1218 lines
35 KiB
Go
1218 lines
35 KiB
Go
package dj
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import (
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"context"
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"github.com/gogf/gf/v2/crypto/gmd5"
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"github.com/gogf/gf/v2/frame/g"
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"github.com/gogf/gf/v2/os/gtime"
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"github.com/tiger1103/gfast/v3/api/v1/common/coryCommon"
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"math/rand"
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"time"
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)
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const (
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Drone_open = "drone_open"
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Drone_close = "drone_close"
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Cover_open = "cover_open"
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Cover_close = "cover_close"
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Device_reboot = "device_reboot"
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Putter_open = "putter_open"
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Putter_close = "putter_close"
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Airport_organization_bind = "airport_organization_bind" //设备绑定到组织
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Airport_organization_get = "airport_organization_get" //查询设备绑定对应的组织信息
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Airport_bind_status = "airport_bind_status" //获取设备绑定信息
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Update_topo = "update_topo" //设备拓扑更新
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Flighttask_ready = "flighttask_ready" //任务就绪通知
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Flighttask_resource_get = "flighttask_resource_get" //任务资源获取
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Return_home_info = "return_home_info" //返航信息
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Flighttask_progress = "flighttask_progress" //上报航线任务进度
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Flighttask_prepare = "flighttask_prepare" //下发任务
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Storage_config_get = "storage_config_get" //获取上传临时凭证
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File_upload_callback = "file_upload_callback" //媒体文件上传结果上报
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Takeoff_to_point = "takeoff_to_point" //一键起飞
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Fly_to_point_stop = "fly_to_point_stop" //结束飞向目标点
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Fly_to_point = "fly_to_point" //飞向目标点
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Fly_to_point_progress = "fly_to_point_progress" //flyto 执行结果事件通知
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Flight_authority_grab = "flight_authority_grab" //飞行控制权抢夺
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Speaker_tts_play_start = "speaker_tts_play_start" //喊话器-开始播放TTS文本
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Speaker_audio_play_start = "speaker_audio_play_start" //喊话器-开始播放音频
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Fileupload_progress = "fileupload_progress" //文件上传进度通知(远程日志)
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Config = "config" //config
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//cory
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OtaCreate = "ota_create" //固件升级
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OtaProgress = "ota_progress" //固件升级进度通知
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FileuploadList = "fileupload_list" //获取设备可上传的文件列表
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FileuploadStart = "fileupload_start" //发起日志文件上传
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DeviceFormat = "device_format" //机场数据格式化
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DroneFormat = "drone_format" //飞行器数据格式化
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ReturnHome1 = "return_home" //返航
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)
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// CoryAirportOrAircraft 机场or飞机
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type CoryAirportOrAircraft struct {
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Airport interface{} `json:"airport" dc:"机场数据"`
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Aircraft interface{} `json:"aircraft" dc:"飞机数据"`
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HangarSn string `json:"hangarSn" dc:"机仓sn"`
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AircraftSn string `json:"aircraftSn" dc:"飞机sn"`
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Coordinates string `json:"coordinates" dc:"无人机最后一次发送的坐标信息"`
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}
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/*共有类*/
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type Public struct {
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Tid string `json:"tid"`
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Bid string `json:"bid"`
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Timestamp int64 `json:"timestamp"`
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Gateway string `json:"gateway"`
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Method string `json:"method"`
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}
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type PublicTwo struct {
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Public
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Data struct {
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Result int `json:"result"`
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Output struct {
