From b0dd7ca693fcd13e539316cfc8c63150182a0315 Mon Sep 17 00:00:00 2001
From: aix <vip_xiaobin810@163.com>
Date: Tue, 20 Aug 2024 15:18:12 +0800
Subject: [PATCH] 红外设置
---
src/main/java/com/dji/sample/control/controller/DockController.java | 181 ++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 179 insertions(+), 2 deletions(-)
diff --git a/src/main/java/com/dji/sample/control/controller/DockController.java b/src/main/java/com/dji/sample/control/controller/DockController.java
index 7836e5f..6f1ecf8 100644
--- a/src/main/java/com/dji/sample/control/controller/DockController.java
+++ b/src/main/java/com/dji/sample/control/controller/DockController.java
@@ -1,11 +1,33 @@
package com.dji.sample.control.controller;
import com.dji.sample.common.model.ResponseResult;
-import com.dji.sample.control.model.param.RemoteDebugParam;
+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
@@ -20,10 +42,165 @@
@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.controlDock(sn, serviceIdentifier, 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);
+ }
+
+
}
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