From 2acf49278129e5870d8b775519a2bc1461294fb8 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Wed, 11 Mar 2026 08:55:46 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 724 +++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 559 insertions(+), 165 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java b/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
index 37e86c0..2206340 100644
--- a/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
+++ b/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
@@ -1,63 +1,72 @@
package com.ard.work.service.impl;
-import com.ard.common.utils.ByteUtils;
-import com.ard.work.aspect.annotation.CheckTakeoffAltitude;
+import com.ard.common.exception.ControlException;
import com.ard.work.aspect.annotation.CheckControlRight;
+import com.ard.work.aspect.annotation.CheckDroneStatus;
+import com.ard.work.aspect.annotation.CheckNoFlyZone;
+import com.ard.work.aspect.annotation.CheckTakeoffAltitude;
+import com.ard.work.component.forest.TyClient;
+import com.ard.work.component.netty.TcpClientUtil;
import com.ard.work.component.netty.command.BaseCmd;
import com.ard.work.component.netty.command.camera.*;
+import com.ard.work.component.netty.command.control.AbsAngleControlCmd;
+import com.ard.work.component.netty.command.control.AngleControlCmd;
+import com.ard.work.component.netty.command.control.SpeedControlCmd;
import com.ard.work.component.netty.command.manual.*;
+import com.ard.work.component.netty.command.notice.BoxPowerStatusReplyCmd;
+import com.ard.work.component.netty.command.notice.WayLineFinishedReplyCmd;
+import com.ard.work.component.netty.command.notice.UavReadyReplyCmd;
+import com.ard.work.component.netty.command.real.SignalInfoCmd;
+import com.ard.work.component.netty.command.real.UavStateCmd;
+import com.ard.work.component.netty.command.real.UavTelemetryDataCmd;
import com.ard.work.component.netty.command.register.*;
import com.ard.work.component.netty.command.settings.*;
import com.ard.work.component.netty.command.speaker.*;
import com.ard.work.component.netty.command.wayline.*;
-import com.ard.work.config.TyConfiguration;
-import com.ard.work.domain.dto.camera.*;
-import com.ard.work.domain.dto.manual.*;
-import com.ard.work.domain.dto.speaker.*;
-import com.ard.work.domain.dto.wayline.*;
-import com.ard.work.domain.receiver.*;
-import com.ard.work.component.forest.TyClient;
-import com.ard.work.domain.cache.TyTcpServerCache;
+import com.ard.work.component.netty.handler.ErrorCodeEnum;
+import com.ard.work.component.netty.protobuf.TelemetryDataPB;
+import com.ard.work.component.websocket.utils.WebSocketUtil;
+import com.ard.work.config.RouteStateMachineService;
import com.ard.work.domain.cache.UavSignalInfoCache;
import com.ard.work.domain.cache.UavStateCache;
import com.ard.work.domain.cache.UavTelemetryDataCache;
import com.ard.work.domain.dto.BoxHistoryDTO;
import com.ard.work.domain.dto.BoxPhotosDTO;
import com.ard.work.domain.dto.BoxSettingsDTO;
+import com.ard.work.domain.dto.BoxVideosDTO;
+import com.ard.work.domain.dto.camera.*;
import com.ard.work.domain.dto.control.AbsAngleControlDTO;
import com.ard.work.domain.dto.control.AngleControlDTO;
import com.ard.work.domain.dto.control.SpeedControlDTO;
import com.ard.work.domain.dto.converter.wayline.PlanLineDataConverter;
+import com.ard.work.domain.dto.manual.*;
import com.ard.work.domain.dto.settings.ReturnHeightSettingDTO;
import com.ard.work.domain.dto.settings.ReturnPointSettingDTO;
import com.ard.work.domain.dto.settings.VideoStreamSettingDTO;
import com.ard.work.domain.dto.signal.SignalInfo;
+import com.ard.work.domain.dto.speaker.*;
import com.ard.work.domain.dto.state.UavState;
import com.ard.work.domain.dto.telemetry.TelemetryData;
-import com.ard.work.component.netty.NettyTcpClient;
-import com.ard.work.component.netty.command.control.AbsAngleControlCmd;
-import com.ard.work.component.netty.command.control.AngleControlCmd;
-import com.ard.work.component.netty.command.control.SpeedControlCmd;
-import com.ard.work.component.netty.command.notice.BoxPowerStatusReplyCmd;
-import com.ard.work.component.netty.command.notice.FlyWayEndReplyCmd;
-import com.ard.work.component.netty.command.notice.UavReadyReplyCmd;
-import com.ard.work.component.netty.command.real.SignalInfoCmd;
-import com.ard.work.component.netty.command.real.UavStateCmd;
-import com.ard.work.component.netty.command.real.UavTelemetryDataCmd;
-import com.ard.work.component.netty.handler.ErrorCodeEnum;
-import com.ard.work.component.netty.protobuf.TelemetryDataPB;
-import com.ard.work.service.ITyService;
+import com.ard.work.domain.dto.wayline.*;
