1.修改名称(天宇 ——》六合)。

Xiajijian

2025-10-13 e90fcceee583f9428b40a551c31ae29a3492f2bf

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

@@ -3,6 +3,8 @@
import com.ard.common.utils.ByteUtils;
import com.ard.work.aspect.annotation.CheckTakeoffAltitude;
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.component.netty.command.BaseCmd;
import com.ard.work.component.netty.command.camera.*;
import com.ard.work.component.netty.command.manual.*;
@@ -10,14 +12,14 @@
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.config.TyConfiguration;
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.TyTcpServerCache;
import com.ard.work.domain.cache.UavSignalInfoCache;
import com.ard.work.domain.cache.UavStateCache;
import com.ard.work.domain.cache.UavTelemetryDataCache;
@@ -34,7 +36,6 @@
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.NettyTcpClient;
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;
@@ -46,6 +47,8 @@
import com.ard.work.component.netty.command.real.UavTelemetryDataCmd;
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.domain.message.UavControlType;
import io.netty.channel.Channel;
@@ -56,8 +59,13 @@

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.stream.Collectors;
import java.util.stream.Stream;

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

/**
 * TyServiceImpl
@@ -68,22 +76,21 @@
@Slf4j
@Service
public class TyServiceImpl implements ITyService {

    @Resource
    private IArdServerService ardServerService;
    @Resource
    private IArdDroneService ardDroneService;
    @Resource
    private TyClient tyClient;

    @Resource
    private TyConfiguration tyConfiguration;


    /**
     * 获取天宇token信息
     * 获取六合token信息
     *
     * @return AccessTokenReceiver
     */
    @Override
    public AccessTokenReceiver getAccessToken() {
        return tyConfiguration.getAccessToken();
    public AccessTokenReceiver getAccessToken(String serverId) {
        return ardServerService.getAccessToken(serverId);
    }

    /**
@@ -93,15 +100,22 @@
     */
    @Override
    public List<BoxInfoReceiver> getBoxList() {
        //请求云盒列表
        try {
            TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReceiver = tyClient.getBoxList();
            return boxListReceiver.getContent();
        } catch (Exception e) {
            log.error("获取云盒列表失败:{}", e.getMessage());
            return new ArrayList<>();
        }
        List<ArdServerInfo> ardServerInfos = ardServerService.selectArdServerManagementList(new ArdServerInfo());

        return ardServerInfos.stream()
                .flatMap(ardServerInfo -> {
                    String baseUrl = "http://" + ardServerInfo.getHost() + ":" + ardServerInfo.getHttpPort();
                    try {
                        List<BoxInfoReceiver> boxes = tyClient.getBoxList(baseUrl).getContent();
                        return Optional.ofNullable(boxes).orElse(Collections.emptyList()).stream();
                    } catch (Exception e) {
                        log.error("获取云盒列表失败: {}", baseUrl, e);
                        return Stream.empty();
                    }
                })
                .collect(Collectors.toList());
    }


    /**
     * 获取直播地址
@@ -110,8 +124,9 @@
     */
    @Override
    public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) {

        TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(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();
    }

@@ -122,7 +137,9 @@
     */
    @Override
    public List<BoxHistoryReceiver> getBoxHistory(BoxHistoryDTO boxHistoryDTO) {
        TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(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();
    }

@@ -133,7 +150,9 @@
     */
    @Override
    public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) {
        TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(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();
    }

@@ -142,7 +161,9 @@
     */
    @Override
    public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) {
        TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(boxSettingsDTO);
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSettingsDTO.getBoxSn());
        String baseUrl="http://"+ardDroneInfo.getArdServerInfo().getHost()+":"+ardDroneInfo.getArdServerInfo().getHttpPort();
        TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(baseUrl,boxSettingsDTO);
        return result.getState() == 1;
    }

@@ -151,8 +172,9 @@
     */
    @Override
    public Boolean updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHeightSettingDTO.getBoxSn());
        ReturnHeightSettingCmd returnHeightSettingCmd = new ReturnHeightSettingCmd(returnHeightSettingDTO);
        this.sendMessage(tyConfiguration.getIpPort(), returnHeightSettingCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), returnHeightSettingCmd);
        return true;
    }

@@ -161,8 +183,9 @@
     */
    @Override
    public Boolean updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnPointSettingDTO.getBoxSn());
        ReturnPointSettingCmd returnPointSettingCmd = new ReturnPointSettingCmd(returnPointSettingDTO);
        this.sendMessage(tyConfiguration.getIpPort(), returnPointSettingCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), returnPointSettingCmd);
        return true;
    }

