From dc4d96ff05b50617c685d90d625c6e2617c81dde Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Fri, 01 Nov 2024 14:53:54 +0800
Subject: [PATCH] 增加：航线 关闭：流媒体拉流
---
ard-work/src/main/java/com/ard/tianyu/netty/handler/ClientHandler.java | 3
ard-work/src/main/java/com/ard/tianyu/controller/UavWayLineController.java | 39 +++
ard-work/src/main/java/com/ard/tianyu/netty/TyNettyTcpClient.java | 3
ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java | 3
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 67 +++++
ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/PlanLineDataConverter.java | 128 +++++++++
ard-work/src/main/java/com/ard/tianyu/model/cache/TyTcpServerCache.java | 31 ++
ard-work/src/main/java/com/ard/tianyu/service/ITyService.java | 6
ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/SurroundModelConverter.java | 47 +++
ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/HangarPoint.java | 23 +
ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/PointDataConverter.java | 53 ++++
ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/SurroundModel.java | 14 +
ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/HangarPointConverter.java | 29 ++
ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/NormalModelConverter.java | 48 +++
ard-work/src/main/java/com/ard/tianyu/netty/command/wayline/WayLineUploadCmd.java | 40 +++
ard-work/src/main/java/com/ard/vtdu/service/impl/MediaServiceImpl.java | 9
ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/PlanLineData.java | 34 ++
ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/WayLineUploadDTO.java | 22 +
ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/NormalModel.java | 30 ++
ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/PointAction.java | 22 +
ard-work/src/main/java/com/ard/tianyu/netty/command/wayline/WayLineUploadReplyCmd.java | 37 ++
ard-work/src/main/java/com/ard/tianyu/model/dto/state/PointData.java | 14 +
ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/PointActionConverter.java | 27 ++
23 files changed, 725 insertions(+), 4 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/tianyu/controller/UavWayLineController.java b/ard-work/src/main/java/com/ard/tianyu/controller/UavWayLineController.java
new file mode 100644
index 0000000..6f4f203
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/controller/UavWayLineController.java
@@ -0,0 +1,39 @@
+package com.ard.tianyu.controller;
+
+import com.ard.common.core.domain.AjaxResult;
+import com.ard.tianyu.model.dto.speaker.SpeakModeSwitchDTO;
+import com.ard.tianyu.model.dto.speaker.StopSpeakDTO;
+import com.ard.tianyu.model.dto.speaker.TextSpeakDTO;
+import com.ard.tianyu.model.dto.wayline.WayLineUploadDTO;
+import com.ard.tianyu.service.ITyService;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+import javax.annotation.Resource;
+
+/**
+ * UavSpeakerController
+ *
+ * @author liusuyi
+ * @date 2024年10月21日13:52
+ **/
+@Api(tags = "无人机航线飞行接口")
+@RequestMapping("/uav/wayline")
+@RestController
+public class UavWayLineController {
+
+ @Resource
+ private ITyService tyService;
+
+ @ApiOperation("上传航线")
+ @PostMapping("/wayLineUpload")
+ public AjaxResult wayLineUpload(@RequestBody WayLineUploadDTO wayLineUploadDTO) {
+ tyService.wayLineUpload(wayLineUploadDTO);
+ return AjaxResult.success();
+ }
+
+}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/tianyu/model/cache/TyTcpServerCache.java b/ard-work/src/main/java/com/ard/tianyu/model/cache/TyTcpServerCache.java
new file mode 100644
index 0000000..26989c9
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/model/cache/TyTcpServerCache.java
@@ -0,0 +1,31 @@
+package com.ard.tianyu.model.cache;
+
+import com.ard.tianyu.model.dto.signal.SignalInfo;
+
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 天宇tcp服务器缓存
+ *
+ * @author liusuyi
+ * @date 2024年11月01日13:53
+ **/
+public class TyTcpServerCache {
+ // 使用 ConcurrentHashMap 来缓存TCP服务连接状态，key 是 ip:port（服务器地址） value 是连接状态
+ private static final ConcurrentHashMap<String, Boolean> tcpServerCache = new ConcurrentHashMap<>();
+
+ // 存储TCP服务连接状态到缓存
+ public static void putTcpServerCache(String tcpServer,Boolean state) {
