From d224735ba7c3b9a0e9df3699c9c1fad1202e576d Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Tue, 28 Oct 2025 14:41:57 +0800
Subject: [PATCH] 优化
---
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 387 ++++++++++++++++++++++++++++++++++---------------------
1 files changed, 238 insertions(+), 149 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 37e86c0..ef5925e 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
@@ -1,63 +1,65 @@
package com.ard.work.service.impl;
import com.ard.common.utils.ByteUtils;
-import com.ard.work.aspect.annotation.CheckTakeoffAltitude;
import com.ard.work.aspect.annotation.CheckControlRight;
+import com.ard.work.aspect.annotation.CheckTakeoffAltitude;
+import com.ard.work.component.forest.TyClient;
+import com.ard.work.component.netty.TcpClientUtil;
import com.ard.work.component.netty.command.BaseCmd;
import com.ard.work.component.netty.command.camera.*;
-import com.ard.work.component.netty.command.manual.*;
-import com.ard.work.component.netty.command.register.*;
-import com.ard.work.component.netty.command.settings.*;
-import com.ard.work.component.netty.command.speaker.*;
-import com.ard.work.component.netty.command.wayline.*;
-import com.ard.work.config.TyConfiguration;
-import com.ard.work.domain.dto.camera.*;
-import com.ard.work.domain.dto.manual.*;
-import com.ard.work.domain.dto.speaker.*;
-import com.ard.work.domain.dto.wayline.*;
-import com.ard.work.domain.receiver.*;
-import com.ard.work.component.forest.TyClient;
-import com.ard.work.domain.cache.TyTcpServerCache;
-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.control.AbsAngleControlDTO;
-import com.ard.work.domain.dto.control.AngleControlDTO;
-import com.ard.work.domain.dto.control.SpeedControlDTO;
-import com.ard.work.domain.dto.converter.wayline.PlanLineDataConverter;
-import com.ard.work.domain.dto.settings.ReturnHeightSettingDTO;
-import com.ard.work.domain.dto.settings.ReturnPointSettingDTO;
-import com.ard.work.domain.dto.settings.VideoStreamSettingDTO;
-import com.ard.work.domain.dto.signal.SignalInfo;
-import com.ard.work.domain.dto.state.UavState;
-import com.ard.work.domain.dto.telemetry.TelemetryData;
-import com.ard.work.component.netty.NettyTcpClient;
import com.ard.work.component.netty.command.control.AbsAngleControlCmd;
import com.ard.work.component.netty.command.control.AngleControlCmd;
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.UavReadyReplyCmd;
import com.ard.work.component.netty.command.real.SignalInfoCmd;
import com.ard.work.component.netty.command.real.UavStateCmd;
import com.ard.work.component.netty.command.real.UavTelemetryDataCmd;
+import com.ard.work.component.netty.command.register.*;
+import com.ard.work.component.netty.command.settings.*;
+import com.ard.work.component.netty.command.speaker.*;
+import com.ard.work.component.netty.command.wayline.*;
import com.ard.work.component.netty.handler.ErrorCodeEnum;
import com.ard.work.component.netty.protobuf.TelemetryDataPB;
-import com.ard.work.service.ITyService;
+import com.ard.work.component.websocket.utils.WebSocketUtil;
+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.camera.*;
+import com.ard.work.domain.dto.control.AbsAngleControlDTO;
+import com.ard.work.domain.dto.control.AngleControlDTO;
+import com.ard.work.domain.dto.control.SpeedControlDTO;
+import com.ard.work.domain.dto.converter.wayline.PlanLineDataConverter;
+import com.ard.work.domain.dto.manual.*;
+import com.ard.work.domain.dto.settings.ReturnHeightSettingDTO;
+import com.ard.work.domain.dto.settings.ReturnPointSettingDTO;
+import com.ard.work.domain.dto.settings.VideoStreamSettingDTO;
+import com.ard.work.domain.dto.signal.SignalInfo;
+import com.ard.work.domain.dto.speaker.*;
+import com.ard.work.domain.dto.state.UavState;
+import com.ard.work.domain.dto.telemetry.TelemetryData;
+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.message.BaseMessage;
+import com.ard.work.domain.message.ServerReplyMessage;
