diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index e7a8fa7..31d28d2 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -4,7 +4,26 @@
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
@@ -23,28 +42,30 @@
+
- {
+ "keyToString": {
+ "RequestMappingsPanelOrder0": "0",
+ "RequestMappingsPanelOrder1": "1",
+ "RequestMappingsPanelWidth0": "75",
+ "RequestMappingsPanelWidth1": "75",
+ "RunOnceActivity.OpenProjectViewOnStart": "true",
+ "RunOnceActivity.ShowReadmeOnStart": "true",
+ "WebServerToolWindowFactoryState": "false",
+ "last_opened_file_path": "D:/code/dji_demo",
+ "node.js.detected.package.eslint": "true",
+ "node.js.detected.package.tslint": "true",
+ "node.js.selected.package.eslint": "(autodetect)",
+ "node.js.selected.package.tslint": "(autodetect)",
+ "settings.editor.selected.configurable": "MavenSettings",
+ "spring.configuration.checksum": "4f45992762eb36378bf6bd0fb0b9c291",
+ "vue.rearranger.settings.migration": "true"
}
-}]]>
+}
@@ -52,8 +73,26 @@
+
+
+
+
+
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
@@ -74,6 +113,11 @@
+
+
+
+
@@ -84,6 +128,82 @@
1745457734060
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
@@ -99,8 +219,115 @@
+
+
+
+
+
+
+
+ file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java
+ 1199
+
+
+
+ file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java
+ 1213
+
+
+
+ file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java
+ 344
+
+
+
+ file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java
+ 352
+
+
+
+ file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java
+ 220
+
+
+
+ file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java
+ 225
+
+
+
+ file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java
+ 222
+
+
+
+ file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java
+ 1625
+
+
+
+ file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java
+ 1553
+
+
+
+ file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java
+ 1627
+
+
+
+ file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java
+ 1515
+
+
+
+ file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java
+ 1539
+
+
+
+ file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java
+ 1730
+
+
+
+ file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java
+ 1733
+
+
+
+ file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java
+ 244
+
+
+
+ file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java
+ 1284
+
+
+
+ file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java
+ 241
+
+
+
+ file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java
+ 273
+
+
+
+
+
\ No newline at end of file
diff --git a/src/main/java/com/example/math/constants/CommonConstants.java b/src/main/java/com/example/math/constants/CommonConstants.java
index 7815df1..5a98c32 100644
--- a/src/main/java/com/example/math/constants/CommonConstants.java
+++ b/src/main/java/com/example/math/constants/CommonConstants.java
@@ -11,4 +11,45 @@ public class CommonConstants {
* 无人机异步飞行
*/
public static final String ASYNFLY = "asynFly";
+
+ /**
+ * 喊话次数（对应租户 唯一）
+ */
+ public static final String SHOUT_NUM = "shoutNum";
+
+ /**
+ * 喊话标识，1代表喊话中，null代表无喊话（实时）
+ */
+ public static final String SHOUT_FLAG = "shoutFlag";
+
+ /**
+ * 最近一次某个喊话器的喊话类型 1:停止 2:暂停 3：恢复
+ */
+ public static final String SHOUT_TYPE = "shoutType";
+
+ /**
+ * 喊话，点击暂停时间戳
+ */
+ public static final String SHOUT_PAUSE_TIME = "shoutPauseTime";
+
+ /**
+ * 喊话，点击恢复时间戳
+ */
+ public static final String SHOUT_RESUME_TIME = "shoutResumeTime";
+
+ /**
+ * 喊话，某一次喊话开始时间戳
+ */
+ public static final String SHOUT_START_TIME = "shoutStartTime";
+
+ /**
+ * 一键起飞事件通知 redis的key值
+ */
+ public static final String TAKE_OFF_TO_POINT_PROGRESS = "takeoffToPointProgress";
+
+ /**
+ * flyto 执行结果事件通知 redis的key值
+ */
+ public static final String FLY_TOPOINT_PROGRESS = "flyToPointProgress";
+
}
diff --git a/src/main/java/com/example/math/constants/DJICommonConstants.java b/src/main/java/com/example/math/constants/DJICommonConstants.java
new file mode 100644
index 0000000..ca3d726
--- /dev/null
+++ b/src/main/java/com/example/math/constants/DJICommonConstants.java
@@ -0,0 +1,83 @@
+package com.example.math.constants;
+
+/**
+ * @Author: 吴彬
+ * @CreateTime: 2023-08-07 16:11
+ * @Description: 公共常量
+ * @Version: 1.0
+ */
+public class DJICommonConstants {
+
+ /**
+ * 直播方法
+ */
+ public static final String NTP_SERVER_HOST = "Google.mzr.me";
+
+ /**
+ * events 飞行任务时间
+ */
+ public static final String APP_ID = "148774";
+
+ /**
+ * 大疆机场关于 组织 设备绑定码校验回复
+ */
+ public static final String APP_KEY = "a3ba3e9934f43b82bd52428b26e695b";
+
+ /**
+ * 大疆机场关于 组织 设备绑定码校验回复 二次握手？？
+ */
+ public static final String APP_LICENSE = "Cm+BDccW/auc1L5Fixy59JrudnnXxguksAfGNPRjaDDqf3ESlHJt4JYaYBlXJ/rkkSPREF/MIg5FZV3MSwPVcXQ2ioOahFH0OEHx0fhxLnrS2uUVXaXcDkDxLRfDuOTvkmojS3KFZIgPOjt6hdF9Madi/WC+EsnZzpA5RvTD/u4=";
+
+ /**
+ * 下发任务后的二次航线获取
+ */
+ public static final Integer EXPIRE = 3600;
+
+ /**
+ * 下发任务后的二次航线获取
+ */
+ public static final String BUCKET = "dji-dev";
+
+ /**
+ * 下发任务后的二次航线获取
+ */
+ public static final String ENDPOINT = "https://oss-cn-shanghai.aliyuncs.com";
+
+ /**
+ * 下发任务后的二次航线获取
+ */
+ public static final String OBJECT_KEY_PREFIX = "hyslj";
+
+ /**
+ * 下发任务后的二次航线获取
+ */
+ public static final String PROVIDER = "ali";
+
+ /**
+ * 下发任务后的二次航线获取
+ */
+ public static final String REGION = "sh";
+
+ /**
+ * 是设备绑定组织
+ */
+ public static final Boolean IS_DEVICE_BIND_ORGANIZATION = true;
+
+ /**
+ * 大疆组织id 和机器输入的一致
+ */
+ public static final String ORGANIZATION_ID = "w";
+
+ /**
+ * 默认即可
+ */
+ public static final String ORGANIZATION_NAME = "Test Group One";
+
+
+ /**
+ * DJI 大疆前缀
+ */
+ public static final String DJI = "DJI";
+
+
+}
diff --git a/src/main/java/com/example/math/constants/DJIMethonConstants.java b/src/main/java/com/example/math/constants/DJIMethonConstants.java
index 333365e..5bce786 100644
--- a/src/main/java/com/example/math/constants/DJIMethonConstants.java
+++ b/src/main/java/com/example/math/constants/DJIMethonConstants.java
@@ -8,16 +8,81 @@ package com.example.math.constants;
*/
public class DJIMethonConstants {
+ /**
+ * 开启调试模式
+ */
+ public static final String DEBUG_MODE_OPEN = "debug_mode_open";
+
+ /**
+ * 关闭调试模式
+ */
+ public static final String DEBUG_MODE_CLOSE = "debug_mode_close";
+
+ /**
+ * 开机
+ */
+ public static final String DRONE_OPEN = "drone_open";
+
+ /**
+ * 关机
+ */
+ public static final String DRONE_CLOSE = "drone_close";
+
+ /**
+ * 机场重启
+ */
+ public static final String DEVICE_REBOOT = "device_reboot";
+
+ /**
+ * 空调模式切换
+ */
+ public static final String AIR_CONDITIONER_MODE_SWITCH = "air_conditioner_mode_switch";
+
+ /**
+ * 镜头点击转动
+ */
+ public static final String CAMERA_AIM = "camera_aim";
+
+ /**
+ * 开舱
+ */
+ public static final String COVER_OPEN = "cover_open";
+
+ /**
+ * 强制关舱盖
+ */
+ public static final String COVER_FORCE_CLOSE = "cover_force_close";
+
+ /**
+ * 回舱
+ */
+ public static final String COVER_CLOSE = "cover_close";
+
/**
* 直播方法
*/
public static final String LIVE_START_PUSH = "live_start_push";
/**
- * events 飞行任务时间
+ * 关闭直播
+ */
+ public static final String LIVE_STOP_PUSH = "live_stop_push";
+
+ /**
+ * events 飞行任务
*/
public static final String FLIGHTTASK_PROGRESS = "flighttask_progress";
+ /**
+ * events 告警事件
+ */
+ public static final String HMS = "hms";
+
+ /**
+ * events 飞行任务时间
+ */
+ public static final String drc_status_notify = "drc_status_notify";
+
/**
* 大疆机场关于 组织 设备绑定码校验回复
*/
@@ -29,13 +94,19 @@ public class DJIMethonConstants {
public static final String AIRPORT_ORGANIZATION_GET = "airport_organization_get";
/**
- * 机场建立连接？？？
+ * 设备绑定到组织？？？？？？？？
*/
public static final String AIRPORT_ORGANIZATION_BIND = "airport_organization_bind";
/**
* 与阿里云建立连接
*/
+ public static final String CONFIG = "config";
+
+
+ /**
+ * 与阿里云建立连接 ？？？？？？？？？
+ */
public static final String STORAGE_CONFIG_GET = "storage_config_get";
/**
@@ -44,29 +115,9 @@ public class DJIMethonConstants {
public static final String FLIGHTTASK_RESOURCE_GET = "flighttask_resource_get";
/**
- * 一键起飞
+ * 设备拓扑更新 请求设备上线
*/
- public static final String TAKEOFF_TO_POINT = "takeoff_to_point";
-
- /**
- * 飞行控制权抢夺
- */
- public static final String FLIGHT_AUTHORITY_GRAB = "flight_authority_grab";
-
- /**
- * 负载控制权抢夺
- */
- public static final String PAYLOAD_AUTHORITY_GRAB = "payload_authority_grab";
-
- /**
- * 进入指令飞行控制模式
- */
- public static final String DRC_MODE_ENTER = "drc_mode_enter";
-
- /**
- * 退出指令飞行控制模式
- */
- public static final String DRC_MODE_EXIT = "drc_mode_exit";
+ public static final String UPDATE_TODO = "update_topo";
/**
* 负载控制—切换相机模式
@@ -108,11 +159,25 @@ public class DJIMethonConstants {
*/
public static final String DRONE_EMERGENCY_STOP = "drone_emergency_stop";
+ /**
+ * DRC-杆量控制
+ */
+ public static final String STICK_CONTROL = "stick_control";
+
/**
* DRC-飞行控制
*/
public static final String DRONE_CONTROL = "drone_control";
+ /**
+ * 下发任务
+ */
+ public static final String FLIGHTTASK_PREPARE = "flighttask_prepare";
+
+ /**
+ * 执行任务
+ */
+ public static final String FLIGHTTASK_EXECUTE = "flighttask_execute";
/**
* 航线暂停
@@ -134,21 +199,36 @@ public class DJIMethonConstants {
*/
public static final String LIVE_LENS_CHANGE = "live_lens_change";
+ /**
+ * 仓内外镜头切换
+ */
+ public static final String LIVE_CAMERA_CHANGE = "live_camera_change";
+
/**
* 一键返航
*/
public static final String RETURN_HOME = "return_home";
/**
- * 取消任务
+ * 一键起飞
*/
- public static final String FLIGHTTASK_UNDO = "flighttask_undo";
+ public static final String TAKEOFF_TO_POINT = "takeoff_to_point";
/**
* 指点飞行
*/
public static final String FLY_TO_POINT = "fly_to_point";
+ /**
+ * 指点飞行结果
+ */
+ public static final String FLY_TO_POINT_PROGRESS = "fly_to_point_progress";
+
+ /**
+ * 一键起飞结果事件通知
+ */
+ public static final String TAKEOFF_TO_POINT_PROGRESS = "takeoff_to_point_progress";
+
/**
* 结束 flyto 飞向目标点任务
*/
@@ -159,4 +239,102 @@ public class DJIMethonConstants {
*/
public static final String FLY_TO_POINT_UPDATE = "fly_to_point_update";
+
+ /**
+ * 取消任务
+ */
+ public static final String FLIGHTTASK_UNDO = "flighttask_undo";
+
+
+
+ /**
+ * 开启补光灯
+ */
+ public static final String SUPPLEMENT_LIGHT_OPEN = "supplement_light_open";
+
+ /**
+ * 关闭补光灯
+ */
+ public static final String SUPPLEMENT_LIGHT_CLOSE = "supplement_light_close";
+
+ /**
+ * 浮窗文本推送
+ */
+ public static final String PSDK_FLOATING_WINDOW_TEXT = "psdk_floating_window_text";
+
+ /**
+ * 发送文本框内容
+ */
+ public static final String PSDK_INPUT_BOX_TEXT_SET = "psdk_input_box_text_set";
+
+ /**
+ * 设置单元控件
+ */
+ public static final String PSDK_WIDGET_VALUE_SET = "psdk_widget_value_set";
+
+ /**
+ * 设置单元控件
+ */
+ public static final String SPEAKER_PLAY_STOP = "speaker_play_stop";
+
+ /**
+ * 设置播放模式
+ */
+ public static final String SPEAKER_PLAY_MODE_SET = "speaker_play_mode_set";
+
+ /**
+ * 设置播放音量
+ */
+ public static final String SPEAKER_PLAY_VOLUME_SET = "speaker_play_volume_set";
+
+ /**
+ * tts文本播放
+ */
+ public static final String SPEAKER_TTS_PLAY_START = "speaker_tts_play_start";
+
+ /**
+ * 音频播放
+ */
+ public static final String SPEAKER_AUDIO_PLAY_START = "speaker_audio_play_start";
+
+ /**
+ * 飞行控制权抢夺
+ */
