Merge pull request 'f_add_shuxing' (#3) from f_add_shuxing into dev

Reviewed-on: http://th.local.t-aaron.com:13000/THENG/a-tuoheng-device/pulls/3

src/main/java/com/ruoyi/device/domain/impl/tuohengmqtt/service/TuohengMqttClientService.java

@@ -20,28 +20,28 @@ public class TuohengMqttClientService {
     private final TuohengMqttMessageHandler messageHandler;
     private MqttClient mqttClient;
 
-//    public static final String AIRPORT_NEST_REALTIME_TOPIC = "/topic/v1/airportNest/+/realTime/data";
-//    public static final String AIRPORT_NEST_BASIC_TOPIC = "/topic/v1/airportNest/+/realTime/basic";
-//    public static final String AIRPORT_NEST_CONFIRM_TOPIC = "/topic/v1/airportNest/+/control/confirm";
-//    public static final String AIRPORT_DRONE_REALTIME_TOPIC = "/topic/v1/airportDrone/+/realTime/data";
-//    public static final String AIRPORT_FLY_CONTROL_TOPIC = "/topic/v1/airportFly/+/control";
-//    public static final String AIRPORT_FLY_DATA_TOPIC = "/topic/v1/airportFly/+/control/data";
-//    public static final String AIRPORT_FLY_CONFIRM_TOPIC = "/topic/v1/airportFly/+/control/confirm";
-//    public static final String HEARTBEAT_MESSAGE_TOPIC = "/topic/v1/heartbeat/+/message";
-//    public static final String PRODUCT_OSD_TOPIC = "thing/product/+/osd";
-//    public static final String PRODUCT_EVENTS_TOPIC = "thing/product/+/events";
+    public static final String AIRPORT_NEST_REALTIME_TOPIC = "/topic/v1/airportNest/+/realTime/data";
+    public static final String AIRPORT_NEST_BASIC_TOPIC = "/topic/v1/airportNest/+/realTime/basic";
+    public static final String AIRPORT_NEST_CONFIRM_TOPIC = "/topic/v1/airportNest/+/control/confirm";
+    public static final String AIRPORT_DRONE_REALTIME_TOPIC = "/topic/v1/airportDrone/+/realTime/data";
+    public static final String AIRPORT_FLY_CONTROL_TOPIC = "/topic/v1/airportFly/+/control";
+    public static final String AIRPORT_FLY_DATA_TOPIC = "/topic/v1/airportFly/+/control/data";
+    public static final String AIRPORT_FLY_CONFIRM_TOPIC = "/topic/v1/airportFly/+/control/confirm";
+    public static final String HEARTBEAT_MESSAGE_TOPIC = "/topic/v1/heartbeat/+/message";
+    public static final String PRODUCT_OSD_TOPIC = "thing/product/+/osd";
+    public static final String PRODUCT_EVENTS_TOPIC = "thing/product/+/events";
 
