From 4e8a1c02b45f72f6377603778e8c8746ed82f374 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Tue, 06 Jan 2026 10:04:33 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 583 ++++++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 449 insertions(+), 134 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 810d866..ed5d4bb 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
@@ -1,66 +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.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.entity.ArdDroneInfo;
-import com.ard.work.domain.entity.ArdServerInfo;
-import com.ard.work.domain.receiver.*;
-import com.ard.work.component.forest.TyClient;
+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.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.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 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 com.ard.work.domain.message.UavControlType;
-import io.netty.channel.Channel;
-import io.netty.channel.ChannelFuture;
import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
-import java.net.InetSocketAddress;
import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
import java.util.stream.Collectors;
import java.util.stream.Stream;
-
-import static com.ard.work.component.netty.TyTcpClientManager.channels;
/**
* TyServiceImpl
@@ -77,9 +83,13 @@
private IArdDroneInfoService ardDroneService;
@Resource
private TyClient tyClient;
+ @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
*/
@@ -89,14 +99,27 @@
}
/**
- * 获取云盒列表
+ * 获取全部云盒列表
*
* @return List<BoxInfoReceiver>
*/
@Override
public List<BoxInfoReceiver> getBoxList() {
- List<ArdServerInfo> ardServerInfos = ardServerService.selectArdServerInfoList(new ArdServerInfo());
+ 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();
}
/**
@@ -107,8 +130,14 @@
@Override
public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) {
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
- TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(),boxSn);
- return boxLiveUrl.getContent();
+ if (ardDroneInfo == null) {
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
+ }
+
+
+ TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(),
+ boxSn);
+ return boxLiveUrl == null ? null : boxLiveUrl.getContent();
}
/**
@@ -118,32 +147,60 @@
*/
@Override
public List<BoxHistoryReceiver> getBoxHistory(BoxHistoryDTO boxHistoryDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxHistoryDTO.getBoxSn());
+ 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.getContent();
+ 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) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxPhotosDTO.getBoxSn());
- TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(ardDroneInfo.getServerId(),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) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSettingsDTO.getBoxSn());
- TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(ardDroneInfo.getServerId(),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;
}
/**
@@ -151,7 +208,11 @@
*/
@Override
public Boolean updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHeightSettingDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), returnHeightSettingCmd);
return true;
@@ -162,7 +223,11 @@
*/
@Override
public Boolean updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnPointSettingDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), returnPointSettingCmd);
return true;
@@ -173,14 +238,18 @@
*/
@Override
public Boolean updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(videoStreamSettingDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), videoStreamSettingCmd);
return true;
}
/**
- * 注册六合平台
+ * 注册边缘服务器平台
*/
@Override
public Boolean registerMessage(String serverId) {
@@ -188,10 +257,11 @@
AccessTokenReceiver tyToken = ardServerService.getAccessToken(serverId);
RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
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;
}
/**
@@ -200,7 +270,11 @@
@CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean angleControl(AngleControlDTO angleControlDto) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(angleControlDto.getBoxSn());
+ 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(ardDroneInfo.getServerId(), controlAngleCommand);
return true;
@@ -212,7 +286,11 @@
@CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean absAngleControl(AbsAngleControlDTO absAngleControlDto) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(absAngleControlDto.getBoxSn());
+ 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(ardDroneInfo.getServerId(), absAngleControlCommand);
return true;
@@ -224,18 +302,39 @@
@CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean speedControl(SpeedControlDTO speedControlDto) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(speedControlDto.getBoxSn());
+ 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(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) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(cameraModeDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), cameraModeCommand);
return true;
@@ -244,13 +343,20 @@
/**
* 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());
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(capturePicDto.getBoxSn());
+ //photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01)
+ // .build());
+
CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);
this.sendMessage(ardDroneInfo.getServerId(), capturePicCommand);
return true;
@@ -259,16 +365,21 @@
/**
* 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);
}
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(recordDto.getBoxSn());
this.sendMessage(ardDroneInfo.getServerId(), baseCmd);
return true;
}
@@ -279,7 +390,11 @@
@CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean zoom(ZoomDTO zoomDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(zoomDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), zoomCommand);
return true;
@@ -291,7 +406,11 @@
@CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(zoomToLevelDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), zoomToLevelCommand);
return true;
@@ -300,9 +419,14 @@
/**
* 切换摄像头
*/
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean switchCamera(SwitchCameraDTO switchCameraDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchCameraDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), switchCameraCmd);
return true;
@@ -311,9 +435,14 @@
/**
* 切换视频源
*/
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean switchSource(SwitchSourceDTO switchSourceDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchSourceDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), switchSourceCmd);
return true;
@@ -322,9 +451,14 @@
/**
* 打开或关闭照片回传
*/
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(photoReturnToggleDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), photoReturnToggleCmd);
return true;
@@ -333,9 +467,14 @@
/**
* 切换无人机控制权
*/
+ @CheckDroneStatus
@Override
public Boolean switchUavControl(SwitchUavControlDTO switchUavControlDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchUavControlDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), switchUavControlCmd);
