forked from uav/ard-uav-server
blame | history | patch | commit | commitdiff | ignore whitespace
zhaowenyu
2026-03-11 2acf49278129e5870d8b775519a2bc1461294fb8 
 ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java


@@ -637,6 +637,9 @@


    /**


     * 环绕飞行控制


     */


//    @CheckControlRight(UavControlType.FLY)


//    @CheckTakeoffAltitude


//    @CheckNoFlyZone


    @Override


    public Boolean FlyRoundControl(FlyRoundControlDTO flyRoundControlDTO) {


        String boxSn = flyRoundControlDTO.getBoxSn();


@@ -823,10 +826,8 @@


            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);


        log.info("打印航线上传数据 ++++++++ wayLineUploadDTO:~~~~~~~~~~~~~~~" + wayLineUploadDTO);


        WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);


        System.out.println("wayLineUploadCmd:-----------------" + wayLineUploadCmd);


        this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd);


        return true;


    }


@@ -978,7 +979,6 @@


                // 处理无人机遥测消息


                UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;


                TelemetryData telemetryData = uavTelemetryDataCmd.getTelemetryData();


                //telemetryData.setTimestamp(System.currentTimeMillis());//由于六合提供的状态时间戳不准，先以接收状态作为时间戳


                UavTelemetryDataCache.put(telemetryData);


                //logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());


                //WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());