+ tcpServerCache.put(tcpServer, state);
+ }
+
+ // 从缓存中获取TCP服务连接状态
+ public static Boolean getTcpServerCache(String tcpServer) {
+ return tcpServerCache.getOrDefault(tcpServer,false);
+ }
+
+ // 删除缓存中的TCP服务连接状态
+ public static void removeTcpServerCache(String tcpServer) {
+ tcpServerCache.remove(tcpServer);
+ }
+}
diff --git a/ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/HangarPointConverter.java b/ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/HangarPointConverter.java
new file mode 100644
index 0000000..920bca8
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/HangarPointConverter.java
@@ -0,0 +1,29 @@
+package com.ard.tianyu.model.dto.converter.wayline;
+
+import com.ard.common.utils.bean.BeanUtils;
+import com.ard.tianyu.model.dto.wayline.HangarPoint;
+import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
+
+public class HangarPointConverter {
+ public static TelemetryDataPB.HangarPoint convertEntityToProto(HangarPoint hangarPoint) {
+ // 使用 Protobuf 的构建器创建 HangarPoint 对象
+ TelemetryDataPB.HangarPoint.Builder builder = TelemetryDataPB.HangarPoint.newBuilder();
+
+ // 从 HangarPoint 实体中获取值并设置到 Protobuf 对象
+ builder.setHangarId(hangarPoint.getHangarId());
+ builder.setHangarLng(hangarPoint.getHangarLng());
+ builder.setHangarLat(hangarPoint.getHangarLat());
+ builder.setAlternateLng(hangarPoint.getAlternateLng());
+ builder.setAlternateLat(hangarPoint.getAlternateLat());
+
+ // 构建并返回 Protobuf 对象
+ return builder.build();
+ }
+ // 将 Protobuf 对象转换为实体对象
+ public static HangarPoint convertProtoToEntity(TelemetryDataPB.HangarPoint proto) {
+ HangarPoint hangarPoint = new HangarPoint();
+ // 从 Protobuf 对象中获取值并设置到实体对象
+ BeanUtils.copyProperties(proto, hangarPoint);
+ return hangarPoint;
+ }
+}
diff --git a/ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/NormalModelConverter.java b/ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/NormalModelConverter.java
new file mode 100644
index 0000000..7d66816
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/NormalModelConverter.java
@@ -0,0 +1,48 @@
+package com.ard.tianyu.model.dto.converter.wayline;
+
+import com.ard.common.utils.bean.BeanUtils;
+import com.ard.tianyu.model.dto.wayline.NormalModel;
+import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
+
+public class NormalModelConverter {
+ public static TelemetryDataPB.NormalModel convertEntityToProto(NormalModel normalModel) {
+ // 使用构建器来创建 Protobuf 对象
+ TelemetryDataPB.NormalModel.Builder builder = TelemetryDataPB.NormalModel.newBuilder();
+
+ // 复制基本属性
+ builder.setServiceId(normalModel.getServiceId());
+ builder.setCameraId(normalModel.getCameraId());
+ builder.setIsModeling(normalModel.getIsModeling());
+ builder.setMode(normalModel.getMode());
+ builder.setHOverlap(normalModel.getHOverlap());
+ builder.setVOverlap(normalModel.getVOverlap());
+ builder.setMirror(normalModel.getMirror());
+
+ // 处理 repeated fields
+ if (normalModel.getArea() != null) {
+ normalModel.getArea().forEach(pointData -> {
+ builder.addArea(PointDataConverter.convertEntityToProto(pointData));
+ });
+ }
+
+ // 构建并返回 Protobuf 对象
+ return builder.build();
+ }
+
+ // 将 Protobuf 对象转换为实体对象
+ public static NormalModel convertProtoToEntity(TelemetryDataPB.NormalModel proto) {
+ NormalModel normalModel = new NormalModel();
+
+ // 复制基本属性
+ BeanUtils.copyProperties(proto, normalModel);
+
+ // 处理 repeated fields
+ if (proto.getAreaCount() > 0) {
+ proto.getAreaList().forEach(pointDataProto -> {
+ normalModel.getArea().add(PointDataConverter.convertProtoToEntity(pointDataProto));
+ });
+ }
+
+ return normalModel;
+ }
+}
diff --git a/ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/PlanLineDataConverter.java b/ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/PlanLineDataConverter.java
new file mode 100644
index 0000000..416494d
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/PlanLineDataConverter.java
@@ -0,0 +1,128 @@
+package com.ard.tianyu.model.dto.converter.wayline;
+
+import com.ard.common.utils.bean.BeanUtils;
+import com.ard.tianyu.model.dto.state.PointData;
+import com.ard.tianyu.model.dto.wayline.HangarPoint;