import com.ard.work.domain.message.UavControlType;
-import io.netty.channel.Channel;
-import io.netty.channel.ChannelFuture;
+import com.ard.work.domain.receiver.*;
+import com.ard.work.service.IArdDroneInfoService;
+import com.ard.work.service.IArdServerInfoService;
+import com.ard.work.service.ITyService;
import lombok.extern.slf4j.Slf4j;
-import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
-import java.net.InetSocketAddress;
-import java.util.ArrayList;
-import java.util.List;
+import java.util.*;
+import java.util.stream.Collectors;
+import java.util.stream.Stream;
/**
* TyServiceImpl
@@ -68,39 +70,43 @@
@Slf4j
@Service
public class TyServiceImpl implements ITyService {
-
+ @Resource
+ private IArdServerInfoService ardServerService;
+ @Resource
+ private IArdDroneInfoService ardDroneService;
@Resource
private TyClient tyClient;
- @Resource
- private TyConfiguration tyConfiguration;
-
-
/**
- * 获取六合token信息
+ * 获取边缘服务器token信息
*
* @return AccessTokenReceiver
*/
@Override
- public AccessTokenReceiver getAccessToken() {
- return tyConfiguration.getAccessToken();
+ public AccessTokenReceiver getAccessToken(String serverId) {
+ return ardServerService.getAccessToken(serverId);
}
/**
- * 获取云盒列表
+ * 获取全部云盒列表
*
* @return List<BoxInfoReceiver>
*/
@Override
public List<BoxInfoReceiver> getBoxList() {
- //请求云盒列表
- try {
- TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReceiver = tyClient.getBoxList();
- return boxListReceiver.getContent();
- } catch (Exception e) {
- log.error("获取云盒列表失败:{}", e.getMessage());
- return new ArrayList<>();
- }
+ List<ArdServerInfo> ardServerInfos = ardServerService.selectArdServerInfoList(new ArdServerInfo());
+ return getBoxList(ardServerInfos);
+ }
+
+ /**
+ * 获取指定服务器云盒列表
+ *
+ * @return List<BoxInfoReceiver>
+ */
+ @Override
+ public List<BoxInfoReceiver> getBoxList(String serverId) {
+ TyHttpCommonReceiver<List<BoxInfoReceiver>> boxList = tyClient.getBoxList(serverId);
+ return boxList == null ? null : boxList.getContent();
}
/**
@@ -110,9 +116,14 @@
*/
@Override
public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) {
-
- TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(boxSn);
- return boxLiveUrl.getContent();
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
+ if (ardDroneInfo == null) {
+ log.warn("未找到对应的飞行器信息,boxSn:{}", boxSn);
+ return null;
+ }
+ TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(),
+ boxSn);
+ return boxLiveUrl == null ? null : boxLiveUrl.getContent();
}
/**
@@ -122,8 +133,10 @@
*/
@Override
public List<BoxHistoryReceiver> getBoxHistory(BoxHistoryDTO boxHistoryDTO) {
- TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(boxHistoryDTO);
- return boxHistory.getContent();
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxHistoryDTO.getBoxSn());
+ TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(ardDroneInfo.getServerId(),
+ boxHistoryDTO);
+ return boxHistory == null ? null : boxHistory.getContent();
}
/**
@@ -133,8 +146,10 @@
*/
@Override
public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) {
- TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(boxPhotosDTO);
- return boxPhotos.getContent();
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxPhotosDTO.getBoxSn());
+ TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(ardDroneInfo.getServerId(),
+ boxPhotosDTO);
+ return boxPhotos == null ? null : boxPhotos.getContent();
}
/**
@@ -142,7 +157,8 @@
*/
@Override
public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) {
- TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(boxSettingsDTO);
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSettingsDTO.getBoxSn());
+ TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(ardDroneInfo.getServerId(), boxSettingsDTO);
return result.getState() == 1;
}
@@ -151,8 +167,9 @@
*/
@Override
public Boolean updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHeightSettingDTO.getBoxSn());
ReturnHeightSettingCmd returnHeightSettingCmd = new ReturnHeightSettingCmd(returnHeightSettingDTO);
