增加格式化存储卡接口

liusuyi

2025-11-24 2a729cd545ddbbab1eae6cbcf819783ef11da4ab

 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;
@@ -56,7 +55,6 @@
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 +77,6 @@
    private IArdDroneInfoService ardDroneService;
    @Resource
    private TyClient tyClient;
    @Autowired
    private RedisCache redisCache;

    /**
     * 获取边缘服务器token信息
@@ -125,12 +121,10 @@
    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 +140,7 @@
        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 +157,7 @@
        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);
@@ -186,11 +172,7 @@
        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;
@@ -204,11 +186,7 @@
        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 +201,7 @@
        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 +216,7 @@
        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 +248,7 @@
        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 +264,7 @@
        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 +280,35 @@
        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 +318,13 @@
    /**
     * 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 +339,13 @@
    /**
     * 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 +367,7 @@
        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 +383,7 @@
        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 +393,13 @@
    /**
     * 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 +409,13 @@
    /**
     * 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 +425,13 @@
    /**
     * 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 +441,13 @@
    /**
     * 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 +463,7 @@
        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 +479,7 @@
        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 +495,7 @@
        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 +511,7 @@
        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 +527,7 @@
        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 +543,7 @@
        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);
@@ -643,11 +560,7 @@
        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);
@@ -659,16 +572,13 @@
     */
    @CheckControlRight(UavControlType.FLY)
    @CheckTakeoffAltitude(minAltitude = 30.0)
    @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);
@@ -684,12 +594,10 @@
        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;
@@ -704,12 +612,10 @@
        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 +653,7 @@
        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 +668,7 @@
        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 +683,7 @@
        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 +698,7 @@
        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 +713,7 @@
        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 +728,7 @@
        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 +743,7 @@
        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 +753,18 @@
    /**
     * 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);
        WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
        System.out.println("wayLineUploadCmd:-----------------" + wayLineUploadCmd);
        this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd);
        return true;
    }
@@ -935,11 +812,7 @@
        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 +828,7 @@
        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 +844,7 @@
        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 +860,7 @@
        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 +887,7 @@
            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 +945,11 @@
                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;
@@ -1275,14 +1141,4 @@
    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;
    }

}