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 | 105 ++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 97 insertions(+), 8 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 b9f8059..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
@@ -8,6 +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.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;
@@ -17,6 +23,14 @@
import com.ard.tianyu.model.receiver.*;
import com.ard.tianyu.netty.command.*;
import com.ard.tianyu.netty.TyNettyTcpClient;
+import com.ard.tianyu.netty.command.camera.*;
+import com.ard.tianyu.netty.command.control.AbsAngleControlCommand;
+import com.ard.tianyu.netty.command.control.AngleControlCommand;
+import com.ard.tianyu.netty.command.control.SpeedControlCommand;
+import com.ard.tianyu.netty.command.real.SignalInfoCommand;
+import com.ard.tianyu.netty.command.real.UavStateCommand;
+import com.ard.tianyu.netty.command.real.UavTelemetryDataCommand;
+import com.ard.tianyu.netty.command.register.*;
import com.ard.tianyu.service.ITyService;
import io.netty.channel.Channel;
import io.netty.channel.ChannelFuture;
@@ -151,14 +165,61 @@
* 云台控制基于角度
*/
@Override
- public void angleControl(String boxSn, Integer actionId, Integer rotationAngle) {
- ControlAngleCommand controlAngleCommand = new ControlAngleCommand(boxSn, actionId.byteValue(), rotationAngle.byteValue());
+ public void angleControl(AngleControlDTO angleControlDto) {
+ AngleControlCommand controlAngleCommand = new AngleControlCommand(angleControlDto);
this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
}
+ /**
+ * 云台绝对值控制(基于角度)
+ */
@Override
- public void absAngleControl(String boxSn, Integer actionId, float pitch, float yaw, float roll) {
+ public void absAngleControl(AbsAngleControlDTO absAngleControlDto) {
+ AbsAngleControlCommand absAngleControlCommand = new AbsAngleControlCommand(absAngleControlDto);
+ this.sendMessage(tyConfiguration.getIpPort(), absAngleControlCommand);
+ }
+ /**
+ * 云台转动(基于速度)
+ */
+ @Override
+ 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) {
+ updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte)0x01).build());
+ CapturePicCommand capturePicCommand = new CapturePicCommand(capturePicDto);
+ this.sendMessage(tyConfiguration.getIpPort(), capturePicCommand);
+ }
+
+ /**
+ * 录像
+ */
+ @Override
+ 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);
+ }
+ this.sendMessage(tyConfiguration.getIpPort(), baseCommand);
}
/**
@@ -233,11 +294,39 @@
break;
case (byte) 0xD1:
// 处理无人机
- UavReadyNotificationCommand droneReadyNotificationCommand = (UavReadyNotificationCommand) tyCommand;
- if (droneReadyNotificationCommand.getActionCode() == (byte) 0x42) {
- UavInitInfoCommand uavInitCommand = new UavInitInfoCommand(droneReadyNotificationCommand.getBoxSn());
- this.sendMessage(tyConfiguration.getIpPort(), uavInitCommand);
- log.info("收到无人机初始化详情-回复防止再次发送");
+ if (tyCommand instanceof UavReadyNotificationCommand) {
+ UavReadyNotificationCommand droneReadyNotificationCommand = (UavReadyNotificationCommand) tyCommand;
+ if (droneReadyNotificationCommand.getActionCode() == (byte) 0x42) {
+ UavInitInfoCommand uavInitCommand = new UavInitInfoCommand(droneReadyNotificationCommand.getBoxSn());
+ this.sendMessage(tyConfiguration.getIpPort(), uavInitCommand);
+ 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) {
+ log.info("收到无人机拍照回复:{} 错误码：{}", String.format("0x%02X", capturePicReplyCommand.getResult() & 0xFF), capturePicReplyCommand.getErrorCode());
+ }
+ }
+
+ if (tyCommand instanceof RecordStartReplyCommand) {
+ RecordStartReplyCommand recordStartReplyCommand = (RecordStartReplyCommand) tyCommand;
+ if (recordStartReplyCommand.getActionCode() == (byte) 0x24) {
+ log.info("收到无人机开始录像回复:{} 错误码：{}", String.format("0x%02X", recordStartReplyCommand.getResult() & 0xFF), recordStartReplyCommand.getErrorCode());
+ }
+ }
+ if (tyCommand instanceof RecordStopReplyCommand) {
+ RecordStopReplyCommand recordStopReplyCommand = (RecordStopReplyCommand) tyCommand;
+ if (recordStopReplyCommand.getActionCode() == (byte) 0x25) {
+ log.info("收到无人机停止录像回复:{} 错误码：{}", String.format("0x%02X", recordStopReplyCommand.getResult() & 0xFF), recordStopReplyCommand.getErrorCode());
+ }
}
break;
default:
--
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