From 89729154a93c436803b224ce36404b48dd7354b0 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Sat, 22 Mar 2025 10:45:10 +0800
Subject: [PATCH] 优化单词
---
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 84 +++++++++++++++++++++++------------------
1 files changed, 47 insertions(+), 37 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 359228f..60be244 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
@@ -3,13 +3,20 @@
import com.ard.common.utils.ByteUtils;
import com.ard.tianyu.aspect.annotation.CheckTakeoffAltitude;
import com.ard.tianyu.aspect.annotation.CheckControlRight;
+import com.ard.tianyu.component.netty.command.BaseCmd;
+import com.ard.tianyu.component.netty.command.camera.*;
+import com.ard.tianyu.component.netty.command.manual.*;
+import com.ard.tianyu.component.netty.command.register.*;
+import com.ard.tianyu.component.netty.command.settings.*;
+import com.ard.tianyu.component.netty.command.speaker.*;
+import com.ard.tianyu.component.netty.command.wayline.*;
import com.ard.tianyu.config.TyConfiguration;
import com.ard.tianyu.domain.dto.camera.*;
import com.ard.tianyu.domain.dto.manual.*;
import com.ard.tianyu.domain.dto.speaker.*;
import com.ard.tianyu.domain.dto.wayline.*;
import com.ard.tianyu.domain.receiver.*;
-import com.ard.tianyu.forest.TyClient;
+import com.ard.tianyu.component.forest.TyClient;
import com.ard.tianyu.domain.cache.TyTcpServerCache;
import com.ard.tianyu.domain.cache.UavSignalInfoCache;
import com.ard.tianyu.domain.cache.UavStateCache;
@@ -27,28 +34,20 @@
import com.ard.tianyu.domain.dto.signal.SignalInfo;
import com.ard.tianyu.domain.dto.state.UavState;
import com.ard.tianyu.domain.dto.telemetry.TelemetryData;
-import com.ard.tianyu.netty.command.*;
-import com.ard.tianyu.netty.TyNettyTcpClient;
-import com.ard.tianyu.netty.command.camera.*;
-import com.ard.tianyu.netty.command.control.AbsAngleControlCmd;
-import com.ard.tianyu.netty.command.control.AngleControlCmd;
-import com.ard.tianyu.netty.command.control.SpeedControlCmd;
-import com.ard.tianyu.netty.command.manual.*;
-import com.ard.tianyu.netty.command.notice.BoxPowerStatusReplyCmd;
-import com.ard.tianyu.netty.command.notice.FlyWayEndReplyCmd;
-import com.ard.tianyu.netty.command.notice.UavReadyReplyCmd;
-import com.ard.tianyu.netty.command.real.SignalInfoCmd;
-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;
-import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
+import com.ard.tianyu.component.netty.TyNettyTcpClient;
+import com.ard.tianyu.component.netty.command.control.AbsAngleControlCmd;
+import com.ard.tianyu.component.netty.command.control.AngleControlCmd;
+import com.ard.tianyu.component.netty.command.control.SpeedControlCmd;
+import com.ard.tianyu.component.netty.command.notice.BoxPowerStatusReplyCmd;
+import com.ard.tianyu.component.netty.command.notice.FlyWayEndReplyCmd;
+import com.ard.tianyu.component.netty.command.notice.UavReadyReplyCmd;
+import com.ard.tianyu.component.netty.command.real.SignalInfoCmd;
+import com.ard.tianyu.component.netty.command.real.UavStateCmd;
+import com.ard.tianyu.component.netty.command.real.UavTelemetryDataCmd;
+import com.ard.tianyu.component.netty.handler.ErrorCodeEnum;
+import com.ard.tianyu.component.netty.protobuf.TelemetryDataPB;
import com.ard.tianyu.service.ITyService;
-import com.ard.tianyu.websocket.domain.UavControlType;
-import com.ard.vtdu.service.IMediaService;
+import com.ard.tianyu.domain.message.UavControlType;
import io.netty.channel.Channel;
import io.netty.channel.ChannelFuture;
import lombok.extern.slf4j.Slf4j;
@@ -76,8 +75,6 @@
@Resource
private TyConfiguration tyConfiguration;
- @Resource
- private IMediaService mediaService;
/**
* 获取天宇token信息
@@ -98,8 +95,8 @@
public List<BoxInfoReceiver> getBoxList() {
//请求云盒列表
try {
- TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReveiver = tyClient.getBoxList();
- return boxListReveiver.getContent();
+ TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReceiver = tyClient.getBoxList();
+ return boxListReceiver.getContent();
} catch (Exception e) {
log.error("获取云盒列表失败:{}", e.getMessage());
return new ArrayList<>();
@@ -242,7 +239,11 @@
*/
@Override
public Boolean capturePic(CapturePicDTO capturePicDto) {
+ //设置相机模式为拍照模式
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());
+
CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);
this.sendMessage(tyConfiguration.getIpPort(), capturePicCommand);
return true;
@@ -628,14 +629,19 @@
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
break;
case 0x04:
// 处理取消订阅消息
+ break;
+ case 0x09:
+ // 处理图片上传完成通知
+ PicUploadCompletedReplyCmd picUploadCompletedReplyCmd = (PicUploadCompletedReplyCmd) tyCommand;
+ logPrint("图片上传完成", picUploadCompletedReplyCmd.getPicUrl());
break;
case 0x0A:
// 处理云盒开关机通知消息
@@ -646,14 +652,14 @@
// 处理无人机状态消息
UavStateCmd uavStateCmd = (UavStateCmd) tyCommand;
UavStateCache.putUavState(uavStateCmd.getUavState());
- logPrint("无人机状态", uavStateCmd.getUavState().getBoxSn());
- // WebSocketUtil.sendMessageAll(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());
- logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
+ //logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
//WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
break;
@@ -661,7 +667,7 @@
// 处理无人机信道质量数据
SignalInfoCmd signalInfoCmd = (SignalInfoCmd) tyCommand;
UavSignalInfoCache.putUavSignalInfoCache(signalInfoCmd.getSignalInfo());
- logPrint("无人机信道质量", signalInfoCmd.getSignalInfo().getBoxSn());
+ //logPrint("无人机信道质量", signalInfoCmd.getSignalInfo().getBoxSn());
break;
case (byte) 0xD1:
// 处理无人机
@@ -728,7 +734,8 @@
//到达指点飞行位置回复
if (tyCommand instanceof PointControlReachedReplyCmd) {
PointControlReachedReplyCmd pointControlReachedReplyCmd = (PointControlReachedReplyCmd) tyCommand;
- logPrint("到达指点飞行位置", pointControlReachedReplyCmd.getResult(), pointControlReachedReplyCmd.getErrorCode());
+ logPrint("到达指点飞行位置", pointControlReachedReplyCmd.getResult(),
+ pointControlReachedReplyCmd.getErrorCode());
}
//紧急制动回复
if (tyCommand instanceof EmergencyBrakeReplyCmd) {
@@ -763,19 +770,22 @@
//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());
+ 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());
+ 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());
+ logPrint("设置视频码流", videoStreamSettingReplyCmd.getResult(),
+ videoStreamSettingReplyCmd.getErrorCode());
}
break;
default:
@@ -786,7 +796,7 @@
//公共日志打印
private void logPrint(String message, Object obj) {
- log.debug("收到{}回复{}", message, obj);
+ log.warn("收到{}回复{}", message, obj);
}
//公共日志打印
--
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