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

zhaowenyu

2025-12-24 19763ebd20ad16435f3c1ccfdc8abd1518712cc1

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

 ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInfoController.java

@@ -143,9 +143,10 @@
     * 开始航线
     */
    @ApiOperation("开始航线")
    @PostMapping("/routeBegins/{boxSn}")
    public AjaxResult routeBegins(@PathVariable("boxSn") String boxSn) {
        ardRouteInfoService.routeBegins(boxSn);
    @PostMapping("/routeBegins/{id}/{boxSn}")
    public AjaxResult routeBegins(@PathVariable("id") String id,
                                  @PathVariable("boxSn") String boxSn) {
        ardRouteInfoService.routeBegins(id,boxSn);
        return AjaxResult.success();
    }


 ard-admin/src/main/java/com/ard/web/controller/work/ArdServerInfoController.java

@@ -51,6 +51,18 @@
    }

    /**
     * 查询服务器管理列表
     */
    @ApiOperation("查询服务器管理列表")
    @PreAuthorize("@ss.hasPermi('work:server:listNo')")
    @GetMapping("/listNo")
    public TableDataInfo listNo(ArdServerInfo ardServerInfo) {
        startPage();
        List<ArdServerInfo> list = ardServerInfoService.selectArdServerInfoListNo(ardServerInfo);
        return getDataTable(list);
    }

    /**
     * 导出服务器管理列表
     */
    @ApiOperation("导出服务器管理列表")

 ard-admin/src/main/java/com/ard/web/controller/work/UavBaseController.java

@@ -3,18 +3,12 @@
import com.ard.common.core.controller.BaseController;
import com.ard.common.core.domain.AjaxResult;
import com.ard.common.core.page.TableDataInfo;
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.UavFlightStateDTO;
import com.ard.work.domain.dto.*;
import com.ard.work.domain.dto.telemetry.TelemetryData;
import com.ard.work.domain.entity.ArdFlightTask;
import com.ard.work.domain.entity.ArdFlightTaskPart;
import com.ard.work.domain.entity.ArdMedia;
import com.ard.work.domain.receiver.BoxHistoryReceiver;
import com.ard.work.domain.receiver.BoxInfoReceiver;
import com.ard.work.domain.receiver.BoxPhotosReceiver;
import com.ard.work.domain.receiver.BoxStreamUrlReceiver;
import com.ard.work.domain.receiver.*;
import com.ard.work.service.IArdFlightTaskPartService;
import com.ard.work.service.IArdFlightTaskService;
import com.ard.work.service.IArdMediaService;
@@ -77,6 +71,7 @@
        List<BoxHistoryReceiver> boxHistory = tyService.getBoxHistory(boxHistoryDTO);
        return AjaxResult.success(boxHistory);
    }

    @ApiOperation("获取飞行架次")
    @ApiOperationSupport(order = 4)
    @GetMapping("/getFlightTask")
@@ -111,6 +106,14 @@
        return AjaxResult.success(boxPhotos);
    }

    @ApiOperation("获取任务视频")
    @ApiOperationSupport(order = 5)
    @PostMapping("/getBoxVideos")
    public AjaxResult getBoxVideos(@RequestBody BoxVideosDTO boxVideosDTO) {
        List<BoxVideosReceiver> boxVideos = tyService.getBoxVideos(boxVideosDTO);
        return AjaxResult.success(boxVideos);
    }

    @ApiOperation("获取直播地址")
    @ApiOperationSupport(order = 6)
    @GetMapping("/getBoxLiveUrl/{boxSn}")

 ard-admin/src/main/java/com/ard/web/controller/work/UavCameraController.java

@@ -24,6 +24,13 @@
    @Resource
    private ITyService tyService;

    @ApiOperation(value = "设置相机模式", notes = "actionParam值：1-拍照，2-录像")
    @ApiOperationSupport(order = 1)
    @PostMapping("/updateCameraMode")
    public AjaxResult updateCameraMode(@RequestBody CameraModeDTO cameraModeDTO) {
        tyService.updateCameraMode(cameraModeDTO);
        return AjaxResult.success();
    }

    @ApiOperation("拍照")
    @ApiOperationSupport(order = 1)

 ard-admin/src/main/java/com/ard/web/controller/work/UavControlController.java

@@ -4,6 +4,7 @@
import com.ard.work.service.control.UavControlService;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
import org.springframework.security.access.prepost.PreAuthorize;
import org.springframework.web.bind.annotation.*;

import javax.annotation.Resource;
@@ -20,6 +21,7 @@
     * 申请控制权（请求通过 WebSocket 发送给当前控制者）
     */
    @ApiOperation("申请控制权")
    @PreAuthorize("@ss.hasPermi('uav:control:request')")
    @PostMapping("/request")
    public AjaxResult requestControl(@RequestParam String boxSn, @RequestParam String type) {
        return AjaxResult.success(uavControlService.requestControl(boxSn, type));

