From e90d0fe42b652c9230c5e544d177dbedb3e57580 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Wed, 19 Nov 2025 13:51:26 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-work/src/main/java/com/ard/work/component/netty/command/register/UavInitReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/real/SignalInfoCmd.java | 2
ard-route/src/main/java/com/ard/route/service/IArdRouteInfoService.java | 46 +
ard-work/src/main/java/com/ard/work/component/netty/command/camera/RecordStartCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/settings/ReturnHeightSettingReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/register/UavInitInfoCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/camera/ZoomCmd.java | 2
ard-route/src/main/java/com/ard/route/util/InitializationUtils.java | 161 +++++-
ard-work/src/main/java/com/ard/work/service/impl/ArdFlightTaskServiceServiceImpl.java | 415 +++++++++++++----
ard-work/src/main/java/com/ard/work/component/netty/command/control/AbsAngleControlCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/control/AngleControlCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/manual/TakeOffReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/settings/VideoStreamSettingReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLineResumeReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/settings/ReturnPointSettingReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/mapper/ArdMediaMapper.java | 8
ard-work/src/main/java/com/ard/work/component/netty/command/notice/FlyWayEndReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/manual/LandReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLineUploadReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/domain/entity/ArdMedia.java | 16
ard-work/src/main/java/com/ard/work/component/netty/command/manual/LandForcedReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/real/UavStateCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/camera/CapturePicReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLineBeginReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/camera/CapturePicCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/control/SpeedControlCmd.java | 2
ard-work/src/main/java/com/ard/work/domain/dto/wayline/PlanLineData.java | 52 +
ard-work/src/main/java/com/ard/work/component/netty/command/notice/UavReadyReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/mapper/ArdFlightTaskMapper.java | 3
ard-work/src/main/java/com/ard/work/component/netty/command/manual/EmergencyBrakeReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/domain/entity/ArdDroneInfo.java | 1
ard-work/src/main/java/com/ard/work/component/netty/command/camera/RecordStartReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/domain/dto/wayline/PointAction.java | 33 +
ard-work/src/main/java/com/ard/work/component/netty/command/register/HeartbeatReplyCmd.java | 2
ard-route/src/main/java/com/ard/route/domain/sixhe/ArdRouteChange.java | 4
ard-work/src/main/java/com/ard/work/component/netty/command/register/RegisterReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLinePauseReplyCmd.java | 2
ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInfoController.java | 51 +
ard-work/src/main/java/com/ard/work/component/netty/command/manual/ReturnHomeCancelReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/notice/BoxPowerStatusReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/camera/CameraModeReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/camera/RecordStopReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/domain/entity/UavWayline.java | 6
ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLineEndReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/domain/dto/wayline/WayLineUploadDTO.java | 8
ard-work/src/main/java/com/ard/work/component/netty/command/camera/ZoomToLevelCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/camera/PicUploadCompletedReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/camera/RecordStopCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/manual/PointControlReachedReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/domain/dto/state/PointData.java | 63 ++
ard-work/src/main/java/com/ard/work/domain/entity/ArdFlightTask.java | 23
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java | 233 +++++++++
ard-work/src/main/java/com/ard/work/domain/entity/ArdServerInfo.java | 2
ard-work/src/main/java/com/ard/work/service/impl/ArdMediaServiceImpl.java | 2
ard-work/pom.xml | 9
ard-work/src/main/java/com/ard/work/component/netty/command/manual/ReturnHomeReplyCmd.java | 2
ard-work/src/main/resources/mapper/ArdFlightTaskMapper.xml | 21
ard-route/pom.xml | 4
ard-work/src/main/java/com/ard/work/component/netty/command/camera/PhotoReturnToggleCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/manual/LandCancelReplyCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/real/UavTelemetryDataCmd.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/camera/CameraModeCmd.java | 2
ard-work/src/main/resources/mapper/ArdMediaMapper.xml | 152 ++++-
63 files changed, 1,175 insertions(+), 220 deletions(-)
diff --git a/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInfoController.java b/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInfoController.java
index 09eb7de..85d0068 100644
--- a/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInfoController.java
+++ b/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInfoController.java
@@ -132,10 +132,51 @@
/**
* 上传航线到边缘服务器
*/
-// @ApiOperation("上传航线到边缘服务器")
-// @PostMapping
-// public AjaxResult uploadRouteInformation(@RequestBody ArdRouteInfo ArdRouteInfor) {
-// return success(ardRouteInfoService.selectArdRouteInforByName(ArdRouteInfor.getName()));
-// }
+ @ApiOperation("上传航线到边缘服务器")
+ @PostMapping("/uploadRouteToSixHe/{id}/{boxSn}")
+ public AjaxResult uploadRouteToSixHe(@PathVariable("id") String id,
+ @PathVariable("boxSn") String boxSn) {
+ return success(ardRouteInfoService.uploadRouteToSixHe(id,boxSn));
+ }
+
+ /**
+ * 开始航线
+ */
+ @ApiOperation("开始航线")
+ @PostMapping("/routeBegins/{boxSn}")
+ public AjaxResult routeBegins(@PathVariable("boxSn") String boxSn) {
+ ardRouteInfoService.routeBegins(boxSn);
+ return AjaxResult.success();
+ }
+
+ /**
+ * 暂停航线
+ */
+ @ApiOperation("暂停航线")
+ @PostMapping("/routeSuspension/{boxSn}")
+ public AjaxResult routeSuspension(@PathVariable("boxSn") String boxSn) {
+ ardRouteInfoService.routeSuspension(boxSn);
+ return AjaxResult.success();
+ }
+
+ /**
+ * 恢复航线
+ */
+ @ApiOperation("恢复航线")
+ @PostMapping("/routeResumption/{boxSn}")
+ public AjaxResult routeResumption(@PathVariable("boxSn") String boxSn) {
+ ardRouteInfoService.routeResumption(boxSn);
+ return AjaxResult.success();
+ }
+
+ /**
+ * 结束航线
+ */
+ @ApiOperation("结束航线")
+ @PostMapping("/routeEnd/{boxSn}")
+ public AjaxResult routeEnd(@PathVariable("boxSn") String boxSn) {
+ ardRouteInfoService.routeEnd(boxSn);
+ return AjaxResult.success();
+ }
}
diff --git a/ard-route/pom.xml b/ard-route/pom.xml
index 34a8b9a..4bdfa32 100644
--- a/ard-route/pom.xml
+++ b/ard-route/pom.xml
@@ -55,6 +55,10 @@
<groupId>com.ard</groupId>
<artifactId>ard-system</artifactId>
</dependency>
+ <dependency>
+ <groupId>com.ard</groupId>
+ <artifactId>ard-work</artifactId>
+ </dependency>
</dependencies>
diff --git a/ard-route/src/main/java/com/ard/route/domain/sixhe/ArdRouteChange.java b/ard-route/src/main/java/com/ard/route/domain/sixhe/ArdRouteChange.java
index d5c0e87..a07414c 100644
--- a/ard-route/src/main/java/com/ard/route/domain/sixhe/ArdRouteChange.java
+++ b/ard-route/src/main/java/com/ard/route/domain/sixhe/ArdRouteChange.java
@@ -26,4 +26,8 @@
private List<ArdRoutePoints> points;
+ private Integer securityHeight;
+
+ private Integer templateId;
+
}
diff --git a/ard-route/src/main/java/com/ard/route/service/IArdRouteInfoService.java b/ard-route/src/main/java/com/ard/route/service/IArdRouteInfoService.java
index d50e794..19e0e1e 100644
--- a/ard-route/src/main/java/com/ard/route/service/IArdRouteInfoService.java
+++ b/ard-route/src/main/java/com/ard/route/service/IArdRouteInfoService.java
@@ -4,6 +4,8 @@
import com.ard.oss.model.MinioUploadResult;
import com.ard.route.domain.dto.ArdNoflyDto;
import com.ard.route.domain.route.ArdRouteInfo;
+import com.ard.route.domain.sixhe.ArdRouteChange;
+import com.ard.work.domain.dto.wayline.WayLineUploadDTO;
import org.springframework.web.multipart.MultipartFile;
import java.util.List;
@@ -92,9 +94,51 @@
/**
* 判断行点是否在禁飞区
*
- * ardNoflyDto
+ * @param ardNoflyDto 禁飞区DTO实体类
* @return 结果
*/
public Boolean selectRouteInfomationNoFly(ArdNoflyDto ardNoflyDto);
+ /**
+ * 上传航线到边缘服务器
+ *
+ * @param id ID
+ * @param boxSn 云盒SN编号
+ * @return 结果
+ */
+ public Boolean uploadRouteToSixHe(String id, String boxSn);
+
+ /**
+ * 开始航线
+ *
+ * @param boxSn 云盒SN编号
+ * @return 结果
+ */
+ public Boolean routeBegins(String boxSn);
+
+ /**
+ * 暂停航线
+ *
+ * @param boxSn 云盒SN编号
+ * @return 结果
+ */
+ public Boolean routeSuspension(String boxSn);
+
+ /**
+ * 恢复航线
+ *
+ * @param boxSn 云盒SN编号
+ * @return 结果
+ */
+ public Boolean routeResumption(String boxSn);
+
+ /**
+ * 结束航线
+ *
+ * @param boxSn 云盒SN编号
+ * @return 结果
+ */
+ public Boolean routeEnd(String boxSn);
+
+
}
diff --git a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
index 5e9122f..d2e9f34 100644
--- a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
+++ b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
@@ -1,6 +1,7 @@
package com.ard.route.service.impl;
import java.io.IOException;
+import java.util.ArrayList;
import java.util.List;
import com.ard.common.exception.ControlException;
@@ -13,13 +14,20 @@
import com.ard.data.noflyzone.utils.NoFlyZoneUtils;
import com.ard.oss.model.MinioUploadResult;
import com.ard.oss.service.impl.OssServiceContext;
+import com.ard.route.domain.djuav.ActionGroupReq;
+import com.ard.route.domain.djuav.PointActionReq;
+import com.ard.route.domain.djuav.RoutePointReq;
import com.ard.route.domain.djuav.UavRouteReq;
import com.ard.route.domain.dto.ArdNoflyDto;
import com.ard.route.domain.route.ArdRouteInfo;
+import com.ard.route.domain.sixhe.ArdRouteChange;
import com.ard.route.domain.vo.KmzResultVo;
import com.ard.route.mapper.ArdRouteInfoMapper;
import com.ard.route.service.IArdRouteInfoService;
import com.ard.route.service.UavRouteService;
