大疆demo提交2
This commit is contained in:
parent
9ea77aa679
commit
b3412109ca
|
|
@ -4,7 +4,26 @@
|
||||||
<option name="autoReloadType" value="SELECTIVE" />
|
<option name="autoReloadType" value="SELECTIVE" />
|
||||||
</component>
|
</component>
|
||||||
<component name="ChangeListManager">
|
<component name="ChangeListManager">
|
||||||
<list default="true" id="7517474b-10e4-4adc-97fc-a0206ac0798a" name="Changes" comment="大疆demo提交" />
|
<list default="true" id="7517474b-10e4-4adc-97fc-a0206ac0798a" name="Changes" comment="大疆demo提交">
|
||||||
|
<change afterPath="$PROJECT_DIR$/src/main/java/com/example/math/constants/DJICommonConstants.java" afterDir="false" />
|
||||||
|
<change afterPath="$PROJECT_DIR$/src/main/java/com/example/math/enums/TakeOffToPointEnum.java" afterDir="false" />
|
||||||
|
<change afterPath="$PROJECT_DIR$/src/main/java/com/example/math/utils/DJIUtils.java" afterDir="false" />
|
||||||
|
<change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
|
||||||
|
<change beforePath="$PROJECT_DIR$/src/main/java/com/example/math/constants/CommonConstants.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/example/math/constants/CommonConstants.java" afterDir="false" />
|
||||||
|
<change beforePath="$PROJECT_DIR$/src/main/java/com/example/math/constants/DJIMethonConstants.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/example/math/constants/DJIMethonConstants.java" afterDir="false" />
|
||||||
|
<change beforePath="$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java" afterDir="false" />
|
||||||
|
<change beforePath="$PROJECT_DIR$/src/main/java/com/example/math/mqtt/MqttConfig.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/example/math/mqtt/MqttConfig.java" afterDir="false" />
|
||||||
|
<change beforePath="$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java" afterDir="false" />
|
||||||
|
<change beforePath="$PROJECT_DIR$/src/main/java/com/example/math/task/FirstTask.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/example/math/task/FirstTask.java" afterDir="false" />
|
||||||
|
<change beforePath="$PROJECT_DIR$/src/main/resources/application.yml" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/resources/application.yml" afterDir="false" />
|
||||||
|
<change beforePath="$PROJECT_DIR$/target/classes/application.yml" beforeDir="false" afterPath="$PROJECT_DIR$/target/classes/application.yml" afterDir="false" />
|
||||||
|
<change beforePath="$PROJECT_DIR$/target/classes/com/example/math/constants/CommonConstants.class" beforeDir="false" afterPath="$PROJECT_DIR$/target/classes/com/example/math/constants/CommonConstants.class" afterDir="false" />
|
||||||
|
<change beforePath="$PROJECT_DIR$/target/classes/com/example/math/constants/DJIMethonConstants.class" beforeDir="false" afterPath="$PROJECT_DIR$/target/classes/com/example/math/constants/DJIMethonConstants.class" afterDir="false" />
|
||||||
|
<change beforePath="$PROJECT_DIR$/target/classes/com/example/math/controller/OperateController.class" beforeDir="false" afterPath="$PROJECT_DIR$/target/classes/com/example/math/controller/OperateController.class" afterDir="false" />
|
||||||
|
<change beforePath="$PROJECT_DIR$/target/classes/com/example/math/mqtt/MqttConfig.class" beforeDir="false" afterPath="$PROJECT_DIR$/target/classes/com/example/math/mqtt/MqttConfig.class" afterDir="false" />
|
||||||
|
<change beforePath="$PROJECT_DIR$/target/classes/com/example/math/mqtt/consumer/MqttConsumerCallBack.class" beforeDir="false" afterPath="$PROJECT_DIR$/target/classes/com/example/math/mqtt/consumer/MqttConsumerCallBack.class" afterDir="false" />
|
||||||
|
<change beforePath="$PROJECT_DIR$/target/classes/com/example/math/task/FirstTask.class" beforeDir="false" afterPath="$PROJECT_DIR$/target/classes/com/example/math/task/FirstTask.class" afterDir="false" />
|
||||||
|
</list>
|
||||||
<option name="SHOW_DIALOG" value="false" />
|
<option name="SHOW_DIALOG" value="false" />
|
||||||
<option name="HIGHLIGHT_CONFLICTS" value="true" />
|
<option name="HIGHLIGHT_CONFLICTS" value="true" />
|
||||||
<option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
|
<option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
|
||||||
|
|
@ -23,28 +42,30 @@
|
||||||
</option>
|
</option>
|
||||||
</component>
|
</component>
|
||||||
<component name="ProjectId" id="2w9dTkbds1SLHxtWq1eBVM0rJkj" />
|
<component name="ProjectId" id="2w9dTkbds1SLHxtWq1eBVM0rJkj" />
|
||||||
|
<component name="ProjectLevelVcsManager" settingsEditedManually="true" />
|
||||||
<component name="ProjectViewState">
|
<component name="ProjectViewState">
|
||||||
<option name="hideEmptyMiddlePackages" value="true" />
|
<option name="hideEmptyMiddlePackages" value="true" />
|
||||||
<option name="showLibraryContents" value="true" />
|
<option name="showLibraryContents" value="true" />
|
||||||
</component>
|
</component>
|
||||||
<component name="PropertiesComponent"><![CDATA[{
|
<component name="PropertiesComponent">{
|
||||||
"keyToString": {
|
"keyToString": {
|
||||||
"RequestMappingsPanelOrder0": "0",
|
"RequestMappingsPanelOrder0": "0",
|
||||||
"RequestMappingsPanelOrder1": "1",
|
"RequestMappingsPanelOrder1": "1",
|
||||||
"RequestMappingsPanelWidth0": "75",
|
"RequestMappingsPanelWidth0": "75",
|
||||||
"RequestMappingsPanelWidth1": "75",
|
"RequestMappingsPanelWidth1": "75",
|
||||||
"RunOnceActivity.OpenProjectViewOnStart": "true",
|
"RunOnceActivity.OpenProjectViewOnStart": "true",
|
||||||
"RunOnceActivity.ShowReadmeOnStart": "true",
|
"RunOnceActivity.ShowReadmeOnStart": "true",
|
||||||
"WebServerToolWindowFactoryState": "false",
|
"WebServerToolWindowFactoryState": "false",
|
||||||
"last_opened_file_path": "D:/newCode/dji_demo",
|
"last_opened_file_path": "D:/code/dji_demo",
|
||||||
"node.js.detected.package.eslint": "true",
|
"node.js.detected.package.eslint": "true",
|
||||||
"node.js.detected.package.tslint": "true",
|
"node.js.detected.package.tslint": "true",
|
||||||
"node.js.selected.package.eslint": "(autodetect)",
|
"node.js.selected.package.eslint": "(autodetect)",
|
||||||
"node.js.selected.package.tslint": "(autodetect)",
|
"node.js.selected.package.tslint": "(autodetect)",
|
||||||
"settings.editor.selected.configurable": "vcs.Git",
|
