package com.dji.sample.control.controller;
|
|
import com.dji.sample.common.model.ResponseResult;
|
import com.dji.sample.component.redis.RedisConst;
|
import com.dji.sample.component.redis.RedisOpsUtils;
|
import com.dji.sample.control.model.enums.CameraModeEnum;
|
import com.dji.sample.control.model.enums.DroneAuthorityEnum;
|
import com.dji.sample.control.model.enums.PayloadCommandsEnum;
|
import com.dji.sample.control.model.param.*;
|
import com.dji.sample.control.service.IControlService;
|
import com.dji.sample.log.aspect.SysLogAnnotation;
|
import com.dji.sample.manage.model.dto.CapacityCameraDTO;
|
import com.dji.sample.manage.model.dto.DeviceDTO;
|
import com.dji.sample.manage.model.enums.DeviceModeCodeEnum;
|
import com.dji.sample.manage.model.param.DeviceQueryParam;
|
import com.dji.sample.manage.model.receiver.OsdCameraReceiver;
|
import com.dji.sample.manage.model.receiver.OsdDockReceiver;
|
import com.dji.sample.manage.model.receiver.OsdSubDeviceReceiver;
|
import com.dji.sample.manage.service.ICapacityCameraService;
|
import com.dji.sample.manage.service.IDeviceService;
|
import lombok.extern.slf4j.Slf4j;
|
import org.springframework.beans.factory.annotation.Autowired;
|
import org.springframework.web.bind.annotation.*;
|
|
import javax.validation.Valid;
|
import java.util.List;
|
import java.util.Objects;
|
import java.util.UUID;
|
import java.util.concurrent.Executors;
|
import java.util.concurrent.ScheduledExecutorService;
|
|
/**
|
* @author sean
|
* @version 1.2
|
* @date 2022/7/29
|
*/
|
@RestController
|
@Slf4j
|
@RequestMapping("${url.control.prefix}${url.control.version}/devices")
|
public class DockController {
|
|
@Autowired
|
private IControlService controlService;
|
|
@Autowired
|
private ICapacityCameraService capacityCameraService;
|
|
@Autowired
|
private IDeviceService deviceService;
|
|
@PostMapping("/{sn}/jobs/{service_identifier}")
|
@SysLogAnnotation(operModul = "机场控制", operType = "控制指令", operDesc = "控制指令")
|
public ResponseResult createControlJob(@PathVariable String sn,
|
@PathVariable("service_identifier") String serviceIdentifier,
|
@RequestBody(required = false) RemoteDebugParam param) {
|
return controlService.controlDockDebug(sn, serviceIdentifier, param);
|
}
|
|
@PostMapping("/{sn}/jobs/fly-to-point")
|
@SysLogAnnotation(operModul = "机场控制", operType = "控制指令", operDesc = "起飞")
|
public ResponseResult flyToPoint(@PathVariable String sn, @Valid @RequestBody FlyToPointParam param) {
|
return controlService.flyToPoint(sn, param);
|
}
|
|
@DeleteMapping("/{sn}/jobs/fly-to-point")
|
@SysLogAnnotation(operModul = "机场控制", operType = "控制指令", operDesc = "停止起飞")
|
public ResponseResult flyToPointStop(@PathVariable String sn) {
|
return controlService.flyToPointStop(sn);
|
}
|
|
@PostMapping("/{sn}/jobs/takeoff-to-point")
|
@SysLogAnnotation(operModul = "机场控制", operType = "控制指令", operDesc = "一键起飞")
|
public ResponseResult takeoffToPoint(@PathVariable String sn, @Valid @RequestBody TakeoffToPointParam param) {
|
return controlService.takeoffToPoint(sn, param);
|
}
|
|
@PostMapping("/{sn}/authority/flight")
|
public ResponseResult seizeFlightAuthority(@PathVariable String sn) {
|
return controlService.seizeAuthority(sn, DroneAuthorityEnum.FLIGHT, null);
|
}
|
|
@PostMapping("/{sn}/authority/payload")
|
@SysLogAnnotation(operModul = "机场控制", operType = "控制指令", operDesc = "负载控制")
|
public ResponseResult seizePayloadAuthority(@PathVariable String sn, @Valid @RequestBody DronePayloadParam param) {
|
return controlService.seizeAuthority(sn, DroneAuthorityEnum.PAYLOAD, param);
|
}
|
|
@PostMapping("/{sn}/payload/commands")
|
@SysLogAnnotation(operModul = "机场控制", operType = "控制指令", operDesc = "相机模式开关")
