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/tianyu/service/impl/TyServiceImpl.java | 20 ++++++++++++++++----
1 files changed, 16 insertions(+), 4 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 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);
}
--
Gitblit v1.9.3