"settings.editor.selected.configurable": "MavenSettings",
|
||||||
"vue.rearranger.settings.migration": "true"
|
"spring.configuration.checksum": "4f45992762eb36378bf6bd0fb0b9c291",
|
||||||
|
"vue.rearranger.settings.migration": "true"
|
||||||
}
|
}
|
||||||
}]]></component>
|
}</component>
|
||||||
<component name="ReactorSettings">
|
<component name="ReactorSettings">
|
||||||
<option name="notificationShown" value="true" />
|
<option name="notificationShown" value="true" />
|
||||||
</component>
|
</component>
|
||||||
|
|
@ -52,8 +73,26 @@
|
||||||
<key name="CopyFile.RECENT_KEYS">
|
<key name="CopyFile.RECENT_KEYS">
|
||||||
<recent name="D:\newCode\dji_demo" />
|
<recent name="D:\newCode\dji_demo" />
|
||||||
</key>
|
</key>
|
||||||
|
<key name="CopyClassDialog.RECENTS_KEY">
|
||||||
|
<recent name="com.example.math.enums" />
|
||||||
|
<recent name="com.example.math.constants" />
|
||||||
|
<recent name="com.example.math.utils" />
|
||||||
|
</key>
|
||||||
</component>
|
</component>
|
||||||
<component name="RunManager">
|
<component name="RunManager" selected="Spring Boot.DemoAirportApplication">
|
||||||
|
<configuration name="OperateController" type="Application" factoryName="Application" temporary="true" nameIsGenerated="true">
|
||||||
|
<option name="MAIN_CLASS_NAME" value="com.example.math.controller.OperateController" />
|
||||||
|
<module name="demo-airport" />
|
||||||
|
<extension name="coverage">
|
||||||
|
<pattern>
|
||||||
|
<option name="PATTERN" value="com.example.math.controller.*" />
|
||||||
|
<option name="ENABLED" value="true" />
|
||||||
|
</pattern>
|
||||||
|
</extension>
|
||||||
|
<method v="2">
|
||||||
|
<option name="Make" enabled="true" />
|
||||||
|
</method>
|
||||||
|
</configuration>
|
||||||
<configuration default="true" type="JetRunConfigurationType">
|
<configuration default="true" type="JetRunConfigurationType">
|
||||||
<module name="dji_demo" />
|
<module name="dji_demo" />
|
||||||
<method v="2">
|
<method v="2">
|
||||||
|
|
@ -74,6 +113,11 @@
|
||||||
<option name="Make" enabled="true" />
|
<option name="Make" enabled="true" />
|
||||||
</method>
|
</method>
|
||||||
</configuration>
|
</configuration>
|
||||||
|
<recent_temporary>
|
||||||
|
<list>
|
||||||
|
<item itemvalue="Application.OperateController" />
|
||||||
|
</list>
|
||||||
|
</recent_temporary>
|
||||||
</component>
|
</component>
|
||||||
<component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
|
<component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
|
||||||
<component name="TaskManager">
|
<component name="TaskManager">
|
||||||
|
|
@ -84,6 +128,82 @@
|
||||||
<option name="presentableId" value="Default" />
|
<option name="presentableId" value="Default" />
|
||||||
<updated>1745457734060</updated>
|
<updated>1745457734060</updated>
|
||||||
<workItem from="1745457735996" duration="626000" />
|
<workItem from="1745457735996" duration="626000" />
|
||||||
|
<workItem from="1745573734834" duration="12172000" />
|
||||||
|
<workItem from="1745804092531" duration="622000" />
|
||||||
|
<workItem from="1745811131652" duration="1880000" />
|
||||||
|
<workItem from="1745849444771" duration="17349000" />
|
||||||
|
<workItem from="1746702218482" duration="9245000" />
|
||||||
|
<workItem from="1746775603996" duration="4278000" />
|
||||||
|
<workItem from="1747185494742" duration="642000" />
|
||||||
|
<workItem from="1747304258767" duration="597000" />
|
||||||
|
<workItem from="1747356268648" duration="1227000" />
|
||||||
|
<workItem from="1747442534757" duration="481000" />
|
||||||
|
<workItem from="1748308277291" duration="5354000" />
|
||||||
|
<workItem from="1748406065842" duration="595000" />
|
||||||
|
<workItem from="1748413842743" duration="608000" />
|
||||||
|
<workItem from="1748425001532" duration="7947000" />
|
||||||
|
<workItem from="1749171541978" duration="11161000" />
|
||||||
|
<workItem from="1749285546877" duration="2171000" />
|
||||||
|
<workItem from="1749429812890" duration="599000" />
|
||||||
|
<workItem from="1749774951055" duration="654000" />
|
||||||
|
<workItem from="1749777013838" duration="599000" />
|
||||||
|
<workItem from="1749861102586" duration="3140000" />
|
||||||
|
<workItem from="1750034102545" duration="3116000" />
|
||||||
|
<workItem from="1750123282056" duration="597000" />
|
||||||
|
<workItem from="1750125483669" duration="68000" />
|
||||||
|
<workItem from="1750130631809" duration="4873000" />
|
||||||
|
<workItem from="1750152073570" duration="2660000" />
|
||||||
|
<workItem from="1750209909517" duration="1234000" />
|
||||||
|
<workItem from="1750226161543" duration="204000" />
|
||||||
|
<workItem from="1750226379447" duration="3079000" />
|
||||||
|
<workItem from="1750293539048" duration="5617000" />
|
||||||
|
<workItem from="1750379878072" duration="2554000" />
|
||||||
|
<workItem from="1750466103423" duration="1208000" />
|
||||||
|
<workItem from="1750491928454" duration="599000" />
|
||||||
|
<workItem from="1750647615339" duration="1198000" />
|
||||||
|
<workItem from="1750725600556" duration="2446000" />
|
||||||
|
<workItem from="1750848630017" duration="596000" />
|
||||||
|
<workItem from="1751101718275" duration="1488000" />
|
||||||
|
<workItem from="1751269862330" duration="3147000" />
|
||||||
|
<workItem from="1751333593584" duration="280000" />
|
||||||
|
<workItem from="1751340546230" duration="516000" />
|
||||||
|
<workItem from="1751361561706" duration="11425000" />
|
||||||
|
<workItem from="1751531672871" duration="675000" />
|
||||||
|
<workItem from="1751539018383" duration="6833000" />
|
||||||
|
<workItem from="1752111996657" duration="958000" />
|
||||||
|
<workItem from="1752297676928" duration="610000" />
|
||||||
|
<workItem from="1752651343517" duration="1669000" />
|
||||||
|
<workItem from="1752712856808" duration="597000" />
|
||||||
|
<workItem from="1752721948690" duration="5477000" />
|
||||||
|
<workItem from="1752897079985" duration="1312000" />
|
||||||
|
<workItem from="1752913418893" duration="3495000" />
|
||||||
|
<workItem from="1753145776971" duration="1532000" />
|
||||||
|
<workItem from="1753160939496" duration="598000" />
|
||||||
|
<workItem from="1753166679112" duration="652000" />
|
||||||
|