+import com.ard.tianyu.model.dto.wayline.NormalModel;
+import com.ard.tianyu.model.dto.wayline.PlanLineData;
+import com.ard.tianyu.model.dto.wayline.SurroundModel;
+import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
+
+import java.util.List;
+import java.util.stream.Collectors;
+
+public class PlanLineDataConverter {
+
+ // 将 Protobuf 对象转换为实体对象
+ public static PlanLineData convertProtoToEntity(TelemetryDataPB.PlanLineData proto) {
+ PlanLineData planLineData = new PlanLineData();
+
+ // 使用 BeanUtils 复制属性
+ BeanUtils.copyProperties(proto, planLineData);
+
+ // 处理 repeated fields
+ if (proto.getPointsCount() > 0) {
+ List<PointData> points = proto.getPointsList().stream()
+ .map(PointDataConverter::convertProtoToEntity)
+ .collect(Collectors.toList());
+ planLineData.setPoints(points);
+ }
+
+ if (proto.getInterestsCount() > 0) {
+ List<PointData> interests = proto.getInterestsList().stream()
+ .map(PointDataConverter::convertProtoToEntity)
+ .collect(Collectors.toList());
+ planLineData.setInterests(interests);
+ }
+
+ // 处理 HangarPoint
+ if (proto.hasTakePoint()) {
+ HangarPoint takePoint = HangarPointConverter.convertProtoToEntity(proto.getTakePoint());
+ planLineData.setTakePoint(takePoint);
+ }
+
+ if (proto.hasLandPoint()) {
+ HangarPoint landPoint = HangarPointConverter.convertProtoToEntity(proto.getLandPoint());
+ planLineData.setLandPoint(landPoint);
+ }
+
+ // 处理 NormalModel 和 SurroundModel
+ if (proto.hasNormalModel()) {
+ NormalModel normalModel = NormalModelConverter.convertProtoToEntity(proto.getNormalModel());
+ planLineData.setNormalModel(normalModel);
+ }
+
+ if (proto.hasSurroundModel()) {
+ SurroundModel surroundModel = SurroundModelConverter.convertProtoToEntity(proto.getSurroundModel());
+ planLineData.setSurroundModel(surroundModel);
+ }
+
+ // 处理起飞点
+ if (proto.hasTakeOffPoint()) {
+ PointData takeOffPoint = PointDataConverter.convertProtoToEntity(proto.getTakeOffPoint());
+ planLineData.setTakeOffPoint(takeOffPoint);
+ }
+
+ return planLineData;
+ }
+
+ // 将实体对象转换为 Protobuf 对象
+ public static TelemetryDataPB.PlanLineData convertEntityToProto(PlanLineData planLineData) {
+ // 创建 Protobuf 的构建器
+ TelemetryDataPB.PlanLineData.Builder builder = TelemetryDataPB.PlanLineData.newBuilder();
+
+ // 复制基本属性
+ builder.setFinishedAction(planLineData.getFinishedAction());
+ builder.setMaxSpeed(planLineData.getMaxSpeed());
+ builder.setAutoSpeed(planLineData.getAutoSpeed());
+ builder.setLoseAction(planLineData.getLoseAction());
+ builder.setHomeHeight(planLineData.getHomeHeight());
+ builder.setIsSaveEnergyMode(planLineData.getIsSaveEnergyMode());
+
+ // 处理 repeated fields
+ if (planLineData.getPoints() != null) {
+ List<TelemetryDataPB.PointData> points = planLineData.getPoints().stream()
+ .map(PointDataConverter::convertEntityToProto)
+ .collect(Collectors.toList());
+ builder.addAllPoints(points);
+ }
+
+ if (planLineData.getInterests() != null) {
+ List<TelemetryDataPB.PointData> interests = planLineData.getInterests().stream()
+ .map(PointDataConverter::convertEntityToProto)
+ .collect(Collectors.toList());
+ builder.addAllInterests(interests);
+ }
+
+ // 处理 HangarPoint
+ if (planLineData.getTakePoint() != null) {
+ TelemetryDataPB.HangarPoint takePoint = HangarPointConverter.convertEntityToProto(planLineData.getTakePoint());
+ builder.setTakePoint(takePoint);
+ }
+
+ if (planLineData.getLandPoint() != null) {
+ TelemetryDataPB.HangarPoint landPoint = HangarPointConverter.convertEntityToProto(planLineData.getLandPoint());
+ builder.setLandPoint(landPoint);
+ }
+
+ // 处理 NormalModel 和 SurroundModel
+ if (planLineData.getNormalModel() != null) {
+ TelemetryDataPB.NormalModel normalModel = NormalModelConverter.convertEntityToProto(planLineData.getNormalModel());
+ builder.setNormalModel(normalModel);
+ }
+
+ if (planLineData.getSurroundModel() != null) {
+ TelemetryDataPB.SurroundModel surroundModel = SurroundModelConverter.convertEntityToProto(planLineData.getSurroundModel());
+ builder.setSurroundModel(surroundModel);
+ }
+
+ // 处理起飞点
+ if (planLineData.getTakeOffPoint() != null) {
+ TelemetryDataPB.PointData takeOffPoint = PointDataConverter.convertEntityToProto(planLineData.getTakeOffPoint());