+import com.ard.work.domain.dto.state.PointData;
+import com.ard.work.domain.dto.wayline.*;
+import com.ard.work.service.ITyService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.web.multipart.MultipartFile;
@@ -48,6 +56,9 @@
@Resource
private IArdNoFlyZoneService ardNoFlyZoneService;
+
+ @Resource
+ private ITyService tyService;
/**
* 查询航线(kmz)
@@ -227,6 +238,228 @@
}
/**
+ * 上传航线到边缘服务器
+ *
+ * ardNoflyDto
+ * @return 结果
+ */
+ @Override
+ public Boolean uploadRouteToSixHe(String id,String boxSn) {
+ // 1.获取航线信息
+ // 1.1通过航线数据，转换。
+ ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(id);
+ try {
+ route.setUavRouteReq((UavRouteReq) deserialize(route.getRouteData()));
+ } catch (IOException | ClassNotFoundException e) {
+ throw new RuntimeException(e);
+ }
+ // 2.将航线信息转换成对应实体类
+ WayLineUploadDTO wayLineUploadDTO = buildWayLineUploadDTO(route);
+ // 3.调用接口
+ tyService.wayLineUpload(wayLineUploadDTO);
+ return true;
+ }
+
+ /**
+ * 开始航线
+ *
+ * @param boxSn 云盒SN编号
+ * @return 结果
+ */
+ @Override
+ public Boolean routeBegins(String boxSn) {
+ WayLineBeginDTO wayLineBeginDTO = new WayLineBeginDTO(boxSn);
+ tyService.wayLineBegin(wayLineBeginDTO);
+ return true;
+ }
+
+ /**
+ * 暂停航线
+ *
+ * @param boxSn 云盒SN编号
+ * @return 结果
+ */
+ @Override
+ public Boolean routeSuspension(String boxSn) {
+ WayLinePauseDTO wayLinePauseDTO = new WayLinePauseDTO(boxSn);
+ tyService.wayLinePause(wayLinePauseDTO);
+ return true;
+ }
+
+ /**
+ * 恢复航线
+ *
+ * @param boxSn 云盒SN编号
+ * @return 结果
+ */
+ @Override
+ public Boolean routeResumption(String boxSn) {
+ WayLineResumeDTO wayLineResumeDTO = new WayLineResumeDTO(boxSn);
+ tyService.wayLineResume(wayLineResumeDTO);
+ return true;
+ }
+
+ /**
+ * 结束航线
+ *
+ * @param boxSn 云盒SN编号
+ * @return 结果
+ */
+ @Override
+ public Boolean routeEnd(String boxSn) {
+ WayLineEndDTO wayLineEndDTO = new WayLineEndDTO(boxSn);
+ tyService.wayLineEnd(wayLineEndDTO);
+ return true;
+ }
+
+ /**
+ * ArdRouteInfo实体转换，WayLineUploadDTO
+ */
+ private WayLineUploadDTO buildWayLineUploadDTO(ArdRouteInfo ardRouteInfo){
+ WayLineUploadDTO wayLineUploadDTO = new WayLineUploadDTO();
+ String finishAction = ardRouteInfo.getUavRouteReq().getFinishAction(); //1
+ Double autoFlightSpeed = ardRouteInfo.getUavRouteReq().getAutoFlightSpeed(); //15
+ Double globalTransitionalSpeed = ardRouteInfo.getUavRouteReq().getGlobalTransitionalSpeed(); //8
+ String exitOnRcLostAction = ardRouteInfo.getUavRouteReq().getExitOnRcLostAction(); //0
+
+ PlanLineData planLineData = new PlanLineData();
+
+
+
+ if (finishAction != null){
+ planLineData.setLoseAction(0);
+ }
+ if (autoFlightSpeed != null){
+ planLineData.setAutoSpeed(8);
+ }
+ if (globalTransitionalSpeed != null){
+ planLineData.setMaxSpeed(15);
+ }
+ if (exitOnRcLostAction != null){
+ planLineData.setFinishedAction(1);
+ }
+ planLineData.setHomeHeight(50);
+ planLineData.setInterests(new ArrayList<>());
+ planLineData.setIsSaveEnergyMode(0);
+ planLineData.setPoints(buildPointDataList(ardRouteInfo.getUavRouteReq()));
+
+ wayLineUploadDTO.setWayLineData(planLineData);
+ return wayLineUploadDTO;
+ }
+
+ private List<PointData> buildPointDataList(UavRouteReq uavRouteReq){
+ List<PointData> pointDataList = new ArrayList<>();
+ for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
+ PointData pointData = new PointData();
+
+ Integer routePointIndex = routePointReq.getRoutePointIndex();
+ if (routePointIndex != null){
+ pointData.setGroupIndex(routePointIndex);
+ }
+ Double height = routePointReq.getHeight();
+ if (height != null){
+ pointData.setHeight(height.floatValue());
+ }
+ Double longitude = routePointReq.getLatitude();
+ if (longitude != null){
+ pointData.setLng(longitude.floatValue());
+ }
+ Double latitude = routePointReq.getLongitude();
+ if (latitude != null){
+ pointData.setLat(latitude.floatValue());
+ }
+ Double speed = routePointReq.getSpeed();
+ if (speed != null){
+ pointData.setSpeed(speed.floatValue());
+ }
+ pointData.setDampingDistance(0);
+ pointData.setFlightPathMode(1);
+ pointData.setHeading(0);
+ pointData.setHeadingMode(0);
+ pointData.setInterestIndex(-1);
+ pointData.setSafeGohomeFlag(0);
+ pointData.setActions(buildPointActionList(routePointReq.getActionGroupList()));
+ pointDataList.add(pointData);
+
+ }
+ return pointDataList;
+ }
+
+ private List<PointAction> buildPointActionList(List<ActionGroupReq> actionGroupList){
+ List<PointAction> pointActionList = new ArrayList<>();
+ for (ActionGroupReq actionGroupReq : actionGroupList) {
+ for (PointActionReq action : actionGroupReq.getActions()) {
+ PointAction pointAction = typeProcessing(action);
+ pointActionList.add(pointAction);
+ }
+ }
+ return pointActionList;
+ }
+
+ private PointAction typeProcessing(PointActionReq pointActionReq){
+ PointAction pointAction = new PointAction();
+
+ if (pointActionReq.getZoom() != null){
+ pointAction.setType(1);
+ pointAction.setParam(pointActionReq.getZoom().floatValue());
+ pointAction.setSpeakInfo("");
+ pointAction.setWaitTime(2);
+ }
+
+ if (pointActionReq.getTakePhotoType() != null){
+ pointAction.setType(2);
+ pointAction.setParam(1);
+ pointAction.setSpeakInfo("");
+ pointAction.setWaitTime(2);
+ }
+
+ if (pointActionReq.getStartRecord() != null){
+ pointAction.setType(3);
+ pointAction.setParam(1);
+ pointAction.setSpeakInfo("");
+ pointAction.setWaitTime(2);
+ }
+
+ if (pointActionReq.getStopRecord() != null){
+ pointAction.setType(4);
+ pointAction.setParam(1);
+ pointAction.setSpeakInfo("");
+ pointAction.setWaitTime(2);
+ }
+
+ if (pointActionReq.getAircraftHeading() != null){
+ pointAction.setType(5);
+ pointAction.setParam(pointActionReq.getAircraftHeading().floatValue());
+ pointAction.setSpeakInfo("");
+ pointAction.setWaitTime(2);
+ }
+
+ if (pointActionReq.getGimbalPitchRotateAngle() != null){
+ pointAction.setType(6);
+ pointAction.setParam(pointActionReq.getGimbalPitchRotateAngle().floatValue());
+ pointAction.setSpeakInfo("");
+ pointAction.setWaitTime(2);
+ }
+
+ if (pointActionReq.getGimbalYawRotateAngle() != null){
+ pointAction.setType(7);
+ pointAction.setParam(pointActionReq.getGimbalYawRotateAngle().floatValue());
+ pointAction.setSpeakInfo("");
+ pointAction.setWaitTime(2);
+ }
+
+ if (pointActionReq.getHoverTime() != null){
+ pointAction.setType(9);
+ pointAction.setParam(pointActionReq.getHoverTime().floatValue());
+ pointAction.setSpeakInfo("");
+ pointAction.setWaitTime(2);
+ }
+
+ return pointAction;
+
+ }
+
+ /**
* 数据新增航线信息
*/
private void insertRouteInfomation(ArdRouteInfo ardRouteInfo){
diff --git a/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java b/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
index 54807db..f630224 100644
--- a/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
+++ b/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
@@ -80,40 +80,137 @@
ardRouteChange.setIsSaveEnergyMode(0);
ardRouteChange.setLoseAction(0);
ardRouteChange.setMaxSpeed(15);
+ ardRouteChange.setSecurityHeight(50);
+ ardRouteChange.setTemplateId(0);
List<ArdRoutePoints> points = new ArrayList<>();
- ArdRoutePoints ardRoutePoints0 = new ArdRoutePoints();
- ardRoutePoints0.setDampingDistance(0);
- ardRoutePoints0.setFlightPathMode(1);
- ardRoutePoints0.setGroupIndex(0);
- ardRoutePoints0.setHeading(0);
- ardRoutePoints0.setHeadingMode(0);
- ardRoutePoints0.setHeight(50);
- ardRoutePoints0.setInterestIndex(0);
- ardRoutePoints0.setLat(31.11339916);
- ardRoutePoints0.setLon(103.75851462);
- ardRoutePoints0.setSafeGohomeFlag(0);
- ardRoutePoints0.setSpeed(8);
- List<ArdRouteActions> actions = new ArrayList<>();
- ArdRouteActions ardRouteActions0 = new ArdRouteActions();
- ardRouteActions0.setParam(10);
- ardRouteActions0.setSpeakInfo("");
- ardRouteActions0.setType(1);
- ardRouteActions0.setWaitTime(2);
- ArdRouteActions ardRouteActions1 = new ArdRouteActions();
- ardRouteActions1.setParam(10);
- ardRouteActions1.setSpeakInfo("");
- ardRouteActions1.setType(1);
- ardRouteActions1.setWaitTime(2);
- ArdRouteActions ardRouteActions2 = new ArdRouteActions();
- ardRouteActions2.setParam(10);
- ardRouteActions2.setSpeakInfo("");
- ardRouteActions2.setType(1);
- ardRouteActions2.setWaitTime(2);
- actions.add(ardRouteActions0);
- actions.add(ardRouteActions1);
- actions.add(ardRouteActions2);
- points.add(ardRoutePoints0);
+ //-----------------------------------------------------
+ ArdRoutePoints ardRoutePoints00 = new ArdRoutePoints();
+ ardRoutePoints00.setDampingDistance(0);
+ ardRoutePoints00.setFlightPathMode(1);
+ ardRoutePoints00.setGroupIndex(0);
+ ardRoutePoints00.setHeading(0);
+ ardRoutePoints00.setHeadingMode(0);
+ ardRoutePoints00.setHeight(50);
+ ardRoutePoints00.setInterestIndex(-1);
+ ardRoutePoints00.setLat(31.11339916);
+ ardRoutePoints00.setLon(103.75851462);
+ ardRoutePoints00.setSafeGohomeFlag(0);
+ ardRoutePoints00.setSpeed(8);
+ List<ArdRouteActions> actions00 = new ArrayList<>();
+ ArdRouteActions ardRouteActions00 = new ArdRouteActions();
+ ardRouteActions00.setParam(10);
+ ardRouteActions00.setSpeakInfo("");
+ ardRouteActions00.setType(1);
+ ardRouteActions00.setWaitTime(2);
+ ArdRouteActions ardRouteActions01 = new ArdRouteActions();
+ ardRouteActions01.setParam(10);
+ ardRouteActions01.setSpeakInfo("");
+ ardRouteActions01.setType(1);
+ ardRouteActions01.setWaitTime(2);
+ ArdRouteActions ardRouteActions02 = new ArdRouteActions();
+ ardRouteActions02.setParam(10);
+ ardRouteActions02.setSpeakInfo("");
+ ardRouteActions02.setType(1);
+ ardRouteActions02.setWaitTime(2);
+ actions00.add(ardRouteActions00);
+ actions00.add(ardRouteActions01);
+ actions00.add(ardRouteActions02);
+ ardRoutePoints00.setActions(actions00);
+
+ //-----------------------------------------------------
+ ArdRoutePoints ardRoutePoints10 = new ArdRoutePoints();
+ ardRoutePoints10.setDampingDistance(0);
+ ardRoutePoints10.setFlightPathMode(1);
+ ardRoutePoints10.setGroupIndex(0);
+ ardRoutePoints10.setHeading(0);
+ ardRoutePoints10.setHeadingMode(0);
+ ardRoutePoints10.setHeight(50);
+ ardRoutePoints10.setInterestIndex(-1);
+ ardRoutePoints10.setLat(31.11339916);
+ ardRoutePoints10.setLon(103.75746538);
+ ardRoutePoints10.setSafeGohomeFlag(0);
+ ardRoutePoints10.setSpeed(8);
+ List<ArdRouteActions> actions10 = new ArrayList<>();
+ ArdRouteActions ardRouteActions10 = new ArdRouteActions();
+ ardRouteActions10.setParam(20);
+ ardRouteActions10.setSpeakInfo("");