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Status string `json:"status"`
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} `json:"output"`
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} `json:"data"`
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}
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func (receiver *Public) SetDefault() {
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//randString := RandString(32)
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//receiver.Bid = randString
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//receiver.Tid = randString
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receiver.Bid = RandString(32)
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receiver.Tid = RandString(32)
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receiver.Timestamp = gtime.Now().TimestampMilli()
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}
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func RandString(len int) string {
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time.Sleep(time.Nanosecond)
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r := rand.New(rand.NewSource(time.Now().UnixNano()))
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bytes := make([]byte, len)
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for i := 0; i < len; i++ {
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b := r.Intn(26) + 65
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bytes[i] = byte(b)
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}
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return gmd5.MustEncryptString(string(bytes))
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}
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// 属性信息1
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type OSD1 struct {
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Public
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Data struct {
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JobNumber int `json:"job_number"`
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AccTime int `json:"acc_time"`
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ActivationTime int `json:"activation_time"`
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MaintainStatus struct {
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MaintainStatusArray []struct {
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State int `json:"state"`
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LastMaintainType int `json:"last_maintain_type"`
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LastMaintainTime int `json:"last_maintain_time"`
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LastMaintainWorkSorties int `json:"last_maintain_work_sorties"`
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} `json:"maintain_status_array"`
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} `json:"maintain_status"`
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ElectricSupplyVoltage int `json:"electric_supply_voltage"`
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WorkingVoltage int `json:"working_voltage"`
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WorkingCurrent int `json:"working_current"`
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BackupBattery struct {
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Voltage int `json:"voltage"`
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Temperature float64 `json:"temperature"`
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Switch int `json:"switch"`
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} `json:"backup_battery"`
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DroneBatteryMaintenanceInfo struct {
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MaintenanceState int `json:"maintenance_state"`
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MaintenanceTimeLeft int `json:"maintenance_time_left"`
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} `json:"drone_battery_maintenance_info"`
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} `json:"data"`
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}
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// 属性信息2
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type OSD2 struct {
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Public
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Data struct {
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FlighttaskPrepareCapacity int `json:"flighttask_prepare_capacity"`
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FlighttaskStepCode int `json:"flighttask_step_code"`
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MediaFileDetail struct {
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RemainUpload int `json:"remain_upload"`
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} `json:"media_file_detail"`
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WirelessLink struct {
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GFreqBand float64 `json:"4g_freq_band"`
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GGndQuality int `json:"4g_gnd_quality"`
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GLinkState int `json:"4g_link_state"`
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GQuality int `json:"4g_quality"`
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GUavQuality int `json:"4g_uav_quality"`
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DongleNumber int `json:"dongle_number"`
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LinkWorkmode int `json:"link_workmode"`
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SdrFreqBand float64 `json:"sdr_freq_band"`
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SdrLinkState int `json:"sdr_link_state"`
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SdrQuality int `json:"sdr_quality"`
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} `json:"wireless_link"`
