From fddccbf217223e7287d6861c3020d9ba5cc15e55 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Fri, 25 Oct 2024 15:42:19 +0800
Subject: [PATCH] 优化
---
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 160 ++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 138 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 56ffa99..66dacea 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
@@ -2,18 +2,39 @@
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.camera.CapturePicDto;
+import com.ard.tianyu.model.dto.camera.RecordDto;
+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.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.AbsAngleControlCommand;
+import com.ard.tianyu.netty.command.control.AngleControlCommand;
+import com.ard.tianyu.netty.command.control.SpeedControlCommand;
+import com.ard.tianyu.netty.command.real.SignalInfoCommand;
+import com.ard.tianyu.netty.command.real.UavStateCommand;
+import com.ard.tianyu.netty.command.real.UavTelemetryDataCommand;
+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;
+import org.apache.poi.hssf.record.Record;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Service;
@@ -118,13 +139,6 @@
this.sendMessage(tyConfiguration.getIpPort(), registerMessage);
}
- /**
- * 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
@@ -137,10 +151,7 @@
InetSocketAddress ipSocket = (InetSocketAddress) channel.remoteAddress();
String host = ipSocket.getHostString();
int port = ipSocket.getPort();
- // 创建 ByteBuf 并编码消息
- 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
+ channel.writeAndFlush(msg); // 发送编码后的数据
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！");
@@ -154,9 +165,74 @@
* 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 angleControl(AngleControlDto angleControlDto) {
+ AngleControlCommand controlAngleCommand = new AngleControlCommand(angleControlDto);
this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
+ }
+
+ /**
+ * 云台绝对值控制(基于角度)
+ */
+ @Override
+ public void absAngleControl(AbsAngleControlDto absAngleControlDto) {
+ AbsAngleControlCommand absAngleControlCommand = new AbsAngleControlCommand(absAngleControlDto);
+ this.sendMessage(tyConfiguration.getIpPort(), absAngleControlCommand);
+ }
+
+ /**
+ * 云台转动(基于速度)
+ */
+ @Override
+ public void speedControl(SpeedControlDto speedControlDto) {
+ SpeedControlCommand speedControlCommand = new SpeedControlCommand(speedControlDto);
+ this.sendMessage(tyConfiguration.getIpPort(), speedControlCommand);
+ }
+
+ /**
+ * 拍照
+ */
+ @Override
+ public void capturePic(CapturePicDto capturePicDto) {
+ CapturePicCommand capturePicCommand = new CapturePicCommand(capturePicDto);
+ this.sendMessage(tyConfiguration.getIpPort(), capturePicCommand);
+ }
+
+ /**
+ * 录像
+ */
+ @Override
+ public void record(RecordDto recordDto) {
+ BaseCommand baseCommand;
+ if (recordDto.getIsRecord()) {
+ baseCommand = new RecordStartCommand(recordDto);
+ } else {
+ baseCommand = new RecordStopCommand(recordDto);
+ }
+ this.sendMessage(tyConfiguration.getIpPort(), baseCommand);
+ }
+
+ /**
+ * 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
@@ -176,28 +252,68 @@
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
+ if (tyCommand instanceof UavReadyNotificationCommand) {
+ UavReadyNotificationCommand droneReadyNotificationCommand = (UavReadyNotificationCommand) tyCommand;
+ if (droneReadyNotificationCommand.getActionCode() == (byte) 0x42) {
+ UavInitInfoCommand uavInitCommand = new UavInitInfoCommand(droneReadyNotificationCommand.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 CapturePicReplyCommand) {
+ CapturePicReplyCommand capturePicReplyCommand = (CapturePicReplyCommand) tyCommand;
+ if (capturePicReplyCommand.getActionCode() == (byte) 0x23) {
+ 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 RecordStartReplyCommand) {
+ RecordStartReplyCommand recordStartReplyCommand = (RecordStartReplyCommand) tyCommand;
+ if (recordStartReplyCommand.getActionCode() == (byte) 0x24) {
+ 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 RecordStopReplyCommand) {
+ RecordStopReplyCommand recordStopReplyCommand = (RecordStopReplyCommand) tyCommand;
+ if (recordStopReplyCommand.getActionCode() == (byte) 0x25) {
+ 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());
+ }
+ }
break;
default:
// 处理其他消息
+ log.debug("收到其他消息-->其他消息");
}
}
--
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