+import com.ard.work.domain.entity.ArdDroneInfo;
+import com.ard.work.domain.entity.ArdServerInfo;
+import com.ard.work.domain.enums.RouteEvent;
+import com.ard.work.domain.message.ServerReplyMessage;
import com.ard.work.domain.message.UavControlType;
-import io.netty.channel.Channel;
-import io.netty.channel.ChannelFuture;
+import com.ard.work.domain.receiver.*;
+import com.ard.work.service.IArdDroneInfoService;
+import com.ard.work.service.IArdFlightTaskPartService;
+import com.ard.work.service.IArdServerInfoService;
+import com.ard.work.service.ITyService;
import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Scheduled;
+import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
-import java.net.InetSocketAddress;
-import java.util.ArrayList;
-import java.util.List;
+import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.stream.Collectors;
+import java.util.stream.Stream;
/**
* TyServiceImpl
@@ -68,39 +77,49 @@
@Slf4j
@Service
public class TyServiceImpl implements ITyService {
-
+ @Resource
+ private IArdServerInfoService ardServerService;
+ @Resource
+ private IArdDroneInfoService ardDroneService;
@Resource
private TyClient tyClient;
-
- @Resource
- private TyConfiguration tyConfiguration;
-
+ @Autowired
+ private RouteStateMachineService stateMachineService;
+ @Autowired
+ private IArdFlightTaskPartService ardFlightTaskPartService;
/**
- * 获取六合token信息
+ * 获取边缘服务器token信息
*
* @return AccessTokenReceiver
*/
@Override
- public AccessTokenReceiver getAccessToken() {
- return tyConfiguration.getAccessToken();
+ public AccessTokenReceiver getAccessToken(String serverId) {
+ return ardServerService.getAccessToken(serverId);
}
/**
- * 获取云盒列表
+ * 获取全部云盒列表
*
* @return List<BoxInfoReceiver>
*/
@Override
public List<BoxInfoReceiver> getBoxList() {
- //请求云盒列表
- try {
- TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReceiver = tyClient.getBoxList();
- return boxListReceiver.getContent();
- } catch (Exception e) {
- log.error("获取云盒列表失败:{}", e.getMessage());
- return new ArrayList<>();
- }
+ List<ArdServerInfo> ardServerInfos = ardServerService.selectArdServerInfoList(new ArdServerInfo() {{
+ setUseDataScope(false);
+ }});
+ return getBoxList(ardServerInfos);
+ }
+
+ /**
+ * 获取指定服务器云盒列表
+ *
+ * @return List<BoxInfoReceiver>
+ */
+ @Override
+ public List<BoxInfoReceiver> getBoxList(String serverId) {
+ TyHttpCommonReceiver<List<BoxInfoReceiver>> boxList = tyClient.getBoxList(serverId);
+ return boxList == null ? null : boxList.getContent();
}
/**
@@ -110,9 +129,15 @@
*/
@Override
public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
+ if (ardDroneInfo == null) {
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
+ }
- TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(boxSn);
- return boxLiveUrl.getContent();
+
+ TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(),
+ boxSn);
+ return boxLiveUrl == null ? null : boxLiveUrl.getContent();
}
/**
@@ -122,28 +147,60 @@
*/
@Override
public List<BoxHistoryReceiver> getBoxHistory(BoxHistoryDTO boxHistoryDTO) {
- TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(boxHistoryDTO);
- return boxHistory.getContent();
+ String boxSn = boxHistoryDTO.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);
+ }
+ TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(ardDroneInfo.getServerId(),
+ boxHistoryDTO);
+ return boxHistory == null ? null : boxHistory.getContent();
}
/**
- * 获取盒子图片
+ * 获取任务图片
*
* @return List<BoxPhotosReceiver>
*/
@Override
public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) {
- TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(boxPhotosDTO);
- return boxPhotos.getContent();
+ String boxSn = boxPhotosDTO.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);
+ }
+ TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(ardDroneInfo.getServerId(),
+ boxPhotosDTO);
+ return boxPhotos == null ? null : boxPhotos.getContent();
}
-
+ /**
+ * 获取任务视频
+ *
+ * @return List<BoxVideosReceiver>
+ */
+ @Override
+ public List<BoxVideosReceiver> getBoxVideos(BoxVideosDTO boxVideosDTO) {
+ String boxSn = boxVideosDTO.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);
+ }
+ TyHttpCommonReceiver<List<BoxVideosReceiver>> boxVideos = tyClient.getBoxVideos(ardDroneInfo.getServerId(),
+ boxVideosDTO);
+ return boxVideos == null ? null : boxVideos.getContent();
+ }
/**
* 修改云盒设置
*/
@Override
public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) {
- TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(boxSettingsDTO);
- return result.getState() == 1;
+ String boxSn = boxSettingsDTO.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);