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} `json:"data"`
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}
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// 属性信息3
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type OSD3 struct {
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Public
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Data struct {
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NetworkState struct {
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Type int `json:"type"`
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Quality int `json:"quality"`
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Rate float64 `json:"rate"`
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} `json:"network_state"`
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DroneChargeState struct {
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State int `json:"state"`
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CapacityPercent int `json:"capacity_percent"`
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} `json:"drone_charge_state"`
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DroneInDock int `json:"drone_in_dock"`
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Rainfall int `json:"rainfall"`
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WindSpeed float64 `json:"wind_speed"`
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EnvironmentTemperature float64 `json:"environment_temperature"`
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Temperature float64 `json:"temperature"`
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Humidity int `json:"humidity"`
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Latitude float64 `json:"latitude"`
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Longitude float64 `json:"longitude"`
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Height float64 `json:"height"`
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AlternateLandPoint struct {
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Latitude float64 `json:"latitude"`
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Longitude float64 `json:"longitude"`
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SafeLandHeight int `json:"safe_land_height"`
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IsConfigured int `json:"is_configured"`
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} `json:"alternate_land_point"`
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FirstPowerOn int64 `json:"first_power_on"`
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PositionState struct {
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IsCalibration int `json:"is_calibration"`
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IsFixed int `json:"is_fixed"`
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Quality int `json:"quality"`
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GpsNumber int `json:"gps_number"`
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RtkNumber int `json:"rtk_number"`
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} `json:"position_state"`
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Storage struct {
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Total int `json:"total"`
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Used int `json:"used"`
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} `json:"storage"`
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ModeCode int `json:"mode_code"`
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CoverState int `json:"cover_state"`
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SupplementLightState int `json:"supplement_light_state"`
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EmergencyStopState int `json:"emergency_stop_state"`
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AirConditionerMode int `json:"air_conditioner_mode"`
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BatteryStoreMode int `json:"battery_store_mode"`
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AlarmState int `json:"alarm_state"`
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PutterState int `json:"putter_state"`
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SubDevice struct {
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DeviceSn string `json:"device_sn"`
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DeviceModelKey string `json:"device_model_key"`
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DeviceOnlineStatus int `json:"device_online_status"`
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DevicePaired int `json:"device_paired"`
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} `json:"sub_device"`
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} `json:"data"`
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}
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// M30/M30T 设备属性
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type M30tEntity struct {
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Public
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Data struct {
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Battery struct {
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CapacityPercent int `json:"capacity_percent" dc:"电池的总剩余电量"`
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RemainFlightTime int `json:"remain_flight_time" dc:"剩余飞行时间"`
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ReturnHomePower int `json:"return_home_power" dc:"返航所需电量百分比 "`
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} `json:"battery" dc:"飞行器电池信息"`
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Storage struct {
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Total int `json:"total" dc:"总容量"`
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Used int `json:"used" dc:"已使用容量"`
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} `json:"storage" dc:"存储容量"`
