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

zhaowenyu

2025-11-19 e90d0fe42b652c9230c5e544d177dbedb3e57580

 ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java

@@ -1,72 +1,66 @@
package com.ard.work.service.impl;

import com.ard.common.utils.ByteUtils;
import com.ard.work.aspect.annotation.CheckTakeoffAltitude;
import com.ard.common.exception.ControlException;
import com.ard.work.aspect.annotation.CheckControlRight;
import com.ard.work.component.netty.TcpClientSession;
import com.ard.work.component.netty.TyTcpClientManager;
import com.ard.work.aspect.annotation.CheckDroneStatus;
import com.ard.work.aspect.annotation.CheckNoFlyZone;
import com.ard.work.aspect.annotation.CheckTakeoffAltitude;
import com.ard.work.component.forest.TyClient;
import com.ard.work.component.netty.TcpClientUtil;
import com.ard.work.component.netty.command.BaseCmd;
import com.ard.work.component.netty.command.camera.*;
import com.ard.work.component.netty.command.manual.*;
import com.ard.work.component.netty.command.register.*;
import com.ard.work.component.netty.command.settings.*;
import com.ard.work.component.netty.command.speaker.*;
import com.ard.work.component.netty.command.wayline.*;
import com.ard.work.domain.dto.camera.*;
import com.ard.work.domain.dto.manual.*;
import com.ard.work.domain.dto.speaker.*;
import com.ard.work.domain.dto.wayline.*;
import com.ard.work.domain.entity.ArdDroneInfo;
import com.ard.work.domain.entity.ArdServerInfo;
import com.ard.work.domain.receiver.*;
import com.ard.work.component.forest.TyClient;
import com.ard.work.domain.cache.UavSignalInfoCache;
import com.ard.work.domain.cache.UavStateCache;
import com.ard.work.domain.cache.UavTelemetryDataCache;
import com.ard.work.domain.dto.BoxHistoryDTO;
import com.ard.work.domain.dto.BoxPhotosDTO;
import com.ard.work.domain.dto.BoxSettingsDTO;
import com.ard.work.domain.dto.control.AbsAngleControlDTO;
import com.ard.work.domain.dto.control.AngleControlDTO;
import com.ard.work.domain.dto.control.SpeedControlDTO;
import com.ard.work.domain.dto.converter.wayline.PlanLineDataConverter;
import com.ard.work.domain.dto.settings.ReturnHeightSettingDTO;
import com.ard.work.domain.dto.settings.ReturnPointSettingDTO;
import com.ard.work.domain.dto.settings.VideoStreamSettingDTO;
import com.ard.work.domain.dto.signal.SignalInfo;
import com.ard.work.domain.dto.state.UavState;
import com.ard.work.domain.dto.telemetry.TelemetryData;
import com.ard.work.component.netty.command.control.AbsAngleControlCmd;
import com.ard.work.component.netty.command.control.AngleControlCmd;
import com.ard.work.component.netty.command.control.SpeedControlCmd;
import com.ard.work.component.netty.command.manual.*;
import com.ard.work.component.netty.command.notice.BoxPowerStatusReplyCmd;
import com.ard.work.component.netty.command.notice.FlyWayEndReplyCmd;
import com.ard.work.component.netty.command.notice.UavReadyReplyCmd;
import com.ard.work.component.netty.command.real.SignalInfoCmd;
import com.ard.work.component.netty.command.real.UavStateCmd;
import com.ard.work.component.netty.command.real.UavTelemetryDataCmd;
import com.ard.work.component.netty.command.register.*;
import com.ard.work.component.netty.command.settings.*;
import com.ard.work.component.netty.command.speaker.*;
import com.ard.work.component.netty.command.wayline.*;
import com.ard.work.component.netty.handler.ErrorCodeEnum;
import com.ard.work.component.netty.protobuf.TelemetryDataPB;
import com.ard.work.service.IArdDroneService;
import com.ard.work.service.IArdServerService;
import com.ard.work.service.ITyService;
import com.ard.work.component.websocket.utils.WebSocketUtil;
import com.ard.work.domain.cache.UavSignalInfoCache;
import com.ard.work.domain.cache.UavStateCache;
import com.ard.work.domain.cache.UavTelemetryDataCache;
import com.ard.work.domain.dto.BoxHistoryDTO;
import com.ard.work.domain.dto.BoxPhotosDTO;
import com.ard.work.domain.dto.BoxSettingsDTO;
import com.ard.work.domain.dto.camera.*;
import com.ard.work.domain.dto.control.AbsAngleControlDTO;
import com.ard.work.domain.dto.control.AngleControlDTO;
import com.ard.work.domain.dto.control.SpeedControlDTO;
import com.ard.work.domain.dto.converter.wayline.PlanLineDataConverter;
import com.ard.work.domain.dto.manual.*;
import com.ard.work.domain.dto.settings.ReturnHeightSettingDTO;
import com.ard.work.domain.dto.settings.ReturnPointSettingDTO;
import com.ard.work.domain.dto.settings.VideoStreamSettingDTO;
import com.ard.work.domain.dto.signal.SignalInfo;
import com.ard.work.domain.dto.speaker.*;
import com.ard.work.domain.dto.state.UavState;
import com.ard.work.domain.dto.telemetry.TelemetryData;
import com.ard.work.domain.dto.wayline.*;
import com.ard.work.domain.entity.ArdDroneInfo;
import com.ard.work.domain.entity.ArdServerInfo;
import com.ard.work.domain.message.ServerReplyMessage;
import com.ard.work.domain.message.UavControlType;
import io.netty.channel.Channel;
import io.netty.channel.ChannelFuture;
import com.ard.work.domain.receiver.*;
import com.ard.work.service.IArdDroneInfoService;
import com.ard.work.service.IArdServerInfoService;
import com.ard.work.service.ITyService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Service;

