From 1157c58dc74805cbb7db57ab121bbb521f4c216b Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Fri, 25 Oct 2024 16:33:49 +0800
Subject: [PATCH] 增加 拍照 录像 相机模式设置
---
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 40 +++++++++++++++++++++++++++++-----------
1 files changed, 29 insertions(+), 11 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java b/ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java
index 66dacea..c056263 100644
--- a/ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java
+++ b/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) {
--
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