+ }
+ TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(ardDroneInfo.getServerId(), boxSettingsDTO);
+ return result.getState() == 0;
}
/**
@@ -151,8 +208,13 @@
*/
@Override
public Boolean updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO) {
+ String boxSn = returnHeightSettingDTO.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);
+ }
ReturnHeightSettingCmd returnHeightSettingCmd = new ReturnHeightSettingCmd(returnHeightSettingDTO);
- this.sendMessage(tyConfiguration.getIpPort(), returnHeightSettingCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), returnHeightSettingCmd);
return true;
}
@@ -161,8 +223,13 @@
*/
@Override
public Boolean updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO) {
+ String boxSn = returnPointSettingDTO.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);
+ }
ReturnPointSettingCmd returnPointSettingCmd = new ReturnPointSettingCmd(returnPointSettingDTO);
- this.sendMessage(tyConfiguration.getIpPort(), returnPointSettingCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), returnPointSettingCmd);
return true;
}
@@ -171,24 +238,30 @@
*/
@Override
public Boolean updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO) {
+ String boxSn = videoStreamSettingDTO.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);
+ }
VideoStreamSettingCmd videoStreamSettingCmd = new VideoStreamSettingCmd(videoStreamSettingDTO);
- this.sendMessage(tyConfiguration.getIpPort(), videoStreamSettingCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), videoStreamSettingCmd);
return true;
}
/**
- * 注册六合平台
+ * 注册边缘服务器平台
*/
@Override
- public Boolean registerMessage() {
+ public Boolean registerMessage(String serverId) {
try {
- AccessTokenReceiver tyToken = tyConfiguration.getAccessToken();
+ AccessTokenReceiver tyToken = ardServerService.getAccessToken(serverId);
RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
- this.sendMessage(tyConfiguration.getIpPort(), registerMessage);
+ this.sendMessage(serverId, registerMessage);
+ return true;
} catch (Exception e) {
- log.error("注册六合平台失败:{}", e.getMessage());
+ log.error("注册边缘服务器平台失败:{}", e.getMessage());
+ return false;
}
- return true;
}
/**
@@ -197,8 +270,13 @@
@CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean angleControl(AngleControlDTO angleControlDto) {
+ String boxSn = angleControlDto.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);
+ }
AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto);
- this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
+ this.sendMessage(ardDroneInfo.getServerId(), controlAngleCommand);
return true;
}
@@ -208,8 +286,13 @@
@CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean absAngleControl(AbsAngleControlDTO absAngleControlDto) {
+ String boxSn = absAngleControlDto.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);
+ }
AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto);
- this.sendMessage(tyConfiguration.getIpPort(), absAngleControlCommand);
+ this.sendMessage(ardDroneInfo.getServerId(), absAngleControlCommand);
return true;
}
@@ -219,49 +302,85 @@
@CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean speedControl(SpeedControlDTO speedControlDto) {
+ String boxSn = speedControlDto.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);
+ }
SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto);
- this.sendMessage(tyConfiguration.getIpPort(), speedControlCommand);
+ this.sendMessage(ardDroneInfo.getServerId(), speedControlCommand);
+ return true;
+ }
+
+ @Override
+ public Boolean formatSdCard(FormatSdCardDTO formatSdCardDTO) {
+ String boxSn = formatSdCardDTO.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);
+ }
+ FormatSdCardCmd formatSdCardCmd = new FormatSdCardCmd(formatSdCardDTO);
+ this.sendMessage(ardDroneInfo.getServerId(), formatSdCardCmd);
return true;
}
/**
* 设置相机模式
*/
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean updateCameraMode(CameraModeDTO cameraModeDTO) {
+ String boxSn = cameraModeDTO.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);
+ }
CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO);
- this.sendMessage(tyConfiguration.getIpPort(), cameraModeCommand);
+ this.sendMessage(ardDroneInfo.getServerId(), cameraModeCommand);
return true;
}
/**
* 拍照
*/
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean capturePic(CapturePicDTO capturePicDto) {
+ String boxSn = capturePicDto.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);
+ }
//设置相机模式为拍照模式
- updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
+ //updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
//设置拍照回传
- photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
+ //photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01)
+ // .build());
CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);
- this.sendMessage(tyConfiguration.getIpPort(), capturePicCommand);
+ this.sendMessage(ardDroneInfo.getServerId(), capturePicCommand);
return true;
}
/**
* 录像
*/
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean record(RecordDTO recordDto) {
+ String boxSn = recordDto.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);
+ }
BaseCmd baseCmd;
if (recordDto.getIsRecord()) {
- updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build());
+ //updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build());
baseCmd = new RecordStartCmd(recordDto);
} else {
baseCmd = new RecordStopCmd(recordDto);
}
- this.sendMessage(tyConfiguration.getIpPort(), baseCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), baseCmd);
return true;
}
@@ -271,8 +390,13 @@
@CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean zoom(ZoomDTO zoomDTO) {
+ String boxSn = zoomDTO.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);
+ }
ZoomCmd zoomCommand = new ZoomCmd(zoomDTO);
- this.sendMessage(tyConfiguration.getIpPort(), zoomCommand);
+ this.sendMessage(ardDroneInfo.getServerId(), zoomCommand);
return true;
}
@@ -282,48 +406,77 @@
@CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) {
+ String boxSn = zoomToLevelDTO.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);
+ }
ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO);
- this.sendMessage(tyConfiguration.getIpPort(), zoomToLevelCommand);
+ this.sendMessage(ardDroneInfo.getServerId(), zoomToLevelCommand);
return true;
}
/**
* 切换摄像头
*/
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean switchCamera(SwitchCameraDTO switchCameraDTO) {
+ String boxSn = switchCameraDTO.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);
+ }
SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO);
- this.sendMessage(tyConfiguration.getIpPort(), switchCameraCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), switchCameraCmd);
return true;
}
/**
* 切换视频源
*/
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean switchSource(SwitchSourceDTO switchSourceDTO) {
+ String boxSn = switchSourceDTO.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);
+ }
SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO);
- this.sendMessage(tyConfiguration.getIpPort(), switchSourceCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), switchSourceCmd);
return true;
}
/**
* 打开或关闭照片回传
*/
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) {
+ String boxSn = photoReturnToggleDTO.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);
+ }
PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO);
- this.sendMessage(tyConfiguration.getIpPort(), photoReturnToggleCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), photoReturnToggleCmd);
return true;
}
/**
* 切换无人机控制权
*/
+ @CheckDroneStatus
@Override
public Boolean switchUavControl(SwitchUavControlDTO switchUavControlDTO) {
+ String boxSn = switchUavControlDTO.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);
+ }
SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO);
- this.sendMessage(tyConfiguration.getIpPort(), switchUavControlCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), switchUavControlCmd);
return true;
}
@@ -333,8 +486,13 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean takeOff(TakeOffDTO takeOffDTO) {
+ String boxSn = takeOffDTO.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);
+ }
TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
- this.sendMessage(tyConfiguration.getIpPort(), takeOffCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), takeOffCmd);
return true;
}
@@ -344,8 +502,13 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean returnHome(ReturnHomeDTO returnHomeDTO) {
+ String boxSn = returnHomeDTO.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);
+ }
ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO);
- this.sendMessage(tyConfiguration.getIpPort(), returnHomeCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), returnHomeCmd);
return true;
}
@@ -355,8 +518,13 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) {
+ String boxSn = returnHomeCancelDTO.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);
+ }
ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO);
- this.sendMessage(tyConfiguration.getIpPort(), returnHomeCancelCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), returnHomeCancelCmd);
return true;
}
@@ -366,8 +534,13 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean land(LandDTO landDTO) {
