fdkk_meta/src/main/java/com/fdkk/fdkkmeta/grpcService/sceneGrpcServer.java

package com.fdkk.fdkkmeta.grpcService;

import cn.hutool.core.bean.BeanUtil;
import cn.hutool.core.util.ArrayUtil;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.fdkk.fdkkmeta.config.MetaConfig;
import com.fdkk.fdkkmeta.domain.dto.RouteDto;
import com.fdkk.fdkkmeta.domain.po.PointPO;
import com.fdkk.fdkkmeta.grpc.*;
import com.fdkk.fdkkmeta.util.ProtoJsonUtils;
import com.fdkk.fdkkmeta.util.kesar.GetRoute;
import com.google.protobuf.Message;
import com.googlecode.protobuf.format.JsonFormat;
import io.grpc.stub.StreamObserver;
import lombok.extern.slf4j.Slf4j;
import net.devh.boot.grpc.server.service.GrpcService;
import org.json.JSONObject;
import org.springframework.beans.factory.annotation.Autowired;

import java.io.File;
import java.io.IOException;

/**
 * @author Xiewj
 * @date 2022/5/9
 */
@GrpcService
@Slf4j
public class sceneGrpcServer extends SceneGrpcServiceGrpc.SceneGrpcServiceImplBase {
    @Autowired
    MetaConfig metaConfig;
    /***
     *     回复 案例
     *    SceneReply res = SceneReply.newBuilder().setRes(id+","+name).build();
     *         responseObserver.onNext(res);
     */
    @Override
    public void getRoute(RouteRequest request, StreamObserver<RouteReply> responseObserver)   {
        // grpc服务端获取调用端请求参数
        String sceneCode = request.getSceneCode();
        Point sLocation = request.getSLocation();
        Point eLocation = request.getELocation();
        RouteDto po=new RouteDto();
        PointPO s=new PointPO();
        s.setX(Double.parseDouble(sLocation.getX()));
        s.setY(Double.parseDouble(sLocation.getY()));
        s.setZ(Double.parseDouble(sLocation.getY()));
        PointPO e=new PointPO();
        e.setX(Double.parseDouble(eLocation.getX()));
        e.setY(Double.parseDouble(eLocation.getY()));
        e.setZ(Double.parseDouble(eLocation.getY()));
        po.setE_location(e);
        po.setS_location(s);
        po.setSceneCode(sceneCode);
        JSONArray maps = GetRoute.getRoute(metaConfig.getFreespacePath()+ File.separator +"target_freespace.json", po);
        // 这里可以有自己的业务代码，只需要按照porto中的返回类型返回参数即可
        RouteReply.Builder builder = RouteReply.newBuilder();
        if (ArrayUtil.isNotEmpty(maps)) {
            for (int i = 0; i < maps.size(); i++) {
                RouteArray.Builder addInBuilder = builder.addInBuilder();
                ProtoJsonUtils.toProtoBean(addInBuilder, maps.get(i).toString());
            }

        }
        responseObserver.onNext(builder.build());
        responseObserver.onCompleted();
    }

    @Override
    public void init(InitRequest request, StreamObserver<NormalReply> responseObserver)   {
    	try {
            log.info("进入{}",request);


//            responseObserver.onNext(res);
//            responseObserver.onCompleted();
//            log.info("回复{}",res);
    	}
    	catch(Exception e) {
    		e.printStackTrace();
    	}
    }

    @Override
    public void rotate(RotateRequest request, StreamObserver<NormalReply> responseObserver)   {
    	try {
            log.info("进入{}",request);



//            responseObserver.onNext(res);
//            responseObserver.onCompleted();
//            log.info("回复{}",res);
    	}
    	catch(Exception e) {
    		e.printStackTrace();
    	}
    }


    @Override
    public void moveStart(StartMoveRequest request, StreamObserver<NormalReply> responseObserver) {
        try {
            /*
             * 1.从user表里获得当前人物所在的breakPoint_id
             * 2.根据breakPoint_id，从breakpoints表里获得对应的起始坐标
             * 3.根据request中的clicking_action里的clicking_point（目的地）以及当前起始坐标计算出路径
             * 4.返回整个路径的一段
             *
             * */
            log.info("进入{}",request);




//            responseObserver.onNext(res);
//            responseObserver.onCompleted();
//            log.info("回复{}",res);
        }
        catch(Exception e) {
            e.printStackTrace();
        }
    }

    @Override
    public void moveProcess(MoveNextNeighborRequest request, StreamObserver<MoveReply> responseObserver) {
        try {
            log.info("进入{}",request);

//            responseObserver.onNext(res);
//            responseObserver.onCompleted();
//            log.info("回复{}",res);
        }
        catch(Exception e) {
            e.printStackTrace();
        }
    }


    @Override
    public void getBreakPoint(BreakPointRequest request, StreamObserver<BreakPointReply> responseObserver)   {
     	try {
            log.info("进入{}",request);


//            responseObserver.onNext(res);
//            responseObserver.onCompleted();
//            log.info("回复{}",res);
    	}
    	catch(Exception e) {
    		e.printStackTrace();
    	}
    }

    //操作杆
    @Override
    public void joystick(JoystickRequest request, StreamObserver<NormalReply> responseObserver)   {
     	try {
            log.info("进入{}",request);

//            responseObserver.onNext(res);
//            responseObserver.onCompleted();
//            log.info("回复{}",res);
    	}
    	catch(Exception e) {
    		e.printStackTrace();
    	}
    }
}