From d267efe74181bbc89e7ecda1032f11965984769b Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Wed, 19 Mar 2025 14:08:07 +0800
Subject: [PATCH] 增加状态统一订阅 增加载荷和飞控用户同时获取
---
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 95 ++++++++++++++++++++++++-----------------------
1 files changed, 49 insertions(+), 46 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..359228f 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 +1,32 @@
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.CheckTakeoffAltitude;
+import com.ard.tianyu.aspect.annotation.CheckControlRight;
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 +47,7 @@
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 com.ard.vtdu.domain.ArdVtdu;
+import com.ard.tianyu.websocket.domain.UavControlType;
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
*/
+ @CheckControlRight(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)
*/
+ @CheckControlRight(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)
*/
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean speedControl(SpeedControlDTO speedControlDto) {
SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto);
@@ -267,6 +267,7 @@
/**
* 变倍
*/
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean zoom(ZoomDTO zoomDTO) {
ZoomCmd zoomCommand = new ZoomCmd(zoomDTO);
@@ -277,6 +278,7 @@
/**
* 变倍到指定倍数
*/
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) {
ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO);
@@ -327,7 +329,7 @@
/**
* 起飞
*/
- @CheckControlAuthority
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean takeOff(TakeOffDTO takeOffDTO) {
TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
@@ -338,6 +340,7 @@
/**
* 返航
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean returnHome(ReturnHomeDTO returnHomeDTO) {
ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO);
@@ -348,6 +351,7 @@
/**
* 取消返航
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) {
ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO);
@@ -358,6 +362,7 @@
/**
* 降落
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean land(LandDTO landDTO) {
LandCmd landCmd = new LandCmd(landDTO);
@@ -368,6 +373,7 @@
/**
* 取消降落
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean landCancel(LandCancelDTO landCancelDTO) {
LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO);
@@ -378,6 +384,7 @@
/**
* 强制降落
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean landForced(LandForcedDTO landForcedDTO) {
LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO);
@@ -388,6 +395,8 @@
/**
* 方向控制
*/
+ @CheckControlRight(UavControlType.FLY)
+ @CheckTakeoffAltitude(minAltitude = 30.0)
@Override
public Boolean flyControl(FlyControlDTO flyControlDTO) {
FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO);
@@ -398,6 +407,8 @@
/**
* 指点飞行控制
*/
+ @CheckControlRight(UavControlType.FLY)
+ @CheckTakeoffAltitude(minAltitude = 30.0)
@Override
public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) {
FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
@@ -408,6 +419,7 @@
/**
* 停止指点飞行控制
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) {
FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO);
@@ -418,6 +430,7 @@
/**
* 紧急制动
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) {
EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO);
@@ -559,6 +572,7 @@
/**
* 航线开始
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO);
@@ -568,6 +582,7 @@
/**
* 航线暂停
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO);
@@ -577,6 +592,7 @@
/**
* 航线恢复
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO);
@@ -586,24 +602,11 @@
/**
* 航线结束
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public void wayLineEnd(WayLineEndDTO wayLineEndDTO) {
WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);
this.sendMessage(tyConfiguration.getIpPort(), wayLineEndCmd);
- }
-
- /**
- * 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;
}
/**
@@ -644,14 +647,14 @@
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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