forked from uav/ard-uav-server
blame | history | patch | commit | commitdiff | ignore whitespace
zhaowenyu
2026-04-01 b8b5a3895e741d5348ecdd39ad2e5cbd443f8e89 
 ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java


@@ -1,6 +1,7 @@


package com.ard.work.service.impl;




import com.ard.common.exception.ControlException;


import com.ard.vtdu.config.MediamtxConfig;


import com.ard.work.aspect.annotation.CheckControlRight;


import com.ard.work.aspect.annotation.CheckDroneStatus;


import com.ard.work.aspect.annotation.CheckNoFlyZone;


@@ -87,7 +88,8 @@


    private RouteStateMachineService stateMachineService;


    @Autowired


    private IArdFlightTaskPartService ardFlightTaskPartService;




    @Resource


    private MediamtxConfig mediamtxConfig;


    /**


     * 获取边缘服务器token信息


     *


@@ -606,6 +608,10 @@


        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;


@@ -633,6 +639,9 @@


    /**


     * 环绕飞行控制


     */


//    @CheckControlRight(UavControlType.FLY)


//    @CheckTakeoffAltitude


//    @CheckNoFlyZone


    @Override


    public Boolean FlyRoundControl(FlyRoundControlDTO flyRoundControlDTO) {


        String boxSn = flyRoundControlDTO.getBoxSn();


@@ -819,10 +828,8 @@


            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;


    }


@@ -974,7 +981,6 @@


                // 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());