From d1f854d741456292862c8b4a84f91c0f7f9a0be9 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Fri, 01 Nov 2024 15:15:13 +0800
Subject: [PATCH] 增加：航线开始/暂停/恢复/结束
---
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 680 +++++++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 636 insertions(+), 44 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 3438c14..fd8ae57 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
@@ -1,18 +1,50 @@
package com.ard.tianyu.service.impl;
+import com.ard.common.utils.ByteUtils;
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.UavSignalInfoConverter;
+import com.ard.tianyu.model.dto.converter.UavStateConverter;
+import com.ard.tianyu.model.dto.converter.UavTelemetryDataConverter;
+import com.ard.tianyu.model.dto.converter.wayline.PlanLineDataConverter;
+import com.ard.tianyu.model.dto.manual.*;
+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.netty.command.BaseCommand;
-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.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.netty.command.speaker.*;
+import com.ard.tianyu.netty.command.wayline.*;
+import com.ard.tianyu.netty.handler.ErrorCodeEnum;
+import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
import com.ard.tianyu.service.ITyService;
-import io.netty.buffer.ByteBuf;
-import io.netty.buffer.Unpooled;
+import com.ard.tianyu.websocket.utils.WebSocketUtil;
import io.netty.channel.Channel;
import io.netty.channel.ChannelFuture;
import lombok.extern.slf4j.Slf4j;
@@ -21,7 +53,11 @@
import javax.annotation.Resource;
import java.net.InetSocketAddress;
+import java.util.ArrayList;
+import java.util.Collections;
import java.util.List;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
/**
* TyServiceImpl
@@ -39,10 +75,13 @@
@Resource
private TyConfiguration tyConfiguration;
+ // 存储每个无人机的最后遥测处理时间
+ private Map<String, Long> lastTelemetryTimes = new ConcurrentHashMap<>();
+
/**
* 获取天宇token信息
*
- * @return
+ * @return AccessTokenReceiver
*/
@Override
public AccessTokenReceiver getAccessToken() {
@@ -52,31 +91,36 @@
/**
* 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) {
@@ -87,7 +131,7 @@
/**
* 获取盒子图片
*
- * @return
+ * @return List<BoxPhotosReceiver>
*/
@Override
public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) {
@@ -100,51 +144,599 @@
*/
@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;
}
-
+ /**
+ * 注册天宇平台
+ */
@Override
public void registerMessage() {
- AccessTokenReceiver tyToken = tyConfiguration.getAccessToken();
- RegisterCommand registerMessage = new RegisterCommand(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
- this.sendMessage(tyConfiguration.getIpPort(), registerMessage);
+ try {
+ AccessTokenReceiver tyToken = tyConfiguration.getAccessToken();
+ RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
+ this.sendMessage(tyConfiguration.getIpPort(), registerMessage);
+ } catch (Exception e) {
+ log.error("注册天宇平台失败:{}", e.getMessage());
+ }
}
- 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;
+ /**
+ * 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);
+ }
+
+ /**
+ * 取消返航
+ */
+ @Override
+ public void returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) {
+ ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), returnHomeCancelCmd);
+ }
+
+ /**
+ * 降落
+ */
+ @Override
+ public void land(LandDTO landDTO) {
+ LandCmd landCmd = new LandCmd(landDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), landCmd);
+ }
+
+ /**
+ * 取消降落
+ */
+ @Override
+ public void landCancel(LandCancelDTO landCancelDTO) {
+ LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), landCancelCmd);
+ }
+
+ /**
+ * 强制降落
+ */
+ @Override
+ public void landForced(LandForcedDTO landForcedDTO) {
+ LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), landForcedCmd);
+ }
+
+ /**
+ * 方向控制
+ */
+ @Override
+ public void flyControl(FlyControlDTO flyControlDTO) {
+ FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), flyControlCmd);
+ }
+
+ /**
+ * 指点飞行控制
+ */
+ @Override
+ public void flyPointControl(FlyPointControlDTO flyPointControlDTO) {
+ FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), flyPointControlCmd);
+ }
+
+ /**
+ * 停止指点飞行控制
+ */
+ @Override
+ public void flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) {
+ FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), flyPointControlCancelCmd);
+ }
+
+ /**
+ * 紧急制动
+ */
+ @Override
+ public void emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) {
+ EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), emergencyBrakeCmd);
+ }
+
+ /**
+ * 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);
+ }
+
+ /**
+ * 喊话模式切换
+ */
+ @Override
+ public void speakModeSwitch(SpeakModeSwitchDTO speakModeSwitchDTO) {
+ SpeakModeSwitchCmd speakModeSwitchCmd = new SpeakModeSwitchCmd(speakModeSwitchDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), speakModeSwitchCmd);
+ }
+
+ /**
+ * 文字喊话
+ */
+ @Override
+ public void textSpeak(TextSpeakDTO textSpeakDTO) {
+ TextSpeakCmd textSpeakCmd = new TextSpeakCmd(textSpeakDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), textSpeakCmd);
+ }
+
+ /**
+ * 实时喊话
+ */
+ @Override
+ public void realSpeak(RealSpeakDTO realSpeakDTO) {
+ RealSpeakCmd realSpeakCmd = new RealSpeakCmd(realSpeakDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), realSpeakCmd);
+ }
+
+ /**
+ * 录音喊话
+ */
+ @Override
+ public void recordSpeak(RecordSpeakDTO recordSpeakDTO) {
+ RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), recordSpeakCmd);
+ }
+
+ /**
+ * 设置音量
+ */
+ @Override
+ public void volumeSetting(VolumeSettingDTO volumeSettingDTO) {
+ VolumeSettingCmd volumeSettingCmd = new VolumeSettingCmd(volumeSettingDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), volumeSettingCmd);
+ }
+
+ /**
+ * 设置循环播放
+ */
+ @Override
+ public void loopSetting(LoopSettingDTO loopSettingDTO) {
+ LoopSettingCmd loopSettingCmd = new LoopSettingCmd(loopSettingDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), loopSettingCmd);
+ }
+
+ /**
+ * 停止喊话
+ */
+ @Override
+ public void stopSpeak(StopSpeakDTO stopSpeakDTO) {
+ StopSpeakCmd stopSpeakCmd = new StopSpeakCmd(stopSpeakDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), stopSpeakCmd);
+ }
+
+ /**
+ * 航线上传
+ */
+ @Override
+ public void wayLineUpload(WayLineUploadDTO wayLineUploadDTO) {
+ wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据
+ WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), wayLineUploadCmd);
+ }
+
+ //创建航线
+ private PlanLineData CreatePlanLineData() {
+ TelemetryDataPB.PointData pointData1 = TelemetryDataPB.PointData.newBuilder()
+ .setLng(124.12345).setLat(45.12345).setHeight(80).setSpeed(10)
+ .setFlightPathMode(1)//航线飞行模式：1=直线飞行，2=协调转弯，3=曲线飞行(停)，4=曲线飞行(不停)
+ .setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是
+ .build();
+ TelemetryDataPB.PointData pointData2 = TelemetryDataPB.PointData.newBuilder()
+ .setLng(124.22222).setLat(45.22222).setHeight(80).setSpeed(10)
+ .setFlightPathMode(1)//航线飞行模式：1=直线飞行，2=协调转弯，3=曲线飞行(停)，4=曲线飞行(不停)
+ .setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是
+ .build();
+ TelemetryDataPB.PointData pointData3 = TelemetryDataPB.PointData.newBuilder()
+ .setLng(124.33333).setLat(45.33333).setHeight(80).setSpeed(10)
+ .setFlightPathMode(1)//航线飞行模式：1=直线飞行，2=协调转弯，3=曲线飞行(停)，4=曲线飞行(不停)
+ .setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是
+ .build();
+
+ //创建航线
+ TelemetryDataPB.PlanLineData PlanLineDataPB = TelemetryDataPB.PlanLineData.newBuilder()
