package com.ard.tianyu.service.impl; import com.ard.common.utils.ByteUtils; 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.UavSignalInfoConverter; import com.ard.tianyu.model.dto.converter.UavStateConverter; import com.ard.tianyu.model.dto.converter.UavTelemetryDataConverter; import com.ard.tianyu.model.dto.converter.wayline.PlanLineDataConverter; import com.ard.tianyu.model.dto.manual.*; 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.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.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.service.ITyService; import com.ard.tianyu.websocket.utils.WebSocketUtil; import io.netty.channel.Channel; import io.netty.channel.ChannelFuture; import lombok.extern.slf4j.Slf4j; import org.springframework.scheduling.annotation.Scheduled; import org.springframework.stereotype.Service; import javax.annotation.Resource; import java.net.InetSocketAddress; import java.util.ArrayList; import java.util.Collections; import java.util.List; import java.util.Map; import java.util.concurrent.ConcurrentHashMap; /** * TyServiceImpl * * @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; // 存储每个无人机的最后遥测处理时间 private Map lastTelemetryTimes = new ConcurrentHashMap<>(); /** * 获取天宇token信息 * * @return AccessTokenReceiver */ @Override public AccessTokenReceiver getAccessToken() { return tyConfiguration.getAccessToken(); } /** * 获取云盒列表 * * @return List */ @Override public List getBoxList() { //请求云盒列表 try { TyHttpCommonReceiver> 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 boxLiveUrl = tyClient.getBoxLiveUrl(boxSn, tyConfiguration.getAccessToken().convertFromDTO()); return boxLiveUrl.getContent(); } /** * 获取飞行历史 * * @return List */ @Override public List getBoxHistory(BoxHistoryDTO boxHistoryDTO) { TyHttpCommonReceiver> boxHistory = tyClient.getBoxHistory(boxHistoryDTO, tyConfiguration.getAccessToken().convertFromDTO()); return boxHistory.getContent(); } /** * 获取盒子图片 * * @return List */ @Override public List getBoxPhotos(BoxPhotosDTO boxPhotosDTO) { TyHttpCommonReceiver> 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() { try { AccessTokenReceiver tyToken = tyConfiguration.getAccessToken(); RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes()); this.sendMessage(tyConfiguration.getIpPort(), registerMessage); } catch (Exception e) { log.error("注册天宇平台失败:{}", e.getMessage()); } } /** * 云台控制基于角度 */ @Override public void angleControl(AngleControlDTO angleControlDto) { AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto); this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand); } /** * 云台绝对值控制(基于角度) */ @Override public void absAngleControl(AbsAngleControlDTO absAngleControlDto) { AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto); this.sendMessage(tyConfiguration.getIpPort(), absAngleControlCommand); } /** * 云台转动(基于速度) */ @Override public void speedControl(SpeedControlDTO speedControlDto) { SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto); this.sendMessage(tyConfiguration.getIpPort(), speedControlCommand); } /** * 设置相机模式 */ @Override public void updateCameraMode(CameraModeDTO cameraModeDTO) { CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO); this.sendMessage(tyConfiguration.getIpPort(), cameraModeCommand); } /** * 拍照 */ @Override public void capturePic(CapturePicDTO capturePicDto) { updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build()); CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto); this.sendMessage(tyConfiguration.getIpPort(), capturePicCommand); } /** * 录像 */ @Override public void record(RecordDTO recordDto) { BaseCmd baseCmd; if (recordDto.getIsRecord()) { updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build()); baseCmd = new RecordStartCmd(recordDto); } else { baseCmd = new RecordStopCmd(recordDto); } this.sendMessage(tyConfiguration.getIpPort(), baseCmd); } /** * 变倍 */ @Override public void zoom(ZoomDTO zoomDTO) { ZoomCmd zoomCommand = new ZoomCmd(zoomDTO); this.sendMessage(tyConfiguration.getIpPort(), zoomCommand); } /** * 变倍到指定倍数 */ @Override public void zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) { ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO); this.sendMessage(tyConfiguration.getIpPort(), zoomToLevelCommand); } /** * 切换摄像头 */ @Override public void switchCamera(SwitchCameraDTO switchCameraDTO) { SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO); this.sendMessage(tyConfiguration.getIpPort(), switchCameraCmd); } /** * 切换视频源 */ @Override public void switchSource(SwitchSourceDTO switchSourceDTO) { SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO); this.sendMessage(tyConfiguration.getIpPort(), switchSourceCmd); } /** * 打开或关闭照片回传 */ @Override public void photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) { PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO); this.sendMessage(tyConfiguration.getIpPort(), photoReturnToggleCmd); } /** * 切换无人机控制权 */ @Override public void switchUavControl(SwitchUavControlDTO switchUavControlDTO) { SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO); this.sendMessage(tyConfiguration.getIpPort(), switchUavControlCmd); } /** * 起飞 */ @Override public void takeOff(TakeOffDTO takeOffDTO) { TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO); this.sendMessage(tyConfiguration.getIpPort(), takeOffCmd); } /** * 返航 */ @Override public void returnHome(ReturnHomeDTO returnHomeDTO) { ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO); this.sendMessage(tyConfiguration.getIpPort(), returnHomeCmd); } /** * 取消返航 */ @Override public void returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) { ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO); this.sendMessage(tyConfiguration.getIpPort(), returnHomeCancelCmd); } /** * 降落 */ @Override public void land(LandDTO landDTO) { LandCmd landCmd = new LandCmd(landDTO); this.sendMessage(tyConfiguration.getIpPort(), landCmd); } /** * 取消降落 */ @Override public void landCancel(LandCancelDTO landCancelDTO) { LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO); this.sendMessage(tyConfiguration.getIpPort(), landCancelCmd); } /** * 强制降落 */ @Override public void landForced(LandForcedDTO landForcedDTO) { LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO); this.sendMessage(tyConfiguration.getIpPort(), landForcedCmd); } /** * 方向控制 */ @Override public void flyControl(FlyControlDTO flyControlDTO) { FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO); this.sendMessage(tyConfiguration.getIpPort(), flyControlCmd); } /** * 指点飞行控制 */ @Override public void flyPointControl(FlyPointControlDTO flyPointControlDTO) { FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO); this.sendMessage(tyConfiguration.getIpPort(), flyPointControlCmd); } /** * 停止指点飞行控制 */ @Override public void flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) { FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO); this.sendMessage(tyConfiguration.getIpPort(), flyPointControlCancelCmd); } /** * 紧急制动 */ @Override public void emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) { EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO); this.sendMessage(tyConfiguration.getIpPort(), emergencyBrakeCmd); } /** * 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); } /** * 喊话模式切换 */ @Override public void speakModeSwitch(SpeakModeSwitchDTO speakModeSwitchDTO) { SpeakModeSwitchCmd speakModeSwitchCmd = new SpeakModeSwitchCmd(speakModeSwitchDTO); this.sendMessage(tyConfiguration.getIpPort(), speakModeSwitchCmd); } /** * 文字喊话 */ @Override public void textSpeak(TextSpeakDTO textSpeakDTO) { TextSpeakCmd textSpeakCmd = new TextSpeakCmd(textSpeakDTO); this.sendMessage(tyConfiguration.getIpPort(), textSpeakCmd); } /** * 实时喊话 */ @Override public void realSpeak(RealSpeakDTO realSpeakDTO) { RealSpeakCmd realSpeakCmd = new RealSpeakCmd(realSpeakDTO); this.sendMessage(tyConfiguration.getIpPort(), realSpeakCmd); } /** * 录音喊话 */ @Override public void recordSpeak(RecordSpeakDTO recordSpeakDTO) { RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO); this.sendMessage(tyConfiguration.getIpPort(), recordSpeakCmd); } /** * 设置音量 */ @Override public void volumeSetting(VolumeSettingDTO volumeSettingDTO) { VolumeSettingCmd volumeSettingCmd = new VolumeSettingCmd(volumeSettingDTO); this.sendMessage(tyConfiguration.getIpPort(), volumeSettingCmd); } /** * 设置循环播放 */ @Override public void loopSetting(LoopSettingDTO loopSettingDTO) { LoopSettingCmd loopSettingCmd = new LoopSettingCmd(loopSettingDTO); this.sendMessage(tyConfiguration.getIpPort(), loopSettingCmd); } /** * 停止喊话 */ @Override public void stopSpeak(StopSpeakDTO stopSpeakDTO) { StopSpeakCmd stopSpeakCmd = new StopSpeakCmd(stopSpeakDTO); this.sendMessage(tyConfiguration.getIpPort(), stopSpeakCmd); } /** * 航线上传 */ @Override public void wayLineUpload(WayLineUploadDTO wayLineUploadDTO) { wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据 WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO); this.sendMessage(tyConfiguration.getIpPort(), wayLineUploadCmd); } //创建航线 private PlanLineData CreatePlanLineData() { TelemetryDataPB.PointData pointData1 = TelemetryDataPB.PointData.newBuilder() .setLng(124.12345).setLat(45.12345).setHeight(80).setSpeed(10) .setFlightPathMode(1)//航线飞行模式：1=直线飞行，2=协调转弯，3=曲线飞行(停)，4=曲线飞行(不停) .setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是 .build(); TelemetryDataPB.PointData pointData2 = TelemetryDataPB.PointData.newBuilder() .setLng(124.22222).setLat(45.22222).setHeight(80).setSpeed(10) .setFlightPathMode(1)//航线飞行模式：1=直线飞行，2=协调转弯，3=曲线飞行(停)，4=曲线飞行(不停) .setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是 .build(); TelemetryDataPB.PointData pointData3 = TelemetryDataPB.PointData.newBuilder() .setLng(124.33333).setLat(45.33333).setHeight(80).setSpeed(10) .setFlightPathMode(1)//航线飞行模式：1=直线飞行，2=协调转弯，3=曲线飞行(停)，4=曲线飞行(不停) .setSafeGohomeFlag(0)//是否为安全返航点 0=不是，1=是 .build(); //创建航线 TelemetryDataPB.PlanLineData PlanLineDataPB = TelemetryDataPB.PlanLineData.newBuilder() .setFinishedAction(2)//结束航线后动作：1=返航，2=原地悬停，3=原地降落，4=原地绕飞 .setMaxSpeed(10)//最大飞行速度 .setAutoSpeed(10)//自动飞行速度 .addPoints(pointData1)//航线点1 .addPoints(pointData2)//航线点2 .addPoints(pointData3)//航线点3 .setLoseAction(1)//网络失联后动作：0=返回HOME点，1=继续航线，默认0 .setHomeHeight(6)//返航高度：(单位:米，范围20~1500) .setIsSaveEnergyMode(0)////是否开启节能模式：0=不是，1=是(说明：节能模式下，飞机沿最短直线距离由起飞点到航线第一个航点，非升高到第一个航点高度再飞往第一个航点) .build(); return PlanLineDataConverter.convertProtoToEntity(PlanLineDataPB); } /** * 航线开始 */ @Override public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) { WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO); this.sendMessage(tyConfiguration.getIpPort(), wayLineBeginCmd); } /** * 航线暂停 */ @Override public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) { WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO); this.sendMessage(tyConfiguration.getIpPort(), wayLinePauseCmd); } /** * 航线恢复 */ @Override public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) { WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO); this.sendMessage(tyConfiguration.getIpPort(), wayLineResumeCmd); } /** * 