From f5f485b1b1919e6d312ed72628ed7c01d2f57def Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Wed, 19 Mar 2025 16:57:48 +0800
Subject: [PATCH] 增加图片回传完成通知解析
---
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 62 +++++++++++++++++++++++--------
1 files changed, 46 insertions(+), 16 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 e3e3e54..675a2d9 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
@@ -1,7 +1,8 @@
package com.ard.tianyu.service.impl;
import com.ard.common.utils.ByteUtils;
-import com.ard.tianyu.aspect.annotation.RequireUavControl;
+import com.ard.tianyu.aspect.annotation.CheckTakeoffAltitude;
+import com.ard.tianyu.aspect.annotation.CheckControlRight;
import com.ard.tianyu.config.TyConfiguration;
import com.ard.tianyu.domain.dto.camera.*;
import com.ard.tianyu.domain.dto.manual.*;
@@ -47,7 +48,6 @@
import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
import com.ard.tianyu.service.ITyService;
import com.ard.tianyu.websocket.domain.UavControlType;
-import com.ard.tianyu.websocket.utils.WebSocketUtil;
import com.ard.vtdu.service.IMediaService;
import io.netty.channel.Channel;
import io.netty.channel.ChannelFuture;
@@ -197,7 +197,7 @@
/**
* 云台控制基于角度
*/
- @RequireUavControl(UavControlType.PAYLOAD)
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean angleControl(AngleControlDTO angleControlDto) {
AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto);
@@ -208,7 +208,7 @@
/**
* 云台绝对值控制(基于角度)
*/
- @RequireUavControl(UavControlType.PAYLOAD)
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean absAngleControl(AbsAngleControlDTO absAngleControlDto) {
AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto);
@@ -219,7 +219,7 @@
/**
* 云台转动(基于速度)
*/
- @RequireUavControl(UavControlType.PAYLOAD)
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean speedControl(SpeedControlDTO speedControlDto) {
SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto);
@@ -242,7 +242,11 @@
*/
@Override
public Boolean capturePic(CapturePicDTO capturePicDto) {
+ //设置相机模式为拍照模式
updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
+ //设置拍照回传
+ photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
+
CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);
this.sendMessage(tyConfiguration.getIpPort(), capturePicCommand);
return true;
@@ -267,6 +271,7 @@
/**
* 变倍
*/
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean zoom(ZoomDTO zoomDTO) {
ZoomCmd zoomCommand = new ZoomCmd(zoomDTO);
@@ -277,6 +282,7 @@
/**
* 变倍到指定倍数
*/
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) {
ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO);
@@ -327,7 +333,7 @@
/**
* 起飞
*/
- @RequireUavControl(UavControlType.FLY)
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean takeOff(TakeOffDTO takeOffDTO) {
TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
@@ -338,6 +344,7 @@
/**
* 返航
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean returnHome(ReturnHomeDTO returnHomeDTO) {
ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO);
@@ -348,6 +355,7 @@
/**
* 取消返航
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) {
ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO);
@@ -358,6 +366,7 @@
/**
* 降落
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean land(LandDTO landDTO) {
LandCmd landCmd = new LandCmd(landDTO);
@@ -368,6 +377,7 @@
/**
* 取消降落
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean landCancel(LandCancelDTO landCancelDTO) {
LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO);
@@ -378,6 +388,7 @@
/**
* 强制降落
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean landForced(LandForcedDTO landForcedDTO) {
LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO);
@@ -388,6 +399,8 @@
/**
* 方向控制
*/
+ @CheckControlRight(UavControlType.FLY)
+ @CheckTakeoffAltitude(minAltitude = 30.0)
@Override
public Boolean flyControl(FlyControlDTO flyControlDTO) {
FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO);
@@ -398,6 +411,8 @@
/**
* 指点飞行控制
*/
+ @CheckControlRight(UavControlType.FLY)
+ @CheckTakeoffAltitude(minAltitude = 30.0)
@Override
public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) {
FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
@@ -408,6 +423,7 @@
/**