+ String boxSn = landDTO.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);
+ }
LandCmd landCmd = new LandCmd(landDTO);
- this.sendMessage(tyConfiguration.getIpPort(), landCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), landCmd);
return true;
}
@@ -377,8 +550,13 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean landCancel(LandCancelDTO landCancelDTO) {
+ String boxSn = landCancelDTO.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);
+ }
LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO);
- this.sendMessage(tyConfiguration.getIpPort(), landCancelCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), landCancelCmd);
return true;
}
@@ -388,8 +566,13 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean landForced(LandForcedDTO landForcedDTO) {
+ String boxSn = landForcedDTO.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);
+ }
LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO);
- this.sendMessage(tyConfiguration.getIpPort(), landForcedCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), landForcedCmd);
return true;
}
@@ -397,11 +580,16 @@
* 方向控制
*/
@CheckControlRight(UavControlType.FLY)
- @CheckTakeoffAltitude(minAltitude = 30.0)
+ @CheckTakeoffAltitude
@Override
public Boolean flyControl(FlyControlDTO flyControlDTO) {
+ String boxSn = flyControlDTO.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);
+ }
FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO);
- this.sendMessage(tyConfiguration.getIpPort(), flyControlCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), flyControlCmd);
return true;
}
@@ -409,11 +597,21 @@
* 指点飞行控制
*/
@CheckControlRight(UavControlType.FLY)
- @CheckTakeoffAltitude(minAltitude = 30.0)
+ @CheckTakeoffAltitude
+ @CheckNoFlyZone
@Override
public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) {
+ String boxSn = flyPointControlDTO.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);
+ }
+ //打点之前先停止打点
+ FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(FlyPointControlCancelDTO.builder().boxSn(boxSn).build());
+ this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd);
+
FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
- this.sendMessage(tyConfiguration.getIpPort(), flyPointControlCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd);
return true;
}
@@ -423,8 +621,49 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) {
+ String boxSn = flyPointControlCancelDTO.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);
+ }
+
+
FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO);
- this.sendMessage(tyConfiguration.getIpPort(), flyPointControlCancelCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd);
+ return true;
+ }
+
+
+ /**
+ * 环绕飞行控制
+ */
+// @CheckControlRight(UavControlType.FLY)
+// @CheckTakeoffAltitude
+// @CheckNoFlyZone
+ @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 flyRoundControlCmd = new FlyRoundControlCmd(flyRoundControlDTO);
+ this.sendMessage(ardDroneInfo.getServerId(), flyRoundControlCmd);
+ 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;
}
@@ -434,8 +673,15 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) {
+ String boxSn = emeragencyBrakeDTO.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);
+ }
+
+
EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO);
- this.sendMessage(tyConfiguration.getIpPort(), emergencyBrakeCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), emergencyBrakeCmd);
return true;
}
@@ -444,7 +690,7 @@
*/
@Override
public UavState getUavState(String boxSn) {
- return UavStateCache.getUavState(boxSn);
+ return UavStateCache.get(boxSn);
}
/**
@@ -452,7 +698,7 @@
*/
@Override
public TelemetryData getUavTelemetryData(String boxSn) {
- return UavTelemetryDataCache.getUavTelemetryData(boxSn);
+ return UavTelemetryDataCache.get(boxSn);
}
/**
@@ -460,80 +706,130 @@
*/
@Override
public SignalInfo getSignalInfo(String boxSn) {
- return UavSignalInfoCache.getUavSignalInfo(boxSn);
+ return UavSignalInfoCache.get(boxSn);
}
/**
* 喊话模式切换
*/
@Override
- public void speakModeSwitch(SpeakModeSwitchDTO speakModeSwitchDTO) {
+ public Boolean speakModeSwitch(SpeakModeSwitchDTO speakModeSwitchDTO) {
+ String boxSn = speakModeSwitchDTO.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);
+ }
SpeakModeSwitchCmd speakModeSwitchCmd = new SpeakModeSwitchCmd(speakModeSwitchDTO);
- this.sendMessage(tyConfiguration.getIpPort(), speakModeSwitchCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), speakModeSwitchCmd);
+ return true;
}
/**
* 文字喊话
*/
@Override
- public void textSpeak(TextSpeakDTO textSpeakDTO) {
