From fd5f1d86f334e814ccb8c2d679373fa7e373cb5e Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Tue, 04 Mar 2025 15:05:21 +0800
Subject: [PATCH] 优化
---
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 148 +++++++++++++++++++++++++++----------------------
1 files changed, 81 insertions(+), 67 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 a32144c..be7e8b4 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
@@ -1,33 +1,31 @@
package com.ard.tianyu.service.impl;
import com.ard.common.utils.ByteUtils;
+import com.ard.tianyu.aspect.annotation.RequireUavControl;
import com.ard.tianyu.config.TyConfiguration;
-import com.ard.tianyu.http.TyClient;
-import com.ard.tianyu.model.cache.TyTcpServerCache;
-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.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.realdata.UavSignalInfoConverter;
-import com.ard.tianyu.model.dto.converter.realdata.UavStateConverter;
-import com.ard.tianyu.model.dto.converter.realdata.UavTelemetryDataConverter;
-import com.ard.tianyu.model.dto.converter.wayline.PlanLineDataConverter;
-import com.ard.tianyu.model.dto.manual.*;
-import com.ard.tianyu.model.dto.settings.ReturnHeightSettingDTO;
-import com.ard.tianyu.model.dto.settings.ReturnPointSettingDTO;
-import com.ard.tianyu.model.dto.settings.VideoStreamSettingDTO;
-import com.ard.tianyu.model.dto.signal.SignalInfo;
-import com.ard.tianyu.model.dto.speaker.*;
-import com.ard.tianyu.model.dto.state.UavState;
-import com.ard.tianyu.model.dto.telemetry.TelemetryData;
-import com.ard.tianyu.model.dto.wayline.*;
-import com.ard.tianyu.model.receiver.*;
+import com.ard.tianyu.domain.dto.camera.*;
+import com.ard.tianyu.domain.dto.manual.*;
+import com.ard.tianyu.domain.dto.speaker.*;
+import com.ard.tianyu.domain.dto.wayline.*;
+import com.ard.tianyu.domain.receiver.*;
+import com.ard.tianyu.forest.TyClient;
+import com.ard.tianyu.domain.cache.TyTcpServerCache;
+import com.ard.tianyu.domain.cache.UavSignalInfoCache;
+import com.ard.tianyu.domain.cache.UavStateCache;
+import com.ard.tianyu.domain.cache.UavTelemetryDataCache;
+import com.ard.tianyu.domain.dto.BoxHistoryDTO;
+import com.ard.tianyu.domain.dto.BoxPhotosDTO;
+import com.ard.tianyu.domain.dto.BoxSettingsDTO;
+import com.ard.tianyu.domain.dto.control.AbsAngleControlDTO;
+import com.ard.tianyu.domain.dto.control.AngleControlDTO;
+import com.ard.tianyu.domain.dto.control.SpeedControlDTO;
+import com.ard.tianyu.domain.dto.converter.wayline.PlanLineDataConverter;
+import com.ard.tianyu.domain.dto.settings.ReturnHeightSettingDTO;
+import com.ard.tianyu.domain.dto.settings.ReturnPointSettingDTO;
+import com.ard.tianyu.domain.dto.settings.VideoStreamSettingDTO;
+import com.ard.tianyu.domain.dto.signal.SignalInfo;
+import com.ard.tianyu.domain.dto.state.UavState;
+import com.ard.tianyu.domain.dto.telemetry.TelemetryData;
import com.ard.tianyu.netty.command.*;
import com.ard.tianyu.netty.TyNettyTcpClient;
import com.ard.tianyu.netty.command.camera.*;
@@ -48,8 +46,8 @@
import com.ard.tianyu.netty.handler.ErrorCodeEnum;
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.domain.ArdVtdu;
import com.ard.vtdu.service.IMediaService;
import io.netty.channel.Channel;
import io.netty.channel.ChannelFuture;
@@ -155,34 +153,37 @@
* 设置返航高度
*/
@Override
- public void updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO) {
+ public Boolean updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO) {
ReturnHeightSettingCmd returnHeightSettingCmd = new ReturnHeightSettingCmd(returnHeightSettingDTO);
this.sendMessage(tyConfiguration.getIpPort(), returnHeightSettingCmd);
+ return true;
}
/**
* 设置返航点
*/
@Override
- public void updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO) {
+ public Boolean updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO) {
ReturnPointSettingCmd returnPointSettingCmd = new ReturnPointSettingCmd(returnPointSettingDTO);
this.sendMessage(tyConfiguration.getIpPort(), returnPointSettingCmd);