import javax.annotation.Resource;
import java.net.InetSocketAddress;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import java.util.Optional;
import java.util.*;
import java.util.stream.Collectors;
import java.util.stream.Stream;

import static com.ard.work.component.netty.TyTcpClientManager.channels;

/**
 * TyServiceImpl
@@ -78,14 +72,14 @@
@Service
public class TyServiceImpl implements ITyService {
    @Resource
    private IArdServerService ardServerService;
    private IArdServerInfoService ardServerService;
    @Resource
    private IArdDroneService ardDroneService;
    private IArdDroneInfoService ardDroneService;
    @Resource
    private TyClient tyClient;

    /**
     * 获取六合token信息
     * 获取边缘服务器token信息
     *
     * @return AccessTokenReceiver
     */
@@ -95,14 +89,27 @@
    }

    /**
     * 获取云盒列表
     * 获取全部云盒列表
     *
     * @return List<BoxInfoReceiver>
     */
    @Override
    public List<BoxInfoReceiver> getBoxList() {
        List<ArdServerInfo> ardServerInfos = ardServerService.selectArdServerManagementList(new ArdServerInfo());
        List<ArdServerInfo> ardServerInfos = ardServerService.selectArdServerInfoList(new ArdServerInfo() {{
            setUseDataScope(false);
        }});
        return getBoxList(ardServerInfos);
    }

    /**
     * 获取指定服务器云盒列表
     *
     * @return List<BoxInfoReceiver>
     */
    @Override
    public List<BoxInfoReceiver> getBoxList(String serverId) {
        TyHttpCommonReceiver<List<BoxInfoReceiver>> boxList = tyClient.getBoxList(serverId);
        return boxList == null ? null : boxList.getContent();
    }

    /**
@@ -113,9 +120,14 @@
    @Override
    public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        String baseUrl="http://"+ardDroneInfo.getArdServerInfo().getHost()+":"+ardDroneInfo.getArdServerInfo().getHttpPort();
        TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(baseUrl,boxSn);
        return boxLiveUrl.getContent();
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        
        
        TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(),
                boxSn);
        return boxLiveUrl == null ? null : boxLiveUrl.getContent();
    }