+ public Boolean textSpeak(TextSpeakDTO textSpeakDTO) {
+ String boxSn = textSpeakDTO.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);
+ }
TextSpeakCmd textSpeakCmd = new TextSpeakCmd(textSpeakDTO);
- this.sendMessage(tyConfiguration.getIpPort(), textSpeakCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), textSpeakCmd);
+ return true;
}
/**
* 实时喊话
*/
@Override
- public void realSpeak(RealSpeakDTO realSpeakDTO) {
+ public Boolean realSpeak(RealSpeakDTO realSpeakDTO) {
+ String boxSn = realSpeakDTO.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);
+ }
RealSpeakCmd realSpeakCmd = new RealSpeakCmd(realSpeakDTO);
- this.sendMessage(tyConfiguration.getIpPort(), realSpeakCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), realSpeakCmd);
+ return true;
}
/**
* 录音喊话
*/
@Override
- public void recordSpeak(RecordSpeakDTO recordSpeakDTO) {
+ public Boolean recordSpeak(RecordSpeakDTO recordSpeakDTO) {
+ String boxSn = recordSpeakDTO.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);
+ }
RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO);
- this.sendMessage(tyConfiguration.getIpPort(), recordSpeakCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), recordSpeakCmd);
+ return true;
}
/**
* 设置音量
*/
@Override
- public void volumeSetting(VolumeSettingDTO volumeSettingDTO) {
+ public Boolean volumeSetting(VolumeSettingDTO volumeSettingDTO) {
+ String boxSn = volumeSettingDTO.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);
+ }
VolumeSettingCmd volumeSettingCmd = new VolumeSettingCmd(volumeSettingDTO);
- this.sendMessage(tyConfiguration.getIpPort(), volumeSettingCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), volumeSettingCmd);
+ return true;
}
/**
* 设置循环播放
*/
@Override
- public void loopSetting(LoopSettingDTO loopSettingDTO) {
+ public Boolean loopSetting(LoopSettingDTO loopSettingDTO) {
+ String boxSn = loopSettingDTO.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);
+ }
LoopSettingCmd loopSettingCmd = new LoopSettingCmd(loopSettingDTO);
- this.sendMessage(tyConfiguration.getIpPort(), loopSettingCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), loopSettingCmd);
+ return true;
}
/**
* 停止喊话
*/
@Override
- public void stopSpeak(StopSpeakDTO stopSpeakDTO) {
+ public Boolean stopSpeak(StopSpeakDTO stopSpeakDTO) {
+ String boxSn = stopSpeakDTO.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);
+ }
StopSpeakCmd stopSpeakCmd = new StopSpeakCmd(stopSpeakDTO);
- this.sendMessage(tyConfiguration.getIpPort(), stopSpeakCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), stopSpeakCmd);
+ return true;
}
/**
* 航线上传
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
- public void wayLineUpload(WayLineUploadDTO wayLineUploadDTO) {
- wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据
+ public Boolean wayLineUpload(WayLineUploadDTO wayLineUploadDTO) {
+ String boxSn = wayLineUploadDTO.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);
+ }
+ //wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据
+ log.info("打印航线上传数据 ++++++++ wayLineUploadDTO:~~~~~~~~~~~~~~~" + wayLineUploadDTO);
WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
- this.sendMessage(tyConfiguration.getIpPort(), wayLineUploadCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd);
+ return true;
}
//创建航线
@@ -575,9 +871,15 @@
*/
@CheckControlRight(UavControlType.FLY)
@Override
- public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
+ public Boolean wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
+ String boxSn = wayLineBeginDTO.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);
+ }
WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO);
- this.sendMessage(tyConfiguration.getIpPort(), wayLineBeginCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), wayLineBeginCmd);
+ return true;
}
/**
@@ -585,9 +887,15 @@
*/
@CheckControlRight(UavControlType.FLY)
@Override
- public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
+ public Boolean wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
+ String boxSn = wayLinePauseDTO.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);
+ }
WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO);
- this.sendMessage(tyConfiguration.getIpPort(), wayLinePauseCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), wayLinePauseCmd);
+ return true;
}
/**
@@ -595,9 +903,15 @@
*/
@CheckControlRight(UavControlType.FLY)
@Override
- public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
+ public Boolean wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
+ String boxSn = wayLineResumeDTO.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);
