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Dock-MultiCtrl
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1.drc手控优化 

2.drc回复日志优化
This commit is contained in:
sdy 2026-06-01 15:10:19 +08:00
parent 7081e66183
commit ec9e18163b
2 changed files with 49 additions and 49 deletions
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4
admin/src/main/java/com/multictrl/common/handler/Mqtt2MessageHandler.java
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@ -47,16 +47,16 @@ public class Mqtt2MessageHandler implements MessageHandler {
String topic = String.valueOf(message.getHeaders().get(MqttHeaders.RECEIVED_TOPIC)); String topic = String.valueOf(message.getHeaders().get(MqttHeaders.RECEIVED_TOPIC));
String payload = message.getPayload().toString(); String payload = message.getPayload().toString();
try { try {
// log.info("client2接收到的消息:{} {}", topic, message.getPayload()); // log.debug("client2接收到的消息:{} {}", topic, message.getPayload());
String method = Utils.getLastTwoSegments(topic, "/"); String method = Utils.getLastTwoSegments(topic, "/");
String afterProduct = StrUtil.subAfter(topic, "product/", false); // "8UUXP1P00A107D/drc/up" String afterProduct = StrUtil.subAfter(topic, "product/", false); // "8UUXP1P00A107D/drc/up"
String gateway = StrUtil.subBefore(afterProduct, "/", false); String gateway = StrUtil.subBefore(afterProduct, "/", false);
if ("drc/up".equals(method)) { if ("drc/up".equals(method)) {
log.debug("drc 回复--> topic:{} ,payload:{}", topic, payload);
JSONObject messageJson = JsonUtils.parseObject(payload, JSONObject.class); JSONObject messageJson = JsonUtils.parseObject(payload, JSONObject.class);
if (messageJson != null) { if (messageJson != null) {
String methodJson = messageJson.getStr(BusinessConstant.METHOD); String methodJson = messageJson.getStr(BusinessConstant.METHOD);
if (VALID_METHODS.contains(methodJson)) { if (VALID_METHODS.contains(methodJson)) {
log.debug("drc 回复--> topic:{} ,payload:{}", topic, payload);
JSONObject dataJson = messageJson.getJSONObject(BusinessConstant.DATA); JSONObject dataJson = messageJson.getJSONObject(BusinessConstant.DATA);
if (dataJson == null) { if (dataJson == null) {
dataJson = new JSONObject(); dataJson = new JSONObject();

94
admin/src/main/java/com/multictrl/modules/business/service/impl/CommandServiceImpl.java
View File

@ -257,10 +257,10 @@ public class CommandServiceImpl implements CommandService {
*/ */
@Override @Override
public void drcStickControl(String dockSn, DrcStick drcStick) { public void drcStickControl(String dockSn, DrcStick drcStick) {
DockDeviceEntity dockDevice = dockDeviceDao.selectOne(new QueryWrapper<DockDeviceEntity>().eq("sn", dockSn)); /*DockDeviceEntity dockDevice = dockDeviceDao.selectOne(new QueryWrapper<DockDeviceEntity>().eq("sn", dockSn));
if (dockDevice == null) { if (dockDevice == null) {
throw new RenException(ErrorCode.DOCK_NOT_REGISTER); throw new RenException(ErrorCode.DOCK_NOT_REGISTER);
} }*/
String topic = "thing/product/" + dockSn + "/drc/down"; String topic = "thing/product/" + dockSn + "/drc/down";
//数值重置 范围 -100~100 //数值重置 范围 -100~100
if (drcStick.getStickInput() > 100) { if (drcStick.getStickInput() > 100) {
@ -269,51 +269,51 @@ public class CommandServiceImpl implements CommandService {
drcStick.setStickInput(-100); drcStick.setStickInput(-100);
} }
//适配机场1 //适配机场1
if ("3-1-0".equals(dockDevice.getDeviceModelKey())) {//大疆机场1 // if ("3-1-0".equals(dockDevice.getDeviceModelKey())) {//大疆机场1
int speed = 17 * drcStick.getStickInput() / 100; int speed = 17 * drcStick.getStickInput() / 100;
JSONObject message = new JSONObject(); JSONObject message = new JSONObject();
message.set("method", "drone_control"); message.set("method", "drone_control");
JSONObject data = new JSONObject(); JSONObject data = new JSONObject();
switch (drcStick.getStickDirection()) { switch (drcStick.getStickDirection()) {
case "pitch": case "pitch":
data.set("x", speed); data.set("x", speed);
break; break;
case "roll": case "roll":
data.set("y", speed); data.set("y", speed);
break; break;
case "yaw": case "yaw":
data.set("w", drcStick.getStickInput() > 0 ? 15 : -15); data.set("w", drcStick.getStickInput() > 0 ? 15 : -15);
break; break;
case "throttle": case "throttle":
data.set("h", drcStick.getStickInput() > 0 ? 5 : -3); data.set("h", drcStick.getStickInput() > 0 ? 5 : -3);
break; break;
}
message.set("data", data);
mqttPushService.pushMessageByClient2(topic, message.toString());
log.debug("drc --> drone_control:topic:{},message:{}", topic, message);
} else {
//数据处理 上升下降的速度变慢,保持中值±330
int stick;
int throttleStick;
if (drcStick.getStickInput() > 0) {
stick = 1024 + (int) (660.0 * drcStick.getStickInput() / 100);
throttleStick = 1024 + 330;
} else {
stick = 1024 - (int) (660.0 * Math.abs(drcStick.getStickInput()) / 100);
throttleStick = 1024 - 330;
}
JSONObject message = new JSONObject();
message.set("seq", System.currentTimeMillis());
message.set("method", "stick_control");
JSONObject data = new JSONObject();
if ("throttle".equals(drcStick.getStickDirection())) {
data.set(drcStick.getStickDirection(), throttleStick);
} else {
data.set(drcStick.getStickDirection(), stick);
}
message.set("data", data);
mqttPushService.pushMessageByClient2(topic, message.toString());
log.debug("drc --> stick_control:topic:{},message:{}", topic, message);
} }
message.set("data", data);
mqttPushService.pushMessageByClient2(topic, message.toString());
log.debug("drc --> drone_control:topic:{},message:{}", topic, message);
// } else {
//数据处理 上升下降的速度变慢,保持中值±330
int stick;
int throttleStick;
if (drcStick.getStickInput() > 0) {
stick = 1024 + (int) (660.0 * drcStick.getStickInput() / 100);
throttleStick = 1024 + 330;
} else {
stick = 1024 - (int) (660.0 * Math.abs(drcStick.getStickInput()) / 100);
throttleStick = 1024 - 330;
}
JSONObject message2 = new JSONObject();
message2.set("seq", System.currentTimeMillis());
message2.set("method", "stick_control");
JSONObject data2 = new JSONObject();
if ("throttle".equals(drcStick.getStickDirection())) {
data2.set(drcStick.getStickDirection(), throttleStick);
} else {
data2.set(drcStick.getStickDirection(), stick);
}
message2.set("data", data2);
mqttPushService.pushMessageByClient2(topic, message2.toString());
log.debug("drc --> stick_control:topic:{},message:{}", topic, message2);
// }
} }
} }