+ public static final String FLIGHT_AUTHORITY_GRAB = "flight_authority_grab";
+
+ /**
+ * 负载控制权抢夺
+ */
+ public static final String PAYLOAD_AUTHORITY_GRAB = "payload_authority_grab";
+
+ /**
+ * 进入指令飞行控制模式
+ */
+ public static final String DRC_MODE_ENTER = "drc_mode_enter";
+
+ /**
+ * 指令飞行控制模式 状态
+ */
+ public static final String DRC_STATUS = "drc_status";
+
+ /**
+ * DRC心跳包
+ */
+ public static final String HEART_BEAT = "heart_beat";
+
+ /**
+ * 退出指令飞行控制模式
+ */
+ public static final String DRC_MODE_EXIT = "drc_mode_exit";
+
+ /**
+ * events 返航信息
+ */
+ public static final String RETURN_HOME_INFO = "return_home_info";
+
+ /**
+ * 切换直播清晰度
+ */
+ public static final String LIVE_SET_QUALITY = "live_set_quality";
+
}
diff --git a/src/main/java/com/example/math/controller/OperateController.java b/src/main/java/com/example/math/controller/OperateController.java
index f94617f..a7298fd 100644
--- a/src/main/java/com/example/math/controller/OperateController.java
+++ b/src/main/java/com/example/math/controller/OperateController.java
@@ -3,6 +3,12 @@ package com.example.math.controller;
import com.alibaba.fastjson2.JSONObject;
+import com.aliyun.sts20150401.Client;
+import com.aliyun.sts20150401.models.AssumeRoleRequest;
+import com.aliyun.sts20150401.models.AssumeRoleResponse;
+import com.aliyun.tea.TeaException;
+import com.aliyun.teautil.models.RuntimeOptions;
+import com.example.math.constants.DJICommonConstants;
import com.example.math.constants.DJIMethonConstants;
import com.example.math.entity.dto.BreakPoint;
import com.example.math.entity.dto.ExecutableConditions;
@@ -13,20 +19,22 @@ import com.example.math.entity.dto.SimulateMission;
import com.example.math.mqtt.MqttConfig;
import com.example.math.mqtt.SpringUtil;
//import com.example.math.task.FirstTask;
+import com.example.math.mqtt.consumer.MqttConsumerCallBack;
+import com.example.math.task.FirstTask;
import com.example.math.utils.RedisUtils;
import com.example.math.utils.SslUtils;
+import lombok.extern.slf4j.Slf4j;
import org.apache.commons.compress.archivers.ArchiveEntry;
import org.apache.commons.compress.archivers.ArchiveInputStream;
import org.apache.commons.compress.archivers.zip.ZipArchiveInputStream;
+import org.apache.commons.lang3.ThreadUtils;
import org.eclipse.paho.client.mqttv3.MqttDeliveryToken;
+import org.eclipse.paho.client.mqttv3.MqttException;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Controller;
import org.springframework.util.CollectionUtils;
-import org.springframework.web.bind.annotation.GetMapping;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RequestParam;
-import org.springframework.web.bind.annotation.ResponseBody;
+import org.springframework.web.bind.annotation.*;
import org.springframework.web.multipart.MultipartFile;
import java.io.BufferedReader;
@@ -41,12 +49,11 @@ import java.net.MalformedURLException;
import java.net.URL;
import java.net.URLConnection;
import java.sql.Date;
-import java.util.ArrayList;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
-import java.util.Objects;
-import java.util.UUID;
+import java.time.Instant;
+import java.time.LocalDateTime;
+import java.time.ZoneId;
+import java.time.format.DateTimeFormatter;
+import java.util.*;
/**
@@ -75,10 +82,25 @@ import java.util.UUID;
*
* live_stop_push
* http://localhost:9999/operate/live_stop_push?one=7CTDM7H00B5EM1&two=165-0-7&three=normal-0
+ *
* http://localhost:9999/operate/live_stop_push?one=1581F6Q8D248900G5PYE&two=81-0-0&three=normal-0
*
* http://localhost:9999/operate/live_lens_change?video_type=normal
*
+ * 控制模式
+ * http://localhost:9999/operate/flightAuthorityGrab
+ *
+ * http://localhost:9999/operate/payloadAuthorityGrab
+ *
+ * http://localhost:9999/operate/drcModeEnter
+ *
+ * http://localhost:9999/operate/droneEmergencyStop
+ *
+ * http://localhost:9999/operate/stickControl?roll=1024&pitch=1024&throttle=1024&yaw=1024&gimbal_pitch=1024
+ *Integer roll, Integer pitch, Integer throttle, Integer yaw, Integer gimbal_pitch
+ *
+ *
+ *
*
* * @param airPortSn 机场sn号
* * @param airPortSn 速度 String maxsSpeed
@@ -98,6 +120,7 @@ import java.util.UUID;
*/
@RequestMapping(path="/operate")
@Controller
+@Slf4j
public class OperateController {
@@ -112,7 +135,7 @@ public class OperateController {
qos = 2;
}
if(retained == null){
- retained = true;
+ retained = false;
}
if(topic == null){
topic = "firsttest";
@@ -145,7 +168,7 @@ public class OperateController {
qos = 2;
}
if(retained == null){
- retained = true;
+ retained = false;
}
if(topic == null){
topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -187,7 +210,7 @@ public class OperateController {
qos = 2;
}
if(retained == null){
- retained = true;
+ retained = false;
}
if(topic == null){
topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -230,7 +253,7 @@ public class OperateController {
qos = 2;
}
if(retained == null){
- retained = true;
+ retained = false;
}
if(topic == null){
topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -272,7 +295,7 @@ public class OperateController {
qos = 2;
}
if(retained == null){
- retained = true;
+ retained = false;
}
if(topic == null){
topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -315,7 +338,7 @@ public class OperateController {
qos = 2;
}
if(retained == null){
- retained = true;
+ retained = false;
}
if(topic == null){
topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -359,7 +382,7 @@ public class OperateController {
qos = 2;
}
if(retained == null){
- retained = true;
+ retained = false;
}
if(topic == null){
topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -395,7 +418,7 @@ public class OperateController {
qos = 2;
}
if(retained == null){
- retained = true;
+ retained = false;
}
if(topic == null){
topic = "thing/product/7CTDM7H00BXZD1/services";
@@ -437,7 +460,7 @@ public class OperateController {
qos = 2;
}
if(retained == null){
- retained = true;
+ retained = false;
}
if(topic == null){
topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -531,7 +554,7 @@ public class OperateController {
qos = 2;
}
if(retained == null){
- retained = true;
+ retained = false;
}
if(topic == null){
topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -582,7 +605,7 @@ public class OperateController {
qos = 2;
}
if(retained == null){
- retained = true;
+ retained = false;
}
if(topic == null){
topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -621,7 +644,7 @@ public class OperateController {
qos = 2;
}
if(retained == null){
- retained = true;
+ retained = false;
}
if(topic == null){
topic = "thing/product/7CTXM9Q00B02H2/services";
@@ -660,7 +683,7 @@ public class OperateController {
qos = 2;
}
if(retained == null){
- retained = true;
+ retained = false;
}
if(topic == null){
topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -704,7 +727,7 @@ public class OperateController {
qos = 2;
}
if(retained == null){
- retained = true;
+ retained = false;
}
if(topic == null){
topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -748,7 +771,7 @@ public class OperateController {
qos = 2;
}
if(retained == null){
- retained = true;
+ retained = false;
}
if(topic == null){
topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -788,7 +811,7 @@ public class OperateController {
qos = 2;
}
if(retained == null){
- retained = true;
+ retained = false;
}
if(topic == null){
topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -831,7 +854,7 @@ public class OperateController {
qos = 2;
}
if(retained == null){
- retained = true;
+ retained = false;
}
if(topic == null){
topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -875,7 +898,7 @@ public class OperateController {
qos = 2;
}
if(retained == null){
- retained = true;
+ retained = false;
}
if(topic == null){
topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -923,7 +946,7 @@ public class OperateController {
}
try {
Integer qos = 2;
- Boolean retained = true;
+ Boolean retained = false;
//topic主题 sn是机场sn号 thing/product/%s/services
String topic = String.format(someTopic, airPortSn);
//封装数据
@@ -971,7 +994,7 @@ public class OperateController {
}
@Autowired
- private static String airPortSn = "7CTXMC900B054P";
+ private static String airPortSn = "7CTDM7H00BXZD1";
/**
* 飞行控制权抢夺 /flightAuthorityGrab
@@ -983,7 +1006,7 @@ public class OperateController {
public String flightAuthorityGrab(){
try {
Integer qos = 2;
- Boolean retained = true;
+ Boolean retained = false;
//topic主题 sn是机场sn号 thing/product/%s/services
//TODO 此处用的是无人的SN号 待测试
String topic = String.format(someTopic, airPortSn);
@@ -1014,7 +1037,7 @@ public class OperateController {
public String payloadAuthorityGrab(String cameraIndex){
try {
Integer qos = 2;
- Boolean retained = true;
+ Boolean retained = false;
//topic主题 sn是机场sn号 thing/product/%s/services
//TODO 此处用的是无人的SN号 待测试
String topic = String.format(someTopic, airPortSn);
@@ -1054,9 +1077,37 @@ public class OperateController {
@Value("${spring.mqtt.client.id}")
private String clientId;
+
+
+ /**
+ * DRC心跳
+ * @return JsonResult
+ */
+
+ private static Integer seq = 0;
+
+ @ResponseBody
+ @RequestMapping("/drcOsd")
+ public String drcOsd() throws InterruptedException{
+ if (true){
+ Map content = new HashMap<>();
+ HashMap data = new HashMap<>();
+ data.put("timestamp", System.currentTimeMillis());
+ seq++;
+ content.put("method", "heart_beat");
+ content.put("data", data);
+ content.put("seq", 0);
+ String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+ Thread.sleep(2000L);
+ MqttDeliveryToken publish = providerClient.publish(1, false, "thing/product/8UUXN3500A02BE/drc/down", message);
+ }
+ return "发送成功";
+ }
+
+
+
/**
* 进入指令飞行控制模式
- * @param airPortSn 机场sn号
* @return JsonResult
*/
@ResponseBody
@@ -1065,7 +1116,7 @@ public class OperateController {
try {
Integer qos = 1;
- Boolean retained = true;
+ Boolean retained = false;
//topic主题 sn是机场sn号 thing/product/%s/services
//TODO 此处用的是无人的SN号 待测试
String topic = String.format(someTopic, airPortSn);
@@ -1073,7 +1124,7 @@ public class OperateController {
Map content = new HashMap<>();
Map data = new HashMap<>();
//负载枚举值 镜头负载
- data.put("hsi_frequency", 20);
+ data.put("hsi_frequency", 1);
//Broker 连接信息
Map mqttBroker = new HashMap<>();
@@ -1091,7 +1142,7 @@ public class OperateController {
mqttBroker.put("username", username);
data.put("mqtt_broker", mqttBroker);
//设置 OSD 上报频率 {"max":30,"min":1,"unit_name":"赫兹 / Hz"}
- data.put("osd_frequency", 20);
+ data.put("osd_frequency", 1);
content.put("tid", UUID.randomUUID().toString());
content.put("bid", UUID.randomUUID().toString());
@@ -1099,6 +1150,40 @@ public class OperateController {
content.put("method", DJIMethonConstants.DRC_MODE_ENTER);
content.put("data", data);
String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+ System.out.println(topic);
+ System.out.println(message);
+ MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+ return "发送成功";
+ } catch (Exception e) {
+ e.printStackTrace();
+ return "发送失败";
+ }
+ }
+
+
+ /**
+ * 退出指令飞行控制模式
+ * @return JsonResult
+ */
+ @ResponseBody
+ @RequestMapping("/drcModeExit")
+ public String drcModeExit(){
+ try {
+ Integer qos = 1;
+ Boolean retained = false;
+ //topic主题 sn是机场sn号 thing/product/%s/services
+ //TODO 此处用的是无人的SN号 待测试
+ String topic = String.format(someTopic, airPortSn);
