From 87cba28b3dc8389e1df61f3ba7d986b09fd89db0 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Sat, 02 Nov 2024 11:26:21 +0800
Subject: [PATCH] 增加：无人机设置接口
---
ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java | 31 +++
ard-work/src/main/java/com/ard/tianyu/model/dto/camera/CapturePicDTO.java | 1
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 48 ++++++
ard-work/src/main/java/com/ard/tianyu/model/dto/camera/SwitchCameraDTO.java | 1
ard-work/src/main/java/com/ard/tianyu/netty/command/manual/ReturnHomeCancelReplyCmd.java | 2
ard-work/src/main/java/com/ard/tianyu/netty/command/settings/ReturnPointSettingReplyCmd.java | 33 ++++
ard-work/src/main/java/com/ard/tianyu/service/ITyService.java | 21 ++
ard-work/src/main/java/com/ard/tianyu/model/dto/settings/ReturnHeightSettingDTO.java | 29 +++
ard-work/src/main/java/com/ard/tianyu/model/dto/settings/VideoStreamSettingDTO.java | 41 +++++
ard-work/src/main/java/com/ard/tianyu/netty/command/settings/VideoStreamSettingReplyCmd.java | 33 ++++
ard-work/src/main/java/com/ard/tianyu/model/dto/camera/CameraModeDTO.java | 1
ard-work/src/main/java/com/ard/tianyu/model/dto/settings/ReturnPointSettingDTO.java | 26 +++
ard-work/src/main/java/com/ard/tianyu/controller/UavSettingsController.java | 60 +++++++
ard-work/src/main/java/com/ard/tianyu/netty/command/settings/ReturnPointSettingCmd.java | 38 ++++
ard-work/src/main/java/com/ard/tianyu/netty/command/settings/ReturnHeightSettingReplyCmd.java | 33 ++++
ard-work/src/main/java/com/ard/tianyu/netty/command/settings/ReturnHeightSettingCmd.java | 35 ++++
ard-work/src/main/java/com/ard/tianyu/netty/command/settings/VideoStreamSettingCmd.java | 44 +++++
17 files changed, 471 insertions(+), 6 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/tianyu/controller/UavSettingsController.java b/ard-work/src/main/java/com/ard/tianyu/controller/UavSettingsController.java
new file mode 100644
index 0000000..3755297
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/controller/UavSettingsController.java
@@ -0,0 +1,60 @@
+package com.ard.tianyu.controller;
+
+import com.ard.common.core.domain.AjaxResult;
+import com.ard.tianyu.model.dto.BoxHistoryDTO;
+import com.ard.tianyu.model.dto.BoxPhotosDTO;
+import com.ard.tianyu.model.dto.BoxSettingsDTO;
+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.receiver.BoxHistoryReceiver;
+import com.ard.tianyu.model.receiver.BoxInfoReceiver;
+import com.ard.tianyu.model.receiver.BoxPhotosReceiver;
+import com.ard.tianyu.model.receiver.BoxStreamUrlReceiver;
+import com.ard.tianyu.service.ITyService;
+import com.github.xiaoymin.knife4j.annotations.ApiOperationSupport;
+import com.github.xiaoymin.knife4j.annotations.ApiSort;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.web.bind.annotation.*;
+
+import javax.annotation.Resource;
+import java.util.List;
+
+/**
+ * UavBaseController
+ *
+ * @author liusuyi
+ * @date 2024年10月21日13:52
+ **/
+@Api(tags = "无人机设置接口")
+@ApiSort(value = 3)
+@RequestMapping("/uav/settings")
+@RestController
+public class UavSettingsController {
+
+ @Resource
+ private ITyService tyService;
+
+ @ApiOperation(value = "设置返航高度",notes = "高度【取值范围：20~1500,单位/米】")
+ @ApiOperationSupport(order = 1)
+ @PostMapping("/updateReturnHeight")
+ public AjaxResult updateReturnHeight(@RequestBody ReturnHeightSettingDTO returnHeightSettingDTO) {
+ tyService.updateReturnHeight(returnHeightSettingDTO);
