轨迹重新排序

liusuyi

2025-12-22 2fd6dc640f0f94ea5c1109aa7a8fd3ae33643dec

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

@@ -15,6 +15,7 @@
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Service;
import java.util.ArrayList;
import java.util.Comparator;
import java.util.Date;
import java.util.List;
import java.util.concurrent.ConcurrentHashMap;
@@ -44,19 +45,32 @@
     */
    @Scheduled(fixedRate = 1000)
    public void readTelemetryTask() {
        long now = System.currentTimeMillis();
        UavTelemetryDataCache.forEach((boxSn, telemetryData) -> {

            // 从状态缓存里取当前状态
            // 1️⃣ 从状态缓存里取当前状态
            UavState uavState = UavStateCache.get(boxSn);
            if (uavState == null) {
                return; // 状态不存在，不记录
            }

            // 2️⃣ 使用遥测自身时间戳判断是否还活着
            long dataTs = telemetryData.getTimestamp(); // 设备时间 / 服务器接收时间
            if (now - dataTs > 3000) {
                return; // 超过 3 秒没有新遥测 → 认为已离线或冻结，不记录
            }

            // 3️⃣ 飞行状态必须是飞行中
            if(uavState.getFlightControllerState().getFlightStatus()!=2)
            {
                return; // 飞行状态不是飞行中，不记录
            }

            UavFlightStateDTO dto = new UavFlightStateDTO(
                    uavState,
                    telemetryData
                    telemetryData,
                    dataTs
            );

            addTelemetryData(dto);
        });
    }
@@ -94,7 +108,10 @@
                    .count(dataList.size())
                    .dataPart(blobData)
                    .build();
            part.setCreateTime(new Date());
            // 使用 list 中第一条数据的时间作为 createTime
            long firstTimeMillis = dataList.get(0).getTimestamp();
            Date createTime = new Date(firstTimeMillis);
            part.setCreateTime(createTime);
            ardflightTaskPartMapper.insert(part);

            log.info("设备 {} 分片保存 {} 条飞行数据到数据库成功", boxSn, dataList.size());
@@ -123,18 +140,21 @@
     * 获取完整航线轨迹（合并所有分片）
     */
    @Override
    public List<TelemetryData> getCompleteFlightData(ArdFlightTaskPart ardFlightTaskPart) {
        List<TelemetryData> allData = new ArrayList<>();
    public List<UavFlightStateDTO> getCompleteFlightData(ArdFlightTaskPart ardFlightTaskPart) {
        List<UavFlightStateDTO> allData = new ArrayList<>();
        String boxSn = ardFlightTaskPart.getBoxSn();
        List<ArdFlightTaskPart> parts = ardflightTaskPartMapper.selectByTaskStartTime(ardFlightTaskPart);
        for (ArdFlightTaskPart part : parts) {
            try {
                List<TelemetryData> partData = SerializeUtil.deserialize(part.getDataPart());
                List<UavFlightStateDTO> partData = SerializeUtil.deserialize(part.getDataPart());
                allData.addAll(partData);
            } catch (Exception e) {
                log.error("反序列化 boxSn={} 分片数据失败", boxSn, e);
            }
        }
        // 按 telemetryData.timestamp 升序排序
        allData.sort(Comparator.comparingLong(dto -> dto.getTelemetryData().getTimestamp()));

        return allData;
    }
}