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 | 87 +++++++++++++++++++++++++++++++++++++++----
1 files changed, 79 insertions(+), 8 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 b9f8059..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
@@ -8,6 +8,11 @@
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;
@@ -17,10 +22,19 @@
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.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;
@@ -151,14 +165,50 @@
* 云台控制基于角度
*/
@Override
- public void angleControl(String boxSn, Integer actionId, Integer rotationAngle) {
- ControlAngleCommand controlAngleCommand = new ControlAngleCommand(boxSn, actionId.byteValue(), rotationAngle.byteValue());
+ 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(String boxSn, Integer actionId, float pitch, float yaw, float roll) {
+ 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);
}
/**
@@ -233,11 +283,32 @@
break;
case (byte) 0xD1:
// 处理无人机
- 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 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:
--
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