1. 提交细节修改。

Xiajijian

2026-05-27 402fe914957546a820c60731181501c554826fa4

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

@@ -1,6 +1,7 @@
package com.ard.work.service.impl;

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;
@@ -14,7 +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;
@@ -26,12 +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;
@@ -43,22 +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.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;

@@ -77,7 +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
     *
@@ -123,8 +136,8 @@
        if (ardDroneInfo == 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();
@@ -148,7 +161,7 @@
    }

    /**
     * 获取盒子图片
     * 获取任务图片
     *
     * @return List<BoxPhotosReceiver>
     */
@@ -163,7 +176,22 @@
                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
     */
@@ -175,7 +203,7 @@
            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;
    }

    /**
@@ -327,9 +355,10 @@
            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());
        //photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01)
        // .build());

        CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);
        this.sendMessage(ardDroneInfo.getServerId(), capturePicCommand);
@@ -349,7 +378,7 @@
        }
        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);
@@ -554,7 +583,7 @@
     * 方向控制
     */
    @CheckControlRight(UavControlType.FLY)
    @CheckTakeoffAltitude(minAltitude = 30.0)
    @CheckTakeoffAltitude
    @Override
    public Boolean flyControl(FlyControlDTO flyControlDTO) {
        String boxSn = flyControlDTO.getBoxSn();
@@ -571,7 +600,7 @@
     * 指点飞行控制
     */
    @CheckControlRight(UavControlType.FLY)
    @CheckTakeoffAltitude(minAltitude = 30.0)
    @CheckTakeoffAltitude
    @CheckNoFlyZone
    @Override
    public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) {
@@ -580,6 +609,10 @@
        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;
@@ -596,10 +629,44 @@
        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;
    }

@@ -614,8 +681,8 @@
        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;
@@ -761,13 +828,33 @@
        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
        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;
    }

    /**
     * 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
@@ -916,7 +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;
@@ -942,10 +1040,6 @@
                if (tyCommand instanceof CameraModeReplyCmd) {
                    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) {
@@ -1012,23 +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) {
@@ -1041,6 +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:
@@ -1073,6 +1203,30 @@
    }

    /**
     * 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;
    }

    /**
     * 根据[服务器id]查询无人机盒子列表
     */
    private List<ArdDroneInfo> getDroneLs(String serverId) {