From de44eb3187c8a88c2942f8904701b96be09c61da Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Tue, 22 Oct 2024 16:59:57 +0800
Subject: [PATCH] 增加：云台控制基于角度
---
ard-work/src/main/java/com/ard/vtdu/service/impl/MediaServiceImpl.java | 3 +
ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatCommand.java | 7 +++
ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java | 4 +-
ard-work/src/main/java/com/ard/vtdu/util/ArdTool.java | 2 -
ard-work/src/main/java/com/ard/tianyu/netty/command/RegisterCommand.java | 7 +++
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 20 ++++++++--
ard-work/src/main/java/com/ard/tianyu/controller/UavController.java | 7 +++
ard-work/src/main/java/com/ard/tianyu/service/ITyService.java | 5 ++
ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatReplyCommand.java | 8 +++
ard-work/src/main/java/com/ard/tianyu/netty/command/ControlAngleCommand.java | 47 +++++++++++++++++++++++
10 files changed, 99 insertions(+), 11 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/tianyu/controller/UavController.java b/ard-work/src/main/java/com/ard/tianyu/controller/UavController.java
index ca7aae4..8d2d67a 100644
--- a/ard-work/src/main/java/com/ard/tianyu/controller/UavController.java
+++ b/ard-work/src/main/java/com/ard/tianyu/controller/UavController.java
@@ -69,4 +69,11 @@
Boolean state = tyService.updateBoxSettings(boxSettingsDTO);
return AjaxResult.success(state);
}
+
+ @ApiOperation("云台转动(基于角度)")
+ @GetMapping("/controlAngle")
+ public AjaxResult controlAngle(String boxSn) {
+ tyService.controlAngle(boxSn);
+ return AjaxResult.success();
+ }
}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/ControlAngleCommand.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/ControlAngleCommand.java
new file mode 100644
index 0000000..a99c17c
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/command/ControlAngleCommand.java
@@ -0,0 +1,47 @@
+package com.ard.tianyu.netty.command;
+
+import io.netty.buffer.ByteBuf;
+import lombok.Data;
+
+/**
+ * 云台转动(基于角度)命令
+ *
+ * @author 刘苏义
+ * @date 2024/10/22 16:36
+ */
+
+@Data
+public class ControlAngleCommand extends BaseCommand{
+ private final byte[] boxSn; // 云盒编号
+ private final byte encryptFlag; // 加密标志
+ private final byte actionId; // 动作编号
+ private final byte rotationAngle; // 转动角度
+
+ public ControlAngleCommand(byte[] boxSn, byte encryptFlag, byte actionId, byte rotationAngle) {
+ if (boxSn.length != 15) {
+ throw new IllegalArgumentException("云盒编号长度必须为15字节");
+ }
+ setDataHeader((short)0x7479);
+ setDataLength(getDataLength());
+ setCmdCode((byte)0xD1);
+ this.boxSn = boxSn;
+ this.encryptFlag = encryptFlag;
+ this.actionId = actionId;
+ this.rotationAngle = rotationAngle;
+ }
+
+ public short getDataLength() {
+ // 计算数据长度: 云盒编号 + 指令编号 + 加密标志 + 动作编号 + 转动角度
+ return (short) (2 + 15 + 1 + 1 + 1); // 帧头 + 数据内容
+ }
+
+ public void encode(ByteBuf out) {
+ out.writeShort(getDataHeader()); // 写入帧头
+ out.writeShort(getDataLength()); // 写入数据长度
+ out.writeByte(getCmdCode()); // 写入指令编号
+ out.writeBytes(boxSn); // 写入云盒编号
+ out.writeByte(encryptFlag); // 写入加密标志
+ out.writeByte(actionId); // 写入动作编号
+ out.writeByte(rotationAngle); // 写入转动角度
+ }
+}
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatCommand.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatCommand.java
index 17c3aba..a9ca971 100644
--- a/ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatCommand.java
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatCommand.java
@@ -2,7 +2,12 @@
import io.netty.buffer.ByteBuf;
-
+/**
+ * 心跳命令
+ *
+ * @author 刘苏义
+ * @date 2024/10/22 16:36
+ */
public class HeartbeatCommand extends BaseCommand {
private final long timestamp;
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatReplyCommand.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatReplyCommand.java
index 495c275..6b98c89 100644
--- a/ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatReplyCommand.java
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatReplyCommand.java
@@ -1,10 +1,15 @@
package com.ard.tianyu.netty.command;
import io.netty.buffer.ByteBuf;
-import lombok.AllArgsConstructor;
import lombok.Data;
import lombok.NoArgsConstructor;
+/**
+ * 心跳回复命令
+ *
+ * @author 刘苏义
+ * @date 2024/10/22 16:36
+ */
@Data
@NoArgsConstructor
