From c197c31a1a7bc8a0d7011e39193e3d94060b397c Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Tue, 11 Mar 2025 13:35:37 +0800
Subject: [PATCH] 优化websocket应答信息
---
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 76 +++++++++++++++----------------------
1 files changed, 31 insertions(+), 45 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 9fba16d..e3e3e54 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
@@ -1,34 +1,31 @@
package com.ard.tianyu.service.impl;
import com.ard.common.utils.ByteUtils;
-import com.ard.tianyu.aspect.annotation.CheckControlAuthority;
+import com.ard.tianyu.aspect.annotation.RequireUavControl;
import com.ard.tianyu.config.TyConfiguration;
-import com.ard.tianyu.http.TyClient;
-import com.ard.tianyu.model.cache.TyTcpServerCache;
-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.realdata.UavSignalInfoConverter;
-import com.ard.tianyu.model.dto.converter.realdata.UavStateConverter;
-import com.ard.tianyu.model.dto.converter.realdata.UavTelemetryDataConverter;
-import com.ard.tianyu.model.dto.converter.wayline.PlanLineDataConverter;
-import com.ard.tianyu.model.dto.manual.*;
-import com.ard.tianyu.model.dto.settings.ReturnHeightSettingDTO;
-import com.ard.tianyu.model.dto.settings.ReturnPointSettingDTO;
-import com.ard.tianyu.model.dto.settings.VideoStreamSettingDTO;
-import com.ard.tianyu.model.dto.signal.SignalInfo;
-import com.ard.tianyu.model.dto.speaker.*;
-import com.ard.tianyu.model.dto.state.UavState;
-import com.ard.tianyu.model.dto.telemetry.TelemetryData;
-import com.ard.tianyu.model.dto.wayline.*;
-import com.ard.tianyu.model.receiver.*;
+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.domain.cache.TyTcpServerCache;
+import com.ard.tianyu.domain.cache.UavSignalInfoCache;
+import com.ard.tianyu.domain.cache.UavStateCache;
+import com.ard.tianyu.domain.cache.UavTelemetryDataCache;
+import com.ard.tianyu.domain.dto.BoxHistoryDTO;
+import com.ard.tianyu.domain.dto.BoxPhotosDTO;
+import com.ard.tianyu.domain.dto.BoxSettingsDTO;
+import com.ard.tianyu.domain.dto.control.AbsAngleControlDTO;
+import com.ard.tianyu.domain.dto.control.AngleControlDTO;
+import com.ard.tianyu.domain.dto.control.SpeedControlDTO;
+import com.ard.tianyu.domain.dto.converter.wayline.PlanLineDataConverter;
+import com.ard.tianyu.domain.dto.settings.ReturnHeightSettingDTO;
+import com.ard.tianyu.domain.dto.settings.ReturnPointSettingDTO;
+import com.ard.tianyu.domain.dto.settings.VideoStreamSettingDTO;
+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.*;
@@ -49,8 +46,8 @@
import com.ard.tianyu.netty.handler.ErrorCodeEnum;
import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
import com.ard.tianyu.service.ITyService;
+import com.ard.tianyu.websocket.domain.UavControlType;
import com.ard.tianyu.websocket.utils.WebSocketUtil;
-import com.ard.vtdu.domain.ArdVtdu;
import com.ard.vtdu.service.IMediaService;
import io.netty.channel.Channel;
import io.netty.channel.ChannelFuture;
@@ -200,6 +197,7 @@
/**
* 云台控制基于角度
*/
+ @RequireUavControl(UavControlType.PAYLOAD)
@Override
public Boolean angleControl(AngleControlDTO angleControlDto) {
AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto);
@@ -210,6 +208,7 @@
/**
* 云台绝对值控制(基于角度)
*/
+ @RequireUavControl(UavControlType.PAYLOAD)
@Override
public Boolean absAngleControl(AbsAngleControlDTO absAngleControlDto) {
AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto);
@@ -220,6 +219,7 @@
/**
* 云台转动(基于速度)
*/
+ @RequireUavControl(UavControlType.PAYLOAD)
@Override
public Boolean speedControl(SpeedControlDTO speedControlDto) {
SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto);
@@ -327,7 +327,7 @@
/**
* 起飞
*/
- @CheckControlAuthority
+ @RequireUavControl(UavControlType.FLY)
@Override
public Boolean takeOff(TakeOffDTO takeOffDTO) {
TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
@@ -593,20 +593,6 @@
}
/**
- * 点播
- */
- @Override
- public ArdVtdu play(String boxSn) {
- BoxStreamUrlReceiver boxLiveUrl = getBoxLiveUrl(boxSn);
- if(boxLiveUrl == null||boxLiveUrl.getRtsp() == null) {
- return null;
- }
- ArdVtdu ardVtdu = ArdVtdu.builder().name(boxSn).rtspSource(boxLiveUrl.getRtsp()).build();
- ardVtdu = mediaService.addPath(ardVtdu);
- return ardVtdu;
- }
-
- /**
* 处理天宇服务器返回的消息
*/
@Override
@@ -644,14 +630,14 @@
UavStateCmd uavStateCmd = (UavStateCmd) tyCommand;
UavStateCache.putUavState(uavStateCmd.getUavState());
logPrint("无人机状态", uavStateCmd.getUavState().getBoxSn());
- WebSocketUtil.sendMessageAll(uavStateCmd.getUavState());
+ // 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());
- WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
+ //WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
break;
case (byte) 0x0C:
--
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