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/service/impl/TyServiceImpl.java | 67 ++++++++++++++++++++++++++++++++-
1 files changed, 65 insertions(+), 2 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 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);
--
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