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tuoheng_airport_platform_move_20240705
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Переглянути джерело

无人机控制接口

develop
wangwei 1 рік тому
джерело
414b677511
коміт
ad8de66b80
8 змінених файлів з 641 додано та 35 видалено
Розділений перегляд
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  1. +93
    -0
      tuoheng-admin/src/main/java/com/tuoheng/admin/enums/DroneControlEnum.java
  2. +3
    -0
      tuoheng-admin/src/main/java/com/tuoheng/admin/enums/ServiceExceptionEnum.java
  3. +29
    -0
      tuoheng-admin/src/main/java/com/tuoheng/admin/pojo/entity/Point.java
  4. +32
    -0
      tuoheng-admin/src/main/java/com/tuoheng/admin/service/drone/IDroneControlService.java
  5. +131
    -0
      tuoheng-admin/src/main/java/com/tuoheng/admin/service/drone/impl/DroneControlServiceImpl.java
  6. +0
    -34
      tuoheng-admin/src/main/java/com/tuoheng/admin/service/mqttService/MqHttp.java
  7. +1
    -1
      tuoheng-admin/src/main/java/com/tuoheng/admin/service/mqttpush/impl/MqttPushServiceImpl.java
  8. +352
    -0
      tuoheng-admin/src/main/java/com/tuoheng/admin/utils/HTTPUtils.java

+ 93
- 0
tuoheng-admin/src/main/java/com/tuoheng/admin/enums/DroneControlEnum.java Переглянути файл

@@ -0,0 +1,93 @@
package com.tuoheng.admin.enums;

import lombok.Getter;

/**
* @Author: 汪维
* @CreateTime: 2023-06-13 11:09
* @Description: 机场控制类型 枚举
* @Version: 1.0
*/
public enum DroneControlEnum {


MODELOITER("01", "悬停","zhilin","loiter"),

MODERTL("02", "返航","zhilin","rtl"),

MODEAUTO("04", "任务","zhilin","auto"),

MODECHECK("05", "环境检查","zhilin","check"),

//云台控制
CAMERAUP("01","俯仰（上）","yuntai","cameraup"),

CAMERADOMN("02","俯仰（下）","yuntai","cameradown"),

CAMERALEFT("03","左移","yuntai","cameraleft"),

CAMERARIGHT("04","右移","yuntai","cameraright"),

CAMERABIG("05","放大","yuntai","camerabig"),

CAMERASMALL("06","缩小","yuntai","camerasmall"),

CAMERAPHOTO("07","拍照","yuntai","cameraphoto"),

CAMERARECORDING("08","录像","yuntai","camerarecording"),

CAMERARESET("09","云台复位","yuntai","camerareset"),

CAMERASTOP("10","云台停止","yuntai","camerastop"),

CAMERASTOPRECORDING("20","停止录像","yuntai","camerastoprecording"),

CAMERLIGHT("20","可见光","yuntai","cameralight"),

CAMERABLANKHOT("20","黑热","yuntai","camerablackhot"),

CAMERACOLOR("20","彩色","yuntai","cameracolor"),

CAMERAWHITE("20","白热","yuntai","camerawhite"),
;



DroneControlEnum(String value, String desc,String code,String requestCode) {
this.value = value;
this.desc = desc;
this.code=code;
this.requsetCode=requestCode;
}


/**
* 控制类型
*/
@Getter
private String value;

/**
* 描述
*/
@Getter
private String desc;
@Getter
private String code;
@Getter
private String requsetCode;

/**
* 根据请求的code查询
* @param requestCode
* @return
*/
public static DroneControlEnum findEnumByValue(String requestCode) {
for (DroneControlEnum statusEnum : DroneControlEnum.values()) {
if (statusEnum.getRequsetCode() == requestCode) {
return statusEnum;
}
}
throw new IllegalArgumentException("请求值不支持");
}
}

+ 3
- 0
tuoheng-admin/src/main/java/com/tuoheng/admin/enums/ServiceExceptionEnum.java Переглянути файл