+ ardRouteActions10.setType(9);
+ ardRouteActions10.setWaitTime(2);
+ ArdRouteActions ardRouteActions11 = new ArdRouteActions();
+ ardRouteActions11.setParam(40);
+ ardRouteActions11.setSpeakInfo("");
+ ardRouteActions11.setType(6);
+ ardRouteActions11.setWaitTime(2);
+ ArdRouteActions ardRouteActions12 = new ArdRouteActions();
+ ardRouteActions12.setParam(40);
+ ardRouteActions12.setSpeakInfo("");
+ ardRouteActions12.setType(7);
+ ardRouteActions12.setWaitTime(2);
+ ArdRouteActions ardRouteActions13 = new ArdRouteActions();
+ ardRouteActions13.setParam(40);
+ ardRouteActions13.setSpeakInfo("");
+ ardRouteActions13.setType(8);
+ ardRouteActions13.setWaitTime(2);
+ actions10.add(ardRouteActions10);
+ actions10.add(ardRouteActions11);
+ actions10.add(ardRouteActions12);
+ ardRoutePoints10.setActions(actions10);
+
+ //-----------------------------------------------------
+ ArdRoutePoints ardRoutePoints20 = new ArdRoutePoints();
+ ardRoutePoints20.setDampingDistance(0);
+ ardRoutePoints20.setFlightPathMode(1);
+ ardRoutePoints20.setGroupIndex(0);
+ ardRoutePoints20.setHeading(0);
+ ardRoutePoints20.setHeadingMode(0);
+ ardRoutePoints20.setHeight(50);
+ ardRoutePoints20.setInterestIndex(-1);
+ ardRoutePoints20.setLat(31.11250084);
+ ardRoutePoints20.setLon(103.75746538);
+ ardRoutePoints20.setSafeGohomeFlag(0);
+ ardRoutePoints20.setSpeed(8);
+ List<ArdRouteActions> actions20 = new ArrayList<>();
+ ArdRouteActions ardRouteActions20 = new ArdRouteActions();
+ ardRouteActions20.setParam(15);
+ ardRouteActions20.setSpeakInfo("");
+ ardRouteActions20.setType(9);
+ ardRouteActions20.setWaitTime(2);
+ ArdRouteActions ardRouteActions21 = new ArdRouteActions();
+ ardRouteActions21.setParam(3);
+ ardRouteActions21.setSpeakInfo("");
+ ardRouteActions21.setType(10);
+ ardRouteActions21.setWaitTime(2);
+ actions20.add(ardRouteActions20);
+ actions20.add(ardRouteActions21);
+ ardRoutePoints20.setActions(actions20);
+
+ //-----------------------------------------------------
+ ArdRoutePoints ardRoutePoints30 = new ArdRoutePoints();
+ ardRoutePoints30.setDampingDistance(0);
+ ardRoutePoints30.setFlightPathMode(1);
+ ardRoutePoints30.setGroupIndex(0);
+ ardRoutePoints30.setHeading(0);
+ ardRoutePoints30.setHeadingMode(0);
+ ardRoutePoints30.setHeight(60);
+ ardRoutePoints30.setInterestIndex(-1);
+ ardRoutePoints30.setLat(31.11250084);
+ ardRoutePoints30.setLon(103.75851462);
+ ardRoutePoints30.setSafeGohomeFlag(0);
+ ardRoutePoints30.setSpeed(8);
+ List<ArdRouteActions> actions30 = new ArrayList<>();
+ ArdRouteActions ardRouteActions30 = new ArdRouteActions();
+ ardRouteActions30.setParam(1);
+ ardRouteActions30.setSpeakInfo("");
+ ardRouteActions30.setType(2);
+ ardRouteActions30.setWaitTime(2);
+ actions30.add(ardRouteActions30);
+ ardRoutePoints30.setActions(actions30);
+
+ points.add(ardRoutePoints00);
+ points.add(ardRoutePoints10);
+ points.add(ardRoutePoints20);
+ points.add(ardRoutePoints30);
ardRouteChange.setPoints(points);
}
diff --git a/ard-work/pom.xml b/ard-work/pom.xml
index ef3f0a4..6ec0789 100644
--- a/ard-work/pom.xml
+++ b/ard-work/pom.xml
@@ -113,6 +113,15 @@
<groupId>com.ard</groupId>
<artifactId>ard-oss</artifactId>
</dependency>
+ <!-- JavaCV 核心（非常小） -->
+ <dependency>
+ <groupId>org.bytedeco</groupId>
+ <artifactId>javacv</artifactId>
+ <version>1.5.8</version>
+ </dependency>
+
+
+
</dependencies>
<repositories>
<repository>
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/CameraModeCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/CameraModeCmd.java
index 8f198e0..11f4ccd 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/CameraModeCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/CameraModeCmd.java
@@ -4,6 +4,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 设置相机模式指令
@@ -11,6 +12,7 @@
* @author liusuyi
* @date 2024年10月25日14:44
**/
+@EqualsAndHashCode(callSuper = true)
@Data
public class CameraModeCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/CameraModeReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/CameraModeReplyCmd.java
index dcbb831..f70fa96 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/CameraModeReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/CameraModeReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 设置相机模式回复指令
@@ -10,6 +11,7 @@
* @author liusuyi
* @date 2024年10月25日14:44
**/
+@EqualsAndHashCode(callSuper = true)
@Data
public class CameraModeReplyCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/CapturePicCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/CapturePicCmd.java
index a2e17b3..faa4396 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/CapturePicCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/CapturePicCmd.java
@@ -4,6 +4,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 抓拍指令
@@ -11,6 +12,7 @@
* @author liusuyi
* @date 2024年10月25日14:44
**/
+@EqualsAndHashCode(callSuper = true)
@Data
public class CapturePicCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/CapturePicReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/CapturePicReplyCmd.java
index 3c40f4f..09c4768 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/CapturePicReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/CapturePicReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 抓拍回复指令
@@ -10,6 +11,7 @@
* @author liusuyi
* @date 2024年10月25日14:44
**/
+@EqualsAndHashCode(callSuper = true)
@Data
public class CapturePicReplyCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/PhotoReturnToggleCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/PhotoReturnToggleCmd.java
index 0ec1cf5..6b55d41 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/PhotoReturnToggleCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/PhotoReturnToggleCmd.java
@@ -4,6 +4,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 打开或关闭照片回传指令
@@ -11,6 +12,7 @@
* @author liusuyi
* @date 2024年10月25日14:44
**/
+@EqualsAndHashCode(callSuper = true)
@Data
public class PhotoReturnToggleCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/PicUploadCompletedReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/PicUploadCompletedReplyCmd.java
index 11bae54..bd049d6 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/PicUploadCompletedReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/PicUploadCompletedReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
import java.nio.charset.StandardCharsets;
@@ -12,6 +13,7 @@
* @author liusuyi
* @date 2024年10月26日11:54
**/
+@EqualsAndHashCode(callSuper = true)
@Data
public class PicUploadCompletedReplyCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/RecordStartCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/RecordStartCmd.java
index 7d9316a..0619869 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/RecordStartCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/RecordStartCmd.java
@@ -4,6 +4,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 开始录像指令
@@ -12,6 +13,7 @@
* @date 2024年10月25日14:44
**/
@Data
+@EqualsAndHashCode(callSuper = false)
public class RecordStartCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
private final byte actionCode=0x24; // 动作编号
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/RecordStartReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/RecordStartReplyCmd.java
index eb8a998..26265ce 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/RecordStartReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/RecordStartReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 开始录像回复指令
@@ -10,6 +11,7 @@
* @author liusuyi
* @date 2024年10月25日14:44
**/
+@EqualsAndHashCode(callSuper = true)
@Data
public class RecordStartReplyCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/RecordStopCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/RecordStopCmd.java
index 5f2f5f5..a7279d9 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/RecordStopCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/RecordStopCmd.java
@@ -4,6 +4,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 停止录像指令
@@ -11,6 +12,7 @@
* @author liusuyi
* @date 2024年10月25日14:44
**/
+@EqualsAndHashCode(callSuper = true)
@Data
public class RecordStopCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/RecordStopReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/RecordStopReplyCmd.java
index 2af84e0..f71c6b9 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/RecordStopReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/RecordStopReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 停止录像回复指令
@@ -10,6 +11,7 @@
* @author liusuyi
* @date 2024年10月25日14:44
**/
+@EqualsAndHashCode(callSuper = true)
@Data
public class RecordStopReplyCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/ZoomCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/ZoomCmd.java
index b98dc35..d956c79 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/ZoomCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/ZoomCmd.java
@@ -4,6 +4,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 变倍指令
@@ -12,6 +13,7 @@
* @date 2024年10月25日14:44
**/
@Data
+@EqualsAndHashCode(callSuper = false)
public class ZoomCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
private final byte actionCode; // 动作编号
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/ZoomToLevelCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/ZoomToLevelCmd.java
index 010e2bb..7bf424c 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/ZoomToLevelCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/ZoomToLevelCmd.java
@@ -4,6 +4,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 变倍到指定倍数指令
@@ -11,6 +12,7 @@
* @author liusuyi
* @date 2024年10月25日14:44
**/
+@EqualsAndHashCode(callSuper = true)
@Data
public class ZoomToLevelCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/control/AbsAngleControlCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/control/AbsAngleControlCmd.java
index 09d85d7..d3d8706 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/control/AbsAngleControlCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/control/AbsAngleControlCmd.java
@@ -4,6 +4,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 云台绝对值控制(基于角度)命令
@@ -13,6 +14,7 @@
*/
@Data
+@EqualsAndHashCode(callSuper = false)
public class AbsAngleControlCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
private final byte actionCode = 0x09; // 动作编号
