From f2236478e434b9d1b714b51d3586fb11a59e6f14 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Sat, 26 Oct 2024 16:40:28 +0800
Subject: [PATCH] 增加 控制权和起飞
---
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 216 ++++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 194 insertions(+), 22 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 278e324..1a3c1cd 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
@@ -8,18 +8,36 @@
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.camera.*;
+import com.ard.tianyu.model.dto.control.AbsAngleControlDTO;
+import com.ard.tianyu.model.dto.control.AngleControlDTO;
+import com.ard.tianyu.model.dto.control.SpeedControlDTO;
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.manual.SwitchUavControlDTO;
+import com.ard.tianyu.model.dto.manual.TakeOffDTO;
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;
+import com.ard.tianyu.netty.command.camera.*;
+import com.ard.tianyu.netty.command.control.AbsAngleControlCmd;
+import com.ard.tianyu.netty.command.control.AngleControlCmd;
+import com.ard.tianyu.netty.command.control.SpeedControlCmd;
+import com.ard.tianyu.netty.command.manual.SwitchUavControlCmd;
+import com.ard.tianyu.netty.command.manual.TakeOffCmd;
+import com.ard.tianyu.netty.command.manual.TakeOffReplyCmd;
+import com.ard.tianyu.netty.command.notice.BoxPowerStatusReplyCmd;
+import com.ard.tianyu.netty.command.notice.FlyWayEndReplyCmd;
+import com.ard.tianyu.netty.command.notice.UavReadyReplyCmd;
+import com.ard.tianyu.netty.command.real.SignalInfoCmd;
+import com.ard.tianyu.netty.command.real.UavStateCmd;
+import com.ard.tianyu.netty.command.real.UavTelemetryDataCmd;
+import com.ard.tianyu.netty.command.register.*;
import com.ard.tianyu.service.ITyService;
-import io.netty.buffer.ByteBuf;
-import io.netty.buffer.Unpooled;
import io.netty.channel.Channel;
import io.netty.channel.ChannelFuture;
import lombok.extern.slf4j.Slf4j;
@@ -123,15 +141,14 @@
@Override
public void registerMessage() {
AccessTokenReceiver tyToken = tyConfiguration.getAccessToken();
- RegisterCommand registerMessage = new RegisterCommand(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
+ RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
this.sendMessage(tyConfiguration.getIpPort(), registerMessage);
}
-
/**
* 发送消息
*/
- public void sendMessage(String key, BaseCommand msg) {
+ public void sendMessage(String key, BaseCmd msg) {
try {
ChannelFuture future = TyNettyTcpClient.channels.get(key).getChannelFuture();
Channel channel = future.channel();
@@ -153,9 +170,124 @@
* 云台控制基于角度
*/
@Override
- public void controlAngle(String boxSn, Integer actionId, Integer rotationAngle) {
- ControlAngleCommand controlAngleCommand = new ControlAngleCommand(boxSn, actionId.byteValue(), rotationAngle.byteValue());
+ public void angleControl(AngleControlDTO angleControlDto) {
+ AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto);
this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
+ }
+
+ /**
+ * 云台绝对值控制(基于角度)
+ */
+ @Override
+ public void absAngleControl(AbsAngleControlDTO absAngleControlDto) {
+ AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto);
+ this.sendMessage(tyConfiguration.getIpPort(), absAngleControlCommand);
+ }
+
+ /**
+ * 云台转动(基于速度)
+ */
+ @Override
+ public void speedControl(SpeedControlDTO speedControlDto) {
+ SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto);