@@ -19,6 +19,9 @@ public enum ServiceExceptionEnum implements ExceptionInterface {
*/
AIRPORT_ENVIORMENT_ERROR(5555, "机场环境检查异常！"),

HTTP_RETURN_EMPTY(5556,"请求返回空"),

HTTP_RETURN_ERROR(5557,"请求返回错误"),
;

@Getter

+ 29
- 0
tuoheng-admin/src/main/java/com/tuoheng/admin/pojo/entity/Point.java Переглянути файл

@@ -0,0 +1,29 @@
package com.tuoheng.admin.pojo.entity;

import com.tuoheng.common.common.BaseEntity;
import lombok.Data;

/**
* @Author: 吴彬
* @CreateTime: 2023-05-22 19:09
* @Description: 机场表
* @Version: 1.0
*/
@Data
public class Point{

/**
* 经纬度
*/
private String zlat;

/**
* 经纬度
*/
private String zlon;

/**
* 高度
*/
private String zalt;
}

+ 32
- 0
tuoheng-admin/src/main/java/com/tuoheng/admin/service/drone/IDroneControlService.java Переглянути файл

@@ -0,0 +1,32 @@
package com.tuoheng.admin.service.drone;

import com.tuoheng.admin.pojo.entity.Point;
import com.tuoheng.common.utils.JsonResult;

/**
* @Author: 汪维
* @CreateTime: 2023-06-12 19:09
* @Description: 无人机控制 服务类
* @Version: 1.0
*/
public interface IDroneControlService {
/**
* 无人机模式动作 如悬停 返航
* @return
*/
JsonResult doAction(String action,int airportId);

/**
* 指点飞行
* @return
*/
JsonResult toPiont(Point point, int airportId) throws Exception;

/**
* 航线上传加载
* @return
*/
JsonResult uploadFlyLine(String url,int airportId);


}

+ 131
- 0
tuoheng-admin/src/main/java/com/tuoheng/admin/service/drone/impl/DroneControlServiceImpl.java Переглянути файл

@@ -0,0 +1,131 @@
package com.tuoheng.admin.service.drone.impl;


import com.alibaba.fastjson.JSONObject;
import com.tuoheng.admin.enums.DroneControlEnum;
import com.tuoheng.admin.enums.ServiceExceptionEnum;
import com.tuoheng.admin.pojo.entity.Airport;
import com.tuoheng.admin.pojo.entity.Point;

import com.tuoheng.admin.service.drone.IDroneControlService;
import com.tuoheng.admin.service.airport.impl.AirportServiceImpl;
import com.tuoheng.admin.utils.HTTPUtils;
import com.tuoheng.common.utils.JsonResult;
import com.tuoheng.common.utils.StringUtils;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;



/**
* @Author: 汪维
* @CreateTime: 2023-06-12 19:09
* @Description: 无人机控制 服务实现类
* @Version: 1.0
*/
@Service
@Slf4j
public class DroneControlServiceImpl implements IDroneControlService {
@Autowired
AirportServiceImpl airportService;

/**
* 根据指令 执行无人机控制模式及通道
* @param action
* @param airportId
* @return
*/
@Override
public JsonResult doAction(String action, int airportId) {
try {
Airport airport = airportService.getById(airportId);
if (airport==null){
return JsonResult.error(ServiceExceptionEnum.HTTP_RETURN_ERROR);
}
JSONObject parm = new JSONObject();
DroneControlEnum droneControlEnum = DroneControlEnum.findEnumByValue(action);
parm.put(droneControlEnum.getCode(), droneControlEnum.getValue());
String result = HTTPUtils.requestHTTPContent(airport.getGroundStationUrl(),"post",HTTPUtils.headers,parm);
return returnResult(result,airport.getGroundStationUrl(),JSONObject.toJSONString(parm));
} catch (Exception e) {
log.error("异常",e);
e.printStackTrace();
}
return null;
}