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/control/AngleControlCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/control/AngleControlCmd.java
index d9a86d3..58452c3 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/control/AngleControlCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/control/AngleControlCmd.java
@@ -4,6 +4,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 云台转动(基于角度)命令
@@ -13,6 +14,7 @@
*/
@Data
+@EqualsAndHashCode(callSuper = false)
public class AngleControlCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
private final byte actionCode; // 动作编号
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/control/SpeedControlCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/control/SpeedControlCmd.java
index 466a167..d929bf5 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/control/SpeedControlCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/control/SpeedControlCmd.java
@@ -4,6 +4,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 云台绝对值控制(基于角度)命令
@@ -12,6 +13,7 @@
* @date 2024/10/22 16:36
*/
+@EqualsAndHashCode(callSuper = true)
@Data
public class SpeedControlCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/manual/EmergencyBrakeReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/EmergencyBrakeReplyCmd.java
index dab5069..2565c3a 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/manual/EmergencyBrakeReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/EmergencyBrakeReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 紧急制动回复指令
@@ -10,6 +11,7 @@
* @author liusuyi
* @date 2024年10月30日16:20
**/
+@EqualsAndHashCode(callSuper = true)
@Data
public class EmergencyBrakeReplyCmd extends BaseCmd {
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/manual/LandCancelReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/LandCancelReplyCmd.java
index 9a3c0b5..807cb3b 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/manual/LandCancelReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/LandCancelReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 取消降落回复指令
@@ -11,6 +12,7 @@
* @date 2024年10月26日15:43
**/
@Data
+@EqualsAndHashCode(callSuper = false)
public class LandCancelReplyCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/manual/LandForcedReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/LandForcedReplyCmd.java
index f25eba5..e0c4b34 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/manual/LandForcedReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/LandForcedReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 强制降落回复指令
@@ -10,6 +11,7 @@
* @author liusuyi
* @date 2024年10月26日15:43
**/
+@EqualsAndHashCode(callSuper = true)
@Data
public class LandForcedReplyCmd extends BaseCmd {
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/manual/LandReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/LandReplyCmd.java
index f09dd68..a2d0c9f 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/manual/LandReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/LandReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 降落回复指令
@@ -10,6 +11,7 @@
* @author liusuyi
* @date 2024年10月26日15:43
**/
+@EqualsAndHashCode(callSuper = true)
@Data
public class LandReplyCmd extends BaseCmd {
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/manual/PointControlReachedReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/PointControlReachedReplyCmd.java
index 407eeea..8986ff9 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/manual/PointControlReachedReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/PointControlReachedReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 到达指点飞行位置回复指令
@@ -10,6 +11,7 @@
* @author liusuyi
* @date 2024年10月26日15:43
**/
+@EqualsAndHashCode(callSuper = true)
@Data
public class PointControlReachedReplyCmd extends BaseCmd {
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/manual/ReturnHomeCancelReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/ReturnHomeCancelReplyCmd.java
index 487b476..9fc3e0e 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/manual/ReturnHomeCancelReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/ReturnHomeCancelReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 取消返航回复指令
@@ -11,6 +12,7 @@
* @date 2024年10月26日15:43
**/
@Data
+@EqualsAndHashCode(callSuper = false)
public class ReturnHomeCancelReplyCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/manual/ReturnHomeReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/ReturnHomeReplyCmd.java
index 1c6d082..8fc2bd7 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/manual/ReturnHomeReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/ReturnHomeReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 返航回复指令
@@ -10,6 +11,7 @@
* @author liusuyi
* @date 2024年10月26日15:43
**/
+@EqualsAndHashCode(callSuper = true)
@Data
public class ReturnHomeReplyCmd extends BaseCmd {
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/manual/TakeOffReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/TakeOffReplyCmd.java
index 53387c2..13ee4af 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/manual/TakeOffReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/TakeOffReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 起飞回复指令
@@ -10,6 +11,7 @@
* @author liusuyi
* @date 2024年10月26日15:43
**/
+@EqualsAndHashCode(callSuper = true)
@Data
public class TakeOffReplyCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/notice/BoxPowerStatusReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/notice/BoxPowerStatusReplyCmd.java
index 5b87f8d..df28612 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/notice/BoxPowerStatusReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/notice/BoxPowerStatusReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 云盒开关机通知回复指令
@@ -11,6 +12,7 @@
* @date 2024年10月26日11:54
**/
@Data
+@EqualsAndHashCode(callSuper = false)
public class BoxPowerStatusReplyCmd extends BaseCmd {
private final byte status; // 时间戳
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/notice/FlyWayEndReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/notice/FlyWayEndReplyCmd.java
index 7c72b59..1231cfe 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/notice/FlyWayEndReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/notice/FlyWayEndReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 航线结束通知回复指令
@@ -11,6 +12,7 @@
* @date 2024年10月26日11:54
**/
@Data
+@EqualsAndHashCode(callSuper = false)
public class FlyWayEndReplyCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
private final byte actionCode = 0x2E; // 动作编号
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/notice/UavReadyReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/notice/UavReadyReplyCmd.java
index db9b82f..0f59f89 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/notice/UavReadyReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/notice/UavReadyReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 无人机准备完成通知回复指令
@@ -11,6 +12,7 @@
* @date 2024年10月26日11:54
**/
@Data
+@EqualsAndHashCode(callSuper = false)
public class UavReadyReplyCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
private final byte actionCode = 0x3D; // 动作编号
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/real/SignalInfoCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/real/SignalInfoCmd.java
index 8e7ebb7..04dd7f9 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/real/SignalInfoCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/real/SignalInfoCmd.java
@@ -4,7 +4,9 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
+@EqualsAndHashCode(callSuper = true)
@Data
public class SignalInfoCmd extends BaseCmd {
private int delayTime;
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/real/UavStateCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/real/UavStateCmd.java
index ffcea80..c1fc801 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/real/UavStateCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/real/UavStateCmd.java
@@ -4,7 +4,9 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
+@EqualsAndHashCode(callSuper = true)
@Data
public class UavStateCmd extends BaseCmd {
private UavState uavState; // ProtoBuf 数据类
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/real/UavTelemetryDataCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/real/UavTelemetryDataCmd.java
index 350a60e..0733d8b 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/real/UavTelemetryDataCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/real/UavTelemetryDataCmd.java
@@ -4,6 +4,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* UavDataCommand
@@ -12,6 +13,7 @@
* @date 2024年10月23日9:33
**/
@Data
+@EqualsAndHashCode(callSuper = false)
public class UavTelemetryDataCmd extends BaseCmd {
private TelemetryData telemetryData;
// 构造函数
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/register/HeartbeatReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/register/HeartbeatReplyCmd.java
index 3564f7c..b605bd0 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/register/HeartbeatReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/register/HeartbeatReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
import lombok.NoArgsConstructor;
/**
@@ -12,6 +13,7 @@
* @date 2024/10/22 16:36
*/
@Data
+@EqualsAndHashCode(callSuper = false)
@NoArgsConstructor
public class HeartbeatReplyCmd extends BaseCmd {
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/register/RegisterReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/register/RegisterReplyCmd.java
index 2feb544..653eb28 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/register/RegisterReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/register/RegisterReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 注册命令
@@ -10,6 +11,7 @@
* @author 刘苏义
* @date 2024/10/22 16:36
*/
+@EqualsAndHashCode(callSuper = true)
@Data
public class RegisterReplyCmd extends BaseCmd {
private byte success;
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/register/UavInitInfoCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/register/UavInitInfoCmd.java
index 341edb9..7786343 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/register/UavInitInfoCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/register/UavInitInfoCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 无人机初始化回复命令