+ .setFinishedAction(2)//结束航线后动作：1=返航，2=原地悬停，3=原地降落，4=原地绕飞
+ .setMaxSpeed(10)//最大飞行速度
+ .setAutoSpeed(10)//自动飞行速度
+ .addPoints(pointData1)//航线点1
+ .addPoints(pointData2)//航线点2
+ .addPoints(pointData3)//航线点3
+ .setLoseAction(1)//网络失联后动作：0=返回HOME点，1=继续航线，默认0
+ .setHomeHeight(6)//返航高度：(单位:米，范围20~1500)
+ .setIsSaveEnergyMode(0)////是否开启节能模式：0=不是，1=是(说明：节能模式下，飞机沿最短直线距离由起飞点到航线第一个航点，非升高到第一个航点高度再飞往第一个航点)
+ .build();
+
+ return PlanLineDataConverter.convertProtoToEntity(PlanLineDataPB);
+ }
+
+ /**
+ * 航线开始
+ */
+ @Override
+ public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
+ WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), wayLineBeginCmd);
+ }
+
+ /**
+ * 航线暂停
+ */
+ @Override
+ public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
+ WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), wayLinePauseCmd);
+ }
+
+ /**
+ * 航线恢复
+ */
+ @Override
+ public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
+ WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), wayLineResumeCmd);
+ }
+
+ /**
+ * 航线结束
+ */
+ @Override
+ public void wayLineEnd(WayLineEndDTO wayLineEndDTO) {
+ WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), wayLineEndCmd);
+ }
+
+ /**
+ * 处理天宇服务器返回的消息
+ */
+ @Override
+ public void processReplyMessage(String key, BaseCmd tyCommand) {
+ byte cmdCode = tyCommand.getCmdCode();
+ switch (cmdCode) {
+ case 0x01:
+ // 处理心跳消息
+ RegisterReplyCmd registerReplyCommand = (RegisterReplyCmd) tyCommand;
+ logPrint("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;
+ logPrint("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;
+ logPrint("云盒开关机通知消息", boxPowerStatusReplyCmd.getStatus());
+ break;
+ case (byte) 0xA8:
+ // 处理无人机状态消息
+ UavStateCmd uavStateCmd = (UavStateCmd) tyCommand;
+ UavState uavState = UavStateConverter.convertProtoToEntity(uavStateCmd.getUavState());
+ UavStateCache.putUavState(uavState);
+ logPrint("无人机状态", uavState.getBoxSn());
+ WebSocketUtil.sendMessageAll(uavState);
+ break;
+ case (byte) 0xA9:
+ // 处理无人机遥测消息
+ UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
+ if (uavTelemetryDataCmd.getBoxSn() == null) {
+ return;
+ }
+ String boxSn = ByteUtils.bytesToString(uavTelemetryDataCmd.getBoxSn()); // 假设有获取无人机ID的方法
+ long currentTime = System.currentTimeMillis();
+
+ // 获取无人机的最后处理时间，如果没有则设置为0
+ long lastTelemetryTime = lastTelemetryTimes.getOrDefault(boxSn, 0L);
+
+ // 检查与上次处理时间的间隔
+ if (currentTime - lastTelemetryTime >= 1000) { // 1秒
+ TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(uavTelemetryDataCmd.getTelemetryData());
+ UavTelemetryDataCache.putUavTelemetryData(telemetryData);
+ logPrint("无人机遥测", telemetryData.getBoxSn());
+
+ // 更新最后处理时间
+ lastTelemetryTimes.put(boxSn, currentTime);
+ } else {
+ log.debug("无人机 " + boxSn + " 遥测数据接收过于频繁，已跳过处理");
+ }
+ break;
+
+ case (byte) 0x0C:
+ // 处理无人机信道质量数据
+ SignalInfoCmd signalInfoCmd = (SignalInfoCmd) tyCommand;
+ SignalInfo signalInfo = UavSignalInfoConverter.convertProtoToEntity(signalInfoCmd.getSignalInfo());
+ UavSignalInfoCache.putUavSignalInfoCache(signalInfo);
+ logPrint("无人机信道质量", signalInfo.getBoxSn());
+ 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);
+ logPrint("无人机初始化详情", uavInitCommand.getBoxSn());
+ }
+ if (tyCommand instanceof UavReadyReplyCmd) {
+ UavReadyReplyCmd uavReadyReplyCmd = (UavReadyReplyCmd) tyCommand;
+ logPrint("无人机准备完成通知", uavReadyReplyCmd.getBatteryPower());
+ }
+ if (tyCommand instanceof CameraModeReplyCmd) {
+ 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());
+ }
+ if (tyCommand instanceof CapturePicReplyCmd) {
+ CapturePicReplyCmd capturePicReplyCommand = (CapturePicReplyCmd) tyCommand;
+ logPrint("无人机拍照", capturePicReplyCommand.getResult(), capturePicReplyCommand.getErrorCode());
+ }
