From b8b5a3895e741d5348ecdd39ad2e5cbd443f8e89 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Wed, 01 Apr 2026 12:17:04 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 159 +++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 137 insertions(+), 22 deletions(-)
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 5908682..83e24dd 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
@@ -1,6 +1,7 @@
package com.ard.work.service.impl;
import com.ard.common.exception.ControlException;
+import com.ard.vtdu.config.MediamtxConfig;
import com.ard.work.aspect.annotation.CheckControlRight;
import com.ard.work.aspect.annotation.CheckDroneStatus;
import com.ard.work.aspect.annotation.CheckNoFlyZone;
@@ -14,7 +15,7 @@
import com.ard.work.component.netty.command.control.SpeedControlCmd;
import com.ard.work.component.netty.command.manual.*;
import com.ard.work.component.netty.command.notice.BoxPowerStatusReplyCmd;
-import com.ard.work.component.netty.command.notice.FlyWayEndReplyCmd;
+import com.ard.work.component.netty.command.notice.WayLineFinishedReplyCmd;
import com.ard.work.component.netty.command.notice.UavReadyReplyCmd;
import com.ard.work.component.netty.command.real.SignalInfoCmd;
import com.ard.work.component.netty.command.real.UavStateCmd;
@@ -26,12 +27,14 @@
import com.ard.work.component.netty.handler.ErrorCodeEnum;
import com.ard.work.component.netty.protobuf.TelemetryDataPB;
import com.ard.work.component.websocket.utils.WebSocketUtil;
+import com.ard.work.config.RouteStateMachineService;
import com.ard.work.domain.cache.UavSignalInfoCache;
import com.ard.work.domain.cache.UavStateCache;
import com.ard.work.domain.cache.UavTelemetryDataCache;
import com.ard.work.domain.dto.BoxHistoryDTO;
import com.ard.work.domain.dto.BoxPhotosDTO;
import com.ard.work.domain.dto.BoxSettingsDTO;
+import com.ard.work.domain.dto.BoxVideosDTO;
import com.ard.work.domain.dto.camera.*;
import com.ard.work.domain.dto.control.AbsAngleControlDTO;
import com.ard.work.domain.dto.control.AngleControlDTO;
@@ -48,17 +51,21 @@
import com.ard.work.domain.dto.wayline.*;
import com.ard.work.domain.entity.ArdDroneInfo;
import com.ard.work.domain.entity.ArdServerInfo;
+import com.ard.work.domain.enums.RouteEvent;
import com.ard.work.domain.message.ServerReplyMessage;
import com.ard.work.domain.message.UavControlType;
import com.ard.work.domain.receiver.*;
import com.ard.work.service.IArdDroneInfoService;
+import com.ard.work.service.IArdFlightTaskPartService;
import com.ard.work.service.IArdServerInfoService;
import com.ard.work.service.ITyService;
import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
import java.util.stream.Collectors;
import java.util.stream.Stream;
@@ -77,7 +84,12 @@
private IArdDroneInfoService ardDroneService;
@Resource
private TyClient tyClient;
-
+ @Autowired
+ private RouteStateMachineService stateMachineService;
+ @Autowired
+ private IArdFlightTaskPartService ardFlightTaskPartService;
+ @Resource
+ private MediamtxConfig mediamtxConfig;
/**
* 获取边缘服务器token信息
*
@@ -123,8 +135,8 @@
if (ardDroneInfo == null) {
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
-
-
+
+
TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(),
boxSn);
return boxLiveUrl == null ? null : boxLiveUrl.getContent();
@@ -148,7 +160,7 @@
}
/**
- * 获取盒子图片
+ * 获取任务图片
*
* @return List<BoxPhotosReceiver>
*/
@@ -163,7 +175,22 @@
boxPhotosDTO);
return boxPhotos == null ? null : boxPhotos.getContent();
}
-
+ /**
+ * 获取任务视频
+ *
+ * @return List<BoxVideosReceiver>
+ */
+ @Override
+ public List<BoxVideosReceiver> getBoxVideos(BoxVideosDTO boxVideosDTO) {
+ String boxSn = boxVideosDTO.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);
+ }
+ TyHttpCommonReceiver<List<BoxVideosReceiver>> boxVideos = tyClient.getBoxVideos(ardDroneInfo.getServerId(),
+ boxVideosDTO);
+ return boxVideos == null ? null : boxVideos.getContent();
+ }
/**
* 修改云盒设置
*/
@@ -175,7 +202,7 @@
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(ardDroneInfo.getServerId(), boxSettingsDTO);
- return result.getState() == 1;
+ return result.getState() == 0;
}
/**
@@ -287,6 +314,18 @@
return true;
}
+ @Override
+ public Boolean formatSdCard(FormatSdCardDTO formatSdCardDTO) {
+ String boxSn = formatSdCardDTO.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);
+ }
+ FormatSdCardCmd formatSdCardCmd = new FormatSdCardCmd(formatSdCardDTO);
+ this.sendMessage(ardDroneInfo.getServerId(), formatSdCardCmd);
+ return true;
+ }
+
/**
* 设置相机模式
*/
@@ -315,9 +354,10 @@
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
//设置相机模式为拍照模式
- updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
+ //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());
+ //photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01)
+ // .build());
CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);
this.sendMessage(ardDroneInfo.getServerId(), capturePicCommand);
@@ -337,7 +377,7 @@
}
BaseCmd baseCmd;
if (recordDto.getIsRecord()) {
- updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build());
+ //updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build());
baseCmd = new RecordStartCmd(recordDto);
} else {
baseCmd = new RecordStopCmd(recordDto);
@@ -542,7 +582,7 @@
* 方向控制
