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

@@ -86,10 +86,10 @@
    private TyClient tyClient;
    @Autowired
    private RouteStateMachineService stateMachineService;
    @Autowired
    private IArdFlightTaskPartService ardFlightTaskPartService;
    @Resource
    private MediamtxConfig mediamtxConfig;
    private UavPositionChangeService uavPositionChangeService;
    @Resource
    private UavRegionDetectService uavRegionDetectService;
    /**
     * 获取边缘服务器token信息
     *
@@ -981,6 +981,16 @@
                // 处理无人机遥测消息
                UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
                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());