<workItem from="1753230955634" duration="215000" />
|
||||||
|
<workItem from="1753408556319" duration="1162000" />
|
||||||
|
<workItem from="1753424974257" duration="1344000" />
|
||||||
|
<workItem from="1753521115040" duration="790000" />
|
||||||
|
<workItem from="1753532572293" duration="24000" />
|
||||||
|
<workItem from="1753770664163" duration="9144000" />
|
||||||
|
<workItem from="1753880392335" duration="155000" />
|
||||||
|
<workItem from="1753923445734" duration="9798000" />
|
||||||
|
<workItem from="1754028330798" duration="597000" />
|
||||||
|
<workItem from="1754278770125" duration="7458000" />
|
||||||
|
<workItem from="1754294920049" duration="3215000" />
|
||||||
|
<workItem from="1754354429646" duration="1809000" />
|
||||||
|
<workItem from="1754710156315" duration="2094000" />
|
||||||
|
<workItem from="1754872583621" duration="112000" />
|
||||||
|
<workItem from="1754959006084" duration="1855000" />
|
||||||
|
<workItem from="1755045504312" duration="395000" />
|
||||||
|
<workItem from="1755255229544" duration="3080000" />
|
||||||
|
<workItem from="1755563698990" duration="4383000" />
|
||||||
|
<workItem from="1755650311144" duration="594000" />
|
||||||
|
<workItem from="1755737721064" duration="1192000" />
|
||||||
|
<workItem from="1756452369056" duration="3989000" />
|
||||||
|
<workItem from="1756545800079" duration="592000" />
|
||||||
|
<workItem from="1758182413279" duration="2381000" />
|
||||||
|
<workItem from="1758594169567" duration="2118000" />
|
||||||
</task>
|
</task>
|
||||||
<task id="LOCAL-00001" summary="大疆demo提交">
|
<task id="LOCAL-00001" summary="大疆demo提交">
|
||||||
<option name="closed" value="true" />
|
<option name="closed" value="true" />
|
||||||
|
|
@ -99,8 +219,115 @@
|
||||||
<component name="TypeScriptGeneratedFilesManager">
|
<component name="TypeScriptGeneratedFilesManager">
|
||||||
<option name="version" value="3" />
|
<option name="version" value="3" />
|
||||||
</component>
|
</component>
|
||||||
|
<component name="Vcs.Log.Tabs.Properties">
|
||||||
|
<option name="TAB_STATES">
|
||||||
|
<map>
|
||||||
|
<entry key="MAIN">
|
||||||
|
<value>
|
||||||
|
<State />
|
||||||
|
</value>
|
||||||
|
</entry>
|
||||||
|
</map>
|
||||||
|
</option>
|
||||||
|
</component>
|
||||||
<component name="VcsManagerConfiguration">
|
<component name="VcsManagerConfiguration">
|
||||||
<MESSAGE value="大疆demo提交" />
|
<MESSAGE value="大疆demo提交" />
|
||||||
<option name="LAST_COMMIT_MESSAGE" value="大疆demo提交" />
|
<option name="LAST_COMMIT_MESSAGE" value="大疆demo提交" />
|
||||||
</component>
|
</component>
|
||||||
|
<component name="XDebuggerManager">
|
||||||
|
<breakpoint-manager>
|
||||||
|
<breakpoints>
|
||||||
|
<line-breakpoint enabled="true" type="java-line">
|
||||||
|
<url>file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java</url>
|
||||||
|
<line>1199</line>
|
||||||
|
<option name="timeStamp" value="1" />
|
||||||
|
</line-breakpoint>
|
||||||
|
<line-breakpoint enabled="true" type="java-line">
|
||||||
|
<url>file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java</url>
|
||||||
|
<line>1213</line>
|
||||||
|
<option name="timeStamp" value="2" />
|
||||||
|
</line-breakpoint>
|
||||||
|
<line-breakpoint enabled="true" type="java-line">
|
||||||
|
<url>file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java</url>
|
||||||
|
<line>344</line>
|
||||||
|
<option name="timeStamp" value="20" />
|
||||||
|
</line-breakpoint>
|
||||||
|
<line-breakpoint enabled="true" type="java-line">
|
||||||
|
<url>file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java</url>
|
||||||
|
<line>352</line>
|
||||||
|
<option name="timeStamp" value="21" />
|
||||||
|
</line-breakpoint>
|
||||||
|
<line-breakpoint enabled="true" type="java-line">
|
||||||
|
<url>file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java</url>
|
||||||
|
<line>220</line>
|
||||||
|
<option name="timeStamp" value="26" />
|
||||||
|
</line-breakpoint>
|
||||||
|
<line-breakpoint enabled="true" type="java-line">
|
||||||
|
<url>file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java</url>
|
||||||
|
<line>225</line>
|
||||||
|
<option name="timeStamp" value="27" />
|
||||||
|
</line-breakpoint>
|
||||||
|
<line-breakpoint enabled="true" type="java-line">
|
||||||
|
<url>file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java</url>
|
||||||
|
<line>222</line>
|
||||||
|
<option name="timeStamp" value="28" />
|
||||||
|
</line-breakpoint>
|
||||||
|
<line-breakpoint enabled="true" type="java-line">
|
||||||
|
<url>file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java</url>
|
||||||
|
<line>1625</line>
|
||||||
|
<option name="timeStamp" value="30" />
|
||||||
|
</line-breakpoint>
|
||||||
|
<line-breakpoint enabled="true" type="java-line">
|
||||||
|
<url>file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java</url>
|
||||||
|
<line>1553</line>
|
||||||
|
<option name="timeStamp" value="31" />
|
||||||
|
</line-breakpoint>
|
||||||
|
<line-breakpoint enabled="true" type="java-line">
|
||||||
|
<url>file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java</url>
|
||||||
|
<line>1627</line>
|
||||||
|
<option name="timeStamp" value="32" />
|
||||||
|
</line-breakpoint>
|
||||||
|
<line-breakpoint enabled="true" type="java-line">
|
||||||
|
<url>file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java</url>
|
||||||
|
<line>1515</line>
|
||||||
|
<option name="timeStamp" value="35" />
|
||||||
|
</line-breakpoint>
|
||||||
|
<line-breakpoint enabled="true" type="java-line">
|
||||||
|
<url>file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java</url>
|
||||||
|
<line>1539</line>
|
||||||
|
<option name="timeStamp" value="36" />
|
||||||
|
</line-breakpoint>
|
||||||
|
<line-breakpoint enabled="true" type="java-line">
|
||||||
|
<url>file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java</url>
|
||||||
|
<line>1730</line>
|
||||||
|
<option name="timeStamp" value="37" />
|
||||||
|
</line-breakpoint>
|
||||||
|
<line-breakpoint enabled="true" type="java-line">
|
||||||
|
<url>file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java</url>
|
||||||
|
<line>1733</line>
|
||||||
|
<option name="timeStamp" value="38" />
|
||||||
|
</line-breakpoint>
|
||||||
|