    /**
@@ -125,10 +137,14 @@
     */
    @Override
    public List<BoxHistoryReceiver> getBoxHistory(BoxHistoryDTO boxHistoryDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxHistoryDTO.getBoxSn());
        String baseUrl="http://"+ardDroneInfo.getArdServerInfo().getHost()+":"+ardDroneInfo.getArdServerInfo().getHttpPort();
        TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(baseUrl,boxHistoryDTO);
        return boxHistory.getContent();
        String boxSn = boxHistoryDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(ardDroneInfo.getServerId(),
                boxHistoryDTO);
        return boxHistory == null ? null : boxHistory.getContent();
    }

    /**
@@ -138,10 +154,14 @@
     */
    @Override
    public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxPhotosDTO.getBoxSn());
        String baseUrl="http://"+ardDroneInfo.getArdServerInfo().getHost()+":"+ardDroneInfo.getArdServerInfo().getHttpPort();
        TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(baseUrl,boxPhotosDTO);
        return boxPhotos.getContent();
        String boxSn = boxPhotosDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(ardDroneInfo.getServerId(),
                boxPhotosDTO);
        return boxPhotos == null ? null : boxPhotos.getContent();
    }

    /**
@@ -149,9 +169,12 @@
     */
    @Override
    public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSettingsDTO.getBoxSn());
        String baseUrl="http://"+ardDroneInfo.getArdServerInfo().getHost()+":"+ardDroneInfo.getArdServerInfo().getHttpPort();
        TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(baseUrl,boxSettingsDTO);
        String boxSn = boxSettingsDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(ardDroneInfo.getServerId(), boxSettingsDTO);
        return result.getState() == 1;
    }

@@ -160,9 +183,13 @@
     */
    @Override
    public Boolean updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHeightSettingDTO.getBoxSn());
        String boxSn = returnHeightSettingDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        ReturnHeightSettingCmd returnHeightSettingCmd = new ReturnHeightSettingCmd(returnHeightSettingDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), returnHeightSettingCmd);
        this.sendMessage(ardDroneInfo.getServerId(), returnHeightSettingCmd);
        return true;
    }

@@ -171,9 +198,13 @@
     */
    @Override
    public Boolean updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnPointSettingDTO.getBoxSn());
        String boxSn = returnPointSettingDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        ReturnPointSettingCmd returnPointSettingCmd = new ReturnPointSettingCmd(returnPointSettingDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), returnPointSettingCmd);
        this.sendMessage(ardDroneInfo.getServerId(), returnPointSettingCmd);
        return true;
    }

@@ -182,14 +213,18 @@
     */
    @Override
    public Boolean updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(videoStreamSettingDTO.getBoxSn());
        String boxSn = videoStreamSettingDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        VideoStreamSettingCmd videoStreamSettingCmd = new VideoStreamSettingCmd(videoStreamSettingDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), videoStreamSettingCmd);
        this.sendMessage(ardDroneInfo.getServerId(), videoStreamSettingCmd);
        return true;
    }

    /**
     * 注册六合平台
     * 注册边缘服务器平台
     */
    @Override
    public Boolean registerMessage(String serverId) {
@@ -197,10 +232,11 @@
            AccessTokenReceiver tyToken = ardServerService.getAccessToken(serverId);
            RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
            this.sendMessage(serverId, registerMessage);
            return true;
        } catch (Exception e) {
            log.error("注册六合平台失败:{}", e.getMessage());
            log.error("注册边缘服务器平台失败:{}", e.getMessage());
            return false;
        }
        return true;
    }

    /**
@@ -209,9 +245,13 @@
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean angleControl(AngleControlDTO angleControlDto) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(angleControlDto.getBoxSn());
        String boxSn = angleControlDto.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto);
        this.sendMessage(ardDroneInfo.getServerInfoId(), controlAngleCommand);
        this.sendMessage(ardDroneInfo.getServerId(), controlAngleCommand);
        return true;
    }

@@ -221,9 +261,13 @@
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean absAngleControl(AbsAngleControlDTO absAngleControlDto) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(absAngleControlDto.getBoxSn());
        String boxSn = absAngleControlDto.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto);
        this.sendMessage(ardDroneInfo.getServerInfoId(), absAngleControlCommand);
        this.sendMessage(ardDroneInfo.getServerId(), absAngleControlCommand);
        return true;
    }