@@ -171,22 +194,23 @@
     */
    @Override
    public Boolean updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(videoStreamSettingDTO.getBoxSn());
        VideoStreamSettingCmd videoStreamSettingCmd = new VideoStreamSettingCmd(videoStreamSettingDTO);
        this.sendMessage(tyConfiguration.getIpPort(), videoStreamSettingCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), videoStreamSettingCmd);
        return true;
    }

    /**
     * 注册天宇平台
     * 注册六合平台
     */
    @Override
    public Boolean registerMessage() {
    public Boolean registerMessage(String serverId) {
        try {
            AccessTokenReceiver tyToken = tyConfiguration.getAccessToken();
            AccessTokenReceiver tyToken = ardServerService.getAccessToken(serverId);
            RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
            this.sendMessage(tyConfiguration.getIpPort(), registerMessage);
            this.sendMessage(serverId, registerMessage);
        } catch (Exception e) {
            log.error("注册天宇平台失败:{}", e.getMessage());
            log.error("注册六合平台失败:{}", e.getMessage());
        }
        return true;
    }
@@ -197,8 +221,9 @@
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean angleControl(AngleControlDTO angleControlDto) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(angleControlDto.getBoxSn());
        AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto);
        this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
        this.sendMessage(ardDroneInfo.getServerInfoId(), controlAngleCommand);
        return true;
    }

@@ -208,8 +233,9 @@
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean absAngleControl(AbsAngleControlDTO absAngleControlDto) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(absAngleControlDto.getBoxSn());
        AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto);
        this.sendMessage(tyConfiguration.getIpPort(), absAngleControlCommand);
        this.sendMessage(ardDroneInfo.getServerInfoId(), absAngleControlCommand);
        return true;
    }

@@ -219,8 +245,9 @@
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean speedControl(SpeedControlDTO speedControlDto) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(speedControlDto.getBoxSn());
        SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto);
        this.sendMessage(tyConfiguration.getIpPort(), speedControlCommand);
        this.sendMessage(ardDroneInfo.getServerInfoId(), speedControlCommand);
        return true;
    }

@@ -229,8 +256,9 @@
     */
    @Override
    public Boolean updateCameraMode(CameraModeDTO cameraModeDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(cameraModeDTO.getBoxSn());
        CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO);
        this.sendMessage(tyConfiguration.getIpPort(), cameraModeCommand);
        this.sendMessage(ardDroneInfo.getServerInfoId(), cameraModeCommand);
        return true;
    }

@@ -243,9 +271,9 @@
        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(tyConfiguration.getIpPort(), capturePicCommand);
        this.sendMessage(ardDroneInfo.getServerInfoId(), capturePicCommand);
        return true;
    }

@@ -261,7 +289,8 @@
        } else {
            baseCmd = new RecordStopCmd(recordDto);
        }
        this.sendMessage(tyConfiguration.getIpPort(), baseCmd);
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(recordDto.getBoxSn());
        this.sendMessage(ardDroneInfo.getServerInfoId(), baseCmd);
        return true;
    }

@@ -271,8 +300,9 @@
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean zoom(ZoomDTO zoomDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(zoomDTO.getBoxSn());
        ZoomCmd zoomCommand = new ZoomCmd(zoomDTO);
        this.sendMessage(tyConfiguration.getIpPort(), zoomCommand);
        this.sendMessage(ardDroneInfo.getServerInfoId(), zoomCommand);
        return true;
    }

@@ -282,8 +312,9 @@
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(zoomToLevelDTO.getBoxSn());
        ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO);
        this.sendMessage(tyConfiguration.getIpPort(), zoomToLevelCommand);
        this.sendMessage(ardDroneInfo.getServerInfoId(), zoomToLevelCommand);
        return true;
    }

@@ -292,8 +323,9 @@
     */
    @Override
    public Boolean switchCamera(SwitchCameraDTO switchCameraDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchCameraDTO.getBoxSn());
        SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO);
        this.sendMessage(tyConfiguration.getIpPort(), switchCameraCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), switchCameraCmd);
        return true;
    }

@@ -302,8 +334,9 @@
     */
    @Override
    public Boolean switchSource(SwitchSourceDTO switchSourceDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchSourceDTO.getBoxSn());
        SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO);
        this.sendMessage(tyConfiguration.getIpPort(), switchSourceCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), switchSourceCmd);
        return true;
    }

@@ -312,8 +345,9 @@
     */
    @Override
    public Boolean photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(photoReturnToggleDTO.getBoxSn());
        PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO);
        this.sendMessage(tyConfiguration.getIpPort(), photoReturnToggleCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), photoReturnToggleCmd);
        return true;
    }