+ return AjaxResult.success();
+ }
+ @ApiOperation("设置返航点")
+ @ApiOperationSupport(order = 2)
+ @PostMapping("/updateReturnPoint")
+ public AjaxResult updateReturnPoint(@RequestBody ReturnPointSettingDTO returnPointSettingDTO) {
+ tyService.updateReturnPoint(returnPointSettingDTO);
+ return AjaxResult.success();
+ }
+ @ApiOperation(value = "设置视频码流",notes = "帧率【建议值：25或30】 码率【不超过10000】")
+ @ApiOperationSupport(order = 3)
+ @PostMapping("/updateVideoStream")
+ public AjaxResult updateVideoStream(@RequestBody VideoStreamSettingDTO videoStreamSettingDTO) {
+ tyService.updateVideoStream(videoStreamSettingDTO);
+ return AjaxResult.success();
+ }
+}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/tianyu/model/dto/camera/CameraModeDTO.java b/ard-work/src/main/java/com/ard/tianyu/model/dto/camera/CameraModeDTO.java
index 92f6a44..15eb4cf 100644
--- a/ard-work/src/main/java/com/ard/tianyu/model/dto/camera/CameraModeDTO.java
+++ b/ard-work/src/main/java/com/ard/tianyu/model/dto/camera/CameraModeDTO.java
@@ -16,7 +16,6 @@
@Builder
@AllArgsConstructor
@NoArgsConstructor
-@Validated
public class CameraModeDTO {
private String boxSn;
private Byte actionParam;
diff --git a/ard-work/src/main/java/com/ard/tianyu/model/dto/camera/CapturePicDTO.java b/ard-work/src/main/java/com/ard/tianyu/model/dto/camera/CapturePicDTO.java
index cd9c582..b309413 100644
--- a/ard-work/src/main/java/com/ard/tianyu/model/dto/camera/CapturePicDTO.java
+++ b/ard-work/src/main/java/com/ard/tianyu/model/dto/camera/CapturePicDTO.java
@@ -16,7 +16,6 @@
@Builder
@AllArgsConstructor
@NoArgsConstructor
-@Validated
public class CapturePicDTO {
private String boxSn;
}
diff --git a/ard-work/src/main/java/com/ard/tianyu/model/dto/camera/SwitchCameraDTO.java b/ard-work/src/main/java/com/ard/tianyu/model/dto/camera/SwitchCameraDTO.java
index ef53703..e63c570 100644
--- a/ard-work/src/main/java/com/ard/tianyu/model/dto/camera/SwitchCameraDTO.java
+++ b/ard-work/src/main/java/com/ard/tianyu/model/dto/camera/SwitchCameraDTO.java
@@ -19,7 +19,6 @@
@Builder
@AllArgsConstructor
@NoArgsConstructor
-@Validated
public class SwitchCameraDTO {
private String boxSn;
// 0x00 FPV 0x01 载荷
diff --git a/ard-work/src/main/java/com/ard/tianyu/model/dto/settings/ReturnHeightSettingDTO.java b/ard-work/src/main/java/com/ard/tianyu/model/dto/settings/ReturnHeightSettingDTO.java
new file mode 100644
index 0000000..34d7fcf
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/model/dto/settings/ReturnHeightSettingDTO.java
@@ -0,0 +1,29 @@
+package com.ard.tianyu.model.dto.settings;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+import org.springframework.validation.annotation.Validated;
+
+import javax.validation.constraints.Max;
+import javax.validation.constraints.Min;
+
+/**
+ * 返航高度实体对象
+ *
+ * @author liusuyi
+ * @date 2024年11月01日10:55
+ **/
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+@Validated
+public class ReturnHeightSettingDTO {
+ private String boxSn;
+ //取值范围：20~1500,单位/米
+ @Min(value = 20, message = "返航高度 最小值为 20")
+ @Max(value = 1500, message = "返航高度 最大值为 1500")
+ private Short height;
+}
diff --git a/ard-work/src/main/java/com/ard/tianyu/model/dto/settings/ReturnPointSettingDTO.java b/ard-work/src/main/java/com/ard/tianyu/model/dto/settings/ReturnPointSettingDTO.java
new file mode 100644
index 0000000..be8aa9f
