1. 提交细节修改。

Xiajijian

2026-05-27 402fe914957546a820c60731181501c554826fa4

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

@@ -1,7 +1,10 @@
package com.ard.work.service.impl;

import com.ard.common.utils.ByteUtils;
import com.ard.common.exception.ControlException;
import com.ard.vtdu.config.MediamtxConfig;
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;
@@ -12,7 +15,7 @@
import com.ard.work.component.netty.command.control.SpeedControlCmd;
import com.ard.work.component.netty.command.manual.*;
import com.ard.work.component.netty.command.notice.BoxPowerStatusReplyCmd;
import com.ard.work.component.netty.command.notice.FlyWayEndReplyCmd;
import com.ard.work.component.netty.command.notice.WayLineFinishedReplyCmd;
import com.ard.work.component.netty.command.notice.UavReadyReplyCmd;
import com.ard.work.component.netty.command.real.SignalInfoCmd;
import com.ard.work.component.netty.command.real.UavStateCmd;
@@ -24,12 +27,14 @@
import com.ard.work.component.netty.handler.ErrorCodeEnum;
import com.ard.work.component.netty.protobuf.TelemetryDataPB;
import com.ard.work.component.websocket.utils.WebSocketUtil;
import com.ard.work.config.RouteStateMachineService;
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.dto.BoxHistoryDTO;
import com.ard.work.domain.dto.BoxPhotosDTO;
import com.ard.work.domain.dto.BoxSettingsDTO;
import com.ard.work.domain.dto.BoxVideosDTO;
import com.ard.work.domain.dto.camera.*;
import com.ard.work.domain.dto.control.AbsAngleControlDTO;
import com.ard.work.domain.dto.control.AngleControlDTO;
@@ -41,23 +46,27 @@
import com.ard.work.domain.dto.settings.VideoStreamSettingDTO;
import com.ard.work.domain.dto.signal.SignalInfo;
import com.ard.work.domain.dto.speaker.*;
import com.ard.work.domain.dto.state.PointData;
import com.ard.work.domain.dto.state.UavState;
import com.ard.work.domain.dto.telemetry.TelemetryData;
import com.ard.work.domain.dto.wayline.*;
import com.ard.work.domain.entity.ArdDroneInfo;
import com.ard.work.domain.entity.ArdServerInfo;
import com.ard.work.domain.message.BaseMessage;
import com.ard.work.domain.enums.RouteEvent;
import com.ard.work.domain.message.ServerReplyMessage;
import com.ard.work.domain.message.UavControlType;
import com.ard.work.domain.receiver.*;
import com.ard.work.service.IArdDroneInfoService;
import com.ard.work.service.IArdFlightTaskPartService;
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;
import java.util.*;
import java.util.concurrent.ConcurrentHashMap;
import java.util.stream.Collectors;
import java.util.stream.Stream;

@@ -76,7 +85,12 @@
    private IArdDroneInfoService ardDroneService;
    @Resource
    private TyClient tyClient;

    @Autowired
    private RouteStateMachineService stateMachineService;
    @Resource
    private UavPositionChangeService uavPositionChangeService;
    @Resource
    private UavRegionDetectService uavRegionDetectService;
    /**
     * 获取边缘服务器token信息
     *
@@ -94,7 +108,9 @@
     */
    @Override
    public List<BoxInfoReceiver> getBoxList() {
        List<ArdServerInfo> ardServerInfos = ardServerService.selectArdServerInfoList(new ArdServerInfo());
        List<ArdServerInfo> ardServerInfos = ardServerService.selectArdServerInfoList(new ArdServerInfo() {{
            setUseDataScope(false);
        }});
        return getBoxList(ardServerInfos);
    }

@@ -118,9 +134,10 @@
    public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            log.warn("未找到对应的飞行器信息,boxSn:{}", boxSn);
            return null;
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }


        TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(),
                boxSn);
        return boxLiveUrl == null ? null : boxLiveUrl.getContent();
@@ -133,33 +150,60 @@
     */
    @Override
    public List<BoxHistoryReceiver> getBoxHistory(BoxHistoryDTO boxHistoryDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxHistoryDTO.getBoxSn());
        String boxSn = boxHistoryDTO.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);
        }
        TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(ardDroneInfo.getServerId(),
                boxHistoryDTO);
        return boxHistory == null ? null : boxHistory.getContent();
    }

    /**
     * 获取盒子图片
     * 获取任务图片
     *
     * @return List<BoxPhotosReceiver>
     */
    @Override
    public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxPhotosDTO.getBoxSn());
        String boxSn = boxPhotosDTO.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);
        }
        TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(ardDroneInfo.getServerId(),
                boxPhotosDTO);
        return boxPhotos == null ? null : boxPhotos.getContent();
    }

    /**
     * 获取任务视频
     *
     * @return List<BoxVideosReceiver>
     */
    @Override
    public List<BoxVideosReceiver> getBoxVideos(BoxVideosDTO boxVideosDTO) {
        String boxSn = boxVideosDTO.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);
        }
        TyHttpCommonReceiver<List<BoxVideosReceiver>> boxVideos = tyClient.getBoxVideos(ardDroneInfo.getServerId(),
                boxVideosDTO);
        return boxVideos == null ? null : boxVideos.getContent();
    }
    /**
     * 修改云盒设置
     */
    @Override
    public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSettingsDTO.getBoxSn());
        String boxSn = boxSettingsDTO.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);
        }
        TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(ardDroneInfo.getServerId(), boxSettingsDTO);
        return result.getState() == 1;
        return result.getState() == 0;
    }

    /**
@@ -167,7 +211,11 @@
     */
    @Override
    public Boolean updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHeightSettingDTO.getBoxSn());
        String boxSn = returnHeightSettingDTO.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);
        }
        ReturnHeightSettingCmd returnHeightSettingCmd = new ReturnHeightSettingCmd(returnHeightSettingDTO);
        this.sendMessage(ardDroneInfo.getServerId(), returnHeightSettingCmd);
        return true;
@@ -178,7 +226,11 @@
     */
    @Override
    public Boolean updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnPointSettingDTO.getBoxSn());
        String boxSn = returnPointSettingDTO.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);
        }
        ReturnPointSettingCmd returnPointSettingCmd = new ReturnPointSettingCmd(returnPointSettingDTO);
        this.sendMessage(ardDroneInfo.getServerId(), returnPointSettingCmd);
        return true;
@@ -189,7 +241,11 @@
     */
    @Override
    public Boolean updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(videoStreamSettingDTO.getBoxSn());
        String boxSn = videoStreamSettingDTO.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);
        }
        VideoStreamSettingCmd videoStreamSettingCmd = new VideoStreamSettingCmd(videoStreamSettingDTO);
        this.sendMessage(ardDroneInfo.getServerId(), videoStreamSettingCmd);
        return true;
@@ -204,10 +260,11 @@
            AccessTokenReceiver tyToken = ardServerService.getAccessToken(serverId);
            RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
            this.sendMessage(serverId, registerMessage);
            return true;
        } catch (Exception e) {
            log.error("注册边缘服务器平台失败:{}", e.getMessage());
            return false;
        }
        return true;
    }

    /**
@@ -216,7 +273,11 @@
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean angleControl(AngleControlDTO angleControlDto) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(angleControlDto.getBoxSn());
        String boxSn = angleControlDto.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);
        }
        AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto);
        this.sendMessage(ardDroneInfo.getServerId(), controlAngleCommand);
        return true;
@@ -228,7 +289,11 @@
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean absAngleControl(AbsAngleControlDTO absAngleControlDto) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(absAngleControlDto.getBoxSn());
        String boxSn = absAngleControlDto.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);
        }
        AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto);
        this.sendMessage(ardDroneInfo.getServerId(), absAngleControlCommand);
        return true;
@@ -240,18 +305,39 @@
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean speedControl(SpeedControlDTO speedControlDto) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(speedControlDto.getBoxSn());
        String boxSn = speedControlDto.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);
        }
        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) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(cameraModeDTO.getBoxSn());
        String boxSn = cameraModeDTO.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);
        }
        CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO);
        this.sendMessage(ardDroneInfo.getServerId(), cameraModeCommand);
        return true;
@@ -260,13 +346,20 @@
    /**
     * 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 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());
        //updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
        //设置拍照回传
        photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(capturePicDto.getBoxSn());
        //photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01)
        // .build());

        CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);
        this.sendMessage(ardDroneInfo.getServerId(), capturePicCommand);
        return true;
@@ -275,16 +368,21 @@
    /**
     * 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 ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        BaseCmd baseCmd;
        if (recordDto.getIsRecord()) {
            updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build());
            //updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build());
            baseCmd = new RecordStartCmd(recordDto);
        } else {
            baseCmd = new RecordStopCmd(recordDto);
        }
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(recordDto.getBoxSn());
        this.sendMessage(ardDroneInfo.getServerId(), baseCmd);
        return true;
    }
@@ -295,7 +393,11 @@
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean zoom(ZoomDTO zoomDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(zoomDTO.getBoxSn());
        String boxSn = zoomDTO.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);
        }
        ZoomCmd zoomCommand = new ZoomCmd(zoomDTO);
        this.sendMessage(ardDroneInfo.getServerId(), zoomCommand);
        return true;
@@ -307,7 +409,11 @@
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(zoomToLevelDTO.getBoxSn());
        String boxSn = zoomToLevelDTO.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);
        }
        ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO);
        this.sendMessage(ardDroneInfo.getServerId(), zoomToLevelCommand);
        return true;
@@ -316,9 +422,14 @@
    /**
     * 切换摄像头
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean switchCamera(SwitchCameraDTO switchCameraDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchCameraDTO.getBoxSn());
        String boxSn = switchCameraDTO.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);
        }
        SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO);
        this.sendMessage(ardDroneInfo.getServerId(), switchCameraCmd);
        return true;
@@ -327,9 +438,14 @@
    /**
     * 切换视频源
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean switchSource(SwitchSourceDTO switchSourceDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchSourceDTO.getBoxSn());
        String boxSn = switchSourceDTO.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);
        }
        SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO);
        this.sendMessage(ardDroneInfo.getServerId(), switchSourceCmd);
        return true;
@@ -338,9 +454,14 @@
    /**
     * 打开或关闭照片回传
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(photoReturnToggleDTO.getBoxSn());
        String boxSn = photoReturnToggleDTO.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);
        }
        PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO);
        this.sendMessage(ardDroneInfo.getServerId(), photoReturnToggleCmd);
        return true;
@@ -349,9 +470,14 @@
    /**
     * 切换无人机控制权
     */
    @CheckDroneStatus
    @Override
    public Boolean switchUavControl(SwitchUavControlDTO switchUavControlDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchUavControlDTO.getBoxSn());
        String boxSn = switchUavControlDTO.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);
        }
        SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO);
        this.sendMessage(ardDroneInfo.getServerId(), switchUavControlCmd);
        return true;
@@ -363,7 +489,11 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean takeOff(TakeOffDTO takeOffDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(takeOffDTO.getBoxSn());
        String boxSn = takeOffDTO.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);
        }
        TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
        this.sendMessage(ardDroneInfo.getServerId(), takeOffCmd);
        return true;
@@ -375,7 +505,11 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean returnHome(ReturnHomeDTO returnHomeDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHomeDTO.getBoxSn());
        String boxSn = returnHomeDTO.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);
        }
        ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO);
        this.sendMessage(ardDroneInfo.getServerId(), returnHomeCmd);
        return true;
@@ -387,7 +521,11 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHomeCancelDTO.getBoxSn());
        String boxSn = returnHomeCancelDTO.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);
        }
        ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO);
        this.sendMessage(ardDroneInfo.getServerId(), returnHomeCancelCmd);
        return true;
@@ -399,7 +537,11 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean land(LandDTO landDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landDTO.getBoxSn());
        String boxSn = landDTO.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);
        }
        LandCmd landCmd = new LandCmd(landDTO);
        this.sendMessage(ardDroneInfo.getServerId(), landCmd);
        return true;
@@ -411,7 +553,11 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean landCancel(LandCancelDTO landCancelDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landCancelDTO.getBoxSn());
        String boxSn = landCancelDTO.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);
        }
        LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO);
        this.sendMessage(ardDroneInfo.getServerId(), landCancelCmd);
        return true;
@@ -423,7 +569,11 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean landForced(LandForcedDTO landForcedDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landForcedDTO.getBoxSn());
        String boxSn = landForcedDTO.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);
        }
        LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO);
        this.sendMessage(ardDroneInfo.getServerId(), landForcedCmd);
        return true;
@@ -433,10 +583,14 @@
     * 方向控制
     */
    @CheckControlRight(UavControlType.FLY)
    @CheckTakeoffAltitude(minAltitude = 30.0)
    @CheckTakeoffAltitude
    @Override
    public Boolean flyControl(FlyControlDTO flyControlDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyControlDTO.getBoxSn());
        String boxSn = flyControlDTO.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);
        }
        FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO);
        this.sendMessage(ardDroneInfo.getServerId(), flyControlCmd);
        return true;
@@ -446,10 +600,19 @@
     * 指点飞行控制
     */
    @CheckControlRight(UavControlType.FLY)
    @CheckTakeoffAltitude(minAltitude = 30.0)
    @CheckTakeoffAltitude
    @CheckNoFlyZone
    @Override
    public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyPointControlDTO.getBoxSn());
        String boxSn = flyPointControlDTO.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);
        }
        //打点之前先停止打点
        FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(FlyPointControlCancelDTO.builder().boxSn(boxSn).build());
        this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd);

        FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
        this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd);
        return true;
@@ -461,9 +624,49 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyPointControlCancelDTO.getBoxSn());
        String boxSn = flyPointControlCancelDTO.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);
        }


        FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO);
        this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd);
        return true;
    }


    /**
     * 环绕飞行控制
     */
//    @CheckControlRight(UavControlType.FLY)
//    @CheckTakeoffAltitude
//    @CheckNoFlyZone
    @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;
    }

@@ -473,7 +676,13 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(emeragencyBrakeDTO.getBoxSn());
        String boxSn = emeragencyBrakeDTO.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);
        }


        EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO);
        this.sendMessage(ardDroneInfo.getServerId(), emergencyBrakeCmd);
        return true;
@@ -507,81 +716,145 @@
     * 喊话模式切换
     */
    @Override
    public void speakModeSwitch(SpeakModeSwitchDTO speakModeSwitchDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(speakModeSwitchDTO.getBoxSn());
    public Boolean speakModeSwitch(SpeakModeSwitchDTO speakModeSwitchDTO) {
        String boxSn = speakModeSwitchDTO.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);
        }
        SpeakModeSwitchCmd speakModeSwitchCmd = new SpeakModeSwitchCmd(speakModeSwitchDTO);
        this.sendMessage(ardDroneInfo.getServerId(), speakModeSwitchCmd);
        return true;
    }

    /**
     * 文字喊话
     */
    @Override
    public void textSpeak(TextSpeakDTO textSpeakDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(textSpeakDTO.getBoxSn());
    public Boolean textSpeak(TextSpeakDTO textSpeakDTO) {
        String boxSn = textSpeakDTO.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);
        }
        TextSpeakCmd textSpeakCmd = new TextSpeakCmd(textSpeakDTO);
        this.sendMessage(ardDroneInfo.getServerId(), textSpeakCmd);
        return true;
    }

