修改只记录相对高度1米的飞行轨迹数据

liusuyi

2025-12-19 b2ce863ccd86aa2b7e308e0f8098fc0b932f57eb

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

@@ -11,6 +11,7 @@
import com.ard.work.domain.dto.BoxSettingsDTO;
import com.ard.work.domain.entity.ArdDroneInfo;
import com.ard.work.domain.entity.ArdServerInfo;
import com.ard.work.domain.event.DeviceStatusEvent;
import com.ard.work.domain.receiver.BoxInfoReceiver;
import com.ard.work.domain.receiver.BoxStreamUrlReceiver;
import com.ard.work.mapper.ArdDroneInfoMapper;
@@ -19,6 +20,7 @@
import com.ard.work.service.ITyService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.context.ApplicationEventPublisher;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Service;

@@ -51,6 +53,10 @@

    @Autowired
    private IArdServerInfoService ardServerInfoService;

    // 自动注入 ApplicationEventPublisher
    @Autowired
    private ApplicationEventPublisher eventPublisher;

    /**
     * 查询无人机盒子
@@ -282,60 +288,89 @@
    /**
     * 同步盒子属性
     */
    @Scheduled(fixedRate = 1000 * 5)
    @Scheduled(fixedRate = 5000)
    public void syncBoxInfo() {
        ArdServerInfo ardServerInfo=new ArdServerInfo();
        ArdServerInfo ardServerInfo = new ArdServerInfo();
        ardServerInfo.setUseDataScope(false);
        List<ArdServerInfo> servers = ardServerInfoService.selectArdServerInfoList(ardServerInfo);
        servers.stream()
                .filter(server -> server.getServerStatus().equals("1"))
                .forEach(server -> {
                            ArdDroneInfo droneInfo = new ArdDroneInfo();
                            droneInfo.setServerId(server.getId());
                            droneInfo.setUseDataScope(false);
                            List<ArdDroneInfo> localList = selectArdDroneList(droneInfo);
                            Map<String, ArdDroneInfo> localMap = localList.stream()
                                    .collect(Collectors.toMap(ArdDroneInfo::getBoxSn, drone -> drone));
                            List<BoxInfoReceiver> boxList = tyService.getBoxList(server.getId());
                            if (boxList == null) {
                                updateArdDrone(ArdDroneInfo.builder().serverId(server.getId()).onLine(0).build());
                                return;
                            }
                            boxList.forEach(remote -> {
                                String boxSn = remote.getBoxSn();

                                // ✅ 维护在线状态缓存
                                // 只有在线的无人机才存 Redis
                                String redisKey = CacheConstants.UAV_ONLINE_KEY + boxSn;
                                if (remote.getOnLine() == 1) {
                                    redisCache.setCacheObject(redisKey, remote, 30, TimeUnit.SECONDS);
                                } else {
                                    redisCache.deleteObject(CacheConstants.UAV_ONLINE_KEY + boxSn);
                                }
                                // 数据库同步
                                ArdDroneInfo local = localMap.get(boxSn);
                                if (local != null && !local.isSameAs(remote)) {
                                    updateChangedAttributes(local, remote);
                                    updateArdDrone(local);
                                }
                            });
                        });
        for (ArdServerInfo server : servers) {
            ArdDroneInfo droneInfo = new ArdDroneInfo();
            droneInfo.setServerId(server.getId());
            droneInfo.setUseDataScope(false);
            List<ArdDroneInfo> localList = selectArdDroneList(droneInfo);
            Map<String, ArdDroneInfo> localMap = localList.stream().collect(Collectors.toMap(ArdDroneInfo::getBoxSn,
                    d -> d));
            List<BoxInfoReceiver> boxList = tyService.getBoxList(server.getId());
            // server 没有返回设备列表 → 全部离线
            if (boxList == null || boxList.isEmpty()) {
                for (ArdDroneInfo local : localList) {
                    if (local.getOnLine() != 0) { // 仅当状态变化才更新
                        local.setOnLine(0);
                        ArdDroneInfoMapper.updateArdDrone(local);
                        eventPublisher.publishEvent(new DeviceStatusEvent(local.getBoxSn(), false));
                        redisCache.deleteObject(CacheConstants.UAV_ONLINE_KEY + local.getBoxSn());
                    }
                }
                continue;
            }
            // server 返回设备列表 →  通过缓存判断状态
            for (BoxInfoReceiver remote : boxList) {
                String boxSn = remote.getBoxSn();
                String redisKey = CacheConstants.UAV_ONLINE_KEY + boxSn;
                boolean currentOnline = remote.getOnLine() == 1;

                // 获取上次状态
                boolean lastOnline = redisCache.getCacheObject(redisKey) != null;

                // 如果状态变化才更新
                if (lastOnline != currentOnline) {
                    // 更新 Redis
                    if (currentOnline) {
                        redisCache.setCacheObject(redisKey, remote);
                    } else {
                        redisCache.deleteObject(redisKey);
                    }
                    // 发布事件
                    eventPublisher.publishEvent(new DeviceStatusEvent(boxSn, currentOnline));
                    // 更新数据库
                    ArdDroneInfo local = localMap.get(boxSn);
                    if (local != null) {
                        local.setOnLine(currentOnline ? 1 : 0);
                        updateArdDrone(local);
                    }
                }
            }
        }
    }

    // 更新变化的属性
    private void updateChangedAttributes(ArdDroneInfo localBoxInfo, BoxInfoReceiver remoteArdDrone) {

    /**
     * 更新 localBoxInfo 的字段，如果有变化返回 true，否则返回 false
     */
    private boolean updateChangedAttributes(ArdDroneInfo localBoxInfo, BoxInfoReceiver remoteArdDrone) {
        boolean changed = false;

        if (!Objects.equals(localBoxInfo.getBoxName(), remoteArdDrone.getBoxName())) {
            localBoxInfo.setBoxName(remoteArdDrone.getBoxName());
            changed = true;
        }
        if (!Objects.equals(localBoxInfo.getBoxVersion(), remoteArdDrone.getBoxVersion())) {
            localBoxInfo.setBoxVersion(remoteArdDrone.getBoxVersion());
            changed = true;
        }
        if (!Objects.equals(localBoxInfo.getLastTaskId(), remoteArdDrone.getLastTaskId())) {
            localBoxInfo.setLastTaskId(remoteArdDrone.getLastTaskId());
            changed = true;
        }
        if (!Objects.equals(localBoxInfo.getOnLine(), remoteArdDrone.getOnLine())) {
            localBoxInfo.setOnLine(remoteArdDrone.getOnLine());
            changed = true;
        }
        // 更新其他属性

        // TODO: 更新其他属性时，如果变化也设置 changed = true

        return changed;
    }

}