@@ -12,6 +13,7 @@
*/
@Data
+@EqualsAndHashCode(callSuper = false)
public class UavInitInfoCmd extends BaseCmd {
private final byte encryptFlag; // 加密标志
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/register/UavInitReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/register/UavInitReplyCmd.java
index 5da3831..ca7ab94 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/register/UavInitReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/register/UavInitReplyCmd.java
@@ -4,6 +4,7 @@
import com.ard.work.component.netty.protobuf.TelemetryDataPB;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 无人机就绪通知命令
@@ -11,6 +12,7 @@
* @author 刘苏义
* @date 2024/10/24 17:18
*/
+@EqualsAndHashCode(callSuper = true)
@Data
public class UavInitReplyCmd extends BaseCmd {
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/settings/ReturnHeightSettingReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/settings/ReturnHeightSettingReplyCmd.java
index 58ca3da..1472ff3 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/settings/ReturnHeightSettingReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/settings/ReturnHeightSettingReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 修改返航高度回复指令
@@ -11,6 +12,7 @@
* @date 2024年10月30日16:20
**/
@Data
+@EqualsAndHashCode(callSuper = false)
public class ReturnHeightSettingReplyCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/settings/ReturnPointSettingReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/settings/ReturnPointSettingReplyCmd.java
index 2f5411f..3ec6a2a 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/settings/ReturnPointSettingReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/settings/ReturnPointSettingReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 修改返航高度回复指令
@@ -10,6 +11,7 @@
* @author liusuyi
* @date 2024年10月30日16:20
**/
+@EqualsAndHashCode(callSuper = true)
@Data
public class ReturnPointSettingReplyCmd extends BaseCmd {
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/settings/VideoStreamSettingReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/settings/VideoStreamSettingReplyCmd.java
index baa57b1..a46f0d3 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/settings/VideoStreamSettingReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/settings/VideoStreamSettingReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 设置视频码流回复指令
@@ -10,6 +11,7 @@
* @author liusuyi
* @date 2024年10月30日16:20
**/
+@EqualsAndHashCode(callSuper = true)
@Data
public class VideoStreamSettingReplyCmd extends BaseCmd {
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLineBeginReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLineBeginReplyCmd.java
index da94067..7b267e1 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLineBeginReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLineBeginReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 开始航线回复指令
@@ -10,6 +11,7 @@
* @author liusuyi
* @date 2024年10月30日16:20
**/
+@EqualsAndHashCode(callSuper = true)
@Data
public class WayLineBeginReplyCmd extends BaseCmd {
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLineEndReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLineEndReplyCmd.java
index 35dfc10..fce768a 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLineEndReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLineEndReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 结束航线回复指令
@@ -11,6 +12,7 @@
* @date 2024年10月30日16:20
**/
@Data
+@EqualsAndHashCode(callSuper = false)
public class WayLineEndReplyCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLinePauseReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLinePauseReplyCmd.java
index 7e0ee1f..5a6d963 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLinePauseReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLinePauseReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 暂停航线回复指令
@@ -10,6 +11,7 @@
* @author liusuyi
* @date 2024年10月30日16:20
**/
+@EqualsAndHashCode(callSuper = true)
@Data
public class WayLinePauseReplyCmd extends BaseCmd {
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLineResumeReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLineResumeReplyCmd.java
index f035308..7d7e9d3 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLineResumeReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLineResumeReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 恢复航线回复指令
@@ -11,6 +12,7 @@
* @date 2024年10月30日16:20
**/
@Data
+@EqualsAndHashCode(callSuper = false)
public class WayLineResumeReplyCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLineUploadReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLineUploadReplyCmd.java
index bba4e12..4e4344a 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLineUploadReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/wayline/WayLineUploadReplyCmd.java
@@ -3,6 +3,7 @@
import com.ard.work.component.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 上传航线回复指令
@@ -11,6 +12,7 @@
* @date 2024年10月30日16:20
**/
@Data
+@EqualsAndHashCode(callSuper = false)
public class WayLineUploadReplyCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
diff --git a/ard-work/src/main/java/com/ard/work/domain/dto/state/PointData.java b/ard-work/src/main/java/com/ard/work/domain/dto/state/PointData.java
index bb6bc9d..daab7cc 100644
--- a/ard-work/src/main/java/com/ard/work/domain/dto/state/PointData.java
+++ b/ard-work/src/main/java/com/ard/work/domain/dto/state/PointData.java
@@ -8,17 +8,56 @@
// 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
+
+ /** 纬度 */
+ private double lat;
+
+ /** 经度 */
+ private double lng;
+
+ /** 高度(单位:米，范围0~遥控器限高) */
+ private float height;
+
+ /** 速度(单位:米/秒，范围0~15)，默认8 */
+ private float speed;
+
+ /** 动作数组 */
+ private List<PointAction> actions;
+
+ /** 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 int flightPathMode;
+
+ /** 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 float dampingDistance;
+
+ /** 是否为安全返航点
+ * 0=不是，
+ * 1=是
+ */
+ private int safeGohomeFlag;
+
+ /** 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 int headingMode;
+
+ /** 航点偏航 -180~180 */
+ private float heading;
+
+ /** 兴趣点下标，默认-1 */
+ private int interestIndex;
+
+ /** 组下标 */
+ private int groupIndex;
}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/work/domain/dto/wayline/PlanLineData.java b/ard-work/src/main/java/com/ard/work/domain/dto/wayline/PlanLineData.java
index fb2f336..b8749d7 100644
--- a/ard-work/src/main/java/com/ard/work/domain/dto/wayline/PlanLineData.java
+++ b/ard-work/src/main/java/com/ard/work/domain/dto/wayline/PlanLineData.java
@@ -18,17 +18,43 @@
@AllArgsConstructor
@NoArgsConstructor
public class PlanLineData {
- private int finishedAction; // 结束航线后动作（必填）
- 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（必填）
- private int loseAction; // 网络失联后动作（必填）
- private int homeHeight; // 返航高度（必填）
- 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
+
+ /** 结束航线后动作（必填） */
+ private int finishedAction;
+
+ /** 最大飞行速度(单位:米/秒) */
+ private float maxSpeed;
+
+ /** 自动飞行速度(单位:米/秒) */
+ private float autoSpeed;
+
+ /** 坐标点数组（必填） */
+ private List<PointData> points;
+
+ /** 网络失联后动作（必填） */
+ private int loseAction;
+
+ /** 返航高度（必填） */
+ private int homeHeight;
+
+ /** 是否开启节能模式 */
+ private int isSaveEnergyMode;
+
+ /** 起飞点机库信息 */
+ private HangarPoint takePoint;
+
+ /** 降落点机库信息 */
+ private HangarPoint landPoint;
+
+ /** 兴趣点数组 */
+ private List<PointData> interests;
+
+ /** 普通建模 */
+ private NormalModel normalModel;
+
+ /** 环绕建模 */
+ private SurroundModel surroundModel;
+
+ /** 起飞点 */
+ private PointData takeOffPoint;
}
diff --git a/ard-work/src/main/java/com/ard/work/domain/dto/wayline/PointAction.java b/ard-work/src/main/java/com/ard/work/domain/dto/wayline/PointAction.java
index 4102dcb..49d6719 100644
--- a/ard-work/src/main/java/com/ard/work/domain/dto/wayline/PointAction.java
+++ b/ard-work/src/main/java/com/ard/work/domain/dto/wayline/PointAction.java
@@ -15,8 +15,33 @@
@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]
+
+ /** 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 int type;
+
+ /** 参数，根据类型不同含义不同 */
+ private float param;
+
+ /** 动作触发后等待时长(单位:秒) */
+ private int waitTime;
+
+ /** 喊话内容[type=13和type=14时生效] */
+ private String speakInfo;
}
diff --git a/ard-work/src/main/java/com/ard/work/domain/dto/wayline/WayLineUploadDTO.java b/ard-work/src/main/java/com/ard/work/domain/dto/wayline/WayLineUploadDTO.java
index 78e3788..9d9cdf6 100644
--- a/ard-work/src/main/java/com/ard/work/domain/dto/wayline/WayLineUploadDTO.java
+++ b/ard-work/src/main/java/com/ard/work/domain/dto/wayline/WayLineUploadDTO.java
@@ -16,6 +16,14 @@
@AllArgsConstructor
@NoArgsConstructor
public class WayLineUploadDTO {
+
+ /**
+ * 云盒SN编号
+ */
private String boxSn;
+
+ /**
+ * 航线数据
+ */
private PlanLineData wayLineData;
}
diff --git a/ard-work/src/main/java/com/ard/work/domain/entity/ArdDroneInfo.java b/ard-work/src/main/java/com/ard/work/domain/entity/ArdDroneInfo.java
index baa2947..80a43c9 100644
--- a/ard-work/src/main/java/com/ard/work/domain/entity/ArdDroneInfo.java
+++ b/ard-work/src/main/java/com/ard/work/domain/entity/ArdDroneInfo.java
@@ -19,6 +19,7 @@
@Builder
@AllArgsConstructor
@NoArgsConstructor
+@EqualsAndHashCode(callSuper = false)
public class ArdDroneInfo extends BaseEntity {
private static final long serialVersionUID = 1L;
diff --git a/ard-work/src/main/java/com/ard/work/domain/entity/ArdFlightTask.java b/ard-work/src/main/java/com/ard/work/domain/entity/ArdFlightTask.java
index 8e4602b..62a8d23 100644
--- a/ard-work/src/main/java/com/ard/work/domain/entity/ArdFlightTask.java
+++ b/ard-work/src/main/java/com/ard/work/domain/entity/ArdFlightTask.java
@@ -1,12 +1,16 @@
package com.ard.work.domain.entity;
import com.ard.common.core.domain.BaseEntity;
-import lombok.Data;
+import com.fasterxml.jackson.annotation.JsonFormat;
+import lombok.*;
import java.util.Date;
-import java.util.List;
+@EqualsAndHashCode(callSuper = true)
@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
public class ArdFlightTask extends BaseEntity {
private Integer taskId; // 任务ID
@@ -16,8 +20,21 @@
private Integer photoCount; // 图片数量
private Integer videoCount; // 录像数量
private String videoPath; // 视频路径
+ @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
private Date startTime; // 任务开始时间
+ @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