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/model/dto/settings/ReturnPointSettingDTO.java
@@ -0,0 +1,26 @@
+package com.ard.tianyu.model.dto.settings;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+import org.springframework.validation.annotation.Validated;
+
+import javax.validation.constraints.Max;
+import javax.validation.constraints.Min;
+
+/**
+ * 返航点实体对象
+ *
+ * @author liusuyi
+ * @date 2024年11月01日10:55
+ **/
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class ReturnPointSettingDTO {
+ private String boxSn;
+ private Double longitude;
+ private Double latitude;
+}
diff --git a/ard-work/src/main/java/com/ard/tianyu/model/dto/settings/VideoStreamSettingDTO.java b/ard-work/src/main/java/com/ard/tianyu/model/dto/settings/VideoStreamSettingDTO.java
new file mode 100644
index 0000000..1b8683f
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/model/dto/settings/VideoStreamSettingDTO.java
@@ -0,0 +1,41 @@
+package com.ard.tianyu.model.dto.settings;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+import org.springframework.validation.annotation.Validated;
+
+import javax.validation.constraints.Max;
+
+/**
+ * 返航点实体对象
+ *
+ * @author liusuyi
+ * @date 2024年11月01日10:55
+ **/
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+@Validated
+public class VideoStreamSettingDTO {
+ private String boxSn;
+ /**
+ * 分辨率宽度
+ */
+ private Integer resolutionWidth;
+ /**
+ * 分辨率高度
+ */
+ private Integer resolutionHeight;
+ /**
+ * 帧率 （建议值：25或30）
+ */
+ private Byte frameRate;
+ /**
+ * 码率
+ */
+ @Max(value = 10000, message = "码率 最大值为 10000")
+ private Integer bitrate;
+}
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/manual/ReturnHomeCancelReplyCmd.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/manual/ReturnHomeCancelReplyCmd.java
index 52e356a..e8b3f35 100644
--- a/ard-work/src/main/java/com/ard/tianyu/netty/command/manual/ReturnHomeCancelReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/command/manual/ReturnHomeCancelReplyCmd.java
@@ -14,7 +14,7 @@
public class ReturnHomeCancelReplyCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
- private final byte actionCode = 0x13; // 动作编号
+ private final byte actionCode = 0x21; // 动作编号
private final byte result; // 执行结果
private final Integer errorCode; // 错误码
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/settings/ReturnHeightSettingCmd.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/settings/ReturnHeightSettingCmd.java
new file mode 100644
index 0000000..1e6f379
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/command/settings/ReturnHeightSettingCmd.java
@@ -0,0 +1,35 @@
+package com.ard.tianyu.netty.command.settings;
+
+import com.ard.tianyu.model.dto.settings.ReturnHeightSettingDTO;
+import com.ard.tianyu.netty.command.BaseCmd;
+import io.netty.buffer.ByteBuf;
+import lombok.Data;
+
+/**
+ * 修改返航高度指令
+ *
+ * @author liusuyi
+ * @date 2024年10月30日16:20
+ **/
+public class ReturnHeightSettingCmd extends BaseCmd {
+
+ private final Short height;
+
+ public ReturnHeightSettingCmd(ReturnHeightSettingDTO returnHeightSettingDTO) {
+ setDataHeader((short) 0x7479);
+ setDataLength((short) 20);
+ setBoxSn(returnHeightSettingDTO.getBoxSn().getBytes());
+ setCmdCode((byte) 0xD1);
+ this.height = returnHeightSettingDTO.getHeight();
+ }
+
+ 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(0x21); // 写入动作编号
+ out.writeShort(height); // 写入返航高度
+ }