+ this.sendMessage(tyConfiguration.getIpPort(), speedControlCommand);
+ }
+
+ /**
+ * 设置相机模式
+ */
+ @Override
+ public void updateCameraMode(CameraModeDTO cameraModeDTO) {
+ CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), cameraModeCommand);
+ }
+
+ /**
+ * 拍照
+ */
+ @Override
+ public void capturePic(CapturePicDTO capturePicDto) {
+ updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
+ CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);
+ this.sendMessage(tyConfiguration.getIpPort(), capturePicCommand);
+ }
+
+ /**
+ * 录像
+ */
+ @Override
+ public void record(RecordDTO recordDto) {
+ BaseCmd baseCmd;
+ if (recordDto.getIsRecord()) {
+ updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build());
+ baseCmd = new RecordStartCmd(recordDto);
+ } else {
+ baseCmd = new RecordStopCmd(recordDto);
+ }
+ this.sendMessage(tyConfiguration.getIpPort(), baseCmd);
+ }
+
+ /**
+ * 变倍
+ */
+ @Override
+ public void zoom(ZoomDTO zoomDTO) {
+ ZoomCmd zoomCommand = new ZoomCmd(zoomDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), zoomCommand);
+ }
+
+ /**
+ * 变倍到指定倍数
+ */
+ @Override
+ public void zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) {
+ ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), zoomToLevelCommand);
+ }
+
+ /**
+ * 切换摄像头
+ */
+ @Override
+ public void switchCamera(SwitchCameraDTO switchCameraDTO) {
+ SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), switchCameraCmd);
+ }
+
+ /**
+ * 切换视频源
+ */
+ @Override
+ public void switchSource(SwitchSourceDTO switchSourceDTO) {
+ SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), switchSourceCmd);
+ }
+
+ /**
+ * 打开或关闭照片回传
+ */
+ @Override
+ public void photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) {
+ PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), photoReturnToggleCmd);
+ }
+
+ /**
+ * 切换无人机控制权
+ */
+ @Override
+ public void switchUavControl(SwitchUavControlDTO switchUavControlDTO) {
+ SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), switchUavControlCmd);
+ }
+
+ /**
+ * 起飞
+ */
+ @Override
+ public void takeOff(TakeOffDTO takeOffDTO) {
+ TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
+ this.sendMessage(tyConfiguration.getIpPort(), takeOffCmd);
}
/**
@@ -182,14 +314,17 @@
return UavSignalInfoCache.getUavSignalInfo(boxSn);
}
+ /**
+ * 处理天宇服务器返回的消息
+ */
@Override
- public void processMessage(String key, BaseCommand tyCommand) {
+ public void processMessage(String key, BaseCmd tyCommand) {
byte cmdCode = tyCommand.getCmdCode();
switch (cmdCode) {
case 0x01:
// 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());
+ RegisterReplyCmd registerReplyCommand = (RegisterReplyCmd) tyCommand;
+ log.debug("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");
@@ -198,8 +333,8 @@
break;
case 0x02:
// 处理注册消息
- HeartbeatReplyCommand heartbeatReplyCommand = (HeartbeatReplyCommand) tyCommand;
- log.debug("收到心跳消息-->处理心跳消息{}", heartbeatReplyCommand.getTimestamp());
+ HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
+ log.debug("收到心跳消息-->处理心跳消息:{}", heartbeatReplyCmd.getTimestamp());
break;
case 0x03:
// 处理订阅消息
@@ -207,34 +342,68 @@
case 0x04:
// 处理取消订阅消息
break;
+ case 0x0A:
+ // 处理云盒开关机通知消息
+ BoxPowerStatusReplyCmd boxPowerStatusReplyCmd = (BoxPowerStatusReplyCmd) tyCommand;
+ log.debug("收到云盒开关机通知消息-->状态:{}", boxPowerStatusReplyCmd.getStatus());
