Merge remote-tracking branch 'origin/dev' into dev

zhaowenyu

2025-11-15 1e2f717393e4053a3b8de11cbf67cd98a8c77ec1

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

@@ -1,38 +1,70 @@
package com.ard.work.service.impl;

import com.ard.common.constant.CacheConstants;
import com.ard.common.core.domain.model.LoginUser;
import com.ard.common.core.redis.RedisCache;
import com.ard.common.utils.SecurityUtils;
import com.ard.work.domain.cache.UavStateCache;
import com.ard.work.domain.dto.control.SpeedControlDTO;
import com.ard.work.domain.dto.state.UavState;
import com.ard.work.service.IGimbalSpeedService;
import com.ard.work.service.ITyService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.security.authentication.UsernamePasswordAuthenticationToken;
import org.springframework.security.core.context.SecurityContextHolder;
import org.springframework.stereotype.Service;

import javax.annotation.Resource;
import java.util.Map;
import java.util.concurrent.*;

/**
 * 云台速度控制实现
 *
 * @author lsy
 * @date 2025/10/28
 */
@Service
@Slf4j
public class GimbalSpeedService {
public class GimbalSpeedService implements IGimbalSpeedService {

    private final ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
    private final Map<String, ScheduledFuture<?>> tasks = new ConcurrentHashMap<>();

    @Resource
    private ITyService tyService;
    @Resource
    private RedisCache redisCache;

    @Override
    public synchronized void startControl(SpeedControlDTO speed) {
        String boxSn = speed.getBoxSn();

        // ✅ 先判断是否在线
        if (!isUavOnline(boxSn)) {
            throw new RuntimeException("无人机离线，无法启动云台控制: " + boxSn);
        }

        if (tasks.containsKey(boxSn)) {
            return;
        }
        LoginUser loginUser = SecurityUtils.getLoginUser();// 主线程获取
        // ✅ 启动前先试探一次，确保正常
        try {
            SecurityContextHolder.getContext().setAuthentication(
                    new UsernamePasswordAuthenticationToken(loginUser, null, loginUser.getAuthorities())
            );
            Boolean ok = tyService.speedControl(speed);
            if (ok == null || !ok) {
                throw new RuntimeException("初始速度控制指令失败");
            }
        } catch (Exception e) {
            log.error("初次控制指令异常: {}", e.getMessage());
            throw new RuntimeException("无法启动云台控制：" + e.getMessage());
        }

        ScheduledFuture<?> future = executor.scheduleAtFixedRate(() -> {
            double currentYaw = getCurrentYaw(boxSn);
            log.warn("currentYaw: {}", currentYaw);
            if ((speed.getYawSpeed() < 0 && currentYaw <= -180) ||
                (speed.getYawSpeed() > 0 && currentYaw >= 180)) {
                stopControl(boxSn);
@@ -55,7 +87,7 @@

        tasks.put(boxSn, future);
    }

    @Override
    public synchronized void stopControl(String boxSn) {
        ScheduledFuture<?> future = tasks.remove(boxSn);
        if (future != null) {
@@ -71,4 +103,11 @@
        }
        return uavState.getPtzState().getYaw();
    }

    private boolean isUavOnline(String boxSn) {
        // 如果 Redis 中存在对应 key，则认为在线
        Object obj = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn);
        return obj != null;
    }

}