+}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/settings/ReturnHeightSettingReplyCmd.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/settings/ReturnHeightSettingReplyCmd.java
new file mode 100644
index 0000000..29c9f3b
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/command/settings/ReturnHeightSettingReplyCmd.java
@@ -0,0 +1,33 @@
+package com.ard.tianyu.netty.command.settings;
+
+import com.ard.tianyu.netty.command.BaseCmd;
+import io.netty.buffer.ByteBuf;
+import lombok.Data;
+
+/**
+ * 修改返航高度回复指令
+ *
+ * @author liusuyi
+ * @date 2024年10月30日16:20
+ **/
+@Data
+public class ReturnHeightSettingReplyCmd extends BaseCmd {
+
+ private final byte encryptFlag = 0x00; // 加密标志
+ private final byte actionCode = 0x21; // 动作编号
+ private final byte result; // 执行结果
+ private final Integer errorCode; // 错误码
+
+ public ReturnHeightSettingReplyCmd(String boxSn, Byte result, Integer errorCode) {
+ setDataHeader((short) 0x6A77);
+ //setDataLength((short) 18);
+ setCmdCode((byte) 0xD1);
+ setBoxSn(boxSn.getBytes());
+ this.result = result;
+ this.errorCode = errorCode;
+ }
+
+ public void encode(ByteBuf out) {
+
+ }
+}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/settings/ReturnPointSettingCmd.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/settings/ReturnPointSettingCmd.java
new file mode 100644
index 0000000..066875e
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/command/settings/ReturnPointSettingCmd.java
@@ -0,0 +1,38 @@
+package com.ard.tianyu.netty.command.settings;
+
+import com.ard.tianyu.model.dto.settings.ReturnHeightSettingDTO;
+import com.ard.tianyu.model.dto.settings.ReturnPointSettingDTO;
+import com.ard.tianyu.netty.command.BaseCmd;
+import io.netty.buffer.ByteBuf;
+
+/**
+ * 修改返航点指令
+ *
+ * @author liusuyi
+ * @date 2024年10月30日16:20
+ **/
+public class ReturnPointSettingCmd extends BaseCmd {
+
+ private final Double longitude;
+ private final Double latitude;
+
+ public ReturnPointSettingCmd(ReturnPointSettingDTO returnPointSettingDTO) {
+ setDataHeader((short) 0x7479);
+ setDataLength((short) 34);
+ setBoxSn(returnPointSettingDTO.getBoxSn().getBytes());
+ setCmdCode((byte) 0xD1);
+ this.longitude= returnPointSettingDTO.getLongitude();
+ this.latitude= returnPointSettingDTO.getLatitude();
+ }
+
+ 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(0x31); // 写入动作编号
+ out.writeDouble(longitude); // 写入经度
+ out.writeDouble(latitude); // 写入纬度
+ }
+}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/settings/ReturnPointSettingReplyCmd.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/settings/ReturnPointSettingReplyCmd.java
new file mode 100644
index 0000000..c4d0c0d
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/command/settings/ReturnPointSettingReplyCmd.java
@@ -0,0 +1,33 @@
+package com.ard.tianyu.netty.command.settings;
+
+import com.ard.tianyu.netty.command.BaseCmd;
+import io.netty.buffer.ByteBuf;
+import lombok.Data;
+
+/**
+ * 修改返航高度回复指令
+ *
+ * @author liusuyi
+ * @date 2024年10月30日16:20
+ **/
+@Data
+public class ReturnPointSettingReplyCmd extends BaseCmd {
+
+ private final byte encryptFlag = 0x00; // 加密标志
+ private final byte actionCode = 0x31; // 动作编号
+ private final byte result; // 执行结果
+ private final Integer errorCode; // 错误码
+
+ public ReturnPointSettingReplyCmd(String boxSn, Byte result, Integer errorCode) {
+ setDataHeader((short) 0x6A77);
+ //setDataLength((short) 18);
