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

zhaowenyu

2025-10-28 b0da63410a7aaf64b11183c95b3da38013a6457b

 ard-work/src/main/java/com/ard/work/component/websocket/handler/UavAllManager.java

@@ -7,29 +7,30 @@
import com.ard.work.domain.dto.state.UavState;
import com.ard.work.domain.dto.telemetry.TelemetryData;
import com.ard.work.service.control.UavControlService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;

import javax.annotation.Resource;
import java.util.HashMap;
import java.util.Map;


@Slf4j
@Component
public class UavAllManager extends BaseSubscriptionManager<Map<String,Object>> {
public class UavAllManager extends BaseSubscriptionManager<Map<String, Object>> {

    @Resource
    private UavControlService uavControlService;

    @Override
    protected Map<String,Object> getData(String boxSn) {
        Map<String,Object> map=new HashMap<>();
        UavState uavState = UavStateCache.getUavState(boxSn);
        if (uavState != null) {
            uavState.calculateFieldAngle();// 计算当前无人机的FieldAngle
        }
    protected Map<String, Object> getData(String boxSn) {
        log.debug("获取无人机所有数据");
        Map<String, Object> map = new HashMap<>();
        map.put("boxSn", boxSn);
        UavState uavState = UavStateCache.get(boxSn);
        map.put("state", uavState);
        TelemetryData uavTelemetryData = UavTelemetryDataCache.getUavTelemetryData(boxSn);
        TelemetryData uavTelemetryData = UavTelemetryDataCache.get(boxSn);
        map.put("telemetry", uavTelemetryData);
        SignalInfo uavSignalInfo = UavSignalInfoCache.getUavSignalInfo(boxSn);
        SignalInfo uavSignalInfo = UavSignalInfoCache.get(boxSn);
        map.put("signal", uavSignalInfo);
        // 获取当前控制飞行的用户ID
        Long flyUserId = uavControlService.getCurrentController(boxSn, "fly");