- this.sendMessage(tyConfiguration.getIpPort(), returnHeightSettingCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), returnHeightSettingCmd);
return true;
}
@@ -161,8 +178,9 @@
*/
@Override
public Boolean updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnPointSettingDTO.getBoxSn());
ReturnPointSettingCmd returnPointSettingCmd = new ReturnPointSettingCmd(returnPointSettingDTO);
- this.sendMessage(tyConfiguration.getIpPort(), returnPointSettingCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), returnPointSettingCmd);
return true;
}
@@ -171,22 +189,23 @@
*/
@Override
public Boolean updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(videoStreamSettingDTO.getBoxSn());
VideoStreamSettingCmd videoStreamSettingCmd = new VideoStreamSettingCmd(videoStreamSettingDTO);
- this.sendMessage(tyConfiguration.getIpPort(), videoStreamSettingCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), videoStreamSettingCmd);
return true;
}
/**
- * 注册六合平台
+ * 注册边缘服务器平台
*/
@Override
- public Boolean registerMessage() {
+ public Boolean registerMessage(String serverId) {
try {
- AccessTokenReceiver tyToken = tyConfiguration.getAccessToken();
+ AccessTokenReceiver tyToken = ardServerService.getAccessToken(serverId);
RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
- this.sendMessage(tyConfiguration.getIpPort(), registerMessage);
+ this.sendMessage(serverId, registerMessage);
} catch (Exception e) {
- log.error("注册六合平台失败:{}", e.getMessage());
+ log.error("注册边缘服务器平台失败:{}", e.getMessage());
}
return true;
}
@@ -197,8 +216,9 @@
@CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean angleControl(AngleControlDTO angleControlDto) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(angleControlDto.getBoxSn());
AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto);
- this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
+ this.sendMessage(ardDroneInfo.getServerId(), controlAngleCommand);
return true;
}
@@ -208,8 +228,9 @@
@CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean absAngleControl(AbsAngleControlDTO absAngleControlDto) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(absAngleControlDto.getBoxSn());
AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto);
- this.sendMessage(tyConfiguration.getIpPort(), absAngleControlCommand);
+ this.sendMessage(ardDroneInfo.getServerId(), absAngleControlCommand);
return true;
}
@@ -219,8 +240,9 @@
@CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean speedControl(SpeedControlDTO speedControlDto) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(speedControlDto.getBoxSn());
SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto);
- this.sendMessage(tyConfiguration.getIpPort(), speedControlCommand);
+ this.sendMessage(ardDroneInfo.getServerId(), speedControlCommand);
return true;
}
@@ -229,8 +251,9 @@
*/
@Override
public Boolean updateCameraMode(CameraModeDTO cameraModeDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(cameraModeDTO.getBoxSn());
CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO);
- this.sendMessage(tyConfiguration.getIpPort(), cameraModeCommand);
+ this.sendMessage(ardDroneInfo.getServerId(), cameraModeCommand);
return true;
}
@@ -243,9 +266,9 @@
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());
-
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(capturePicDto.getBoxSn());
CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);
- this.sendMessage(tyConfiguration.getIpPort(), capturePicCommand);
+ this.sendMessage(ardDroneInfo.getServerId(), capturePicCommand);
return true;
}
@@ -261,7 +284,8 @@
} else {
baseCmd = new RecordStopCmd(recordDto);
}
- this.sendMessage(tyConfiguration.getIpPort(), baseCmd);
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(recordDto.getBoxSn());
+ this.sendMessage(ardDroneInfo.getServerId(), baseCmd);
return true;
}
@@ -271,8 +295,9 @@
@CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean zoom(ZoomDTO zoomDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(zoomDTO.getBoxSn());
ZoomCmd zoomCommand = new ZoomCmd(zoomDTO);
- this.sendMessage(tyConfiguration.getIpPort(), zoomCommand);
+ this.sendMessage(ardDroneInfo.getServerId(), zoomCommand);
return true;
}
@@ -282,8 +307,9 @@
@CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(zoomToLevelDTO.getBoxSn());
ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO);
- this.sendMessage(tyConfiguration.getIpPort(), zoomToLevelCommand);
+ this.sendMessage(ardDroneInfo.getServerId(), zoomToLevelCommand);
return true;
}
@@ -292,8 +318,9 @@
*/
@Override
public Boolean switchCamera(SwitchCameraDTO switchCameraDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchCameraDTO.getBoxSn());
SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO);
- this.sendMessage(tyConfiguration.getIpPort(), switchCameraCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), switchCameraCmd);
return true;
}
@@ -302,8 +329,9 @@
*/
@Override
public Boolean switchSource(SwitchSourceDTO switchSourceDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchSourceDTO.getBoxSn());
SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO);
- this.sendMessage(tyConfiguration.getIpPort(), switchSourceCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), switchSourceCmd);
return true;
}
@@ -312,8 +340,9 @@
*/
@Override
public Boolean photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(photoReturnToggleDTO.getBoxSn());
PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO);
- this.sendMessage(tyConfiguration.getIpPort(), photoReturnToggleCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), photoReturnToggleCmd);
return true;
}
@@ -322,8 +351,9 @@
*/
@Override
public Boolean switchUavControl(SwitchUavControlDTO switchUavControlDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchUavControlDTO.getBoxSn());
SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO);
- this.sendMessage(tyConfiguration.getIpPort(), switchUavControlCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), switchUavControlCmd);
return true;
}
@@ -333,8 +363,9 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean takeOff(TakeOffDTO takeOffDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(takeOffDTO.getBoxSn());
TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
- this.sendMessage(tyConfiguration.getIpPort(), takeOffCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), takeOffCmd);
return true;
}
@@ -344,8 +375,9 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean returnHome(ReturnHomeDTO returnHomeDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHomeDTO.getBoxSn());
ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO);
- this.sendMessage(tyConfiguration.getIpPort(), returnHomeCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), returnHomeCmd);
return true;
}
@@ -355,8 +387,9 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHomeCancelDTO.getBoxSn());
ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO);
- this.sendMessage(tyConfiguration.getIpPort(), returnHomeCancelCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), returnHomeCancelCmd);
return true;
}
@@ -366,8 +399,9 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean land(LandDTO landDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landDTO.getBoxSn());
LandCmd landCmd = new LandCmd(landDTO);
- this.sendMessage(tyConfiguration.getIpPort(), landCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), landCmd);
return true;
}
@@ -377,8 +411,9 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean landCancel(LandCancelDTO landCancelDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landCancelDTO.getBoxSn());
LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO);
- this.sendMessage(tyConfiguration.getIpPort(), landCancelCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), landCancelCmd);
return true;
}
