From 87689cefac709bdc2414c8d365b03ad0585e5bc5 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Tue, 25 Nov 2025 14:02:55 +0800
Subject: [PATCH] 增加环绕飞行控制
---
ard-work/src/main/java/com/ard/work/component/netty/handler/MessageProtocolDecoder.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/manual/FlyRoundControlCancelCmd.java | 33 ++++++
ard-work/src/main/java/com/ard/work/domain/dto/manual/FlyRoundControlDTO.java | 51 ++++++++++
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 37 +++++++
ard-work/src/main/java/com/ard/work/component/netty/command/manual/FlyRoundReplyCmd.java | 35 +++++++
ard-admin/src/main/java/com/ard/web/controller/work/UavManualFlyController.java | 19 +++
ard-work/src/main/java/com/ard/work/component/netty/command/manual/FlyRoundControlCmd.java | 50 ++++++++++
ard-work/src/main/java/com/ard/work/service/ITyService.java | 11 ++
ard-work/src/main/java/com/ard/work/domain/dto/manual/FlyRoundControlCancelDTO.java | 22 ++++
9 files changed, 260 insertions(+), 0 deletions(-)
diff --git a/ard-admin/src/main/java/com/ard/web/controller/work/UavManualFlyController.java b/ard-admin/src/main/java/com/ard/web/controller/work/UavManualFlyController.java
index ab6aad4..e3b17f6 100644
--- a/ard-admin/src/main/java/com/ard/web/controller/work/UavManualFlyController.java
+++ b/ard-admin/src/main/java/com/ard/web/controller/work/UavManualFlyController.java
@@ -108,6 +108,25 @@
return AjaxResult.success();
}
+ @ApiOperation(value = "开始环绕飞行", notes = "速度speed:0~20 单位m/s " +
+ "环绕半径radius：单位m，"+
+ "飞行模式flyMode：0-节能模式【飞机直线飞到目标点，需飞机在空中】，" +
+ "1-安全模式【飞机飞行至目标点高度再平飞到目标点，飞机可以在地面或空中】 默认为节能模式")
+ @ApiOperationSupport(order = 9)
+ @PostMapping("/flyRoundControl")
+ public AjaxResult flyRoundControl(@RequestBody FlyRoundControlDTO flyRoundControlDTO) {
+ tyService.FlyRoundControl(flyRoundControlDTO);
+ return AjaxResult.success();
+ }
+
+ @ApiOperation("停止环绕飞行")
+ @ApiOperationSupport(order = 10)
+ @PostMapping("/flyRoundControlCancel")
+ public AjaxResult flyRoundControlCancel(@RequestBody FlyRoundControlCancelDTO flyRoundControlCancelDTO) {
+ tyService.FlyRoundControlCancel(flyRoundControlCancelDTO);
+ return AjaxResult.success();
+ }
+
@ApiOperation(value = "紧急制动", notes = "动作参数actionParam： 0-解除紧急制动 1-紧急制动")
@ApiOperationSupport(order = 11)
@PostMapping("/emeragencyBrake")
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/manual/FlyRoundControlCancelCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/FlyRoundControlCancelCmd.java
new file mode 100644
index 0000000..d6d137e
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/FlyRoundControlCancelCmd.java
@@ -0,0 +1,33 @@
+package com.ard.work.component.netty.command.manual;
+
+import com.ard.work.component.netty.command.BaseCmd;
+import com.ard.work.domain.dto.manual.FlyRoundControlCancelDTO;
+import com.ard.work.domain.dto.manual.FlyRoundControlDTO;
+import io.netty.buffer.ByteBuf;
+
+/**
+ * 环绕飞行控制指令
+ *
+ * @author liusuyi
+ * @date 2024年10月26日15:43
+ **/
+public class FlyRoundControlCancelCmd extends BaseCmd {
+
+
+ public FlyRoundControlCancelCmd(FlyRoundControlCancelDTO flyRoundControlCancelDTO) {
+ setDataHeader((short) 0x7479);
+ setDataLength((short) 18);
+ setBoxSn(flyRoundControlCancelDTO.getBoxSn().getBytes());
+ setCmdCode((byte) 0xD1);
+ }
+
+
+ public void encode(ByteBuf out) {