private Date endTime; // 任务结束时间
+ private Long duration; // 持续时长（单位：秒）
private String serverId; // 服务器ID
- private List<ArdMedia> mediaList; // 媒体文件列表
+
+ // 计算持续时长，单位：秒
+ public Long getDuration() {
+ if (startTime != null && endTime != null) {
+ // 计算时间差（毫秒）
+ long durationMillis = endTime.getTime() - startTime.getTime();
+ // 将毫秒转换为秒
+ return durationMillis / 1000;
+ }
+ return null;
+ }
}
diff --git a/ard-work/src/main/java/com/ard/work/domain/entity/ArdMedia.java b/ard-work/src/main/java/com/ard/work/domain/entity/ArdMedia.java
index a29e680..f5b97d5 100644
--- a/ard-work/src/main/java/com/ard/work/domain/entity/ArdMedia.java
+++ b/ard-work/src/main/java/com/ard/work/domain/entity/ArdMedia.java
@@ -1,9 +1,16 @@
package com.ard.work.domain.entity;
import com.ard.common.core.domain.BaseEntity;
-import lombok.Data;
+import com.fasterxml.jackson.annotation.JsonFormat;
+import lombok.*;
+import java.util.Date;
+
+@EqualsAndHashCode(callSuper = true)
@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
public class ArdMedia extends BaseEntity {
private String id; // 媒体ID
@@ -13,4 +20,11 @@
private String fileMd5; // 文件MD5值
private String mediaUrl; // 地址
private String sourceUrl; // 源地址
+ private Long photoId; // 图片ID
+ private Double longitude; // 经度
+ private Double latitude; // 纬度
+ private Double height; // 高度
+ @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
+ private Date captureTime; // 抓拍时间
+ private String thumbnailUrl; // 视频缩略图URL
}
diff --git a/ard-work/src/main/java/com/ard/work/domain/entity/ArdServerInfo.java b/ard-work/src/main/java/com/ard/work/domain/entity/ArdServerInfo.java
index 0ce9bef..902445d 100644
--- a/ard-work/src/main/java/com/ard/work/domain/entity/ArdServerInfo.java
+++ b/ard-work/src/main/java/com/ard/work/domain/entity/ArdServerInfo.java
@@ -5,6 +5,7 @@
import com.ard.common.core.domain.BaseEntity;
import lombok.Builder;
import lombok.Data;
+import lombok.EqualsAndHashCode;
/**
* 服务器管理对象 ard_server
@@ -12,6 +13,7 @@
* @author xia
* @date 2025-10-10
*/
+@EqualsAndHashCode(callSuper = true)
@Data
public class ArdServerInfo extends BaseEntity {
diff --git a/ard-work/src/main/java/com/ard/work/domain/entity/UavWayline.java b/ard-work/src/main/java/com/ard/work/domain/entity/UavWayline.java
index 1688d89..d34208a 100644
--- a/ard-work/src/main/java/com/ard/work/domain/entity/UavWayline.java
+++ b/ard-work/src/main/java/com/ard/work/domain/entity/UavWayline.java
@@ -1,9 +1,6 @@
package com.ard.work.domain.entity;
-import lombok.AllArgsConstructor;
-import lombok.Builder;
-import lombok.Data;
-import lombok.NoArgsConstructor;
+import lombok.*;
import com.ard.common.annotation.Excel;
import com.ard.common.core.domain.BaseEntity;
@@ -13,6 +10,7 @@
* @author ard
* @date 2025-06-27
*/
+@EqualsAndHashCode(callSuper = true)
@Data
@Builder
@AllArgsConstructor
diff --git a/ard-work/src/main/java/com/ard/work/mapper/ArdFlightTaskMapper.java b/ard-work/src/main/java/com/ard/work/mapper/ArdFlightTaskMapper.java
index 9235bc4..d6683b3 100644
--- a/ard-work/src/main/java/com/ard/work/mapper/ArdFlightTaskMapper.java
+++ b/ard-work/src/main/java/com/ard/work/mapper/ArdFlightTaskMapper.java
@@ -10,6 +10,9 @@
// 插入飞行任务
int insertArdFlightTask(ArdFlightTask task);
+ // 插入飞行任务
+ int updateArdFlightTask(ArdFlightTask task);
+
// 根据任务ID获取飞行任务
ArdFlightTask getArdFlightTaskById(@Param("taskId") Integer taskId);
diff --git a/ard-work/src/main/java/com/ard/work/mapper/ArdMediaMapper.java b/ard-work/src/main/java/com/ard/work/mapper/ArdMediaMapper.java
index ebd0e76..5a45bf6 100644
--- a/ard-work/src/main/java/com/ard/work/mapper/ArdMediaMapper.java
+++ b/ard-work/src/main/java/com/ard/work/mapper/ArdMediaMapper.java
@@ -2,6 +2,8 @@
import com.ard.work.domain.entity.ArdMedia;
import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+
import java.util.List;
@@ -14,7 +16,10 @@
* @return 媒体数据集合
*/
List<ArdMedia> selectArdMedia(ArdMedia ardMedia); // 动态查询
+
List<ArdMedia> selectArdMediaByTaskId(Integer taskId); // 根据任务ID查询
+
+ List<ArdMedia> selectArdMediaByTaskIdAndType(@Param("taskId") Integer taskId, @Param("mediaType") Integer mediaType); //
/**
* 插入媒体数据记录
@@ -26,7 +31,10 @@
void insertArdMediaList(List<ArdMedia> ardMediaList); // 插入批量记录
void updateArdMedia(ArdMedia ardMedia); // 更新记录
+
void deleteArdMediaById(Integer id); // 根据ID删除记录
+
void deleteArdMediaByIds(List<Integer> mediaIds); // 批量删除记录
+
void deleteArdMediaByTaskId(Integer taskId); // 批量删除记录
}
diff --git a/ard-work/src/main/java/com/ard/work/service/impl/ArdFlightTaskServiceServiceImpl.java b/ard-work/src/main/java/com/ard/work/service/impl/ArdFlightTaskServiceServiceImpl.java
index 87b1be2..bcc4d7d 100644
--- a/ard-work/src/main/java/com/ard/work/service/impl/ArdFlightTaskServiceServiceImpl.java
+++ b/ard-work/src/main/java/com/ard/work/service/impl/ArdFlightTaskServiceServiceImpl.java
@@ -1,10 +1,8 @@
package com.ard.work.service.impl;
import com.ard.common.utils.DateUtils;
-import com.ard.common.utils.StringUtils;
import com.ard.common.utils.file.MimeTypeUtils;
import com.ard.common.utils.uuid.IdUtils;
-import com.ard.oss.service.IOssService;
import com.ard.oss.service.impl.OssServiceContext;
import com.ard.work.component.forest.TyClient;
import com.ard.work.domain.dto.BoxHistoryDTO;
@@ -18,23 +16,29 @@
import com.ard.work.mapper.ArdMediaMapper;
import com.ard.work.service.IArdFlightTaskService;
import com.ard.work.service.IArdServerInfoService;
-import org.apache.commons.io.FilenameUtils;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.scheduling.annotation.Async;
+import lombok.extern.slf4j.Slf4j;
+import org.bytedeco.javacv.FFmpegFrameGrabber;
+import org.bytedeco.javacv.Frame;
+import org.bytedeco.javacv.Java2DFrameConverter;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor;
import org.springframework.stereotype.Service;
-import org.springframework.web.multipart.MultipartFile;
import javax.annotation.Resource;
+import javax.imageio.ImageIO;
import javax.net.ssl.*;
+import java.awt.image.BufferedImage;
+import java.io.ByteArrayInputStream;
+import java.io.ByteArrayOutputStream;
import java.io.InputStream;
+import java.net.HttpURLConnection;
import java.net.URL;
import java.util.Date;
import java.util.List;
-import java.util.Objects;
import java.util.concurrent.CompletableFuture;
+import java.util.stream.Collectors;
+@Slf4j
@Service
public class ArdFlightTaskServiceServiceImpl implements IArdFlightTaskService {
@@ -48,16 +52,23 @@
private TyClient tyClient;
@Resource
private OssServiceContext ossServiceContext;
-
@Resource
private ThreadPoolTaskExecutor threadPoolTaskExecutor; // 使用线程池执行异步任务
+ /**
+ * 查询飞行架次列表
+ *
+ * @param ardFlightTask 飞行架次
+ * @return 飞行架次集合
+ */
@Override
public List<ArdFlightTask> selectArdFlightTask(ArdFlightTask ardFlightTask) {
return ardFlightTaskMapper.selectArdFlightTask(ardFlightTask);
}
- // 同步所有服务的飞行历史
+ /**
+ * 同步所有服务的飞行历史
+ */
@Scheduled(fixedDelay = 10000)
public void syncAllFlightHistory() {
List<String> serverIds = ardServerInfoService.getServerIdsList();
@@ -75,12 +86,12 @@
return maxStartTime != null ? maxStartTime : new Date(0); // 如果没有数据，返回 Unix 纪元时间作为起点
}
- // 调用接口获取飞行历史数据
// 根据上次同步时间同步飞行历史
- public void syncFlightHistory(String serverId, Date lastSyncTime) {
+ public void syncFlightHistory(String serverId, Date startTime) {
// 创建查询条件 BoxHistoryDTO，并设置 startTime 作为过滤条件
- BoxHistoryDTO boxHistoryDTO = new BoxHistoryDTO();
- boxHistoryDTO.setStartTime(DateUtils.parseDateToStr(DateUtils.YYYY_MM_DD, lastSyncTime)); // 传递 lastSyncTime 参数
+ BoxHistoryDTO boxHistoryDTO = BoxHistoryDTO.builder()
+ .startTime(DateUtils.parseDateToStr(DateUtils.YYYY_MM_DD, startTime))
+ .build();
// 获取飞行历史
List<BoxHistoryReceiver> historyList = getBoxHistory(serverId, boxHistoryDTO);
@@ -93,118 +104,257 @@
}
}
+ // 将数据同步到本地数据库
+ private void syncToLocalDatabase(String serverId, BoxHistoryReceiver boxHistoryReceiver) {
+ // 检查是否已经存在相同任务ID的记录
+ ArdFlightTask ardFlightTask = ardFlightTaskMapper.getArdFlightTaskById(boxHistoryReceiver.getTaskId());
+ if (ardFlightTask == null) {
+ // 如果不存在，则插入新记录
+ log.debug("insert task {}", boxHistoryReceiver.getTaskId());
+ // 创建FlightTask实体对象并填充数据
+ ArdFlightTask flightTask = ArdFlightTask.builder()
+ .taskId(boxHistoryReceiver.getTaskId())
+ .boxSn(boxHistoryReceiver.getBoxSn())
+ .boxName(boxHistoryReceiver.getBoxName())
+ .taskName(boxHistoryReceiver.getTaskName())
+ .photoCount(Integer.parseInt(boxHistoryReceiver.getPhotoCount()))
+ .videoCount((boxHistoryReceiver.getVideoPathList() != null) ?
+ boxHistoryReceiver.getVideoPathList().size() : 0)
+ .videoPath(boxHistoryReceiver.getVideoPath())
+ .serverId(serverId)
+ .startTime(DateUtils.dateTime(DateUtils.YYYY_MM_DD_HH_MM_SS, boxHistoryReceiver.getStartTime()))
+ .endTime(DateUtils.dateTime(DateUtils.YYYY_MM_DD_HH_MM_SS, boxHistoryReceiver.getEndTime()))
+ .build();
+ flightTask.setCreateTime(DateUtils.getNowDate());
+ // 插入新记录
+ int rows = ardFlightTaskMapper.insertArdFlightTask(flightTask);
+ if (rows > 0) {
+ // 删除旧的媒体记录，防止重复插入
+ ardMediaMapper.deleteArdMediaByTaskId(flightTask.getTaskId());
+
+ // 插入视频
+ insertVideoToDatabase(flightTask, boxHistoryReceiver.getVideoPathList());
+
+ // 插入图片
+ insertPhotoToDatabase(flightTask, serverId, boxHistoryReceiver.getBoxSn());
+ }
+ } else {
+ // 如果存在，则更新记录
+ log.debug("Updating task {}", boxHistoryReceiver.getTaskId());
+ // 增量更新
+ updateVideoToDatabase(ardFlightTask, boxHistoryReceiver.getVideoPathList());
+ // 增量更新图片
+ updatePhotoToDatabase(ardFlightTask, serverId, boxHistoryReceiver.getBoxSn());
+
+ }
+ }
+
+
// 调用接口获取飞行历史数据
private List<BoxHistoryReceiver> getBoxHistory(String serverId, BoxHistoryDTO boxHistoryDTO) {
TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(serverId, boxHistoryDTO);
return boxHistory.getContent();
}
- // 将数据同步到本地数据库
- private void syncToLocalDatabase(String serverId, BoxHistoryReceiver boxHistoryReceiver) {
- // 创建FlightTask实体对象并填充数据
- ArdFlightTask flightTask = new ArdFlightTask();
- flightTask.setTaskId(boxHistoryReceiver.getTaskId());
- flightTask.setBoxSn(boxHistoryReceiver.getBoxSn());
- flightTask.setBoxName(boxHistoryReceiver.getBoxName());
- flightTask.setTaskName(boxHistoryReceiver.getTaskName());
+ //调用接口获取架次图片
+ private List<BoxPhotosReceiver> getBoxPhotos(String serverId, BoxPhotosDTO boxPhotosDTO) {
+ TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(serverId, boxPhotosDTO);
+ return boxPhotos.getContent();
+ }
- Integer photoCount = Integer.parseInt(boxHistoryReceiver.getPhotoCount());
- flightTask.setPhotoCount(photoCount);
- Integer videoCount = (boxHistoryReceiver.getVideoPathList() != null) ?
- boxHistoryReceiver.getVideoPathList().size() : 0;
- flightTask.setVideoCount(videoCount);
+ // 插入视频记录
+ private void insertVideoToDatabase(ArdFlightTask flightTask, List<String> videoPathList) {
+ if (videoPathList != null && !videoPathList.isEmpty()) {
+ for (String videoPath : videoPathList) {
+ ArdMedia ardMedia = ArdMedia.builder()
+ .id(IdUtils.simpleUUID())
+ .taskId(flightTask.getTaskId())
+ .mediaType(1) // 1表示视频
+ .sourceUrl(videoPath)
+ .fileSize(getFileSizeByUrl(videoPath))
+ .build();
+ CompletableFuture.supplyAsync(() -> {
+ try {
+ // 上传视频
+ String videoUrl = uploadFileToOss(flightTask.getBoxSn(), videoPath, "record",
+ MimeTypeUtils.VIDEO_MP4);
+ ardMedia.setMediaUrl(videoUrl);
+ // 生成缩略图 InputStream
+ ByteArrayInputStream thumbnailStream = generateThumbnailInputStream(videoPath, 2, 200);
+ if (thumbnailStream != null) {
+ String thumbnailUrl = ossServiceContext.upload("record",
+ flightTask.getBoxSn() + "/" + IdUtils.fastSimpleUUID() + ".jpg",
+ thumbnailStream,
+ MimeTypeUtils.IMAGE_JPEG);
+ ardMedia.setThumbnailUrl(thumbnailUrl);
+ }
- flightTask.setVideoPath(boxHistoryReceiver.getVideoPath());
- flightTask.setServerId(serverId);
+ ardMedia.setCreateTime(new Date());
+ return ardMedia;
- Date startTime = DateUtils.dateTime(DateUtils.YYYY_MM_DD_HH_MM_SS, boxHistoryReceiver.getStartTime());
- flightTask.setStartTime(startTime);
+ } catch (Exception e) {
+ e.printStackTrace();
+ return null;
+ }
+ }, threadPoolTaskExecutor).thenAccept(am -> {
+ if (am != null) {
+ ardMediaMapper.insertArdMedia(am);
+ }
+ });
- Date endTime = DateUtils.dateTime(DateUtils.YYYY_MM_DD_HH_MM_SS, boxHistoryReceiver.getEndTime());
- flightTask.setEndTime(endTime);
-
- flightTask.setCreateTime(DateUtils.getNowDate());
-
- // 检查是否已经存在相同任务ID的记录
- ArdFlightTask ardFlightTaskById = ardFlightTaskMapper.getArdFlightTaskById(flightTask.getTaskId());
- if (ardFlightTaskById != null) {
- return;
- }
-
- System.out.println("Syncing task " + boxHistoryReceiver.getTaskId());
-
- // 插入新记录
- int rows = ardFlightTaskMapper.insertArdFlightTask(flightTask);
- if (rows > 0) {
- // 删除旧的媒体记录，防止重复插入
- ardMediaMapper.deleteArdMediaByTaskId(flightTask.getTaskId());
-
- // 插入视频
- syncVideoToDatabase(flightTask, boxHistoryReceiver.getVideoPathList());
-
- // 插入图片
- syncPhotoToDatabase(flightTask, serverId, boxHistoryReceiver.getBoxSn());
+ }
}
}
- // 插入视频记录
- private void syncVideoToDatabase(ArdFlightTask flightTask, List<String> videoPathList) {
- if (videoPathList != null && !videoPathList.isEmpty()) {
- for (String videoPath : videoPathList) {
+ private void updateVideoToDatabase(ArdFlightTask flightTask, List<String> videoPathList) {
+ if (videoPathList == null) {
+ return;
+ }
+ Integer count = flightTask.getVideoCount();//获取本地库视频数量
+ int size = videoPathList.size();//获取接口返回的视频数量
+ if (count != null && size > count) {
+ log.info("录像数量不一致，需要更新数据库");
+ // 需要插入新的视频
+ List<ArdMedia> existingVideos = ardMediaMapper.selectArdMediaByTaskIdAndType(flightTask.getTaskId(), 1);
+ // 提取现有的视频路径
+ List<String> existingVideoPaths = existingVideos.stream()
+ .map(ArdMedia::getSourceUrl) // 获取每个视频的 URL
+ .collect(Collectors.toList());
- ArdMedia ardMedia = new ArdMedia();
- ardMedia.setId(IdUtils.simpleUUID());
- ardMedia.setTaskId(flightTask.getTaskId());
- ardMedia.setMediaType(1); // 1表示视频
- ardMedia.setSourceUrl(videoPath);
- // 异步上传文件到OSS，并在上传完成后插入数据库
- CompletableFuture.supplyAsync(() -> uploadFileToOss(flightTask.getBoxSn(), videoPath, "record",
- MimeTypeUtils.VIDEO_MP4), threadPoolTaskExecutor)
- .thenAccept(url -> {
- ardMedia.setMediaUrl(url); // 获取上传后的文件 URL
+ // 从接口返回的视频路径中找出新的视频
+ List<String> newVideos = videoPathList.stream()
+ .filter(videoPath -> !existingVideoPaths.contains(videoPath)) // 过滤出新的视频
+ .collect(Collectors.toList());
+ if (!newVideos.isEmpty()) {
+ // 插入新的视频记录
+ for (String videoPath : newVideos) {
+ ArdMedia ardMedia = ArdMedia.builder()
+ .id(IdUtils.simpleUUID())
+ .taskId(flightTask.getTaskId())
+ .mediaType(1) // 1表示视频
+ .fileSize(getFileSizeByUrl(videoPath))
+ .sourceUrl(videoPath)
+ .build();
+ CompletableFuture.supplyAsync(() -> {
+ try {
+ // 上传视频
+ String videoUrl = uploadFileToOss(flightTask.getBoxSn(), videoPath, "record",
+ MimeTypeUtils.VIDEO_MP4);
+ ardMedia.setMediaUrl(videoUrl);
+
+
+ // 生成缩略图 InputStream
+ ByteArrayInputStream thumbnailStream = generateThumbnailInputStream(videoPath, 2, 200);
+ if (thumbnailStream != null) {
+ String thumbnailUrl = ossServiceContext.upload("record",
+ flightTask.getBoxSn() + "/" + IdUtils.fastSimpleUUID() + ".jpg",
+ thumbnailStream,
+ MimeTypeUtils.IMAGE_JPEG);
+ ardMedia.setThumbnailUrl(thumbnailUrl);
+ }
+
ardMedia.setCreateTime(new Date());
- ardMediaMapper.insertArdMedia(ardMedia); // 插入数据库
- });
+ return ardMedia;
+
+ } catch (Exception e) {
+ e.printStackTrace();
+ return null;
+ }
+ }, threadPoolTaskExecutor).thenAccept(am -> {
+ if (am != null) {
+ ardMediaMapper.insertArdMedia(am);
+ }
+ });
+ }
+ // 更新任务的视频数量
+ flightTask.setVideoCount(flightTask.getVideoCount() + newVideos.size());
+ ardFlightTaskMapper.updateArdFlightTask(flightTask);
}
}
}
// 插入图片记录
- private void syncPhotoToDatabase(ArdFlightTask flightTask, String serverId, String boxSn) {
+ private void insertPhotoToDatabase(ArdFlightTask flightTask, String serverId, String boxSn) {
// 查询图片
BoxPhotosDTO boxPhotosDTO = new BoxPhotosDTO();
boxPhotosDTO.setTaskId(flightTask.getTaskId());
boxPhotosDTO.setBoxSn(boxSn);
boxPhotosDTO.setPageIndex(1);
- boxPhotosDTO.setPageSize(1000);
+ boxPhotosDTO.setPageSize(500);
+ List<BoxPhotosReceiver> photoList = getBoxPhotos(serverId, boxPhotosDTO);
+ if (photoList != null && !photoList.isEmpty()) {
+ addPhotos(flightTask, photoList);
+ }
+ }
+ private void updatePhotoToDatabase(ArdFlightTask flightTask, String serverId, String boxSn) {
+ int count = flightTask.getPhotoCount(); //获取本地库图片数量
+ // 查询图片
+ BoxPhotosDTO boxPhotosDTO = BoxPhotosDTO.builder()
+ .taskId(flightTask.getTaskId())
+ .boxSn(boxSn)
+ .pageIndex(1)
+ .pageSize(500)
+ .build();
TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(serverId, boxPhotosDTO);
List<BoxPhotosReceiver> photoList = boxPhotos.getContent();
+ int size = photoList.size();
- if (photoList != null && !photoList.isEmpty()) {
- for (BoxPhotosReceiver photo : photoList) {
- ArdMedia ardMedia = new ArdMedia();
- ardMedia.setId(IdUtils.simpleUUID());
- ardMedia.setTaskId(flightTask.getTaskId());
- ardMedia.setMediaType(0); // 0表示图片
- ardMedia.setFileSize(photo.getFileSize());
- ardMedia.setFileMd5(photo.getFileMd5());
- ardMedia.setSourceUrl(photo.getImgUrl());
- // 异步上传文件到OSS，并在上传完成后插入数据库
- CompletableFuture.supplyAsync(() -> uploadFileToOss(flightTask.getBoxSn(), photo.getImgUrl(), "pic",
- MimeTypeUtils.IMAGE_JPG), threadPoolTaskExecutor)
- .thenAccept(url -> {
- ardMedia.setMediaUrl(url); // 获取上传后的文件 URL
- ardMedia.setCreateTime(new Date());
- ardMediaMapper.insertArdMedia(ardMedia); // 插入数据库
- });
+ if (size > count) {
+ log.info("图片数量不一致，需要更新数据库");
+ // 获取本地数据库中已存在的图片记录（类型为 0 表示图片）
+ List<ArdMedia> existingPhotos = ardMediaMapper.selectArdMediaByTaskIdAndType(flightTask.getTaskId(), 0);
+ // 需要插入新的视频
+ // 提取现有的图片路径（根据 imgUrl 来判断是否重复）
+ List<String> existingPhotoUrls = existingPhotos.stream()
+ .map(ArdMedia::getSourceUrl) // 提取 ArdMedia 中的图片 URL
+ .collect(Collectors.toList());
+
+ // 筛选出 photoList 中没有出现在 existingPhotos 中的新图片
+ List<BoxPhotosReceiver> newPhotos = photoList.stream()
+ .filter(photo -> !existingPhotoUrls.contains(photo.getImgUrl())) // 过滤出新图片
+ .collect(Collectors.toList());
+ if (!newPhotos.isEmpty()) {
+ // 插入新的视频记录
+ addPhotos(flightTask, newPhotos);
+
+ // 更新任务的视频数量
+ flightTask.setPhotoCount(flightTask.getPhotoCount() + newPhotos.size());
+ ardFlightTaskMapper.updateArdFlightTask(flightTask);
}
}
}
+ private void addPhotos(ArdFlightTask flightTask, List<BoxPhotosReceiver> photoList) {
+ for (BoxPhotosReceiver photo : photoList) {
+ ArdMedia ardMedia = ArdMedia.builder()
+ .id(IdUtils.simpleUUID())
+ .taskId(flightTask.getTaskId())
+ .mediaType(0) // 0表示图片
+ .fileSize(photo.getFileSize())
+ .fileMd5(photo.getFileMd5())
+ .sourceUrl(photo.getImgUrl())
+ .photoId(photo.getPhotoId())
+ .longitude(photo.getLng())
+ .latitude(photo.getLat())
+ .height(photo.getHeight())
+ .captureTime(DateUtils.dateTime(DateUtils.YYYY_MM_DD_HH_MM_SS, photo.getTimeStamp()))
+ .build();
+ // 异步上传文件到OSS，并在上传完成后插入数据库
+ CompletableFuture.supplyAsync(() -> uploadFileToOss(flightTask.getBoxSn(), photo.getImgUrl(), "pic",
+ MimeTypeUtils.IMAGE_JPG), threadPoolTaskExecutor)
+ .thenAccept(url -> {
+ ardMedia.setMediaUrl(url); // 获取上传后的文件 URL
+ ardMedia.setCreateTime(new Date());
+ ardMediaMapper.insertArdMedia(ardMedia); // 插入数据库
+ });
+ }
+ }
+
+
// 通用的上传方法，支持视频和图片等文件上传
- public String uploadFileToOss(String boxSn, String fileUrl, String bucket, String contentType) {
+ private String uploadFileToOss(String boxSn, String fileUrl, String bucket, String contentType) {
InputStream fileInputStream = null;
String fileOssUrl = "";
try {
@@ -233,12 +383,7 @@
HttpsURLConnection.setDefaultSSLSocketFactory(sc.getSocketFactory());
// 创建所有主机名都信任的HostnameVerifier
- HostnameVerifier allHostsValid = new HostnameVerifier() {
- @Override
- public boolean verify(String hostname, SSLSession session) {
- return true;
- }
- };
+ HostnameVerifier allHostsValid = (hostname, session) -> true;
HttpsURLConnection.setDefaultHostnameVerifier(allHostsValid);
// 现在可以正常访问
@@ -270,4 +415,82 @@
return fileOssUrl; // 返回上传后的文件OSS URL
}
+ // 获取文件大小
+ private long getFileSizeByUrl(String fileUrl) {
+ try {
+ URL url = new URL(fileUrl);
+ HttpURLConnection conn = (HttpURLConnection) url.openConnection();
+ conn.setRequestMethod("HEAD");
+ conn.connect();
+ return conn.getContentLengthLong(); // 返回字节大小
+ } catch (Exception e) {
+ return -1;
+ }
+ }
+
+ // 生成视频缩略图
+ public ByteArrayInputStream generateThumbnailInputStream(String videoFile,
+ int skipFrames,
+ int targetWidth) throws Exception {
+ long start = System.currentTimeMillis();
+ FFmpegFrameGrabber grabber = null;
+
+ try {
+ grabber = new FFmpegFrameGrabber(videoFile);