public class HeartbeatReplyCommand extends BaseCommand {
@@ -17,6 +22,7 @@
setCmdCode((byte) 0x02); // 设置指令编号
setDataLength((short) (13)); // 数据长度 (指令编号 + 时间戳)
}
+
public void encode(ByteBuf out) {
out.writeShort(getDataHeader());
out.writeShort(getDataLength());
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/RegisterCommand.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/RegisterCommand.java
index 5d61c98..89d3dd6 100644
--- a/ard-work/src/main/java/com/ard/tianyu/netty/command/RegisterCommand.java
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/command/RegisterCommand.java
@@ -1,6 +1,13 @@
package com.ard.tianyu.netty.command;// RegisterMessage.java
+
import io.netty.buffer.ByteBuf;
+/**
+ * 注册命令
+ *
+ * @author 刘苏义
+ * @date 2024/10/22 16:36
+ */
public class RegisterCommand extends BaseCommand {
private int userId;
private byte[] accessToken;
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 5c27bd5..60d9321 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
@@ -45,7 +45,7 @@
if (command != null) {
out.add(command); // 添加解码的命令对象到输出列表
} else {
- // log.warn("无法识别的命令码: {}", cmdCode);
+ // log.warn("无法识别的命令码: {}", cmdCode);
}
}
-}
+}
\ No newline at end of file
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 6301887..b38d972 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
@@ -55,7 +55,10 @@
/**
* 注册
- * @return
*/
void registerMessage();
+ /**
+ * 云台转动(基于角度)
+ */
+ void controlAngle(String boxSn);
}
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 3438c14..e9d3dbd 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
@@ -7,10 +7,12 @@
import com.ard.tianyu.model.dto.BoxSettingsDTO;
import com.ard.tianyu.model.receiver.*;
import com.ard.tianyu.netty.command.BaseCommand;
+import com.ard.tianyu.netty.command.ControlAngleCommand;
import com.ard.tianyu.netty.command.HeartbeatCommand;
import com.ard.tianyu.netty.command.RegisterCommand;
import com.ard.tianyu.netty.TyNettyTcpClient;
import com.ard.tianyu.service.ITyService;
+import com.ard.vtdu.util.ArdTool;
import io.netty.buffer.ByteBuf;
import io.netty.buffer.Unpooled;
import io.netty.channel.Channel;
@@ -104,14 +106,18 @@
return result.getState() == 1;
}
-
+ /**
+ * 注册天宇平台
+ */
@Override
public void registerMessage() {
AccessTokenReceiver tyToken = tyConfiguration.getAccessToken();
RegisterCommand registerMessage = new RegisterCommand(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
this.sendMessage(tyConfiguration.getIpPort(), registerMessage);
}
-
+ /**
+ * 发送消息
+ */
public boolean sendMessage(String key, BaseCommand msg) {
//将从用户接收的信息发送到天宇 commandCache
boolean cmdResult = false;
@@ -128,7 +134,7 @@
channel.writeAndFlush(buffer); // 发送编码后的数据
cmdResult = true;
- log.info("向天宇服务器" + host + ":" + port + "发送数据" + "，命令码：" + msg.getCmdCode());
+ log.info("向天宇服务器" + host + ":" + port + "发送数据" + "，命令码：" + String.format("0x%02X", msg.getCmdCode() & 0xFF));
} else {
log.error("与天宇服务器链接断开，无法发送数据！");
}
@@ -140,10 +146,16 @@
}
}
+ @Override
+ public void controlAngle(String boxSn) {
+ ControlAngleCommand controlAngleCommand = new ControlAngleCommand(boxSn.getBytes(),(byte)0x00,(byte)0x00,(byte)0x05);
+ this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
+ }
+
@Scheduled(fixedRate = 5000)
public void sendHeartBeat() {
long timestamp = System.currentTimeMillis();
- log.debug("定时向天宇发送⼼跳,时间戳{}", timestamp);
+ log.info("定时向天宇发送⼼跳,时间戳{}", timestamp);
HeartbeatCommand heartbeatMessage = new HeartbeatCommand(timestamp);
this.sendMessage(tyConfiguration.getIpPort(), heartbeatMessage);
}
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 031509c..e7bf0e3 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
@@ -571,6 +571,9 @@
log.info("定时同步MediaMTX任务开始");
List<String> nameList = getNameList();
List<BoxReceiver> boxList = tyService.getBoxList();
+ if (boxList == null || boxList.isEmpty()) {
+ return;
+ }
List<ArdVtdu> ardVtduList = boxList.stream()
.filter(boxReceiver -> boxReceiver.getOnLine() != 0) // 过滤掉不在线的
.map(boxReceiver -> {
diff --git a/ard-work/src/main/java/com/ard/vtdu/util/ArdTool.java b/ard-work/src/main/java/com/ard/vtdu/util/ArdTool.java
index c4fb18b..18392c0 100644
--- a/ard-work/src/main/java/com/ard/vtdu/util/ArdTool.java
+++ b/ard-work/src/main/java/com/ard/vtdu/util/ArdTool.java
@@ -209,6 +209,4 @@
}
}
}
-
-
}
--
Gitblit v1.9.3