@@ -233,43 +277,64 @@
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean speedControl(SpeedControlDTO speedControlDto) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(speedControlDto.getBoxSn());
        String boxSn = speedControlDto.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto);
        this.sendMessage(ardDroneInfo.getServerInfoId(), speedControlCommand);
        this.sendMessage(ardDroneInfo.getServerId(), speedControlCommand);
        return true;
    }

    /**
     * 设置相机模式
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean updateCameraMode(CameraModeDTO cameraModeDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(cameraModeDTO.getBoxSn());
        String boxSn = cameraModeDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), cameraModeCommand);
        this.sendMessage(ardDroneInfo.getServerId(), cameraModeCommand);
        return true;
    }

    /**
     * 拍照
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean capturePic(CapturePicDTO capturePicDto) {
        String boxSn = capturePicDto.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            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());
        //设置拍照回传
        photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(capturePicDto.getBoxSn());

        CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);
        this.sendMessage(ardDroneInfo.getServerInfoId(), capturePicCommand);
        this.sendMessage(ardDroneInfo.getServerId(), capturePicCommand);
        return true;
    }

    /**
     * 录像
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean record(RecordDTO recordDto) {
        String boxSn = recordDto.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        BaseCmd baseCmd;
        if (recordDto.getIsRecord()) {
            updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build());
@@ -277,8 +342,7 @@
        } else {
            baseCmd = new RecordStopCmd(recordDto);
        }
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(recordDto.getBoxSn());
        this.sendMessage(ardDroneInfo.getServerInfoId(), baseCmd);
        this.sendMessage(ardDroneInfo.getServerId(), baseCmd);
        return true;
    }

@@ -288,9 +352,13 @@
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean zoom(ZoomDTO zoomDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(zoomDTO.getBoxSn());
        String boxSn = zoomDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        ZoomCmd zoomCommand = new ZoomCmd(zoomDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), zoomCommand);
        this.sendMessage(ardDroneInfo.getServerId(), zoomCommand);
        return true;
    }

@@ -300,53 +368,77 @@
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(zoomToLevelDTO.getBoxSn());
        String boxSn = zoomToLevelDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), zoomToLevelCommand);
        this.sendMessage(ardDroneInfo.getServerId(), zoomToLevelCommand);
        return true;
    }

    /**
     * 切换摄像头
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean switchCamera(SwitchCameraDTO switchCameraDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchCameraDTO.getBoxSn());
        String boxSn = switchCameraDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), switchCameraCmd);
        this.sendMessage(ardDroneInfo.getServerId(), switchCameraCmd);
        return true;
    }

    /**
     * 切换视频源
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean switchSource(SwitchSourceDTO switchSourceDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchSourceDTO.getBoxSn());
        String boxSn = switchSourceDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), switchSourceCmd);
        this.sendMessage(ardDroneInfo.getServerId(), switchSourceCmd);
        return true;
    }

    /**
     * 打开或关闭照片回传
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(photoReturnToggleDTO.getBoxSn());
        String boxSn = photoReturnToggleDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), photoReturnToggleCmd);
        this.sendMessage(ardDroneInfo.getServerId(), photoReturnToggleCmd);
        return true;
    }

    /**
     * 切换无人机控制权
     */
    @CheckDroneStatus
    @Override
    public Boolean switchUavControl(SwitchUavControlDTO switchUavControlDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchUavControlDTO.getBoxSn());
        String boxSn = switchUavControlDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), switchUavControlCmd);
        this.sendMessage(ardDroneInfo.getServerId(), switchUavControlCmd);
        return true;
    }

@@ -356,9 +448,13 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean takeOff(TakeOffDTO takeOffDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(takeOffDTO.getBoxSn());
        String boxSn = takeOffDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), takeOffCmd);
        this.sendMessage(ardDroneInfo.getServerId(), takeOffCmd);
        return true;
    }

@@ -368,9 +464,13 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean returnHome(ReturnHomeDTO returnHomeDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHomeDTO.getBoxSn());
        String boxSn = returnHomeDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), returnHomeCmd);
        this.sendMessage(ardDroneInfo.getServerId(), returnHomeCmd);
        return true;
    }