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cameras struct {
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RemainPhotoNum int `json:"remain_photo_num" dc:"剩余拍照张数"`
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} `json:"cameras" dc:"飞行器相机信息"`
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HorizontalSpeed float64 `json:"horizontal_speed" dc:"水平速度"`
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VerticalSpeed float64 `json:"vertical_speed" dc:"垂直速度 "`
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Latitude float64 `json:"latitude" dc:"当前位置经度"`
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Longitude float64 `json:"longitude" dc:"当前位置纬度"`
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Elevation float64 `json:"elevation" dc:"相对起飞点高度"`
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TrackId float64 `json:"track_id" dc:"航迹ID"`
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} `json:"data"`
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}
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// 大疆机场 设备属性
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type DjiAirportEntity struct {
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Public
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Data struct {
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Battery struct {
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VideoQuality int `json:"video_quality" dc:"直播状态 (0自动,1流畅,2高清,3超清)"`
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Status int `json:"status" dc:"直播状态"`
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} `json:"live_status" dc:"网关当前整体直播状态推送"`
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} `json:"data"`
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}
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// AircraftInformation 飞机状态信息 Cory
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type AircraftInformation struct {
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Public
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Data struct {
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CommanderFlightHeight float64 `json:"commander_flight_height" dc:"指点飞行高度"`
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HorizontalSpeed float64 `json:"horizontal_speed" dc:"水平速度"`
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VerticalSpeed float64 `json:"vertical_speed" dc:"垂直速度"`
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} `json:"data"`
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}
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// FileUploadCallbackEntity 媒体文件上传结果上报
|
||
type FileUploadCallbackEntity struct {
|
||
Public
|
||
Data struct {
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||
File struct {
|
||
Extension struct {
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||
DroneModelKey string `json:"drone_model_key"`
|
||
FlightID string `json:"flight_id"`
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||
IsOriginal bool `json:"is_original"`
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PayloadModelKey string `json:"payload_model_key"`
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} `json:"ext"`
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Metadata struct {
|
||
AbsoluteAltitude float64 `json:"absolute_altitude"`
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||
CreateTime string `json:"create_time"`
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||
GimbalYawDegree float64 `json:"gimbal_yaw_degree"`
|
||
RelativeAltitude float64 `json:"relative_altitude"`
|
||
ShootPosition struct {
|
||
Latitude float64 `json:"lat"`
|
||
Longitude float64 `json:"lng"`
|
||
} `json:"shoot_position"`
|
||
} `json:"metadata"`
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||
Name string `json:"name"`
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||
ObjectKey string `json:"object_key"`
|
||
Path string `json:"path"`
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||
} `json:"file"`
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||
} `json:"data"`
|
||
}
|
||
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type State struct {
|
||
Public
|
||
Data interface{} `json:"data"`
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}
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||
type Service struct {
|
||
Public
|
||
Method string `json:"method"`
|
||
Data interface{} `json:"data"`
|
||
}
|
||
type Event struct {
|
||
Public
|
||
Method string `json:"method"`
|
||
NeedReply int `json:"need_reply"`
|
||
Data interface{} `json:"data"`
|
||
}
|
||
|
||
type Status struct {
|
||
Public
|
||
Data struct {
|
||
Domain string `json:"domain"`
|
||
Type int `json:"type"`
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||
SubType int `json:"sub_type"`
|
||
DeviceSecret string `json:"device_secret"`
|
||
Nonce string `json:"nonce"`
|
||
Version int `json:"version"`
|
||
SubDevices []struct {
|
||
Sn string `json:"sn"`
|
||
Type int `json:"type"`
|
||
SubType int `json:"sub_type"`
|
||
Index string `json:"index"`
|
||
DeviceSecret string `json:"device_secret"`
|
||
Nonce string `json:"nonce"`
|
||
Version int `json:"version"`
|
||
} `json:"sub_devices"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
type StatusReply struct {
|
||
Public
|
||
Data struct {
|
||
Result int `json:"result"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
type Reboot struct {
|
||
Usual
|
||
}
|
||
|
||
func (receiver *Reboot) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "device_reboot"
|
||
}
|
||
|
||
/*打开调试模式*/
|
||
type DebugOpen struct {
|
||
Usual
|
||
}
|
||
|
||
func (receiver *DebugOpen) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "debug_mode_open"
|
||
}
|
||
|
||
/*关闭调试模式*/
|
||
type DebugClose struct {
|
||
Usual
|
||
}
|
||
|
||
func (receiver *DebugClose) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "debug_mode_close"
|
||
}
|
||
