {
        setDataHeader((short) 0x7479);
        setDataLength((short) 34);
        setBoxSn(returnPointSettingDTO.getBoxSn().getBytes());
        setCmdCode((byte) 0xD1);
        this.longitude= returnPointSettingDTO.getLongitude();
        this.latitude= returnPointSettingDTO.getLatitude();
    }

    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(0x31);          // 写入动作编号
        out.writeDouble(longitude);         // 写入经度
        out.writeDouble(latitude);          // 写入纬度
    }
}

 ard-work/src/main/java/com/ard/tianyu/netty/command/settings/ReturnPointSettingReplyCmd.java

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

import com.ard.tianyu.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;

/**
 * 修改返航高度回复指令
 *
 * @author liusuyi
 * @date 2024年10月30日16:20
 **/
@Data
public class ReturnPointSettingReplyCmd extends BaseCmd {

    private final byte encryptFlag = 0x00; // 加密标志
    private final byte actionCode = 0x31;  // 动作编号
    private final byte result;             // 执行结果
    private final Integer errorCode;       // 错误码

    public ReturnPointSettingReplyCmd(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/settings/VideoStreamSettingCmd.java

New file
@@ -0,0 +1,44 @@
package com.ard.tianyu.netty.command.settings;

import com.ard.tianyu.model.dto.settings.ReturnPointSettingDTO;
import com.ard.tianyu.model.dto.settings.VideoStreamSettingDTO;
import com.ard.tianyu.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;

/**
 * 设置视频码流指令
 *
 * @author liusuyi
 * @date 2024年10月30日16:20
 **/
public class VideoStreamSettingCmd extends BaseCmd {

    private final int resolutionWidth;  // 水平像素
    private final int resolutionHeight; // 垂直像素
    private final int bitrate;          // 码率
    private final byte frameRate;       // 帧率

    public VideoStreamSettingCmd(VideoStreamSettingDTO videoStreamSettingDTO) {
        setDataHeader((short) 0x7479);
        setDataLength((short) 27);
        setBoxSn(videoStreamSettingDTO.getBoxSn().getBytes());
        setCmdCode((byte) 0xD2);
        this.bitrate = videoStreamSettingDTO.getBitrate();
        this.resolutionWidth = videoStreamSettingDTO.getResolutionWidth();
        this.resolutionHeight = videoStreamSettingDTO.getResolutionHeight();
        this.frameRate = videoStreamSettingDTO.getFrameRate();
    }

    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(0x05);          // 写入动作编号
        out.writeInt(resolutionWidth);      // 写入水平像素
        out.writeInt(resolutionHeight);     // 写入垂直像素
        out.writeByte(frameRate);           // 写入帧率
        out.writeInt(bitrate);              // 写入码率
    }
}

 ard-work/src/main/java/com/ard/tianyu/netty/command/settings/VideoStreamSettingReplyCmd.java

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

import com.ard.tianyu.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;

/**
 * 设置视频码流回复指令
 *
 * @author liusuyi
 * @date 2024年10月30日16:20
 **/
@Data
public class VideoStreamSettingReplyCmd extends BaseCmd {

    private final byte encryptFlag = 0x00; // 加密标志
    private final byte actionCode = 0x05;  // 动作编号
    private final byte result;             // 执行结果
    private final Integer errorCode;       // 错误码

    public VideoStreamSettingReplyCmd(String boxSn, Byte result, Integer errorCode) {
        setDataHeader((short) 0x6A77);
        //setDataLength((short) 18);
        setCmdCode((byte) 0XD2);
        setBoxSn(boxSn.getBytes());
        this.result = result;
        this.errorCode = errorCode;
    }

    public void encode(ByteBuf out) {

    }
}

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

@@ -16,6 +16,9 @@
import com.ard.tianyu.netty.command.register.HeartbeatReplyCmd;
import com.ard.tianyu.netty.command.register.RegisterReplyCmd;
import com.ard.tianyu.netty.command.register.UavInitReplyCmd;
import com.ard.tianyu.netty.command.settings.ReturnHeightSettingReplyCmd;
import com.ard.tianyu.netty.command.settings.ReturnPointSettingReplyCmd;
import com.ard.tianyu.netty.command.settings.VideoStreamSettingReplyCmd;
import com.ard.tianyu.netty.command.wayline.*;
import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
import com.google.protobuf.InvalidProtocolBufferException;
@@ -93,6 +96,11 @@
                actionCode = in.readByte();//动作编号
                baseCmd = processD1ReplyCmd(in, actionCode);
                break;
            case (byte) 0xD2:
                in.readByte();//加密标志
                actionCode = in.readByte();//动作编号
                baseCmd = processD2ReplyCmd(in, actionCode);
                break;
            default:
                in.readByte();//加密标志
                actionCode = in.readByte();
@@ -134,8 +142,12 @@
                return new WayLineResumeReplyCmd(boxSn, result, errorCode);
            case 0x20:
                return new WayLineEndReplyCmd(boxSn, result, errorCode);
            case 0x21:
                return new ReturnHeightSettingReplyCmd(boxSn, result, errorCode);
            case 0x29:
                return new LandForcedReplyCmd(boxSn, result, errorCode);
            case 0x31:
                return new ReturnPointSettingReplyCmd(boxSn, result, errorCode);
            case 0x32:
                return new EmergencyBrakeReplyCmd(boxSn, result, errorCode);
            case 0x39:
@@ -156,11 +168,26 @@
                return processSpecialD1ReplyCmd(in, actionCode, boxSn);
            // Add other cases...
            default:
                log.warn("无法识别的动作编号：{}", ByteUtils.byteToHex(actionCode));
                log.warn("无法识别D1的动作编号：{}", ByteUtils.byteToHex(actionCode));
        }
        return null;
    }