 
-    public static final String AIRPORT_NEST_REALTIME_TOPIC = "/topic/v1/airportNest/THJSQ03A2302KSPYGJ2G/realTime/data";
-    public static final String AIRPORT_NEST_BASIC_TOPIC = "/topic/v1/airportNest/THJSQ03A2302KSPYGJ2G/realTime/basic";
-    public static final String AIRPORT_NEST_CONFIRM_TOPIC = "/topic/v1/airportNest/THJSQ03A2302KSPYGJ2G/control/confirm";
-    public static final String AIRPORT_DRONE_REALTIME_TOPIC = "/topic/v1/airportDrone/THJSQ03A2302KSPYGJ2G/realTime/data";
-    public static final String AIRPORT_FLY_CONTROL_TOPIC = "/topic/v1/airportFly/THJSQ03A2302KSPYGJ2G/control";
-    public static final String AIRPORT_FLY_DATA_TOPIC = "/topic/v1/airportFly/THJSQ03A2302KSPYGJ2G/control/data";
-    public static final String AIRPORT_FLY_CONFIRM_TOPIC = "/topic/v1/airportFly/THJSQ03A2302KSPYGJ2G/control/confirm";
-    public static final String HEARTBEAT_MESSAGE_TOPIC = "/topic/v1/heartbeat/THJSQ03A2302KSPYGJ2G/message";
-    public static final String PRODUCT_OSD_TOPIC = "thing/product/THJSQ03A2302KSPYGJ2G/osd";
-    public static final String PRODUCT_EVENTS_TOPIC = "thing/product/THJSQ03A2302KSPYGJ2G/events";
+//    public static final String AIRPORT_NEST_REALTIME_TOPIC = "/topic/v1/airportNest/THJSQ03A2302KSPYGJ2G/realTime/data";
+//    public static final String AIRPORT_NEST_BASIC_TOPIC = "/topic/v1/airportNest/THJSQ03A2302KSPYGJ2G/realTime/basic";
+//    public static final String AIRPORT_NEST_CONFIRM_TOPIC = "/topic/v1/airportNest/THJSQ03A2302KSPYGJ2G/control/confirm";
+//    public static final String AIRPORT_DRONE_REALTIME_TOPIC = "/topic/v1/airportDrone/THJSQ03A2302KSPYGJ2G/realTime/data";
+//    public static final String AIRPORT_FLY_CONTROL_TOPIC = "/topic/v1/airportFly/THJSQ03A2302KSPYGJ2G/control";
+//    public static final String AIRPORT_FLY_DATA_TOPIC = "/topic/v1/airportFly/THJSQ03A2302KSPYGJ2G/control/data";
+//    public static final String AIRPORT_FLY_CONFIRM_TOPIC = "/topic/v1/airportFly/THJSQ03A2302KSPYGJ2G/control/confirm";
+//    public static final String HEARTBEAT_MESSAGE_TOPIC = "/topic/v1/heartbeat/THJSQ03A2302KSPYGJ2G/message";
+//    public static final String PRODUCT_OSD_TOPIC = "thing/product/THJSQ03A2302KSPYGJ2G/osd";
+//    public static final String PRODUCT_EVENTS_TOPIC = "thing/product/THJSQ03A2302KSPYGJ2G/events";
 
     public TuohengMqttClientService(TuohengMqttClientConfig config, TuohengMqttMessageHandler messageHandler) {
         this.config = config;

src/main/java/com/ruoyi/device/domain/model/thingsboard/tuoheng/constants/TuohengDeviceTelemetry.java

@@ -272,6 +272,103 @@ public class TuohengDeviceTelemetry {
             }
     );
 
+//    public static final TelemetryKey<Double> vertical_speed = TelemetryKey.of(
+//            "vertical_speed",
+//            Double.class,
+//            value -> {
+//                if (value == null) return null;
+//                if (value instanceof Number) {
+//                    return ((Number) value).doubleValue();
+//                }
+//                return Double.parseDouble(value.toString());
+//            }
+//    );
+//
+//    public static final TelemetryKey<Double> horizontal_speed = TelemetryKey.of(
+//            "horizontal_speed",
+//            Double.class,
+//            value -> {
+//                if (value == null) return null;
+//                if (value instanceof Number) {
+//                    return ((Number) value).doubleValue();
+//                }
+//                return Double.parseDouble(value.toString());
+//            }
+//    );
+
+    public static final TelemetryKey<Double> distance_to_home = TelemetryKey.of(
+            "distance_to_home",
+            Double.class,
+            value -> {
+                if (value == null) return null;
+                if (value instanceof Number) {
+                    return ((Number) value).doubleValue();
+                }
+                return Double.parseDouble(value.toString());
+            }
+    );
+
+
+    public static final TelemetryKey<Double> altitude = TelemetryKey.of(
+            "altitude",
+            Double.class,
+            value -> {
+                if (value == null) return null;
+                if (value instanceof Number) {
+                    return ((Number) value).doubleValue();
+                }
+                return Double.parseDouble(value.toString());
+            }
+    );
+
+//    public static final TelemetryKey<Double> pitch = TelemetryKey.of(
+//            "pitch",
+//            Double.class,
+//            value -> {
+//                if (value == null) return null;
+//                if (value instanceof Number) {
+//                    return ((Number) value).doubleValue();
+//                }
+//                return Double.parseDouble(value.toString());
+//            }
+//    );
+//
+//    public static final TelemetryKey<Double> yaw = TelemetryKey.of(
+//            "yaw",
+//            Double.class,
+//            value -> {
+//                if (value == null) return null;
+//                if (value instanceof Number) {
+//                    return ((Number) value).doubleValue();
+//                }
+//                return Double.parseDouble(value.toString());
+//            }
+//    );
+
+    public static final TelemetryKey<Double> camerapitch = TelemetryKey.of(
+            "camerapitch",
+            Double.class,
+            value -> {
+                if (value == null) return null;
+                if (value instanceof Number) {
+                    return ((Number) value).doubleValue();
+                }
+                return Double.parseDouble(value.toString());
+            }
+    );
+
+    public static final TelemetryKey<Double> camerayaw = TelemetryKey.of(
+            "camerayaw",
+            Double.class,
+            value -> {
+                if (value == null) return null;
+                if (value instanceof Number) {
+                    return ((Number) value).doubleValue();
+                }
+                return Double.parseDouble(value.toString());
+            }
+    );
+
     /**
      * 充电器数据 (来自 /topic/v1/airportNest/+/realTime/data)
      */
@@ -740,7 +837,15 @@ public class TuohengDeviceTelemetry {
                 HOLDER_Y_STATUS,
                 CONTROLLER_STATUS,
                 HATCH_STATUS,
-                DRONE_STATUS
+                DRONE_STATUS,
+//                vertical_speed,
+//                horizontal_speed,
+                distance_to_home,
+//                altitude,
+//                pitch,
+//                yaw,
+                camerapitch,
+                camerayaw
         );
     }
 

