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;
@@ -45,6 +46,7 @@
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.*;
@@ -85,9 +87,10 @@
    private TyClient tyClient;
    @Autowired
    private RouteStateMachineService stateMachineService;
    @Autowired
    private IArdFlightTaskPartService ardFlightTaskPartService;

    @Resource
    private UavPositionChangeService uavPositionChangeService;
    @Resource
    private UavRegionDetectService uavRegionDetectService;
    /**
     * 获取边缘服务器token信息
     *
@@ -637,6 +640,9 @@
    /**
     * 环绕飞行控制
     */
//    @CheckControlRight(UavControlType.FLY)
//    @CheckTakeoffAltitude
//    @CheckNoFlyZone
    @Override
    public Boolean FlyRoundControl(FlyRoundControlDTO flyRoundControlDTO) {
        String boxSn = flyRoundControlDTO.getBoxSn();
@@ -822,13 +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
@@ -978,7 +1004,16 @@
                // 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

                // 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());
@@ -1168,6 +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) {