From 44b8d8b3407cacce19e3702c2167ecdf3db5d24c Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Wed, 23 Oct 2024 16:10:05 +0800
Subject: [PATCH] 优化
---
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 35 +++++++++++++++++++++++++++++++----
1 files changed, 31 insertions(+), 4 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 98c5c51..56ffa99 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
@@ -119,11 +119,19 @@
}
/**
+ * 无人机控制订阅
+ */
+ public void uavControlSubscribe(String boxSn) {
+ SubscribeCommand subscribeCommand = new SubscribeCommand(boxSn);
+ this.sendMessage(tyConfiguration.getIpPort(), subscribeCommand);
+ }
+
+ /**
* 发送消息
*/
public void sendMessage(String key, BaseCommand msg) {
try {
- ChannelFuture future = TyNettyTcpClient.channels.get(key).getFuture();
+ ChannelFuture future = TyNettyTcpClient.channels.get(key).getChannelFuture();
Channel channel = future.channel();
if (channel.isActive()) {
InetSocketAddress ipSocket = (InetSocketAddress) channel.remoteAddress();
@@ -133,7 +141,7 @@
ByteBuf buffer = Unpooled.buffer();
msg.encode(buffer); // 确保对消息进行编码
channel.writeAndFlush(buffer); // 发送编码后的数据
- log.info("向天宇服务器【{}:{}】发送数据，命令码：{}", host, port, String.format("0x%02X", msg.getCmdCode() & 0xFF));
+ log.debug("向天宇服务器【{}:{}】发送数据，命令码：{}", host, port, 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！");
}
@@ -142,6 +150,9 @@
}
}
+ /**
+ * 云台控制基于角度
+ */
@Override
public void controlAngle(String boxSn) {
ControlAngleCommand controlAngleCommand = new ControlAngleCommand(boxSn.getBytes(), (byte) 0x00, (byte) 0x00, (byte) 0x05);
@@ -154,12 +165,28 @@
switch (cmdCode) {
case 0x01:
// 处理心跳消息
- log.info("收到心跳消息-->处理心跳消息");
+ RegisterReplyCommand registerReplyCommand = (RegisterReplyCommand) tyCommand;
+ log.info("收到注册消息-->处理注册消息{}", registerReplyCommand.getSuccess());
+ if (registerReplyCommand.getSuccess() != 1) {
+ // 注册失败，重新注册
+ log.info("注册失败，重新注册");
+ registerMessage();
+ }
break;
case 0x02:
// 处理注册消息
HeartbeatReplyCommand heartbeatReplyCommand = (HeartbeatReplyCommand) tyCommand;
log.info("收到心跳消息-->处理心跳消息{}", heartbeatReplyCommand.getTimestamp());
+ break;
+ case 0x03:
+ // 处理订阅消息
+ SubscribeCommand subscribeCommand = (SubscribeCommand) tyCommand;
+ log.info("收到订阅消息-->处理订阅消息{}", subscribeCommand.getBoxSn());
+ break;
+ case 0x04:
+ // 处理取消订阅消息
+ subscribeCommand = (SubscribeCommand) tyCommand;
+ log.info("收到取消订阅消息-->处理取消订阅消息{}", subscribeCommand.getBoxSn());
break;
case (byte) 0xA8:
// 处理无人机状态消息
@@ -174,7 +201,7 @@
}
}
- @Scheduled(fixedRate = 5000)
+ @Scheduled(fixedRate = 3000)
public void sendHeartBeat() {
long timestamp = System.currentTimeMillis();
log.debug("定时向天宇发送⼼跳,时间戳{}", timestamp);
--
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