@@ -380,9 +480,13 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHomeCancelDTO.getBoxSn());
        String boxSn = returnHomeCancelDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), returnHomeCancelCmd);
        this.sendMessage(ardDroneInfo.getServerId(), returnHomeCancelCmd);
        return true;
    }

@@ -392,9 +496,13 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean land(LandDTO landDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landDTO.getBoxSn());
        String boxSn = landDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        LandCmd landCmd = new LandCmd(landDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), landCmd);
        this.sendMessage(ardDroneInfo.getServerId(), landCmd);
        return true;
    }

@@ -404,9 +512,13 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean landCancel(LandCancelDTO landCancelDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landCancelDTO.getBoxSn());
        String boxSn = landCancelDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), landCancelCmd);
        this.sendMessage(ardDroneInfo.getServerId(), landCancelCmd);
        return true;
    }

@@ -416,9 +528,13 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean landForced(LandForcedDTO landForcedDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landForcedDTO.getBoxSn());
        String boxSn = landForcedDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), landForcedCmd);
        this.sendMessage(ardDroneInfo.getServerId(), landForcedCmd);
        return true;
    }

@@ -429,9 +545,13 @@
    @CheckTakeoffAltitude(minAltitude = 30.0)
    @Override
    public Boolean flyControl(FlyControlDTO flyControlDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyControlDTO.getBoxSn());
        String boxSn = flyControlDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), flyControlCmd);
        this.sendMessage(ardDroneInfo.getServerId(), flyControlCmd);
        return true;
    }

@@ -440,11 +560,16 @@
     */
    @CheckControlRight(UavControlType.FLY)
    @CheckTakeoffAltitude(minAltitude = 30.0)
    @CheckNoFlyZone
    @Override
    public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyPointControlDTO.getBoxSn());
        String boxSn = flyPointControlDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), flyPointControlCmd);
        this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd);
        return true;
    }

@@ -454,9 +579,15 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyPointControlCancelDTO.getBoxSn());
        String boxSn = flyPointControlCancelDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        
        
        FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), flyPointControlCancelCmd);
        this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd);
        return true;
    }

@@ -466,9 +597,15 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(emeragencyBrakeDTO.getBoxSn());
        String boxSn = emeragencyBrakeDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        
        
        EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), emergencyBrakeCmd);
        this.sendMessage(ardDroneInfo.getServerId(), emergencyBrakeCmd);
        return true;
    }

@@ -477,7 +614,7 @@
     */
    @Override
    public UavState getUavState(String boxSn) {
        return UavStateCache.getUavState(boxSn);
        return UavStateCache.get(boxSn);
    }

    /**
@@ -485,7 +622,7 @@
     */
    @Override
    public TelemetryData getUavTelemetryData(String boxSn) {
        return UavTelemetryDataCache.getUavTelemetryData(boxSn);
        return UavTelemetryDataCache.get(boxSn);
    }

    /**
@@ -493,88 +630,129 @@
     */
    @Override
    public SignalInfo getSignalInfo(String boxSn) {
        return UavSignalInfoCache.getUavSignalInfo(boxSn);
        return UavSignalInfoCache.get(boxSn);
    }

    /**
     * 喊话模式切换
     */
    @Override
    public void speakModeSwitch(SpeakModeSwitchDTO speakModeSwitchDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(speakModeSwitchDTO.getBoxSn());
    public Boolean speakModeSwitch(SpeakModeSwitchDTO speakModeSwitchDTO) {
        String boxSn = speakModeSwitchDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        SpeakModeSwitchCmd speakModeSwitchCmd = new SpeakModeSwitchCmd(speakModeSwitchDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), speakModeSwitchCmd);
        this.sendMessage(ardDroneInfo.getServerId(), speakModeSwitchCmd);
        return true;
    }

