From e9ad2e18fcff1e6adcf4dd624a8ec02f9cb6c13e Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Thu, 24 Oct 2024 17:24:39 +0800
Subject: [PATCH] 增加protobuf映射实体解析数据
---
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 101 ++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 92 insertions(+), 9 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java b/ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java
index 98c5c51..e51eee5 100644
--- a/ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java
+++ b/ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java
@@ -2,9 +2,18 @@
import com.ard.tianyu.config.TyConfiguration;
import com.ard.tianyu.http.TyClient;
+import com.ard.tianyu.model.cache.UavSignalInfoCache;
+import com.ard.tianyu.model.cache.UavStateCache;
+import com.ard.tianyu.model.cache.UavTelemetryDataCache;
import com.ard.tianyu.model.dto.BoxHistoryDTO;
import com.ard.tianyu.model.dto.BoxPhotosDTO;
import com.ard.tianyu.model.dto.BoxSettingsDTO;
+import com.ard.tianyu.model.dto.converter.UavSignalInfoConverter;
+import com.ard.tianyu.model.dto.converter.UavStateConverter;
+import com.ard.tianyu.model.dto.converter.UavTelemetryDataConverter;
+import com.ard.tianyu.model.dto.signal.SignalInfo;
+import com.ard.tianyu.model.dto.state.UavState;
+import com.ard.tianyu.model.dto.telemetry.TelemetryData;
import com.ard.tianyu.model.receiver.*;
import com.ard.tianyu.netty.command.*;
import com.ard.tianyu.netty.TyNettyTcpClient;
@@ -119,11 +128,19 @@
}
/**
+ * 无人机控制订阅
+ */
+ public void uavControlSubscribe(String boxSn) {
+ SubscribeCommand subscribeCommand = new SubscribeCommand(boxSn);
+ this.sendMessage(tyConfiguration.getIpPort(), subscribeCommand);
+ }
+
+ /**
* 发送消息
*/
public void sendMessage(String key, BaseCommand msg) {
try {
- ChannelFuture future = TyNettyTcpClient.channels.get(key).getFuture();
+ ChannelFuture future = TyNettyTcpClient.channels.get(key).getChannelFuture();
Channel channel = future.channel();
if (channel.isActive()) {
InetSocketAddress ipSocket = (InetSocketAddress) channel.remoteAddress();
@@ -133,7 +150,7 @@
ByteBuf buffer = Unpooled.buffer();
msg.encode(buffer); // 确保对消息进行编码
channel.writeAndFlush(buffer); // 发送编码后的数据
- log.info("向天宇服务器【{}:{}】发送数据，命令码：{}", host, port, String.format("0x%02X", msg.getCmdCode() & 0xFF));
+ log.debug("向天宇服务器【{}:{}】发送数据，命令码：{}", host, port, String.format("0x%02X", msg.getCmdCode() & 0xFF));
} else {
log.error("与天宇服务器链接断开，无法发送数据！");
}
@@ -142,10 +159,37 @@
}
}
+ /**
+ * 云台控制基于角度
+ */
@Override
- public void controlAngle(String boxSn) {
- ControlAngleCommand controlAngleCommand = new ControlAngleCommand(boxSn.getBytes(), (byte) 0x00, (byte) 0x00, (byte) 0x05);
+ public void controlAngle(String boxSn, Integer actionId, Integer rotationAngle) {
+ ControlAngleCommand controlAngleCommand = new ControlAngleCommand(boxSn.getBytes(), (byte) 0x00, actionId.byteValue(), rotationAngle.byteValue());
this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
+ }
+
+ /**
+ * 获取无人机状态
+ */
+ @Override