+ grabber.start();
+
+ int totalFrames = grabber.getLengthInFrames();
+ System.out.println("视频总帧数: " + totalFrames);
+ System.out.println("视频时长: " + grabber.getLengthInTime() / 1000000 + "秒");
+
+ Frame frame = null;
+ int currentFrame = 0;
+
+ // 读取指定帧数后的第一帧有效图像
+ while (currentFrame < totalFrames) {
+ frame = grabber.grabImage();
+ if (frame == null) {
+ break;
+ }
+
+ if (currentFrame > skipFrames && frame.image != null) {
+ break;
+ }
+ currentFrame++;
+ }
+
+ if (frame == null || frame.image == null) {
+ throw new Exception("无法获取有效视频帧");
+ }
+
+ // 转换 Frame 为 BufferedImage
+ Java2DFrameConverter converter = new Java2DFrameConverter();
+ BufferedImage image = converter.getBufferedImage(frame);
+
+ // 按目标宽度等比缩放
+ int targetHeight = (int) ((double) targetWidth / image.getWidth() * image.getHeight());
+ BufferedImage scaledImage = new BufferedImage(targetWidth, targetHeight, BufferedImage.TYPE_3BYTE_BGR);
+ scaledImage.getGraphics().drawImage(image, 0, 0, targetWidth, targetHeight, null);
+
+ // 转成 ByteArrayInputStream
+ ByteArrayOutputStream baos = new ByteArrayOutputStream();
+ ImageIO.write(scaledImage, "jpg", baos);
+ long cost = System.currentTimeMillis() - start;
+ System.out.println("处理耗时: " + cost + "ms");
+
+ return new ByteArrayInputStream(baos.toByteArray());
+
+ } finally {
+ if (grabber != null) {
+ try {
+ grabber.stop();
+ grabber.close();
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ }
+ }
+
+
}
diff --git a/ard-work/src/main/java/com/ard/work/service/impl/IArdMediaServiceImpl.java b/ard-work/src/main/java/com/ard/work/service/impl/ArdMediaServiceImpl.java
similarity index 91%
rename from ard-work/src/main/java/com/ard/work/service/impl/IArdMediaServiceImpl.java
rename to ard-work/src/main/java/com/ard/work/service/impl/ArdMediaServiceImpl.java
index 26a7e85..2fe5482 100644
--- a/ard-work/src/main/java/com/ard/work/service/impl/IArdMediaServiceImpl.java
+++ b/ard-work/src/main/java/com/ard/work/service/impl/ArdMediaServiceImpl.java
@@ -14,7 +14,7 @@
* Date: 2025年11月18日13:17
**/
@Service
-public class IArdMediaServiceImpl implements IArdMediaService {
+public class ArdMediaServiceImpl implements IArdMediaService {
@Resource
private ArdMediaMapper ardMediaMapper;
diff --git a/ard-work/src/main/resources/mapper/ArdFlightTaskMapper.xml b/ard-work/src/main/resources/mapper/ArdFlightTaskMapper.xml
index cdd7d25..dae11c0 100644
--- a/ard-work/src/main/resources/mapper/ArdFlightTaskMapper.xml
+++ b/ard-work/src/main/resources/mapper/ArdFlightTaskMapper.xml
@@ -93,9 +93,28 @@
</trim>
</insert>
+ <update id="updateArdFlightTask" parameterType="com.ard.work.domain.entity.ArdFlightTask">
+ update ard_flight_task
+ <set>
+ <if test="taskId != null">task_id = #{taskId},</if>
+ <if test="boxSn != null">box_sn = #{boxSn},</if>
+ <if test="boxName != null">box_name = #{boxName},</if>
+ <if test="taskName != null">task_name = #{taskName},</if>
+ <if test="videoCount != null">video_count = #{videoCount},</if>
+ <if test="photoCount != null">photo_count = #{photoCount},</if>
+ <if test="videoPath != null">video_path = #{videoPath},</if>
+ <if test="startTime != null">start_time = #{startTime},</if>
+ <if test="endTime != null">end_time = #{endTime},</if>
+ <if test="serverId != null">server_id = #{serverId},</if>
+ <if test="updateBy != null">update_by = #{updateBy},</if>
+ <if test="updateTime != null">update_time = #{updateTime},</if>
+ <if test="remark != null">remark = #{remark},</if>
+ </set>
+ where task_id = #{taskId}
+ </update>
<!-- 根据任务ID获取飞行任务 -->
- <select id="getArdFlightTaskById" resultType="ArdFlightTask">
+ <select id="getArdFlightTaskById" resultMap="ArdFlightTaskResult">
SELECT *
FROM ard_flight_task
WHERE task_id = #{taskId}
diff --git a/ard-work/src/main/resources/mapper/ArdMediaMapper.xml b/ard-work/src/main/resources/mapper/ArdMediaMapper.xml
index 2c8db02..21f6459 100644
--- a/ard-work/src/main/resources/mapper/ArdMediaMapper.xml
+++ b/ard-work/src/main/resources/mapper/ArdMediaMapper.xml
@@ -11,41 +11,80 @@
<result property="fileMd5" column="file_md5"/>
<result property="mediaUrl" column="media_url"/>
<result property="sourceUrl" column="source_url"/>
+ <result property="photoId" column="photo_id"/>
+ <result property="longitude" column="longitude"/>
+ <result property="latitude" column="latitude"/>
+ <result property="height" column="height"/>
+ <result property="thumbnailUrl" column="thumbnail_url"/>
+ <result property="captureTime" column="capture_time"/>
<result property="createTime" column="create_time"/>
</resultMap>
+
<!-- 查询媒体列表：根据条件动态生成SQL -->
<select id="selectArdMedia" resultMap="ArdMediaResult">
- SELECT id, task_id, media_type, file_size, file_md5, media_url, source_url,create_time
+ SELECT
+ id, task_id, media_type, file_size, file_md5, media_url, source_url,thumbnail_url,
+ photo_id, longitude, latitude, height, capture_time, create_time
FROM ard_media
<where>
- <!-- 动态查询条件：任务ID -->
<if test="taskId != null">AND task_id = #{taskId}</if>
-
- <!-- 动态查询条件：媒体类型 -->
<if test="mediaType != null">AND media_type = #{mediaType}</if>
-
- <!-- 动态查询条件：文件大小 -->
<if test="fileSize != null">AND file_size = #{fileSize}</if>
-
- <!-- 动态查询条件：文件MD5 -->
<if test="fileMd5 != null">AND file_md5 = #{fileMd5}</if>
-
- <!-- 动态查询条件：媒体URL -->
<if test="mediaUrl != null">AND media_url = #{mediaUrl}</if>
-
- <!-- 动态查询条件：时间戳 -->
+ <if test="sourceUrl != null">AND source_url = #{sourceUrl}</if>
+ <if test="thumbnailUrl != null">AND thumbnail_url = #{thumbnailUrl}</if>
+ <if test="photoId != null">AND photo_id = #{photoId}</if>
+ <if test="longitude != null">AND longitude = #{longitude}</if>
+ <if test="latitude != null">AND latitude = #{latitude}</if>
+ <if test="height != null">AND height = #{height}</if>
+ <if test="captureTime != null">AND capture_time = #{captureTime}</if>
<if test="createTime != null">AND create_time = #{createTime}</if>
</where>
+ ORDER BY create_time DESC
</select>
+
<!-- 根据任务ID查询媒体 -->
<select id="selectArdMediaByTaskId" resultMap="ArdMediaResult">
- SELECT id, task_id, media_type, file_size, file_md5, media_url, create_time
+ SELECT id,
+ task_id,
+ media_type,
+ file_size,
+ file_md5,
+ media_url,
+ source_url,
+ thumbnail_url,
+ photo_id,
+ longitude,
+ latitude,
+ height,
+ capture_time,
+ create_time
FROM ard_media
WHERE task_id = #{taskId}
</select>
-
+ <!-- 根据任务ID和媒体类型查询媒体 -->
+ <select id="selectArdMediaByTaskIdAndType" resultMap="ArdMediaResult">
+ SELECT id,
+ task_id,
+ media_type,
+ file_size,
+ file_md5,
+ media_url,
+ source_url,
+ thumbnail_url,
+ photo_id,
+ longitude,
+ latitude,
+ height,
+ capture_time,
+ create_time
+ FROM ard_media
+ WHERE task_id = #{taskId}
+ and media_type = #{mediaType}
+ </select>
<!-- 插入媒体记录 -->
<insert id="insertArdMedia" parameterType="com.ard.work.domain.entity.ArdMedia">
INSERT INTO ard_media
@@ -57,8 +96,15 @@
<if test="fileMd5 != null">file_md5,</if>
<if test="mediaUrl != null">media_url,</if>
<if test="sourceUrl != null">source_url,</if>
+ <if test="thumbnailUrl != null">thumbnail_url,</if>
+ <if test="photoId != null">photo_id,</if>
+ <if test="longitude != null">longitude,</if>
+ <if test="latitude != null">latitude,</if>
+ <if test="height != null">height,</if>
+ <if test="captureTime != null">capture_time,</if>
<if test="createTime != null">create_time,</if>
</trim>
+
<trim prefix="values (" suffix=")" suffixOverrides=",">
<if test="id != null">#{id},</if>
<if test="taskId != null">#{taskId},</if>
@@ -67,43 +113,51 @@
<if test="fileMd5 != null">#{fileMd5},</if>
<if test="mediaUrl != null">#{mediaUrl},</if>
<if test="sourceUrl != null">#{sourceUrl},</if>
+ <if test="thumbnailUrl != null">#{thumbnailUrl},</if>
+ <if test="photoId != null">#{photoId},</if>
+ <if test="longitude != null">#{longitude},</if>
+ <if test="latitude != null">#{latitude},</if>
+ <if test="height != null">#{height},</if>
+ <if test="captureTime != null">#{captureTime},</if>
<if test="createTime != null">#{createTime},</if>
</trim>
</insert>
-
<!-- 批量插入媒体记录 -->
<insert id="insertArdMediaList" parameterType="java.util.List">
- INSERT INTO ard_media
- <trim prefix="(" suffix=")" suffixOverrides=",">
- <if test="list != null and !list.isEmpty()">
- <foreach item="item" collection="list" separator=",">
- <trim prefix="(" suffix=")" suffixOverrides=",">
- <if test="item.taskId != null">task_id,</if>
- <if test="item.mediaType != null">media_type,</if>
- <if test="item.fileSize != null">file_size,</if>
- <if test="item.fileMd5 != null">file_md5,</if>
- <if test="item.mediaUrl != null">media_url,</if>
- <if test="item.sourceUrl != null">source_url,</if>
- <if test="item.createTime != null">create_time,</if>
- </trim>
- </foreach>
- </if>
- </trim>
-
- <trim prefix="values " suffix=")" suffixOverrides=",">
- <foreach item="item" collection="list" separator=",">
- <trim prefix="(" suffix=")" suffixOverrides=",">
- <if test="item.taskId != null">#{item.taskId},</if>
- <if test="item.mediaType != null">#{item.mediaType},</if>
- <if test="item.fileSize != null">#{item.fileSize},</if>
- <if test="item.fileMd5 != null">#{item.fileMd5},</if>
- <if test="item.mediaUrl != null">#{item.mediaUrl},</if>
- <if test="item.sourceUrl != null">#{item.sourceUrl},</if>
- <if test="item.createTime != null">#{item.createTime},</if>
- </trim>
- </foreach>
- </trim>
+ INSERT INTO ard_media(
+ task_id,
+ media_type,
+ file_size,
+ file_md5,
+ media_url,
+ source_url,
+ thumbnail_url,
+ photo_id,
+ longitude,
+ latitude,
+ height,
+ capture_time,
+ create_time
+ )
+ VALUES
+ <foreach collection="list" item="item" separator=",">
+ (
+ #{item.taskId},
+ #{item.mediaType},
+ #{item.fileSize},
+ #{item.fileMd5},
+ #{item.mediaUrl},
+ #{item.sourceUrl},
+ #{item.thumbnailUrl},
+ #{item.photoId},
+ #{item.longitude},
+ #{item.latitude},
+ #{item.height},
+ #{item.captureTime},
+ #{item.createTime}
+ )
+ </foreach>
</insert>
@@ -122,7 +176,9 @@
<!-- 删除媒体记录 -->
<delete id="deleteArdMediaById" parameterType="Integer">
- DELETE FROM ard_media WHERE id = #{id}
+ DELETE
+ FROM ard_media
+ WHERE id = #{id}
</delete>
<!-- 批量删除媒体记录 -->
@@ -134,7 +190,9 @@
</delete>
<delete id="deleteArdMediaByTaskId" parameterType="java.lang.Integer">
- DELETE FROM ard_media WHERE task_id = #{taskId}
+ DELETE
+ FROM ard_media
+ WHERE task_id = #{taskId}
</delete>
</mapper>
--
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