+ builder.setTakeOffPoint(takeOffPoint);
+ }
+
+ // 构建并返回 Protobuf 对象
+ return builder.build();
+ }
+}
diff --git a/ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/PointActionConverter.java b/ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/PointActionConverter.java
new file mode 100644
index 0000000..8341ffb
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/PointActionConverter.java
@@ -0,0 +1,27 @@
+package com.ard.tianyu.model.dto.converter.wayline;
+
+import com.ard.common.utils.bean.BeanUtils;
+import com.ard.tianyu.model.dto.wayline.PointAction;
+import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
+
+public class PointActionConverter {
+ public static TelemetryDataPB.PointAction convertEntityToProto(PointAction pointAction) {
+ // 使用构建器来创建 Protobuf 对象
+ TelemetryDataPB.PointAction.Builder builder = TelemetryDataPB.PointAction.newBuilder();
+
+ // 复制基本属性
+ builder.setType(pointAction.getType());
+ builder.setParam(pointAction.getParam());
+ builder.setWaitTime(pointAction.getWaitTime());
+ builder.setSpeakInfo(pointAction.getSpeakInfo());
+
+ // 构建并返回 Protobuf 对象
+ return builder.build();
+ }
+
+ public static PointAction convertProtoToEntity(TelemetryDataPB.PointAction proto) {
+ PointAction pointAction = new PointAction();
+ BeanUtils.copyProperties(proto, pointAction);
+ return pointAction;
+ }
+}
diff --git a/ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/PointDataConverter.java b/ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/PointDataConverter.java
new file mode 100644
index 0000000..8465898
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/PointDataConverter.java
@@ -0,0 +1,53 @@
+package com.ard.tianyu.model.dto.converter.wayline;
+
+import com.ard.common.utils.bean.BeanUtils;
+import com.ard.tianyu.model.dto.state.PointData;
+import com.ard.tianyu.model.dto.wayline.PointAction;
+import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
+
+import java.util.List;
+import java.util.stream.Collectors;
+
+public class PointDataConverter {
+ public static TelemetryDataPB.PointData convertEntityToProto(PointData pointData) {
+ // 使用构建器来创建 Protobuf 对象
+ TelemetryDataPB.PointData.Builder builder = TelemetryDataPB.PointData.newBuilder();
+
+ // 复制基本属性
+ builder.setLng(pointData.getLng());
+ builder.setLat(pointData.getLat());
+ builder.setHeight(pointData.getHeight());
+ builder.setSpeed(pointData.getSpeed());
+ builder.setFlightPathMode(pointData.getFlightPathMode());
+ builder.setDampingDistance(pointData.getDampingDistance());
+ builder.setSafeGohomeFlag(pointData.getSafeGohomeFlag());
+ builder.setHeadingMode(pointData.getHeadingMode());
+ builder.setHeading(pointData.getHeading());
+ builder.setInterestIndex(pointData.getInterestIndex());
+ builder.setGroupIndex(pointData.getGroupIndex());
+
+ // 处理动作数组
+ if (pointData.getActions() != null && !pointData.getActions().isEmpty()) {
+ List<TelemetryDataPB.PointAction> actions = pointData.getActions().stream()
+ .map(PointActionConverter::convertEntityToProto)
+ .collect(Collectors.toList());
+ builder.addAllActions(actions);
+ }
+
+ // 构建并返回 Protobuf 对象
+ return builder.build();
+ }
+
+ public static PointData convertProtoToEntity(TelemetryDataPB.PointData proto) {
+ PointData pointData = new PointData();
+ BeanUtils.copyProperties(proto, pointData);
+ // 处理 repeated fields
+ if (proto.getActionsCount() > 0) {
+ List<PointAction> actions = proto.getActionsList().stream()
+ .map(PointActionConverter::convertProtoToEntity)
+ .collect(Collectors.toList());
+ pointData.setActions(actions);
+ }
+ return pointData;
+ }
+}
diff --git a/ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/SurroundModelConverter.java b/ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/SurroundModelConverter.java
new file mode 100644
index 0000000..3ce0b0d
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/model/dto/converter/wayline/SurroundModelConverter.java
@@ -0,0 +1,47 @@
+package com.ard.tianyu.model.dto.converter.wayline;
+
+import com.ard.common.utils.bean.BeanUtils;
+import com.ard.tianyu.model.dto.state.PointData;