    /**
     * 实时喊话
     */
    @Override
    public void realSpeak(RealSpeakDTO realSpeakDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(realSpeakDTO.getBoxSn());
    public Boolean realSpeak(RealSpeakDTO realSpeakDTO) {
        String boxSn = realSpeakDTO.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);
        }
        RealSpeakCmd realSpeakCmd = new RealSpeakCmd(realSpeakDTO);
        this.sendMessage(ardDroneInfo.getServerId(), realSpeakCmd);
        return true;
    }

    /**
     * 录音喊话
     */
    @Override
    public void recordSpeak(RecordSpeakDTO recordSpeakDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(recordSpeakDTO.getBoxSn());
    public Boolean recordSpeak(RecordSpeakDTO recordSpeakDTO) {
        String boxSn = recordSpeakDTO.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);
        }
        RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO);
        this.sendMessage(ardDroneInfo.getServerId(), recordSpeakCmd);
        return true;
    }

    /**
     * 设置音量
     */
    @Override
    public void volumeSetting(VolumeSettingDTO volumeSettingDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(volumeSettingDTO.getBoxSn());
    public Boolean volumeSetting(VolumeSettingDTO volumeSettingDTO) {
        String boxSn = volumeSettingDTO.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);
        }
        VolumeSettingCmd volumeSettingCmd = new VolumeSettingCmd(volumeSettingDTO);
        this.sendMessage(ardDroneInfo.getServerId(), volumeSettingCmd);
        return true;
    }

    /**
     * 设置循环播放
     */
    @Override
    public void loopSetting(LoopSettingDTO loopSettingDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(loopSettingDTO.getBoxSn());
    public Boolean loopSetting(LoopSettingDTO loopSettingDTO) {
        String boxSn = loopSettingDTO.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);
        }
        LoopSettingCmd loopSettingCmd = new LoopSettingCmd(loopSettingDTO);
        this.sendMessage(ardDroneInfo.getServerId(), loopSettingCmd);
        return true;
    }

    /**
     * 停止喊话
     */
    @Override
    public void stopSpeak(StopSpeakDTO stopSpeakDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(stopSpeakDTO.getBoxSn());
    public Boolean stopSpeak(StopSpeakDTO stopSpeakDTO) {
        String boxSn = stopSpeakDTO.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);
        }
        StopSpeakCmd stopSpeakCmd = new StopSpeakCmd(stopSpeakDTO);
        this.sendMessage(ardDroneInfo.getServerId(), stopSpeakCmd);
        return true;
    }

    /**
     * 航线上传
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public void wayLineUpload(WayLineUploadDTO wayLineUploadDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineUploadDTO.getBoxSn());
        wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据
    public Boolean wayLineUpload(WayLineUploadDTO wayLineUploadDTO) {
        String boxSn = wayLineUploadDTO.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);
        }

        if ("3".equals(wayLineUploadDTO.getWayLineData().getRouteType())){
            CreateWayLineUploadDTO(wayLineUploadDTO);
        }

        //wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据
        log.info("打印航线上传数据 ++++++++ wayLineUploadDTO:~~~~~~~~~~~~~~~" + wayLineUploadDTO);
        WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
        this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd);
        return true;
    }

    /**
     * 根据航线类型重新加工每个行点的高度
     * 如果行点类型是精细化巡检
     */
    private void CreateWayLineUploadDTO(WayLineUploadDTO wayLineUploadDTO) {
        // 先获取遥测数据
        String boxSn = wayLineUploadDTO.getBoxSn();
        TelemetryData telemetryData = getUavTelemetryData(boxSn);
        if (telemetryData == null) {
            throw new ControlException("获取遥测数据失败, boxSn:{}" + boxSn);
        }
        float altitude = telemetryData.getAltitude();
        for (PointData interest : wayLineUploadDTO.getWayLineData().getInterests()) {
            interest.setHeight(interest.getHeight() - altitude);
        }
    }

