From 433cf58fbca44f897a70d1a455eb17c6a6d3bc3c Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Mon, 18 Nov 2024 15:46:48 +0800
Subject: [PATCH] 优化打点
---
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 212 ++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 176 insertions(+), 36 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 6d2a6f6..6f6cdb6 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
@@ -3,6 +3,7 @@
import com.ard.common.utils.ByteUtils;
import com.ard.tianyu.config.TyConfiguration;
import com.ard.tianyu.http.TyClient;
+import com.ard.tianyu.model.cache.TyTcpServerCache;
import com.ard.tianyu.model.cache.UavSignalInfoCache;
import com.ard.tianyu.model.cache.UavStateCache;
import com.ard.tianyu.model.cache.UavTelemetryDataCache;
@@ -13,14 +14,19 @@
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;
+import com.ard.tianyu.model.dto.converter.realdata.UavSignalInfoConverter;
+import com.ard.tianyu.model.dto.converter.realdata.UavStateConverter;
+import com.ard.tianyu.model.dto.converter.realdata.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;
import com.ard.tianyu.model.dto.telemetry.TelemetryData;
+import com.ard.tianyu.model.dto.wayline.*;
import com.ard.tianyu.model.receiver.*;
import com.ard.tianyu.netty.command.*;
import com.ard.tianyu.netty.TyNettyTcpClient;
@@ -36,8 +42,11 @@
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;
+import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
import com.ard.tianyu.service.ITyService;
import com.ard.tianyu.websocket.utils.WebSocketUtil;
import io.netty.channel.Channel;
@@ -50,8 +59,6 @@
import java.net.InetSocketAddress;
import java.util.ArrayList;
import java.util.List;
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
/**
* TyServiceImpl
@@ -69,8 +76,6 @@
@Resource
private TyConfiguration tyConfiguration;
- // 存储每个无人机的最后遥测处理时间
- private Map<String, Long> lastTelemetryTimes = new ConcurrentHashMap<>();
/**
* 获取天宇token信息
@@ -140,6 +145,33 @@
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);
}
/**
@@ -420,6 +452,7 @@
RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO);
this.sendMessage(tyConfiguration.getIpPort(), recordSpeakCmd);
}
+
/**
* 设置音量
*/
@@ -437,13 +470,94 @@
LoopSettingCmd loopSettingCmd = new LoopSettingCmd(loopSettingDTO);
this.sendMessage(tyConfiguration.getIpPort(), loopSettingCmd);
}
+
/**
* 停止喊话
*/
@Override
public void stopSpeak(StopSpeakDTO stopSpeakDTO) {
- StopSpeakCmd stopSpeakCmd=new StopSpeakCmd(stopSpeakDTO);
+ StopSpeakCmd stopSpeakCmd = new StopSpeakCmd(stopSpeakDTO);
this.sendMessage(tyConfiguration.getIpPort(), stopSpeakCmd);
+ }
+
+ /**
+ * 航线上传
+ */
+ @Override
+ public void wayLineUpload(WayLineUploadDTO wayLineUploadDTO) {
+ wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据
+ WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), wayLineUploadCmd);
+ }
+
+ //创建航线
+ private PlanLineData CreatePlanLineData() {
+ TelemetryDataPB.PointData pointData1 = TelemetryDataPB.PointData.newBuilder()
+ .setLng(124.12345).setLat(45.12345).setHeight(80).setSpeed(10)
+ .setFlightPathMode(1)//航线飞行模式：1=直线飞行，2=协调转弯，3=曲线飞行(停)，4=曲线飞行(不停)
+ .setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是
+ .build();
+ TelemetryDataPB.PointData pointData2 = TelemetryDataPB.PointData.newBuilder()
+ .setLng(124.22222).setLat(45.22222).setHeight(80).setSpeed(10)
+ .setFlightPathMode(1)//航线飞行模式：1=直线飞行，2=协调转弯，3=曲线飞行(停)，4=曲线飞行(不停)
+ .setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是
+ .build();
+ TelemetryDataPB.PointData pointData3 = TelemetryDataPB.PointData.newBuilder()
+ .setLng(124.33333).setLat(45.33333).setHeight(80).setSpeed(10)
+ .setFlightPathMode(1)//航线飞行模式：1=直线飞行，2=协调转弯，3=曲线飞行(停)，4=曲线飞行(不停)
+ .setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是
+ .build();
+
+ //创建航线
+ TelemetryDataPB.PlanLineData PlanLineDataPB = TelemetryDataPB.PlanLineData.newBuilder()
+ .setFinishedAction(2)//结束航线后动作：1=返航，2=原地悬停，3=原地降落，4=原地绕飞
+ .setMaxSpeed(10)//最大飞行速度
+ .setAutoSpeed(10)//自动飞行速度
+ .addPoints(pointData1)//航线点1
+ .addPoints(pointData2)//航线点2
+ .addPoints(pointData3)//航线点3
+ .setLoseAction(1)//网络失联后动作：0=返回HOME点，1=继续航线，默认0
+ .setHomeHeight(6)//返航高度：(单位:米，范围20~1500)
+ .setIsSaveEnergyMode(0)////是否开启节能模式：0=不是，1=是(说明：节能模式下，飞机沿最短直线距离由起飞点到航线第一个航点，非升高到第一个航点高度再飞往第一个航点)
+ .build();
+
+ return PlanLineDataConverter.convertProtoToEntity(PlanLineDataPB);
