From b9f46001860bf194601b4bdf848545bfc72eefa5 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Sat, 26 Oct 2024 16:59:35 +0800
Subject: [PATCH] 增加：返航
---
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 415 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 406 insertions(+), 9 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 572bf5e..1525c4d 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
@@ -2,14 +2,50 @@
import com.ard.tianyu.config.TyConfiguration;
import com.ard.tianyu.http.TyClient;
-import com.ard.tianyu.model.receiver.AccessTokenReceiver;
-import com.ard.tianyu.model.receiver.BoxReceiver;
-import com.ard.tianyu.model.receiver.TyHttpCommonReceiver;
+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.camera.*;
+import com.ard.tianyu.model.dto.control.AbsAngleControlDTO;
+import com.ard.tianyu.model.dto.control.AngleControlDTO;
+import com.ard.tianyu.model.dto.control.SpeedControlDTO;
+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.manual.ReturnHomeDTO;
+import com.ard.tianyu.model.dto.manual.SwitchUavControlDTO;
+import com.ard.tianyu.model.dto.manual.TakeOffDTO;
+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.*;
+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.service.ITyService;
+import io.netty.channel.Channel;
+import io.netty.channel.ChannelFuture;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
-import java.util.Collections;
+import java.net.InetSocketAddress;
+import java.util.ArrayList;
import java.util.List;
/**
@@ -18,24 +54,385 @@
* @author liusuyi
* @date 2024年10月22日8:37
**/
+@Slf4j
@Service
public class TyServiceImpl implements ITyService {
@Resource
private TyClient tyClient;
+
@Resource
private TyConfiguration tyConfiguration;
-
+ /**
+ * 获取天宇token信息
+ *
+ * @return AccessTokenReceiver
+ */
@Override
public AccessTokenReceiver getAccessToken() {
return tyConfiguration.getAccessToken();
}
+ /**
+ * 获取云盒列表
+ *
+ * @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 BoxStreamUrlReceiver
+ */
+ @Override
+ public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) {
+
+ TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(boxSn, tyConfiguration.getAccessToken().convertFromDTO());
+ return boxLiveUrl.getContent();
+ }
+
+ /**
+ * 获取飞行历史
+ *
+ * @return List<BoxHistoryReceiver>
+ */
+ @Override
+ public List<BoxHistoryReceiver> getBoxHistory(BoxHistoryDTO boxHistoryDTO) {
+ TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(boxHistoryDTO, tyConfiguration.getAccessToken().convertFromDTO());
+ return boxHistory.getContent();
+ }
+
+ /**
+ * 获取盒子图片
+ *
+ * @return List<BoxPhotosReceiver>
+ */
+ @Override
+ public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) {
+ TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(boxPhotosDTO, tyConfiguration.getAccessToken().convertFromDTO());
+ return boxPhotos.getContent();
+ }
+
+ /**
+ * 修改云盒设置
+ */
+ @Override
+ public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) {
+ TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(boxSettingsDTO, tyConfiguration.getAccessToken().convertFromDTO());
+ return result.getState() == 1;
+ }
+
+ /**
+ * 注册天宇平台
+ */
+ @Override
+ public void registerMessage() {
+ AccessTokenReceiver tyToken = tyConfiguration.getAccessToken();
+ RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
+ this.sendMessage(tyConfiguration.getIpPort(), registerMessage);
+ }
+
+ /**
+ * 发送消息
+ */
+ public void sendMessage(String key, BaseCmd msg) {
+ try {
+ ChannelFuture future = TyNettyTcpClient.channels.get(key).getChannelFuture();
+ Channel channel = future.channel();
+ if (channel.isActive()) {
+ InetSocketAddress ipSocket = (InetSocketAddress) channel.remoteAddress();
+ String host = ipSocket.getHostString();
+ int port = ipSocket.getPort();