+ //封装数据
+ Map content = new HashMap<>();
+ Map data = new HashMap<>();
+ content.put("tid", UUID.randomUUID().toString());
+ content.put("bid", UUID.randomUUID().toString());
+ content.put("timestamp",System.currentTimeMillis());
+ content.put("method", DJIMethonConstants.DRC_MODE_EXIT);
+ content.put("data", data);
+ String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+ System.out.println(topic);
System.out.println(message);
MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
return "发送成功";
@@ -1110,10 +1195,10 @@ public class OperateController {
@RequestMapping("/droneEmergencyStop")
- public String droneEmergencyStop(String airPortSn){
+ public String droneEmergencyStop(){
try {
Integer qos = 2;
- Boolean retained = true;
+ Boolean retained = false;
//topic主题 sn是机场sn号 thing/product/%s/services
//TODO 此处用的是无人的SN号 待测试
String topic = String.format("thing/product/%s/drc/down", airPortSn);
@@ -1123,6 +1208,7 @@ public class OperateController {
content.put("method", DJIMethonConstants.DRONE_EMERGENCY_STOP);
content.put("data", data);
String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+ System.out.println(topic);
System.out.println(message);
MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
return "发送成功";
@@ -1133,6 +1219,53 @@ public class OperateController {
}
+
+
+ @RequestMapping("/stickControl")
+ public String stickControl(Integer roll, Integer pitch, Integer throttle, Integer yaw, Integer gimbal_pitch){
+ Integer seq = 1;
+// for (int i = 0; i < 10; i++) {
+ if (!roll.equals(0)){
+ roll += 20;
+ }
+ if (!pitch.equals(0)){
+ pitch += 20;
+ }
+ if (!throttle.equals(0)){
+ throttle += 20;
+ }
+ if (!yaw.equals(0)){
+ yaw += 20;
+ }
+ if (!gimbal_pitch.equals(0)){
+ gimbal_pitch += 20;
+ }
+ seq = seq + 1;
+ Integer qos = 2;
+ Boolean retained = false;
+ //topic主题 sn是机场sn号
+ //TODO 此处用的是无人的SN号 待测试
+ String topic = String.format("thing/product/%s/drc/down", airPortSn);
+ //封装数据
+ Map content = new HashMap<>();
+ Map data = new HashMap<>();
+ data.put("roll", roll);
+ data.put("pitch", pitch);
+ data.put("throttle", throttle);
+ data.put("yaw", yaw);
+ data.put("gimbal_pitch", gimbal_pitch);
+ content.put("method", "stick_control");
+ content.put("seq", seq);
+ content.put("data", data);
+ String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+ System.out.println(message);
+ MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+
+// }
+ return "";
+ }
+
+
/**
* @param sn 机场sn号
* @param flightId 任务id
@@ -1144,7 +1277,7 @@ public class OperateController {
try {
//sn = "7CTDM7H00B5EM1";
Integer qos = 2;
- Boolean retained = true;
+ Boolean retained = false;
//topic主题 sn是机场sn号 thing/product/%s/services
String topic = String.format("thing/product/%s/services", sn);
//参数封装
@@ -1183,7 +1316,7 @@ public class OperateController {
public String flyToPoint(String airPortSn, Integer maxsSpeed, Integer height, Double latitude, Double longitude){
try {
Integer qos = 2;
- Boolean retained = true;
+ Boolean retained = false;
//topic主题 sn是机场sn号 thing/product/%s/services
String topic = String.format(someTopic, airPortSn);
Map content = new HashMap<>();
@@ -1230,7 +1363,7 @@ public class OperateController {
public String flyToPointStop(String airPortSn){
try {
Integer qos = 2;
- Boolean retained = true;
+ Boolean retained = false;
//topic主题 sn是机场sn号 thing/product/%s/services
String topic = String.format(someTopic, airPortSn);
Map content = new HashMap<>();
@@ -1265,7 +1398,7 @@ public class OperateController {
public String flyToPointUpdate(String airPortSn, String maxsSpeed, String height, String latitude, String longitude){
try {
Integer qos = 2;
- Boolean retained = true;
+ Boolean retained = false;
//topic主题 sn是机场sn号 thing/product/%s/services
String topic = String.format(someTopic, airPortSn);
Map content = new HashMap<>();
@@ -1370,26 +1503,317 @@ public class OperateController {
}
- public static void main(String[] args) {
- String capacityPercent = "32767.00";
- if(Objects.nonNull(capacityPercent)){
- double v = Double.parseDouble(capacityPercent.toString());
- if (v > 100){
- System.out.printf("++++++"+ capacityPercent);
- }
+ /**
+ * 查询日志列表
+ * @return
+ */
+ @RequestMapping("/fileuploadList")
+ public String fileuploadList(String airPortSn, String module) {
+ try {
+ // 从请求中获取参数，如果没有提供则使用默认值或生成
+
+ // 构建消息内容
+ Map content = new HashMap<>();
+ Map data = new HashMap<>();
+
+ // 构建module_list
+ List moduleList = new ArrayList<>();
+// moduleList.add("0");
+// moduleList.add("3");
+ moduleList.add(module);
+ data.put("module_list", moduleList);
+
+ content.put("bid", UUID.randomUUID().toString());
+ content.put("tid", UUID.randomUUID().toString());
+ content.put("timestamp", System.currentTimeMillis());
+ content.put("method", "fileupload_list");
+ content.put("data", data);
+
+ // 转换为JSON字符串
+ String message = JSONObject.toJSONString(content);
+ System.out.println("发送的消息: " + message);
+
+ // 发布消息
+ String topic = String.format(someTopic, airPortSn);
+ int qos = 1;
+ boolean retained = false;
+ MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+
+ return "发送成功: " + publish.isComplete();
+ } catch (Exception e) {
+ e.printStackTrace();
+ return "发送失败: " + e.getMessage();
}
}
+ @ResponseBody
+ @RequestMapping("/fileuploadStart")
+ public String fileuploadStart(String airPortSn, String type, Integer[] bootIndices, String module) {
+ try {
+ Integer qos = 1;
+ Boolean retained = false;
+ String topic = String.format(someTopic, airPortSn);
+
+ Map content = new HashMap<>();
+ Map data = new HashMap<>();
+ Map credentials = new HashMap<>();
+ Map params = new HashMap<>();
+ List> files = new ArrayList<>();
+ Map fileEntry = new HashMap<>();
+ List> list = new ArrayList<>();
+
+
+ //获取阿里云 OSS对应文件夹的token
+ Map ossMap = ossToken();
+ if (!CollectionUtils.isEmpty(ossMap)) {
+ credentials.put("access_key_id", ossMap.get("access_key_id"));
+ credentials.put("access_key_secret", ossMap.get("access_key_secret"));
+ credentials.put("expire", DJICommonConstants.EXPIRE);
+ credentials.put("security_token", ossMap.get("security_token"));
+ log.info("获取阿里云上传凭证成功");
+ } else {
+ log.info("获取阿里云上传凭证失败");
+ }
+// Map outputItem = new HashMap<>();
+// outputItem.put("bucket", DJICommonConstants.BUCKET);
+// outputItem.put("endpoint", DJICommonConstants.ENDPOINT);
+// //outputItem.put("object_key_prefix" , DJICommonConstants.OBJECT_KEY_PREFIX);
+// outputItem.put("object_key_prefix", DJICommonConstants.DJI + airPortSn);
+// outputItem.put("provider", DJICommonConstants.PROVIDER);
+// outputItem.put("region", DJICommonConstants.REGION);
+// outputItem.put("credentials", credentials);
+
+
+ // 构建 list 数组
+ for (Integer bootIndex : bootIndices) {
+ Map item = new HashMap<>();
+ item.put("boot_index", bootIndex);
+ list.add(item);
+ }
+
+
+
+ // 构建 fileEntry 对象
+ fileEntry.put("list", list);
+ fileEntry.put("module", module);
+ fileEntry.put("object_key", "7CTDM7H00BXZD1-A");
+
+ // 构建 files 数组
+ files.add(fileEntry);
+
+ // 构建 params 对象
+ params.put("files", files);
+
+ // 构建 data 对象
+ data.put("bucket", DJICommonConstants.BUCKET);
+ data.put("credentials", credentials);
+ data.put("endpoint", DJICommonConstants.ENDPOINT);
+ data.put("params", params);
+ data.put("provider", DJICommonConstants.PROVIDER);
+ data.put("region", DJICommonConstants.REGION);
+
+ // 构建 content 对象
+ content.put("bid", UUID.randomUUID().toString());
+ content.put("data", data);
+ content.put("tid", UUID.randomUUID().toString());
+ content.put("timestamp", System.currentTimeMillis());
+ content.put("method", "fileupload_start");
+
+ String message = JSONObject.toJSONString(content);
+ System.out.println("Sending message: " + message);
+
+ MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+
+ return "发送成功";
+ } catch (Exception e) {
+ e.printStackTrace();
+ return "发送失败: " + e.getMessage();
+ }
+ }
+
+
+
+ //http://localhost:9999/operate/otaCreate?airPortSn=7CTXN1E00B06ZR&fileName=DOCK2_10.01.16.12_pro.zip&fileSize=485800158&fileUrl=https://dji-dev.oss-cn-shanghai.aliyuncs.com/firmware/DOCK2_10.01.16.12_pro.zip&firmwareUpgradeType=1&md5=&productVersion=1612&sn=drone_sn&dockFirmwareUpgradeType=3&dockProductVersion=1612&dockSn=dock_sn
+
+
+ @ResponseBody
+ @RequestMapping("/otaCreate")
+ public String otaCreate(String airPortSn,
+ String fileName,
+ Long fileSize,
+ String fileUrl,
+ Integer firmwareUpgradeType,
+ String md5,
+ String productVersion,
+ String sn,
+ Integer dockFirmwareUpgradeType,
+ String dockProductVersion,
+ String dockSn) {
+ try {
+ Integer qos = 1;
+ Boolean retained = false;
+ String topic = String.format(someTopic, airPortSn);
+
+ Map content = new HashMap<>();
+ Map data = new HashMap<>();
+ List> devices = new ArrayList<>();
+
+ // 构建无人机设备信息
+ Map droneDevice = new HashMap<>();
+ droneDevice.put("file_name", fileName);
+ droneDevice.put("file_size", fileSize);
+ droneDevice.put("file_url", fileUrl);
+ droneDevice.put("firmware_upgrade_type", firmwareUpgradeType);
+ droneDevice.put("md5", md5);
+ droneDevice.put("product_version", productVersion);
+ droneDevice.put("sn", sn);
+ devices.add(droneDevice);
+
+ // 构建机场设备信息
+ Map dockDevice = new HashMap<>();
+ dockDevice.put("firmware_upgrade_type", dockFirmwareUpgradeType);
+ dockDevice.put("product_version", dockProductVersion);
+ dockDevice.put("sn", dockSn);
+ devices.add(dockDevice);
+
+ // 构建 data 对象
+ data.put("devices", devices);
+
+ // 构建 content 对象
+ content.put("bid", UUID.randomUUID().toString());
+ content.put("data", data);
+ content.put("tid", UUID.randomUUID().toString());
+ content.put("timestamp", System.currentTimeMillis());
+ content.put("method", "ota_create");
+
+ String message = JSONObject.toJSONString(content);
+ System.out.println("Sending ota_create message: " + message);
+
+ MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+
+ return "发送成功";
+ } catch (Exception e) {
+ e.printStackTrace();
+ return "发送失败: " + e.getMessage();
+ }
+ }
+
+
+
+
+
+ /**
+ * 获取
+ */
+ private Map ossToken() {
+ Map ossMap = new HashMap<>();
+ String policy = "{\n" +
+ " \"Version\": \"1\", \n" +
+ " \"Statement\": [\n" +
+ " {\n" +
+ " \"Action\": [\n" +
+ " \"oss:PutObject\"\n" +
+ " ], \n" +
+ " \"Resource\": [\n" +
+ " \"acs:oss:*:*:dji-dev/*\" \n" +
+ " ], \n" +
+ " \"Effect\": \"Allow\"\n" +
+ " }\n" +
+ " ]\n" +
+ "}";
+
+// String roleARN = "acs:ram::1399733914954856:role/ramosstest";
+ String roleARN = "acs:ram::1399733914954856:role/oss-role";
+ String sessionName = "SessionTest";
+ java.util.List args = Arrays.asList();
+ Client client = null;
+ try {
+ client = MqttConsumerCallBack.createClient();
+ } catch (Exception e) {
+ log.info("获取阿里云token失败");
+ }
+ AssumeRoleRequest assumeRoleRequest = new com.aliyun.sts20150401.models.AssumeRoleRequest()
+ .setDurationSeconds(3600L)
+ .setPolicy(policy)
+ .setRoleArn(roleARN)
+ .setRoleSessionName(sessionName);
+ try {
+ // 复制代码运行请自行打印 API 的返回值
+ AssumeRoleResponse assumeRoleResponse = client.assumeRoleWithOptions(assumeRoleRequest, new RuntimeOptions());
+ String arn = assumeRoleResponse.getBody().getAssumedRoleUser().getArn();
+ String assumedRoleId = assumeRoleResponse.getBody().getAssumedRoleUser().getAssumedRoleId();