    /**
     * 文字喊话
     */
    @Override
    public void textSpeak(TextSpeakDTO textSpeakDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(textSpeakDTO.getBoxSn());
    public Boolean textSpeak(TextSpeakDTO textSpeakDTO) {
        String boxSn = textSpeakDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        TextSpeakCmd textSpeakCmd = new TextSpeakCmd(textSpeakDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), textSpeakCmd);
        this.sendMessage(ardDroneInfo.getServerId(), textSpeakCmd);
        return true;
    }

    /**
     * 实时喊话
     */
    @Override
    public void realSpeak(RealSpeakDTO realSpeakDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(realSpeakDTO.getBoxSn());
    public Boolean realSpeak(RealSpeakDTO realSpeakDTO) {
        String boxSn = realSpeakDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        RealSpeakCmd realSpeakCmd = new RealSpeakCmd(realSpeakDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), realSpeakCmd);
        this.sendMessage(ardDroneInfo.getServerId(), realSpeakCmd);
        return true;
    }

    /**
     * 录音喊话
     */
    @Override
    public void recordSpeak(RecordSpeakDTO recordSpeakDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(recordSpeakDTO.getBoxSn());
    public Boolean recordSpeak(RecordSpeakDTO recordSpeakDTO) {
        String boxSn = recordSpeakDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), recordSpeakCmd);
        this.sendMessage(ardDroneInfo.getServerId(), recordSpeakCmd);
        return true;
    }

    /**
     * 设置音量
     */
    @Override
    public void volumeSetting(VolumeSettingDTO volumeSettingDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(volumeSettingDTO.getBoxSn());
    public Boolean volumeSetting(VolumeSettingDTO volumeSettingDTO) {
        String boxSn = volumeSettingDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        VolumeSettingCmd volumeSettingCmd = new VolumeSettingCmd(volumeSettingDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), volumeSettingCmd);
        this.sendMessage(ardDroneInfo.getServerId(), volumeSettingCmd);
        return true;
    }

    /**
     * 设置循环播放
     */
    @Override
    public void loopSetting(LoopSettingDTO loopSettingDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(loopSettingDTO.getBoxSn());
    public Boolean loopSetting(LoopSettingDTO loopSettingDTO) {
        String boxSn = loopSettingDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        LoopSettingCmd loopSettingCmd = new LoopSettingCmd(loopSettingDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), loopSettingCmd);
        this.sendMessage(ardDroneInfo.getServerId(), loopSettingCmd);
        return true;
    }

    /**
     * 停止喊话
     */
    @Override
    public void stopSpeak(StopSpeakDTO stopSpeakDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(stopSpeakDTO.getBoxSn());
    public Boolean stopSpeak(StopSpeakDTO stopSpeakDTO) {
        String boxSn = stopSpeakDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        StopSpeakCmd stopSpeakCmd = new StopSpeakCmd(stopSpeakDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), stopSpeakCmd);
        this.sendMessage(ardDroneInfo.getServerId(), stopSpeakCmd);
        return true;
    }

    /**
     * 航线上传
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public void wayLineUpload(WayLineUploadDTO wayLineUploadDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineUploadDTO.getBoxSn());
        wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据
    public Boolean wayLineUpload(WayLineUploadDTO wayLineUploadDTO) {
        String boxSn = wayLineUploadDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            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
        WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), wayLineUploadCmd);
        this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd);
        return true;
    }

    //创建航线
@@ -616,10 +794,15 @@
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineBeginDTO.getBoxSn());
    public Boolean wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
        String boxSn = wayLineBeginDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), wayLineBeginCmd);
        this.sendMessage(ardDroneInfo.getServerId(), wayLineBeginCmd);
        return true;
    }

    /**
@@ -627,10 +810,15 @@
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLinePauseDTO.getBoxSn());
    public Boolean wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
        String boxSn = wayLinePauseDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), wayLinePauseCmd);
        this.sendMessage(ardDroneInfo.getServerId(), wayLinePauseCmd);
        return true;
    }

    /**
@@ -638,10 +826,15 @@
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineResumeDTO.getBoxSn());
    public Boolean wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
        String boxSn = wayLineResumeDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), wayLineResumeCmd);
        this.sendMessage(ardDroneInfo.getServerId(), wayLineResumeCmd);
        return true;
    }

