forked from uav/ard-uav-server
blame | history | patch | commit | commitdiff | ignore whitespace
liusuyi
2025-12-23 c7fa563f9a951c647725c3d0e02b7bce366d23ea 
 ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java


@@ -54,6 +54,7 @@


import com.ard.work.domain.message.UavControlType;


import com.ard.work.domain.receiver.*;


import com.ard.work.service.IArdDroneInfoService;


import com.ard.work.service.IArdFlightTaskPartService;


import com.ard.work.service.IArdServerInfoService;


import com.ard.work.service.ITyService;


import lombok.extern.slf4j.Slf4j;


@@ -62,6 +63,7 @@




import javax.annotation.Resource;


import java.util.*;


import java.util.concurrent.ConcurrentHashMap;


import java.util.stream.Collectors;


import java.util.stream.Stream;




@@ -82,6 +84,8 @@


    private TyClient tyClient;


    @Autowired


    private RouteStateMachineService stateMachineService;


    @Autowired


    private IArdFlightTaskPartService ardFlightTaskPartService;




    /**


     * 获取边缘服务器token信息


@@ -332,9 +336,10 @@


            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);


        }


        //设置相机模式为拍照模式


        updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());


        //updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());


        //设置拍照回传


        photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());


        //photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01)


        // .build());




        CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);


        this.sendMessage(ardDroneInfo.getServerId(), capturePicCommand);


@@ -354,7 +359,7 @@


        }


        BaseCmd baseCmd;


        if (recordDto.getIsRecord()) {


            updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build());


            //updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build());


            baseCmd = new RecordStartCmd(recordDto);


        } else {


            baseCmd = new RecordStopCmd(recordDto);


@@ -952,7 +957,9 @@


            case (byte) 0xA9:


                // 处理无人机遥测消息


                UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;


                UavTelemetryDataCache.put(uavTelemetryDataCmd.getTelemetryData());


                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());


                break;