<line-breakpoint enabled="true" type="java-line">
|
||||||
|
<url>file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java</url>
|
||||||
|
<line>244</line>
|
||||||
|
<option name="timeStamp" value="46" />
|
||||||
|
</line-breakpoint>
|
||||||
|
<line-breakpoint enabled="true" type="java-line">
|
||||||
|
<url>file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java</url>
|
||||||
|
<line>1284</line>
|
||||||
|
<option name="timeStamp" value="59" />
|
||||||
|
</line-breakpoint>
|
||||||
|
<line-breakpoint enabled="true" type="java-line">
|
||||||
|
<url>file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java</url>
|
||||||
|
<line>241</line>
|
||||||
|
<option name="timeStamp" value="60" />
|
||||||
|
</line-breakpoint>
|
||||||
|
<line-breakpoint enabled="true" type="java-line">
|
||||||
|
<url>file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java</url>
|
||||||
|
<line>273</line>
|
||||||
|
<option name="timeStamp" value="62" />
|
||||||
|
</line-breakpoint>
|
||||||
|
</breakpoints>
|
||||||
|
</breakpoint-manager>
|
||||||
|
</component>
|
||||||
</project>
|
</project>
|
||||||
|
|
@ -11,4 +11,45 @@ public class CommonConstants {
|
||||||
* 无人机异步飞行
|
* 无人机异步飞行
|
||||||
*/
|
*/
|
||||||
public static final String ASYNFLY = "asynFly";
|
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";
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -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";
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
|
|
@ -8,16 +8,81 @@ package com.example.math.constants;
|
||||||
*/
|
*/
|
||||||
public class DJIMethonConstants {
|
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
|
* 直播方法
|
||||||
*/
|
*/
|
||||||
public static final String LIVE_START_PUSH = "live_start_push";
|
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";
|
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
|
* 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";
|
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";
|
public static final String AIRPORT_ORGANIZATION_BIND = "airport_organization_bind";
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* 与阿里云建立连接
|
* 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";
|
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";
|
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";
|
public static final String UPDATE_TODO = "update_topo";
|
||||||
|
|
||||||
/**
|
|
||||||
* 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";
|
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* 负载控制—切换相机模式
|
* 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";
|
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
|
* DRC-飞行控制
|
||||||
*/
|
*/
|
||||||
public static final String DRONE_CONTROL = "drone_control";
|
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
|
* 航线暂停
|
||||||
|
|
@ -134,21 +199,36 @@ public class DJIMethonConstants {
|
||||||
*/
|
*/
|
||||||
public static final String LIVE_LENS_CHANGE = "live_lens_change";
|
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
|
* 一键返航
|
||||||
*/
|
*/
|
||||||
public static final String RETURN_HOME = "return_home";
|
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
|
* 指点飞行
|
||||||
*/
|
*/
|
||||||
public static final String FLY_TO_POINT = "fly_to_point";
|
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
|
* 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";
|
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";
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -3,6 +3,12 @@ package com.example.math.controller;
|
||||||
|
|
||||||
|
|
||||||
import com.alibaba.fastjson2.JSONObject;
|
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.constants.DJIMethonConstants;
|
||||||
import com.example.math.entity.dto.BreakPoint;
|
import com.example.math.entity.dto.BreakPoint;
|
||||||
import com.example.math.entity.dto.ExecutableConditions;
|
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.MqttConfig;
|
||||||
import com.example.math.mqtt.SpringUtil;
|
import com.example.math.mqtt.SpringUtil;
|
||||||
//import com.example.math.task.FirstTask;
|
//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.RedisUtils;
|
||||||
import com.example.math.utils.SslUtils;
|
import com.example.math.utils.SslUtils;
|
||||||
|
import lombok.extern.slf4j.Slf4j;
|
||||||
import org.apache.commons.compress.archivers.ArchiveEntry;
|
import org.apache.commons.compress.archivers.ArchiveEntry;
|
||||||
import org.apache.commons.compress.archivers.ArchiveInputStream;
|
import org.apache.commons.compress.archivers.ArchiveInputStream;
|
||||||
import org.apache.commons.compress.archivers.zip.ZipArchiveInputStream;
|
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.MqttDeliveryToken;
|
||||||
|
import org.eclipse.paho.client.mqttv3.MqttException;
|
||||||
import org.springframework.beans.factory.annotation.Autowired;
|
import org.springframework.beans.factory.annotation.Autowired;
|
||||||
import org.springframework.beans.factory.annotation.Value;
|
import org.springframework.beans.factory.annotation.Value;
|
||||||
import org.springframework.stereotype.Controller;
|
import org.springframework.stereotype.Controller;
|
||||||
import org.springframework.util.CollectionUtils;
|
import org.springframework.util.CollectionUtils;
|
||||||
import org.springframework.web.bind.annotation.GetMapping;
|
import org.springframework.web.bind.annotation.*;
|
||||||
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.multipart.MultipartFile;
|
import org.springframework.web.multipart.MultipartFile;
|
||||||
|
|
||||||
import java.io.BufferedReader;
|
import java.io.BufferedReader;
|
||||||
|
|
@ -41,12 +49,11 @@ import java.net.MalformedURLException;
|
||||||
import java.net.URL;
|
import java.net.URL;
|
||||||
import java.net.URLConnection;
|
import java.net.URLConnection;
|
||||||
import java.sql.Date;
|
import java.sql.Date;
|
||||||
import java.util.ArrayList;
|
import java.time.Instant;
|
||||||
import java.util.HashMap;
|
import java.time.LocalDateTime;
|
||||||
import java.util.List;
|
import java.time.ZoneId;
|
||||||
import java.util.Map;
|
import java.time.format.DateTimeFormatter;
|
||||||
import java.util.Objects;
|
import java.util.*;
|
||||||
import java.util.UUID;
|
|
||||||