+ String accessKeyId = assumeRoleResponse.getBody().getCredentials().getAccessKeyId();
+ String accessKeySecret = assumeRoleResponse.getBody().getCredentials().getAccessKeySecret();
+ String securityToken = assumeRoleResponse.getBody().getCredentials().getSecurityToken();
+ String expiration = assumeRoleResponse.getBody().getCredentials().getExpiration();
+ log.info(arn);
+ log.info(assumedRoleId);
+ log.info(accessKeyId);
+ log.info(accessKeySecret);
+ log.info(securityToken);
+ log.info(expiration);
+ log.info("a");
+
+ ossMap.put("access_key_id", accessKeyId);
+ ossMap.put("access_key_secret", accessKeySecret);
+ ossMap.put("security_token", securityToken);
+ return ossMap;
+ } catch (TeaException error) {
+ // 此处仅做打印展示，请谨慎对待异常处理，在工程项目中切勿直接忽略异常。
+ // 错误 message
+ log.info(error.getMessage());
+ // 诊断地址
+ log.info(error.getData().get("Recommend") + "");
+ com.aliyun.teautil.Common.assertAsString(error.message);
+ } catch (Exception _error) {
+ TeaException error = new TeaException(_error.getMessage(), _error);
+ // 此处仅做打印展示，请谨慎对待异常处理，在工程项目中切勿直接忽略异常。
+ // 错误 message
+ log.info(error.getMessage());
+ // 诊断地址
+ log.info(error.getData().get("Recommend") + "");
+ com.aliyun.teautil.Common.assertAsString(error.message);
+ }
+ return ossMap;
+ }
+
+
+
+// public static void main(String[] args) {
+// String capacityPercent = "32767.00";
+// if(Objects.nonNull(capacityPercent)){
+// double v = Double.parseDouble(capacityPercent.toString());
+// if (v > 100){
+// System.out.printf("++++++"+ capacityPercent);
+// }
+// }
+// }
+
+
+ public static void main(String[] args) {
+ // 示例：当前时间戳（秒）
+ long timestampInSeconds = System.currentTimeMillis() / 1000;
+ timestampInSeconds = 1749403384;
+ // 转换为北京时间
+ String beijingTime = convertTimestampToBeijingTime(timestampInSeconds);
+
+ // 输出结果
+ System.out.println("北京时间: " + beijingTime);
+ }
+
+ public static String convertTimestampToBeijingTime(long timestamp) {
+ ZoneId beijingZone = ZoneId.of("Asia/Shanghai");
+ Instant instant = Instant.ofEpochSecond(timestamp); // 使用 ofEpochSecond
+ DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss").withZone(beijingZone);
+ return formatter.format(instant);
+ }
+
+
-
-
-
-
-
}
\ No newline at end of file
diff --git a/src/main/java/com/example/math/enums/TakeOffToPointEnum.java b/src/main/java/com/example/math/enums/TakeOffToPointEnum.java
new file mode 100644
index 0000000..6ef5a39
--- /dev/null
+++ b/src/main/java/com/example/math/enums/TakeOffToPointEnum.java
@@ -0,0 +1,38 @@
+package com.example.math.enums;
+
+import lombok.Getter;
+
+/**
+ * @Author: 陈璐
+ * @CreateTime: 2024-08-12 15:24
+ * @Description: 一键起飞结果实践通知 通用雨flyto事件
+ * @Version: 1.0
+ */
+public enum TakeOffToPointEnum {
+
+ TASK_FINISH("task_finish","一键起飞任务完成"),
+
+ TASK_READY("task_ready","准备起飞" ),
+
+ WAYLINE_CANCEL("wayline_cancel","取消飞向目标点" ),
+
+ WAYLINE_FAILED("wayline_failed","执行失败" ),
+
+ WAYLINE_OK("wayline_ok","执行成功，已飞向目标点" ),
+
+ WAYLINE_PROGRESS("wayline_progress","执行中" ),
+
+ ;
+
+ TakeOffToPointEnum(String code, String value){
+ this.code = code;
+ this.value = value;
+ }
+
+ @Getter
+ private String code;
+
+ @Getter
+ private String value;
+
+}
diff --git a/src/main/java/com/example/math/mqtt/MqttConfig.java b/src/main/java/com/example/math/mqtt/MqttConfig.java
index aa96aa8..6ab96a3 100644
--- a/src/main/java/com/example/math/mqtt/MqttConfig.java
+++ b/src/main/java/com/example/math/mqtt/MqttConfig.java
@@ -73,13 +73,14 @@ public class MqttConfig {
//订阅主题
//消息等级，和主题数组一一对应，服务端将按照指定等级给订阅了主题的客户端推送消息
//订阅主题
-// client.subscribe("thing/product/+/requests",1);
-// client.subscribe("thing/product/+/requests_reply",1);
-// client.subscribe("thing/product/+/services",1);
-// client.subscribe("thing/product/+/services_reply",1);
-// client.subscribe("sys/product/+/status",1);
-// client.subscribe("thing/product/+/osd",1);
-// client.subscribe("thing/product/8UUXN2T00A01RU/events",1);
+// client.subscribe("thing/product/8UUXN3500A02BE/requests",1);
+// client.subscribe("thing/product/8UUXN3500A02BE/requests_reply",1);
+// client.subscribe("thing/product/8UUXN3500A02BE/services",1);
+// client.subscribe("thing/product/8UUXN3500A02BE/services_reply",1);
+// client.subscribe("sys/product/8UUXN3500A02BE/status",1);
+// client.subscribe("thing/product/7CTXMC900B054P/osd",1);
+// client.subscribe("thing/product/8UUXN3500A02BE/events",1);
+// client.subscribe("thing/product/1581F6Q83254100BD0UV/osd",1);
} catch(MqttException e){
e.printStackTrace();
diff --git a/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java b/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java
index 10524a7..e4ddb5c 100644
--- a/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java
+++ b/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java
@@ -2,18 +2,23 @@ package com.example.math.mqtt.consumer;
+import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson2.JSONObject;
import com.aliyun.sts20150401.Client;
import com.aliyun.sts20150401.models.AssumeRoleRequest;
import com.aliyun.sts20150401.models.AssumeRoleResponse;
import com.aliyun.tea.TeaException;
import com.aliyun.teautil.models.RuntimeOptions;
+import com.example.math.constants.CommonConstants;
import com.example.math.constants.DJIMethonConstants;
+import com.example.math.controller.OperateController;
+import com.example.math.enums.TakeOffToPointEnum;
import com.example.math.mqtt.MqttConfig;
import com.example.math.mqtt.SendMsg;
import com.example.math.mqtt.SpringUtil;
//import com.example.math.task.FirstTask;
import com.example.math.mqtt.SpringUtils;
+//import com.example.math.utils.DJIUtils;
import com.example.math.utils.RedisUtils;
import lombok.extern.slf4j.Slf4j;
import org.eclipse.paho.client.mqttv3.IMqttDeliveryToken;
@@ -25,6 +30,8 @@ import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Component;
import org.springframework.util.CollectionUtils;
+import java.math.BigDecimal;
+import java.time.LocalDateTime;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.HashMap;
@@ -73,7 +80,7 @@ public class MqttConsumerCallBack implements MqttCallback {
private static String someTopic = "thing/product/%s/services";
//机场sn号
- private static String airPortSn = "7CTDM7H00BXZD1";
+ private static String airPortSn = "8UUXN3500A02BE";
/**
* 客户端断开连接的回调
@@ -93,8 +100,8 @@ public class MqttConsumerCallBack implements MqttCallback {
private static int qos = 2;
private static boolean retained = true;
- @Autowired
- private MqttConfig providerClient;
+// @Autowired
+// private MqttConfig providerClient;
private static final String DJIAIRPORT_SN = "7CTDM7H00BXZD1";
@@ -144,29 +151,230 @@ public class MqttConsumerCallBack implements MqttCallback {
Object timestamp = jsonObject.getLong("timestamp");
Object method = jsonObject.getString("method");
Object gateway = jsonObject.getString("gateway");
- //
+
+
+ //获取设备可上传的文件列表
+ if (topic.contains("7CTDM7H00BXZD1/services_reply") && method.equals("fileupload_list")){
+
+ }
+
+
+ //获取设备可上传的文件列表
+ if (topic.contains("7CTDM7H00BXZD1/events") && method.equals("fileupload_progress")){
+
+
+
+ System.out.println();
+ System.out.println();
+ }
+
+ //获取设备可上传的文件列表
+ if (topic.contains("/events") && method.equals("fileupload_list")){
+
+ }
+
+
+ if (topic.contains("/events") && method.equals("ota_progress")){
+
+ }
+
+
+
+
+ //媒体文件上报的处理
+ RedisUtils redisUtils = SpringUtils.getBean(RedisUtils.class);
+ if (Objects.nonNull(method) && method.equals("fly_to_point_progress")){
+ String airPprtSn = "8UUXN3500A02BE";
+ String data = jsonObject.getString("data");
+ String string = com.alibaba.fastjson.JSONObject.parseObject(data).getString("status");
+ //查询是否处于飞行控制模式
+
+ Object o = redisUtils.get(airPprtSn + DJIMethonConstants.DRC_STATUS);
+
+ if (TakeOffToPointEnum.WAYLINE_CANCEL.getCode().equals(string)){
+ System.out.println("++++++++++++++++++ 指点失败了！！！！");
+ }
+
+
+ if (TakeOffToPointEnum.WAYLINE_PROGRESS.getCode().equals(string)){
+ redisUtils.hset(CommonConstants.FLY_TOPOINT_PROGRESS, airPprtSn, TakeOffToPointEnum.WAYLINE_PROGRESS.getCode(), 5);
+
+ if (Objects.nonNull(o) && o.equals(true)){
+ log.info("指点飞行退出控制模式 is {}", airPprtSn);
+ drcModeExit();
+ redisUtils.set(airPprtSn + DJIMethonConstants.DRC_STATUS, false);
+ }
+ }else if (TakeOffToPointEnum.WAYLINE_OK.getCode().equals(string) || TakeOffToPointEnum.WAYLINE_CANCEL.getCode().equals(string) || TakeOffToPointEnum.WAYLINE_FAILED.getCode().equals(string)){
+ redisUtils.hset(CommonConstants.FLY_TOPOINT_PROGRESS, airPprtSn, TakeOffToPointEnum.WAYLINE_OK.getCode(), 2);
+ //不处于
+ if (Objects.nonNull(o) && (Boolean)o.equals(false)){
+ log.info("指点飞行进入控制模式 msg is {}", jsonObject);
+// Thread.sleep(1000);
+ drcModeEnter();
+ redisUtils.set(airPprtSn + DJIMethonConstants.DRC_STATUS, true);
+ }
+ }
+ }
+
+
+
+
+
+
+// String string = jsonObject.getString("data");
+// com.alibaba.fastjson.JSONObject data = com.alibaba.fastjson.JSONObject.parseObject(string);
+// Map map = new HashMap();
+// if (Objects.nonNull(data.getString("longitude"))) {
+// //空调模式
+// JSONObject airConditioner = JSONObject.parseObject(data.getString("air_conditioner"));
+// //获取空调模式 air_conditioner_state {"0":"空闲模式(无制冷、制热、除湿等)","1":"制冷模式","2":"制热模式","3":"除湿模式","4":"制冷退出模式","5":"制热退出模式","6":"除湿退出模式","7":"制冷准备模式","8":"制热准备模式","9":"除湿准备模式"10":"风冷准备中"11":"风冷中"12":"风冷退出中"13":"除雾准备中"14":"除雾中"15":"除雾退出中"}
+// String airConditionerState = airConditioner.getString("air_conditioner_state");
+// map.put("airConditionerState", airConditionerState);
+// System.out.println(LocalDateTime.now() + " " + "airConditionerState is " + airConditionerState + " ");
+// //获取空调模式可切换时间 为0时才可切换其他空调模式 单位为秒
+// String switchTime = airConditioner.getString("switch_time");
+// map.put("switchTime", switchTime);
+// System.out.println(LocalDateTime.now() + " " + "switchTime is " + switchTime);
+// }
+
+
String data = jsonObject.getString("data");
+ if (topic.equals("thing/product/1581F6Q83254100BD0UV/osd")){
+ String string = jsonObject.getString("data");
+ JSONObject newJson = JSONObject.parseObject(string);
+// String modeCode = newJson.getString("mode_code");
+// if (Objects.nonNull(modeCode)){
+// System.out.printf("+++++" + modeCode + " ");
+// }
+// redisUtils.set("8UUXN3500A02BE" + DJIMethonConstants.DRC_STATUS, false);
- if (!topic.equals("thing/product/8UUXN2T00A01RU/events")){
- return;
- }
- //DRC-飞行控制无效原因通知
- if (method.equals("joystick_invalid_notify")){
- JSONObject dataJson = JSONObject.parseObject(data);
- String reason = dataJson.getString("reason");
- System.out.printf("joystick_invalid_notify is {}, is {} " + reason);
+// if (modeCode.equals("1")){
+// log.info("drone msg is {}", jsonObject.getString("modeCode"));
+// //先获取飞行控制权
+// Object flightAuthority = redisUtils.get("8UUXN3500A02BE" + DJIMethonConstants.FLIGHT_AUTHORITY_GRAB);
+// if (Objects.isNull(flightAuthority)){
+// flightAuthorityGrab("8UUXN3500A02BE");
+// redisUtils.set("8UUXN3500A02BE" + DJIMethonConstants.FLIGHT_AUTHORITY_GRAB, 1);
+// }
+// //再获取负载控制权
+// Object payloadAuthority = redisUtils.get("8UUXN3500A02BE" + DJIMethonConstants.PAYLOAD_AUTHORITY_GRAB);
+// if (Objects.isNull(payloadAuthority)){
+// payloadAuthorityGrab("99-0-0", "8UUXN3500A02BE");