+ setCmdCode((byte) 0xD1);
+ setBoxSn(boxSn.getBytes());
+ this.result = result;
+ this.errorCode = errorCode;
+ }
+
+ public void encode(ByteBuf out) {
+
+ }
+}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/settings/VideoStreamSettingCmd.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/settings/VideoStreamSettingCmd.java
new file mode 100644
index 0000000..407349b
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/command/settings/VideoStreamSettingCmd.java
@@ -0,0 +1,44 @@
+package com.ard.tianyu.netty.command.settings;
+
+import com.ard.tianyu.model.dto.settings.ReturnPointSettingDTO;
+import com.ard.tianyu.model.dto.settings.VideoStreamSettingDTO;
+import com.ard.tianyu.netty.command.BaseCmd;
+import io.netty.buffer.ByteBuf;
+
+/**
+ * 设置视频码流指令
+ *
+ * @author liusuyi
+ * @date 2024年10月30日16:20
+ **/
+public class VideoStreamSettingCmd extends BaseCmd {
+
+ private final int resolutionWidth; // 水平像素
+ private final int resolutionHeight; // 垂直像素
+ private final int bitrate; // 码率
+ private final byte frameRate; // 帧率
+
+ public VideoStreamSettingCmd(VideoStreamSettingDTO videoStreamSettingDTO) {
+ setDataHeader((short) 0x7479);
+ setDataLength((short) 27);
+ setBoxSn(videoStreamSettingDTO.getBoxSn().getBytes());
+ setCmdCode((byte) 0xD2);
+ this.bitrate = videoStreamSettingDTO.getBitrate();
+ this.resolutionWidth = videoStreamSettingDTO.getResolutionWidth();
+ this.resolutionHeight = videoStreamSettingDTO.getResolutionHeight();
+ this.frameRate = videoStreamSettingDTO.getFrameRate();
+ }
+
+ 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(0x05); // 写入动作编号
+ out.writeInt(resolutionWidth); // 写入水平像素
+ out.writeInt(resolutionHeight); // 写入垂直像素
+ out.writeByte(frameRate); // 写入帧率
+ out.writeInt(bitrate); // 写入码率
+ }
+}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/settings/VideoStreamSettingReplyCmd.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/settings/VideoStreamSettingReplyCmd.java
new file mode 100644
index 0000000..4724c5b
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/command/settings/VideoStreamSettingReplyCmd.java
@@ -0,0 +1,33 @@
+package com.ard.tianyu.netty.command.settings;
+
+import com.ard.tianyu.netty.command.BaseCmd;
+import io.netty.buffer.ByteBuf;
+import lombok.Data;
+
+/**
+ * 设置视频码流回复指令
+ *
+ * @author liusuyi
+ * @date 2024年10月30日16:20
+ **/
+@Data
+public class VideoStreamSettingReplyCmd extends BaseCmd {
+
+ private final byte encryptFlag = 0x00; // 加密标志
+ private final byte actionCode = 0x05; // 动作编号
+ private final byte result; // 执行结果
+ private final Integer errorCode; // 错误码
+
+ public VideoStreamSettingReplyCmd(String boxSn, Byte result, Integer errorCode) {
+ setDataHeader((short) 0x6A77);
+ //setDataLength((short) 18);
+ setCmdCode((byte) 0XD2);
+ setBoxSn(boxSn.getBytes());
+ this.result = result;
+ this.errorCode = errorCode;
+ }
+
+ public void encode(ByteBuf out) {
+
+ }
+}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java b/ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java
index ded0aa6..0675b91 100644
--- a/ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java
@@ -16,6 +16,9 @@
import com.ard.tianyu.netty.command.register.HeartbeatReplyCmd;
import com.ard.tianyu.netty.command.register.RegisterReplyCmd;
import com.ard.tianyu.netty.command.register.UavInitReplyCmd;
+import com.ard.tianyu.netty.command.settings.ReturnHeightSettingReplyCmd;
