From ac3769f6271403999cec1fa024d4c8a05f1a3e33 Mon Sep 17 00:00:00 2001
From: rain <167982779@qq.com>
Date: Thu, 04 Jul 2024 16:52:48 +0800
Subject: [PATCH] 修改播放地址
---
src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java | 87 ++++++++++++++++++++++++++++++++++++-------
1 files changed, 72 insertions(+), 15 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..56955a2 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;
@@ -35,6 +33,7 @@
import org.springframework.integration.annotation.ServiceActivator;
import org.springframework.messaging.MessageHeaders;
import org.springframework.stereotype.Service;
+import org.springframework.util.StringUtils;
import java.util.*;
@@ -102,6 +101,16 @@
RedisOpsUtils.setWithExpire(serviceIdentifier + RedisConst.DELIMITER + bid, sn,
RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND);
}
+
+ //当执行返航指令时，删除图斑redis
+ if (serviceIdentifier == "return_home"){
+ if (RedisOpsUtils.checkExist("tuban:" + sn)){
+ RedisOpsUtils.del("tuban:" + sn);
+ }
+ }
+
+
+
return ResponseResult.success();
}
@@ -189,7 +198,7 @@
}
@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);
@@ -207,26 +216,32 @@
eventsReceiver.getStatus().getMessage() : eventsReceiver.getResult().getErrorMsg())
.result(eventsReceiver.getResult().getErrorCode())
.build());
-
+ //当飞向目标点成功后
if (eventsReceiver.getStatus().equals(FlyToStatusEnum.WAYLINE_OK)) {
JSONObject jsonObject = (JSONObject) RedisOpsUtils.get("tuban:" + dockSn);
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+1, dockSn, payloadIndex);
}
}
return receiver;
}
- private ResponseResult flyToNextPoint(List<PointPOJO> targetList, int curIndex, String sn) {
- curIndex = curIndex + 1;
+ @Override
+ public ResponseResult flyToNextPoint(List<PointPOJO> targetList, int curIndex, String sn, String payloadIndex) throws Exception {
//当无人机状态为人工时再发布下一个命令
while (true) {
Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(sn);
DeviceModeCodeEnum deviceMode = deviceService.getDeviceMode(dockOpt.get().getChildDeviceSn());
if (DeviceModeCodeEnum.MANUAL == deviceMode) {
+
+ //执行拍照
+ ResponseResult responseResult = takePhoto(sn, payloadIndex);
+
+ //发布飞行指令
if (curIndex == targetList.size()) {
//当前是最后一个点，返航
ResponseResult returnHome = controlDockDebug(sn, "return_home", null);
@@ -234,8 +249,7 @@
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);
@@ -248,20 +262,62 @@
pointDTOS.add(pointDTO);
flyToPointParam.setPoints(pointDTOS);
-
+ //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;
}
@@ -281,8 +337,9 @@
@Override
public ResponseResult takeoffToPoint(String sn, TakeoffToPointParam param) {
checkTakeoffCondition(sn);
-
- param.setFlightId(UUID.randomUUID().toString());
+ if (!StringUtils.hasText(param.getFlightId())){
+ param.setFlightId(UUID.randomUUID().toString());
+ }
ServiceReply reply = messageSenderService.publishServicesTopic(sn, DroneControlMethodEnum.TAKE_OFF_TO_POINT.getMethod(), param, param.getFlightId());
return ResponseResult.CODE_SUCCESS != reply.getResult() ?
ResponseResult.error("无人机起飞失败 " + reply.getResult())
--
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