|
public ResponseResult payloadCommands(@PathVariable String sn, @Valid @RequestBody PayloadCommandsParam param) throws Exception {
|
param.setSn(sn);
|
return controlService.payloadCommands(param);
|
}
|
|
@GetMapping("/{sn}/payload/photoAndVideoCmd/{type}")
|
@SysLogAnnotation(operModul = "云台拍照录像控制", operType = "控制指令", operDesc = "云台拍照录像控制")
|
public ResponseResult photoAndVideoCmd(@PathVariable String sn, @PathVariable String type) throws Exception {
|
|
String bid = UUID.randomUUID().toString();
|
|
List<DeviceDTO> list = deviceService.getDevicesByParams(DeviceQueryParam.builder().deviceSn(sn).build());
|
|
if (list.isEmpty()) {
|
return ResponseResult.error("机场离线！");
|
}
|
|
DeviceDTO deviceDTO = list.get(0);
|
|
//无人机设备相机信息
|
String key = RedisConst.OSD_PREFIX + deviceDTO.getChildDeviceSn();
|
OsdSubDeviceReceiver redisData = (OsdSubDeviceReceiver) RedisOpsUtils.get(key);
|
log.info("无人机设备相机信息osd:{}",redisData);
|
|
if (null == redisData) {
|
return ResponseResult.error("无人机设备离线！");
|
}
|
|
//无人机osd信息
|
List<OsdCameraReceiver> osdCameraReceiverList = redisData.getCameras();
|
OsdCameraReceiver cameraDTO = osdCameraReceiverList.get(0);
|
|
//获取负载控制
|
ResponseResult result = getPayload(sn,cameraDTO);
|
log.info("获取负载：{}",result);
|
if (result.getCode() != 0) {
|
return result;
|
}
|
|
PayloadCommandsParam param = new PayloadCommandsParam();
|
param.setSn(sn);
|
DronePayloadParam data = new DronePayloadParam();
|
data.setPayloadIndex(cameraDTO.getPayloadIndex());
|
|
//拍照
|
switch (type) {
|
case "photo":
|
if (!Objects.equals(cameraDTO.getCameraMode().getMode(), CameraModeEnum.PHOTO.getMode())) {
|
//切换模式
|
ResponseResult swResult = switchingMode(sn, CameraModeEnum.PHOTO, cameraDTO);
|
log.info("摄像头切换状态：{}", swResult);
|
}
|
param.setCmd(PayloadCommandsEnum.CAMERA_PHOTO_TAKE);
|
param.setData(data);
|
break;
|
case "video_start": {//开始录像
|
if (!Objects.equals(cameraDTO.getCameraMode().getMode(), CameraModeEnum.VIDEO.getMode())) {
|
//切换模式
|
ResponseResult swResult = switchingMode(sn, CameraModeEnum.VIDEO, cameraDTO);
|
log.info("摄像头切换状态：{}", swResult);
|
}
|
param.setCmd(PayloadCommandsEnum.CAMERA_RECORDING_START);
|
param.setData(data);
|
break;
|
}
|
case "video_stop": {//结束录像
|
if (!Objects.equals(cameraDTO.getCameraMode().getMode(), CameraModeEnum.VIDEO.getMode())) {
|
//切换模式
|
ResponseResult swResult = switchingMode(sn, CameraModeEnum.VIDEO, cameraDTO);
|
log.info("摄像头切换状态：{}", swResult);
|
}
|
param.setCmd(PayloadCommandsEnum.CAMERA_RECORDING_STOP);
|
param.setData(data);
|
break;
|
}
|
default:
|
return ResponseResult.error(-1, "未知类型！");
|
}
|
|
|
Thread.sleep(2000); // 延迟2000毫秒（2秒）
|
|
return controlService.payloadCommands(param,bid);
|
}
|
|
/**
|
* 获取负载权限
|
* @param sn 无人机设备号
|
* @return
|
*/
|
private ResponseResult getPayload(String sn,OsdCameraReceiver cameraDTO) {
|
DronePayloadParam param = new DronePayloadParam();
|
param.setPayloadIndex(cameraDTO.getPayloadIndex());
|
return controlService.seizeAuthority(sn, DroneAuthorityEnum.PAYLOAD, param);//获取无人机负载权限
|
}
|
|
/**
|
* 负载模式切换
|
* @param sn 无人机设备号
|
* @param mode 模式 相机或者录像模式
|
* @param cameraDTO 相机数据
|
* @return
|
* @throws Exception
|
*/
|
private ResponseResult switchingMode(String sn, CameraModeEnum mode, OsdCameraReceiver cameraDTO) throws Exception {
|
PayloadCommandsParam param = new PayloadCommandsParam();
|
param.setSn(sn);
|
param.setCmd(PayloadCommandsEnum.CAMERA_MODE_SWitCH);
|
DronePayloadParam data = new DronePayloadParam();
|
data.setPayloadIndex(cameraDTO.getPayloadIndex());
|
data.setCameraMode(mode);
|
param.setData(data);
|
return controlService.payloadCommands(param);
|
}
|
|
|
}
|