@@ -322,8 +356,9 @@
     */
    @Override
    public Boolean switchUavControl(SwitchUavControlDTO switchUavControlDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchUavControlDTO.getBoxSn());
        SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO);
        this.sendMessage(tyConfiguration.getIpPort(), switchUavControlCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), switchUavControlCmd);
        return true;
    }

@@ -333,8 +368,9 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean takeOff(TakeOffDTO takeOffDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(takeOffDTO.getBoxSn());
        TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
        this.sendMessage(tyConfiguration.getIpPort(), takeOffCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), takeOffCmd);
        return true;
    }

@@ -344,8 +380,9 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean returnHome(ReturnHomeDTO returnHomeDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHomeDTO.getBoxSn());
        ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO);
        this.sendMessage(tyConfiguration.getIpPort(), returnHomeCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), returnHomeCmd);
        return true;
    }

@@ -355,8 +392,9 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHomeCancelDTO.getBoxSn());
        ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO);
        this.sendMessage(tyConfiguration.getIpPort(), returnHomeCancelCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), returnHomeCancelCmd);
        return true;
    }

@@ -366,8 +404,9 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean land(LandDTO landDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landDTO.getBoxSn());
        LandCmd landCmd = new LandCmd(landDTO);
        this.sendMessage(tyConfiguration.getIpPort(), landCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), landCmd);
        return true;
    }

@@ -377,8 +416,9 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean landCancel(LandCancelDTO landCancelDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landCancelDTO.getBoxSn());
        LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO);
        this.sendMessage(tyConfiguration.getIpPort(), landCancelCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), landCancelCmd);
        return true;
    }

@@ -388,8 +428,9 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean landForced(LandForcedDTO landForcedDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landForcedDTO.getBoxSn());
        LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO);
        this.sendMessage(tyConfiguration.getIpPort(), landForcedCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), landForcedCmd);
        return true;
    }

@@ -400,8 +441,9 @@
    @CheckTakeoffAltitude(minAltitude = 30.0)
    @Override
    public Boolean flyControl(FlyControlDTO flyControlDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyControlDTO.getBoxSn());
        FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO);
        this.sendMessage(tyConfiguration.getIpPort(), flyControlCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), flyControlCmd);
        return true;
    }

@@ -412,8 +454,9 @@
    @CheckTakeoffAltitude(minAltitude = 30.0)
    @Override
    public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyPointControlDTO.getBoxSn());
        FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
        this.sendMessage(tyConfiguration.getIpPort(), flyPointControlCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), flyPointControlCmd);
        return true;
    }

@@ -423,8 +466,9 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyPointControlCancelDTO.getBoxSn());
        FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO);
        this.sendMessage(tyConfiguration.getIpPort(), flyPointControlCancelCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), flyPointControlCancelCmd);
        return true;
    }

@@ -434,8 +478,9 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(emeragencyBrakeDTO.getBoxSn());
        EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO);
        this.sendMessage(tyConfiguration.getIpPort(), emergencyBrakeCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), emergencyBrakeCmd);
        return true;
    }

@@ -468,8 +513,9 @@
     */
    @Override
    public void speakModeSwitch(SpeakModeSwitchDTO speakModeSwitchDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(speakModeSwitchDTO.getBoxSn());
        SpeakModeSwitchCmd speakModeSwitchCmd = new SpeakModeSwitchCmd(speakModeSwitchDTO);
        this.sendMessage(tyConfiguration.getIpPort(), speakModeSwitchCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), speakModeSwitchCmd);
    }

    /**
@@ -477,8 +523,9 @@
     */
    @Override
    public void textSpeak(TextSpeakDTO textSpeakDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(textSpeakDTO.getBoxSn());
        TextSpeakCmd textSpeakCmd = new TextSpeakCmd(textSpeakDTO);
        this.sendMessage(tyConfiguration.getIpPort(), textSpeakCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), textSpeakCmd);
    }

    /**
@@ -486,8 +533,9 @@
     */
    @Override
    public void realSpeak(RealSpeakDTO realSpeakDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(realSpeakDTO.getBoxSn());
        RealSpeakCmd realSpeakCmd = new RealSpeakCmd(realSpeakDTO);
        this.sendMessage(tyConfiguration.getIpPort(), realSpeakCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), realSpeakCmd);
    }

    /**
@@ -495,8 +543,9 @@
     */
    @Override
    public void recordSpeak(RecordSpeakDTO recordSpeakDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(recordSpeakDTO.getBoxSn());
        RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO);
        this.sendMessage(tyConfiguration.getIpPort(), recordSpeakCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), recordSpeakCmd);
    }