* 停止指点飞行控制
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) {
FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO);
@@ -418,6 +434,7 @@
/**
* 紧急制动
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) {
EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO);
@@ -559,6 +576,7 @@
/**
* 航线开始
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO);
@@ -568,6 +586,7 @@
/**
* 航线暂停
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO);
@@ -577,6 +596,7 @@
/**
* 航线恢复
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO);
@@ -586,6 +606,7 @@
/**
* 航线结束
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public void wayLineEnd(WayLineEndDTO wayLineEndDTO) {
WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);
@@ -612,13 +633,18 @@
case 0x02:
// 处理注册消息
HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
- logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
+ //logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
break;
case 0x03:
// 处理订阅消息
break;
case 0x04:
// 处理取消订阅消息
+ break;
+ case 0x09:
+ // 处理图片上传完成通知
+ PicUploadCompletedReplyCmd picUploadCompletedReplyCmd = (PicUploadCompletedReplyCmd) tyCommand;
+ logPrint("图片上传完成", picUploadCompletedReplyCmd.getPicUrl());
break;
case 0x0A:
// 处理云盒开关机通知消息
@@ -629,14 +655,14 @@
// 处理无人机状态消息
UavStateCmd uavStateCmd = (UavStateCmd) tyCommand;
UavStateCache.putUavState(uavStateCmd.getUavState());
- logPrint("无人机状态", uavStateCmd.getUavState().getBoxSn());
- // WebSocketUtil.sendMessageAll(uavStateCmd.getUavState());
+ //logPrint("无人机状态", uavStateCmd.getUavState().getBoxSn());
+ // WebSocketUtil.sendMessageAll(uavStateCmd.getUavState());
break;
case (byte) 0xA9:
// 处理无人机遥测消息
UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
UavTelemetryDataCache.putUavTelemetryData(uavTelemetryDataCmd.getTelemetryData());
- logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
+ //logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
//WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
break;
@@ -644,7 +670,7 @@
// 处理无人机信道质量数据
SignalInfoCmd signalInfoCmd = (SignalInfoCmd) tyCommand;
UavSignalInfoCache.putUavSignalInfoCache(signalInfoCmd.getSignalInfo());
- logPrint("无人机信道质量", signalInfoCmd.getSignalInfo().getBoxSn());
+ //logPrint("无人机信道质量", signalInfoCmd.getSignalInfo().getBoxSn());
break;
case (byte) 0xD1:
// 处理无人机
@@ -711,7 +737,8 @@
//到达指点飞行位置回复
if (tyCommand instanceof PointControlReachedReplyCmd) {
PointControlReachedReplyCmd pointControlReachedReplyCmd = (PointControlReachedReplyCmd) tyCommand;
- logPrint("到达指点飞行位置", pointControlReachedReplyCmd.getResult(), pointControlReachedReplyCmd.getErrorCode());
+ logPrint("到达指点飞行位置", pointControlReachedReplyCmd.getResult(),
+ pointControlReachedReplyCmd.getErrorCode());
}
//紧急制动回复
if (tyCommand instanceof EmergencyBrakeReplyCmd) {
@@ -746,19 +773,22 @@
//设置返航高度回复
if (tyCommand instanceof ReturnHeightSettingReplyCmd) {
ReturnHeightSettingReplyCmd returnHeightSettingReplyCmd = (ReturnHeightSettingReplyCmd) tyCommand;
- logPrint("设置返航高度", returnHeightSettingReplyCmd.getResult(), returnHeightSettingReplyCmd.getErrorCode());
+ logPrint("设置返航高度", returnHeightSettingReplyCmd.getResult(),
+ returnHeightSettingReplyCmd.getErrorCode());
}
//设置返航点回复
if (tyCommand instanceof ReturnPointSettingReplyCmd) {
ReturnPointSettingReplyCmd returnPointSettingReplyCmd = (ReturnPointSettingReplyCmd) tyCommand;
- logPrint("设置返航点", returnPointSettingReplyCmd.getResult(), returnPointSettingReplyCmd.getErrorCode());
+ logPrint("设置返航点", returnPointSettingReplyCmd.getResult(),
+ returnPointSettingReplyCmd.getErrorCode());
}
break;
case (byte) 0xD2:
//设置视频码流回复
if (tyCommand instanceof VideoStreamSettingReplyCmd) {
VideoStreamSettingReplyCmd videoStreamSettingReplyCmd = (VideoStreamSettingReplyCmd) tyCommand;
- logPrint("设置视频码流", videoStreamSettingReplyCmd.getResult(), videoStreamSettingReplyCmd.getErrorCode());
+ logPrint("设置视频码流", videoStreamSettingReplyCmd.getResult(),
+ videoStreamSettingReplyCmd.getErrorCode());
}
break;
default:
@@ -769,7 +799,7 @@
//公共日志打印
private void logPrint(String message, Object obj) {
- log.debug("收到{}回复{}", message, obj);
+ log.warn("收到{}回复{}", message, obj);
}
//公共日志打印
--
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