forked from uav/ard-uav-server
blame | history | patch | commit | commitdiff | ignore whitespace
Xiajijian
2025-10-24 de026326a9df6f4a2192e99cf0e53e7e7b6d445d 
 ard-work/src/main/java/com/ard/work/component/websocket/handler/UavAllManager.java


@@ -22,14 +22,15 @@


    @Override


    protected Map<String,Object> getData(String boxSn) {


        Map<String,Object> map=new HashMap<>();


        UavState uavState = UavStateCache.getUavState(boxSn);


        UavState uavState = UavStateCache.get(boxSn);


        if (uavState != null) {


            uavState.calculateFieldAngle();// 计算当前无人机的FieldAngle


        }


        map.put("boxSn", uavState.getBoxSn());


        map.put("state", uavState);


        TelemetryData uavTelemetryData = UavTelemetryDataCache.getUavTelemetryData(boxSn);


        TelemetryData uavTelemetryData = UavTelemetryDataCache.get(boxSn);


        map.put("telemetry", uavTelemetryData);


        SignalInfo uavSignalInfo = UavSignalInfoCache.getUavSignalInfo(boxSn);


        SignalInfo uavSignalInfo = UavSignalInfoCache.get(boxSn);


        map.put("signal", uavSignalInfo);


        // 获取当前控制飞行的用户ID


        Long flyUserId = uavControlService.getCurrentController(boxSn, "fly");