+ out.writeShort(getDataHeader()); // 写入数据头
+ out.writeShort(getDataLength()); // 写入数据长度
+ out.writeBytes(getBoxSn()); // 写入盒子SN
+ out.writeByte(getCmdCode()); // 写入命令码
+ out.writeByte(0x00); // 写入加密标志
+ out.writeByte(0x3C); // 写入动作编号
+ }
+}
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/manual/FlyRoundControlCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/FlyRoundControlCmd.java
new file mode 100644
index 0000000..3684c57
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/FlyRoundControlCmd.java
@@ -0,0 +1,50 @@
+package com.ard.work.component.netty.command.manual;
+
+import com.ard.work.component.netty.command.BaseCmd;
+import com.ard.work.domain.dto.manual.FlyPointControlDTO;
+import com.ard.work.domain.dto.manual.FlyRoundControlDTO;
+import io.netty.buffer.ByteBuf;
+
+/**
+ * 环绕飞行控制指令
+ *
+ * @author liusuyi
+ * @date 2024年10月26日15:43
+ **/
+public class FlyRoundControlCmd extends BaseCmd {
+ private final double longitude; // 兴趣点经度
+ private final double latitude; // 兴趣点纬度
+ private final float altitude; // 兴趣点高度
+ private final float speed; // 环绕速度
+ private final float radius; // 环绕半径
+ private final byte flyMode; // 飞行模式
+
+ public FlyRoundControlCmd(FlyRoundControlDTO flyRoundControlDTO) {
+ setDataHeader((short) 0x7479);
+ setDataLength((short) 47);
+ setBoxSn(flyRoundControlDTO.getBoxSn().getBytes());
+ setCmdCode((byte) 0xD1);
+ this.longitude = flyRoundControlDTO.getLongitude();
+ this.latitude = flyRoundControlDTO.getLatitude();
+ this.altitude = flyRoundControlDTO.getAltitude();
+ this.speed = flyRoundControlDTO.getSpeed();
+ this.radius= flyRoundControlDTO.getRadius();
+ this.flyMode = flyRoundControlDTO.getFlyMode();
+ }
+
+
+ public void encode(ByteBuf out) {
+ out.writeShort(getDataHeader()); // 写入数据头
+ out.writeShort(getDataLength()); // 写入数据长度
+ out.writeBytes(getBoxSn()); // 写入盒子SN
+ out.writeByte(getCmdCode()); // 写入命令码
+ out.writeByte(0x00); // 写入加密标志
+ out.writeByte(0x3B); // 写入动作编号
+ out.writeDouble(longitude); // 写入兴趣点经度
+ out.writeDouble(latitude); // 写入兴趣点纬度
+ out.writeFloat(altitude); // 写入兴趣点高度
+ out.writeFloat(speed); // 写入环绕速度
+ out.writeFloat(radius); // 写入环绕半径
+ out.writeByte(flyMode); // 写入飞行模式
+ }
+}
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/manual/FlyRoundReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/FlyRoundReplyCmd.java
new file mode 100644
index 0000000..abfa708
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/FlyRoundReplyCmd.java
@@ -0,0 +1,35 @@
+package com.ard.work.component.netty.command.manual;
+
+import com.ard.work.component.netty.command.BaseCmd;
+import io.netty.buffer.ByteBuf;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * 到达环绕位置回复指令
+ *
+ * @author liusuyi
+ * @date 2024年10月26日15:43
+ **/
+@Data
+@EqualsAndHashCode(callSuper = false)
+public class FlyRoundReplyCmd extends BaseCmd {
+
+ private final byte encryptFlag = 0x00; // 加密标志
+ private final byte actionCode = 0x3B; // 动作编号
+ private final byte result; // 执行结果
+ private final Integer errorCode; // 错误码
+
+ public FlyRoundReplyCmd(String boxSn, Byte result, Integer errorCode) {
+ setDataHeader((short) 0x6A77);
+ setDataLength((short) 19);
+ setBoxSn(boxSn.getBytes());
+ setCmdCode((byte) 0xD1);
+ this.result = result;
+ this.errorCode = errorCode;
+ }
+
+ public void encode(ByteBuf out) {
+
+ }
+}