+ public UavState getUavState(String boxSn) {
+ return UavStateCache.getUavState(boxSn);
+ }
+
+ /**
+ * 获取无人机遥测数据
+ */
+ @Override
+ public TelemetryData getUavTelemetryData(String boxSn) {
+ return UavTelemetryDataCache.getUavTelemetryData(boxSn);
+ }
+
+ /**
+ * 获取无人机遥测数据
+ */
+ @Override
+ public SignalInfo getSignalInfo(String boxSn) {
+ return UavSignalInfoCache.getUavSignalInfo(boxSn);
}
@Override
@@ -154,27 +198,66 @@
switch (cmdCode) {
case 0x01:
// 处理心跳消息
- log.info("收到心跳消息-->处理心跳消息");
+ RegisterReplyCommand registerReplyCommand = (RegisterReplyCommand) tyCommand;
+ log.info("收到注册消息-->处理注册消息{}", registerReplyCommand.getSuccess());
+ if (registerReplyCommand.getSuccess() != 1) {
+ // 注册失败，重新注册
+ log.info("注册失败，重新注册");
+ registerMessage();
+ }
break;
case 0x02:
// 处理注册消息
HeartbeatReplyCommand heartbeatReplyCommand = (HeartbeatReplyCommand) tyCommand;
- log.info("收到心跳消息-->处理心跳消息{}", heartbeatReplyCommand.getTimestamp());
+ log.debug("收到心跳消息-->处理心跳消息{}", heartbeatReplyCommand.getTimestamp());
+ break;
+ case 0x03:
+ // 处理订阅消息
+ SubscribeCommand subscribeCommand = (SubscribeCommand) tyCommand;
+ log.info("收到订阅消息-->处理订阅消息{}", subscribeCommand.getBoxSn());
+ break;
+ case 0x04:
+ // 处理取消订阅消息
+ subscribeCommand = (SubscribeCommand) tyCommand;
+ log.info("收到取消订阅消息-->处理取消订阅消息{}", subscribeCommand.getBoxSn());
break;
case (byte) 0xA8:
// 处理无人机状态消息
- log.info("收到无人机状态消息-->无人机状态消息");
+ log.debug("收到无人机状态消息-->无人机状态消息");
+ UavStateCommand uavStateCommand = (UavStateCommand) tyCommand;
+ UavState uavState = UavStateConverter.convertProtoToEntity(uavStateCommand.getUavState());
+ UavStateCache.putUavState(uavState);
break;
case (byte) 0xA9:
// 处理无人机遥测消息
- log.info("收到无人机遥测消息-->无人机遥测消息");
+ log.debug("收到无人机遥测消息-->无人机遥测消息");
+ UavTelemetryDataCommand uavTelemetryDataCommand = (UavTelemetryDataCommand) tyCommand;
+ TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(uavTelemetryDataCommand.getTelemetryData());
+ UavTelemetryDataCache.putUavTelemetryData(telemetryData);
+ break;
+ case (byte) 0x0C:
+ // 处理无人机信道质量数据
+ log.debug("收到无人机信道质量数据消息-->无人机信道质量数据消息");
+ SignalInfoCommand signalInfoCommand = (SignalInfoCommand) tyCommand;
+ SignalInfo signalInfo = UavSignalInfoConverter.convertProtoToEntity(signalInfoCommand.getSignalInfo());
+ UavSignalInfoCache.putUavSignalInfoCache(signalInfo);
+ break;
+ case (byte) 0xD1:
+ // 处理无人机
+ DroneReadyNotificationCommand droneReadyNotificationCommand = (DroneReadyNotificationCommand) tyCommand;
+ if (droneReadyNotificationCommand.getActionCode() == (byte) 0x42) {
+ UavInitInfoCommand uavInitCommand = new UavInitInfoCommand((byte) 0x00, (byte) 0x42, (byte) 0x01);
+ this.sendMessage(tyConfiguration.getIpPort(), uavInitCommand);
+ log.info("收到无人机初始化详情-回复防止再次发送");
+ }
break;
default:
// 处理其他消息
+ log.debug("收到其他消息-->其他消息");
}
}
- @Scheduled(fixedRate = 5000)
+ @Scheduled(fixedRate = 3000)
public void sendHeartBeat() {
long timestamp = System.currentTimeMillis();
log.debug("定时向天宇发送⼼跳,时间戳{}", timestamp);
--
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