|
||
type Usual struct {
|
||
Public
|
||
Data interface{} `json:"data"`
|
||
}
|
||
|
||
/*停止直播*/
|
||
type StopLive struct {
|
||
Public
|
||
Data struct {
|
||
VideoId string `json:"video_id"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
func (receiver *StopLive) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "live_stop_push"
|
||
}
|
||
|
||
/*开始直播*/
|
||
type StartLive struct {
|
||
Public
|
||
Data struct {
|
||
UrlType int `json:"url_type"`
|
||
Url string `json:"url"`
|
||
VideoId string `json:"video_id"`
|
||
VideoQuality int `json:"video_quality"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
func (receiver *StartLive) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "live_start_push"
|
||
}
|
||
|
||
/*打开舱盖*/
|
||
type CoverOpen struct {
|
||
Usual
|
||
}
|
||
|
||
func (receiver *CoverOpen) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "cover_open"
|
||
}
|
||
|
||
/*关闭舱盖*/
|
||
type CoverClose struct {
|
||
Usual
|
||
}
|
||
|
||
func (receiver *CoverClose) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "cover_close"
|
||
}
|
||
|
||
/*飞行器开机*/
|
||
type DroneOpen struct {
|
||
Usual
|
||
}
|
||
|
||
func (receiver *DroneOpen) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "drone_open"
|
||
}
|
||
|
||
/*飞行器开机*/
|
||
type DroneClose struct {
|
||
Usual
|
||
}
|
||
|
||
func (receiver *DroneClose) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "drone_close"
|
||
}
|
||
|
||
/*打开充电*/
|
||
|
||
type PutterOpen struct {
|
||
Usual
|
||
}
|
||
|
||
func (receiver *PutterOpen) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "putter_open"
|
||
}
|
||
|
||
type PutterClose struct {
|
||
Usual
|
||
}
|
||
|
||
func (receiver *PutterClose) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "putter_close"
|
||
}
|
||
|
||
/*打开充电*/
|
||
|
||
type ChargeOpen struct {
|
||
Usual
|
||
}
|
||
|
||
func (receiver *ChargeOpen) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "charge_open"
|
||
}
|
||
|
||
/*关闭充电*/
|
||
|
||
type ChargeClose struct {
|
||
Usual
|
||
}
|
||
|
||
func (receiver *ChargeClose) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "charge_close"
|
||
}
|
||
|
||
/*云平台向设备发送的服务（具体service identifier 见物模型内容）。*/
|
||
func GetServiceTopic(gateway_sn string) string {
|
||
return "thing/product/" + gateway_sn + "/services"
|
||
}
|
||
func GetRequestsReplyTopic(gateway_sn string) string {
|
||
return "thing/product/" + gateway_sn + "/requests_reply"
|
||
}
|
||
func GetEventsReplyTopic(gateway_sn string) string {
|
||
return "thing/product/" + gateway_sn + "/StatusReply"
|
||
}
|
||
|
||
/*开始直播响应*/
|
||
type StartLiveReply struct {
|
||
Public
|
||
Data struct {
|
||
Result int `json:"result"`
|
||
Url string `json:"url"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
/*开始直播响应*/
|
||
type StopLiveReply struct {
|
||
UsualReply
|
||
}
|
||
|
||
type UsualReply struct {
|
||
Public
|
||
Data struct {
|
||
Result int `json:"result"`
|
||
Output struct {
|
||
Status string `json:"status"`
|
||
} `json:"output"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
/*打开补光灯*/
|
||
|
||
type Supplement_light_open struct {
|
||
Usual
|
||
}
|
||
|
||
func (receiver *Supplement_light_open) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "supplement_light_open"
|
||
}
|
||
|
||
/*关闭补光灯*/
|
||
type Supplement_light_close struct {
|
||
Usual
|
||
}
|
||
|
||
func (receiver *Supplement_light_close) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "supplement_light_close"
|
||
}
|
||
|
||
/*声光报警开关*/
|
||
type Alarm_state_switch struct {
|
||
Public
|
||
Data struct {
|
||
Action int `json:"action"` //{"0":"关闭","1":"开启"}
|
||
} `json:"data"`
|
||
}
|
||
|
||
func (receiver *Alarm_state_switch) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "alarm_state_switch"
|
||
}
|
||
|
||
/*执行任务*/
|
||
type FlighttaskExecute struct {
|
||
Public
|
||
Data struct {
|
||
FlightId string `json:"flight_id"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
func (receiver *FlighttaskExecute) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "flighttask_execute"
|
||
}
|
||
|
||
/*取消任务*/
|
||
type FlighttaskUndo struct {
|
||
Public
|
||
Data struct {
|
||
Flight_ids []string `json:"flight_ids"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
func (receiver *FlighttaskUndo) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "flighttask_undo"
|
||
}
|
||
|
||
/*航线暂停*/
|
||
type FlighttaskPause struct {
|
||
Usual
|
||
}
|
||
|
||
func (receiver *FlighttaskPause) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "flighttask_pause"
|
||
}
|
||
|
||
/*航线恢复*/
|
||
type FlighttaskRecovery struct {
|
||
Usual
|
||
}
|
||
|
||
func (receiver *FlighttaskRecovery) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "flighttask_recovery"
|
||
}
|
||
|
||
/*一键返航*/
|
||
type ReturnHome struct {
|
||
Usual
|
||
}
|
||
|
||
func (receiver *ReturnHome) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "return_home"
|
||
}
|
||
|
||
/*取消返航*/
|
||
type ReturnHomeCancel struct {
|
||
Usual
|
||
}
|
||
|
||
func (receiver *ReturnHomeCancel) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "return_home_cancel"
|
||
}
|
||
|
||
/*设备绑定到组织*/
|
||
type AirportOrganizationBind struct {
|
||
Public
|
||
Data struct {
|
||
BindDevices []struct {
|
||
DeviceBindingCode string `json:"device_binding_code"` //设备绑定码
|
||
OrganizationId string `json:"organization_id"` //组织id
|
||
DeviceCallsign string `json:"device_callsign"` //设备在组织的名称
|
||
Sn string `json:"sn"` //设备序列号
|
||
DeviceModelKey string `json:"device_model_key"` //产品枚举值
|
||
} `json:"bind_devices"` //绑定参数列表
|
||
} `json:"data"`
|
||
}
|
||
|
||
/*设备绑定到组织回复*/
|
||
type AirportOrganizationBindReplay struct {
|
||
Public
|
||
Data struct {
|
||
Result int `json:"result"` //直接填0
|
||
Output struct {
|
||
ErrInfos []struct {
|
||
Sn string `json:"sn"` //设备序列号
|
||
ErrCode int `json:"err_code"` //错误码 自定义，非 0 表示绑定不成功
|
||
} `json:"err_infos"`
|
||
} `json:"output"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