+ return true;
}
/**
* 设置视频码流
*/
@Override
- public void updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO) {
+ public Boolean updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO) {
VideoStreamSettingCmd videoStreamSettingCmd = new VideoStreamSettingCmd(videoStreamSettingDTO);
this.sendMessage(tyConfiguration.getIpPort(), videoStreamSettingCmd);
+ return true;
}
/**
* 注册天宇平台
*/
@Override
- public void registerMessage() {
+ public Boolean registerMessage() {
try {
AccessTokenReceiver tyToken = tyConfiguration.getAccessToken();
RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
@@ -190,59 +191,68 @@
} catch (Exception e) {
log.error("注册天宇平台失败:{}", e.getMessage());
}
+ return true;
}
/**
* 云台控制基于角度
*/
+ @RequireUavControl(UavControlType.PAYLOAD)
@Override
- public void angleControl(AngleControlDTO angleControlDto) {
+ public Boolean angleControl(AngleControlDTO angleControlDto) {
AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto);
this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
+ return true;
}
/**
* 云台绝对值控制(基于角度)
*/
+ @RequireUavControl(UavControlType.PAYLOAD)
@Override
- public void absAngleControl(AbsAngleControlDTO absAngleControlDto) {
+ public Boolean absAngleControl(AbsAngleControlDTO absAngleControlDto) {
AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto);
this.sendMessage(tyConfiguration.getIpPort(), absAngleControlCommand);
+ return true;
}
/**
* 云台转动(基于速度)
*/
+ @RequireUavControl(UavControlType.PAYLOAD)
@Override
- public void speedControl(SpeedControlDTO speedControlDto) {
+ public Boolean speedControl(SpeedControlDTO speedControlDto) {
SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto);
this.sendMessage(tyConfiguration.getIpPort(), speedControlCommand);
+ return true;
}
/**
* 设置相机模式
*/
@Override
- public void updateCameraMode(CameraModeDTO cameraModeDTO) {
+ public Boolean updateCameraMode(CameraModeDTO cameraModeDTO) {
CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO);
this.sendMessage(tyConfiguration.getIpPort(), cameraModeCommand);
+ return true;
}
/**
* 拍照
*/
@Override
- public void capturePic(CapturePicDTO capturePicDto) {
+ public Boolean capturePic(CapturePicDTO capturePicDto) {
updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);
this.sendMessage(tyConfiguration.getIpPort(), capturePicCommand);
+ return true;
}
/**
* 录像
*/
@Override
- public void record(RecordDTO recordDto) {
+ public Boolean record(RecordDTO recordDto) {
BaseCmd baseCmd;
if (recordDto.getIsRecord()) {
updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build());
@@ -251,150 +261,168 @@
baseCmd = new RecordStopCmd(recordDto);
}
this.sendMessage(tyConfiguration.getIpPort(), baseCmd);
+ return true;
}
/**
* 变倍
*/
@Override
- public void zoom(ZoomDTO zoomDTO) {
+ public Boolean zoom(ZoomDTO zoomDTO) {
ZoomCmd zoomCommand = new ZoomCmd(zoomDTO);
this.sendMessage(tyConfiguration.getIpPort(), zoomCommand);
+ return true;
}
/**
* 变倍到指定倍数
*/
@Override
- public void zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) {
+ public Boolean zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) {
ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO);
this.sendMessage(tyConfiguration.getIpPort(), zoomToLevelCommand);
+ return true;
}
/**
* 切换摄像头
*/
@Override
- public void switchCamera(SwitchCameraDTO switchCameraDTO) {
+ public Boolean switchCamera(SwitchCameraDTO switchCameraDTO) {
SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO);
this.sendMessage(tyConfiguration.getIpPort(), switchCameraCmd);
+ return true;
}
/**
* 切换视频源
*/
@Override
- public void switchSource(SwitchSourceDTO switchSourceDTO) {
+ public Boolean switchSource(SwitchSourceDTO switchSourceDTO) {
SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO);
this.sendMessage(tyConfiguration.getIpPort(), switchSourceCmd);
+ return true;
}
/**
* 打开或关闭照片回传
*/
@Override
- public void photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) {
+ public Boolean photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) {
PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO);
this.sendMessage(tyConfiguration.getIpPort(), photoReturnToggleCmd);
+ return true;
}
/**
* 切换无人机控制权
*/
@Override
- public void switchUavControl(SwitchUavControlDTO switchUavControlDTO) {
+ public Boolean switchUavControl(SwitchUavControlDTO switchUavControlDTO) {
SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO);
this.sendMessage(tyConfiguration.getIpPort(), switchUavControlCmd);
+ return true;
}
/**
* 起飞
*/
+ @RequireUavControl(UavControlType.FLY)
@Override
- public void takeOff(TakeOffDTO takeOffDTO) {
+ public Boolean takeOff(TakeOffDTO takeOffDTO) {
TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
this.sendMessage(tyConfiguration.getIpPort(), takeOffCmd);
+ return true;
}
/**
* 返航
*/
@Override
- public void returnHome(ReturnHomeDTO returnHomeDTO) {
+ public Boolean returnHome(ReturnHomeDTO returnHomeDTO) {
ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO);
this.sendMessage(tyConfiguration.getIpPort(), returnHomeCmd);
+ return true;
}
/**
* 取消返航
*/
@Override
- public void returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) {
+ public Boolean returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) {
ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO);
this.sendMessage(tyConfiguration.getIpPort(), returnHomeCancelCmd);
+ return true;
}
/**
* 降落
*/
@Override
- public void land(LandDTO landDTO) {
+ public Boolean land(LandDTO landDTO) {
LandCmd landCmd = new LandCmd(landDTO);
this.sendMessage(tyConfiguration.getIpPort(), landCmd);
+ return true;
}
/**
* 取消降落
*/
@Override
- public void landCancel(LandCancelDTO landCancelDTO) {
+ public Boolean landCancel(LandCancelDTO landCancelDTO) {
LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO);
this.sendMessage(tyConfiguration.getIpPort(), landCancelCmd);
+ return true;
}
/**
* 强制降落
*/
@Override
- public void landForced(LandForcedDTO landForcedDTO) {
+ public Boolean landForced(LandForcedDTO landForcedDTO) {
LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO);
this.sendMessage(tyConfiguration.getIpPort(), landForcedCmd);
+ return true;
}
/**
* 方向控制
*/
@Override
- public void flyControl(FlyControlDTO flyControlDTO) {
+ public Boolean flyControl(FlyControlDTO flyControlDTO) {
FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO);
this.sendMessage(tyConfiguration.getIpPort(), flyControlCmd);
+ return true;
}
/**
* 指点飞行控制
*/
@Override
- public void flyPointControl(FlyPointControlDTO flyPointControlDTO) {
+ public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) {
FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
this.sendMessage(tyConfiguration.getIpPort(), flyPointControlCmd);
+ return true;
}
/**
* 停止指点飞行控制
*/
@Override
- public void flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) {
+ public Boolean flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) {
FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO);
this.sendMessage(tyConfiguration.getIpPort(), flyPointControlCancelCmd);
+ return true;
}
/**
* 紧急制动
*/
@Override
- public void emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) {
+ public Boolean emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) {
EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO);
this.sendMessage(tyConfiguration.getIpPort(), emergencyBrakeCmd);
+ return true;
}
/**
@@ -562,20 +590,6 @@
public void wayLineEnd(WayLineEndDTO wayLineEndDTO) {
WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);
this.sendMessage(tyConfiguration.getIpPort(), wayLineEndCmd);
- }
-
- /**
- * 点播
- */
- @Override
- public ArdVtdu play(String boxSn) {
- BoxStreamUrlReceiver boxLiveUrl = getBoxLiveUrl(boxSn);
- if(boxLiveUrl == null||boxLiveUrl.getRtsp() == null) {
- return null;
- }
- ArdVtdu ardVtdu = ArdVtdu.builder().name(boxSn).rtspSource(boxLiveUrl.getRtsp()).build();
- ardVtdu = mediaService.addPath(ardVtdu);
- return ardVtdu;
}
/**
--
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