+// redisUtils.set("8UUXN3500A02BE" + DJIMethonConstants.PAYLOAD_AUTHORITY_GRAB, 1);
+// }
+// //如果是返航或者降落 退出飞行控制模式 并停止心跳发送
+// if (modeCode.equals("9") || modeCode.equals("10")){
+// drcModeExit();
+// }
+// }
+
+
+ String positionState = newJson.getString("position_state");
+ if (Objects.nonNull(positionState)){
+ String gpsNumber = com.alibaba.fastjson.JSONObject.parseObject(positionState).getString("gps_number");
+ System.out.printf("gpsNumber is " + gpsNumber + System.getProperty("line.separator"));
+
+ String quality = com.alibaba.fastjson.JSONObject.parseObject(positionState).getString("quality");
+ System.out.printf("quality is " + quality + System.getProperty("line.separator"));
+
+ String rtk_number = com.alibaba.fastjson.JSONObject.parseObject(positionState).getString("rtk_number");
+ System.out.printf("rtk_number is " + rtk_number + System.getProperty("line.separator"));
+ }
}
- //DRC 链路状态通知
- if (method.equals("drc_status_notify")){
- JSONObject dataJson = JSONObject.parseObject(data);
- String drcState = dataJson.getString("drc_state");
- String result = dataJson.getString("result");
- System.out.printf("drc_status_notify is {}, is {} " + drcState + "result" + result);
+
+
+// if (!topic.equals("thing/product/8UUXN2T00A01RU/events")){
+// return;
+// }
+
+
+ if(topic.equals("thing/product/7CTXMC900B054P/osd")){
+ JSONObject newJson = JSONObject.parseObject(data);
+// String drcState = newJson.getString("drc_state");
+// if (Objects.nonNull(drcState)){
+// System.out.printf("网络状态 is " + drcState + System.getProperty("line.separator") );
+// }
+
+
+ String network_state = newJson.getString("network_state");
+ if (Objects.nonNull(network_state)){
+ System.out.printf("网络状态 is " + network_state + System.getProperty("line.separator") );
+ }
+
+ Object o = newJson.get("wireless_link");
+ if (Objects.nonNull(o)){
+ JSONObject wireless_link = (JSONObject) o;
+ String sdr_quality = wireless_link.getString("sdr_quality");
+ System.out.printf("图传信号 " + sdr_quality + System.getProperty("line.separator") );
+ }
+
+
+// String modeCode = jsonObject.getString("modeCode");
+// log.info("drone msg is {}", modeCode);
+// if (Objects.nonNull(modeCode)){
+// //先获取飞行控制权
+// String airportSn = "8UUXN2T00A01R1";
+// RedisUtils redisUtils = SpringUtils.getBean(RedisUtils.class);
+// DJIUtils djiUtils = SpringUtils.getBean(DJIUtils.class);
+// Object flightAuthority = redisUtils.get(airportSn + DJIMethonConstants.FLIGHT_AUTHORITY_GRAB);
+// if (Objects.isNull(flightAuthority)){
+// djiUtils.flightAuthorityGrab(airportSn);
+// redisUtils.set(airportSn + DJIMethonConstants.FLIGHT_AUTHORITY_GRAB, 1);
+// }
+// //再获取负载控制权
+// Object payloadAuthority = redisUtils.get(airportSn + DJIMethonConstants.PAYLOAD_AUTHORITY_GRAB);
+// if (Objects.isNull(payloadAuthority)){
+// djiUtils.payloadAuthorityGrab("99-0-0", airportSn);
+// redisUtils.set(airportSn + DJIMethonConstants.PAYLOAD_AUTHORITY_GRAB, 1);
+// }
+// }
}
+// if (method.equals("fly_to_point_progress")){
+// takeoffToPointProgress(oldJsonObject, data, sn);
+// }
+
+
+//
+// if (Objects.isNull(method)){
+// return;
+// }
+//
+//
+// //DRC-飞行控制无效原因通知
+// if (method.equals("joystick_invalid_notify")){
+// JSONObject dataJson = JSONObject.parseObject(data);
+// String reason = dataJson.getString("reason");
+// log.info("joystick_invalid_notify is {}" ,reason);
+//
+// }
+// //DRC 链路状态通知
+// if (method.equals("drc_status_notify")){
+// JSONObject dataJson = JSONObject.parseObject(data);
+// String drcState = dataJson.getString("drc_state");
+// String result = dataJson.getString("result");
+// log.info("drc_status_notify is {}, is {} ", drcState , result);
+// }
+
+
+// if(Objects.nonNull(method) && method.equals("fileupload_progress")){
+// Map content = new HashMap<>();
+// content.put("tid",tid);
+// content.put("bid",bid);
+// content.put("gateway", gateway);
+// content.put("timestamp",System.currentTimeMillis());
+// content.put("method",method);
+// Map data1 = new HashMap<>();
+// data1.put("result", 0);
+// content.put("data",data1);
+// String msg = com.alibaba.fastjson.JSONObject.toJSONString(content);
+// topic += "_reply";
+// MqttConfig providerClient = SpringUtil.getBean(MqttConfig.class);
+// MqttDeliveryToken publish = providerClient.publish(1, false, topic, msg);
+// }
//
@@ -196,7 +404,6 @@ public class MqttConsumerCallBack implements MqttCallback {
// }
-
// if ("file_upload_callback".equals(method)){
// System.out.printf("媒体文件上传结果上报" + topic);
// System.out.printf("媒体文件上传结果上报2" + method);
@@ -323,24 +530,26 @@ public class MqttConsumerCallBack implements MqttCallback {
// }
//
//
-// if(topic.equals("thing/product/7CTDM7H00BXZD1/requests")){
+// if (topic.equals("thing/product/8UUXN2T00A01QB/requests")) {
// System.out.println("enter...............");
-// if(method.equals("config")){
+// if (method.equals("config")) {
// System.out.println("enter config..........");
// //需要回复
//
-// Map data = new HashMap<>();
-// data.put("ntp_server_host","Google.mzr.me");
-// data.put("app_id","148774");
-// data.put("app_key","a3ba3e9934f43b82bd52428b26e695b");
-// data.put("app_license","Cm+BDccW/auc1L5Fixy59JrudnnXxguksAfGNPRjaDDqf3ESlHJt4JYaYBlXJ/rkkSPREF/MIg5FZV3MSwPVcXQ2ioOahFH0OEHx0fhxLnrS2uUVXaXcDkDxLRfDuOTvkmojS3KFZIgPOjt6hdF9Madi/WC+EsnZzpA5RvTD/u4=");
+// Map data = new HashMap<>();
+// data.put("ntp_server_host", "172.16.251.26");
+// data.put("app_id", "148774");
+// data.put("app_key", "a3ba3e9934f43b82bd52428b26e695b");
+// data.put("app_license", "Cm+BDccW/auc1L5Fixy59JrudnnXxguksAfGNPRjaDDqf3ESlHJt4JYaYBlXJ/rkkSPREF/MIg5FZV3MSwPVcXQ2ioOahFH0OEHx0fhxLnrS2uUVXaXcDkDxLRfDuOTvkmojS3KFZIgPOjt6hdF9Madi/WC+EsnZzpA5RvTD/u4=");
+// data.put("ntp_server_port", "172.16.251.26");
//
-// Map content = new HashMap<>();
-// content.put("tid",tid);
-// content.put("bid",bid);
-// content.put("timestamp",System.currentTimeMillis());
-// content.put("method","config");
-// content.put("data",data);
+//
+// Map content = new HashMap<>();
+// content.put("tid", tid);
+// content.put("bid", bid);
+// content.put("timestamp", System.currentTimeMillis());
+// content.put("method", "config");
+// content.put("data", data);
//
// String msg = JSONObject.toJSONString(content);
//// log.info("will send msg is {}" ,msg);
@@ -355,14 +564,16 @@ public class MqttConsumerCallBack implements MqttCallback {
// sendList.add(sendMsg);
//
//
-//
-//// if (Objects.isNull(providerClient)){
-//// providerClient = SpringUtil.getBean(MqttProducerConfig.class);
-//// }
-//// providerClient.publish(qos, retained, topic, msg);
+// if (Objects.isNull(providerClient)){
+// providerClient = SpringUtil.getBean(MqttConfig.class);
+// }
+// providerClient.publish(qos, retained, topic, msg);
// return;
-// }else if(method.equals("airport_bind_status")){
-//// }else if(method.equals("storage_config_get")){
+// }
+//
+// else if(method.equals("airport_bind_status")){
+//// }else
+// if(method.equals("storage_config_get")){
// System.out.println("enter airport_bind_status..........");
// //需要回复
//
@@ -402,14 +613,16 @@ public class MqttConsumerCallBack implements MqttCallback {
// sendMsg.setTopic(topic);
// sendMsg.setMessage(msg);
//
-// sendList.add(sendMsg);
-//// if (Objects.isNull(providerClient)){
-//// providerClient = SpringUtil.getBean(MqttConfig.class);
-//// }
-//// providerClient.publish(qos, retained, topic, msg);
-// return;
-// }else if(method.equals("airport_organization_get")){
-//// }else if(method.equals("storage_config_get")){
+// if (Objects.isNull(providerClient)){
+// providerClient = SpringUtil.getBean(MqttConfig.class);
+// }
+// providerClient.publish(qos, retained, topic, msg);
+// }
+
+
+// else if(method.equals("airport_organization_get")){
+//// }else
+// if(method.equals("storage_config_get")){
// System.out.println("enter airport_organization_get..........");
// //需要回复
//
@@ -443,7 +656,10 @@ public class MqttConsumerCallBack implements MqttCallback {
//// }
//// providerClient.publish(qos, retained, topic, msg);
// return;
-// }else if(method.equals("airport_organization_bind")){
+// }
+//
+//
+// else if(method.equals("airport_organization_bind")){
//// }else if(method.equals("storage_config_get")){
// System.out.println("enter airport_organization_get..........");
// //需要回复
@@ -486,7 +702,10 @@ public class MqttConsumerCallBack implements MqttCallback {
//// }
//// providerClient.publish(qos, retained, topic, msg);
// return;
-// }else if(method.equals("storage_config_get")){
+// }else
+//
+//
+// if(method.equals("storage_config_get")){
// System.out.println("enter storage_config_get..........");
// //需要回复
// System.out.printf("jsonObject" + jsonObject);
@@ -532,13 +751,16 @@ public class MqttConsumerCallBack implements MqttCallback {
// sendMsg.setMessage(msg);
//
// sendList.add(sendMsg);
-//// //消息回复
-//// if (Objects.isNull(providerClient)){
-//// providerClient = SpringUtil.getBean(MqttConfig.class);
-//// }
-//// providerClient.publish(qos, retained, topic, msg);
+// //消息回复
+// if (Objects.isNull(providerClient)){
+// providerClient = SpringUtil.getBean(MqttConfig.class);
+// }
+// providerClient.publish(qos, retained, topic, msg);
// return;
-// }else if(method.equals("flighttask_resource_get")){
+// }
+//
+//
+// else if(method.equals("flighttask_resource_get")){
//
//// System.out.println("enter flighttask_resource_get..........");
//// //需要回复
@@ -584,124 +806,220 @@ public class MqttConsumerCallBack implements MqttCallback {
//
// System.out.println("finish...");
- }
-
- /**
- * 消息发布成功的回调
- */
- @Override
- public void deliveryComplete(IMqttDeliveryToken iMqttDeliveryToken) {
-
- }
-
-
-
- /**
- * 气温 状态等数据
- * @param oldjsonObject
- */
- private void droneStatus(JSONObject oldjsonObject, String sn , Object tid, Object bid) {
- Map map = new HashMap();
- //发送的坐标信息
- String string = oldjsonObject.getString("data");
- com.alibaba.fastjson.JSONObject jsonObject = com.alibaba.fastjson.JSONObject.parseObject(string);
- //当前位置经度 longitude
- String longitude = jsonObject.getString("longitude");
- map.put("longitude", longitude);
- //当前位置纬度 latitude
- String latitude = jsonObject.getString("latitude");
- map.put("latitude", latitude);
- //飞行器状态
- String modeCode = jsonObject.getString("mode_code");
- map.put("modeCode", modeCode);
- //相对起飞点高度 elevation
- String elevation = jsonObject.getString("elevation");
- map.put("elevation", elevation);
- //风速 wind_speed
- String windSpeed = jsonObject.getString("wind_speed");
- map.put("windSpeed", windSpeed);
- //当前风向 wind_direction
- String windDirection = jsonObject.getString("wind_direction");
- map.put("windDirection", windDirection);
- //低电量告警 low_battery_warning_threshold
- String lowBatteryWarningThreshold = jsonObject.getString("low_battery_warning_threshold");
- map.put("lowBatteryWarningThreshold", lowBatteryWarningThreshold);
- //飞行器电池信息 battery {
- // capacity_percent电池的总剩余电量 remain_flight_time剩余飞行时间 return_home_power返航所需电量百分比 landing_power强制降落电量百分比capacity_percent电池剩余电量
- // voltage电压 temperature温度 wind_direction风向 }
- String battery = jsonObject.getString("battery");
- map.put("battery", battery);
- RedisUtils redisUtils = SpringUtil.getBean(RedisUtils.class);