/*查询设备绑定对应的组织信息*/
|
||
type AirportOrganizationGet struct {
|
||
Public
|
||
Data struct {
|
||
DeviceBindingCode string `json:"device_binding_code"` //设备绑定码
|
||
OrganizationId string `json:"organization_id"` //组织id
|
||
} `json:"data"`
|
||
} /*查询设备绑定对应的组织信息回复*/
|
||
type AirportOrganizationGetReplay struct {
|
||
Public
|
||
Data struct {
|
||
Result int `json:"result"`
|
||
Output struct {
|
||
OrganizationName string `json:"organization_name"` //组织名称
|
||
} `json:"output"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
/*获取设备绑定信息*/
|
||
type AirportBindStatus struct {
|
||
Public
|
||
Data []struct {
|
||
Devices []struct {
|
||
Sn string `json:"sn"`
|
||
} `json:"devices"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
/*获取设备绑定信息回复*/
|
||
type AirportBindStatusReplay struct {
|
||
Public
|
||
Data []struct {
|
||
Result int `json:"result"` //默认0
|
||
Output struct {
|
||
BindStatus []struct {
|
||
Sn string `json:"sn"` //设备序列号
|
||
IsDeviceBindOrganization bool `json:"is_device_bind_organization"` //设备是否绑定到组织
|
||
OrganizationId string `json:"organization_id"` //组织id
|
||
OrganizationName string `json:"organization_name"` //组织名称
|
||
DeviceCallsign string `json:"device_callsign"` //设备在组织中的名称
|
||
} `json:"bind_status"`
|
||
} `json:"output"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
type FlighttaskReady struct {
|
||
Public
|
||
Data struct {
|
||
FlightIds []string `json:"flight_ids"` //当前满足任务就绪条件的任务 ID 集合
|
||
} `json:"data"`
|
||
}
|
||
type ReturnHomeInfo struct {
|
||
Public
|
||
Data struct {
|
||
FlightId string `json:"flight_id"`
|
||
LastPointType int `json:"last_point_type"`
|
||
PlannedPathPoints []struct {
|
||
Height float64 `json:"height"`
|
||
Latitude float64 `json:"latitude"`
|
||
Longitude float64 `json:"longitude"`
|
||
} `json:"planned_path_points"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
/*下发任务*/
|
||
type FlighttaskPrepare struct {
|
||
Public
|
||
Data struct {
|
||
BreakPoint struct {
|
||
Index int `json:"index"`
|
||
Progress float64 `json:"progress"`
|
||
State int `json:"state"`
|
||
WaylineId int `json:"wayline_id"`
|
||
} `json:"break_point"`
|
||
ExecutableConditions struct {
|
||
StorageCapacity int `json:"storage_capacity"`
|
||
} `json:"executable_conditions"`
|
||
ExecuteTime int64 `json:"execute_time"`
|
||
ExitWaylineWhenRcLost int `json:"exit_wayline_when_rc_lost"`
|
||
File struct {
|
||
Fingerprint string `json:"fingerprint"`
|
||
Url string `json:"url"`
|
||
} `json:"file"`
|
||
FlightId string `json:"flight_id"`
|
||
OutOfControlAction int `json:"out_of_control_action"`
|
||
ReadyConditions struct {
|
||
BatteryCapacity int `json:"battery_capacity"`
|
||
BeginTime int64 `json:"begin_time"`
|
||
EndTime int64 `json:"end_time"`
|
||
} `json:"ready_conditions"`
|
||
RthAltitude int `json:"rth_altitude"`
|
||
RthMode int `json:"rth_mode"`
|
||
SimulateMission struct {
|
||
IsEnable int `json:"is_enable"`
|
||
Latitude float64 `json:"latitude"`
|
||
Longitude float64 `json:"longitude"`
|
||
} `json:"simulate_mission"`
|
||
TaskType int `json:"task_type"`
|
||
WaylineType int `json:"wayline_type"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
func (receiver *FlighttaskPrepare) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = Flighttask_prepare
|
||
}
|
||
|
||
// FlighttaskPrepareRes 任务下发 cory
|
||
type FlighttaskPrepareRes struct {
|
||
Public
|
||
Data struct {
|
||
FlightId string `json:"flight_id" dc:"计划 ID"`
|
||
TaskType int `json:"task_type" dc:"任务类型"`
|
||
ExecuteTime int64 `json:"execute_time" dc:"任务类型"`
|
||
WaylineType int `json:"wayline_type" dc:"航线类型"`
|
||
File *FileEntity `json:"file" dc:"航线文件对象"`
|
||
RthAltitude int `json:"rth_altitude" dc:"返航高度" `
|
||
RthMode int `json:"rth_mode" dc:"返航高度模式"`
|
||
OutOfControlAction int `json:"out_of_control_action" dc:"遥控器失控动作"`
|
||
ExitWaylineWhenRcLost int `json:"exit_wayline_when_rc_lost" dc:"航线失控动作"`
|
||
BreakPoint *BreakPoint `json:"break_point" dc:"断点信息" `
|
||
} `json:"data"`
|
||
}
|
||
type BreakPoint struct {
|
||
Index int `json:"index" dc:"断点状态"`
|
||
State int `json:"state" dc:"返航高度模式"`
|
||
Progress float32 `json:"progress" dc:"遥控器失控动作"`
|
||
WaylineId int `json:"wayline_id" dc:"航线失控动作"`
|
||
}
|
||
type FileEntity struct {
|
||
Url string `json:"url" `
|
||
Fingerprint string `json:"fingerprint" `
|
||
}
|
||
|
||
//type FlighttaskResourceGetEntity struct {
|
||
// Data struct {
|
||
// Output *FlighttaskResourceGetTutputEntity `json:"output" `
|
||
// } `json:"data"`
|
||
//}
|
||
//type FlighttaskResourceGetTutputEntity struct {
|
||
// File *FileEntity `json:"file" dc:"航线文件对象"`
|
||
//}
|
||
|
||
func (receiver *FlighttaskPrepareRes) SetDefaultValueCory() {
|
||
receiver.SetDefault()
|
||
receiver.Method = Flighttask_prepare
|
||
}
|
||
|
||
/*任务资源获取*/
|
||
type FlighttaskResourcGet struct {
|
||
Public
|
||
Data struct {
|
||
FlightId string `json:"flight_id"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
/*任务资源获取回复*/
|
||
type FlighttaskResourcGetReply struct {
|
||
Public
|
||
Data struct {
|
||
Output struct {
|
||
File struct {
|
||
Fingerprint string `json:"fingerprint"`
|
||
Url string `json:"url"`
|
||
} `json:"file"`
|
||
} `json:"output"`
|
||
Result int `json:"result"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
func (receiver *FlighttaskResourcGetReply) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "flighttask_resource_get"
|
||
}
|
||
|
||
/*获取上传临时凭证*/
|
||
type StorageConfigGet struct {
|
||
Public
|
||
Data struct {
|
||
Module int `json:"module"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
/*获取上传临时凭证回复*/
|
||
type StorageConfigGetReply struct {
|
||
Public
|
||
Data struct {
|
||
Output struct {
|
||
Bucket string `json:"bucket"`
|
||
Credentials struct {
|
||
AccessKeyId string `json:"access_key_id"`
|
||
AccessKeySecret string `json:"access_key_secret"`
|
||
Expire int `json:"expire"`
|
||
SecurityToken string `json:"security_token"`
|
||
} `json:"credentials"`