+ break;
case (byte) 0xA8:
// 处理无人机状态消息
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());
+ UavStateCmd uavStateCmd = (UavStateCmd) tyCommand;
+ UavState uavState = UavStateConverter.convertProtoToEntity(uavStateCmd.getUavState());
UavStateCache.putUavState(uavState);
break;
case (byte) 0xA9:
// 处理无人机遥测消息
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());
+ UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
+ TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(uavTelemetryDataCmd.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());
+ SignalInfoCmd signalInfoCmd = (SignalInfoCmd) tyCommand;
+ SignalInfo signalInfo = UavSignalInfoConverter.convertProtoToEntity(signalInfoCmd.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(new String(droneReadyNotificationCommand.getBoxSn()), (byte) 0x42);
+ if (tyCommand instanceof UavInitReplyCmd) {
+ UavInitReplyCmd uavInitReplyCmd = (UavInitReplyCmd) tyCommand;
+ UavInitInfoCmd uavInitCommand = new UavInitInfoCmd(uavInitReplyCmd.getBoxSn());
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");
+ }
+ if (tyCommand instanceof UavReadyReplyCmd) {
+ UavReadyReplyCmd uavReadyReplyCmd = (UavReadyReplyCmd) tyCommand;
+ log.info("收到无人机准备完成通知,电池电量{} 经度{} 纬度{} 海拔{}", uavReadyReplyCmd.getBatteryPower(), uavReadyReplyCmd.getLongitude(), uavReadyReplyCmd.getLatitude(), uavReadyReplyCmd.getAltitude());
+ }
+ if (tyCommand instanceof CameraModeReplyCmd) {
+ CameraModeReplyCmd cameraModeReplyCommand = (CameraModeReplyCmd) tyCommand;
+ log.info("收到无人机设置相机模式回复:{} 错误码：{}", String.format("0x%02X", cameraModeReplyCommand.getResult() & 0xFF), cameraModeReplyCommand.getErrorCode());
+ }
+ if (tyCommand instanceof FlyWayEndReplyCmd) {
+ FlyWayEndReplyCmd flyWayEndReplyCmd = (FlyWayEndReplyCmd) tyCommand;
+ log.info("收到无人机飞行结束通知:状态：{}", flyWayEndReplyCmd.getResult());
+ }
+ if (tyCommand instanceof CapturePicReplyCmd) {
+ CapturePicReplyCmd capturePicReplyCommand = (CapturePicReplyCmd) tyCommand;
+ log.info("收到无人机拍照回复:{} 错误码：{}", String.format("0x%02X", capturePicReplyCommand.getResult() & 0xFF), capturePicReplyCommand.getErrorCode());
+ }
+ if (tyCommand instanceof RecordStartReplyCmd) {
+ RecordStartReplyCmd recordStartReplyCommand = (RecordStartReplyCmd) tyCommand;
+ log.info("收到无人机开始录像回复:{} 错误码：{}", String.format("0x%02X", recordStartReplyCommand.getResult() & 0xFF), recordStartReplyCommand.getErrorCode());
+ }
+ if (tyCommand instanceof RecordStopReplyCmd) {
+ RecordStopReplyCmd recordStopReplyCommand = (RecordStopReplyCmd) tyCommand;
+ log.info("收到无人机停止录像回复:{} 错误码：{}", String.format("0x%02X", recordStopReplyCommand.getResult() & 0xFF), recordStopReplyCommand.getErrorCode());
+ }
+ //起飞回复
+ if (tyCommand instanceof TakeOffReplyCmd) {
+ TakeOffReplyCmd takeOffReplyCommand = (TakeOffReplyCmd) tyCommand;
+ log.info("收到无人机起飞回复:{} 错误码：{}", String.format("0x%02X", takeOffReplyCommand.getResult() & 0xFF), takeOffReplyCommand.getErrorCode());
}
break;
default:
@@ -243,11 +412,14 @@
}
}
+ /**
+ * 定时3秒发送心跳指令
+ */
@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);
- HeartbeatCommand heartbeatMessage = new HeartbeatCommand(timestamp);
+ HeartbeatCmd heartbeatMessage = new HeartbeatCmd(timestamp);
this.sendMessage(tyConfiguration.getIpPort(), heartbeatMessage);
}
}
\ No newline at end of file
--
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