@@ -388,8 +423,9 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean landForced(LandForcedDTO landForcedDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landForcedDTO.getBoxSn());
LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO);
- this.sendMessage(tyConfiguration.getIpPort(), landForcedCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), landForcedCmd);
return true;
}
@@ -400,8 +436,9 @@
@CheckTakeoffAltitude(minAltitude = 30.0)
@Override
public Boolean flyControl(FlyControlDTO flyControlDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyControlDTO.getBoxSn());
FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO);
- this.sendMessage(tyConfiguration.getIpPort(), flyControlCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), flyControlCmd);
return true;
}
@@ -412,8 +449,9 @@
@CheckTakeoffAltitude(minAltitude = 30.0)
@Override
public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyPointControlDTO.getBoxSn());
FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
- this.sendMessage(tyConfiguration.getIpPort(), flyPointControlCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd);
return true;
}
@@ -423,8 +461,9 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyPointControlCancelDTO.getBoxSn());
FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO);
- this.sendMessage(tyConfiguration.getIpPort(), flyPointControlCancelCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd);
return true;
}
@@ -434,8 +473,9 @@
@CheckControlRight(UavControlType.FLY)
@Override
public Boolean emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(emeragencyBrakeDTO.getBoxSn());
EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO);
- this.sendMessage(tyConfiguration.getIpPort(), emergencyBrakeCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), emergencyBrakeCmd);
return true;
}
@@ -444,7 +484,7 @@
*/
@Override
public UavState getUavState(String boxSn) {
- return UavStateCache.getUavState(boxSn);
+ return UavStateCache.get(boxSn);
}
/**
@@ -452,7 +492,7 @@
*/
@Override
public TelemetryData getUavTelemetryData(String boxSn) {
- return UavTelemetryDataCache.getUavTelemetryData(boxSn);
+ return UavTelemetryDataCache.get(boxSn);
}
/**
@@ -460,7 +500,7 @@
*/
@Override
public SignalInfo getSignalInfo(String boxSn) {
- return UavSignalInfoCache.getUavSignalInfo(boxSn);
+ return UavSignalInfoCache.get(boxSn);
}
/**
@@ -468,8 +508,9 @@
*/
@Override
public void speakModeSwitch(SpeakModeSwitchDTO speakModeSwitchDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(speakModeSwitchDTO.getBoxSn());
SpeakModeSwitchCmd speakModeSwitchCmd = new SpeakModeSwitchCmd(speakModeSwitchDTO);
- this.sendMessage(tyConfiguration.getIpPort(), speakModeSwitchCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), speakModeSwitchCmd);
}
/**
@@ -477,8 +518,9 @@
*/
@Override
public void textSpeak(TextSpeakDTO textSpeakDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(textSpeakDTO.getBoxSn());
TextSpeakCmd textSpeakCmd = new TextSpeakCmd(textSpeakDTO);
- this.sendMessage(tyConfiguration.getIpPort(), textSpeakCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), textSpeakCmd);
}
/**
@@ -486,8 +528,9 @@
*/
@Override
public void realSpeak(RealSpeakDTO realSpeakDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(realSpeakDTO.getBoxSn());
RealSpeakCmd realSpeakCmd = new RealSpeakCmd(realSpeakDTO);
- this.sendMessage(tyConfiguration.getIpPort(), realSpeakCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), realSpeakCmd);
}
/**
@@ -495,8 +538,9 @@
*/
@Override
public void recordSpeak(RecordSpeakDTO recordSpeakDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(recordSpeakDTO.getBoxSn());
RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO);
- this.sendMessage(tyConfiguration.getIpPort(), recordSpeakCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), recordSpeakCmd);
}
/**
@@ -504,8 +548,9 @@
*/
@Override
public void volumeSetting(VolumeSettingDTO volumeSettingDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(volumeSettingDTO.getBoxSn());