    /**
@@ -649,14 +842,19 @@
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public void wayLineEnd(WayLineEndDTO wayLineEndDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineEndDTO.getBoxSn());
    public Boolean wayLineEnd(WayLineEndDTO wayLineEndDTO) {
        String boxSn = wayLineEndDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);
        this.sendMessage(ardDroneInfo.getServerInfoId(), wayLineEndCmd);
        this.sendMessage(ardDroneInfo.getServerId(), wayLineEndCmd);
        return true;
    }

    /**
     * 处理六合服务器返回的消息
     * 处理边缘服务器返回的消息
     */
    @Override
    public void processReplyMessage(String key, BaseCmd tyCommand) {
@@ -674,8 +872,8 @@
                break;
            case 0x02:
                // 处理注册消息
                 HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
                 logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
                HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
                //logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
                break;
            case 0x03:
                // 处理订阅消息
@@ -696,14 +894,14 @@
            case (byte) 0xA8:
                // 处理无人机状态消息
                UavStateCmd uavStateCmd = (UavStateCmd) tyCommand;
                UavStateCache.putUavState(uavStateCmd.getUavState());
                UavStateCache.put(uavStateCmd.getUavState());
                //logPrint("无人机状态", uavStateCmd.getUavState().getBoxSn());
                // WebSocketUtil.sendMessageAll(uavStateCmd.getUavState());
                break;
            case (byte) 0xA9:
                // 处理无人机遥测消息
                UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
                UavTelemetryDataCache.putUavTelemetryData(uavTelemetryDataCmd.getTelemetryData());
                UavTelemetryDataCache.put(uavTelemetryDataCmd.getTelemetryData());
                //logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
                //WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
                break;
@@ -711,7 +909,7 @@
            case (byte) 0x0C:
                // 处理无人机信道质量数据
                SignalInfoCmd signalInfoCmd = (SignalInfoCmd) tyCommand;
                UavSignalInfoCache.putUavSignalInfoCache(signalInfoCmd.getSignalInfo());
                UavSignalInfoCache.put(signalInfoCmd.getSignalInfo());
                //logPrint("无人机信道质量", signalInfoCmd.getSignalInfo().getBoxSn());
                break;
            case (byte) 0xD1:
@@ -840,32 +1038,55 @@
    }

    /**
     * 根据boxSn获取六合盒子列表
     * @return List<BoxInfoReceiver>
     * 根据[服务器id]获取边缘服务器盒子列表
     */
    @Override
    public List<BoxInfoReceiver> getBoxSnToList(String id) {
        ArdServerInfo ardServerInfos = ardServerService.selectArdServerManagementById(id);
        String baseUrl = "http://" + ardServerInfos.getHost() + ":" + ardServerInfos.getHttpPort();
        List<BoxInfoReceiver> lisbox = new ArrayList<>();
        try {
            lisbox = tyClient.getBoxList(baseUrl).getContent();
            return lisbox;
            List<BoxInfoReceiver> remoteBoxList = tyClient.getBoxList(id).getContent();
            List<ArdDroneInfo> existingDrones = getDroneLs(id);
            return existingDrones.isEmpty() ? remoteBoxList : filterBoxInfoReceivers(remoteBoxList, existingDrones);
        } catch (Exception e) {
            log.error("获取云盒列表失败: {}", baseUrl, e);
            return lisbox;
            log.error("获取云盒列表失败, 服务器id: {}", id, e);
            return Collections.emptyList(); // 返回不可变空列表，更安全
        }
    }

    /**
     * 根据[服务器id]查询无人机盒子列表
     */
    private List<ArdDroneInfo> getDroneLs(String serverId) {
        ArdDroneInfo query = new ArdDroneInfo();
        query.setServerId(serverId);
        return ardDroneService.selectArdDroneList(query);
    }

    /**
     * 过滤掉在ardDroneInfos中已存在的boxSn
     */
    public List<BoxInfoReceiver> filterBoxInfoReceivers(
            List<BoxInfoReceiver> boxInfoReceivers,
            List<ArdDroneInfo> ardDroneInfos) {

