From 91f6e60919b92b7f99a41f2ddeb42df17cd0c487 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Fri, 25 Oct 2024 10:48:26 +0800
Subject: [PATCH] 优化
---
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 170 ++++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 132 insertions(+), 38 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 e9d3dbd..b9f8059 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
@@ -2,19 +2,22 @@
import com.ard.tianyu.config.TyConfiguration;
import com.ard.tianyu.http.TyClient;
+import com.ard.tianyu.model.cache.UavSignalInfoCache;
+import com.ard.tianyu.model.cache.UavStateCache;
+import com.ard.tianyu.model.cache.UavTelemetryDataCache;
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.converter.UavSignalInfoConverter;
+import com.ard.tianyu.model.dto.converter.UavStateConverter;
+import com.ard.tianyu.model.dto.converter.UavTelemetryDataConverter;
+import com.ard.tianyu.model.dto.signal.SignalInfo;
+import com.ard.tianyu.model.dto.state.UavState;
+import com.ard.tianyu.model.dto.telemetry.TelemetryData;
import com.ard.tianyu.model.receiver.*;
-import com.ard.tianyu.netty.command.BaseCommand;
-import com.ard.tianyu.netty.command.ControlAngleCommand;
-import com.ard.tianyu.netty.command.HeartbeatCommand;
-import com.ard.tianyu.netty.command.RegisterCommand;
+import com.ard.tianyu.netty.command.*;
import com.ard.tianyu.netty.TyNettyTcpClient;
import com.ard.tianyu.service.ITyService;
-import com.ard.vtdu.util.ArdTool;
-import io.netty.buffer.ByteBuf;
-import io.netty.buffer.Unpooled;
import io.netty.channel.Channel;
import io.netty.channel.ChannelFuture;
import lombok.extern.slf4j.Slf4j;
@@ -23,6 +26,7 @@
import javax.annotation.Resource;
import java.net.InetSocketAddress;
+import java.util.ArrayList;
import java.util.List;
/**
@@ -44,7 +48,7 @@
/**
* 获取天宇token信息
*
- * @return
+ * @return AccessTokenReceiver
*/
@Override
public AccessTokenReceiver getAccessToken() {
@@ -54,31 +58,36 @@
/**
* 获取云盒列表
*
- * @return
+ * @return List<BoxInfoReceiver>
*/
@Override
- public List<BoxReceiver> getBoxList() {
+ public List<BoxInfoReceiver> getBoxList() {
//请求云盒列表
- TyHttpCommonReceiver<List<BoxReceiver>> boxListReveiver = tyClient.getBoxList(tyConfiguration.getAccessToken().convertFromDTO());
- return boxListReveiver.getContent();
+ try {
+ TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReveiver = tyClient.getBoxList(tyConfiguration.getAccessToken().convertFromDTO());
+ return boxListReveiver.getContent();
+ } catch (Exception e) {
+ log.error("获取云盒列表失败:{}", e.getMessage());
+ return new ArrayList<>();
+ }
}
/**
* 获取直播地址
*
- * @return
+ * @return BoxStreamUrlReceiver
*/
@Override
- public PullStreamUrlReceiver getBoxLiveUrl(String boxSn) {
+ public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) {
- TyHttpCommonReceiver<PullStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(boxSn, tyConfiguration.getAccessToken().convertFromDTO());
+ TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(boxSn, tyConfiguration.getAccessToken().convertFromDTO());
return boxLiveUrl.getContent();
}
/**
* 获取飞行历史
*
- * @return
+ * @return List<BoxHistoryReceiver>
*/
@Override
public List<BoxHistoryReceiver> getBoxHistory(BoxHistoryDTO boxHistoryDTO) {
@@ -89,7 +98,7 @@
/**
* 获取盒子图片
*
- * @return
+ * @return List<BoxPhotosReceiver>
*/
@Override
public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) {
@@ -102,7 +111,7 @@
*/
@Override
public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) {
- TyHttpCommonReceiver<String> result = tyClient.updateBoxSettings(boxSettingsDTO, tyConfiguration.getAccessToken().convertFromDTO());
+ TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(boxSettingsDTO, tyConfiguration.getAccessToken().convertFromDTO());
return result.getState() == 1;
}
@@ -115,47 +124,132 @@
RegisterCommand registerMessage = new RegisterCommand(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
this.sendMessage(tyConfiguration.getIpPort(), registerMessage);
}
+
+
/**
* 发送消息
*/
- public boolean sendMessage(String key, BaseCommand msg) {
- //将从用户接收的信息发送到天宇 commandCache
- boolean cmdResult = false;
+ public void sendMessage(String key, BaseCommand msg) {
try {
- ChannelFuture future = TyNettyTcpClient.channels.get(key).getFuture();
+ ChannelFuture future = TyNettyTcpClient.channels.get(key).getChannelFuture();
Channel channel = future.channel();