|
||
Endpoint string `json:"endpoint"`
|
||
ObjectKeyPrefix string `json:"object_key_prefix"`
|
||
Provider string `json:"provider"`
|
||
Region string `json:"region"`
|
||
} `json:"output"`
|
||
Result int `json:"result"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
/*配置更新回复*/
|
||
type ConfigReply struct {
|
||
Public
|
||
Data struct {
|
||
AppId string `json:"app_id"`
|
||
AppKey string `json:"app_key"`
|
||
AppLicense string `json:"app_license"`
|
||
NtpServerHost string `json:"ntp_server_host"`
|
||
NtpServerPort int `json:"ntp_server_port"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
// FileUpLoadListDown 获取设备可上传的文件列表 发送到mqtt
|
||
type FileUpLoadListDown struct {
|
||
Public
|
||
Data struct {
|
||
ModuleList []string `json:"module_list" dc:"文件所属过滤列表"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
func (receiver *FileUpLoadListDown) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "fileupload_list"
|
||
}
|
||
|
||
// FileUpLoadListDownUp 获取设备可上传的文件列表 mqtt下发到本地服务
|
||
type FileUpLoadListDownUp struct {
|
||
Public
|
||
Data struct {
|
||
Files []struct {
|
||
DeviceSN string `json:"device_sn" dc:"设备序列号"`
|
||
List []struct {
|
||
BootIndex int `json:"boot_index" dc:"文件索引"`
|
||
EndTime int64 `json:"end_time" dc:"日志结束时间"`
|
||
Size int `json:"size" dc:"日志文件大小"`
|
||
StartTime int64 `json:"start_time" dc:"日志开始时间"`
|
||
} `json:"list" dc:"文件索引列表"`
|
||
Module string `json:"module" dc:"所属设备类型(0飞行器 2机场)"`
|
||
Result int `json:"result" dc:"返回码"`
|
||
} `json:"files" dc:"文件所属过滤列表"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
// LogFileUploadReply 远程日志结构体
|
||
type LogFileUploadReply struct {
|
||
Public
|
||
Data struct {
|
||
Bucket string `json:"bucket"`
|
||
Credentials struct {
|
||
AccessKeyId string `json:"access_key_id"`
|
||
AccessKeySecret string `json:"access_key_secret"`
|
||
Expire int `json:"expire"`
|
||
SecurityToken string `json:"security_token"`
|
||
} `json:"credentials"`
|
||
Endpoint string `json:"endpoint"`
|
||
Params struct {
|
||
Files []File `json:"files"`
|
||
//Files []struct {
|
||
// List []struct {
|
||
// BootIndex int `json:"boot_index"`
|
||
// } `json:"list"`
|
||
// Module string `json:"module"`
|
||
// ObjectKey string `json:"object_key"`
|
||
//} `json:"files"`
|
||
} `json:"params"`
|
||
Provider string `json:"provider"`
|
||
Region string `json:"region"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
type File struct {
|
||
List []FileList `json:"list"`
|
||
Module string `json:"module"`
|
||
ObjectKey string `json:"object_key"`
|
||
}
|
||
|
||
type FileList struct {
|
||
BootIndex int `json:"boot_index"`
|
||
}
|
||
|
||
// SetDefaultValue Minio存储服务配置
|
||
func (receiver *StorageConfigGetReply) SetDefaultValue() {
|
||
token, access, secret := MinioVoucher()
|
||
Endpoint = g.Cfg().MustGet(context.Background(), "minio.endpoint").String()
|
||
receiver.SetDefault()
|
||
receiver.Method = "storage_config_get"
|
||
receiver.Data.Result = 0
|
||
receiver.Data.Output.Bucket = BucketName
|
||
receiver.Data.Output.Credentials.AccessKeyId = access
|
||
receiver.Data.Output.Credentials.AccessKeySecret = secret
|
||
receiver.Data.Output.Credentials.Expire = int(DurationSeconds)
|
||
receiver.Data.Output.Credentials.SecurityToken = token
|
||
receiver.Data.Output.Endpoint = "http://" + Endpoint
|
||
receiver.Data.Output.Provider = "minio"
|
||
receiver.Data.Output.Region = Region
|
||
receiver.Data.Output.ObjectKeyPrefix = "uav"
|
||
}
|
||
|
||
// SetDefaultValue 配置更新
|
||
func (receiver *ConfigReply) SetDefaultValue() {
|
||
ctx := context.Background()
|
||
receiver.SetDefault()
|
||
receiver.Method = "config"
|
||
receiver.Data.AppId = g.Cfg().MustGet(ctx, "uav.config.appId").String()
|
||
receiver.Data.AppKey = g.Cfg().MustGet(ctx, "uav.config.appKey").String()
|
||
receiver.Data.AppLicense = g.Cfg().MustGet(ctx, "uav.config.appLicense").String()
|
||
receiver.Data.NtpServerHost = g.Cfg().MustGet(ctx, "uav.config.ntpServerHost").String()
|
||
receiver.Data.NtpServerPort = g.Cfg().MustGet(ctx, "uav.config.ntpServerPort").Int()
|
||
}
|
||
|
||
func (receiver *LogFileUploadReply) SetDefaultValue(rdata *FileUpLoadListDownUp) {
|
||
token, access, secret := MinioVoucher()
|
||
receiver.SetDefault()
|
||
receiver.Method = "fileupload_start"
|
||
receiver.Data.Bucket = BucketName
|
||
receiver.Data.Region = Region
|
||
receiver.Data.Credentials.AccessKeyId = access
|
||
receiver.Data.Credentials.AccessKeySecret = secret
|
||
receiver.Data.Credentials.Expire = int(DurationSeconds)
|
||
receiver.Data.Credentials.SecurityToken = token
|
||
receiver.Data.Endpoint = "http://" + coryCommon.Global + ":9999"
|
||
receiver.Data.Provider = "minio"
|
||
//fileOne := LogFileUploadReplySetDefaultValue(rdata, "0", "cory-create/log") //飞行器
|
||
fileTwo := LogFileUploadReplySetDefaultValue(rdata, "3", "log") //机场
|
||
var files []File
|
||
//files = append(files, fileOne, fileTwo)
|
||
files = append(files, fileTwo)
|
||
receiver.Data.Params.Files = files
|
||
}
|
||
|
||
func LogFileUploadReplySetDefaultValue(rdata *FileUpLoadListDownUp, num string, objectKey string) (file File) {
|
||
var fileList []FileList
|
||
for _, data := range rdata.Data.Files {
|
||
if data.Module == num {
|
||
list := data.List
|
||
for i := range list {
|
||
if list[i].BootIndex == 3743 { //从2024-04-28 15:15:19 开始
|
||
fileList = append(fileList, FileList{
|
||
BootIndex: list[i].BootIndex,
|
||
})
|
||
}
|
||
}
|
||
//err := copier.Copy(&fileList, &list)
|
||
//if err != nil {
|
||
// return
|
||
//}
|
||
}
|
||
}
|
||
file.List = fileList
|
||
file.Module = num
|
||
file.ObjectKey = objectKey
|
||
return
|
||
}
|
||
|
||
/*负载控制—单拍*/
|
||
type CameraPhotoTake struct {
|
||
Public
|
||
Data struct {
|
||
PayloadIndex string `json:"payload_index"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
func (receiver *CameraPhotoTake) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "camera_photo_take"
|
||
}
|
||
|
||
/*负载控制—重置云台*/
|
||