+import com.ard.tianyu.netty.command.settings.ReturnPointSettingReplyCmd;
+import com.ard.tianyu.netty.command.settings.VideoStreamSettingReplyCmd;
import com.ard.tianyu.netty.command.wayline.*;
import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
import com.google.protobuf.InvalidProtocolBufferException;
@@ -93,6 +96,11 @@
actionCode = in.readByte();//动作编号
baseCmd = processD1ReplyCmd(in, actionCode);
break;
+ case (byte) 0xD2:
+ in.readByte();//加密标志
+ actionCode = in.readByte();//动作编号
+ baseCmd = processD2ReplyCmd(in, actionCode);
+ break;
default:
in.readByte();//加密标志
actionCode = in.readByte();
@@ -134,8 +142,12 @@
return new WayLineResumeReplyCmd(boxSn, result, errorCode);
case 0x20:
return new WayLineEndReplyCmd(boxSn, result, errorCode);
+ case 0x21:
+ return new ReturnHeightSettingReplyCmd(boxSn, result, errorCode);
case 0x29:
return new LandForcedReplyCmd(boxSn, result, errorCode);
+ case 0x31:
+ return new ReturnPointSettingReplyCmd(boxSn, result, errorCode);
case 0x32:
return new EmergencyBrakeReplyCmd(boxSn, result, errorCode);
case 0x39:
@@ -156,11 +168,26 @@
return processSpecialD1ReplyCmd(in, actionCode, boxSn);
// Add other cases...
default:
- log.warn("无法识别的动作编号：{}", ByteUtils.byteToHex(actionCode));
+ log.warn("无法识别D1的动作编号：{}", ByteUtils.byteToHex(actionCode));
}
return null;
}
-
+ //处理D1指令回复
+ private BaseCmd processD2ReplyCmd(ByteBuf in, byte actionCode) {
+ byte result = in.readByte();
+ int errorCode = in.readInt();
+ byte[] uavData = new byte[15];
+ in.readBytes(uavData);
+ String boxSn = new String(uavData);
+ switch (actionCode) {
+ case 0x05:
+ return new VideoStreamSettingReplyCmd(boxSn, result, errorCode);
+ // Add other cases...
+ default:
+ log.warn("无法识别D2的动作编号：{}", ByteUtils.byteToHex(actionCode));
+ }
+ return null;
+ }
//处理特殊D1指令回复
private BaseCmd processSpecialD1ReplyCmd(ByteBuf in, byte actionCode, String boxSn) {
switch (actionCode) {
diff --git a/ard-work/src/main/java/com/ard/tianyu/service/ITyService.java b/ard-work/src/main/java/com/ard/tianyu/service/ITyService.java
index afcbad5..0d13271 100644
--- a/ard-work/src/main/java/com/ard/tianyu/service/ITyService.java
+++ b/ard-work/src/main/java/com/ard/tianyu/service/ITyService.java
@@ -8,6 +8,9 @@
import com.ard.tianyu.model.dto.control.AngleControlDTO;
import com.ard.tianyu.model.dto.control.SpeedControlDTO;
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;
@@ -65,6 +68,24 @@
Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO);
/**
+ * 设置返航高度
+ * @return
+ */
+ void updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO);
+
+ /**
+ * 设置视频码流
+ * @return
+ */
+ void updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO);
+
+ /**
+ * 设置返航点
+ * @return
+ */
+ void updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO);
+
+ /**
* 注册
*/
void registerMessage();
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 f50c111..8c16ec9 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
@@ -19,6 +19,9 @@
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;
@@ -39,6 +42,7 @@
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.*;
import com.ard.tianyu.netty.handler.ErrorCodeEnum;
@@ -146,6 +150,33 @@
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);
}
/**
@@ -704,6 +735,23 @@
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
--
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