+ }
WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO);
- this.sendMessage(tyConfiguration.getIpPort(), wayLineResumeCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), wayLineResumeCmd);
+ return true;
}
/**
@@ -605,13 +919,19 @@
*/
@CheckControlRight(UavControlType.FLY)
@Override
- public void wayLineEnd(WayLineEndDTO wayLineEndDTO) {
+ public Boolean wayLineEnd(WayLineEndDTO wayLineEndDTO) {
+ String boxSn = wayLineEndDTO.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);
+ }
WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);
- this.sendMessage(tyConfiguration.getIpPort(), wayLineEndCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), wayLineEndCmd);
+ return true;
}
/**
- * 处理六合服务器返回的消息
+ * 处理边缘服务器返回的消息
*/
@Override
public void processReplyMessage(String key, BaseCmd tyCommand) {
@@ -624,13 +944,13 @@
if (registerReplyCommand.getSuccess() != 1) {
// 注册失败，重新注册
log.info("注册失败，重新注册");
- registerMessage();
+ registerMessage(key);
}
break;
case 0x02:
// 处理注册消息
- HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
- logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
+ HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
+ //logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
break;
case 0x03:
// 处理订阅消息
@@ -651,14 +971,15 @@
case (byte) 0xA8:
// 处理无人机状态消息
UavStateCmd uavStateCmd = (UavStateCmd) tyCommand;
- UavStateCache.putUavState(uavStateCmd.getUavState());
+ UavStateCache.put(uavStateCmd.getUavState());
//logPrint("无人机状态", uavStateCmd.getUavState().getBoxSn());
// WebSocketUtil.sendMessageAll(uavStateCmd.getUavState());
break;
case (byte) 0xA9:
// 处理无人机遥测消息
UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
- UavTelemetryDataCache.putUavTelemetryData(uavTelemetryDataCmd.getTelemetryData());
+ TelemetryData telemetryData = uavTelemetryDataCmd.getTelemetryData();
+ UavTelemetryDataCache.put(telemetryData);
//logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
//WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
break;
@@ -666,7 +987,7 @@
case (byte) 0x0C:
// 处理无人机信道质量数据
SignalInfoCmd signalInfoCmd = (SignalInfoCmd) tyCommand;
- UavSignalInfoCache.putUavSignalInfoCache(signalInfoCmd.getSignalInfo());
+ UavSignalInfoCache.put(signalInfoCmd.getSignalInfo());
//logPrint("无人机信道质量", signalInfoCmd.getSignalInfo().getBoxSn());
break;
case (byte) 0xD1:
@@ -674,7 +995,7 @@
if (tyCommand instanceof UavInitReplyCmd) {
UavInitReplyCmd uavInitReplyCmd = (UavInitReplyCmd) tyCommand;
UavInitInfoCmd uavInitCommand = new UavInitInfoCmd(uavInitReplyCmd.getBoxSn());
- this.sendMessage(tyConfiguration.getIpPort(), uavInitCommand);
+ this.sendMessage(key, uavInitCommand);
logPrint("无人机初始化详情", uavInitCommand.getBoxSn());
}
if (tyCommand instanceof UavReadyReplyCmd) {
@@ -685,9 +1006,10 @@
CameraModeReplyCmd cameraModeReplyCommand = (CameraModeReplyCmd) tyCommand;
logPrint("无人机设置相机模式", cameraModeReplyCommand.getResult(), cameraModeReplyCommand.getErrorCode());
}
- if (tyCommand instanceof FlyWayEndReplyCmd) {
- FlyWayEndReplyCmd flyWayEndReplyCmd = (FlyWayEndReplyCmd) tyCommand;
- logPrint("无人机飞行结束", flyWayEndReplyCmd.getResult(), flyWayEndReplyCmd.getErrorCode());
+ //格式化存储卡
+ if (tyCommand instanceof FormatSdCardReplyCmd) {
+ FormatSdCardReplyCmd formatSdCardReplyCmd = (FormatSdCardReplyCmd) tyCommand;
+ logPrint("格式化存储卡", formatSdCardReplyCmd.getResult(), formatSdCardReplyCmd.getErrorCode());
}
if (tyCommand instanceof CapturePicReplyCmd) {
CapturePicReplyCmd capturePicReplyCommand = (CapturePicReplyCmd) tyCommand;
@@ -749,23 +1071,53 @@
}
//开始航线回复
if (tyCommand instanceof WayLineBeginReplyCmd) {
+
WayLineBeginReplyCmd wayLineBeginReplyCmd = (WayLineBeginReplyCmd) tyCommand;
logPrint("开始航线", wayLineBeginReplyCmd.getResult(), wayLineBeginReplyCmd.getErrorCode());
+ if (wayLineBeginReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.START_SUCCESS);
+ }
}
//暂停航线回复
if (tyCommand instanceof WayLinePauseReplyCmd) {
WayLinePauseReplyCmd wayLinePauseReplyCmd = (WayLinePauseReplyCmd) tyCommand;
logPrint("暂停航线", wayLinePauseReplyCmd.getResult(), wayLinePauseReplyCmd.getErrorCode());
+ if (wayLinePauseReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.PAUSE_SUCCESS);
+ }
}
//恢复航线回复
if (tyCommand instanceof WayLineResumeReplyCmd) {
WayLineResumeReplyCmd wayLineResumeReplyCmd = (WayLineResumeReplyCmd) tyCommand;
logPrint("恢复航线", wayLineResumeReplyCmd.getResult(), wayLineResumeReplyCmd.getErrorCode());
+ if (wayLineResumeReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.RESUME_SUCCESS);
+ }
}
//结束航线回复
if (tyCommand instanceof WayLineEndReplyCmd) {
WayLineEndReplyCmd wayLineEndReplyCmd = (WayLineEndReplyCmd) tyCommand;