+ }
+
+ /**
+ * 航线开始
+ */
+ @Override
+ public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
+ WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), wayLineBeginCmd);
+ }
+
+ /**
+ * 航线暂停
+ */
+ @Override
+ public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
+ WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), wayLinePauseCmd);
+ }
+
+ /**
+ * 航线恢复
+ */
+ @Override
+ public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
+ WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), wayLineResumeCmd);
+ }
+
+ /**
+ * 航线结束
+ */
+ @Override
+ public void wayLineEnd(WayLineEndDTO wayLineEndDTO) {
+ WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), wayLineEndCmd);
}
/**
@@ -482,42 +596,23 @@
case (byte) 0xA8:
// 处理无人机状态消息
UavStateCmd uavStateCmd = (UavStateCmd) tyCommand;
- UavState uavState = UavStateConverter.convertProtoToEntity(uavStateCmd.getUavState());
- UavStateCache.putUavState(uavState);
- logPrint("无人机状态", uavState.getBoxSn());
- WebSocketUtil.sendMessageAll(uavState);
+ UavStateCache.putUavState(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;
- if (uavTelemetryDataCmd.getBoxSn() == null) {
- return;
- }
- String boxSn = ByteUtils.bytesToString(uavTelemetryDataCmd.getBoxSn()); // 假设有获取无人机ID的方法
- long currentTime = System.currentTimeMillis();
-
- // 获取无人机的最后处理时间，如果没有则设置为0
- long lastTelemetryTime = lastTelemetryTimes.getOrDefault(boxSn, 0L);
-
- // 检查与上次处理时间的间隔
- if (currentTime - lastTelemetryTime >= 1000) { // 1秒
- TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(uavTelemetryDataCmd.getTelemetryData());
- UavTelemetryDataCache.putUavTelemetryData(telemetryData);
- logPrint("无人机遥测", telemetryData.getBoxSn());
-
- // 更新最后处理时间
- lastTelemetryTimes.put(boxSn, currentTime);
- } else {
- log.debug("无人机 " + boxSn + " 遥测数据接收过于频繁，已跳过处理");
- }
+ UavTelemetryDataCache.putUavTelemetryData(uavTelemetryDataCmd.getTelemetryData());
+ logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
+ WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
break;
case (byte) 0x0C:
// 处理无人机信道质量数据
SignalInfoCmd signalInfoCmd = (SignalInfoCmd) tyCommand;
- SignalInfo signalInfo = UavSignalInfoConverter.convertProtoToEntity(signalInfoCmd.getSignalInfo());
- UavSignalInfoCache.putUavSignalInfoCache(signalInfo);
- logPrint("无人机信道质量", signalInfo.getBoxSn());
+ UavSignalInfoCache.putUavSignalInfoCache(signalInfoCmd.getSignalInfo());
+ logPrint("无人机信道质量", signalInfoCmd.getSignalInfo().getBoxSn());
break;
case (byte) 0xD1:
// 处理无人机
@@ -589,7 +684,49 @@
//紧急制动回复
if (tyCommand instanceof EmergencyBrakeReplyCmd) {
EmergencyBrakeReplyCmd emergencyBrakeReplyCmd = (EmergencyBrakeReplyCmd) tyCommand;
- logPrint("紧急制动回复", emergencyBrakeReplyCmd.getResult(), emergencyBrakeReplyCmd.getErrorCode());
+ logPrint("紧急制动", emergencyBrakeReplyCmd.getResult(), emergencyBrakeReplyCmd.getErrorCode());
+ }
+ //上传航线回复
+ if (tyCommand instanceof WayLineUploadReplyCmd) {
+ WayLineUploadReplyCmd wayLineUploadReplyCmd = (WayLineUploadReplyCmd) tyCommand;
+ logPrint("上传航线", wayLineUploadReplyCmd.getResult(), wayLineUploadReplyCmd.getErrorCode());
+ }
+ //开始航线回复
+ if (tyCommand instanceof WayLineBeginReplyCmd) {
+ WayLineBeginReplyCmd wayLineBeginReplyCmd = (WayLineBeginReplyCmd) tyCommand;
+ logPrint("开始航线", wayLineBeginReplyCmd.getResult(), wayLineBeginReplyCmd.getErrorCode());
+ }
+ //暂停航线回复
+ if (tyCommand instanceof WayLinePauseReplyCmd) {
+ WayLinePauseReplyCmd wayLinePauseReplyCmd = (WayLinePauseReplyCmd) tyCommand;
+ logPrint("暂停航线", wayLinePauseReplyCmd.getResult(), wayLinePauseReplyCmd.getErrorCode());
+ }
+ //恢复航线回复
+ if (tyCommand instanceof WayLineResumeReplyCmd) {
+ WayLineResumeReplyCmd wayLineResumeReplyCmd = (WayLineResumeReplyCmd) tyCommand;
+ logPrint("恢复航线", wayLineResumeReplyCmd.getResult(), wayLineResumeReplyCmd.getErrorCode());
+ }
+ //结束航线回复
+ if (tyCommand instanceof WayLineEndReplyCmd) {
+ 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:
@@ -617,6 +754,9 @@
*/
@Scheduled(fixedRate = 3000)
public void sendHeartBeat() {
+ if (!TyTcpServerCache.getTcpServerCache(tyConfiguration.getTcpserver() + ":" + tyConfiguration.getTcpport())) {
+ return;
+ }
long timestamp = System.currentTimeMillis();
log.debug("定时向天宇发送⼼跳,时间戳{}", timestamp);
HeartbeatCmd heartbeatMessage = new HeartbeatCmd(timestamp);
--
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