+import com.ard.tianyu.model.dto.wayline.SurroundModel;
+import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
+
+import java.util.List;
+import java.util.stream.Collectors;
+
+public class SurroundModelConverter {
+ public static TelemetryDataPB.SurroundModel convertEntityToProto(SurroundModel surroundModel) {
+ // 使用构建器来创建 Protobuf 对象
+ TelemetryDataPB.SurroundModel.Builder builder = TelemetryDataPB.SurroundModel.newBuilder();
+
+ // 复制基本属性
+ builder.setServiceId(surroundModel.getServiceId());
+ builder.setCameraId(surroundModel.getCameraId());
+ builder.setIsModeling(surroundModel.getIsModeling());
+
+ // 处理 repeated fields
+ if (surroundModel.getArea() != null && !surroundModel.getArea().isEmpty()) {
+ List<TelemetryDataPB.PointData> area = surroundModel.getArea().stream()
+ .map(PointDataConverter::convertEntityToProto)
+ .collect(Collectors.toList());
+ builder.addAllArea(area);
+ }
+
+ // 构建并返回 Protobuf 对象
+ return builder.build();
+ }
+
+ public static SurroundModel convertProtoToEntity(TelemetryDataPB.SurroundModel proto) {
+ SurroundModel surroundModel = new SurroundModel();
+ BeanUtils.copyProperties(proto, surroundModel);
+
+ // 处理 repeated fields
+ if (proto.getAreaCount() > 0) {
+ List<PointData> area = proto.getAreaList().stream()
+ .map(PointDataConverter::convertProtoToEntity)
+ .collect(Collectors.toList());
+ surroundModel.setArea(area);
+ }
+
+ return surroundModel;
+ }
+}
diff --git a/ard-work/src/main/java/com/ard/tianyu/model/dto/state/PointData.java b/ard-work/src/main/java/com/ard/tianyu/model/dto/state/PointData.java
index 4ed630b..8ab5ecf 100644
--- a/ard-work/src/main/java/com/ard/tianyu/model/dto/state/PointData.java
+++ b/ard-work/src/main/java/com/ard/tianyu/model/dto/state/PointData.java
@@ -1,10 +1,24 @@
package com.ard.tianyu.model.dto.state;
+import com.ard.tianyu.model.dto.wayline.PointAction;
import lombok.Data;
+
+import java.util.List;
// 假设 PointData 类定义如下
@Data
public class PointData {
private double lat; // 纬度
private double lng; // 经度
+ private float height; // 高度(单位:米，范围0~遥控器限高)
+ private float speed; // 速度(单位:米/秒，范围0~15)，默认8
+ private List<PointAction> actions; // 动作数组
+ private int flightPathMode; // 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)
+ private float dampingDistance; // 转弯半径(仅协调转弯模式下有效)，取值范围1~655.35单位:米
+ private int safeGohomeFlag; // 是否为安全返航点 0=不是，1=是
+ private int headingMode; // 偏航模式 0=自动，1=锁定，2=遥控器控制，3=云台依照航点方向旋转，4=朝向兴趣点，5=飞机和云台的偏航同时旋转
+ private float heading; // 航点偏航 -180~180
+ private int interestIndex; // 兴趣点下标，默认-1
+ private int groupIndex; // 组下标
+
}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/HangarPoint.java b/ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/HangarPoint.java
new file mode 100644
index 0000000..525e493
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/HangarPoint.java
@@ -0,0 +1,23 @@
+package com.ard.tianyu.model.dto.wayline;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+/**
+ * 机库信息实体对象
+ *
+ * @author liusuyi
+ * @date 2024年11月01日10:55
+ **/
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class HangarPoint {
+ private String hangarId; // 机库ID
+ private double hangarLng; // 机库经度
+ private double hangarLat; // 机库纬度
+ private double alternateLng; // 备降点经度
+ private double alternateLat; // 备降点纬度
+}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/NormalModel.java b/ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/NormalModel.java
new file mode 100644
index 0000000..805651c
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/NormalModel.java
@@ -0,0 +1,30 @@
+package com.ard.tianyu.model.dto.wayline;
+
+import com.ard.tianyu.model.dto.state.PointData;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+import java.util.List;
+
+/**
+ * 普通建模实体对象
+ *
+ * @author liusuyi
+ * @date 2024年11月01日10:55
+ **/
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class NormalModel {
+ private List<PointData> area; // 作业区域
+ private int serviceId; // 建模平台编号:1=瞰景，2=大势，默认1
+ private int cameraId; // 相机编号
+ private int isModeling; // 是否实时建模：0=不，1=是
+ private int mode; // 作业模式：1=倾斜，2=正摄
+ private int hOverlap; // 横向重叠率
+ private int vOverlap; // 纵向重叠率