src/main/java/com/ruoyi/device/service/dto/DockDetailDTO.java

@@ -170,5 +170,29 @@ public class DockDetailDTO implements Serializable
     /** 直播视频地址 */
     private String liveVideoUrl;
 
+    //爬升速度
+    private Double vertical_speed;
+
+    //平飞速度
+    private Double  horizontal_speed;
+
+    //距离机场
+    private Double distance_to_home;
+
+    //海拔高度
+    private Double  altitude;
+
+    //无人机俯仰角
+    private Double pitch;
+
+    //无人机偏航角
+    private Double          yaw;
+
+    //云台俯仰角
+    private Double      camerapitch;
+
+    //云台偏航角
+    private Double            camerayaw;
+
 
 }

src/main/java/com/ruoyi/device/service/impl/SynService.java

@@ -885,9 +885,9 @@ public class SynService {
 
         log.info("开始同步拓恒设备: deviceName(SN)={}", deviceName);
 
-          if(!Objects.equals(deviceName, "THJSQ03A2302KSPYGJ2G")){
-              return;
-          }
+//          if(!Objects.equals(deviceName, "THJSQ03A2302KSPYGJ2G")){
+//              return;
+//          }
 
         try {
             // 获取拓恒设备属性

src/main/java/com/ruoyi/device/service/impl/TuohengBufferDeviceImpl.java

@@ -388,6 +388,55 @@ public class TuohengBufferDeviceImpl implements IBufferDeviceService {
                         dto.setCabinHumidity(value.getValue());
                     });
 
+            telemetry.get(TuohengDeviceTelemetry.VERTICAL_SPEED)
+                    .ifPresent(value -> {
+                        log.info("vertical_speed: {}", value.getValue());
+                        dto.setVertical_speed(value.getValue());
+                    });
+
+            telemetry.get(TuohengDeviceTelemetry.HORIZONTAL_SPEED)
+                    .ifPresent(value -> {
+                        log.info("horizontal_speed: {}", value.getValue());
+                        dto.setHorizontal_speed(value.getValue());
+                    });
+
+            telemetry.get(TuohengDeviceTelemetry.PITCH)
+                    .ifPresent(value -> {
+                        log.info("pitch: {}", value.getValue());
+                        dto.setPitch(value.getValue());
+                    });
+
+
+            telemetry.get(TuohengDeviceTelemetry.YAW)
+                    .ifPresent(value -> {
+                        log.info("yaw: {}", value.getValue());
+                        dto.setYaw(value.getValue());
+                    });
+
+            telemetry.get(TuohengDeviceTelemetry.camerapitch)
+                    .ifPresent(value -> {
+                        log.info("camerapitch: {}", value.getValue());
+                        dto.setCamerapitch(value.getValue());
+                    });
+
+            telemetry.get(TuohengDeviceTelemetry.camerayaw)
+                    .ifPresent(value -> {
+                        log.info("camerayaw: {}", value.getValue());
+                        dto.setCamerayaw(value.getValue());
+                    });
+
+            telemetry.get(TuohengDeviceTelemetry.distance_to_home)
+                    .ifPresent(value -> {
+                        log.info("distance_to_home: {}", value.getValue());
+                        dto.setDistance_to_home(value.getValue());
+                    });
+
+            telemetry.get(TuohengDeviceTelemetry.ALTITUDE)
+                    .ifPresent(value -> {
+                        log.info("camerayaw: {}", value.getValue());
+                        dto.setAltitude(value.getValue());
+                    });
+
             /**
              * 通过 MachineStateManager 获取舱门状态
              */