|
|
||||||
|
|
||||||
/**
|
/**
|
||||||
|
|
@ -75,10 +82,25 @@ import java.util.UUID;
|
||||||
*
|
*
|
||||||
* live_stop_push
|
* 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=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_stop_push?one=1581F6Q8D248900G5PYE&two=81-0-0&three=normal-0
|
||||||
*
|
*
|
||||||
* http://localhost:9999/operate/live_lens_change?video_type=normal
|
* 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 机场sn号
|
||||||
* * @param airPortSn 速度 String maxsSpeed
|
* * @param airPortSn 速度 String maxsSpeed
|
||||||
|
|
@ -98,6 +120,7 @@ import java.util.UUID;
|
||||||
*/
|
*/
|
||||||
@RequestMapping(path="/operate")
|
@RequestMapping(path="/operate")
|
||||||
@Controller
|
@Controller
|
||||||
|
@Slf4j
|
||||||
public class OperateController {
|
public class OperateController {
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -112,7 +135,7 @@ public class OperateController {
|
||||||
qos = 2;
|
qos = 2;
|
||||||
}
|
}
|
||||||
if(retained == null){
|
if(retained == null){
|
||||||
retained = true;
|
retained = false;
|
||||||
}
|
}
|
||||||
if(topic == null){
|
if(topic == null){
|
||||||
topic = "firsttest";
|
topic = "firsttest";
|
||||||
|
|
@ -145,7 +168,7 @@ public class OperateController {
|
||||||
qos = 2;
|
qos = 2;
|
||||||
}
|
}
|
||||||
if(retained == null){
|
if(retained == null){
|
||||||
retained = true;
|
retained = false;
|
||||||
}
|
}
|
||||||
if(topic == null){
|
if(topic == null){
|
||||||
topic = "thing/product/7CTDM7H00B5EM1/services";
|
topic = "thing/product/7CTDM7H00B5EM1/services";
|
||||||
|
|
@ -187,7 +210,7 @@ public class OperateController {
|
||||||
qos = 2;
|
qos = 2;
|
||||||
}
|
}
|
||||||
if(retained == null){
|
if(retained == null){
|
||||||
retained = true;
|
retained = false;
|
||||||
}
|
}
|
||||||
if(topic == null){
|
if(topic == null){
|
||||||
topic = "thing/product/7CTDM7H00B5EM1/services";
|
topic = "thing/product/7CTDM7H00B5EM1/services";
|
||||||
|
|
@ -230,7 +253,7 @@ public class OperateController {
|
||||||
qos = 2;
|
qos = 2;
|
||||||
}
|
}
|
||||||
if(retained == null){
|
if(retained == null){
|
||||||
retained = true;
|
retained = false;
|
||||||
}
|
}
|
||||||
if(topic == null){
|
if(topic == null){
|
||||||
topic = "thing/product/7CTDM7H00B5EM1/services";
|
topic = "thing/product/7CTDM7H00B5EM1/services";
|
||||||
|
|
@ -272,7 +295,7 @@ public class OperateController {
|
||||||
qos = 2;
|
qos = 2;
|
||||||
}
|
}
|
||||||
if(retained == null){
|
if(retained == null){
|
||||||
retained = true;
|
retained = false;
|
||||||
}
|
}
|
||||||
if(topic == null){
|
if(topic == null){
|
||||||
topic = "thing/product/7CTDM7H00B5EM1/services";
|
topic = "thing/product/7CTDM7H00B5EM1/services";
|
||||||
|
|
@ -315,7 +338,7 @@ public class OperateController {
|
||||||
qos = 2;
|
qos = 2;
|
||||||
}
|
}
|
||||||
if(retained == null){
|
if(retained == null){
|
||||||
retained = true;
|
retained = false;
|
||||||
}
|
}
|
||||||
if(topic == null){
|
if(topic == null){
|
||||||
topic = "thing/product/7CTDM7H00B5EM1/services";
|
topic = "thing/product/7CTDM7H00B5EM1/services";
|
||||||
|
|
@ -359,7 +382,7 @@ public class OperateController {
|
||||||
qos = 2;
|
qos = 2;
|
||||||
}
|
}
|
||||||
if(retained == null){
|
if(retained == null){
|
||||||
retained = true;
|
retained = false;
|
||||||
}
|
}
|
||||||
if(topic == null){
|
if(topic == null){
|
||||||
topic = "thing/product/7CTDM7H00B5EM1/services";
|
topic = "thing/product/7CTDM7H00B5EM1/services";
|
||||||
|
|
@ -395,7 +418,7 @@ public class OperateController {
|
||||||
qos = 2;
|
qos = 2;
|
||||||
}
|
}
|
||||||
if(retained == null){
|
if(retained == null){
|
||||||
retained = true;
|
retained = false;
|
||||||
}
|
}
|
||||||
if(topic == null){
|
if(topic == null){
|
||||||
topic = "thing/product/7CTDM7H00BXZD1/services";
|
topic = "thing/product/7CTDM7H00BXZD1/services";
|
||||||
|
|
@ -437,7 +460,7 @@ public class OperateController {
|
||||||
qos = 2;
|
qos = 2;
|
||||||
}
|
}
|
||||||
if(retained == null){
|
if(retained == null){
|
||||||
retained = true;
|
retained = false;
|
||||||
}
|
}
|
||||||
if(topic == null){
|
if(topic == null){
|
||||||
topic = "thing/product/7CTDM7H00B5EM1/services";
|
topic = "thing/product/7CTDM7H00B5EM1/services";
|
||||||
|
|
@ -531,7 +554,7 @@ public class OperateController {
|
||||||
qos = 2;
|
qos = 2;
|
||||||
}
|
}
|
||||||
if(retained == null){
|
if(retained == null){
|
||||||
retained = true;
|
retained = false;
|
||||||
}
|
}
|
||||||
if(topic == null){
|
if(topic == null){
|
||||||
topic = "thing/product/7CTDM7H00B5EM1/services";
|
topic = "thing/product/7CTDM7H00B5EM1/services";
|
||||||
|
|
@ -582,7 +605,7 @@ public class OperateController {
|
||||||
qos = 2;
|
qos = 2;
|
||||||
}
|
}
|
||||||
if(retained == null){
|
if(retained == null){
|
||||||
retained = true;
|
retained = false;
|
||||||
}
|
}
|
||||||
if(topic == null){
|
if(topic == null){
|
||||||
topic = "thing/product/7CTDM7H00B5EM1/services";
|
topic = "thing/product/7CTDM7H00B5EM1/services";
|
||||||
|
|
@ -621,7 +644,7 @@ public class OperateController {
|
||||||
qos = 2;
|
qos = 2;
|
||||||
}
|
}
|
||||||
if(retained == null){
|
if(retained == null){
|
||||||
retained = true;
|
retained = false;
|
||||||
}
|
}
|
||||||
if(topic == null){
|
if(topic == null){
|
||||||
topic = "thing/product/7CTXM9Q00B02H2/services";
|
topic = "thing/product/7CTXM9Q00B02H2/services";
|
||||||
|
|
@ -660,7 +683,7 @@ public class OperateController {
|
||||||
qos = 2;
|
qos = 2;
|
||||||
}
|
}
|
||||||
if(retained == null){
|
if(retained == null){
|
||||||
retained = true;
|
retained = false;
|
||||||
}
|
}
|
||||||
if(topic == null){
|
if(topic == null){
|
||||||
topic = "thing/product/7CTDM7H00B5EM1/services";
|
topic = "thing/product/7CTDM7H00B5EM1/services";
|
||||||
|
|
@ -704,7 +727,7 @@ public class OperateController {
|
||||||
qos = 2;
|
qos = 2;
|
||||||
}
|
}
|
||||||
if(retained == null){
|
if(retained == null){
|
||||||
retained = true;
|
retained = false;
|
||||||
}
|
}
|
||||||
if(topic == null){
|
if(topic == null){
|
||||||
topic = "thing/product/7CTDM7H00B5EM1/services";
|
topic = "thing/product/7CTDM7H00B5EM1/services";
|
||||||
|
|
@ -748,7 +771,7 @@ public class OperateController {
|
||||||
qos = 2;
