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

zhaowenyu

2025-10-28 b0da63410a7aaf64b11183c95b3da38013a6457b

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

@@ -23,6 +23,7 @@
import com.ard.work.component.netty.command.wayline.*;
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.domain.cache.UavSignalInfoCache;
import com.ard.work.domain.cache.UavStateCache;
import com.ard.work.domain.cache.UavTelemetryDataCache;
@@ -45,6 +46,8 @@
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.message.BaseMessage;
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;
@@ -901,21 +904,29 @@

    //公共日志打印
    private void logPrint(String message, Object obj) {
        log.debug("收到{}回复{}", message, obj);
        String text = String.format("收到%s回复%s", message, obj);
        ServerReplyMessage serverReplyMessage = ServerReplyMessage.builder().message(text).build();
        WebSocketUtil.sendMessage("reply", serverReplyMessage);
        log.debug(text);
    }

    //公共日志打印
    private void logPrint(String message, byte result, Integer errorCode) {
        log.info("收到{}回复:{} 错误码：{}【{}】",
        String text = String.format(
                "收到%s回复:%s 错误码：%d【%s】",
                message,
                ByteUtils.byteToHex(result),
                errorCode,
                ErrorCodeEnum.getDescByCode(errorCode));
                ErrorCodeEnum.getDescByCode(errorCode)
        );
        ServerReplyMessage serverReplyMessage = ServerReplyMessage.builder().message(text).build();
        WebSocketUtil.sendMessage("reply", serverReplyMessage);
        log.debug(text);
    }


    /**
     * 发送消息
     * 发送tcp消息
     */
    private void sendMessage(String key, BaseCmd msg) {
        TcpClientUtil.sendMessage(key, msg);