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/handler/MessageProtocolDecoder.java b/ard-work/src/main/java/com/ard/work/component/netty/handler/MessageProtocolDecoder.java
index a36e068..337ed0c 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/handler/MessageProtocolDecoder.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/handler/MessageProtocolDecoder.java
@@ -174,6 +174,8 @@
return new EmergencyBrakeReplyCmd(boxSn, result, errorCode);
case 0x39:
return new PointControlReachedReplyCmd(boxSn, result, errorCode);
+ case 0x3B:
+ return new FlyRoundReplyCmd(boxSn, result, errorCode);
case 0x22:
return new CameraModeReplyCmd(boxSn, result, errorCode);
case 0x23:
diff --git a/ard-work/src/main/java/com/ard/work/domain/dto/manual/FlyRoundControlCancelDTO.java b/ard-work/src/main/java/com/ard/work/domain/dto/manual/FlyRoundControlCancelDTO.java
new file mode 100644
index 0000000..5132935
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/domain/dto/manual/FlyRoundControlCancelDTO.java
@@ -0,0 +1,22 @@
+package com.ard.work.domain.dto.manual;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * 环绕飞行控制实体对象
+ *
+ * @author liusuyi
+ * @date 2024年10月26日9:02
+ **/
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class FlyRoundControlCancelDTO {
+
+ private String boxSn;
+
+}
diff --git a/ard-work/src/main/java/com/ard/work/domain/dto/manual/FlyRoundControlDTO.java b/ard-work/src/main/java/com/ard/work/domain/dto/manual/FlyRoundControlDTO.java
new file mode 100644
index 0000000..7a10ec4
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/domain/dto/manual/FlyRoundControlDTO.java
@@ -0,0 +1,51 @@
+package com.ard.work.domain.dto.manual;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * 环绕飞行控制实体对象
+ *
+ * @author liusuyi
+ * @date 2024年10月26日9:02
+ **/
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class FlyRoundControlDTO {
+
+ private String boxSn;
+
+ /**
+ * 兴趣点经度
+ */
+ private Double longitude;
+ /**
+ * 兴趣点纬度
+ */
+ private Double latitude;
+ /**
+ * 兴趣点高度
+ */
+ private Float altitude;
+
+ /**
+ * 环绕速度
+ */
+ private Float speed;
+
+ /**
+ * 环绕半径
+ */
+ private Float radius;
+
+ /**
+ * 飞行模式
+ */
+ @Builder.Default
+ private byte flyMode = 0;
+
+}
diff --git a/ard-work/src/main/java/com/ard/work/service/ITyService.java b/ard-work/src/main/java/com/ard/work/service/ITyService.java
index b5b1350..fb43af9 100644
--- a/ard-work/src/main/java/com/ard/work/service/ITyService.java
+++ b/ard-work/src/main/java/com/ard/work/service/ITyService.java
@@ -206,6 +206,17 @@
*/
Boolean flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO);
+
+ /**
+ * 环绕飞行控制
+ */
+ Boolean FlyRoundControl(FlyRoundControlDTO flyRoundControlDTO);
+
+ /**
+ * 停止环绕飞行
+ */
+ Boolean FlyRoundControlCancel(FlyRoundControlCancelDTO flyRoundControlCancelDTO);
+
/**
* 紧急制动
*/
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 8db4ecb..432a475 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
@@ -603,6 +603,37 @@
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 flyPointControlCmd = new FlyRoundControlCmd(flyRoundControlDTO);
+ this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd);
+ 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;
+ }
+
/**
* 紧急制动
*/
@@ -1042,6 +1073,12 @@
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:
//设置视频码流回复
--
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