|
qos = 2;
|
||||||
}
|
}
|
||||||
if(retained == null){
|
if(retained == null){
|
||||||
retained = true;
|
retained = false;
|
||||||
}
|
}
|
||||||
if(topic == null){
|
if(topic == null){
|
||||||
topic = "thing/product/7CTDM7H00B5EM1/services";
|
topic = "thing/product/7CTDM7H00B5EM1/services";
|
||||||
|
|
@ -788,7 +811,7 @@ public class OperateController {
|
||||||
qos = 2;
|
qos = 2;
|
||||||
}
|
}
|
||||||
if(retained == null){
|
if(retained == null){
|
||||||
retained = true;
|
retained = false;
|
||||||
}
|
}
|
||||||
if(topic == null){
|
if(topic == null){
|
||||||
topic = "thing/product/7CTDM7H00B5EM1/services";
|
topic = "thing/product/7CTDM7H00B5EM1/services";
|
||||||
|
|
@ -831,7 +854,7 @@ public class OperateController {
|
||||||
qos = 2;
|
qos = 2;
|
||||||
}
|
}
|
||||||
if(retained == null){
|
if(retained == null){
|
||||||
retained = true;
|
retained = false;
|
||||||
}
|
}
|
||||||
if(topic == null){
|
if(topic == null){
|
||||||
topic = "thing/product/7CTDM7H00B5EM1/services";
|
topic = "thing/product/7CTDM7H00B5EM1/services";
|
||||||
|
|
@ -875,7 +898,7 @@ public class OperateController {
|
||||||
qos = 2;
|
qos = 2;
|
||||||
}
|
}
|
||||||
if(retained == null){
|
if(retained == null){
|
||||||
retained = true;
|
retained = false;
|
||||||
}
|
}
|
||||||
if(topic == null){
|
if(topic == null){
|
||||||
topic = "thing/product/7CTDM7H00B5EM1/services";
|
topic = "thing/product/7CTDM7H00B5EM1/services";
|
||||||
|
|
@ -923,7 +946,7 @@ public class OperateController {
|
||||||
}
|
}
|
||||||
try {
|
try {
|
||||||
Integer qos = 2;
|
Integer qos = 2;
|
||||||
Boolean retained = true;
|
Boolean retained = false;
|
||||||
//topic主题 sn是机场sn号 thing/product/%s/services
|
//topic主题 sn是机场sn号 thing/product/%s/services
|
||||||
String topic = String.format(someTopic, airPortSn);
|
String topic = String.format(someTopic, airPortSn);
|
||||||
//封装数据
|
//封装数据
|
||||||
|
|
@ -971,7 +994,7 @@ public class OperateController {
|
||||||
}
|
}
|
||||||
|
|
||||||
@Autowired
|
@Autowired
|
||||||
private static String airPortSn = "7CTXMC900B054P";
|
private static String airPortSn = "7CTDM7H00BXZD1";
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* 飞行控制权抢夺 /flightAuthorityGrab
|
* 飞行控制权抢夺 /flightAuthorityGrab
|
||||||
|
|
@ -983,7 +1006,7 @@ public class OperateController {
|
||||||
public String flightAuthorityGrab(){
|
public String flightAuthorityGrab(){
|
||||||
try {
|
try {
|
||||||
Integer qos = 2;
|
Integer qos = 2;
|
||||||
Boolean retained = true;
|
Boolean retained = false;
|
||||||
//topic主题 sn是机场sn号 thing/product/%s/services
|
//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
|
//TODO 此处用的是无人的SN号 待测试
|
||||||
String topic = String.format(someTopic, airPortSn);
|
String topic = String.format(someTopic, airPortSn);
|
||||||
|
|
@ -1014,7 +1037,7 @@ public class OperateController {
|
||||||
public String payloadAuthorityGrab(String cameraIndex){
|
public String payloadAuthorityGrab(String cameraIndex){
|
||||||
try {
|
try {
|
||||||
Integer qos = 2;
|
Integer qos = 2;
|
||||||
Boolean retained = true;
|
Boolean retained = false;
|
||||||
//topic主题 sn是机场sn号 thing/product/%s/services
|
//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
|
//TODO 此处用的是无人的SN号 待测试
|
||||||
String topic = String.format(someTopic, airPortSn);
|
String topic = String.format(someTopic, airPortSn);
|
||||||
|
|
@ -1054,9 +1077,37 @@ public class OperateController {
|
||||||
@Value("${spring.mqtt.client.id}")
|
@Value("${spring.mqtt.client.id}")
|
||||||
private String clientId;
|
private String clientId;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* DRC心跳
|
||||||
|
* @return JsonResult
|
||||||
|
*/
|
||||||
|
|
||||||
|
private static Integer seq = 0;
|
||||||
|
|
||||||
|
@ResponseBody
|
||||||
|
@RequestMapping("/drcOsd")
|
||||||
|
public String drcOsd() throws InterruptedException{
|
||||||
|
if (true){
|
||||||
|
Map<String,Object> content = new HashMap<>();
|
||||||
|
HashMap<String, Long> 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
|
* 进入指令飞行控制模式
|
||||||
* @param airPortSn 机场sn号
|
|
||||||
* @return JsonResult
|
* @return JsonResult
|
||||||
*/
|
*/
|
||||||
@ResponseBody
|
@ResponseBody
|
||||||
|
|
@ -1065,7 +1116,7 @@ public class OperateController {
|
||||||
try {
|
try {
|
||||||
|
|
||||||
Integer qos = 1;
|
Integer qos = 1;
|
||||||
Boolean retained = true;
|
Boolean retained = false;
|
||||||
//topic主题 sn是机场sn号 thing/product/%s/services
|
//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
|
//TODO 此处用的是无人的SN号 待测试
|
||||||
String topic = String.format(someTopic, airPortSn);
|
String topic = String.format(someTopic, airPortSn);
|
||||||
|
|
@ -1073,7 +1124,7 @@ public class OperateController {
|
||||||
Map<String,Object> content = new HashMap<>();
|
Map<String,Object> content = new HashMap<>();
|
||||||
Map<String,Object> data = new HashMap<>();
|
Map<String,Object> data = new HashMap<>();
|
||||||
//负载枚举值 镜头负载
|
//负载枚举值 镜头负载
|
||||||
data.put("hsi_frequency", 20);
|
data.put("hsi_frequency", 1);
|
||||||
|
|
||||||
//Broker 连接信息
|
//Broker 连接信息
|
||||||
Map<String,Object> mqttBroker = new HashMap<>();
|
Map<String,Object> mqttBroker = new HashMap<>();
|
||||||
|
|
@ -1091,7 +1142,7 @@ public class OperateController {
|
||||||
mqttBroker.put("username", username);
|
mqttBroker.put("username", username);
|
||||||
data.put("mqtt_broker", mqttBroker);
|
data.put("mqtt_broker", mqttBroker);
|
||||||
//设置 OSD 上报频率 {"max":30,"min":1,"unit_name":"赫兹 / Hz"}
|
//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("tid", UUID.randomUUID().toString());
|
||||||
content.put("bid", 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("method", DJIMethonConstants.DRC_MODE_ENTER);
|
||||||
content.put("data", data);
|
content.put("data", data);
|
||||||
String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
|
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<String,Object> content = new HashMap<>();
|
||||||
|
Map<String,Object> 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);
|
System.out.println(message);
|
||||||
MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
|
MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
|
||||||
return "发送成功";
|
return "发送成功";
|
||||||
|
|
