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

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
     *
@@ -637,6 +639,9 @@
    /**
     * 环绕飞行控制
     */
//    @CheckControlRight(UavControlType.FLY)
//    @CheckTakeoffAltitude
//    @CheckNoFlyZone
    @Override
    public Boolean FlyRoundControl(FlyRoundControlDTO flyRoundControlDTO) {
        String boxSn = flyRoundControlDTO.getBoxSn();
@@ -823,10 +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;
    }