From fe63fd580c5b65fa398dfe1fdf44466b26c6aadd Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Sat, 22 Mar 2025 13:38:30 +0800
Subject: [PATCH] 优化
---
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 115 +++++++++++++++++++++++++++++++++++----------------------
1 files changed, 71 insertions(+), 44 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..cef7380 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
@@ -1,14 +1,22 @@
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.component.netty.command.BaseCmd;
+import com.ard.tianyu.component.netty.command.camera.*;
+import com.ard.tianyu.component.netty.command.manual.*;
+import com.ard.tianyu.component.netty.command.register.*;
+import com.ard.tianyu.component.netty.command.settings.*;
+import com.ard.tianyu.component.netty.command.speaker.*;
+import com.ard.tianyu.component.netty.command.wayline.*;
import com.ard.tianyu.config.TyConfiguration;
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.component.forest.TyClient;
import com.ard.tianyu.domain.cache.TyTcpServerCache;
import com.ard.tianyu.domain.cache.UavSignalInfoCache;
import com.ard.tianyu.domain.cache.UavStateCache;
@@ -26,29 +34,20 @@
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.*;
-import com.ard.tianyu.netty.command.control.AbsAngleControlCmd;
-import com.ard.tianyu.netty.command.control.AngleControlCmd;
-import com.ard.tianyu.netty.command.control.SpeedControlCmd;
-import com.ard.tianyu.netty.command.manual.*;
-import com.ard.tianyu.netty.command.notice.BoxPowerStatusReplyCmd;
-import com.ard.tianyu.netty.command.notice.FlyWayEndReplyCmd;
-import com.ard.tianyu.netty.command.notice.UavReadyReplyCmd;
-import com.ard.tianyu.netty.command.real.SignalInfoCmd;
-import com.ard.tianyu.netty.command.real.UavStateCmd;
-import com.ard.tianyu.netty.command.real.UavTelemetryDataCmd;
-import com.ard.tianyu.netty.command.register.*;
-import com.ard.tianyu.netty.command.settings.*;
-import com.ard.tianyu.netty.command.speaker.*;
-import com.ard.tianyu.netty.command.wayline.*;
-import com.ard.tianyu.netty.handler.ErrorCodeEnum;
-import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
+import com.ard.tianyu.component.netty.NettyTcpClient;
+import com.ard.tianyu.component.netty.command.control.AbsAngleControlCmd;
+import com.ard.tianyu.component.netty.command.control.AngleControlCmd;
+import com.ard.tianyu.component.netty.command.control.SpeedControlCmd;
+import com.ard.tianyu.component.netty.command.notice.BoxPowerStatusReplyCmd;
+import com.ard.tianyu.component.netty.command.notice.FlyWayEndReplyCmd;
+import com.ard.tianyu.component.netty.command.notice.UavReadyReplyCmd;
+import com.ard.tianyu.component.netty.command.real.SignalInfoCmd;
+import com.ard.tianyu.component.netty.command.real.UavStateCmd;
+import com.ard.tianyu.component.netty.command.real.UavTelemetryDataCmd;
+import com.ard.tianyu.component.netty.handler.ErrorCodeEnum;
+import com.ard.tianyu.component.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 com.ard.tianyu.domain.message.UavControlType;
import io.netty.channel.Channel;
import io.netty.channel.ChannelFuture;
import lombok.extern.slf4j.Slf4j;
@@ -76,8 +75,6 @@
@Resource
private TyConfiguration tyConfiguration;
- @Resource
- private IMediaService mediaService;
/**
* 获取天宇token信息
@@ -98,8 +95,8 @@
public List<BoxInfoReceiver> getBoxList() {
//请求云盒列表
try {
- TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReveiver = tyClient.getBoxList();
- return boxListReveiver.getContent();
+ TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReceiver = tyClient.getBoxList();
+ return boxListReceiver.getContent();
} catch (Exception e) {
log.error("获取云盒列表失败:{}", e.getMessage());
return new ArrayList<>();
@@ -197,7 +194,7 @@
/**
* 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 +205,7 @@
/**
* 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 +216,7 @@
/**
* 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 +239,11 @@
*/
@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 +268,7 @@
/**
* 变倍
*/
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean zoom(ZoomDTO zoomDTO) {
ZoomCmd zoomCommand = new ZoomCmd(zoomDTO);
@@ -277,6 +279,7 @@
/**
* 变倍到指定倍数
*/
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) {
ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO);
@@ -327,7 +330,7 @@
/**
* 起飞
*/
- @RequireUavControl(UavControlType.FLY)
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean takeOff(TakeOffDTO takeOffDTO) {
TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
@@ -338,6 +341,7 @@
/**
* 返航
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean returnHome(ReturnHomeDTO returnHomeDTO) {
ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO);
@@ -348,6 +352,7 @@
/**
* 取消返航
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) {
ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO);
@@ -358,6 +363,7 @@
/**
* 降落
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean land(LandDTO landDTO) {
LandCmd landCmd = new LandCmd(landDTO);
@@ -368,6 +374,7 @@
/**
* 取消降落
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean landCancel(LandCancelDTO landCancelDTO) {
LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO);
@@ -378,6 +385,7 @@
/**
* 强制降落
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean landForced(LandForcedDTO landForcedDTO) {
LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO);
@@ -388,6 +396,8 @@
/**
* 方向控制
*/
+ @CheckControlRight(UavControlType.FLY)
+ @CheckTakeoffAltitude(minAltitude = 30.0)
@Override
public Boolean flyControl(FlyControlDTO flyControlDTO) {
FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO);
@@ -398,6 +408,8 @@
/**
* 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 +420,7 @@
/**
* 停止指点飞行控制
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) {
FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO);
@@ -418,6 +431,7 @@
/**
* 紧急制动
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) {
EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO);
@@ -559,6 +573,7 @@
/**
* 航线开始
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO);
@@ -568,6 +583,7 @@
/**
* 航线暂停
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO);
@@ -577,6 +593,7 @@
/**
* 航线恢复
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO);
@@ -586,6 +603,7 @@
/**
* 航线结束
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public void wayLineEnd(WayLineEndDTO wayLineEndDTO) {
WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);
@@ -611,14 +629,19 @@
break;
case 0x02:
// 处理注册消息
- HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
- logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
+ HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
+ 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 +652,14 @@
// 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 +667,7 @@
// 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 +734,8 @@
//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 +770,22 @@
//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 +796,7 @@
//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
@@ -800,7 +827,7 @@
*/
private void sendMessage(String key, BaseCmd msg) {
try {
- ChannelFuture future = TyNettyTcpClient.channels.get(key).getChannelFuture();
+ ChannelFuture future = NettyTcpClient.channels.get(key).getChannelFuture();
Channel channel = future.channel();
if (channel.isActive()) {
InetSocketAddress ipSocket = (InetSocketAddress) channel.remoteAddress();
--
Gitblit v1.9.3