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 | 31 ++++++++++---------------------
1 files changed, 10 insertions(+), 21 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 e51eee5..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
@@ -18,8 +18,6 @@
import com.ard.tianyu.netty.command.*;
import com.ard.tianyu.netty.TyNettyTcpClient;
import com.ard.tianyu.service.ITyService;
-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;
@@ -127,13 +125,6 @@
this.sendMessage(tyConfiguration.getIpPort(), registerMessage);
}
- /**
- * 无人机控制订阅
- */
- public void uavControlSubscribe(String boxSn) {
- SubscribeCommand subscribeCommand = new SubscribeCommand(boxSn);
- this.sendMessage(tyConfiguration.getIpPort(), subscribeCommand);
- }
/**
* 发送消息
@@ -146,10 +137,7 @@
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
+ 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！");
@@ -163,9 +151,14 @@
* 云台控制基于角度
*/
@Override
- public void controlAngle(String boxSn, Integer actionId, Integer rotationAngle) {
- ControlAngleCommand controlAngleCommand = new ControlAngleCommand(boxSn.getBytes(), (byte) 0x00, actionId.byteValue(), rotationAngle.byteValue());
+ public void angleControl(String boxSn, Integer actionId, Integer rotationAngle) {
+ ControlAngleCommand controlAngleCommand = new ControlAngleCommand(boxSn, actionId.byteValue(), rotationAngle.byteValue());
this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
+ }
+
+ @Override
+ public void absAngleControl(String boxSn, Integer actionId, float pitch, float yaw, float roll) {
+
}
/**
@@ -213,13 +206,9 @@
break;
case 0x03:
// 处理订阅消息
- SubscribeCommand subscribeCommand = (SubscribeCommand) tyCommand;
- log.info("收到订阅消息-->处理订阅消息{}", subscribeCommand.getBoxSn());
break;
case 0x04:
// 处理取消订阅消息
- subscribeCommand = (SubscribeCommand) tyCommand;
- log.info("收到取消订阅消息-->处理取消订阅消息{}", subscribeCommand.getBoxSn());
break;
case (byte) 0xA8:
// 处理无人机状态消息
@@ -244,9 +233,9 @@
break;
case (byte) 0xD1:
// 处理无人机
- DroneReadyNotificationCommand droneReadyNotificationCommand = (DroneReadyNotificationCommand) tyCommand;
+ UavReadyNotificationCommand droneReadyNotificationCommand = (UavReadyNotificationCommand) tyCommand;
if (droneReadyNotificationCommand.getActionCode() == (byte) 0x42) {
- UavInitInfoCommand uavInitCommand = new UavInitInfoCommand((byte) 0x00, (byte) 0x42, (byte) 0x01);
+ 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");
}
--
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