VolumeSettingCmd volumeSettingCmd = new VolumeSettingCmd(volumeSettingDTO);
- this.sendMessage(tyConfiguration.getIpPort(), volumeSettingCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), volumeSettingCmd);
}
/**
@@ -513,8 +558,9 @@
*/
@Override
public void loopSetting(LoopSettingDTO loopSettingDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(loopSettingDTO.getBoxSn());
LoopSettingCmd loopSettingCmd = new LoopSettingCmd(loopSettingDTO);
- this.sendMessage(tyConfiguration.getIpPort(), loopSettingCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), loopSettingCmd);
}
/**
@@ -522,8 +568,9 @@
*/
@Override
public void stopSpeak(StopSpeakDTO stopSpeakDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(stopSpeakDTO.getBoxSn());
StopSpeakCmd stopSpeakCmd = new StopSpeakCmd(stopSpeakDTO);
- this.sendMessage(tyConfiguration.getIpPort(), stopSpeakCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), stopSpeakCmd);
}
/**
@@ -531,9 +578,10 @@
*/
@Override
public void wayLineUpload(WayLineUploadDTO wayLineUploadDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineUploadDTO.getBoxSn());
wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据
WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
- this.sendMessage(tyConfiguration.getIpPort(), wayLineUploadCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd);
}
//创建航线
@@ -576,8 +624,9 @@
@CheckControlRight(UavControlType.FLY)
@Override
public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineBeginDTO.getBoxSn());
WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO);
- this.sendMessage(tyConfiguration.getIpPort(), wayLineBeginCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), wayLineBeginCmd);
}
/**
@@ -586,8 +635,9 @@
@CheckControlRight(UavControlType.FLY)
@Override
public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLinePauseDTO.getBoxSn());
WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO);
- this.sendMessage(tyConfiguration.getIpPort(), wayLinePauseCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), wayLinePauseCmd);
}
/**
@@ -596,8 +646,9 @@
@CheckControlRight(UavControlType.FLY)
@Override
public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineResumeDTO.getBoxSn());
WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO);
- this.sendMessage(tyConfiguration.getIpPort(), wayLineResumeCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), wayLineResumeCmd);
}
/**
@@ -606,12 +657,13 @@
@CheckControlRight(UavControlType.FLY)
@Override
public void wayLineEnd(WayLineEndDTO wayLineEndDTO) {
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineEndDTO.getBoxSn());
WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);
- this.sendMessage(tyConfiguration.getIpPort(), wayLineEndCmd);
+ this.sendMessage(ardDroneInfo.getServerId(), wayLineEndCmd);
}
/**
- * 处理六合服务器返回的消息
+ * 处理边缘服务器返回的消息
*/
@Override
public void processReplyMessage(String key, BaseCmd tyCommand) {
@@ -624,13 +676,13 @@
if (registerReplyCommand.getSuccess() != 1) {
// 注册失败，重新注册
log.info("注册失败，重新注册");
- registerMessage();
+ registerMessage(key);
}
break;
case 0x02:
// 处理注册消息
- HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
- logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
+ HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
+ logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
break;
case 0x03:
// 处理订阅消息
@@ -651,14 +703,14 @@
case (byte) 0xA8:
// 处理无人机状态消息
UavStateCmd uavStateCmd = (UavStateCmd) tyCommand;
- UavStateCache.putUavState(uavStateCmd.getUavState());
+ UavStateCache.put(uavStateCmd.getUavState());
//logPrint("无人机状态", uavStateCmd.getUavState().getBoxSn());
// 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());
+ UavTelemetryDataCache.put(uavTelemetryDataCmd.getTelemetryData());
//logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
//WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
break;
@@ -666,7 +718,7 @@
case (byte) 0x0C:
// 处理无人机信道质量数据
SignalInfoCmd signalInfoCmd = (SignalInfoCmd) tyCommand;