        Set<String> existingBoxSns = ardDroneInfos.stream()
                .map(ArdDroneInfo::getBoxSn)
                .filter(Objects::nonNull)
                .collect(Collectors.toSet());

        return boxInfoReceivers.stream()
                .filter(box -> box.getBoxSn() != null && !existingBoxSns.contains(box.getBoxSn()))
                .collect(Collectors.toList());
    }

    private List<BoxInfoReceiver> getBoxList(List<ArdServerInfo> ls) {
        return ls.stream()
                .filter(ardServerInfo -> ardServerInfo.getServerStatus().equals("1"))
                .flatMap(ardServerInfo -> {
                    String baseUrl = "http://" + ardServerInfo.getHost() + ":" + ardServerInfo.getHttpPort();
                    try {
                        List<BoxInfoReceiver> boxes = tyClient.getBoxList(baseUrl).getContent();
                        List<BoxInfoReceiver> boxes = tyClient.getBoxList(ardServerInfo.getId()).getContent();
                        return Optional.ofNullable(boxes).orElse(Collections.emptyList()).stream();
                    } catch (Exception e) {
                        log.error("获取云盒列表失败: {}", baseUrl, e);
                        log.error("获取云盒列表失败: {}", ardServerInfo.getId(), e);
                        return Stream.empty();
                    }
                })
@@ -874,59 +1095,31 @@

    //公共日志打印
    private void logPrint(String message, Object obj) {
        log.debug("收到{}回复{}", message, obj);
        String text = String.format("收到%s回复 %s", message, obj);
        ServerReplyMessage serverReplyMessage = ServerReplyMessage.builder().message(text).build();
        WebSocketUtil.sendMessage("reply", serverReplyMessage);
        log.debug(text);
    }

    //公共日志打印
    private void logPrint(String message, byte result, Integer errorCode) {
        log.info("收到{}回复:{} 错误码：{}【{}】",
        String text = String.format(
                "收到%s回复 状态码：%d【%s】",
                message,
                ByteUtils.byteToHex(result),
                //ByteUtils.byteToHex(result),
                errorCode,
                ErrorCodeEnum.getDescByCode(errorCode));
                ErrorCodeEnum.getDescByCode(errorCode)
        );
        ServerReplyMessage serverReplyMessage = ServerReplyMessage.builder().message(text).build();
        WebSocketUtil.sendMessage("reply", serverReplyMessage);
        log.debug(text);
    }


    /**
     * 定时向所有已连接的六合服务器发送心跳
     */
    @Scheduled(fixedRate = 5000) // 每5秒执行一次
    public void sendHeartBeat() {
        long timestamp = System.currentTimeMillis();

        for (TcpClientSession session : channels.values()) {
            ChannelFuture future = session.getChannelFuture();
            if (future == null || !future.channel().isActive()) {
                log.warn("边缘服务器 [{}] 连接未激活，跳过心跳发送", session.getServerId());
                continue;
            }

            HeartbeatCmd heartbeat = new HeartbeatCmd(timestamp);
            future.channel().writeAndFlush(heartbeat);

            log.info("→ 向边缘服务器 [{}] ({}:{}) 发送心跳，时间戳={}",
                    session.getServerId(), session.getHost(), session.getPort(), timestamp);
        }
    }
    /**
     * 发送消息
     * 发送tcp消息
     */
    private void sendMessage(String key, BaseCmd msg) {
        try {
            ChannelFuture future = channels.get(key).getChannelFuture();
            Channel channel = future.channel();
            if (channel.isActive()) {
                InetSocketAddress ipSocket = (InetSocketAddress) channel.remoteAddress();
                String host = ipSocket.getHostString();
                int port = ipSocket.getPort();
                channel.writeAndFlush(msg); // 发送编码后的数据
                log.debug("向六合服务器【{}:{}】发送数据，命令码：{}", host, port, String.format("0x%02X", msg.getCmdCode() & 0xFF));
            } else {
                log.error("与六合服务器链接断开，无法发送数据！");
            }
        } catch (Exception e) {
            log.error("发送消息异常：{}", e.getMessage());
        }
        TcpClientUtil.sendMessage(key, msg);
    }

}