return true;
@@ -347,7 +486,11 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean takeOff(TakeOffDTO takeOffDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(takeOffDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), takeOffCmd);
return true;
@@ -359,7 +502,11 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean returnHome(ReturnHomeDTO returnHomeDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHomeDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), returnHomeCmd);
return true;
@@ -371,7 +518,11 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHomeCancelDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), returnHomeCancelCmd);
return true;
@@ -383,7 +534,11 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean land(LandDTO landDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), landCmd);
return true;
@@ -395,7 +550,11 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean landCancel(LandCancelDTO landCancelDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landCancelDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), landCancelCmd);
return true;
@@ -407,7 +566,11 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean landForced(LandForcedDTO landForcedDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landForcedDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), landForcedCmd);
return true;
@@ -417,10 +580,14 @@
* 方向控制
*/
@CheckControlRight(UavControlType.FLY)
- @CheckTakeoffAltitude(minAltitude = 30.0)
+ @CheckTakeoffAltitude
@Override
public Boolean flyControl(FlyControlDTO flyControlDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyControlDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), flyControlCmd);
return true;
@@ -430,10 +597,19 @@
* 指点飞行控制
*/
@CheckControlRight(UavControlType.FLY)
- @CheckTakeoffAltitude(minAltitude = 30.0)
+ @CheckTakeoffAltitude
+ @CheckNoFlyZone
@Override
public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyPointControlDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), flyPointControlCmd);
return true;
@@ -445,9 +621,46 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyPointControlCancelDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), flyPointControlCancelCmd);
+ return true;
+ }
+
+
+ /**
+ * 环绕飞行控制
+ */
+ @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;
}
@@ -457,7 +670,13 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(emeragencyBrakeDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), emergencyBrakeCmd);
return true;
@@ -468,7 +687,7 @@
*/
@Override
public UavState getUavState(String boxSn) {
- return UavStateCache.getUavState(boxSn);
+ return UavStateCache.get(boxSn);
}
/**
@@ -476,7 +695,7 @@
*/
@Override
public TelemetryData getUavTelemetryData(String boxSn) {
- return UavTelemetryDataCache.getUavTelemetryData(boxSn);
+ return UavTelemetryDataCache.get(boxSn);
}
/**
@@ -484,88 +703,132 @@
*/
@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) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(speakModeSwitchDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), speakModeSwitchCmd);
+ return true;
}
/**
* 文字喊话
*/
@Override
- public void textSpeak(TextSpeakDTO textSpeakDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(textSpeakDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), textSpeakCmd);
+ return true;
}
/**
* 实时喊话
*/
@Override
- public void realSpeak(RealSpeakDTO realSpeakDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(realSpeakDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), realSpeakCmd);
+ return true;
}
/**
* 录音喊话
*/
@Override
- public void recordSpeak(RecordSpeakDTO recordSpeakDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(recordSpeakDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), recordSpeakCmd);
+ return true;
}
/**
* 设置音量
*/
@Override
- public void volumeSetting(VolumeSettingDTO volumeSettingDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(volumeSettingDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), volumeSettingCmd);
+ return true;
}
/**
* 设置循环播放
*/
@Override
- public void loopSetting(LoopSettingDTO loopSettingDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(loopSettingDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), loopSettingCmd);
+ return true;
}
/**
* 停止喊话
*/
@Override
- public void stopSpeak(StopSpeakDTO stopSpeakDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(stopSpeakDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), stopSpeakCmd);
+ return true;
}
/**
* 航线上传
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
- public void wayLineUpload(WayLineUploadDTO wayLineUploadDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineUploadDTO.getBoxSn());
- 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
+ System.out.println("wayLineUploadDTO:-----------------" + wayLineUploadDTO);
+ log.info("打印数据 ++++ wayLineUploadDTO:-----------------" + wayLineUploadDTO);
WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
+ System.out.println("wayLineUploadCmd:-----------------" + wayLineUploadCmd);
this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd);
+ return true;
}
//创建航线
@@ -607,10 +870,15 @@
*/
@CheckControlRight(UavControlType.FLY)
@Override
- public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineBeginDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), wayLineBeginCmd);
+ return true;
}
/**
@@ -618,10 +886,15 @@
*/
@CheckControlRight(UavControlType.FLY)
@Override
- public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLinePauseDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), wayLinePauseCmd);
+ return true;
}
/**
@@ -629,10 +902,15 @@
*/
@CheckControlRight(UavControlType.FLY)
@Override
- public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineResumeDTO.getBoxSn());
+ 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(ardDroneInfo.getServerId(), wayLineResumeCmd);
+ return true;
}
/**
@@ -640,14 +918,19 @@
*/
@CheckControlRight(UavControlType.FLY)
@Override
- public void wayLineEnd(WayLineEndDTO wayLineEndDTO) {
- ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineEndDTO.getBoxSn());
+ 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(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) {
@@ -665,8 +948,8 @@
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
@@ -687,14 +970,15 @@
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;
@@ -702,7 +986,7 @@
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:
@@ -721,9 +1005,10 @@
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;
@@ -785,23 +1070,53 @@
}
//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) {
@@ -814,6 +1129,12 @@
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:
@@ -831,7 +1152,7 @@
}
/**
- * 根据[服务器id]获取六合盒子列表
+ * 根据[服务器id]获取边缘服务器盒子列表
*/
@Override
public List<BoxInfoReceiver> getBoxSnToList(String id) {
@@ -888,37 +1209,31 @@
//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);
}
+
/**
- * 发送消息
+ * 发送tcp消息
*/
private void sendMessage(String key, BaseCmd msg) {
- try {
- ChannelFuture future = 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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