/**
* 指点飞行
* @param point
* @param airportId
* @return
*/
@Override
public JsonResult toPiont(Point point, int airportId) {
Airport airport = airportService.getById(airportId);
if (airport==null){
return JsonResult.error(ServiceExceptionEnum.HTTP_RETURN_ERROR);
}
JSONObject parm = (JSONObject)JSONObject.toJSON(point);
String result = null;
try {
result = HTTPUtils.requestHTTPContent(airport.getGroundStationUrl(),"post",HTTPUtils.headers,parm);
} catch (Exception e) {
log.error("异常",e);
e.printStackTrace();
}
return returnResult(result,airport.getGroundStationUrl(),JSONObject.toJSONString(parm));
}

/**
* 上传航线并加载
* @param url
* @param airportId
* @return
*/
@Override
public JsonResult uploadFlyLine(String url, int airportId) {
Airport airport = airportService.getById(airportId);
if (airport==null){
return JsonResult.error(ServiceExceptionEnum.HTTP_RETURN_ERROR);
}
JSONObject parm = new JSONObject();
parm.put("hangdian",url);
String result = null;
try {
result = HTTPUtils.requestHTTPContent(airport.getGroundStationUrl(),"post",HTTPUtils.headers,parm);
} catch (Exception e) {
log.error("异常",e);
e.printStackTrace();
}
return returnResult(result,airport.getGroundStationUrl(),JSONObject.toJSONString(parm));
}

/**
* 请求返回处理
* @param result
* @param url
* @param parm
* @return
*/
public JsonResult returnResult(String result,String url,String parm){
if (StringUtils.isNotNull(result)){
JSONObject resultObject = JSONObject.parseObject(result);
if(resultObject.getInteger("code")==200){
if ("".equals(resultObject.getString("class"))){
return JsonResult.success();
}else {
log.info("请求url:{},参数:{},返回值:{}",url,parm,result);
return JsonResult.error(ServiceExceptionEnum.HTTP_RETURN_ERROR.getCode(),resultObject.getString("class"));
}
}else {
log.info("请求url:{},参数:{},返回值:{}",url,parm,result);
return JsonResult.error(ServiceExceptionEnum.HTTP_RETURN_ERROR.getCode(),ServiceExceptionEnum.HTTP_RETURN_ERROR.getMessage());
}
}else {
log.info("请求url:{},参数:{},返回值:{}",url,parm,result);
return JsonResult.error(ServiceExceptionEnum.HTTP_RETURN_EMPTY.getCode(),ServiceExceptionEnum.HTTP_RETURN_EMPTY.getMessage());
}
}
}

+ 0
- 34
tuoheng-admin/src/main/java/com/tuoheng/admin/service/mqttService/MqHttp.java Переглянути файл

@@ -1,34 +0,0 @@
package com.tuoheng.admin.service.mqttService;

import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Controller;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.ResponseBody;


@Controller
public class MqHttp {

@Value("${spring.mqtt.onlineUrl}")
String url;
@RequestMapping("/doGetClient")
@ResponseBody
public String doGetClient(){
HttpURLConnectionUtil httpURLConnectionUtil = new HttpURLConnectionUtil();
//String urls=url.replace("tcp","http").replace("1883","18083");
//String urls="https://mqtt.t-aaron.com";
String a = httpURLConnectionUtil.doGet(""+url+"/api/v4/clients?_page=1&_limit=100&_=1657249001745");
return a;
}
//http://124.223.218.130:18083/api/v4/nodes/emqx@127.0.0.1/subscriptions/001497326DAA2502?_=1657257768467
@RequestMapping("/doGetClientById")
@ResponseBody
public String doGetClientById(String clientId){
HttpURLConnectionUtil httpURLConnectionUtil = new HttpURLConnectionUtil();
//String urls=url.replace("tcp","http").replace("1883","18083");
//String urls="https://mqtt.t-aaron.com";
String a = httpURLConnectionUtil.doGet(""+url+"/api/v4/clients/"+clientId+"?_=1657257768467");
return a;
}
}


+ 1
- 1
tuoheng-admin/src/main/java/com/tuoheng/admin/service/mqttpush/impl/MqttPushServiceImpl.java Переглянути файл