- if (future != null && channel.isActive()) {
+ if (channel.isActive()) {
InetSocketAddress ipSocket = (InetSocketAddress) channel.remoteAddress();
String host = ipSocket.getHostString();
int port = ipSocket.getPort();
- // 创建 ByteBuf 并编码消息
- ByteBuf buffer = Unpooled.buffer();
- msg.encode(buffer); // 确保对消息进行编码
-
- channel.writeAndFlush(buffer); // 发送编码后的数据
- cmdResult = true;
- log.info("向天宇服务器" + host + ":" + port + "发送数据" + "，命令码：" + String.format("0x%02X", msg.getCmdCode() & 0xFF));
+ channel.writeAndFlush(msg); // 发送编码后的数据
+ log.debug("向天宇服务器【{}:{}】发送数据，命令码：{}", host, port, String.format("0x%02X", msg.getCmdCode() & 0xFF));
} else {
log.error("与天宇服务器链接断开，无法发送数据！");
}
} catch (Exception e) {
- log.info("Failed to publish the message. {}", "转发信息");
- e.printStackTrace();
- } finally {
- return cmdResult;
+ log.error("发送消息异常：{}", e.getMessage());
}
}
+ /**
+ * 云台控制基于角度
+ */
@Override
- public void controlAngle(String boxSn) {
- ControlAngleCommand controlAngleCommand = new ControlAngleCommand(boxSn.getBytes(),(byte)0x00,(byte)0x00,(byte)0x05);
+ public void angleControl(String boxSn, Integer actionId, Integer rotationAngle) {
+ ControlAngleCommand controlAngleCommand = new ControlAngleCommand(boxSn, actionId.byteValue(), rotationAngle.byteValue());
this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
}
- @Scheduled(fixedRate = 5000)
+ @Override
+ public void absAngleControl(String boxSn, Integer actionId, float pitch, float yaw, float roll) {
+
+ }
+
+ /**
+ * 获取无人机状态
+ */
+ @Override
+ public UavState getUavState(String boxSn) {
+ return UavStateCache.getUavState(boxSn);
+ }
+
+ /**
+ * 获取无人机遥测数据
+ */
+ @Override
+ public TelemetryData getUavTelemetryData(String boxSn) {
+ return UavTelemetryDataCache.getUavTelemetryData(boxSn);
+ }
+
+ /**
+ * 获取无人机遥测数据
+ */
+ @Override
+ public SignalInfo getSignalInfo(String boxSn) {
+ return UavSignalInfoCache.getUavSignalInfo(boxSn);
+ }
+
+ @Override
+ public void processMessage(String key, BaseCommand tyCommand) {
+ byte cmdCode = tyCommand.getCmdCode();
+ switch (cmdCode) {
+ case 0x01:
+ // 处理心跳消息
+ RegisterReplyCommand registerReplyCommand = (RegisterReplyCommand) tyCommand;
+ log.info("收到注册消息-->处理注册消息{}", registerReplyCommand.getSuccess());
+ if (registerReplyCommand.getSuccess() != 1) {
+ // 注册失败，重新注册
+ log.info("注册失败，重新注册");
+ registerMessage();
+ }
+ break;
+ case 0x02:
+ // 处理注册消息
+ HeartbeatReplyCommand heartbeatReplyCommand = (HeartbeatReplyCommand) tyCommand;
+ log.debug("收到心跳消息-->处理心跳消息{}", heartbeatReplyCommand.getTimestamp());
+ break;
+ case 0x03:
+ // 处理订阅消息
+ break;
+ case 0x04:
+ // 处理取消订阅消息
+ break;
+ case (byte) 0xA8:
+ // 处理无人机状态消息
+ log.debug("收到无人机状态消息-->无人机状态消息");
+ UavStateCommand uavStateCommand = (UavStateCommand) tyCommand;
+ UavState uavState = UavStateConverter.convertProtoToEntity(uavStateCommand.getUavState());
+ UavStateCache.putUavState(uavState);
+ break;
+ case (byte) 0xA9:
+ // 处理无人机遥测消息
+ log.debug("收到无人机遥测消息-->无人机遥测消息");
+ UavTelemetryDataCommand uavTelemetryDataCommand = (UavTelemetryDataCommand) tyCommand;
+ TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(uavTelemetryDataCommand.getTelemetryData());
+ UavTelemetryDataCache.putUavTelemetryData(telemetryData);
+ break;
+ case (byte) 0x0C:
+ // 处理无人机信道质量数据
+ log.debug("收到无人机信道质量数据消息-->无人机信道质量数据消息");
+ SignalInfoCommand signalInfoCommand = (SignalInfoCommand) tyCommand;
+ SignalInfo signalInfo = UavSignalInfoConverter.convertProtoToEntity(signalInfoCommand.getSignalInfo());
+ UavSignalInfoCache.putUavSignalInfoCache(signalInfo);
+ break;
+ case (byte) 0xD1:
+ // 处理无人机
+ UavReadyNotificationCommand droneReadyNotificationCommand = (UavReadyNotificationCommand) tyCommand;
+ if (droneReadyNotificationCommand.getActionCode() == (byte) 0x42) {
+ UavInitInfoCommand uavInitCommand = new UavInitInfoCommand(droneReadyNotificationCommand.getBoxSn());
+ this.sendMessage(tyConfiguration.getIpPort(), uavInitCommand);
+ log.info("收到无人机初始化详情-回复防止再次发送");
+ }
+ break;
+ default:
+ // 处理其他消息
+ log.debug("收到其他消息-->其他消息");
+ }
+ }
+
+ @Scheduled(fixedRate = 3000)
public void sendHeartBeat() {
long timestamp = System.currentTimeMillis();
- log.info("定时向天宇发送⼼跳,时间戳{}", timestamp);
+ log.debug("定时向天宇发送⼼跳,时间戳{}", timestamp);
HeartbeatCommand heartbeatMessage = new HeartbeatCommand(timestamp);
this.sendMessage(tyConfiguration.getIpPort(), heartbeatMessage);
}
--
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