+ if (tyCommand instanceof RecordStartReplyCmd) {
+ RecordStartReplyCmd recordStartReplyCommand = (RecordStartReplyCmd) tyCommand;
+ logPrint("无人机开始录像", recordStartReplyCommand.getResult(), recordStartReplyCommand.getErrorCode());
+ }
+ if (tyCommand instanceof RecordStopReplyCmd) {
+ RecordStopReplyCmd recordStopReplyCommand = (RecordStopReplyCmd) tyCommand;
+ logPrint("无人机停止录像", recordStopReplyCommand.getResult(), recordStopReplyCommand.getErrorCode());
+ }
+ //起飞回复
+ if (tyCommand instanceof TakeOffReplyCmd) {
+ TakeOffReplyCmd takeOffReplyCommand = (TakeOffReplyCmd) tyCommand;
+ logPrint("无人机起飞", takeOffReplyCommand.getResult(), takeOffReplyCommand.getErrorCode());
+ }
+ //返航回复
+ if (tyCommand instanceof ReturnHomeReplyCmd) {
+ ReturnHomeReplyCmd returnHomeReplyCmd = (ReturnHomeReplyCmd) tyCommand;
+ logPrint("无人机返航", returnHomeReplyCmd.getResult(), returnHomeReplyCmd.getErrorCode());
+ }
+ //取消返航回复
+ if (tyCommand instanceof ReturnHomeCancelReplyCmd) {
+ ReturnHomeCancelReplyCmd returnHomeCancelReplyCmd = (ReturnHomeCancelReplyCmd) tyCommand;
+ logPrint("取消无人机返航", returnHomeCancelReplyCmd.getResult(), returnHomeCancelReplyCmd.getErrorCode());
+ }
+ //降落回复
+ if (tyCommand instanceof LandReplyCmd) {
+ LandReplyCmd landReplyCmd = (LandReplyCmd) tyCommand;
+ logPrint("降落", landReplyCmd.getResult(), landReplyCmd.getErrorCode());
+ }
+ //取消降落回复
+ if (tyCommand instanceof LandCancelReplyCmd) {
+ LandCancelReplyCmd landCancelReplyCmd = (LandCancelReplyCmd) tyCommand;
+ logPrint("取消降落", landCancelReplyCmd.getResult(), landCancelReplyCmd.getErrorCode());
+ }
+ //强制降落回复
+ if (tyCommand instanceof LandForcedReplyCmd) {
+ LandForcedReplyCmd landForcedReplyCmd = (LandForcedReplyCmd) tyCommand;
+ logPrint("强制降落", landForcedReplyCmd.getResult(), landForcedReplyCmd.getErrorCode());
+ }
+ //到达指点飞行位置回复
+ if (tyCommand instanceof PointControlReachedReplyCmd) {
+ PointControlReachedReplyCmd pointControlReachedReplyCmd = (PointControlReachedReplyCmd) tyCommand;
+ logPrint("到达指点飞行位置", pointControlReachedReplyCmd.getResult(), pointControlReachedReplyCmd.getErrorCode());
+ }
+ //紧急制动回复
+ if (tyCommand instanceof EmergencyBrakeReplyCmd) {
+ EmergencyBrakeReplyCmd emergencyBrakeReplyCmd = (EmergencyBrakeReplyCmd) tyCommand;
+ logPrint("紧急制动", emergencyBrakeReplyCmd.getResult(), emergencyBrakeReplyCmd.getErrorCode());
+ }
+ //上传航线回复
+ if (tyCommand instanceof WayLineUploadReplyCmd) {
+ WayLineUploadReplyCmd wayLineUploadReplyCmd = (WayLineUploadReplyCmd) tyCommand;
+ logPrint("上传航线", wayLineUploadReplyCmd.getResult(), wayLineUploadReplyCmd.getErrorCode());
+ }
+ break;
+ default:
+ // 处理其他消息
+ log.warn("收到其他消息-->{}", tyCommand.getCmdCode());
+ }
+ }
+
+ //公共日志打印
+ private void logPrint(String message, Object obj) {
+ log.debug("收到{}回复{}", message, obj);
+ }
+
+ //公共日志打印
+ private void logPrint(String message, byte result, Integer errorCode) {
+ log.info("收到{}回复:{} 错误码：{}【{}】",
+ message,
+ ByteUtils.byteToHex(result),
+ errorCode,
+ ErrorCodeEnum.getDescByCode(errorCode));
+ }
+
+ /**
+ * 定时3秒发送心跳指令
+ */
+ @Scheduled(fixedRate = 3000)
+ public void sendHeartBeat() {
+ if (!TyTcpServerCache.getTcpServerCache(tyConfiguration.getTcpserver() + ":" + tyConfiguration.getTcpport())) {
+ return;
+ }
+ 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);
+ }
+
+ /**
+ * 发送消息
+ */
+ private void sendMessage(String key, BaseCmd 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：" + msg.getCmdCode());
+ 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());
}
- }
-
- @Scheduled(fixedRate = 5000)
- public void sendHeartBeat() {
- long timestamp = System.currentTimeMillis();
- 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);
}
}
\ No newline at end of file
--
Gitblit v1.9.3