增加：云台控制基于角度

liusuyi

2024-10-22 de44eb3187c8a88c2942f8904701b96be09c61da

增加：云台控制基于角度

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

@@ -69,4 +69,11 @@
        Boolean state = tyService.updateBoxSettings(boxSettingsDTO);
        return AjaxResult.success(state);
    }

    @ApiOperation("云台转动(基于角度)")
    @GetMapping("/controlAngle")
    public AjaxResult controlAngle(String boxSn) {
        tyService.controlAngle(boxSn);
        return AjaxResult.success();
    }
}

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

New file
@@ -0,0 +1,47 @@
package com.ard.tianyu.netty.command;

import io.netty.buffer.ByteBuf;
import lombok.Data;

/**
 * 云台转动(基于角度)命令
 *
 * @author 刘苏义
 * @date 2024/10/22 16:36
 */

@Data
public class ControlAngleCommand extends BaseCommand{
    private final byte[] boxSn; // 云盒编号
    private final byte encryptFlag; // 加密标志
    private final byte actionId; // 动作编号
    private final byte rotationAngle; // 转动角度

    public ControlAngleCommand(byte[] boxSn, byte encryptFlag, byte actionId, byte rotationAngle) {
        if (boxSn.length != 15) {
            throw new IllegalArgumentException("云盒编号长度必须为15字节");
        }
        setDataHeader((short)0x7479);
        setDataLength(getDataLength());
        setCmdCode((byte)0xD1);
        this.boxSn = boxSn;
        this.encryptFlag = encryptFlag;
        this.actionId = actionId;
        this.rotationAngle = rotationAngle;
    }

    public short getDataLength() {
        // 计算数据长度: 云盒编号 + 指令编号 + 加密标志 + 动作编号 + 转动角度
        return (short) (2 + 15 + 1 + 1 + 1); // 帧头 + 数据内容
    }

    public void encode(ByteBuf out) {
        out.writeShort(getDataHeader());    // 写入帧头
        out.writeShort(getDataLength());    // 写入数据长度
        out.writeByte(getCmdCode());        // 写入指令编号
        out.writeBytes(boxSn); // 写入云盒编号
        out.writeByte(encryptFlag); // 写入加密标志
        out.writeByte(actionId); // 写入动作编号
        out.writeByte(rotationAngle); // 写入转动角度
    }
}

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

@@ -2,7 +2,12 @@

import io.netty.buffer.ByteBuf;


/**
 * 心跳命令
 *
 * @author 刘苏义
 * @date 2024/10/22 16:36
 */
public class HeartbeatCommand extends BaseCommand {

    private final long timestamp;

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

@@ -1,10 +1,15 @@
package com.ard.tianyu.netty.command;

import io.netty.buffer.ByteBuf;
import lombok.AllArgsConstructor;
import lombok.Data;
import lombok.NoArgsConstructor;

/**
 * 心跳回复命令
 *
 * @author 刘苏义
 * @date 2024/10/22 16:36
 */
@Data
@NoArgsConstructor
public class HeartbeatReplyCommand extends BaseCommand {
@@ -17,6 +22,7 @@
        setCmdCode((byte) 0x02); // 设置指令编号
        setDataLength((short) (13)); // 数据长度 (指令编号 + 时间戳)
    }

    public void encode(ByteBuf out) {
        out.writeShort(getDataHeader());
        out.writeShort(getDataLength());

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

@@ -1,6 +1,13 @@
package com.ard.tianyu.netty.command;// RegisterMessage.java

import io.netty.buffer.ByteBuf;

/**
 * 注册命令
 *
 * @author 刘苏义
 * @date 2024/10/22 16:36
 */
public class RegisterCommand extends BaseCommand {
    private int userId;
    private byte[] accessToken;

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

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

@@ -55,7 +55,10 @@

    /**
     * 注册
     * @return
     */
    void registerMessage();
    /**
     * 云台转动(基于角度)
     */
    void controlAngle(String boxSn);
}

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

@@ -7,10 +7,12 @@
import com.ard.tianyu.model.dto.BoxSettingsDTO;
import com.ard.tianyu.model.receiver.*;
import com.ard.tianyu.netty.command.BaseCommand;
import com.ard.tianyu.netty.command.ControlAngleCommand;
import com.ard.tianyu.netty.command.HeartbeatCommand;
import com.ard.tianyu.netty.command.RegisterCommand;
import com.ard.tianyu.netty.TyNettyTcpClient;
import com.ard.tianyu.service.ITyService;
import com.ard.vtdu.util.ArdTool;
import io.netty.buffer.ByteBuf;
import io.netty.buffer.Unpooled;
import io.netty.channel.Channel;
@@ -104,14 +106,18 @@
        return result.getState() == 1;
    }


    /**
     * 注册天宇平台
     */
    @Override
    public void registerMessage() {
        AccessTokenReceiver tyToken = tyConfiguration.getAccessToken();
        RegisterCommand registerMessage = new RegisterCommand(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
        this.sendMessage(tyConfiguration.getIpPort(), registerMessage);
    }

    /**
     * 发送消息
     */
    public boolean sendMessage(String key, BaseCommand msg) {
        //将从用户接收的信息发送到天宇 commandCache
        boolean cmdResult = false;
@@ -128,7 +134,7 @@

                channel.writeAndFlush(buffer); // 发送编码后的数据
                cmdResult = true;
                log.info("向天宇服务器" + host + ":" + port + "发送数据" + "，命令码：" + msg.getCmdCode());
                log.info("向天宇服务器" + host + ":" + port + "发送数据" + "，命令码：" + String.format("0x%02X", msg.getCmdCode() & 0xFF));
            } else {
                log.error("与天宇服务器链接断开，无法发送数据！");
            }
@@ -140,10 +146,16 @@
        }
    }

    @Override
    public void controlAngle(String boxSn) {
        ControlAngleCommand controlAngleCommand = new ControlAngleCommand(boxSn.getBytes(),(byte)0x00,(byte)0x00,(byte)0x05);
        this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
    }

    @Scheduled(fixedRate = 5000)
    public void sendHeartBeat() {
        long timestamp = System.currentTimeMillis();
        log.debug("定时向天宇发送⼼跳,时间戳{}", timestamp);
        log.info("定时向天宇发送⼼跳,时间戳{}", timestamp);
        HeartbeatCommand heartbeatMessage = new HeartbeatCommand(timestamp);
        this.sendMessage(tyConfiguration.getIpPort(), heartbeatMessage);
    }

 ard-work/src/main/java/com/ard/vtdu/service/impl/MediaServiceImpl.java

@@ -571,6 +571,9 @@
        log.info("定时同步MediaMTX任务开始");
        List<String> nameList = getNameList();
        List<BoxReceiver> boxList = tyService.getBoxList();
        if (boxList == null || boxList.isEmpty()) {
            return;
        }
        List<ArdVtdu> ardVtduList = boxList.stream()
                .filter(boxReceiver -> boxReceiver.getOnLine() != 0)  // 过滤掉不在线的
                .map(boxReceiver -> {

 ard-work/src/main/java/com/ard/vtdu/util/ArdTool.java

@@ -209,6 +209,4 @@
            }
        }
    }


}