+ private int mirror; // 方向正反
+}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/PlanLineData.java b/ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/PlanLineData.java
new file mode 100644
index 0000000..46494fb
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/PlanLineData.java
@@ -0,0 +1,34 @@
+package com.ard.tianyu.model.dto.wayline;
+
+import com.ard.tianyu.model.dto.state.PointData;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+import java.util.List;
+/**
+ * 航线实体对象
+ *
+ * @author liusuyi
+ * @date 2024年11月01日10:55
+ **/
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class PlanLineData {
+ private int finishedAction; // 结束航线后动作
+ private float maxSpeed; // 最大飞行速度(单位:米/秒)
+ private float autoSpeed; // 自动飞行速度(单位:米/秒)
+ private List<PointData> points; // 坐标点数组
+ private int loseAction; // 网络失联后动作
+ private int homeHeight; // 返航高度
+ private int isSaveEnergyMode; // 是否开启节能模式
+ private HangarPoint takePoint; // 起飞点机库信息
+ private HangarPoint landPoint; // 降落点机库信息
+ private List<PointData> interests; // 兴趣点数组
+ private NormalModel normalModel; // 普通建模
+ private SurroundModel surroundModel; // 环绕建模
+ private PointData takeOffPoint; // 起飞点
+}
diff --git a/ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/PointAction.java b/ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/PointAction.java
new file mode 100644
index 0000000..2372dc4
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/PointAction.java
@@ -0,0 +1,22 @@
+package com.ard.tianyu.model.dto.wayline;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+/**
+ * 航点动作实体对象
+ *
+ * @author liusuyi
+ * @date 2024年11月01日10:55
+ **/
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class PointAction {
+ private int type; // 类型：1-变焦 2-拍照 3-录像 4-停录 5-控制飞机机头偏航 6-控制云台俯仰 7-控制云台偏航 8-控制云台横滚 9-悬停 10-等距间隔拍照 11-等时间隔拍照 12-结束间隔拍照 13-单条喊话 14-开始循环喊话 15-结束循环喊话 16-对焦
+ private float param; // 参数，根据类型不同含义不同
+ private int waitTime; // 动作触发后等待时长(单位:秒)
+ private String speakInfo; // 喊话内容[type=13和type=14时生效]
+}
diff --git a/ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/SurroundModel.java b/ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/SurroundModel.java
new file mode 100644
index 0000000..9986902
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/SurroundModel.java
@@ -0,0 +1,14 @@
+package com.ard.tianyu.model.dto.wayline;
+
+import com.ard.tianyu.model.dto.state.PointData;
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class SurroundModel {
+ private List<PointData> area; // 作业区域
+ private int serviceId; // 建模平台编号:1=瞰景
+ private int cameraId; // 相机编号
+ private int isModeling; // 是否实时建模：0=不，1=是
+}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/WayLineUploadDTO.java b/ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/WayLineUploadDTO.java
new file mode 100644
index 0000000..7ed3fdf
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/model/dto/wayline/WayLineUploadDTO.java
@@ -0,0 +1,22 @@
+package com.ard.tianyu.model.dto.wayline;
+
+import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * 上传航线实体对象
+ *
+ * @author liusuyi
+ * @date 2024年11月01日10:55
+ **/
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class WayLineUploadDTO {
+ private String boxSn;
+ private PlanLineData wayLineData;
+}
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/TyNettyTcpClient.java b/ard-work/src/main/java/com/ard/tianyu/netty/TyNettyTcpClient.java
index 08065a6..e226263 100644
--- a/ard-work/src/main/java/com/ard/tianyu/netty/TyNettyTcpClient.java
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/TyNettyTcpClient.java
@@ -1,6 +1,7 @@
package com.ard.tianyu.netty;
import com.ard.tianyu.config.TyConfiguration;
+import com.ard.tianyu.model.cache.TyTcpServerCache;
import com.ard.tianyu.netty.handler.ClientHandler;
import com.ard.tianyu.netty.handler.MessageProtocolDecoder;
import com.ard.tianyu.netty.handler.MessageProtocolEncoder;
@@ -72,10 +73,12 @@
ChannelFuture future = bootstrap.connect(host, port).addListener((ChannelFuture futureListener) -> {
if (futureListener.isSuccess()) {
log.info("连接天宇TCP服务器成功【{}:{}】", host, port);
+ TyTcpServerCache.putTcpServerCache(host + ":" + port, true);