*/
@CheckControlRight(UavControlType.FLY)
- @CheckTakeoffAltitude(minAltitude = 30.0)
+ @CheckTakeoffAltitude
@Override
public Boolean flyControl(FlyControlDTO flyControlDTO) {
String boxSn = flyControlDTO.getBoxSn();
@@ -559,7 +599,7 @@
* 指点飞行控制
*/
@CheckControlRight(UavControlType.FLY)
- @CheckTakeoffAltitude(minAltitude = 30.0)
+ @CheckTakeoffAltitude
@CheckNoFlyZone
@Override
public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) {
@@ -568,6 +608,10 @@
if (ardDroneInfo == null) {
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
+ //打点之前先停止打点
+ FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(FlyPointControlCancelDTO.builder().boxSn(boxSn).build());
+ this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd);
+
FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd);
return true;
@@ -584,10 +628,44 @@
if (ardDroneInfo == null) {
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
-
-
+
+
FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO);
this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd);
+ return true;
+ }
+
+
+ /**
+ * 环绕飞行控制
+ */
+// @CheckControlRight(UavControlType.FLY)
+// @CheckTakeoffAltitude
+// @CheckNoFlyZone
+ @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 flyRoundControlCmd = new FlyRoundControlCmd(flyRoundControlDTO);
+ this.sendMessage(ardDroneInfo.getServerId(), flyRoundControlCmd);
+ 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;
}
@@ -602,8 +680,8 @@
if (ardDroneInfo == null) {
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
-
-
+
+
EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO);
this.sendMessage(ardDroneInfo.getServerId(), emergencyBrakeCmd);
return true;
@@ -750,9 +828,8 @@
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
//wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据
- System.out.println("wayLineUploadDTO:-----------------" + wayLineUploadDTO);
+ log.info("打印航线上传数据 ++++++++ wayLineUploadDTO:~~~~~~~~~~~~~~~" + wayLineUploadDTO);
WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
- System.out.println("wayLineUploadCmd:-----------------" + wayLineUploadCmd);
this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd);
return true;
}
@@ -903,7 +980,8 @@
case (byte) 0xA9:
// 处理无人机遥测消息
UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
- UavTelemetryDataCache.put(uavTelemetryDataCmd.getTelemetryData());
+ TelemetryData telemetryData = uavTelemetryDataCmd.getTelemetryData();
+ UavTelemetryDataCache.put(telemetryData);
//logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
//WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
break;
@@ -930,9 +1008,10 @@
CameraModeReplyCmd cameraModeReplyCommand = (CameraModeReplyCmd) tyCommand;
logPrint("无人机设置相机模式", cameraModeReplyCommand.getResult(), cameraModeReplyCommand.getErrorCode());
}
- if (tyCommand instanceof FlyWayEndReplyCmd) {
- FlyWayEndReplyCmd flyWayEndReplyCmd = (FlyWayEndReplyCmd) tyCommand;
- logPrint("无人机飞行结束", flyWayEndReplyCmd.getResult(), flyWayEndReplyCmd.getErrorCode());
+ //格式化存储卡
+ if (tyCommand instanceof FormatSdCardReplyCmd) {
+ FormatSdCardReplyCmd formatSdCardReplyCmd = (FormatSdCardReplyCmd) tyCommand;
+ logPrint("格式化存储卡", formatSdCardReplyCmd.getResult(), formatSdCardReplyCmd.getErrorCode());
}
if (tyCommand instanceof CapturePicReplyCmd) {
CapturePicReplyCmd capturePicReplyCommand = (CapturePicReplyCmd) tyCommand;
@@ -994,23 +1073,53 @@
}
//开始航线回复
if (tyCommand instanceof WayLineBeginReplyCmd) {
+
WayLineBeginReplyCmd wayLineBeginReplyCmd = (WayLineBeginReplyCmd) tyCommand;
logPrint("开始航线", wayLineBeginReplyCmd.getResult(), wayLineBeginReplyCmd.getErrorCode());
+ if (wayLineBeginReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.START_SUCCESS);
+ }
}
//暂停航线回复
if (tyCommand instanceof WayLinePauseReplyCmd) {
WayLinePauseReplyCmd wayLinePauseReplyCmd = (WayLinePauseReplyCmd) tyCommand;
logPrint("暂停航线", wayLinePauseReplyCmd.getResult(), wayLinePauseReplyCmd.getErrorCode());
+ if (wayLinePauseReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.PAUSE_SUCCESS);
+ }
}
//恢复航线回复
if (tyCommand instanceof WayLineResumeReplyCmd) {
WayLineResumeReplyCmd wayLineResumeReplyCmd = (WayLineResumeReplyCmd) tyCommand;
logPrint("恢复航线", wayLineResumeReplyCmd.getResult(), wayLineResumeReplyCmd.getErrorCode());
+ if (wayLineResumeReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.RESUME_SUCCESS);
+ }
}
//结束航线回复
if (tyCommand instanceof WayLineEndReplyCmd) {
WayLineEndReplyCmd wayLineEndReplyCmd = (WayLineEndReplyCmd) tyCommand;
logPrint("结束航线", wayLineEndReplyCmd.getResult(), wayLineEndReplyCmd.getErrorCode());
+ if (wayLineEndReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.STOP_SUCCESS);
+ }
+ }
+ if (tyCommand instanceof WayLineFinishedReplyCmd) {
+ WayLineFinishedReplyCmd wayLineFinishedReplyCmd = (WayLineFinishedReplyCmd) tyCommand;
+ logPrint("航线执行完成", wayLineFinishedReplyCmd.getResult(), wayLineFinishedReplyCmd.getErrorCode());
+ if (wayLineFinishedReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.RESET_ROUTE);
+ }
}
//设置返航高度回复
if (tyCommand instanceof ReturnHeightSettingReplyCmd) {
@@ -1024,6 +1133,12 @@
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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