航线结束 */ @Override public void wayLineEnd(WayLineEndDTO wayLineEndDTO) { WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO); this.sendMessage(tyConfiguration.getIpPort(), wayLineEndCmd); } /** * 处理天宇服务器返回的消息 */ @Override public void processReplyMessage(String key, BaseCmd tyCommand) { byte cmdCode = tyCommand.getCmdCode(); switch (cmdCode) { case 0x01: // 处理心跳消息 RegisterReplyCmd registerReplyCommand = (RegisterReplyCmd) tyCommand; logPrint("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 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 0x0A: // 处理云盒开关机通知消息 BoxPowerStatusReplyCmd boxPowerStatusReplyCmd = (BoxPowerStatusReplyCmd) tyCommand; logPrint("云盒开关机通知消息", boxPowerStatusReplyCmd.getStatus()); break; case (byte) 0xA8: // 处理无人机状态消息 UavStateCmd uavStateCmd = (UavStateCmd) tyCommand; UavState uavState = UavStateConverter.convertProtoToEntity(uavStateCmd.getUavState()); UavStateCache.putUavState(uavState); logPrint("无人机状态", uavState.getBoxSn()); WebSocketUtil.sendMessageAll(uavState); break; case (byte) 0xA9: // 处理无人机遥测消息 UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand; if (uavTelemetryDataCmd.getBoxSn() == null) { return; } String boxSn = ByteUtils.bytesToString(uavTelemetryDataCmd.getBoxSn()); // 假设有获取无人机ID的方法 long currentTime = System.currentTimeMillis(); // 获取无人机的最后处理时间，如果没有则设置为0 long lastTelemetryTime = lastTelemetryTimes.getOrDefault(boxSn, 0L); // 检查与上次处理时间的间隔 if (currentTime - lastTelemetryTime >= 1000) { // 1秒 TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(uavTelemetryDataCmd.getTelemetryData()); UavTelemetryDataCache.putUavTelemetryData(telemetryData); logPrint("无人机遥测", telemetryData.getBoxSn()); // 更新最后处理时间 lastTelemetryTimes.put(boxSn, currentTime); } else { log.debug("无人机 " + boxSn + " 遥测数据接收过于频繁，已跳过处理"); } break; case (byte) 0x0C: // 处理无人机信道质量数据 SignalInfoCmd signalInfoCmd = (SignalInfoCmd) tyCommand; SignalInfo signalInfo = UavSignalInfoConverter.convertProtoToEntity(signalInfoCmd.getSignalInfo()); UavSignalInfoCache.putUavSignalInfoCache(signalInfo); logPrint("无人机信道质量", signalInfo.getBoxSn()); break; case (byte) 0xD1: // 处理无人机 if (tyCommand instanceof UavInitReplyCmd) { UavInitReplyCmd uavInitReplyCmd = (UavInitReplyCmd) tyCommand; UavInitInfoCmd uavInitCommand = new UavInitInfoCmd(uavInitReplyCmd.getBoxSn()); this.sendMessage(tyConfiguration.getIpPort(), uavInitCommand); logPrint("无人机初始化详情", uavInitCommand.getBoxSn()); } if (tyCommand instanceof UavReadyReplyCmd) { UavReadyReplyCmd uavReadyReplyCmd = (UavReadyReplyCmd) tyCommand; logPrint("无人机准备完成通知", uavReadyReplyCmd.getBatteryPower()); } if (tyCommand instanceof CameraModeReplyCmd) { CameraModeReplyCmd cameraModeReplyCommand = (CameraModeReplyCmd) tyCommand; logPrint("无人机设置相机模式", cameraModeReplyCommand.getResult(), cameraModeReplyCommand.getErrorCode()); } if (tyCommand instanceof FlyWayEndReplyCmd) { FlyWayEndReplyCmd flyWayEndReplyCmd = (FlyWayEndReplyCmd) tyCommand; logPrint("无人机飞行结束", flyWayEndReplyCmd.getResult(), flyWayEndReplyCmd.getErrorCode()); } if (tyCommand instanceof CapturePicReplyCmd) { CapturePicReplyCmd capturePicReplyCommand = (CapturePicReplyCmd) tyCommand; logPrint("无人机拍照", capturePicReplyCommand.getResult(), capturePicReplyCommand.getErrorCode()); } if (tyCommand instanceof RecordStartReplyCmd) { RecordStartReplyCmd recordStartReplyCommand = (RecordStartReplyCmd) tyCommand; logPrint("无人机开始录像", recordStartReplyCommand.getResult(), recordStartReplyCommand.getErrorCode()); } if (tyCommand instanceof RecordStopReplyCmd) { RecordStopReplyCmd recordStopReplyCommand = (RecordStopReplyCmd) tyCommand; logPrint("无人机停止录像", recordStopReplyCommand.getResult(), recordStopReplyCommand.getErrorCode()); } //起飞回复 