} else {
final EventLoop eventLoop = futureListener.channel().eventLoop();
eventLoop.schedule(() -> {
log.info("连接天宇TCP服务器失败【{}:{}】,正尝试重连...", host, port);
+ TyTcpServerCache.putTcpServerCache(host + ":" + port, false);
try {
initConnection(host, port);
} catch (Exception e) {
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/wayline/WayLineUploadCmd.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/wayline/WayLineUploadCmd.java
new file mode 100644
index 0000000..d19b017
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/command/wayline/WayLineUploadCmd.java
@@ -0,0 +1,40 @@
+package com.ard.tianyu.netty.command.wayline;
+
+import com.ard.tianyu.model.dto.converter.wayline.PlanLineDataConverter;
+import com.ard.tianyu.model.dto.wayline.PlanLineData;
+import com.ard.tianyu.model.dto.wayline.WayLineUploadDTO;
+import com.ard.tianyu.netty.command.BaseCmd;
+import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
+import io.netty.buffer.ByteBuf;
+
+/**
+ * 上传航线指令
+ *
+ * @author liusuyi
+ * @date 2024年10月30日16:20
+ **/
+public class WayLineUploadCmd extends BaseCmd {
+
+ private final byte[] wayLineData; //动作参数
+
+ public WayLineUploadCmd(WayLineUploadDTO wayLineUploadDTO) {
+ PlanLineData planLineData = wayLineUploadDTO.getWayLineData();
+ TelemetryDataPB.PlanLineData planLineDataPB = PlanLineDataConverter.convertEntityToProto(planLineData);
+ this.wayLineData = planLineDataPB.toByteArray();
+ setDataHeader((short) 0x7479);
+ setDataLength((short) (18 + wayLineData.length));
+ setBoxSn(wayLineUploadDTO.getBoxSn().getBytes());
+ setCmdCode((byte) 0xD1);
+
+ }
+
+ public void encode(ByteBuf out) {
+ out.writeShort(getDataHeader()); // 写入数据头
+ out.writeShort(getDataLength()); // 写入数据长度
+ out.writeBytes(getBoxSn()); // 写入盒子SN
+ out.writeByte(getCmdCode()); // 写入命令码
+ out.writeByte(0x00); // 写入加密标志
+ out.writeByte(0x10); // 写入动作编号
+ out.writeBytes(this.wayLineData); // 写入航线数据
+ }
+}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/wayline/WayLineUploadReplyCmd.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/wayline/WayLineUploadReplyCmd.java
new file mode 100644
index 0000000..fc470b5
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/command/wayline/WayLineUploadReplyCmd.java
@@ -0,0 +1,37 @@
+package com.ard.tianyu.netty.command.wayline;
+
+import com.ard.tianyu.model.dto.converter.wayline.PlanLineDataConverter;
+import com.ard.tianyu.model.dto.wayline.PlanLineData;
+import com.ard.tianyu.model.dto.wayline.WayLineUploadDTO;
+import com.ard.tianyu.netty.command.BaseCmd;
+import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
+import io.netty.buffer.ByteBuf;
+import lombok.Data;
+
+/**
+ * 上传航线回复指令
+ *
+ * @author liusuyi
+ * @date 2024年10月30日16:20
+ **/
+@Data
+public class WayLineUploadReplyCmd extends BaseCmd {
+
+ private final byte encryptFlag = 0x00; // 加密标志
+ private final byte actionCode = 0x10; // 动作编号
+ private final byte result; // 执行结果
+ private final Integer errorCode; // 错误码
+
+ public WayLineUploadReplyCmd(String boxSn, Byte result, Integer errorCode) {
+ setDataHeader((short) 0x6A77);
+ //setDataLength((short) 18);
+ setCmdCode((byte) 0xD1);
+ setBoxSn(boxSn.getBytes());
+ this.result = result;
+ this.errorCode = errorCode;
+ }
+
+ public void encode(ByteBuf out) {
+
+ }
+}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/handler/ClientHandler.java b/ard-work/src/main/java/com/ard/tianyu/netty/handler/ClientHandler.java
index 35e8ad7..8f64473 100644
--- a/ard-work/src/main/java/com/ard/tianyu/netty/handler/ClientHandler.java
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/handler/ClientHandler.java
@@ -1,5 +1,6 @@
package com.ard.tianyu.netty.handler;
+import com.ard.tianyu.model.cache.TyTcpServerCache;
import com.ard.tianyu.netty.TyNettyTcpClient;
import com.ard.tianyu.netty.command.BaseCmd;
import com.ard.tianyu.service.ITyService;
@@ -70,7 +71,7 @@
int port = ipSocket.getPort();
String host = ipSocket.getHostString();
log.error("与天宇服务{}:{}连接断开!", host, port);
-
+ TyTcpServerCache.putTcpServerCache(host + ":" + port, false);
ctx.channel().eventLoop().schedule(() -> {
log.error("天宇服务端链接不上，开始重连操作...");