    //处理D1指令回复
    private BaseCmd processD2ReplyCmd(ByteBuf in, byte actionCode) {
        byte result = in.readByte();
        int errorCode = in.readInt();
        byte[] uavData = new byte[15];
        in.readBytes(uavData);
        String boxSn = new String(uavData);
        switch (actionCode) {
            case 0x05:
                return new VideoStreamSettingReplyCmd(boxSn, result, errorCode);
            // Add other cases...
            default:
                log.warn("无法识别D2的动作编号：{}", ByteUtils.byteToHex(actionCode));
        }
        return null;
    }
    //处理特殊D1指令回复
    private BaseCmd processSpecialD1ReplyCmd(ByteBuf in, byte actionCode, String boxSn) {
        switch (actionCode) {

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

@@ -8,6 +8,9 @@
import com.ard.tianyu.model.dto.control.AngleControlDTO;
import com.ard.tianyu.model.dto.control.SpeedControlDTO;
import com.ard.tianyu.model.dto.manual.*;
import com.ard.tianyu.model.dto.settings.ReturnHeightSettingDTO;
import com.ard.tianyu.model.dto.settings.ReturnPointSettingDTO;
import com.ard.tianyu.model.dto.settings.VideoStreamSettingDTO;
import com.ard.tianyu.model.dto.signal.SignalInfo;
import com.ard.tianyu.model.dto.speaker.*;
import com.ard.tianyu.model.dto.state.UavState;
@@ -65,6 +68,24 @@
    Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO);

    /**
     * 设置返航高度
     * @return
     */
    void updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO);

    /**
     * 设置视频码流
     * @return
     */
    void updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO);

    /**
     * 设置返航点
     * @return
     */
    void updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO);

    /**
     * 注册
     */
    void registerMessage();

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

@@ -19,6 +19,9 @@
import com.ard.tianyu.model.dto.converter.UavTelemetryDataConverter;
import com.ard.tianyu.model.dto.converter.wayline.PlanLineDataConverter;
import com.ard.tianyu.model.dto.manual.*;
import com.ard.tianyu.model.dto.settings.ReturnHeightSettingDTO;
import com.ard.tianyu.model.dto.settings.ReturnPointSettingDTO;
import com.ard.tianyu.model.dto.settings.VideoStreamSettingDTO;
import com.ard.tianyu.model.dto.signal.SignalInfo;
import com.ard.tianyu.model.dto.speaker.*;
import com.ard.tianyu.model.dto.state.UavState;
@@ -39,6 +42,7 @@
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;
@@ -146,6 +150,33 @@
    public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) {
        TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(boxSettingsDTO, tyConfiguration.getAccessToken().convertFromDTO());
        return result.getState() == 1;
    }

    /**
     * 设置返航高度
     */
    @Override
    public void updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO) {
        ReturnHeightSettingCmd returnHeightSettingCmd = new ReturnHeightSettingCmd(returnHeightSettingDTO);
        this.sendMessage(tyConfiguration.getIpPort(), returnHeightSettingCmd);
    }

    /**
     * 设置返航点
     */
    @Override
    public void updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO) {
        ReturnPointSettingCmd returnPointSettingCmd = new ReturnPointSettingCmd(returnPointSettingDTO);
        this.sendMessage(tyConfiguration.getIpPort(), returnPointSettingCmd);
    }

    /**
     * 设置视频码流
     */
    @Override
    public void updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO) {
        VideoStreamSettingCmd videoStreamSettingCmd = new VideoStreamSettingCmd(videoStreamSettingDTO);
        this.sendMessage(tyConfiguration.getIpPort(), videoStreamSettingCmd);
    }

    /**
@@ -704,6 +735,23 @@
                    WayLineEndReplyCmd wayLineEndReplyCmd = (WayLineEndReplyCmd) tyCommand;
                    logPrint("结束航线", wayLineEndReplyCmd.getResult(), wayLineEndReplyCmd.getErrorCode());
                }
                //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());
                }
                //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());
                }
                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());
                }
                break;
            default:
                // 处理其他消息