- redisUtils.hmset("DJIDrone" + sn, map, 300);
-
- Map content = new HashMap<>();
- content.put("longitude",longitude);
- content.put("latitude",latitude);
- String msg = com.alibaba.fastjson.JSONObject.toJSONString(content);
- }
-
-
- /**
- * 无人机气温 状态等数据
- * @param oldjsonObject
- */
- private void airportStatus(JSONObject oldjsonObject, String sn, Object tid, Object bid) {
- Map map = new HashMap();
- //发送的坐标信息
- String string = oldjsonObject.getString("data");
- com.alibaba.fastjson.JSONObject jsonObject = com.alibaba.fastjson.JSONObject.parseObject(string);
- //当前位置经度 longitude
- String longitude = jsonObject.getString("longitude");
- if (Objects.isNull(longitude)){
- return;
}
- map.put("longitude", longitude);
- //当前位置纬度 latitude
- String latitude = jsonObject.getString("latitude");
- map.put("latitude", latitude);
- //工作电流 working_current
- String workingCurrent = jsonObject.getString("working_current");
- map.put("workingCurrent", workingCurrent);
- //工作电压 working_voltage
- String workingVoltage = jsonObject.getString("working_voltage");
- map.put("workingVoltage", workingVoltage);
- //舱内湿度 humidity
- String humidity = jsonObject.getString("humidity");
- map.put("humidity", humidity);
- //舱内温度 temperature
- String temperature = jsonObject.getString("temperature");
- map.put("temperature", temperature);
- //environment_temperature 环境温度
- String environmentTemperature = jsonObject.getString("environment_temperature");
- map.put("environmentTemperature", environmentTemperature);
- //wind_speed 风速
- String windSpeed = jsonObject.getString("wind_speed");
- map.put("windSpeed", windSpeed);
- //rainfall 降雨量
- String rainfall = jsonObject.getString("rainfall");
- map.put("rainfall", rainfall);
- //drone_in_dock 飞行器是否在舱{"0":"舱外","1":"舱内"}
- String droneInDock = jsonObject.getString("drone_in_dock");
- map.put("droneInDock", droneInDock);
- //cover_state 舱盖状态"0":"关闭","1":"打开","2":"半开","3":"舱盖状态异常"
- String coverState = jsonObject.getString("cover_state");
- map.put("coverState", coverState);
- //flighttask_step_code 机场任务状态"0":"作业准备中","1":"飞行作业中","2":"作业后状态恢复","3":"自定义飞行区更新中","4":"地形障碍物更新中","5":"任务空闲","255":"飞行器异常","256":"未知状态"
- String flighttaskStepCode = jsonObject.getString("flighttask_step_code");
- map.put("flighttaskStepCode", flighttaskStepCode);
- //mode_code 机场状态
- String modeCode = jsonObject.getString("mode_code");
- map.put("modeCode", modeCode);
- //当前位置经度 longitude
- String airPortLongitude = jsonObject.getString("longitude");
- map.put("airPortLongitude", airPortLongitude);
- //当前位置纬度 latitude
- String airPortLatitude = jsonObject.getString("latitude");
- map.put("airPortLatitude", airPortLatitude);
- RedisUtils redisUtils = SpringUtil.getBean(RedisUtils.class);
- redisUtils.hmset("DJIAirport"+ sn, map, 30);
- }
+// /**
+// * 消息发布成功的回调
+// */
+// @Override
+// public void deliveryComplete(IMqttDeliveryToken iMqttDeliveryToken) {
+//
+// }
+
+
+// /**
+// * 气温 状态等数据
+// * @param oldjsonObject
+// */
+// private void droneStatus(JSONObject oldjsonObject, String sn , Object tid, Object bid) {
+// Map map = new HashMap();
+// //发送的坐标信息
+// String string = oldjsonObject.getString("data");
+// com.alibaba.fastjson.JSONObject jsonObject = com.alibaba.fastjson.JSONObject.parseObject(string);
+// //当前位置经度 longitude
+// String longitude = jsonObject.getString("longitude");
+// map.put("longitude", longitude);
+// //当前位置纬度 latitude
+// String latitude = jsonObject.getString("latitude");
+// map.put("latitude", latitude);
+// //飞行器状态
+// String modeCode = jsonObject.getString("mode_code");
+// map.put("modeCode", modeCode);
+// //相对起飞点高度 elevation
+// String elevation = jsonObject.getString("elevation");
+// map.put("elevation", elevation);
+// //风速 wind_speed
+// String windSpeed = jsonObject.getString("wind_speed");
+// map.put("windSpeed", windSpeed);
+// //当前风向 wind_direction
+// String windDirection = jsonObject.getString("wind_direction");
+// map.put("windDirection", windDirection);
+// //低电量告警 low_battery_warning_threshold
+// String lowBatteryWarningThreshold = jsonObject.getString("low_battery_warning_threshold");
+// map.put("lowBatteryWarningThreshold", lowBatteryWarningThreshold);
+// //飞行器电池信息 battery {
+// // capacity_percent电池的总剩余电量 remain_flight_time剩余飞行时间 return_home_power返航所需电量百分比 landing_power强制降落电量百分比capacity_percent电池剩余电量
+// // voltage电压 temperature温度 wind_direction风向 }
+// String battery = jsonObject.getString("battery");
+// map.put("battery", battery);
+// RedisUtils redisUtils = SpringUtil.getBean(RedisUtils.class);
+// redisUtils.hmset("DJIDrone" + sn, map, 300);
+//
+// Map content = new HashMap<>();
+// content.put("longitude",longitude);
+// content.put("latitude",latitude);
+// String msg = com.alibaba.fastjson.JSONObject.toJSONString(content);
+// }
+//
+//
+// /**
+// * 无人机气温 状态等数据
+// * @param oldjsonObject
+// */
+// private void airportStatus(JSONObject oldjsonObject, String sn, Object tid, Object bid) {
+// Map map = new HashMap();
+// //发送的坐标信息
+// String string = oldjsonObject.getString("data");
+// com.alibaba.fastjson.JSONObject jsonObject = com.alibaba.fastjson.JSONObject.parseObject(string);
+// //当前位置经度 longitude
+// String longitude = jsonObject.getString("longitude");
+// if (Objects.isNull(longitude)){
+// return;
+// }
+// map.put("longitude", longitude);
+// //当前位置纬度 latitude
+// String latitude = jsonObject.getString("latitude");
+// map.put("latitude", latitude);
+// //工作电流 working_current
+// String workingCurrent = jsonObject.getString("working_current");
+// map.put("workingCurrent", workingCurrent);
+// //工作电压 working_voltage
+// String workingVoltage = jsonObject.getString("working_voltage");
+// map.put("workingVoltage", workingVoltage);
+// //舱内湿度 humidity
+// String humidity = jsonObject.getString("humidity");
+// map.put("humidity", humidity);
+// //舱内温度 temperature
+// String temperature = jsonObject.getString("temperature");
+// map.put("temperature", temperature);
+// //environment_temperature 环境温度
+// String environmentTemperature = jsonObject.getString("environment_temperature");
+// map.put("environmentTemperature", environmentTemperature);
+// //wind_speed 风速
+// String windSpeed = jsonObject.getString("wind_speed");
+// map.put("windSpeed", windSpeed);
+// //rainfall 降雨量
+// String rainfall = jsonObject.getString("rainfall");
+// map.put("rainfall", rainfall);
+// //drone_in_dock 飞行器是否在舱{"0":"舱外","1":"舱内"}
+// String droneInDock = jsonObject.getString("drone_in_dock");
+// map.put("droneInDock", droneInDock);
+// //cover_state 舱盖状态"0":"关闭","1":"打开","2":"半开","3":"舱盖状态异常"
+// String coverState = jsonObject.getString("cover_state");
+// map.put("coverState", coverState);
+// //flighttask_step_code 机场任务状态"0":"作业准备中","1":"飞行作业中","2":"作业后状态恢复","3":"自定义飞行区更新中","4":"地形障碍物更新中","5":"任务空闲","255":"飞行器异常","256":"未知状态"
+// String flighttaskStepCode = jsonObject.getString("flighttask_step_code");
+// map.put("flighttaskStepCode", flighttaskStepCode);
+// //mode_code 机场状态
+// String modeCode = jsonObject.getString("mode_code");
+// map.put("modeCode", modeCode);
+// //当前位置经度 longitude
+// String airPortLongitude = jsonObject.getString("longitude");
+// map.put("airPortLongitude", airPortLongitude);
+// //当前位置纬度 latitude
+// String airPortLatitude = jsonObject.getString("latitude");
+// map.put("airPortLatitude", airPortLatitude);
+// RedisUtils redisUtils = SpringUtil.getBean(RedisUtils.class);
+// redisUtils.hmset("DJIAirport"+ sn, map, 30);
+// }
+//
+//
+//
+// /**
+// * 获取
+// */
+// private Map ossToken() {
+// Map ossMap = new HashMap<>();
+// String policy = "{\n" +
+// " \"Version\": \"1\", \n" +
+// " \"Statement\": [\n" +
+// " {\n" +
+// " \"Action\": [\n" +
+// " \"oss:PutObject\"\n" +
+// " ], \n" +
+// " \"Resource\": [\n" +
+// " \"acs:oss:*:*:dji-dev/*\" \n" +
+// " ], \n" +
+// " \"Effect\": \"Allow\"\n" +
+// " }\n" +
+// " ]\n" +
+// "}";
+//
+// String roleARN = "acs:ram::1399733914954856:role/ramosstest";
+// String sessionName = "SessionTest";
+// java.util.List args = Arrays.asList();
+// Client client = null;
+// try {
+// client = MqttConsumerCallBack.createClient();
+// } catch (Exception e) {
+// log.info("获取阿里云token失败");
+// }
+// AssumeRoleRequest assumeRoleRequest = new com.aliyun.sts20150401.models.AssumeRoleRequest()
+// .setDurationSeconds(3600L)
+// .setPolicy(policy)
+// .setRoleArn(roleARN)
+// .setRoleSessionName(sessionName);
+// try {
+// // 复制代码运行请自行打印 API 的返回值
+// AssumeRoleResponse assumeRoleResponse = client.assumeRoleWithOptions(assumeRoleRequest, new RuntimeOptions());
+// String arn = assumeRoleResponse.getBody().getAssumedRoleUser().getArn();
+// String assumedRoleId = assumeRoleResponse.getBody().getAssumedRoleUser().getAssumedRoleId();
+// String accessKeyId = assumeRoleResponse.getBody().getCredentials().getAccessKeyId();
+// String accessKeySecret = assumeRoleResponse.getBody().getCredentials().getAccessKeySecret();
+// String securityToken = assumeRoleResponse.getBody().getCredentials().getSecurityToken();
+// String expiration = assumeRoleResponse.getBody().getCredentials().getExpiration();
+// log.info(arn);
+// log.info(assumedRoleId);
+// log.info(accessKeyId);
+// log.info(accessKeySecret);
+// log.info(securityToken);
+// log.info(expiration);
+// log.info("a");
+//
+// ossMap.put("access_key_id", accessKeyId);
+// ossMap.put("access_key_secret", accessKeySecret);
+// ossMap.put("security_token", securityToken);
+// return ossMap;
+// } catch (TeaException error) {
+// // 此处仅做打印展示，请谨慎对待异常处理，在工程项目中切勿直接忽略异常。
+// // 错误 message
+// log.info(error.getMessage());
+// // 诊断地址
+// log.info(error.getData().get("Recommend")+"");
+// com.aliyun.teautil.Common.assertAsString(error.message);
+// } catch (Exception _error) {
+// TeaException error = new TeaException(_error.getMessage(), _error);
+// // 此处仅做打印展示，请谨慎对待异常处理，在工程项目中切勿直接忽略异常。
+// // 错误 message
+// log.info(error.getMessage());
+// // 诊断地址
+// log.info(error.getData().get("Recommend")+"");
+// com.aliyun.teautil.Common.assertAsString(error.message);
+// }
+// return ossMap;
+// }
+//
+// /**
+// * description :
+// * 使用AK&SK初始化账号Client
+// * @return Client
+// *
+// * @throws Exception
+// */
+// public static Client createClient() throws Exception {
+// // 工程代码泄露可能会导致 AccessKey 泄露，并威胁账号下所有资源的安全性。以下代码示例仅供参考。
+// // 建议使用更安全的 STS 方式，更多鉴权访问方式请参见：https://help.aliyun.com/document_detail/378657.html。
+// com.aliyun.teaopenapi.models.Config config = new com.aliyun.teaopenapi.models.Config()
+// // 必填，请确保代码运行环境设置了环境变量 ALIBABA_CLOUD_ACCESS_KEY_ID。
+// .setAccessKeyId("LTAI5tFmaJHU7ywvBH2j12Gp")
+// // 必填，请确保代码运行环境设置了环境变量 ALIBABA_CLOUD_ACCESS_KEY_SECRET。
+// .setAccessKeySecret("mX6rS1xYTgZgFAgpOrQHyc6jLXv0AV");
+// // Endpoint 请参考 https://api.aliyun.com/product/Sts
+// config.endpoint = "sts.cn-shanghai.aliyuncs.com";
+// return new Client(config);
+// }
+
+// }
/**
@@ -724,7 +1042,8 @@ public class MqttConsumerCallBack implements MqttCallback {
" ]\n" +
"}";
- String roleARN = "acs:ram::1399733914954856:role/ramosstest";
+// String roleARN = "acs:ram::1399733914954856:role/ramosstest";
+ String roleARN = "acs:ram::1399733914954856:role/oss-role";
String sessionName = "SessionTest";
