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 | 164 ++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 163 insertions(+), 1 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 c5cd5b7..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
@@ -3,6 +3,7 @@
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;
@@ -16,10 +17,13 @@
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.*;
import com.ard.tianyu.netty.TyNettyTcpClient;
@@ -35,7 +39,10 @@
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 com.ard.tianyu.websocket.utils.WebSocketUtil;
import io.netty.channel.Channel;
@@ -47,6 +54,7 @@
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;
@@ -384,6 +392,149 @@
}
/**
+ * 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
@@ -427,6 +578,9 @@
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();
@@ -523,7 +677,12 @@
//紧急制动回复
if (tyCommand instanceof EmergencyBrakeReplyCmd) {
EmergencyBrakeReplyCmd emergencyBrakeReplyCmd = (EmergencyBrakeReplyCmd) tyCommand;
- logPrint("紧急制动回复", emergencyBrakeReplyCmd.getResult(), emergencyBrakeReplyCmd.getErrorCode());
+ 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:
@@ -551,6 +710,9 @@
*/
@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);
--
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