@ -1110,10 +1195,10 @@ public class OperateController {
|
||||||
|
|
||||||
|
|
||||||
@RequestMapping("/droneEmergencyStop")
|
@RequestMapping("/droneEmergencyStop")
|
||||||
public String droneEmergencyStop(String airPortSn){
|
public String droneEmergencyStop(){
|
||||||
try {
|
try {
|
||||||
Integer qos = 2;
|
Integer qos = 2;
|
||||||
Boolean retained = true;
|
Boolean retained = false;
|
||||||
//topic主题 sn是机场sn号 thing/product/%s/services
|
//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
|
//TODO 此处用的是无人的SN号 待测试
|
||||||
String topic = String.format("thing/product/%s/drc/down", airPortSn);
|
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("method", DJIMethonConstants.DRONE_EMERGENCY_STOP);
|
||||||
content.put("data", data);
|
content.put("data", data);
|
||||||
String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
|
String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
|
||||||
|
System.out.println(topic);
|
||||||
System.out.println(message);
|
System.out.println(message);
|
||||||
MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
|
MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
|
||||||
return "发送成功";
|
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<String,Object> content = new HashMap<>();
|
||||||
|
Map<String,Object> 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 sn 机场sn号
|
||||||
* @param flightId 任务id
|
* @param flightId 任务id
|
||||||
|
|
@ -1144,7 +1277,7 @@ public class OperateController {
|
||||||
try {
|
try {
|
||||||
//sn = "7CTDM7H00B5EM1";
|
//sn = "7CTDM7H00B5EM1";
|
||||||
Integer qos = 2;
|
Integer qos = 2;
|
||||||
Boolean retained = true;
|
Boolean retained = false;
|
||||||
//topic主题 sn是机场sn号 thing/product/%s/services
|
//topic主题 sn是机场sn号 thing/product/%s/services
|
||||||
String topic = String.format("thing/product/%s/services", sn);
|
String topic = String.format("thing/product/%s/services", sn);
|
||||||
//参数封装
|
//参数封装
|
||||||
|
|
@ -1183,7 +1316,7 @@ public class OperateController {
|
||||||
public String flyToPoint(String airPortSn, Integer maxsSpeed, Integer height, Double latitude, Double longitude){
|
public String flyToPoint(String airPortSn, Integer maxsSpeed, Integer height, Double latitude, Double longitude){
|
||||||
try {
|
try {
|
||||||
Integer qos = 2;
|
Integer qos = 2;
|
||||||
Boolean retained = true;
|
Boolean retained = false;
|
||||||
//topic主题 sn是机场sn号 thing/product/%s/services
|
//topic主题 sn是机场sn号 thing/product/%s/services
|
||||||
String topic = String.format(someTopic, airPortSn);
|
String topic = String.format(someTopic, airPortSn);
|
||||||
Map<String,Object> content = new HashMap<>();
|
Map<String,Object> content = new HashMap<>();
|
||||||
|
|
@ -1230,7 +1363,7 @@ public class OperateController {
|
||||||
public String flyToPointStop(String airPortSn){
|
public String flyToPointStop(String airPortSn){
|
||||||
try {
|
try {
|
||||||
Integer qos = 2;
|
Integer qos = 2;
|
||||||
Boolean retained = true;
|
Boolean retained = false;
|
||||||
//topic主题 sn是机场sn号 thing/product/%s/services
|
//topic主题 sn是机场sn号 thing/product/%s/services
|
||||||
String topic = String.format(someTopic, airPortSn);
|
String topic = String.format(someTopic, airPortSn);
|
||||||
Map<String,Object> content = new HashMap<>();
|
Map<String,Object> content = new HashMap<>();
|
||||||
|
|
@ -1265,7 +1398,7 @@ public class OperateController {
|
||||||
public String flyToPointUpdate(String airPortSn, String maxsSpeed, String height, String latitude, String longitude){
|
public String flyToPointUpdate(String airPortSn, String maxsSpeed, String height, String latitude, String longitude){
|
||||||
try {
|
try {
|
||||||
Integer qos = 2;
|
Integer qos = 2;
|
||||||
Boolean retained = true;
|
Boolean retained = false;
|
||||||
//topic主题 sn是机场sn号 thing/product/%s/services
|
//topic主题 sn是机场sn号 thing/product/%s/services
|
||||||
String topic = String.format(someTopic, airPortSn);
|
String topic = String.format(someTopic, airPortSn);
|
||||||
Map<String,Object> content = new HashMap<>();
|
Map<String,Object> content = new HashMap<>();
|
||||||
|
|
@ -1370,20 +1503,311 @@ public class OperateController {
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* 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<String, Object> content = new HashMap<>();
|
||||||
|
Map<String, Object> data = new HashMap<>();
|
||||||
|
|
||||||
|
// 构建module_list
|
||||||
|
List<String> 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<String, Object> content = new HashMap<>();
|
||||||
|
Map<String, Object> data = new HashMap<>();
|
||||||
|
Map<String, Object> credentials = new HashMap<>();
|
||||||
|
Map<String, Object> params = new HashMap<>();
|
||||||
|
List<Map<String, Object>> files = new ArrayList<>();
|
||||||
|
Map<String, Object> fileEntry = new HashMap<>();
|
||||||
|
List<Map<String, Object>> list = new ArrayList<>();
|
||||||
|
|
||||||
|
|
||||||
|
//获取阿里云 OSS对应文件夹的token
|
||||||
|
Map<String, String> 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<String, Object> 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<String, Object> 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<String, Object> content = new HashMap<>();
|
||||||
|
Map<String, Object> data = new HashMap<>();
|
||||||
|
List<Map<String, Object>> devices = new ArrayList<>();
|
||||||
|
|
||||||
|
// 构建无人机设备信息
|
||||||
|
Map<String, Object> 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<String, Object> 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<String, String> ossToken() {
|
||||||
|
Map<String, String> 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<String> 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) {
|
public static void main(String[] args) {
|
||||||
String capacityPercent = "32767.00";
|
// 示例：当前时间戳（秒）
|
||||||
if(Objects.nonNull(capacityPercent)){
|
long timestampInSeconds = System.currentTimeMillis() / 1000;
|
||||||
double v = Double.parseDouble(capacityPercent.toString());
|
timestampInSeconds = 1749403384;
|
||||||
if (v > 100){
|
// 转换为北京时间
|
||||||
System.out.printf("++++++"+ capacityPercent);
|
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);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -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;
