From 4acf06226c8414c7218769995660dee97271a57b Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Sat, 02 Nov 2024 11:48:50 +0800
Subject: [PATCH] 优化
---
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 141 +++++++++++++++++++++++++++++++++++++---------
1 files changed, 112 insertions(+), 29 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 8132128..b0ef261 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
@@ -19,12 +19,14 @@
import com.ard.tianyu.model.dto.converter.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.PlanLineData;
-import com.ard.tianyu.model.dto.wayline.WayLineUploadDTO;
+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;
@@ -40,9 +42,9 @@
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.WayLineUploadCmd;
-import com.ard.tianyu.netty.command.wayline.WayLineUploadReplyCmd;
+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;
@@ -77,8 +79,6 @@
@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
@@ -148,6 +148,33 @@
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);
}
/**
@@ -501,6 +528,42 @@
}
/**
+ * 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);
+ }
+
+ /**
* 处理天宇服务器返回的消息
*/
@Override
@@ -539,31 +602,15 @@
UavState uavState = UavStateConverter.convertProtoToEntity(uavStateCmd.getUavState());
UavStateCache.putUavState(uavState);
logPrint("无人机状态", uavState.getBoxSn());
- WebSocketUtil.sendMessageAll(uavState);
+ // WebSocketUtil.sendMessageAll(uavState);
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");
- }
+ TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(uavTelemetryDataCmd.getTelemetryData());
+ UavTelemetryDataCache.putUavTelemetryData(telemetryData);
+ logPrint("无人机遥测", telemetryData.getBoxSn());
+ WebSocketUtil.sendMessageAll(telemetryData);
break;
case (byte) 0x0C:
@@ -650,6 +697,43 @@
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:
// 处理其他消息
@@ -676,8 +760,7 @@
*/
@Scheduled(fixedRate = 3000)
public void sendHeartBeat() {
- if(!TyTcpServerCache.getTcpServerCache(tyConfiguration.getTcpserver() + ":" + tyConfiguration.getTcpport()))
- {
+ if (!TyTcpServerCache.getTcpServerCache(tyConfiguration.getTcpserver() + ":" + tyConfiguration.getTcpport())) {
return;
}
long timestamp = System.currentTimeMillis();
--
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