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 | 300 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 290 insertions(+), 10 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 8734666..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
@@ -2,14 +2,45 @@
import com.ard.tianyu.config.TyConfiguration;
import com.ard.tianyu.http.TyClient;
-import com.ard.tianyu.model.receiver.AccessTokenReceiver;
-import com.ard.tianyu.model.receiver.BoxReceiver;
-import com.ard.tianyu.model.receiver.TyHttpCommonReceiver;
+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.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;
import javax.annotation.Resource;
-import java.util.Collections;
+import java.net.InetSocketAddress;
+import java.util.ArrayList;
import java.util.List;
/**
@@ -18,30 +49,279 @@
* @author liusuyi
* @date 2024年10月22日8:37
**/
+@Slf4j
@Service
public class TyServiceImpl implements ITyService {
@Resource
private TyClient tyClient;
+
@Resource
private TyConfiguration tyConfiguration;
/**
* 获取天宇token信息
- * @return
+ *
+ * @return AccessTokenReceiver
*/
@Override
public AccessTokenReceiver getAccessToken() {
return tyConfiguration.getAccessToken();
}
+
/**
* 获取云盒列表
- * @return
+ *
+ * @return List<BoxInfoReceiver>
*/
@Override
- public List<BoxReceiver> getBoxList() {
+ public List<BoxInfoReceiver> getBoxList() {
//请求云盒列表
- TyHttpCommonReceiver<List<BoxReceiver>> boxListReveiver = tyClient.getBoxList(tyConfiguration.getAccessToken().convertFromDTO());
- return boxListReveiver.getContent();
+ try {
+ TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReveiver = tyClient.getBoxList(tyConfiguration.getAccessToken().convertFromDTO());
+ return boxListReveiver.getContent();
+ } catch (Exception e) {
+ log.error("获取云盒列表失败:{}", e.getMessage());
+ return new ArrayList<>();
+ }
}
-}
+
+ /**
+ * 获取直播地址
+ *
+ * @return BoxStreamUrlReceiver
+ */
+ @Override
+ public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) {
+
+ TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(boxSn, tyConfiguration.getAccessToken().convertFromDTO());
+ return boxLiveUrl.getContent();
+ }
+
+ /**
+ * 获取飞行历史
+ *
+ * @return List<BoxHistoryReceiver>
+ */
+ @Override
+ public List<BoxHistoryReceiver> getBoxHistory(BoxHistoryDTO boxHistoryDTO) {
+ TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(boxHistoryDTO, tyConfiguration.getAccessToken().convertFromDTO());
+ return boxHistory.getContent();
+ }
+
+ /**
+ * 获取盒子图片
+ *
+ * @return List<BoxPhotosReceiver>
+ */
+ @Override
+ public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) {
+ TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(boxPhotosDTO, tyConfiguration.getAccessToken().convertFromDTO());
+ return boxPhotos.getContent();
+ }
+
+ /**
+ * 修改云盒设置
+ */
+ @Override
+ public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) {
+ TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(boxSettingsDTO, tyConfiguration.getAccessToken().convertFromDTO());
+ return result.getState() == 1;
+ }
+
+ /**
+ * 注册天宇平台
+ */
+ @Override
+ public void registerMessage() {
+ AccessTokenReceiver tyToken = tyConfiguration.getAccessToken();
+ RegisterCommand registerMessage = new RegisterCommand(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
+ this.sendMessage(tyConfiguration.getIpPort(), registerMessage);
+ }
+
+
+ /**
+ * 发送消息
+ */
+ public void sendMessage(String key, BaseCommand msg) {
+ try {
+ ChannelFuture future = TyNettyTcpClient.channels.get(key).getChannelFuture();
+ Channel channel = future.channel();
+ if (channel.isActive()) {
+ InetSocketAddress ipSocket = (InetSocketAddress) channel.remoteAddress();
+ String host = ipSocket.getHostString();
+ int port = ipSocket.getPort();
+ 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！");
+ }
+ } catch (Exception e) {
+ log.error("发送消息异常：{}", e.getMessage());
+ }
+ }
+
+ /**
+ * 云台控制基于角度
+ */
+ @Override
+ 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
+ public void processMessage(String key, BaseCommand 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());
+ if (registerReplyCommand.getSuccess() != 1) {
+ // 注册失败，重新注册
+ log.info("注册失败，重新注册");
+ registerMessage();
+ }
+ 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());
+ break;
+ case 0x03:
+ // 处理订阅消息
+ break;
+ case 0x04:
+ // 处理取消订阅消息
+ 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());
+ 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());
+ 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");
+ }
+ }
+
+ @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);
+ this.sendMessage(tyConfiguration.getIpPort(), heartbeatMessage);
+ }
+}
\ No newline at end of file
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