|
||||||
|
|
||||||
|
}
|
||||||
|
|
@ -73,13 +73,14 @@ public class MqttConfig {
|
||||||
//订阅主题
|
//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
|
//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
|
//订阅主题
|
||||||
// client.subscribe("thing/product/+/requests",1);
|
// client.subscribe("thing/product/8UUXN3500A02BE/requests",1);
|
||||||
// client.subscribe("thing/product/+/requests_reply",1);
|
// client.subscribe("thing/product/8UUXN3500A02BE/requests_reply",1);
|
||||||
// client.subscribe("thing/product/+/services",1);
|
// client.subscribe("thing/product/8UUXN3500A02BE/services",1);
|
||||||
// client.subscribe("thing/product/+/services_reply",1);
|
// client.subscribe("thing/product/8UUXN3500A02BE/services_reply",1);
|
||||||
// client.subscribe("sys/product/+/status",1);
|
// client.subscribe("sys/product/8UUXN3500A02BE/status",1);
|
||||||
// client.subscribe("thing/product/+/osd",1);
|
// client.subscribe("thing/product/7CTXMC900B054P/osd",1);
|
||||||
// client.subscribe("thing/product/8UUXN2T00A01RU/events",1);
|
// client.subscribe("thing/product/8UUXN3500A02BE/events",1);
|
||||||
|
// client.subscribe("thing/product/1581F6Q83254100BD0UV/osd",1);
|
||||||
|
|
||||||
} catch(MqttException e){
|
} catch(MqttException e){
|
||||||
e.printStackTrace();
|
e.printStackTrace();
|
||||||
|
|
|
||||||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,5 +1,6 @@
|
||||||
package com.example.math.task;
|
package com.example.math.task;
|
||||||
|
|
||||||
|
import com.alibaba.fastjson.JSONObject;
|
||||||
import com.example.math.constants.DJIMethonConstants;
|
import com.example.math.constants.DJIMethonConstants;
|
||||||
import com.example.math.mqtt.MqttConfig;
|
import com.example.math.mqtt.MqttConfig;
|
||||||
import com.example.math.mqtt.SendMsg;
|
import com.example.math.mqtt.SendMsg;
|
||||||
|
|
@ -14,6 +15,7 @@ import org.springframework.scheduling.annotation.Scheduled;
|
||||||
import java.util.HashMap;
|
import java.util.HashMap;
|
||||||
import java.util.List;
|
import java.util.List;
|
||||||
import java.util.Map;
|
import java.util.Map;
|
||||||
|
import java.util.UUID;
|
||||||
|
|
||||||
@Slf4j
|
@Slf4j
|
||||||
@Configuration //1.主要用于标记配置类，兼备Component的效果。
|
@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 Integer seq = 0;
|
||||||
|
|
||||||
|
private static Boolean aBoolean = false;
|
||||||
|
|
||||||
@Autowired
|
@Autowired
|
||||||
private MqttConfig providerClient;
|
private MqttConfig providerClient;
|
||||||
|
|
||||||
|
|
@ -37,18 +41,16 @@ public class FirstTask {
|
||||||
// while(sendList.size()>0) {
|
// while(sendList.size()>0) {
|
||||||
// SendMsg sendMsg = sendList.remove(0);
|
// SendMsg sendMsg = sendList.remove(0);
|
||||||
// log.info("sendmsg qos is {},retained is {}, topic is {}, msg is {}",
|
// 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());
|
// providerClient.publish(sendMsg.getQos(),sendMsg.isRetained(),sendMsg.getTopic(),sendMsg.getMessage());
|
||||||
//
|
//
|
||||||
// }
|
// }
|
||||||
// }
|
// }
|
||||||
|
|
||||||
|
|
||||||
@Scheduled(cron = "0/5 * * * * ?")
|
@Scheduled(cron = "0/2 * * * * ?")
|
||||||
//或直接指定时间间隔，例如：5秒
|
|
||||||
//@Scheduled(fixedRate=5000)
|
|
||||||
private void aaaa() {
|
private void aaaa() {
|
||||||
|
if (true){
|
||||||
Map<String,Object> content = new HashMap<>();
|
Map<String,Object> content = new HashMap<>();
|
||||||
HashMap<String, Long> data
|
HashMap<String, Long> data
|
||||||
= new HashMap<>();
|
= new HashMap<>();
|
||||||
|
|
@ -56,9 +58,94 @@ public class FirstTask {
|
||||||
seq++;
|
seq++;
|
||||||
content.put("method", "heart_beat");
|
content.put("method", "heart_beat");
|
||||||
content.put("data", data);
|
content.put("data", data);
|
||||||
content.put("seq", seq);
|
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<String,Object> content = new HashMap<>();
|
||||||
|
Map<String,Object> 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<String,Object> content = new HashMap<>();
|
||||||
|
Map<String,Object> 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);
|
String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
|
||||||
System.out.println(message);
|
System.out.println(message);
|
||||||
MqttDeliveryToken publish = providerClient.publish(1, false, "thing/product/7CTDM7H00BXZD1/drc/down", message);
|
MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
|
||||||
|
return "发送成功";
|
||||||
|
} catch (Exception e) {
|
||||||
|
e.printStackTrace();
|
||||||
|
return "发送失败";
|
||||||
}
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -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<String,Object> content = new HashMap<>();
|
||||||
|
// Map<String,Object> 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<String,Object> content = new HashMap<>();
|
||||||
|
// Map<String,Object> 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<String,Object> content = new HashMap<>();
|
||||||
|
// Map<String,Object> data = new HashMap<>();
|
||||||
|
// //负载枚举值 镜头负载
|
||||||
|
// data.put("hsi_frequency", 1);
|
||||||
|
//
|
||||||
|
// //Broker 连接信息
|
||||||
|
// Map<String,Object> 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<String,Object> content = new HashMap<>();
|
||||||
|
// Map<String,Object> 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";
|
||||||
|
// }
|
||||||
|
// }
|
||||||
|
//
|
||||||
|
//
|
||||||
|
//
|
||||||
|
//
|
||||||
|
//}
|
||||||
|
//
|
||||||
|
|
@ -21,7 +21,25 @@ spring:
|
||||||
default:
|
default:
|
||||||
topic: topic
|
topic: topic
|
||||||
newUrl: 58.213.148.44:1883
|
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:
|
# mqtt:
|
||||||
# onlineUrl: http://101.133.163.127:18083
|
# 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
|
# #MQTT服务地址，端口号默认11883，如果有多个，用逗号隔开
|
||||||
|
|
|
||||||
|
|
@ -21,7 +21,25 @@ spring:
|
||||||
default:
|
default:
|
||||||
topic: topic
|
topic: topic
|
||||||
newUrl: 58.213.148.44:1883
|
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:
|
# mqtt:
|
||||||
# onlineUrl: http://101.133.163.127:18083
|
# 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
|
# #MQTT服务地址，端口号默认11883，如果有多个，用逗号隔开
|
||||||
|
|
|
||||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Loading…
Reference in New Issue