From f0ed143646e3c280416ca05f64c1b59604289928 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Mon, 20 Oct 2025 10:52:48 +0800
Subject: [PATCH] websocket无人机控制者和视频流数据增加boxSn
---
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 127 +++++++++++++++++++++---------------------
1 files changed, 64 insertions(+), 63 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java b/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
index af0f6ca..f872a47 100644
--- a/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
+++ b/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
@@ -1,66 +1,62 @@
package com.ard.work.service.impl;
import com.ard.common.utils.ByteUtils;
-import com.ard.work.aspect.annotation.CheckTakeoffAltitude;
import com.ard.work.aspect.annotation.CheckControlRight;
+import com.ard.work.aspect.annotation.CheckTakeoffAltitude;
+import com.ard.work.component.forest.TyClient;
+import com.ard.work.component.netty.TcpClientUtil;
import com.ard.work.component.netty.command.BaseCmd;
import com.ard.work.component.netty.command.camera.*;
-import com.ard.work.component.netty.command.manual.*;
-import com.ard.work.component.netty.command.register.*;
-import com.ard.work.component.netty.command.settings.*;
-import com.ard.work.component.netty.command.speaker.*;
-import com.ard.work.component.netty.command.wayline.*;
-import com.ard.work.domain.dto.camera.*;
-import com.ard.work.domain.dto.manual.*;
-import com.ard.work.domain.dto.speaker.*;
-import com.ard.work.domain.dto.wayline.*;
-import com.ard.work.domain.entity.ArdDroneInfo;
-import com.ard.work.domain.entity.ArdServerInfo;
-import com.ard.work.domain.receiver.*;
-import com.ard.work.component.forest.TyClient;
-import com.ard.work.domain.cache.UavSignalInfoCache;
-import com.ard.work.domain.cache.UavStateCache;
-import com.ard.work.domain.cache.UavTelemetryDataCache;
-import com.ard.work.domain.dto.BoxHistoryDTO;
-import com.ard.work.domain.dto.BoxPhotosDTO;
-import com.ard.work.domain.dto.BoxSettingsDTO;
-import com.ard.work.domain.dto.control.AbsAngleControlDTO;
-import com.ard.work.domain.dto.control.AngleControlDTO;
-import com.ard.work.domain.dto.control.SpeedControlDTO;
-import com.ard.work.domain.dto.converter.wayline.PlanLineDataConverter;
-import com.ard.work.domain.dto.settings.ReturnHeightSettingDTO;
-import com.ard.work.domain.dto.settings.ReturnPointSettingDTO;
-import com.ard.work.domain.dto.settings.VideoStreamSettingDTO;
-import com.ard.work.domain.dto.signal.SignalInfo;
-import com.ard.work.domain.dto.state.UavState;
-import com.ard.work.domain.dto.telemetry.TelemetryData;
import com.ard.work.component.netty.command.control.AbsAngleControlCmd;
import com.ard.work.component.netty.command.control.AngleControlCmd;
import com.ard.work.component.netty.command.control.SpeedControlCmd;
+import com.ard.work.component.netty.command.manual.*;
import com.ard.work.component.netty.command.notice.BoxPowerStatusReplyCmd;
import com.ard.work.component.netty.command.notice.FlyWayEndReplyCmd;
import com.ard.work.component.netty.command.notice.UavReadyReplyCmd;
import com.ard.work.component.netty.command.real.SignalInfoCmd;
import com.ard.work.component.netty.command.real.UavStateCmd;
import com.ard.work.component.netty.command.real.UavTelemetryDataCmd;
+import com.ard.work.component.netty.command.register.*;
+import com.ard.work.component.netty.command.settings.*;
+import com.ard.work.component.netty.command.speaker.*;
+import com.ard.work.component.netty.command.wayline.*;
import com.ard.work.component.netty.handler.ErrorCodeEnum;
import com.ard.work.component.netty.protobuf.TelemetryDataPB;
+import com.ard.work.domain.cache.UavSignalInfoCache;
+import com.ard.work.domain.cache.UavStateCache;
+import com.ard.work.domain.cache.UavTelemetryDataCache;
+import com.ard.work.domain.dto.BoxHistoryDTO;
+import com.ard.work.domain.dto.BoxPhotosDTO;
+import com.ard.work.domain.dto.BoxSettingsDTO;
+import com.ard.work.domain.dto.camera.*;
+import com.ard.work.domain.dto.control.AbsAngleControlDTO;
+import com.ard.work.domain.dto.control.AngleControlDTO;
+import com.ard.work.domain.dto.control.SpeedControlDTO;
+import com.ard.work.domain.dto.converter.wayline.PlanLineDataConverter;
+import com.ard.work.domain.dto.manual.*;
+import com.ard.work.domain.dto.settings.ReturnHeightSettingDTO;
+import com.ard.work.domain.dto.settings.ReturnPointSettingDTO;
+import com.ard.work.domain.dto.settings.VideoStreamSettingDTO;
+import com.ard.work.domain.dto.signal.SignalInfo;
+import com.ard.work.domain.dto.speaker.*;
+import com.ard.work.domain.dto.state.UavState;
+import com.ard.work.domain.dto.telemetry.TelemetryData;
