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 | 74 ++++++++++++++++++++++++++++++++----
1 files changed, 65 insertions(+), 9 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 de07206..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
@@ -6,10 +6,7 @@
import com.ard.tianyu.model.dto.BoxPhotosDTO;
import com.ard.tianyu.model.dto.BoxSettingsDTO;
import com.ard.tianyu.model.receiver.*;
-import com.ard.tianyu.netty.command.BaseCommand;
-import com.ard.tianyu.netty.command.ControlAngleCommand;
-import com.ard.tianyu.netty.command.HeartbeatCommand;
-import com.ard.tianyu.netty.command.RegisterCommand;
+import com.ard.tianyu.netty.command.*;
import com.ard.tianyu.netty.TyNettyTcpClient;
import com.ard.tianyu.service.ITyService;
import io.netty.buffer.ByteBuf;
@@ -22,6 +19,7 @@
import javax.annotation.Resource;
import java.net.InetSocketAddress;
+import java.util.ArrayList;
import java.util.List;
/**
@@ -58,8 +56,13 @@
@Override
public List<BoxInfoReceiver> getBoxList() {
//请求云盒列表
- TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReveiver = tyClient.getBoxList(tyConfiguration.getAccessToken().convertFromDTO());
- return boxListReveiver.getContent();
+ try {
+ TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReveiver = tyClient.getBoxList(tyConfiguration.getAccessToken().convertFromDTO());
+ return boxListReveiver.getContent();
+ } catch (Exception e) {
+ log.error("获取云盒列表失败:{}", e.getMessage());
+ return new ArrayList<>();
+ }
}
/**
@@ -116,11 +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();
@@ -130,7 +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！");
}
@@ -139,13 +150,58 @@
}
}
+ /**
+ * 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);
this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
}
- @Scheduled(fixedRate = 5000)
+ @Override
+ public void processMessage(String key, BaseCommand tyCommand) {
+ byte cmdCode = tyCommand.getCmdCode();
+ switch (cmdCode) {
+ case 0x01:
+ // 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
+ log.info("收到无人机状态消息-->无人机状态消息");
+ break;
+ case (byte) 0xA9:
+ // 处理无人机遥测消息
+ log.info("收到无人机遥测消息-->无人机遥测消息");
+ break;
+ default:
+ // 处理其他消息
+ }
+ }
+
+ @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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