+ 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.error("发送消息异常：{}", e.getMessage());
+ }
+ }
+
+ /**
+ * 云台控制基于角度
+ */
+ @Override
+ public void angleControl(AngleControlDTO angleControlDto) {
+ AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto);
+ this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
+ }
+
+ /**
+ * 云台绝对值控制(基于角度)
+ */
+ @Override
+ public void absAngleControl(AbsAngleControlDTO absAngleControlDto) {
+ AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto);
+ this.sendMessage(tyConfiguration.getIpPort(), absAngleControlCommand);
+ }
+
+ /**
+ * 云台转动(基于速度)
+ */
+ @Override
+ public void speedControl(SpeedControlDTO speedControlDto) {
+ SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto);
+ this.sendMessage(tyConfiguration.getIpPort(), speedControlCommand);
+ }
+
+ /**
+ * 设置相机模式
+ */
+ @Override
+ public void updateCameraMode(CameraModeDTO cameraModeDTO) {
+ CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), cameraModeCommand);
+ }
+
+ /**
+ * 拍照
+ */
+ @Override
+ public void capturePic(CapturePicDTO capturePicDto) {
+ updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
+ CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);
+ this.sendMessage(tyConfiguration.getIpPort(), capturePicCommand);
+ }
+
+ /**
+ * 录像
+ */
+ @Override
+ public void record(RecordDTO recordDto) {
+ BaseCmd baseCmd;
+ if (recordDto.getIsRecord()) {
+ updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build());
+ baseCmd = new RecordStartCmd(recordDto);
+ } else {
+ baseCmd = new RecordStopCmd(recordDto);
+ }
+ this.sendMessage(tyConfiguration.getIpPort(), baseCmd);
+ }
+
+ /**
+ * 变倍
+ */
+ @Override
+ public void zoom(ZoomDTO zoomDTO) {
+ ZoomCmd zoomCommand = new ZoomCmd(zoomDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), zoomCommand);
+ }
+
+ /**
+ * 变倍到指定倍数
+ */
+ @Override
+ public void zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) {
+ ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), zoomToLevelCommand);
+ }
+
+ /**
+ * 切换摄像头
+ */
+ @Override
+ public void switchCamera(SwitchCameraDTO switchCameraDTO) {
+ SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), switchCameraCmd);
+ }
+
+ /**
+ * 切换视频源
+ */
+ @Override
+ public void switchSource(SwitchSourceDTO switchSourceDTO) {
+ SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), switchSourceCmd);
+ }
+
+ /**
+ * 打开或关闭照片回传
+ */
+ @Override
+ public void photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) {
+ PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), photoReturnToggleCmd);
+ }
+
+ /**
+ * 切换无人机控制权
+ */
+ @Override
+ public void switchUavControl(SwitchUavControlDTO switchUavControlDTO) {
+ SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), switchUavControlCmd);
+ }
+
+ /**
+ * 起飞
+ */
+ @Override
+ public void takeOff(TakeOffDTO takeOffDTO) {
+ TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), takeOffCmd);
+ }
+
+ /**
+ * 返航
+ */
+ @Override
+ public void returnHome(ReturnHomeDTO returnHomeDTO) {
+ ReturnHomeCmd returnHomeCmd=new ReturnHomeCmd(returnHomeDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), returnHomeCmd);
+ }
+
+ /**
+ * 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);
+ }
+
+ /**
+ * 处理天宇服务器返回的消息
+ */
+ @Override
+ public void processMessage(String key, BaseCmd tyCommand) {
+ byte cmdCode = tyCommand.getCmdCode();
+ switch (cmdCode) {
+ case 0x01:
+ // 处理心跳消息
+ RegisterReplyCmd registerReplyCommand = (RegisterReplyCmd) tyCommand;
+ log.debug("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
+ HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
+ log.debug("收到心跳消息-->处理心跳消息:{}", heartbeatReplyCmd.getTimestamp());
+ break;
+ case 0x03:
+ // 处理订阅消息
+ break;
+ case 0x04:
+ // 处理取消订阅消息
+ break;
+ case 0x0A:
+ // 处理云盒开关机通知消息
+ BoxPowerStatusReplyCmd boxPowerStatusReplyCmd = (BoxPowerStatusReplyCmd) tyCommand;
+ log.debug("收到云盒开关机通知消息-->状态:{}", boxPowerStatusReplyCmd.getStatus());
+ 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");
+ UavStateCmd uavStateCmd = (UavStateCmd) tyCommand;
+ UavState uavState = UavStateConverter.convertProtoToEntity(uavStateCmd.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");
+ UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
+ TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(uavTelemetryDataCmd.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");
+ SignalInfoCmd signalInfoCmd = (SignalInfoCmd) tyCommand;
+ SignalInfo signalInfo = UavSignalInfoConverter.convertProtoToEntity(signalInfoCmd.getSignalInfo());
+ UavSignalInfoCache.putUavSignalInfoCache(signalInfo);
+ break;
+ case (byte) 0xD1:
+ // 处理无人机
+ if (tyCommand instanceof UavInitReplyCmd) {
+ UavInitReplyCmd uavInitReplyCmd = (UavInitReplyCmd) tyCommand;
+ UavInitInfoCmd uavInitCommand = new UavInitInfoCmd(uavInitReplyCmd.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");
+ }
+ if (tyCommand instanceof UavReadyReplyCmd) {
+ UavReadyReplyCmd uavReadyReplyCmd = (UavReadyReplyCmd) tyCommand;
+ log.info("收到无人机准备完成通知,电池电量{} 经度{} 纬度{} 海拔{}", uavReadyReplyCmd.getBatteryPower(), uavReadyReplyCmd.getLongitude(), uavReadyReplyCmd.getLatitude(), uavReadyReplyCmd.getAltitude());
+ }
+ if (tyCommand instanceof CameraModeReplyCmd) {
+ CameraModeReplyCmd cameraModeReplyCommand = (CameraModeReplyCmd) tyCommand;
+ log.info("收到无人机设置相机模式回复:{} 错误码：{}", String.format("0x%02X", cameraModeReplyCommand.getResult() & 0xFF), cameraModeReplyCommand.getErrorCode());
+ }
+ if (tyCommand instanceof FlyWayEndReplyCmd) {
+ FlyWayEndReplyCmd flyWayEndReplyCmd = (FlyWayEndReplyCmd) tyCommand;
+ log.info("收到无人机飞行结束通知:状态：{}", flyWayEndReplyCmd.getResult());
+ }
+ if (tyCommand instanceof CapturePicReplyCmd) {
+ CapturePicReplyCmd capturePicReplyCommand = (CapturePicReplyCmd) tyCommand;
+ log.info("收到无人机拍照回复:{} 错误码：{}", String.format("0x%02X", capturePicReplyCommand.getResult() & 0xFF), capturePicReplyCommand.getErrorCode());
+ }
+ if (tyCommand instanceof RecordStartReplyCmd) {
+ RecordStartReplyCmd recordStartReplyCommand = (RecordStartReplyCmd) tyCommand;
+ log.info("收到无人机开始录像回复:{} 错误码：{}", String.format("0x%02X", recordStartReplyCommand.getResult() & 0xFF), recordStartReplyCommand.getErrorCode());
+ }
+ if (tyCommand instanceof RecordStopReplyCmd) {
+ RecordStopReplyCmd recordStopReplyCommand = (RecordStopReplyCmd) tyCommand;
+ log.info("收到无人机停止录像回复:{} 错误码：{}", String.format("0x%02X", recordStopReplyCommand.getResult() & 0xFF), recordStopReplyCommand.getErrorCode());
+ }
+ //起飞回复
+ if (tyCommand instanceof TakeOffReplyCmd) {
+ TakeOffReplyCmd takeOffReplyCommand = (TakeOffReplyCmd) tyCommand;
+ log.info("收到无人机起飞回复:{} 错误码：{}", String.format("0x%02X", takeOffReplyCommand.getResult() & 0xFF), takeOffReplyCommand.getErrorCode());
+ }
+ //返航回复
+ if (tyCommand instanceof ReturnHomeReplyCmd) {
+ ReturnHomeReplyCmd returnHomeReplyCmd = (ReturnHomeReplyCmd) tyCommand;
+ log.info("收到无人机返航回复:{} 错误码：{}", String.format("0x%02X", returnHomeReplyCmd.getResult() & 0xFF), returnHomeReplyCmd.getErrorCode());
+ }
+ break;
+ default:
+ // 处理其他消息
+ log.debug("收到其他消息-->其他消息");
+ }
+ }
+
+ /**
+ * 定时3秒发送心跳指令
+ */
+ @Scheduled(fixedRate = 3000)
+ public void sendHeartBeat() {
+ long timestamp = System.currentTimeMillis();
+ log.debug("定时向天宇发送⼼跳,时间戳{}", timestamp);
+ HeartbeatCmd heartbeatMessage = new HeartbeatCmd(timestamp);
+ this.sendMessage(tyConfiguration.getIpPort(), heartbeatMessage);
+ }
+}
\ No newline at end of file
--
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