    //创建航线
@@ -623,10 +896,15 @@
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineBeginDTO.getBoxSn());
    public Boolean wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
        String boxSn = wayLineBeginDTO.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);
        }
        WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO);
        this.sendMessage(ardDroneInfo.getServerId(), wayLineBeginCmd);
        return true;
    }

    /**
@@ -634,10 +912,15 @@
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLinePauseDTO.getBoxSn());
    public Boolean wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
        String boxSn = wayLinePauseDTO.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);
        }
        WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO);
        this.sendMessage(ardDroneInfo.getServerId(), wayLinePauseCmd);
        return true;
    }

    /**
@@ -645,10 +928,15 @@
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineResumeDTO.getBoxSn());
    public Boolean wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
        String boxSn = wayLineResumeDTO.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);
        }
        WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO);
        this.sendMessage(ardDroneInfo.getServerId(), wayLineResumeCmd);
        return true;
    }

    /**
@@ -656,10 +944,15 @@
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public void wayLineEnd(WayLineEndDTO wayLineEndDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineEndDTO.getBoxSn());
    public Boolean wayLineEnd(WayLineEndDTO wayLineEndDTO) {
        String boxSn = wayLineEndDTO.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);
        }
        WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);
        this.sendMessage(ardDroneInfo.getServerId(), wayLineEndCmd);
        return true;
    }

    /**
@@ -682,7 +975,7 @@
            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
@@ -710,7 +1003,18 @@
            case (byte) 0xA9:
                // 处理无人机遥测消息
                UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
                UavTelemetryDataCache.put(uavTelemetryDataCmd.getTelemetryData());
                TelemetryData telemetryData = uavTelemetryDataCmd.getTelemetryData();

                // 判断是否需要触发区域检测
                if (uavPositionChangeService.shouldTriggerRegionCheck(telemetryData)) {
                    log.debug("无人机 {} 位置变化，触发区域检测", telemetryData.getBoxSn());
                    // 异步触发区域检测（不阻塞）
                    uavRegionDetectService.detectRegionAsync(telemetryData);
                } else {
                    log.debug("无人机 {} 位置未变化，跳过区域检测", telemetryData.getBoxSn());
                }

                UavTelemetryDataCache.put(telemetryData);
                //logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
                //WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
                break;
@@ -737,9 +1041,10 @@
                    CameraModeReplyCmd cameraModeReplyCommand = (CameraModeReplyCmd) tyCommand;
                    logPrint("无人机设置相机模式", cameraModeReplyCommand.getResult(), cameraModeReplyCommand.getErrorCode());
                }
                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;
@@ -801,23 +1106,53 @@
                }
                //开始航线回复
                if (tyCommand instanceof WayLineBeginReplyCmd) {