type GimbalReset struct {
|
||
Public
|
||
Data struct {
|
||
PayloadIndex string `json:"payload_index" dc:"负载编号，相机枚举值。非标准的 device_mode_key，格式为 {type-subtype-gimbalindex}"`
|
||
ResetMode int `json:"reset_mode" dc:"{0回中 1向下 2偏航回中 3俯仰向下}"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
func (receiver *GimbalReset) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "gimbal_reset"
|
||
}
|
||
|
||
/*设置直播清晰度*/
|
||
type LiveSetQuality struct {
|
||
Public
|
||
Data struct {
|
||
VideoId string `json:"video_id"`
|
||
VideoQuality int `json:"video_quality"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
func (receiver *LiveSetQuality) SetDefaultValue() {
|
||
receiver.SetDefault()
|
||
receiver.Method = "live_set_quality"
|
||
}
|
||
|
||
/*负载控制—单拍 响应恢复*/
|
||
type CameraPhotoTakeReply struct {
|
||
Public
|
||
Data struct {
|
||
Result int `json:"result"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
/*航线执行进度上报*/
|
||
type WaylineProgress struct {
|
||
Public
|
||
Data struct {
|
||
Output struct {
|
||
Ext struct {
|
||
BreakPoint struct {
|
||
AttitudeHead float64 `json:"attitude_head"`
|
||
BreakReason int `json:"break_reason"`
|
||
Height float64 `json:"height"`
|
||
Index int `json:"index"`
|
||
Latitude float64 `json:"latitude"`
|
||
Longitude float64 `json:"longitude"`
|
||
Progress float64 `json:"progress"`
|
||
State int `json:"state"`
|
||
WaylineId int `json:"wayline_id"`
|
||
} `json:"break_point"`
|
||
CurrentWaypointIndex int `json:"current_waypoint_index"`
|
||
FlightId string `json:"flight_id"`
|
||
MediaCount int `json:"media_count"`
|
||
TrackId string `json:"track_id"`
|
||
WaylineId int `json:"wayline_id"`
|
||
WaylineMissionState int `json:"wayline_mission_state"`
|
||
} `json:"ext"`
|
||
Progress struct {
|
||
CurrentStep int `json:"current_step"`
|
||
Percent int `json:"percent"`
|
||
} `json:"progress"`
|
||
Status string `json:"status"`
|
||
} `json:"output"`
|
||
Result int `json:"result"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
type CoordinateEntity struct {
|
||
Latitude float64 `json:"latitude"`
|
||
Longitude float64 `json:"longitude"`
|
||
}
|
||
|
||
type Point struct {
|
||
CoordinateEntity
|
||
Height float64 `json:"height"`
|
||
}
|
||
|
||
// TakeoffToPoint /*飞向目标点*/
|
||
type TakeoffToPoint struct {
|
||
Public
|
||
Data struct {
|
||
CommanderFlightHeight int `json:"commander_flight_height"`
|
||
CommanderModeLostAction int `json:"commander_mode_lost_action"`
|
||
FlightId string `json:"flight_id"`
|
||
MaxSpeed int `json:"max_speed"`
|
||
RcLostAction int `json:"rc_lost_action"`
|
||
RthAltitude int `json:"rth_altitude"`
|
||
SecurityTakeoffHeight int `json:"security_takeoff_height"`
|
||
TargetHeight int `json:"target_height"`
|
||
TargetLatitude float64 `json:"target_latitude"`
|
||
TargetLongitude float64 `json:"target_longitude"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
func (t *TakeoffToPoint) SetDefaultValue() {
|
||
t.SetDefault()
|
||
t.Method = Takeoff_to_point
|
||
}
|
||
|
||
/*飞向目标点*/
|
||
type FlyToPoint struct {
|
||
Public
|
||
Data struct {
|
||
FlyToId string `json:"fly_to_id"`
|
||
MaxSpeed int `json:"max_speed"`
|
||
Points []Point `json:"points"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
func (t *FlyToPoint) SetDefaultValue() {
|
||
t.SetDefault()
|
||
t.Method = Fly_to_point
|
||
}
|
||
|
||
type FlyToPointStop struct {
|
||
Public
|
||
Data struct{} `json:"data"`
|
||
}
|
||
|
||
func (t *FlyToPointStop) SetDefaultValue() {
|
||
t.SetDefault()
|
||
t.Method = Fly_to_point_stop
|
||
}
|
||
|
||
// FlyToPointProgress /*飞向目标点的结果通知*/
|
||
type FlyToPointProgress struct {
|
||
Public
|
||
Data struct {
|
||
FlyToId string `json:"fly_to_id"`
|
||
PlannedPathPoints []struct {
|
||
Height float64 `json:"height"`
|
||
Latitude float64 `json:"latitude"`
|
||
Longitude float64 `json:"longitude"`
|
||
} `json:"planned_path_points"`
|
||
RemainingDistance int `json:"remaining_distance"`
|
||
RemainingTime int `json:"remaining_time"`
|
||
Result int `json:"result"`
|
||
Status string `json:"status"`
|
||
WayPointIndex int `json:"way_point_index"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
type FlightAuthorityGrab struct {
|
||
Public
|
||
Data struct{} `json:"data"`
|
||
}
|
||
|
||
func (t *FlightAuthorityGrab) SetDefaultValue() {
|
||
t.SetDefault()
|
||
t.Method = Flight_authority_grab
|
||
}
|
||
|
||
type SpeakerTtsPlayStart struct {
|
||
Public
|
||
Data struct {
|
||
PsdkIndex int `json:"psdk_index"`
|
||
Tts struct {
|
||
Md5 string `json:"md5"`
|
||
Name string `json:"name"`
|
||
Text string `json:"text"`
|
||
} `json:"tts"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
func (t *SpeakerTtsPlayStart) SetDefaultValue() {
|
||
t.SetDefault()
|
||
t.Method = Speaker_tts_play_start
|
||
}
|
||
|
||
type SpeakerAudioPlayStart struct {
|
||
Public
|
||
Data struct {
|
||
PsdkIndex int `json:"psdk_index" dc:"psdk 负载设备索引（默认0）"`
|
||
File struct {
|
||
Name string `json:"name"`
|
||
Url string `json:"url"`
|
||
Md5 string `json:"md5"`
|
||
Format string `json:"format"`
|
||
} `json:"file"`
|
||
} `json:"data"`
|
||
}
|
||
|
||
func (t *SpeakerAudioPlayStart) SetDefaultValue() {
|
||
t.SetDefault()
|
||
t.Method = Speaker_audio_play_start
|
||
}
|
||
|
||
// OtaCreateEntity 固件升级实体
|
||
type OtaCreateEntity struct {
|
||
Public
|
||
Data struct {
|
||
DeviceList []OtaCreateDevice `json:"devices"`
|
||
} `json:"data"`
|
||
}
|
||
type OtaCreateDevice struct {
|
||
FileName string `json:"file_name"` // 文件名（可选字段）
|
||
FileSize int64 `json:"file_size"` // 文件大小（可选字段，建议使用 int64 表示字节）
|
||
FileURL string `json:"file_url"` // 文件 URL（可选字段）
|
||
FirmwareUpgradeType int `json:"firmware_upgrade_type"` // 固件升级类型（必填字段）
|
||
MD5 string `json:"md5"` // MD5 校验码（可选字段）
|
||
ProductVersion string `json:"product_version"` // 产品版本（必填字段）
|
||
SN string `json:"sn"` // 设备序列号（必填字段）
|
||
}
|
||
|
||
func (t *OtaCreateEntity) SetDefaultValue() {
|
||
t.SetDefault()
|
||
t.Method = OtaCreate
|
||
}
|