增加部门区域管理业务和无人机实时位置所属区域推送

liusuyi

2026-04-22 04a270ff2b5919127524913ffc45c59c6c6d9201

 ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java

@@ -1,14 +1,10 @@
package com.ard.work.service.impl;

import com.ard.common.constant.CacheConstants;
import com.ard.common.core.redis.RedisCache;
import com.ard.common.exception.ServiceException;
import com.ard.common.utils.StringUtils;
import com.ard.data.noflyzone.domain.ArdNoFlyZone;
import com.ard.data.noflyzone.domain.Vertex;
import com.ard.data.noflyzone.service.IArdNoFlyZoneService;
import com.ard.data.noflyzone.utils.NoFlyZoneUtils;
import com.ard.common.exception.ControlException;
import com.ard.vtdu.config.MediamtxConfig;
import com.ard.work.aspect.annotation.CheckControlRight;
import com.ard.work.aspect.annotation.CheckDroneStatus;
import com.ard.work.aspect.annotation.CheckNoFlyZone;
import com.ard.work.aspect.annotation.CheckTakeoffAltitude;
import com.ard.work.component.forest.TyClient;
import com.ard.work.component.netty.TcpClientUtil;
@@ -19,7 +15,7 @@
import com.ard.work.component.netty.command.control.SpeedControlCmd;
import com.ard.work.component.netty.command.manual.*;
import com.ard.work.component.netty.command.notice.BoxPowerStatusReplyCmd;
import com.ard.work.component.netty.command.notice.FlyWayEndReplyCmd;
import com.ard.work.component.netty.command.notice.WayLineFinishedReplyCmd;
import com.ard.work.component.netty.command.notice.UavReadyReplyCmd;
import com.ard.work.component.netty.command.real.SignalInfoCmd;
import com.ard.work.component.netty.command.real.UavStateCmd;
@@ -31,12 +27,14 @@
import com.ard.work.component.netty.handler.ErrorCodeEnum;
import com.ard.work.component.netty.protobuf.TelemetryDataPB;
import com.ard.work.component.websocket.utils.WebSocketUtil;
import com.ard.work.config.RouteStateMachineService;
import com.ard.work.domain.cache.UavSignalInfoCache;
import com.ard.work.domain.cache.UavStateCache;
import com.ard.work.domain.cache.UavTelemetryDataCache;
import com.ard.work.domain.dto.BoxHistoryDTO;
import com.ard.work.domain.dto.BoxPhotosDTO;
import com.ard.work.domain.dto.BoxSettingsDTO;
import com.ard.work.domain.dto.BoxVideosDTO;
import com.ard.work.domain.dto.camera.*;
import com.ard.work.domain.dto.control.AbsAngleControlDTO;
import com.ard.work.domain.dto.control.AngleControlDTO;
@@ -53,10 +51,12 @@
import com.ard.work.domain.dto.wayline.*;
import com.ard.work.domain.entity.ArdDroneInfo;
import com.ard.work.domain.entity.ArdServerInfo;
import com.ard.work.domain.enums.RouteEvent;
import com.ard.work.domain.message.ServerReplyMessage;
import com.ard.work.domain.message.UavControlType;
import com.ard.work.domain.receiver.*;
import com.ard.work.service.IArdDroneInfoService;
import com.ard.work.service.IArdFlightTaskPartService;
import com.ard.work.service.IArdServerInfoService;
import com.ard.work.service.ITyService;
import lombok.extern.slf4j.Slf4j;
@@ -65,6 +65,7 @@

import javax.annotation.Resource;
import java.util.*;
import java.util.concurrent.ConcurrentHashMap;
import java.util.stream.Collectors;
import java.util.stream.Stream;

@@ -82,12 +83,13 @@
    @Resource
    private IArdDroneInfoService ardDroneService;
    @Resource
    private IArdNoFlyZoneService ardNoFlyZoneService;
    @Resource
    private TyClient tyClient;
    @Autowired
    private RouteStateMachineService stateMachineService;
    @Resource
    private RedisCache redisCache;

    private UavPositionChangeService uavPositionChangeService;
    @Resource
    private UavRegionDetectService uavRegionDetectService;
    /**
     * 获取边缘服务器token信息
     *
@@ -131,12 +133,10 @@
    public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
        }


        TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(),
                boxSn);
        return boxLiveUrl == null ? null : boxLiveUrl.getContent();
@@ -152,11 +152,7 @@
        String boxSn = boxHistoryDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行起飞指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(ardDroneInfo.getServerId(),
                boxHistoryDTO);
@@ -164,7 +160,7 @@
    }

    /**
     * 获取盒子图片
     * 获取任务图片
     *
     * @return List<BoxPhotosReceiver>
     */
@@ -173,17 +169,28 @@
        String boxSn = boxPhotosDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行起飞指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(ardDroneInfo.getServerId(),
                boxPhotosDTO);
        return boxPhotos == null ? null : boxPhotos.getContent();
    }

    /**
     * 获取任务视频
     *
     * @return List<BoxVideosReceiver>
     */
    @Override
    public List<BoxVideosReceiver> getBoxVideos(BoxVideosDTO boxVideosDTO) {
        String boxSn = boxVideosDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        TyHttpCommonReceiver<List<BoxVideosReceiver>> boxVideos = tyClient.getBoxVideos(ardDroneInfo.getServerId(),
                boxVideosDTO);
        return boxVideos == null ? null : boxVideos.getContent();
    }
    /**
     * 修改云盒设置
     */
@@ -192,14 +199,10 @@
        String boxSn = boxSettingsDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(ardDroneInfo.getServerId(), boxSettingsDTO);
        return result.getState() == 1;
        return result.getState() == 0;
    }

    /**
@@ -210,11 +213,7 @@
        String boxSn = returnHeightSettingDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        ReturnHeightSettingCmd returnHeightSettingCmd = new ReturnHeightSettingCmd(returnHeightSettingDTO);
        this.sendMessage(ardDroneInfo.getServerId(), returnHeightSettingCmd);
@@ -229,11 +228,7 @@
        String boxSn = returnPointSettingDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        ReturnPointSettingCmd returnPointSettingCmd = new ReturnPointSettingCmd(returnPointSettingDTO);
        this.sendMessage(ardDroneInfo.getServerId(), returnPointSettingCmd);
@@ -248,11 +243,7 @@
        String boxSn = videoStreamSettingDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        VideoStreamSettingCmd videoStreamSettingCmd = new VideoStreamSettingCmd(videoStreamSettingDTO);
        this.sendMessage(ardDroneInfo.getServerId(), videoStreamSettingCmd);
@@ -284,11 +275,7 @@
        String boxSn = angleControlDto.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto);
        this.sendMessage(ardDroneInfo.getServerId(), controlAngleCommand);
@@ -304,11 +291,7 @@
        String boxSn = absAngleControlDto.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto);
        this.sendMessage(ardDroneInfo.getServerId(), absAngleControlCommand);
@@ -324,30 +307,35 @@
        String boxSn = speedControlDto.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto);
        this.sendMessage(ardDroneInfo.getServerId(), speedControlCommand);
        return true;
    }

    @Override
    public Boolean formatSdCard(FormatSdCardDTO formatSdCardDTO) {
        String boxSn = formatSdCardDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        FormatSdCardCmd formatSdCardCmd = new FormatSdCardCmd(formatSdCardDTO);
        this.sendMessage(ardDroneInfo.getServerId(), formatSdCardCmd);
        return true;
    }

    /**
     * 设置相机模式
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean updateCameraMode(CameraModeDTO cameraModeDTO) {
        String boxSn = cameraModeDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO);
        this.sendMessage(ardDroneInfo.getServerId(), cameraModeCommand);
@@ -357,21 +345,19 @@
    /**
     * 拍照
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean capturePic(CapturePicDTO capturePicDto) {
        String boxSn = capturePicDto.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        //设置相机模式为拍照模式
        updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
        //updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
        //设置拍照回传
        photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
        //photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01)
        // .build());

        CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);
        this.sendMessage(ardDroneInfo.getServerId(), capturePicCommand);
@@ -381,20 +367,17 @@
    /**
     * 录像
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean record(RecordDTO recordDto) {
        String boxSn = recordDto.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        BaseCmd baseCmd;
        if (recordDto.getIsRecord()) {
            updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build());
            //updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build());
            baseCmd = new RecordStartCmd(recordDto);
        } else {
            baseCmd = new RecordStopCmd(recordDto);
@@ -412,11 +395,7 @@
        String boxSn = zoomDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        ZoomCmd zoomCommand = new ZoomCmd(zoomDTO);
        this.sendMessage(ardDroneInfo.getServerId(), zoomCommand);
@@ -432,11 +411,7 @@
        String boxSn = zoomToLevelDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO);
        this.sendMessage(ardDroneInfo.getServerId(), zoomToLevelCommand);
@@ -446,16 +421,13 @@
    /**
     * 切换摄像头
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean switchCamera(SwitchCameraDTO switchCameraDTO) {
        String boxSn = switchCameraDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO);
        this.sendMessage(ardDroneInfo.getServerId(), switchCameraCmd);
@@ -465,16 +437,13 @@
    /**
     * 切换视频源
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean switchSource(SwitchSourceDTO switchSourceDTO) {
        String boxSn = switchSourceDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO);
        this.sendMessage(ardDroneInfo.getServerId(), switchSourceCmd);
@@ -484,16 +453,13 @@
    /**
     * 打开或关闭照片回传
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) {
        String boxSn = photoReturnToggleDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO);
        this.sendMessage(ardDroneInfo.getServerId(), photoReturnToggleCmd);
@@ -503,16 +469,13 @@
    /**
     * 切换无人机控制权
     */
    @CheckDroneStatus
    @Override
    public Boolean switchUavControl(SwitchUavControlDTO switchUavControlDTO) {
        String boxSn = switchUavControlDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO);
        this.sendMessage(ardDroneInfo.getServerId(), switchUavControlCmd);
@@ -528,11 +491,7 @@
        String boxSn = takeOffDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
        this.sendMessage(ardDroneInfo.getServerId(), takeOffCmd);
@@ -548,11 +507,7 @@
        String boxSn = returnHomeDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO);
        this.sendMessage(ardDroneInfo.getServerId(), returnHomeCmd);
@@ -568,11 +523,7 @@
        String boxSn = returnHomeCancelDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO);
        this.sendMessage(ardDroneInfo.getServerId(), returnHomeCancelCmd);
@@ -588,11 +539,7 @@
        String boxSn = landDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        LandCmd landCmd = new LandCmd(landDTO);
        this.sendMessage(ardDroneInfo.getServerId(), landCmd);
@@ -608,11 +555,7 @@
        String boxSn = landCancelDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO);
        this.sendMessage(ardDroneInfo.getServerId(), landCancelCmd);
@@ -628,11 +571,7 @@
        String boxSn = landForcedDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO);
        this.sendMessage(ardDroneInfo.getServerId(), landForcedCmd);
@@ -643,17 +582,13 @@
     * 方向控制
     */
    @CheckControlRight(UavControlType.FLY)
    @CheckTakeoffAltitude(minAltitude = 30.0)
    @CheckTakeoffAltitude
    @Override
    public Boolean flyControl(FlyControlDTO flyControlDTO) {
        String boxSn = flyControlDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO);
        this.sendMessage(ardDroneInfo.getServerId(), flyControlCmd);
@@ -664,27 +599,18 @@
     * 指点飞行控制
     */
    @CheckControlRight(UavControlType.FLY)
    @CheckTakeoffAltitude(minAltitude = 30.0)
    @CheckTakeoffAltitude
    @CheckNoFlyZone
    @Override
    public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) {
        String boxSn = flyPointControlDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
        }
        // 判断目标点是否经过禁飞区
        List<ArdNoFlyZone> ardNoFlyZones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());
        if (!ardNoFlyZones.isEmpty()) {
            Vertex vertex = new Vertex(flyPointControlDTO.getLongitude(), flyPointControlDTO.getLatitude());
            boolean inNoFlyZones = NoFlyZoneUtils.isInNoFlyZones(vertex, ardNoFlyZones);
            if (inNoFlyZones) {
                throw new ServiceException("目标点在禁飞区内，无法执行指令, boxSn: " + boxSn);
            }
        }
        //打点之前先停止打点
        FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(FlyPointControlCancelDTO.builder().boxSn(boxSn).build());
        this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd);

        FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
        this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd);
@@ -700,14 +626,46 @@
        String boxSn = flyPointControlCancelDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
        }


        FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO);
        this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd);
        return true;
    }


    /**
     * 环绕飞行控制
     */
//    @CheckControlRight(UavControlType.FLY)
//    @CheckTakeoffAltitude
//    @CheckNoFlyZone
    @Override
    public Boolean FlyRoundControl(FlyRoundControlDTO flyRoundControlDTO) {
        String boxSn = flyRoundControlDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        FlyRoundControlCmd flyRoundControlCmd = new FlyRoundControlCmd(flyRoundControlDTO);
        this.sendMessage(ardDroneInfo.getServerId(), flyRoundControlCmd);
        return true;
    }

    /**
     * 停止环绕飞行控制
     */
    @Override
    public Boolean FlyRoundControlCancel(FlyRoundControlCancelDTO flyRoundControlCancelDTO) {
        String boxSn = flyRoundControlCancelDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        FlyRoundControlCancelCmd flyRoundControlCancelCmd = new FlyRoundControlCancelCmd(flyRoundControlCancelDTO);
        this.sendMessage(ardDroneInfo.getServerId(), flyRoundControlCancelCmd);
        return true;
    }

@@ -720,12 +678,10 @@
        String boxSn = emeragencyBrakeDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
        }


        EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO);
        this.sendMessage(ardDroneInfo.getServerId(), emergencyBrakeCmd);
        return true;
@@ -763,11 +719,7 @@
        String boxSn = speakModeSwitchDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        SpeakModeSwitchCmd speakModeSwitchCmd = new SpeakModeSwitchCmd(speakModeSwitchDTO);
        this.sendMessage(ardDroneInfo.getServerId(), speakModeSwitchCmd);
@@ -782,11 +734,7 @@
        String boxSn = textSpeakDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        TextSpeakCmd textSpeakCmd = new TextSpeakCmd(textSpeakDTO);
        this.sendMessage(ardDroneInfo.getServerId(), textSpeakCmd);
@@ -801,11 +749,7 @@
        String boxSn = realSpeakDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        RealSpeakCmd realSpeakCmd = new RealSpeakCmd(realSpeakDTO);
        this.sendMessage(ardDroneInfo.getServerId(), realSpeakCmd);
@@ -820,11 +764,7 @@
        String boxSn = recordSpeakDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO);
        this.sendMessage(ardDroneInfo.getServerId(), recordSpeakCmd);
@@ -839,11 +779,7 @@
        String boxSn = volumeSettingDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        VolumeSettingCmd volumeSettingCmd = new VolumeSettingCmd(volumeSettingDTO);
        this.sendMessage(ardDroneInfo.getServerId(), volumeSettingCmd);
@@ -858,11 +794,7 @@
        String boxSn = loopSettingDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        LoopSettingCmd loopSettingCmd = new LoopSettingCmd(loopSettingDTO);
        this.sendMessage(ardDroneInfo.getServerId(), loopSettingCmd);
@@ -877,11 +809,7 @@
        String boxSn = stopSpeakDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        StopSpeakCmd stopSpeakCmd = new StopSpeakCmd(stopSpeakDTO);
        this.sendMessage(ardDroneInfo.getServerId(), stopSpeakCmd);
@@ -891,18 +819,16 @@
    /**
     * 航线上传
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean wayLineUpload(WayLineUploadDTO wayLineUploadDTO) {
        String boxSn = wayLineUploadDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        //wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据
        log.info("打印航线上传数据 ++++++++ wayLineUploadDTO:~~~~~~~~~~~~~~~" + wayLineUploadDTO);
        WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
        this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd);
        return true;
@@ -951,11 +877,7 @@
        String boxSn = wayLineBeginDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO);
        this.sendMessage(ardDroneInfo.getServerId(), wayLineBeginCmd);
@@ -971,11 +893,7 @@
        String boxSn = wayLinePauseDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO);
        this.sendMessage(ardDroneInfo.getServerId(), wayLinePauseCmd);
@@ -991,11 +909,7 @@
        String boxSn = wayLineResumeDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO);
        this.sendMessage(ardDroneInfo.getServerId(), wayLineResumeCmd);
@@ -1011,11 +925,7 @@
        String boxSn = wayLineEndDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);
        this.sendMessage(ardDroneInfo.getServerId(), wayLineEndCmd);
@@ -1042,7 +952,7 @@
            case 0x02:
                // 处理注册消息
                HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
                logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
                //logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
                break;
            case 0x03:
                // 处理订阅消息
@@ -1070,7 +980,18 @@
            case (byte) 0xA9:
                // 处理无人机遥测消息
                UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
                UavTelemetryDataCache.put(uavTelemetryDataCmd.getTelemetryData());
                TelemetryData telemetryData = uavTelemetryDataCmd.getTelemetryData();