@@ -26,7 +26,7 @@ public class MqttPushServiceImpl implements IMqttPushService {
message.put("DeviceID",edgId);
message.put("logID",time);
message.put("type", AlarmTypeEnum.ALARM_CRITICAL.getType());
message.put("Result",1);
message.put("Result",command);
log.info("告警数据：{}，控制面板ID:{}，告警处理已回复",time,edgId);
client.publish(2,false,"/v1/"+edgId+"/log",message.toJSONString());
}

+ 352
- 0
tuoheng-admin/src/main/java/com/tuoheng/admin/utils/HTTPUtils.java Переглянути файл

@@ -0,0 +1,352 @@
package com.tuoheng.admin.utils;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import org.w3c.dom.*;
import org.xml.sax.InputSource;

import javax.imageio.ImageIO;
import javax.net.ssl.*;
import javax.swing.*;
import javax.xml.parsers.DocumentBuilder;
import javax.xml.parsers.DocumentBuilderFactory;
import java.awt.*;
import java.awt.image.BufferedImage;
import java.io.*;
import java.net.HttpURLConnection;
import java.net.URL;
import java.net.URLEncoder;
import java.security.KeyManagementException;
import java.security.NoSuchAlgorithmException;
import java.security.cert.X509Certificate;
import java.util.Collections;
import java.util.HashMap;
import java.util.Map;
import java.util.concurrent.CompletableFuture;

public class HTTPUtils {

// 请求头示例
public static Map<String, String> headers = new HashMap<String, String>() {{
// 设置接收内容类型
put("Accept", "application/json");
// 设置发送内容类型
put("Content-Type", "application/json;charset=UTF-8");
// 设置字符集
put("charset", "UTF-8");
// 设置访问者系统引擎版本、浏览器信息的字段信息，此处伪装成用户通过浏览器访问
put("User-Agent", "Mozilla/4.0 (compatible; MSIE 5.0; Windows NT; DigExt)");
}};

// 禁用 SSL 验证
public static void disableSSLVerification() {
try {
// 创建不验证证书链的 TrustManager
TrustManager[] trustAllCerts = new TrustManager[]{new X509TrustManager() {
public java.security.cert.X509Certificate[] getAcceptedIssuers() {
return null;
}

public void checkClientTrusted(X509Certificate[] certs, String authType) {
}

public void checkServerTrusted(X509Certificate[] certs, String authType) {
}
}
};

// 安装 TrustManager
SSLContext sc = SSLContext.getInstance("SSL");
sc.init(null, trustAllCerts, new java.security.SecureRandom());
HttpsURLConnection.setDefaultSSLSocketFactory(sc.getSocketFactory());

// 创建验证所有主机名的 HostnameVerifier
HostnameVerifier allHostsValid = new HostnameVerifier() {
public boolean verify(String hostname, SSLSession session) {
return true;
}
};

// 安装 HostnameVerifier
HttpsURLConnection.setDefaultHostnameVerifier(allHostsValid);
} catch (NoSuchAlgorithmException e) {
e.printStackTrace();
} catch (KeyManagementException e) {
e.printStackTrace();
}
}

// 将请求头键值对添加到 HTTP 请求中
public static void addHeadersToRequest(HttpURLConnection httpConn, Map<String, ?> headers) {
if (headers != null) {
for (Map.Entry<String, ?> entry : headers.entrySet()) {
String key = entry.getKey();
Object value = entry.getValue();

if (value.getClass().isArray()) {
// 如果是数组类型，则遍历数组并添加请求头
for (Object v : (Object[]) value) {
httpConn.setRequestProperty(key, v.toString());
}
} else {
// 如果不是数组类型，则直接添加请求头
httpConn.setRequestProperty(key, value.toString());
}
}
}
}


// 将请求参数拼接进 URL
public static String concatParamsToURL(String staticURL, String paramsStr){
return staticURL + paramsStr;
}

public static String concatParamsToURL(String staticURL, Map<String, ?> params) throws Exception {
// staticURL 是字符串形式的静态 URL
// params 键与值分别是参数名与参数值，URL 有重复同名参数时将多个值放进数组