+import com.ard.work.domain.dto.wayline.*;
+import com.ard.work.domain.entity.ArdDroneInfo;
+import com.ard.work.domain.entity.ArdServerInfo;
+import com.ard.work.domain.message.UavControlType;
+import com.ard.work.domain.receiver.*;
import com.ard.work.service.IArdDroneInfoService;
import com.ard.work.service.IArdServerInfoService;
import com.ard.work.service.ITyService;
-import com.ard.work.domain.message.UavControlType;
-import io.netty.channel.Channel;
-import io.netty.channel.ChannelFuture;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
-import java.net.InetSocketAddress;
import java.util.*;
import java.util.stream.Collectors;
import java.util.stream.Stream;
-
-import static com.ard.work.component.netty.TyTcpClientManager.channels;
/**
* TyServiceImpl
@@ -79,7 +75,7 @@
private TyClient tyClient;
/**
- * 获取六合token信息
+ * 获取边缘服务器token信息
*
* @return AccessTokenReceiver
*/
@@ -89,7 +85,7 @@
}
/**
- * 获取云盒列表
+ * 获取全部云盒列表
*
* @return List<BoxInfoReceiver>
*/
@@ -100,6 +96,17 @@
}
/**
+ * 获取指定服务器云盒列表
+ *
+ * @return List<BoxInfoReceiver>
+ */
+ @Override
+ public List<BoxInfoReceiver> getBoxList(String serverId) {
+ TyHttpCommonReceiver<List<BoxInfoReceiver>> boxList = tyClient.getBoxList(serverId);
+ return boxList.getContent();
+ }
+
+ /**
* 获取直播地址
*
* @return BoxStreamUrlReceiver
@@ -107,8 +114,13 @@
@Override
public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) {
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
- TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(),boxSn);
- return boxLiveUrl.getContent();
+ if (ardDroneInfo == null) {
+ log.warn("未找到对应的飞行器信息,boxSn:{}", boxSn);
+ return null;
+ }
+ TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(),
+ boxSn);
+ return boxLiveUrl == null ? null : boxLiveUrl.getContent();
}
/**
@@ -132,7 +144,8 @@
@Override
public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) {
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxPhotosDTO.getBoxSn());
- TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(ardDroneInfo.getServerId(),boxPhotosDTO);
+ TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(ardDroneInfo.getServerId(),
+ boxPhotosDTO);
return boxPhotos.getContent();
}
@@ -142,7 +155,7 @@
@Override
public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) {
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSettingsDTO.getBoxSn());
- TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(ardDroneInfo.getServerId(),boxSettingsDTO);
+ TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(ardDroneInfo.getServerId(), boxSettingsDTO);
return result.getState() == 1;
}
@@ -180,7 +193,7 @@
}
/**
- * 注册六合平台
+ * 注册边缘服务器平台
*/
@Override
public Boolean registerMessage(String serverId) {
@@ -189,7 +202,7 @@
RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
this.sendMessage(serverId, registerMessage);
} catch (Exception e) {
- log.error("注册六合平台失败:{}", e.getMessage());
+ log.error("注册边缘服务器平台失败:{}", e.getMessage());
}
return true;
}
@@ -647,7 +660,7 @@
}
/**
- * 处理六合服务器返回的消息
+ * 处理边缘服务器返回的消息
*/
@Override
public void processReplyMessage(String key, BaseCmd tyCommand) {
@@ -665,8 +678,8 @@
break;
case 0x02:
// 处理注册消息
- HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
- logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
+ HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
+ logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
break;
case 0x03:
// 处理订阅消息
@@ -831,7 +844,7 @@
}
/**
- * 根据[服务器id]获取六合盒子列表
+ * 根据[服务器id]获取边缘服务器盒子列表
*/
@Override
public List<BoxInfoReceiver> getBoxSnToList(String id) {
@@ -873,6 +886,7 @@
private List<BoxInfoReceiver> getBoxList(List<ArdServerInfo> ls) {
return ls.stream()
+ .filter(ardServerInfo -> ardServerInfo.getServerStatus().equals("1"))
.flatMap(ardServerInfo -> {
try {
List<BoxInfoReceiver> boxes = tyClient.getBoxList(ardServerInfo.getId()).getContent();
@@ -899,25 +913,12 @@
ErrorCodeEnum.getDescByCode(errorCode));
}
+
/**
* 发送消息
*/
private void sendMessage(String key, BaseCmd msg) {
- try {
- ChannelFuture future = channels.get(key).getChannelFuture();
- Channel channel = future.channel();
- if (channel.isActive()) {
- InetSocketAddress ipSocket = (InetSocketAddress) channel.remoteAddress();
- String host = ipSocket.getHostString();
- int port = ipSocket.getPort();
- channel.writeAndFlush(msg); // 发送编码后的数据
- log.debug("向六合服务器【{}:{}】发送数据，命令码：{}", host, port, String.format("0x%02X", msg.getCmdCode() & 0xFF));
- } else {
- log.error("与六合服务器链接断开，无法发送数据！");
- }
- } catch (Exception e) {
- log.error("发送消息异常：{}", e.getMessage());
- }
+ TcpClientUtil.sendMessage(key, msg);
}
}
\ No newline at end of file
--
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