                // 判断是否需要触发区域检测
                if (uavPositionChangeService.shouldTriggerRegionCheck(telemetryData)) {
                    log.debug("无人机 {} 位置变化，触发区域检测", telemetryData.getBoxSn());
                    // 异步触发区域检测（不阻塞）
                    uavRegionDetectService.detectRegionAsync(telemetryData);
                } else {
                    log.debug("无人机 {} 位置未变化，跳过区域检测", telemetryData.getBoxSn());
                }

                UavTelemetryDataCache.put(telemetryData);
                //logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
                //WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
                break;
@@ -1097,9 +1018,10 @@
                    CameraModeReplyCmd cameraModeReplyCommand = (CameraModeReplyCmd) tyCommand;
                    logPrint("无人机设置相机模式", cameraModeReplyCommand.getResult(), cameraModeReplyCommand.getErrorCode());
                }
                if (tyCommand instanceof FlyWayEndReplyCmd) {
                    FlyWayEndReplyCmd flyWayEndReplyCmd = (FlyWayEndReplyCmd) tyCommand;
                    logPrint("无人机飞行结束", flyWayEndReplyCmd.getResult(), flyWayEndReplyCmd.getErrorCode());
                //格式化存储卡
                if (tyCommand instanceof FormatSdCardReplyCmd) {
                    FormatSdCardReplyCmd formatSdCardReplyCmd = (FormatSdCardReplyCmd) tyCommand;
                    logPrint("格式化存储卡", formatSdCardReplyCmd.getResult(), formatSdCardReplyCmd.getErrorCode());
                }
                if (tyCommand instanceof CapturePicReplyCmd) {
                    CapturePicReplyCmd capturePicReplyCommand = (CapturePicReplyCmd) tyCommand;
@@ -1161,23 +1083,53 @@
                }
                //开始航线回复
                if (tyCommand instanceof WayLineBeginReplyCmd) {