// 判断参数是否为空
if (params.isEmpty()) {
return staticURL;
}

StringBuilder sb = new StringBuilder(staticURL);

// 判断 URL 中是否已经包含参数
boolean hasParams = staticURL.indexOf("?") != -1;

// 遍历参数
for (Map.Entry<String, ?> entry : params.entrySet()) {
String key = entry.getKey(); // 参数名
Object value = entry.getValue(); // 参数值

// 判断参数值是否为数组
if (value.getClass().isArray()) {
// 如果是数组，遍历数组并添加参数
for (Object v : (Object[]) value) {
sb.append(hasParams ? "&" : "?")
.append(URLEncoder.encode(key, "utf-8"))
.append("=")
.append(URLEncoder.encode(v.toString(), "utf-8"));
hasParams = true;
}
} else {
// 如果不是数组，直接添加参数
sb.append(hasParams ? "&" : "?")
.append(URLEncoder.encode(key, "utf-8"))
.append("=")
.append(URLEncoder.encode(value.toString(), "utf-8"));
hasParams = true;
}
}

return sb.toString();
}

// 发起 HTTP 请求并获取响应内容
// 重载 requestHTTPContent()，相当于参数有默认值
public static String requestHTTPContent(String strURL) throws Exception {
return requestHTTPContent(strURL, "GET", null, null);
}
public static String requestHTTPContent(String strURL, String method) throws Exception {
return requestHTTPContent(strURL, method, null, null);
}
public static String requestHTTPContent(String strURL, String method, Map<String, ?> headers) throws Exception {
return requestHTTPContent(strURL, method, headers, null);
}
public static String requestHTTPContent(String strURL, String method, Map<String, ?> headers, Map<String, ?> params) throws Exception {
// strURL 是 String 类型的 URL
// method 是 String 类型的请求方法，为 "GET" 或 "POST"
// headers 键与值分别是请求头名与请求头值，有重复同名请求头时将多个值放进数组
// params 键与值分别是参数名与参数值，URL 有重复同名参数时将多个值放进数组

// 忽略验证 https 中 SSL 证书
disableSSLVerification();

// GET 方法下，query 参数拼接在 URL 字符串末尾
if(method.equals("GET") && params != null) {
strURL = concatParamsToURL(strURL, params);
}

System.out.println(strURL);

URL url = new URL(strURL);
HttpURLConnection httpConn = (HttpURLConnection) url.openConnection();
httpConn.setRequestMethod(method);

// 添加 HTTP 请求头
addHeadersToRequest(httpConn, headers);

// 请求时是否使用缓存
httpConn.setUseCaches(false);

// POST 方法请求必须设置下面两项
// 设置是否从 HttpUrlConnection 的对象写
httpConn.setDoOutput(true);
// 设置是否从 HttpUrlConnection 的对象读入
httpConn.setDoInput(true);

// 此处默认 POST 方法发送的内容就是 JSON 形式的 body 参数，可以自行更改
if(method.equals("POST") && params!=null) {
// 发送请求
OutputStream out = new DataOutputStream(httpConn.getOutputStream());
// getBytes() 作用为根据参数给定的编码方式，将一个字符串转化为一个字节数组
out.write(JSON.toJSONString(params).getBytes("UTF-8"));
out.flush();
}
else{
//发送请求
httpConn.connect();
}

String contentType = httpConn.getContentType();
String result = readResponseContent(httpConn);

// 输出响应内容
// outputResponseContent(result, contentType);

return result;
}

// 异步 HTTP 请求
public static CompletableFuture<String> asyncHTTPRequest(String strURL, String method, Map<String, ?> headers, Map<String, ?> params) {
return CompletableFuture.supplyAsync(() -> {
try {
return requestHTTPContent(strURL, method, headers, params);
} catch (Exception e) {
e.printStackTrace();
return null;
}
});
}

// 读取响应内容
public static String readResponseContent(HttpURLConnection httpConn) throws Exception {
try (BufferedReader reader = new BufferedReader(new InputStreamReader(httpConn.getInputStream()))) {
// 此处不用 StringBuffer 而用 StringBuilder 是出于线程安全的考虑
StringBuilder builder = new StringBuilder();
String line;
while ((line = reader.readLine()) != null) {
builder.append(line);
}
return builder.toString();
}
}

