优化

liusuyi

2025-12-12 296dedfcdcc4d769dbad703e4d80bda6b948f3f2

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

@@ -1,10 +1,9 @@
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.common.exception.ControlException;
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;
@@ -30,6 +29,7 @@
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.cache.UavWaylineCache;
import com.ard.work.domain.dto.BoxHistoryDTO;
import com.ard.work.domain.dto.BoxPhotosDTO;
import com.ard.work.domain.dto.BoxSettingsDTO;
@@ -56,7 +56,6 @@
import com.ard.work.service.IArdServerInfoService;
import com.ard.work.service.ITyService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import javax.annotation.Resource;
@@ -79,8 +78,6 @@
    private IArdDroneInfoService ardDroneService;
    @Resource
    private TyClient tyClient;
    @Autowired
    private RedisCache redisCache;

    /**
     * 获取边缘服务器token信息
@@ -125,12 +122,10 @@
    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();
@@ -146,11 +141,7 @@
        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);
@@ -167,11 +158,7 @@
        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);
@@ -186,14 +173,10 @@
        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;
    }

    /**
@@ -204,11 +187,7 @@
        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);
@@ -223,11 +202,7 @@
        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);
@@ -242,11 +217,7 @@
        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);
@@ -278,11 +249,7 @@
        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);
@@ -298,11 +265,7 @@
        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);
@@ -318,30 +281,35 @@
        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);
@@ -351,16 +319,13 @@
    /**
     * 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());
@@ -375,16 +340,13 @@
    /**
     * 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()) {
@@ -406,11 +368,7 @@
        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);
@@ -426,11 +384,7 @@
        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);
@@ -440,16 +394,13 @@
    /**
     * 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);
@@ -459,16 +410,13 @@
    /**
     * 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);
@@ -478,16 +426,13 @@
    /**
     * 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);
@@ -497,16 +442,13 @@
    /**
     * 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);
@@ -522,11 +464,7 @@
        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);
@@ -542,11 +480,7 @@
        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);
@@ -562,11 +496,7 @@
        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);
@@ -582,11 +512,7 @@
        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);
@@ -602,11 +528,7 @@
        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);
@@ -622,11 +544,7 @@
        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);
@@ -637,17 +555,13 @@
     * 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);
@@ -658,17 +572,14 @@
     * 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);
        }
        // ✅ 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);
        }
        FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
        this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd);
@@ -684,14 +595,43 @@
        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
     */
    @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;
    }

@@ -704,12 +644,10 @@
        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;
@@ -747,11 +685,7 @@
        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);
@@ -766,11 +700,7 @@
        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);
@@ -785,11 +715,7 @@
        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);
@@ -804,11 +730,7 @@
        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);
@@ -823,11 +745,7 @@
        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);
@@ -842,11 +760,7 @@
        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);
@@ -861,11 +775,7 @@
        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);
@@ -875,19 +785,19 @@
    /**
     * 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
        System.out.println("wayLineUploadDTO:-----------------" + wayLineUploadDTO);
        log.info("打印数据 ++++ wayLineUploadDTO:-----------------" + wayLineUploadDTO);
        WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
        System.out.println("wayLineUploadCmd:-----------------" + wayLineUploadCmd);
        this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd);
        return true;
    }
@@ -935,11 +845,7 @@
        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);
@@ -955,11 +861,7 @@
        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);
@@ -975,11 +877,7 @@
        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);
@@ -995,11 +893,7 @@
        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);
@@ -1026,7 +920,7 @@
            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
@@ -1084,6 +978,11 @@
                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;
@@ -1174,6 +1073,12 @@
                    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:
@@ -1275,14 +1180,4 @@
    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;
    }

}