java.util.List args = Arrays.asList();
Client client = null;
@@ -764,7 +1083,7 @@ public class MqttConsumerCallBack implements MqttCallback {
// 错误 message
log.info(error.getMessage());
// 诊断地址
- log.info(error.getData().get("Recommend")+"");
+ log.info(error.getData().get("Recommend") + "");
com.aliyun.teautil.Common.assertAsString(error.message);
} catch (Exception _error) {
TeaException error = new TeaException(_error.getMessage(), _error);
@@ -772,7 +1091,7 @@ public class MqttConsumerCallBack implements MqttCallback {
// 错误 message
log.info(error.getMessage());
// 诊断地址
- log.info(error.getData().get("Recommend")+"");
+ log.info(error.getData().get("Recommend") + "");
com.aliyun.teautil.Common.assertAsString(error.message);
}
return ossMap;
@@ -781,8 +1100,8 @@ public class MqttConsumerCallBack implements MqttCallback {
/**
* description :
* 使用AK&SK初始化账号Client
- * @return Client
*
+ * @return Client
* @throws Exception
*/
public static Client createClient() throws Exception {
@@ -798,8 +1117,235 @@ public class MqttConsumerCallBack implements MqttCallback {
return new Client(config);
}
+ @Override
+ public void deliveryComplete(IMqttDeliveryToken iMqttDeliveryToken) {
+
+ }
+
+
+ /**
+ * flyto 执行结果事件通知
+ * @param
+ * @param data
+ */
+// private void flyToPointProgress(String data, String airPprtSn) {
+// RedisUtils redisUtils = SpringUtils.getBean(RedisUtils.class);
+// DJIUtils djiUtils = SpringUtils.getBean(DJIUtils.class);
+// String string = com.alibaba.fastjson.JSONObject.parseObject(data).getString("status");
+// //查询是否处于飞行控制模式
+// Object o = redisUtils.get(airPprtSn + DJIMethonConstants.DRC_STATUS);
+// if (TakeOffToPointEnum.WAYLINE_PROGRESS.getCode().equals(string)){
+// redisUtils.hset(CommonConstants.FLY_TOPOINT_PROGRESS, airPprtSn, TakeOffToPointEnum.WAYLINE_PROGRESS.getCode(), 5);
+//
+// if (Objects.nonNull(o) && o.equals(true)){
+// log.info("指点飞行退出控制模式 is {}", airPprtSn);
+//// dJIUtils.drcModeExit(airPprtSn);
+// redisUtils.set(airPprtSn + DJIMethonConstants.DRC_STATUS, false);
+// }
+// }else if (TakeOffToPointEnum.WAYLINE_OK.getCode().equals(string) || TakeOffToPointEnum.WAYLINE_CANCEL.getCode().equals(string) || TakeOffToPointEnum.WAYLINE_FAILED.getCode().equals(string)){
+// redisUtils.hset(CommonConstants.FLY_TOPOINT_PROGRESS, airPprtSn, TakeOffToPointEnum.WAYLINE_OK.getCode(), 2);
+// //不处于
+// if (Objects.nonNull(o) && (Boolean)o.equals(false)){
+// log.info("指点飞行进入控制模式");
+// djiUtils.drcModeEnter(airPprtSn);
+// redisUtils.set(airPprtSn + DJIMethonConstants.DRC_STATUS, true);
+// }
+// }
+// }
+
+ private static String bid = "1";
+
+ private static String tid = "2";
+
+ public String drcModeExit(){
+ try {
+ MqttConfig providerClient = SpringUtil.getBean(MqttConfig.class);
+// try {
+// Integer qos = 1;
+// Boolean retained = false;
+// //topic主题 sn是机场sn号 thing/product/%s/services
+// //TODO 此处用的是无人的SN号 待测试
+// String topic = String.format(someTopic, airPortSn);
+// //封装数据
+// Map content = new HashMap<>();
+// Map data = new HashMap<>();
+// content.put("tid", UUID.randomUUID().toString());
+// content.put("bid", UUID.randomUUID().toString());
+// content.put("timestamp",System.currentTimeMillis());
+// content.put("method", DJIMethonConstants.FLIGHT_AUTHORITY_GRAB);
+// content.put("data", data);
+// String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+// System.out.println(message);
+// MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+// } catch (Exception e) {
+// e.printStackTrace();
+// }
+// Thread.sleep(4000);
+ Integer qos = 1;
+ Boolean retained = false;
+ //topic主题 sn是机场sn号 thing/product/%s/services
+ //TODO 此处用的是无人的SN号 待测试
+ String topic = String.format(someTopic, airPortSn);
+ //封装数据
+ Map content = new HashMap<>();
+ Map data = new HashMap<>();
+// tid = UUID.randomUUID().toString();
+ content.put("tid",tid );
+// bid = UUID.randomUUID().toString();
+ content.put("bid", bid);
+ content.put("timestamp", System.currentTimeMillis());
+ content.put("method", DJIMethonConstants.DRC_MODE_EXIT);
+ content.put("data", data);
+ String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+ System.out.println(message);
+ MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+ return "发送成功";
+ } catch (Exception e) {
+ e.printStackTrace();
+ return "发送失败";
+ }
+ }
+
+
+ public String drcModeEnter(){
+ try {
+ MqttConfig providerClient = SpringUtil.getBean(MqttConfig.class);
+
+// try {
+// Integer qos = 1;
+// Boolean retained = false;
+// //topic主题 sn是机场sn号 thing/product/%s/services
+// //TODO 此处用的是无人的SN号 待测试
+// String topic = String.format(someTopic, airPortSn);
+// //封装数据
+// Map content = new HashMap<>();
+// Map data = new HashMap<>();
+// content.put("tid", UUID.randomUUID().toString());
+// content.put("bid", UUID.randomUUID().toString());
+// content.put("timestamp",System.currentTimeMillis());
+// content.put("method", DJIMethonConstants.FLIGHT_AUTHORITY_GRAB);
+// content.put("data", data);
+// String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+// System.out.println(message);
+// MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+// } catch (Exception e) {
+// e.printStackTrace();
+// }
+// Thread.sleep(4000);
+
+
+ Integer qos = 1;
+ Boolean retained = false;
+ //topic主题 sn是机场sn号 thing/product/%s/services
+ //TODO 此处用的是无人的SN号 待测试
+ String topic = String.format(someTopic, airPortSn);
+ //封装数据
+ Map content = new HashMap<>();
+ Map data = new HashMap<>();
+ //负载枚举值 镜头负载
+ data.put("hsi_frequency", 1);
+
+ //Broker 连接信息
+ Map mqttBroker = new HashMap<>();
+ //服务器连接地址
+ mqttBroker.put("address", "58.213.148.44:1883");
+ //客户端ID
+ mqttBroker.put("client_id", "DRC-8UUXN3500A02BE");
+ //enable_tls
+ mqttBroker.put("enable_tls", false);
+ //expire_time 当前时间+3000秒
+ mqttBroker.put("expire_time", System.currentTimeMillis()/1000 + 3600);
+ //密码
+ mqttBroker.put("password", "admin##123");
+ //用户名
+ mqttBroker.put("username", "admin");
+ data.put("mqtt_broker", mqttBroker);
+ //设置 OSD 上报频率 {"max":30,"min":1,"unit_name":"赫兹 / Hz"}
+ data.put("osd_frequency", 1);
+
+// tid = UUID.randomUUID().toString();
+ content.put("tid", tid);
+// bid = UUID.randomUUID().toString();
+ content.put("bid", bid);
+ content.put("timestamp",System.currentTimeMillis());
+ content.put("method", DJIMethonConstants.DRC_MODE_ENTER);
+ content.put("data", data);
+ String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+ System.out.println(message);
+ MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+ return "发送成功";
+ } catch (Exception e) {
+ e.printStackTrace();
+ return "发送失败";
+ }
+ }
+
+
+ public String flightAuthorityGrab(String airPortSn){
+ MqttConfig providerClient = SpringUtil.getBean(MqttConfig.class);
+ try {
+ log.info("飞行控制权抢夺 flight_authority_grab is start");
+ Integer qos = 1;
+ Boolean retained = false;
+ //topic主题 sn是机场sn号 thing/product/%s/services
+ //TODO 此处用的是无人的SN号 待测试
+ String topic = String.format(someTopic, airPortSn);
+ //封装数据
+ Map content = new HashMap<>();
+ Map data = new HashMap<>();
+ String tid = UUID.randomUUID().toString();
+ content.put("tid", tid);
+ content.put("bid", UUID.randomUUID().toString());
+ content.put("timestamp",System.currentTimeMillis());
+ content.put("method", DJIMethonConstants.FLIGHT_AUTHORITY_GRAB);
+ content.put("data", data);
+ String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+ System.out.println(message);
+ MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+ log.info("飞行控制权抢夺 flight_authority_grab is end topic is {}, message is {}, token is {} ", topic, message, publish);
+ return "发送成功";
+ } catch (Exception e) {
+ e.printStackTrace();
+ return "发送失败";
+ }
+ }
+
+ /**
+ * 负载控制权抢夺 /payloadAuthorityGrab
+ * @param airPortSn 机场sn号
+ * @param cameraIndex 镜头参数
+ * @return JsonResult
+ */
+ public String payloadAuthorityGrab(String cameraIndex, String airPortSn){
+ MqttConfig providerClient = SpringUtil.getBean(MqttConfig.class);
+ try {
+ Integer qos = 2;
+ Boolean retained = false;
+ //topic主题 sn是机场sn号 thing/product/%s/services
+ //TODO 此处用的是无人的SN号 待测试
+ String topic = String.format(someTopic, airPortSn);
+ //封装数据
+ Map content = new HashMap<>();
+ Map data = new HashMap<>();
+ //负载枚举值 镜头负载
+ data.put("payload_index", cameraIndex);
+ content.put("tid", UUID.randomUUID().toString());
+ content.put("bid", UUID.randomUUID().toString());
+ content.put("timestamp",System.currentTimeMillis());
+ content.put("method", DJIMethonConstants.PAYLOAD_AUTHORITY_GRAB);
+ content.put("data", data);
+ String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+ System.out.println(message);
+ MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+ return "发送成功";
+ } catch (Exception e) {
+ e.printStackTrace();
+ return "发送失败";
+ }
+ }
+
}
\ No newline at end of file
diff --git a/src/main/java/com/example/math/task/FirstTask.java b/src/main/java/com/example/math/task/FirstTask.java
index 6466c5a..d9c6b57 100644
--- a/src/main/java/com/example/math/task/FirstTask.java
+++ b/src/main/java/com/example/math/task/FirstTask.java
@@ -1,5 +1,6 @@
package com.example.math.task;
+import com.alibaba.fastjson.JSONObject;
import com.example.math.constants.DJIMethonConstants;
import com.example.math.mqtt.MqttConfig;
import com.example.math.mqtt.SendMsg;
@@ -14,6 +15,7 @@ import org.springframework.scheduling.annotation.Scheduled;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
+import java.util.UUID;
@Slf4j
@Configuration //1.主要用于标记配置类，兼备Component的效果。
@@ -22,6 +24,8 @@ public class FirstTask {
private static Integer seq = 0;
+ private static Boolean aBoolean = false;
+
@Autowired
private MqttConfig providerClient;
@@ -37,28 +41,111 @@ public class FirstTask {
// while(sendList.size()>0) {
// SendMsg sendMsg = sendList.remove(0);
// log.info("sendmsg qos is {},retained is {}, topic is {}, msg is {}",
-// sendMsg.getQos(),sendMsg.isRetained(),sendMsg.getTopic(),sendMsg.getMessage());
+// sendMsg.retained = false;Qos(),sendMsg.isRetained(),sendMsg.getTopic(),sendMsg.getMessage());
// providerClient.publish(sendMsg.getQos(),sendMsg.isRetained(),sendMsg.getTopic(),sendMsg.getMessage());
//
// }
// }
- @Scheduled(cron = "0/5 * * * * ?")
- //或直接指定时间间隔，例如：5秒
- //@Scheduled(fixedRate=5000)
+ @Scheduled(cron = "0/2 * * * * ?")
private void aaaa() {
-
- Map content = new HashMap<>();
- HashMap data
- = new HashMap<>();
- data.put("timestamp", System.currentTimeMillis());
- seq++;
- content.put("method", "heart_beat");
- content.put("data", data);
- content.put("seq", seq);
- String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
- System.out.println(message);
- MqttDeliveryToken publish = providerClient.publish(1, false, "thing/product/7CTDM7H00BXZD1/drc/down", message);
+ if (true){
+ Map content = new HashMap<>();
+ HashMap data
+ = new HashMap<>();
+ data.put("timestamp", System.currentTimeMillis());
+ seq++;
+ content.put("method", "heart_beat");
+ content.put("data", data);
+ content.put("seq", 0);
+ String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+// System.out.println(message);
+ MqttDeliveryToken publish = providerClient.publish(1, false, "thing/product/8UUXN3500A02BE/drc/down", message);
+ }
}
+
+
+
+// @Scheduled(cron = "0/1 * * * * ?")