try {
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java b/ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java
index 2b811f9..c761e56 100644
--- a/ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java
@@ -16,6 +16,7 @@
import com.ard.tianyu.netty.command.register.HeartbeatReplyCmd;
import com.ard.tianyu.netty.command.register.RegisterReplyCmd;
import com.ard.tianyu.netty.command.register.UavInitReplyCmd;
+import com.ard.tianyu.netty.command.wayline.WayLineUploadReplyCmd;
import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
import com.google.protobuf.InvalidProtocolBufferException;
import io.netty.buffer.ByteBuf;
@@ -113,6 +114,8 @@
in.readBytes(uavData);
String boxSn = new String(uavData);
switch (actionCode) {
+ case 0x10:
+ return new WayLineUploadReplyCmd(boxSn, result, errorCode);
case 0x11:
return new TakeOffReplyCmd(boxSn, result, errorCode);
case 0x12:
diff --git a/ard-work/src/main/java/com/ard/tianyu/service/ITyService.java b/ard-work/src/main/java/com/ard/tianyu/service/ITyService.java
index acac701..edde53f 100644
--- a/ard-work/src/main/java/com/ard/tianyu/service/ITyService.java
+++ b/ard-work/src/main/java/com/ard/tianyu/service/ITyService.java
@@ -12,6 +12,7 @@
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.WayLineUploadDTO;
import com.ard.tianyu.model.receiver.*;
import com.ard.tianyu.netty.command.BaseCmd;
import com.dtflys.forest.annotation.Var;
@@ -229,6 +230,11 @@
void stopSpeak(StopSpeakDTO stopSpeakDTO);
/**
+ * 上传航线
+ */
+ void wayLineUpload(WayLineUploadDTO wayLineUploadDTO);
+
+ /**
* 处理回复消息
*/
void processReplyMessage(String key, BaseCmd tyMessage);
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 6d2a6f6..8132128 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;
@@ -16,11 +17,14 @@
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.PlanLineData;
+import com.ard.tianyu.model.dto.wayline.WayLineUploadDTO;
import com.ard.tianyu.model.receiver.*;
import com.ard.tianyu.netty.command.*;
import com.ard.tianyu.netty.TyNettyTcpClient;
@@ -37,7 +41,10 @@
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.WayLineUploadCmd;
+import com.ard.tianyu.netty.command.wayline.WayLineUploadReplyCmd;
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;
@@ -49,6 +56,7 @@
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;
@@ -420,6 +428,7 @@
RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO);
this.sendMessage(tyConfiguration.getIpPort(), recordSpeakCmd);
}
+
/**
* 设置音量
*/
@@ -437,13 +446,58 @@
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);
+ 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);
}
/**
@@ -589,7 +643,12 @@
//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:
@@ -617,6 +676,10 @@
*/
@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);
diff --git a/ard-work/src/main/java/com/ard/vtdu/service/impl/MediaServiceImpl.java b/ard-work/src/main/java/com/ard/vtdu/service/impl/MediaServiceImpl.java
index 439a371..c3088df 100644
--- a/ard-work/src/main/java/com/ard/vtdu/service/impl/MediaServiceImpl.java
+++ b/ard-work/src/main/java/com/ard/vtdu/service/impl/MediaServiceImpl.java
@@ -2,6 +2,8 @@
import com.ard.common.constant.HttpStatus;
import com.ard.common.core.page.TableDataInfo;
+import com.ard.tianyu.config.TyConfiguration;
+import com.ard.tianyu.model.cache.TyTcpServerCache;
import com.ard.tianyu.model.receiver.BoxInfoReceiver;
import com.ard.tianyu.model.receiver.BoxStreamUrlReceiver;
import com.ard.tianyu.service.ITyService;
@@ -42,6 +44,8 @@
private MediaClient mediaClient;
@Resource
private ITyService tyService;
+ @Resource
+ private TyConfiguration tyConfiguration;
@Value("${mediamtx.host}")
private String mediamtxHost;
@@ -566,8 +570,11 @@
}
//同步无人机推流到流媒体
- @Scheduled(cron = "0/20 * * * * ?")
+ // @Scheduled(cron = "0/20 * * * * ?")
public void syncVtdu() {
+ if (!TyTcpServerCache.getTcpServerCache(tyConfiguration.getTcpserver() + ":" + tyConfiguration.getTcpport())) {
+ return;
+ }
log.info("定时同步MediaMTX任务开始");
List<String> nameList = getNameList();
List<BoxInfoReceiver> boxList = tyService.getBoxList();
--
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