logPrint("结束航线", wayLineEndReplyCmd.getResult(), wayLineEndReplyCmd.getErrorCode());
+ if (wayLineEndReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.STOP_SUCCESS);
+ }
+ }
+ if (tyCommand instanceof WayLineFinishedReplyCmd) {
+ WayLineFinishedReplyCmd wayLineFinishedReplyCmd = (WayLineFinishedReplyCmd) tyCommand;
+ logPrint("航线执行完成", wayLineFinishedReplyCmd.getResult(), wayLineFinishedReplyCmd.getErrorCode());
+ if (wayLineFinishedReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.RESET_ROUTE);
+ }
}
//设置返航高度回复
if (tyCommand instanceof ReturnHeightSettingReplyCmd) {
@@ -778,6 +1130,12 @@
ReturnPointSettingReplyCmd returnPointSettingReplyCmd = (ReturnPointSettingReplyCmd) tyCommand;
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:
@@ -794,53 +1152,89 @@
}
}
+ /**
+ * 根据[服务器id]获取边缘服务器盒子列表
+ */
+ @Override
+ public List<BoxInfoReceiver> getBoxSnToList(String id) {
+ try {
+ List<BoxInfoReceiver> remoteBoxList = tyClient.getBoxList(id).getContent();
+ List<ArdDroneInfo> existingDrones = getDroneLs(id);
+ return existingDrones.isEmpty() ? remoteBoxList : filterBoxInfoReceivers(remoteBoxList, existingDrones);
+ } catch (Exception e) {
+ log.error("获取云盒列表失败, 服务器id: {}", id, e);
+ return Collections.emptyList(); // 返回不可变空列表，更安全
+ }
+ }
+
+ /**
+ * 根据[服务器id]查询无人机盒子列表
+ */
+ private List<ArdDroneInfo> getDroneLs(String serverId) {
+ ArdDroneInfo query = new ArdDroneInfo();
+ query.setServerId(serverId);
+ return ardDroneService.selectArdDroneList(query);
+ }
+
+ /**
+ * 过滤掉在ardDroneInfos中已存在的boxSn
+ */
+ public List<BoxInfoReceiver> filterBoxInfoReceivers(
+ List<BoxInfoReceiver> boxInfoReceivers,
+ List<ArdDroneInfo> ardDroneInfos) {
+
+ Set<String> existingBoxSns = ardDroneInfos.stream()
+ .map(ArdDroneInfo::getBoxSn)
+ .filter(Objects::nonNull)
+ .collect(Collectors.toSet());
+
+ return boxInfoReceivers.stream()
+ .filter(box -> box.getBoxSn() != null && !existingBoxSns.contains(box.getBoxSn()))
+ .collect(Collectors.toList());
+ }
+
+ private List<BoxInfoReceiver> getBoxList(List<ArdServerInfo> ls) {
+ return ls.stream()
+ .filter(ardServerInfo -> ardServerInfo.getServerStatus().equals("1"))
+ .flatMap(ardServerInfo -> {
+ try {
+ List<BoxInfoReceiver> boxes = tyClient.getBoxList(ardServerInfo.getId()).getContent();
+ return Optional.ofNullable(boxes).orElse(Collections.emptyList()).stream();
+ } catch (Exception e) {
+ log.error("获取云盒列表失败: {}", ardServerInfo.getId(), e);
+ return Stream.empty();
+ }
+ })
+ .collect(Collectors.toList());
+ }
+
//公共日志打印
private void logPrint(String message, Object obj) {
- log.debug("收到{}回复{}", message, obj);
+ String text = String.format("收到%s回复 %s", message, obj);
+ ServerReplyMessage serverReplyMessage = ServerReplyMessage.builder().message(text).build();
+ WebSocketUtil.sendMessage("reply", serverReplyMessage);
+ log.debug(text);
}
//公共日志打印
private void logPrint(String message, byte result, Integer errorCode) {
- log.info("收到{}回复:{} 错误码：{}【{}】",
+ String text = String.format(
+ "收到%s回复 状态码：%d【%s】",
message,
- ByteUtils.byteToHex(result),
+ //ByteUtils.byteToHex(result),
errorCode,
- ErrorCodeEnum.getDescByCode(errorCode));
+ ErrorCodeEnum.getDescByCode(errorCode)
+ );
+ ServerReplyMessage serverReplyMessage = ServerReplyMessage.builder().message(text).build();
+ WebSocketUtil.sendMessage("reply", serverReplyMessage);
+ log.debug(text);
}
- /**
- * 定时3秒发送心跳指令
- */
- @Scheduled(fixedRate = 3000)
- public void sendHeartBeat() {
- if (!TyTcpServerCache.getTcpServerCache(tyConfiguration.getTcpserver() + ":" + tyConfiguration.getTcpport())) {
- return;
- }
- long timestamp = System.currentTimeMillis();
- log.debug("定时向六合发送⼼跳,时间戳{}", timestamp);
- HeartbeatCmd heartbeatMessage = new HeartbeatCmd(timestamp);
- this.sendMessage(tyConfiguration.getIpPort(), heartbeatMessage);
- }
/**
- * 发送消息
+ * 发送tcp消息
*/
private void sendMessage(String key, BaseCmd msg) {
- try {
- ChannelFuture future = NettyTcpClient.channels.get(key).getChannelFuture();
- Channel channel = future.channel();
- if (channel.isActive()) {
- InetSocketAddress ipSocket = (InetSocketAddress) channel.remoteAddress();
- String host = ipSocket.getHostString();
- int port = ipSocket.getPort();
- channel.writeAndFlush(msg); // 发送编码后的数据
- log.debug("向六合服务器【{}:{}】发送数据，命令码：{}", host, port, String.format("0x%02X", msg.getCmdCode() & 0xFF));
- } else {
- log.error("与六合服务器链接断开，无法发送数据！");
- }
- } catch (Exception e) {
- log.error("发送消息异常：{}", e.getMessage());
- }
+ TcpClientUtil.sendMessage(key, msg);
}
-
}
\ No newline at end of file
--
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