if (tyCommand instanceof TakeOffReplyCmd) { TakeOffReplyCmd takeOffReplyCommand = (TakeOffReplyCmd) tyCommand; logPrint("无人机起飞", takeOffReplyCommand.getResult(), takeOffReplyCommand.getErrorCode()); } //返航回复 if (tyCommand instanceof ReturnHomeReplyCmd) { ReturnHomeReplyCmd returnHomeReplyCmd = (ReturnHomeReplyCmd) tyCommand; logPrint("无人机返航", returnHomeReplyCmd.getResult(), returnHomeReplyCmd.getErrorCode()); } //取消返航回复 if (tyCommand instanceof ReturnHomeCancelReplyCmd) { ReturnHomeCancelReplyCmd returnHomeCancelReplyCmd = (ReturnHomeCancelReplyCmd) tyCommand; logPrint("取消无人机返航", returnHomeCancelReplyCmd.getResult(), returnHomeCancelReplyCmd.getErrorCode()); } //降落回复 if (tyCommand instanceof LandReplyCmd) { LandReplyCmd landReplyCmd = (LandReplyCmd) tyCommand; logPrint("降落", landReplyCmd.getResult(), landReplyCmd.getErrorCode()); } //取消降落回复 if (tyCommand instanceof LandCancelReplyCmd) { LandCancelReplyCmd landCancelReplyCmd = (LandCancelReplyCmd) tyCommand; logPrint("取消降落", landCancelReplyCmd.getResult(), landCancelReplyCmd.getErrorCode()); } //强制降落回复 if (tyCommand instanceof LandForcedReplyCmd) { LandForcedReplyCmd landForcedReplyCmd = (LandForcedReplyCmd) tyCommand; logPrint("强制降落", landForcedReplyCmd.getResult(), landForcedReplyCmd.getErrorCode()); } //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()); } //紧急制动回复 if (tyCommand instanceof EmergencyBrakeReplyCmd) { EmergencyBrakeReplyCmd emergencyBrakeReplyCmd = (EmergencyBrakeReplyCmd) tyCommand; logPrint("紧急制动", emergencyBrakeReplyCmd.getResult(), emergencyBrakeReplyCmd.getErrorCode()); } //上传航线回复 if (tyCommand instanceof WayLineUploadReplyCmd) { WayLineUploadReplyCmd wayLineUploadReplyCmd = (WayLineUploadReplyCmd) tyCommand; logPrint("上传航线", wayLineUploadReplyCmd.getResult(), wayLineUploadReplyCmd.getErrorCode()); } //开始航线回复 if (tyCommand instanceof WayLineBeginReplyCmd) { WayLineBeginReplyCmd wayLineBeginReplyCmd = (WayLineBeginReplyCmd) tyCommand; logPrint("开始航线", wayLineBeginReplyCmd.getResult(), wayLineBeginReplyCmd.getErrorCode()); } //暂停航线回复 if (tyCommand instanceof WayLinePauseReplyCmd) { WayLinePauseReplyCmd wayLinePauseReplyCmd = (WayLinePauseReplyCmd) tyCommand; logPrint("暂停航线", wayLinePauseReplyCmd.getResult(), wayLinePauseReplyCmd.getErrorCode()); } //恢复航线回复 if (tyCommand instanceof WayLineResumeReplyCmd) { WayLineResumeReplyCmd wayLineResumeReplyCmd = (WayLineResumeReplyCmd) tyCommand; logPrint("恢复航线", wayLineResumeReplyCmd.getResult(), wayLineResumeReplyCmd.getErrorCode()); } //结束航线回复 if (tyCommand instanceof WayLineEndReplyCmd) { WayLineEndReplyCmd wayLineEndReplyCmd = (WayLineEndReplyCmd) tyCommand; logPrint("结束航线", wayLineEndReplyCmd.getResult(), wayLineEndReplyCmd.getErrorCode()); } break; default: // 处理其他消息 log.warn("收到其他消息-->{}", tyCommand.getCmdCode()); } } //公共日志打印 private void logPrint(String message, Object obj) { log.debug("收到{}回复{}", message, obj); } //公共日志打印 private void logPrint(String message, byte result, Integer errorCode) { log.info("收到{}回复:{} 错误码：{}【{}】", message, ByteUtils.byteToHex(result), errorCode, ErrorCodeEnum.getDescByCode(errorCode)); } /** * 定时3秒发送心跳指令 */ @Scheduled(fixedRate = 3000) public void sendHeartBeat() { if (!TyTcpServerCache.getTcpServerCache(tyConfiguration.getTcpserver() + ":" + tyConfiguration.getTcpport())) { return; } long timestamp = System.currentTimeMillis(); log.debug("定时向天宇发送⼼跳,时间戳{}", timestamp); HeartbeatCmd heartbeatMessage = new HeartbeatCmd(timestamp); this.sendMessage(tyConfiguration.getIpPort(), heartbeatMessage); } /** * 发送消息 */ private void sendMessage(String key, BaseCmd 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()); } } }