From 6e33e3f0ee952d768026fda82dc0000204e21c72 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Tue, 18 Feb 2025 09:46:05 +0800
Subject: [PATCH] 222
---
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 188 +++++++++++++++++++++++++++++++++++-----------
1 files changed, 142 insertions(+), 46 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..b3a1f2c 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
@@ -14,17 +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.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;
@@ -40,13 +42,15 @@
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;
import com.ard.tianyu.websocket.utils.WebSocketUtil;
+import com.ard.vtdu.domain.ArdVtdu;
+import com.ard.vtdu.service.IMediaService;
import io.netty.channel.Channel;
import io.netty.channel.ChannelFuture;
import lombok.extern.slf4j.Slf4j;
@@ -56,10 +60,7 @@
import javax.annotation.Resource;
import java.net.InetSocketAddress;
import java.util.ArrayList;
-import java.util.Collections;
import java.util.List;
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
/**
* TyServiceImpl
@@ -77,8 +78,8 @@
@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<>();
+ @Resource
+ private IMediaService mediaService;
/**
* 获取天宇token信息
@@ -99,7 +100,7 @@
public List<BoxInfoReceiver> getBoxList() {
//请求云盒列表
try {
- TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReveiver = tyClient.getBoxList(tyConfiguration.getAccessToken().convertFromDTO());
+ TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReveiver = tyClient.getBoxList();
return boxListReveiver.getContent();
} catch (Exception e) {
log.error("获取云盒列表失败:{}", e.getMessage());
@@ -115,7 +116,7 @@
@Override
public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) {
- TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(boxSn, tyConfiguration.getAccessToken().convertFromDTO());
+ TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(boxSn);
return boxLiveUrl.getContent();
}
@@ -126,7 +127,7 @@
*/
@Override
public List<BoxHistoryReceiver> getBoxHistory(BoxHistoryDTO boxHistoryDTO) {
- TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(boxHistoryDTO, tyConfiguration.getAccessToken().convertFromDTO());
+ TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(boxHistoryDTO);
return boxHistory.getContent();
}
@@ -137,7 +138,7 @@
*/
@Override
public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) {
- TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(boxPhotosDTO, tyConfiguration.getAccessToken().convertFromDTO());
+ TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(boxPhotosDTO);
return boxPhotos.getContent();
}
@@ -146,8 +147,35 @@
*/
@Override
public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) {
- TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(boxSettingsDTO, tyConfiguration.getAccessToken().convertFromDTO());
+ TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(boxSettingsDTO);
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 +529,56 @@
}
/**
+ * 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);
+ }
+
+ /**
+ * 点播
+ */
+ @Override
+ public String play(String boxSn) {
+ BoxStreamUrlReceiver boxLiveUrl = getBoxLiveUrl(boxSn);
+ if(boxLiveUrl == null||boxLiveUrl.getRtsp() == null) {
+ return "";
+ }
+ ArdVtdu ardVtdu = ArdVtdu.builder().name(boxSn).rtspSource(boxLiveUrl.getRtsp()).build();
+ ardVtdu = mediaService.addPath(ardVtdu);
+ return ardVtdu.getWebrtcUrl();
+ }
+
+ /**
* 处理天宇服务器返回的消息
*/
@Override
@@ -536,42 +614,23 @@
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
@@ -650,6 +709,43 @@
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 +772,7 @@
*/
@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();
@@ -706,4 +801,5 @@
log.error("发送消息异常：{}", e.getMessage());
}
}
+
}
\ No newline at end of file
--
Gitblit v1.9.3