1. 优化精细化巡检业务逻辑。

Xiajijian

2026-03-10 a222a89580ad46ad31924bdfba4f0e05ecefde16

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

@@ -33,6 +33,7 @@
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;
@@ -157,7 +158,7 @@
    }

    /**
     * 获取盒子图片
     * 获取任务图片
     *
     * @return List<BoxPhotosReceiver>
     */
@@ -172,7 +173,22 @@
                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
     */
@@ -590,6 +606,10 @@
        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;
@@ -617,6 +637,9 @@
    /**
     * 环绕飞行控制
     */
//    @CheckControlRight(UavControlType.FLY)
//    @CheckTakeoffAltitude
//    @CheckNoFlyZone
    @Override
    public Boolean FlyRoundControl(FlyRoundControlDTO flyRoundControlDTO) {
        String boxSn = flyRoundControlDTO.getBoxSn();
@@ -803,10 +826,8 @@
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        //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;
    }
@@ -958,7 +979,6 @@
                // 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
                UavTelemetryDataCache.put(telemetryData);
                //logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
                //WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());