                    WayLineBeginReplyCmd wayLineBeginReplyCmd = (WayLineBeginReplyCmd) tyCommand;
                    logPrint("开始航线", wayLineBeginReplyCmd.getResult(), wayLineBeginReplyCmd.getErrorCode());
                    if (wayLineBeginReplyCmd.getResult() == 0) {
                        byte[] boxSnBytes = tyCommand.getBoxSn();
                        String boxSn = new String(boxSnBytes);
                        stateMachineService.sendEvent(boxSn, RouteEvent.START_SUCCESS);
                    }
                }
                //暂停航线回复
                if (tyCommand instanceof WayLinePauseReplyCmd) {
                    WayLinePauseReplyCmd wayLinePauseReplyCmd = (WayLinePauseReplyCmd) tyCommand;
                    logPrint("暂停航线", wayLinePauseReplyCmd.getResult(), wayLinePauseReplyCmd.getErrorCode());
                    if (wayLinePauseReplyCmd.getResult() == 0) {
                        byte[] boxSnBytes = tyCommand.getBoxSn();
                        String boxSn = new String(boxSnBytes);
                        stateMachineService.sendEvent(boxSn, RouteEvent.PAUSE_SUCCESS);
                    }
                }
                //恢复航线回复
                if (tyCommand instanceof WayLineResumeReplyCmd) {
                    WayLineResumeReplyCmd wayLineResumeReplyCmd = (WayLineResumeReplyCmd) tyCommand;
                    logPrint("恢复航线", wayLineResumeReplyCmd.getResult(), wayLineResumeReplyCmd.getErrorCode());
                    if (wayLineResumeReplyCmd.getResult() == 0) {
                        byte[] boxSnBytes = tyCommand.getBoxSn();
                        String boxSn = new String(boxSnBytes);
                        stateMachineService.sendEvent(boxSn, RouteEvent.RESUME_SUCCESS);
                    }
                }
                //结束航线回复
                if (tyCommand instanceof WayLineEndReplyCmd) {
                    WayLineEndReplyCmd wayLineEndReplyCmd = (WayLineEndReplyCmd) tyCommand;
                    logPrint("结束航线", wayLineEndReplyCmd.getResult(), wayLineEndReplyCmd.getErrorCode());
                    if (wayLineEndReplyCmd.getResult() == 0) {
                        byte[] boxSnBytes = tyCommand.getBoxSn();
                        String boxSn = new String(boxSnBytes);
                        stateMachineService.sendEvent(boxSn, RouteEvent.STOP_SUCCESS);
                    }
                }
                if (tyCommand instanceof WayLineFinishedReplyCmd) {
                    WayLineFinishedReplyCmd wayLineFinishedReplyCmd = (WayLineFinishedReplyCmd) tyCommand;
                    logPrint("航线执行完成", wayLineFinishedReplyCmd.getResult(), wayLineFinishedReplyCmd.getErrorCode());
                    if (wayLineFinishedReplyCmd.getResult() == 0) {
                        byte[] boxSnBytes = tyCommand.getBoxSn();
                        String boxSn = new String(boxSnBytes);
                        stateMachineService.sendEvent(boxSn, RouteEvent.RESET_ROUTE);
                    }
                }
                //设置返航高度回复
                if (tyCommand instanceof ReturnHeightSettingReplyCmd) {
@@ -830,6 +1165,12 @@
                    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:
@@ -859,6 +1200,30 @@
            log.error("获取云盒列表失败, 服务器id: {}", id, e);
            return Collections.emptyList(); // 返回不可变空列表，更安全
        }
    }

    /**
     * 开启爆闪灯
     */
    @Override
    public Boolean turnOnLight() {
        return null;
    }

    /**
     * 关闭爆闪灯
     */
    @Override
    public Boolean turnOffLight() {
        return null;
    }

    /**
     * 亮度调节
     */
    @Override
    public Boolean adjustBrightness() {
        return null;
    }

    /**
@@ -904,24 +1269,24 @@

    //公共日志打印
    private void logPrint(String message, Object obj) {
        String text = String.format("收到%s回复%s", message, obj);
        String text = String.format("收到%s回复 %s", message, obj);
        ServerReplyMessage serverReplyMessage = ServerReplyMessage.builder().message(text).build();
        WebSocketUtil.sendMessage("reply", serverReplyMessage);
        log.info(text);
        log.debug(text);
    }

    //公共日志打印
    private void logPrint(String message, byte result, Integer errorCode) {
        String text = String.format(
                "收到%s回复:%s 错误码：%d【%s】",
                "收到%s回复 状态码：%d【%s】",
                message,
                ByteUtils.byteToHex(result),
                //ByteUtils.byteToHex(result),
                errorCode,
                ErrorCodeEnum.getDescByCode(errorCode)
        );
        ServerReplyMessage serverReplyMessage = ServerReplyMessage.builder().message(text).build();
        WebSocketUtil.sendMessage("reply", serverReplyMessage);
        log.info(text);
        log.debug(text);
    }


@@ -931,5 +1296,4 @@
    private void sendMessage(String key, BaseCmd msg) {
        TcpClientUtil.sendMessage(key, msg);
    }

}