    /**
@@ -504,8 +553,9 @@
     */
    @Override
    public void volumeSetting(VolumeSettingDTO volumeSettingDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(volumeSettingDTO.getBoxSn());
        VolumeSettingCmd volumeSettingCmd = new VolumeSettingCmd(volumeSettingDTO);
        this.sendMessage(tyConfiguration.getIpPort(), volumeSettingCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), volumeSettingCmd);
    }

    /**
@@ -513,8 +563,9 @@
     */
    @Override
    public void loopSetting(LoopSettingDTO loopSettingDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(loopSettingDTO.getBoxSn());
        LoopSettingCmd loopSettingCmd = new LoopSettingCmd(loopSettingDTO);
        this.sendMessage(tyConfiguration.getIpPort(), loopSettingCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), loopSettingCmd);
    }

    /**
@@ -522,8 +573,9 @@
     */
    @Override
    public void stopSpeak(StopSpeakDTO stopSpeakDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(stopSpeakDTO.getBoxSn());
        StopSpeakCmd stopSpeakCmd = new StopSpeakCmd(stopSpeakDTO);
        this.sendMessage(tyConfiguration.getIpPort(), stopSpeakCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), stopSpeakCmd);
    }

    /**
@@ -531,9 +583,10 @@
     */
    @Override
    public void wayLineUpload(WayLineUploadDTO wayLineUploadDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineUploadDTO.getBoxSn());
        wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据
        WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
        this.sendMessage(tyConfiguration.getIpPort(), wayLineUploadCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), wayLineUploadCmd);
    }

    //创建航线
@@ -576,8 +629,9 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineBeginDTO.getBoxSn());
        WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO);
        this.sendMessage(tyConfiguration.getIpPort(), wayLineBeginCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), wayLineBeginCmd);
    }

    /**
@@ -586,8 +640,9 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLinePauseDTO.getBoxSn());
        WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO);
        this.sendMessage(tyConfiguration.getIpPort(), wayLinePauseCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), wayLinePauseCmd);
    }

    /**
@@ -596,8 +651,9 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineResumeDTO.getBoxSn());
        WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO);
        this.sendMessage(tyConfiguration.getIpPort(), wayLineResumeCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), wayLineResumeCmd);
    }

    /**
@@ -606,12 +662,13 @@
    @CheckControlRight(UavControlType.FLY)
    @Override
    public void wayLineEnd(WayLineEndDTO wayLineEndDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineEndDTO.getBoxSn());
        WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);
        this.sendMessage(tyConfiguration.getIpPort(), wayLineEndCmd);
        this.sendMessage(ardDroneInfo.getServerInfoId(), wayLineEndCmd);
    }

    /**
     * 处理天宇服务器返回的消息
     * 处理六合服务器返回的消息
     */
    @Override
    public void processReplyMessage(String key, BaseCmd tyCommand) {
@@ -624,7 +681,7 @@
                if (registerReplyCommand.getSuccess() != 1) {
                    // 注册失败，重新注册
                    log.info("注册失败，重新注册");
                    registerMessage();
                    registerMessage(key);
                }
                break;
            case 0x02:
@@ -674,7 +731,7 @@
                if (tyCommand instanceof UavInitReplyCmd) {
                    UavInitReplyCmd uavInitReplyCmd = (UavInitReplyCmd) tyCommand;
                    UavInitInfoCmd uavInitCommand = new UavInitInfoCmd(uavInitReplyCmd.getBoxSn());
                    this.sendMessage(tyConfiguration.getIpPort(), uavInitCommand);
                    this.sendMessage(key, uavInitCommand);
                    logPrint("无人机初始化详情", uavInitCommand.getBoxSn());
                }
                if (tyCommand instanceof UavReadyReplyCmd) {
@@ -808,35 +865,43 @@
                ErrorCodeEnum.getDescByCode(errorCode));
    }

    /**
     * 定时3秒发送心跳指令
     */
    @Scheduled(fixedRate = 3000)
    public void sendHeartBeat() {
        if (!TyTcpServerCache.getTcpServerCache(tyConfiguration.getTcpserver() + ":" + tyConfiguration.getTcpport())) {
            return;
        }
        long timestamp = System.currentTimeMillis();
        log.debug("定时向天宇发送⼼跳,时间戳{}", timestamp);
        HeartbeatCmd heartbeatMessage = new HeartbeatCmd(timestamp);
        this.sendMessage(tyConfiguration.getIpPort(), heartbeatMessage);
    }

    /**
     * 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
     */
    private void sendMessage(String key, BaseCmd msg) {
        try {
            ChannelFuture future = NettyTcpClient.channels.get(key).getChannelFuture();
            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("向天宇服务器【{}:{}】发送数据，命令码：{}", host, port, String.format("0x%02X", msg.getCmdCode() & 0xFF));
                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("与天宇服务器链接断开，无法发送数据！");
                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());