+// //或直接指定时间间隔，例如：5秒
+// //@Scheduled(fixedRate=5000)
+// private void configureTasks() {
+//
+// flightAuthorityGrab("7CTXMC500B052Q");
+//
+// payloadAuthorityGrab("81-0-0", "7CTXMC500B052Q");
+// }
+
+
+ private static String someTopic = "thing/product/%s/services";
+
+ /**
+ * 飞行控制权抢夺 /flightAuthorityGrab
+ * @param airPortSn 机场sn号
+ * @return JsonResult
+ */
+ public String flightAuthorityGrab(String airPortSn){
+ try {
+ log.info("飞行控制权抢夺 flight_authority_grab is start");
+ Integer qos = 1;
+ Boolean retained = false;
+ //topic主题 sn是机场sn号 thing/product/%s/services
+ //TODO 此处用的是无人的SN号 待测试
+ String topic = String.format(someTopic, airPortSn);
+ //封装数据
+ Map content = new HashMap<>();
+ Map data = new HashMap<>();
+ String tid = UUID.randomUUID().toString();
+ content.put("tid", tid);
+ content.put("bid", UUID.randomUUID().toString());
+ content.put("timestamp",System.currentTimeMillis());
+ content.put("method", DJIMethonConstants.FLIGHT_AUTHORITY_GRAB);
+ content.put("data", data);
+ String message = JSONObject.toJSONString(content);
+ System.out.println(message);
+ MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+ log.info("飞行控制权抢夺 flight_authority_grab is end topic is {}, message is {}, token is {} ", topic, message, publish);
+ return "发送成功";
+ } catch (Exception e) {
+ e.printStackTrace();
+ return "发送失败";
+ }
+ }
+
+ /**
+ * 负载控制权抢夺 /payloadAuthorityGrab
+ * @param airPortSn 机场sn号
+ * @param cameraIndex 镜头参数
+ * @return JsonResult
+ */
+ public String payloadAuthorityGrab(String cameraIndex, String airPortSn){
+ try {
+ Integer qos = 2;
+ Boolean retained = false;
+ //topic主题 sn是机场sn号 thing/product/%s/services
+ //TODO 此处用的是无人的SN号 待测试
+ String topic = String.format(someTopic, airPortSn);
+ //封装数据
+ Map content = new HashMap<>();
+ Map data = new HashMap<>();
+ //负载枚举值 镜头负载
+ data.put("payload_index", cameraIndex);
+ content.put("tid", UUID.randomUUID().toString());
+ content.put("bid", UUID.randomUUID().toString());
+ content.put("timestamp",System.currentTimeMillis());
+ content.put("method", DJIMethonConstants.PAYLOAD_AUTHORITY_GRAB);
+ content.put("data", data);
+ String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+ System.out.println(message);
+ MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+ return "发送成功";
+ } catch (Exception e) {
+ e.printStackTrace();
+ return "发送失败";
+ }
+ }
+
+
+
}
diff --git a/src/main/java/com/example/math/utils/DJIUtils.java b/src/main/java/com/example/math/utils/DJIUtils.java
new file mode 100644
index 0000000..c50c51c
--- /dev/null
+++ b/src/main/java/com/example/math/utils/DJIUtils.java
@@ -0,0 +1,222 @@
+//package com.example.math.utils;
+//
+//import com.alibaba.fastjson.JSONObject;
+//import com.example.math.constants.DJIMethonConstants;
+//import com.example.math.mqtt.MqttConfig;
+//import lombok.extern.slf4j.Slf4j;
+//import org.eclipse.paho.client.mqttv3.MqttDeliveryToken;
+//import org.springframework.beans.factory.annotation.Autowired;
+//import org.springframework.beans.factory.annotation.Value;
+//import org.springframework.stereotype.Component;
+//import org.springframework.web.bind.annotation.ResponseBody;
+//
+//import javax.annotation.Resource;
+//import java.util.HashMap;
+//import java.util.Map;
+//import java.util.UUID;
+//
+///**
+// * 远程大疆的工具类
+// */
+//@Component
+//@Slf4j
+//public class DJIUtils {
+//
+// @Resource
+// private MqttConfig providerClient;
+//
+// @Value("${spring.newMqtt.username}")
+// private String username;
+//
+// @Value("${spring.newMqtt.password}")
+// private String password;
+//
+// @Value("${spring.newMqtt.url}")
+// private String address;
+//
+// @Value("${spring.newMqtt.newUrl}")
+// private String newAddress;
+//
+// @Value("${spring.newMqtt.client.id}")
+// private String clientId;
+//
+// @Autowired
+// private RedisUtils redisUtils;
+//
+// public static String filePath = "";
+// public static String fileMd5 = "";
+//
+// //topic固定参数
+// private static String someTopic = "thing/product/%s/services";
+//
+//
+// //topic固定参数
+// private static String propertySet = "thing/product/%s/property/set";
+//
+//
+// //机场 无人机 镜头清晰度
+// private static String camera = "normal-0";
+//
+//
+//
+//
+// public static int seq = 0;
+//
+// /**
+// * 飞行控制权抢夺 /flightAuthorityGrab
+// * @param airPortSn 机场sn号
+// * @return JsonResult
+// */
+// public String flightAuthorityGrab(String airPortSn){
+// try {
+// log.info("飞行控制权抢夺 flight_authority_grab is start");
+// Integer qos = 1;
+// Boolean retained = false;
+// //topic主题 sn是机场sn号 thing/product/%s/services
+// //TODO 此处用的是无人的SN号 待测试
+// String topic = String.format(someTopic, airPortSn);
+// //封装数据
+// Map content = new HashMap<>();
+// Map data = new HashMap<>();
+// String tid = UUID.randomUUID().toString();
+// content.put("tid", tid);
+// content.put("bid", UUID.randomUUID().toString());
+// content.put("timestamp",System.currentTimeMillis());
+// content.put("method", "flight_authority_grab");
+// content.put("data", data);
+// String message = JSONObject.toJSONString(content);
+// System.out.println(message);
+// MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+// log.info("飞行控制权抢夺 flight_authority_grab is end topic is {}, message is {}, token is {} ", topic, message, publish);
+// return "发送成功";
+// } catch (Exception e) {
+// e.printStackTrace();
+// return "发送成功";
+// }
+// }
+//
+// /**
+// * 负载控制权抢夺 /payloadAuthorityGrab
+// * @param airPortSn 机场sn号
+// * @param cameraIndex 镜头参数
+// * @return JsonResult
+// */
+// public String payloadAuthorityGrab(String cameraIndex, String airPortSn){
+// try {
+// Integer qos = 2;
+// Boolean retained = false;
+// //topic主题 sn是机场sn号 thing/product/%s/services
+// //TODO 此处用的是无人的SN号 待测试
+// String topic = String.format(someTopic, airPortSn);
+// //封装数据
+// Map content = new HashMap<>();
+// Map data = new HashMap<>();
+// //负载枚举值 镜头负载
+// data.put("payload_index", cameraIndex);
+// content.put("tid", UUID.randomUUID().toString());
+// content.put("bid", UUID.randomUUID().toString());
+// content.put("timestamp",System.currentTimeMillis());
+// content.put("method", "payload_authority_grab");
+// content.put("data", data);
+// String message = JSONObject.toJSONString(content);
+// System.out.println(message);
+// MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+// return "发送成功";
+// } catch (Exception e) {
+// e.printStackTrace();
+// return "发送失败";
+// }
+// }
+//
+//
+// /**
+// * 进入指令飞行控制模式
+// * @return JsonResult
+// */
+// public String drcModeEnter(String airPortSn){
+// try {
+// seq = 0;
+// Integer qos = 1;
+// Boolean retained = false;
+// //topic主题 sn是机场sn号 thing/product/%s/services
+// //TODO 此处用的是无人的SN号 待测试
+// String topic = String.format(someTopic, airPortSn);
+// //封装数据
+// Map content = new HashMap<>();
+// Map data = new HashMap<>();
+// //负载枚举值 镜头负载
+// data.put("hsi_frequency", 1);
+//
+// //Broker 连接信息
+// Map mqttBroker = new HashMap<>();
+// //服务器连接地址
+// mqttBroker.put("address", newAddress);
+// //客户端ID
+// mqttBroker.put("client_id", "DRC" + "-" + airPortSn);
+// //enable_tls
+// mqttBroker.put("enable_tls", false);
+// //expire_time 当前时间+3000秒
+// mqttBroker.put("expire_time", System.currentTimeMillis()/1000 + 36000);
+// //密码
+// mqttBroker.put("password", password);
+// //用户名
+// mqttBroker.put("username", username);
+// data.put("mqtt_broker", mqttBroker);
+// //设置 OSD 上报频率 {"max":30,"min":1,"unit_name":"赫兹 / Hz"}
+// data.put("osd_frequency", 1);
+//
+// content.put("tid", UUID.randomUUID().toString());
+// content.put("bid", UUID.randomUUID().toString());
+// content.put("timestamp",System.currentTimeMillis());
+// content.put("method", DJIMethonConstants.DRC_MODE_ENTER);
+// content.put("data", data);
+// String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+// System.out.println(message);
+// MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+// return "发送成功";
+// } catch (Exception e) {
+// e.printStackTrace();
+// return "发送失败";
+// }
+// }
+//
+//
+//
+// /**
+// * 退出指令飞行控制模式
+// * @param airPortSn 机场sn号
+// * @return JsonResult
+// */
+// @ResponseBody
+// public String drcModeExit(String airPortSn){
+// try {
+// log.info("退出指令飞行控制模式 drc_mode_exit is start");
+// Integer qos = 1;
+// Boolean retained = false;
+// //topic主题 sn是机场sn号 thing/product/%s/services
+// //TODO 此处用的是无人的SN号 待测试
+// String topic = String.format(someTopic, airPortSn);
+// //封装数据
+// Map content = new HashMap<>();
+// Map data = new HashMap<>();
+// content.put("tid", UUID.randomUUID().toString());
+// content.put("bid", UUID.randomUUID().toString());
+// content.put("timestamp",System.currentTimeMillis());
+// content.put("method", DJIMethonConstants.DRC_MODE_EXIT);
+// content.put("data", data);
+// String message = JSONObject.toJSONString(content);
+// System.out.println(message);
+// MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+//// log.info("退出指令飞行控制模式 drc_mode_exit is end topic is {}, message is {}, token is {} ", topic, message, publish);
+// return "发送成功";
+// } catch (Exception e) {
+// e.printStackTrace();
+// return "发送失败";
+// }
+// }
+//
+//
+//
+//
+//}
+//
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index 36a19ef..c7b6f81 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -21,7 +21,25 @@ spring:
default:
topic: topic
newUrl: 58.213.148.44:1883
-# djiClientId: airport_dji_mqtt
+
+# mqtt:
+# #MQTT服务地址，端口号默认11883，如果有多个，用逗号隔开
+# onlineUrl: https://mqtt.t-aaron.com
+# #MQTT服务地址，端口号默认11883，如果有多个，用逗号隔开
+# url: tcp://mqtt.t-aaron.com:10883
+# #用户名
+# username: admin
+# #密码
+# password: admin##123
+# #客户端id(不能重复)
+# client:
+# id: provider-id
+# #MQTT默认的消息推送主题，实际可在调用接口是指定
+# default:
+# topic: topic
+# newUrl: mqtt.t-aaron.com:10883
+
+ # djiClientId: airport_dji_mqtt
# mqtt:
# onlineUrl: http://101.133.163.127:18083
# #MQTT服务地址，端口号默认11883，如果有多个，用逗号隔开
diff --git a/target/classes/application.yml b/target/classes/application.yml
index 36a19ef..c7b6f81 100644
--- a/target/classes/application.yml
+++ b/target/classes/application.yml
@@ -21,7 +21,25 @@ spring:
default:
topic: topic
newUrl: 58.213.148.44:1883
-# djiClientId: airport_dji_mqtt
+
+# mqtt:
+# #MQTT服务地址，端口号默认11883，如果有多个，用逗号隔开
+# onlineUrl: https://mqtt.t-aaron.com
+# #MQTT服务地址，端口号默认11883，如果有多个，用逗号隔开
+# url: tcp://mqtt.t-aaron.com:10883
+# #用户名
+# username: admin
+# #密码
+# password: admin##123
+# #客户端id(不能重复)
+# client:
+# id: provider-id
+# #MQTT默认的消息推送主题，实际可在调用接口是指定
+# default:
+# topic: topic
+# newUrl: mqtt.t-aaron.com:10883
+
+ # djiClientId: airport_dji_mqtt
# mqtt:
# onlineUrl: http://101.133.163.127:18083
# #MQTT服务地址，端口号默认11883，如果有多个，用逗号隔开
diff --git a/target/classes/com/example/math/constants/CommonConstants.class b/target/classes/com/example/math/constants/CommonConstants.class
index 1190e54..b6b8398 100644
Binary files a/target/classes/com/example/math/constants/CommonConstants.class and b/target/classes/com/example/math/constants/CommonConstants.class differ
diff --git a/target/classes/com/example/math/constants/DJIMethonConstants.class b/target/classes/com/example/math/constants/DJIMethonConstants.class
index f499b56..40af9b0 100644
Binary files a/target/classes/com/example/math/constants/DJIMethonConstants.class and b/target/classes/com/example/math/constants/DJIMethonConstants.class differ
diff --git a/target/classes/com/example/math/controller/OperateController.class b/target/classes/com/example/math/controller/OperateController.class
index a69c0af..d7d088c 100644
Binary files a/target/classes/com/example/math/controller/OperateController.class and b/target/classes/com/example/math/controller/OperateController.class differ
diff --git a/target/classes/com/example/math/mqtt/MqttConfig.class b/target/classes/com/example/math/mqtt/MqttConfig.class
index 11a0a21..6091c8a 100644
Binary files a/target/classes/com/example/math/mqtt/MqttConfig.class and b/target/classes/com/example/math/mqtt/MqttConfig.class differ
diff --git a/target/classes/com/example/math/mqtt/consumer/MqttConsumerCallBack.class b/target/classes/com/example/math/mqtt/consumer/MqttConsumerCallBack.class
index 1320091..1f22b41 100644
Binary files a/target/classes/com/example/math/mqtt/consumer/MqttConsumerCallBack.class and b/target/classes/com/example/math/mqtt/consumer/MqttConsumerCallBack.class differ
diff --git a/target/classes/com/example/math/task/FirstTask.class b/target/classes/com/example/math/task/FirstTask.class
index e1580d8..b2e08ed 100644
Binary files a/target/classes/com/example/math/task/FirstTask.class and b/target/classes/com/example/math/task/FirstTask.class differ