From 55be62c63d9faedb48d47dd1c18cf1a74e3eea6c Mon Sep 17 00:00:00 2001
From: guoshilong <123456>
Date: Wed, 15 Nov 2023 17:15:35 +0800
Subject: [PATCH] 图斑多点飞行，拍照
---
src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java | 63 ++++++++++++++++++++++++++-----
1 files changed, 53 insertions(+), 10 deletions(-)
diff --git a/src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java b/src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java
index 3cee5df..c186883 100644
--- a/src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java
+++ b/src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java
@@ -3,6 +3,7 @@
import com.alibaba.fastjson.JSONObject;
import com.dji.sample.common.error.CommonErrorEnum;
import com.dji.sample.common.model.ResponseResult;
+import com.dji.sample.common.util.SpringBeanUtils;
import com.dji.sample.component.mqtt.model.*;
import com.dji.sample.component.mqtt.service.IMessageSenderService;
import com.dji.sample.component.redis.RedisConst;
@@ -13,10 +14,7 @@
import com.dji.sample.control.model.dto.PointDTO;
import com.dji.sample.control.model.dto.ResultNotifyDTO;
import com.dji.sample.control.model.dto.TakeoffProgressReceiver;
-import com.dji.sample.control.model.enums.DroneAuthorityEnum;
-import com.dji.sample.control.model.enums.DroneControlMethodEnum;
-import com.dji.sample.control.model.enums.FlyToStatusEnum;
-import com.dji.sample.control.model.enums.RemoteDebugMethodEnum;
+import com.dji.sample.control.model.enums.*;
import com.dji.sample.control.model.param.*;
import com.dji.sample.control.service.IControlService;
import com.dji.sample.manage.model.dto.DeviceDTO;
@@ -189,7 +187,7 @@
}
@ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_FLY_TO_POINT_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS)
- public CommonTopicReceiver handleFlyToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
+ public CommonTopicReceiver handleFlyToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers) throws Exception {
String dockSn = receiver.getGateway();
Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn);
@@ -213,13 +211,14 @@
if (jsonObject != null) {
List<PointPOJO> targetList = (List<PointPOJO>) jsonObject.get("targetList");
int curIndex = (Integer) jsonObject.get("curIndex");
- flyToNextPoint(targetList, curIndex, dockSn);
+ String payloadIndex = jsonObject.getString("payloadIndex");
+ flyToNextPoint(targetList, curIndex, dockSn, payloadIndex);
}
}
return receiver;
}
- private ResponseResult flyToNextPoint(List<PointPOJO> targetList, int curIndex, String sn) {
+ private ResponseResult flyToNextPoint(List<PointPOJO> targetList, int curIndex, String sn, String payloadIndex) throws Exception {
curIndex = curIndex + 1;
//当无人机状态为人工时再发布下一个命令
while (true) {
@@ -234,8 +233,7 @@
RedisOpsUtils.del("tuban:" + sn);
return returnHome;
- }
- else {
+ } else {
//当前不是最后一个点，飞行到下一个点
FlyToPointParam flyToPointParam = new FlyToPointParam();
flyToPointParam.setMaxSpeed(14);
@@ -248,22 +246,67 @@
pointDTOS.add(pointDTO);
flyToPointParam.setPoints(pointDTOS);
+ //执行拍照
+ ResponseResult responseResult = takePhoto(sn, payloadIndex);
+ //发布下一个飞行指令
ResponseResult flyToRes = flyToPoint(sn, flyToPointParam);
if (flyToRes.getCode() == ResponseResult.CODE_SUCCESS) {
JSONObject jsonObject = new JSONObject();
jsonObject.put("targetList", targetList);
jsonObject.put("curIndex", curIndex);
+ jsonObject.put("payloadIndex",payloadIndex);
RedisOpsUtils.set("tuban:" + sn, jsonObject);
}
return flyToRes;
-
}
}
}
}
+ @Override
+ public ResponseResult takePhoto(String sn, String payloadIndex) throws Exception {
+
+ //获取负载控制权
+ DronePayloadParam dronePayloadParam = new DronePayloadParam();
+ dronePayloadParam.setPayloadIndex(payloadIndex);
+
+ ResponseResult seizeAuthorityRes = seizeAuthority(sn, DroneAuthorityEnum.PAYLOAD, dronePayloadParam);
+
+ //切换为相机模式
+ if (seizeAuthorityRes.getCode() != ResponseResult.CODE_SUCCESS) {
+ return seizeAuthorityRes;
+ }
+
+ PayloadCommandsParam payloadCommandsParam = new PayloadCommandsParam();
+
+// DronePayloadParam switchParam = new DronePayloadParam();
+// switchParam.setCameraMode(CameraModeEnum.PHOTO);
+// switchParam.setPayloadIndex(payloadIndex);
+
+// payloadCommandsParam.setSn(sn);
+// payloadCommandsParam.setCmd(PayloadCommandsEnum.CAMERA_MODE_SWitCH);
+// payloadCommandsParam.setData(switchParam);
+//
+// ResponseResult switchModeRes = payloadCommands(payloadCommandsParam);
+
+// if (switchModeRes.getCode() != ResponseResult.CODE_SUCCESS){
+// return switchModeRes;
+// }
+ //拍照
+ payloadCommandsParam.setCmd(PayloadCommandsEnum.CAMERA_PHOTO_TAKE);
+ DronePayloadParam takePhotoParam = new DronePayloadParam();
+ takePhotoParam.setPayloadIndex(payloadIndex);
+
+ payloadCommandsParam.setData(takePhotoParam);
+ payloadCommandsParam.setSn(sn);
+
+ ResponseResult responseResult = payloadCommands(payloadCommandsParam);
+
+ return responseResult;
+ }
+
private void checkTakeoffCondition(String dockSn) {
Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
--
Gitblit v1.9.3