增加状态统一订阅 增加载荷和飞控用户同时获取

liusuyi

2025-03-19 d267efe74181bbc89e7ecda1032f11965984769b

 ard-work/src/main/java/com/ard/tianyu/service/control/UavControlService.java

@@ -7,6 +7,8 @@
import org.springframework.stereotype.Service;

import javax.annotation.Resource;
import java.util.HashMap;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;

/**
@@ -158,7 +160,14 @@
        UavControlType controlType = UavControlType.fromString(type);
        return getControlMap(controlType).get(boxSn);
    }

    public Map<String,Long> getCurrentController(String boxSn) {
        Long flyController = uavFlyControlMap.get(boxSn);
        Map<String,Long> map=new HashMap<>();
        map.put("flyController",flyController);
        Long payloadController = uavPayloadControlMap.get(boxSn);
        map.put("payloadController",payloadController);
        return map;
    }
    /**
     * 根据控制类型获取对应的控制 Map
     */