                    WayLineBeginReplyCmd wayLineBeginReplyCmd = (WayLineBeginReplyCmd) tyCommand;
                    logPrint("开始航线", wayLineBeginReplyCmd.getResult(), wayLineBeginReplyCmd.getErrorCode());
                    if (wayLineBeginReplyCmd.getResult() == 0) {
                        byte[] boxSnBytes = tyCommand.getBoxSn();
                        String boxSn = new String(boxSnBytes);
                        stateMachineService.sendEvent(boxSn, RouteEvent.START_SUCCESS);
                    }
                }
                //暂停航线回复
                if (tyCommand instanceof WayLinePauseReplyCmd) {
                    WayLinePauseReplyCmd wayLinePauseReplyCmd = (WayLinePauseReplyCmd) tyCommand;
                    logPrint("暂停航线", wayLinePauseReplyCmd.getResult(), wayLinePauseReplyCmd.getErrorCode());
                    if (wayLinePauseReplyCmd.getResult() == 0) {
                        byte[] boxSnBytes = tyCommand.getBoxSn();
                        String boxSn = new String(boxSnBytes);
                        stateMachineService.sendEvent(boxSn, RouteEvent.PAUSE_SUCCESS);
                    }
                }
                //恢复航线回复
                if (tyCommand instanceof WayLineResumeReplyCmd) {
                    WayLineResumeReplyCmd wayLineResumeReplyCmd = (WayLineResumeReplyCmd) tyCommand;
                    logPrint("恢复航线", wayLineResumeReplyCmd.getResult(), wayLineResumeReplyCmd.getErrorCode());
                    if (wayLineResumeReplyCmd.getResult() == 0) {
                        byte[] boxSnBytes = tyCommand.getBoxSn();
                        String boxSn = new String(boxSnBytes);
                        stateMachineService.sendEvent(boxSn, RouteEvent.RESUME_SUCCESS);
                    }
                }
                //结束航线回复
                if (tyCommand instanceof WayLineEndReplyCmd) {
                    WayLineEndReplyCmd wayLineEndReplyCmd = (WayLineEndReplyCmd) tyCommand;
                    logPrint("结束航线", wayLineEndReplyCmd.getResult(), wayLineEndReplyCmd.getErrorCode());
                    if (wayLineEndReplyCmd.getResult() == 0) {
                        byte[] boxSnBytes = tyCommand.getBoxSn();
                        String boxSn = new String(boxSnBytes);
                        stateMachineService.sendEvent(boxSn, RouteEvent.STOP_SUCCESS);
                    }
                }
                if (tyCommand instanceof WayLineFinishedReplyCmd) {
                    WayLineFinishedReplyCmd wayLineFinishedReplyCmd = (WayLineFinishedReplyCmd) tyCommand;
                    logPrint("航线执行完成", wayLineFinishedReplyCmd.getResult(), wayLineFinishedReplyCmd.getErrorCode());
                    if (wayLineFinishedReplyCmd.getResult() == 0) {
                        byte[] boxSnBytes = tyCommand.getBoxSn();
                        String boxSn = new String(boxSnBytes);
                        stateMachineService.sendEvent(boxSn, RouteEvent.RESET_ROUTE);
                    }
                }
                //设置返航高度回复
                if (tyCommand instanceof ReturnHeightSettingReplyCmd) {
@@ -1190,6 +1142,12 @@
                    ReturnPointSettingReplyCmd returnPointSettingReplyCmd = (ReturnPointSettingReplyCmd) tyCommand;
                    logPrint("设置返航点", returnPointSettingReplyCmd.getResult(),
                            returnPointSettingReplyCmd.getErrorCode());
                }
                //到达环绕位置回复
                if (tyCommand instanceof FlyRoundReplyCmd) {
                    FlyRoundReplyCmd flyRoundReplyCmd = (FlyRoundReplyCmd) tyCommand;
                    logPrint("到达环绕位置", flyRoundReplyCmd.getResult(),
                            flyRoundReplyCmd.getErrorCode());
                }
                break;
            case (byte) 0xD2:
@@ -1291,14 +1249,4 @@
    private void sendMessage(String key, BaseCmd msg) {
        TcpClientUtil.sendMessage(key, msg);
    }

    // 判断无人机是否在线
    private boolean isDroneOnline(String boxSn) {
        if (StringUtils.isBlank(boxSn)) {
            return false;
        }
        Object obj = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn);
        return obj != null;
    }

}