// 输出响应内容
public static void outputResponseContent(String responseContent, String contentType) throws Exception {
// contentType 是接收内容类型
// 响应内容为 JSON 格式
if (contentType.contains("application/json")) {
// 解析 JSON 字符串为 JSON 对象
JSONObject jsonObj = JSON.parseObject(responseContent);
printJSON(jsonObj,0);
}
// 响应内容为 XML 格式
else if (contentType.contains("application/xml")) {
// 创建 DocumentBuilderFactory 对象
DocumentBuilderFactory factory = DocumentBuilderFactory.newInstance();
// 创建 DocumentBuilder 对象
DocumentBuilder builder = factory.newDocumentBuilder();
// 将 XML 解析成 Document 对象
Document doc = builder.parse(new InputSource(new StringReader(responseContent)));
printXML(doc);
}
// 响应内容为图像
else if (contentType.contains("image/jpeg") || contentType.contains("image/png")) {
// 将响应内容解码为图片
byte[] imageBytes = responseContent.getBytes();
ByteArrayInputStream bis = new ByteArrayInputStream(imageBytes);
BufferedImage image = ImageIO.read(bis);
viewImage(new ImageIcon(image));
}
// 响应内容为 PDF 文档
else if (contentType.contains("application/pdf")) {
System.out.println("[PDF document]");
}
// 响应内容为二进制数据流
else if (contentType.contains("application/octet-stream")) {
System.out.println("[Binary data]");
}
// 响应内容为 HTML 格式、纯文本格式
else if (contentType.contains("text/html") || contentType.contains("text/plain")) {
System.out.println(responseContent);
}
// 响应内容为其他格式
else {
System.out.println(responseContent);
}

}

// 打印 JSON
public static void printJSON(JSONObject jsonObj, int level) {
if (jsonObj != null) {
for (Map.Entry<String, Object> entry : jsonObj.entrySet()) {
String key = entry.getKey();
Object value = entry.getValue();
String indent = String.join("", Collections.nCopies(level, "\t")); // 缩进
if (value instanceof JSONObject) {
// 嵌套对象
System.out.println(indent + key + " = {");
printJSON((JSONObject) value, level + 1); // 增加嵌套层级
System.out.println(indent + "}");
} else {
// 非嵌套对象
System.out.println(indent + key + " = " + value.toString());
}
}
}
}


// 打印 XML
public static void printXML(Document doc) {
Element root = doc.getDocumentElement();
printXML(System.out, root, 0);
}

// 打印 XML
private static void printXML(PrintStream ps, Element element, int indent) {
printTrunk(ps, indent);
ps.printf("├─ 元素: %s\n", element.getNodeName());

NamedNodeMap attributes = element.getAttributes();
for (int i = 0; i < attributes.getLength(); i++) {
Attr attribute = (Attr) attributes.item(i);
printTrunk(ps, indent + 1);
ps.printf("├─ 属性: %s = %s\n", attribute.getName(), attribute.getValue());
}

NodeList children = element.getChildNodes();
for (int i = 0; i < children.getLength(); i++) {
Node child = children.item(i);
if (child.getNodeType() == Node.ELEMENT_NODE) {
printXML(ps, (Element) child, indent + 1);
} else if (child.getNodeType() == Node.TEXT_NODE) {
String text = child.getNodeValue().trim();
if (!text.isEmpty()) {
printTrunk(ps, indent + 1);
ps.printf("└─ 文本: %s\n", text);
}
}
}
}

// 打印 XML
private static void printTrunk(PrintStream ps, int indent) {
for (int i = 0; i < indent; i++) {
ps.print("| ");
}
}

// 浏览图像
private static void viewImage(ImageIcon imageIcon) {
JLabel label = new JLabel(imageIcon);
JFrame frame = new JFrame("图片显示");
frame.getContentPane().add(label, BorderLayout.CENTER);
frame.pack();
frame.setVisible(true);
}
}

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