- UavSignalInfoCache.putUavSignalInfoCache(signalInfoCmd.getSignalInfo());
+ UavSignalInfoCache.put(signalInfoCmd.getSignalInfo());
//logPrint("无人机信道质量", signalInfoCmd.getSignalInfo().getBoxSn());
break;
case (byte) 0xD1:
@@ -674,7 +726,7 @@
if (tyCommand instanceof UavInitReplyCmd) {
UavInitReplyCmd uavInitReplyCmd = (UavInitReplyCmd) tyCommand;
UavInitInfoCmd uavInitCommand = new UavInitInfoCmd(uavInitReplyCmd.getBoxSn());
- this.sendMessage(tyConfiguration.getIpPort(), uavInitCommand);
+ this.sendMessage(key, uavInitCommand);
logPrint("无人机初始化详情", uavInitCommand.getBoxSn());
}
if (tyCommand instanceof UavReadyReplyCmd) {
@@ -794,53 +846,90 @@
}
}
+ /**
+ * 根据[服务器id]获取边缘服务器盒子列表
+ */
+ @Override
+ public List<BoxInfoReceiver> getBoxSnToList(String id) {
+ try {
+ List<BoxInfoReceiver> remoteBoxList = tyClient.getBoxList(id).getContent();
+ List<ArdDroneInfo> existingDrones = getDroneLs(id);
+ return existingDrones.isEmpty() ? remoteBoxList : filterBoxInfoReceivers(remoteBoxList, existingDrones);
+ } catch (Exception e) {
+ log.error("获取云盒列表失败, 服务器id: {}", id, e);
+ return Collections.emptyList(); // 返回不可变空列表，更安全
+ }
+ }
+
+ /**
+ * 根据[服务器id]查询无人机盒子列表
+ */
+ private List<ArdDroneInfo> getDroneLs(String serverId) {
+ ArdDroneInfo query = new ArdDroneInfo();
+ query.setServerId(serverId);
+ return ardDroneService.selectArdDroneList(query);
+ }
+
+ /**
+ * 过滤掉在ardDroneInfos中已存在的boxSn
+ */
+ public List<BoxInfoReceiver> filterBoxInfoReceivers(
+ List<BoxInfoReceiver> boxInfoReceivers,
+ List<ArdDroneInfo> ardDroneInfos) {
+
+ Set<String> existingBoxSns = ardDroneInfos.stream()
+ .map(ArdDroneInfo::getBoxSn)
+ .filter(Objects::nonNull)
+ .collect(Collectors.toSet());
+
+ return boxInfoReceivers.stream()
+ .filter(box -> box.getBoxSn() != null && !existingBoxSns.contains(box.getBoxSn()))
+ .collect(Collectors.toList());
+ }
+
+ private List<BoxInfoReceiver> getBoxList(List<ArdServerInfo> ls) {
+ return ls.stream()
+ .filter(ardServerInfo -> ardServerInfo.getServerStatus().equals("1"))
+ .flatMap(ardServerInfo -> {
+ try {
+ List<BoxInfoReceiver> boxes = tyClient.getBoxList(ardServerInfo.getId()).getContent();
+ return Optional.ofNullable(boxes).orElse(Collections.emptyList()).stream();
+ } catch (Exception e) {
+ log.error("获取云盒列表失败: {}", ardServerInfo.getId(), e);
+ return Stream.empty();
+ }
+ })
+ .collect(Collectors.toList());
+ }
+
//公共日志打印
private void logPrint(String message, Object obj) {
- log.debug("收到{}回复{}", message, obj);
+ String text = String.format("收到%s回复%s", message, obj);
+ ServerReplyMessage serverReplyMessage = ServerReplyMessage.builder().message(text).build();
+ WebSocketUtil.sendMessage("reply", serverReplyMessage);
+ log.debug(text);
}
//公共日志打印
private void logPrint(String message, byte result, Integer errorCode) {
- log.info("收到{}回复:{} 错误码：{}【{}】",
+ String text = String.format(
+ "收到%s回复:%s 错误码：%d【%s】",
message,
ByteUtils.byteToHex(result),
errorCode,
- ErrorCodeEnum.getDescByCode(errorCode));
+ ErrorCodeEnum.getDescByCode(errorCode)
+ );
+ ServerReplyMessage serverReplyMessage = ServerReplyMessage.builder().message(text).build();
+ WebSocketUtil.sendMessage("reply", serverReplyMessage);
+ log.debug(text);
}
- /**
- * 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("定时向六合发送⼼跳,时间戳{}", timestamp);
- HeartbeatCmd heartbeatMessage = new HeartbeatCmd(timestamp);
- this.sendMessage(tyConfiguration.getIpPort(), heartbeatMessage);
- }
/**
- * 发送消息
+ * 发送tcp消息
*/
private void sendMessage(String key, BaseCmd msg) {
- try {
- ChannelFuture future = NettyTcpClient.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("向六合服务器【{}:{}】发送数据，命令码：{}", host, port, String.format("0x%02X", msg.getCmdCode() & 0xFF));
- } else {
- log.error("与六合服务器链接断开，无法发送数据！");
- }
- } catch (Exception e) {
- log.error("发送消息异常：{}", e.getMessage());
- }
+ TcpClientUtil.sendMessage(key, msg);
}
}
\ No newline at end of file
--
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