Merge remote-tracking branch 'origin/dev' into dev

zhaowenyu

2026-01-06 4e8a1c02b45f72f6377603778e8c8746ed82f374

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

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

import cn.hutool.core.util.SerializeUtil;
import com.ard.common.utils.DateUtils;
import com.ard.work.domain.cache.UavStateCache;
import com.ard.work.domain.cache.UavTelemetryDataCache;
import com.ard.work.domain.dto.UavFlightStateDTO;
@@ -14,11 +15,13 @@
import org.springframework.scheduling.annotation.Async;
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;

/**
 * 轨迹分片处理业务
 */
@@ -28,7 +31,8 @@
public class ArdFlightTaskPartServiceImpl implements IArdFlightTaskPartService {

    private final ArdFlightTaskPartMapper ardflightTaskPartMapper;

    // 上一次飞行状态缓存
    private final ConcurrentHashMap<String, Integer> lastFlightStatusMap = new ConcurrentHashMap<>();
    /**
     * 缓存：boxSn -> 当前分片数据
     */
@@ -41,37 +45,40 @@

    /**
     * 定时任务：每秒读取一次设备状态数据
     * 注意：这里模拟读取状态，实际应该调用设备接口或缓存
     */
    @Scheduled(fixedRate = 1000)
    public void readTelemetryTask() {
        long now = System.currentTimeMillis();
        UavTelemetryDataCache.forEach((boxSn, telemetryData) -> {

            // 1️⃣ 从状态缓存里取当前状态
            UavState uavState = UavStateCache.get(boxSn);
            if (uavState == null) {
                log.warn("状态不存在，不记录");
                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) {
                log.warn("超过 3 秒没有新遥测 → 认为已离线或冻结，不记录：{}", new Date(dataTs));
                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
            }
            int currentStatus = uavState.getFlightControllerState().getFlightStatus();
            Integer lastStatus = lastFlightStatusMap.get(boxSn);

            UavFlightStateDTO dto = new UavFlightStateDTO(
                    uavState,
                    telemetryData,
                    dataTs
            );
            addTelemetryData(dto);
            // 仅在“飞行中 → 非飞行中”状态变化时 flush
            if (lastStatus != null && lastStatus == 2 && currentStatus != 2) {
                flushRemaining(boxSn);
            }
            lastFlightStatusMap.put(boxSn, currentStatus);
            log.debug("设备 {} 当前状态为：{}", boxSn, currentStatus);
            // 只有飞行中才添加缓存
            if (currentStatus == 2) {
                log.warn("设备 {} 当前状态为飞行中，添加遥测数据到缓存", boxSn);
                UavFlightStateDTO dto = new UavFlightStateDTO(uavState, telemetryData, dataTs);
                addTelemetryData(dto);
            }
        });
    }

@@ -102,16 +109,17 @@

        try {
            byte[] blobData = SerializeUtil.serialize(dataList);

            // 取第一个和最后一个状态时间
            long startTs = dataList.get(0).getTimestamp();
            long endTs = dataList.get(dataList.size() - 1).getTimestamp();
            ArdFlightTaskPart part = ArdFlightTaskPart.builder()
                    .boxSn(boxSn)
                    .count(dataList.size())
                    .dataPart(blobData)
                    .startTime(new Date(startTs))
                    .endTime(new Date(endTs))
                    .build();
            // 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);
            part.setCreateTime(new Date());
            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());
@@ -143,7 +151,7 @@
    public List<UavFlightStateDTO> getCompleteFlightData(ArdFlightTaskPart ardFlightTaskPart) {
        List<UavFlightStateDTO> allData = new ArrayList<>();
        String boxSn = ardFlightTaskPart.getBoxSn();
        List<ArdFlightTaskPart> parts = ardflightTaskPartMapper.selectByTaskStartTime(ardFlightTaskPart);
        List<ArdFlightTaskPart> parts = ardflightTaskPartMapper.selectByTimeRange(ardFlightTaskPart);
        for (ArdFlightTaskPart part : parts) {
            try {
                List<UavFlightStateDTO> partData = SerializeUtil.deserialize(part.getDataPart());