 ard-oss/src/main/java/com/ard/oss/service/impl/MinIOServiceImpl.java

@@ -9,7 +9,10 @@
import io.minio.errors.*;
import io.minio.http.Method;
import lombok.extern.slf4j.Slf4j;
import okhttp3.ConnectionPool;
import okhttp3.ConnectionSpec;
import okhttp3.OkHttpClient;
import okhttp3.TlsVersion;
import org.springframework.stereotype.Service;

import javax.net.ssl.SSLContext;
@@ -25,7 +28,9 @@
import java.security.ProviderException;
import java.security.SecureRandom;
import java.security.cert.X509Certificate;
import java.util.Collections;
import java.util.Objects;
import java.util.concurrent.TimeUnit;

import static com.ard.common.config.OssConfiguration.*;

@@ -74,9 +79,18 @@
            };
            SSLContext sslContext = SSLContext.getInstance("TLSv1.2");
            sslContext.init(null, trustAllCerts, new SecureRandom());

            ConnectionSpec spec = new ConnectionSpec.Builder(ConnectionSpec.MODERN_TLS)
                    .tlsVersions(TlsVersion.TLS_1_2)
                    .allEnabledCipherSuites()
                    .build();

            OkHttpClient httpClient = new OkHttpClient.Builder()
                    .sslSocketFactory(sslContext.getSocketFactory(), (X509TrustManager) trustAllCerts[0])
                    .sslSocketFactory(sslContext.getSocketFactory(),
                            (X509TrustManager) trustAllCerts[0])
                    .hostnameVerifier((hostname, session) -> true)
                    .connectionSpecs(Collections.singletonList(spec)) // ⭐关键
                    .connectionPool(new ConnectionPool(0, 1, TimeUnit.SECONDS)) // ⭐禁用复用
                    .build();

            // 构建 AssumeRoleProvider，使用自定义 httpClient
@@ -244,6 +258,11 @@
            OkHttpClient httpClient = new OkHttpClient.Builder()
                    .sslSocketFactory(sslSocketFactory, (X509TrustManager) trustAllCerts[0])
                    .hostnameVerifier((hostname, session) -> true)
                    .connectionSpecs(Collections.singletonList(
                            new ConnectionSpec.Builder(ConnectionSpec.MODERN_TLS)
                                    .tlsVersions(TlsVersion.TLS_1_2)   // 强制 TLS1.2
                                    .build()
                    ))
                    .build();

            this.client = MinioClient.builder()

 ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInfo.java

@@ -29,10 +29,6 @@
    @Excel(name = "文件路径")
    private String path;

//    /** 文件路径1 */
//    @Excel(name = "文件路径1")
//    private String path1;

    /** 分组ID */
    @Excel(name = "分组ID")
    private String groupId;
@@ -50,7 +46,7 @@
    private String payload;

    /**
     * 是否只读 是否只读
     * 是否只读
     * 0：否
     * 1：是
     */
@@ -66,6 +62,14 @@
    private String orderByTime;

    /**
     * 是否循环 isLoop
     * 0：否
     * 1：是
     */
    @Excel(name = "是否循环")
    private String isLoop;

    /**
     * 生成kmz文件实体类
     */
    private UavRouteReq uavRouteReq;

 ard-route/src/main/java/com/ard/route/service/IArdRouteInfoService.java

@@ -114,7 +114,7 @@
     * @param boxSn 云盒SN编号
     * @return 结果
     */
    public Boolean routeBegins(String boxSn);
    public Boolean routeBegins(String id, String boxSn);

    /**
     * 暂停航线

 ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java

@@ -25,8 +25,10 @@
import com.ard.route.mapper.ArdRouteInfoMapper;
import com.ard.route.service.IArdRouteInfoService;
import com.ard.route.service.UavRouteService;
import com.ard.work.domain.cache.UavTelemetryDataCache;
import com.ard.work.domain.cache.UavWaylineCache;
import com.ard.work.domain.dto.state.PointData;
import com.ard.work.domain.dto.telemetry.TelemetryData;
import com.ard.work.domain.dto.wayline.*;
import com.ard.work.service.ITyService;
import org.slf4j.Logger;
@@ -86,17 +88,26 @@
            throw new RuntimeException(e);
        }

        // 主逻辑优化
        // 如果参考起飞点不为空，将每个航点高度进行加工。
        if (ardRouteInfo.getUavRouteReq().getTakeOffRefPoint() != null){

        double altitudeOffset = getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(), "alt");

        for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
            // 调整航点高度
                // 调整每个航点高度
            adjustRoutePointHeight(routePointReq, altitudeOffset);
        }
        }else {
            // 如果没有设置参考起飞点，将第一个航点设置为参考起飞点。
            ardRouteInfo.getUavRouteReq().setTakeOffRefPoint(
                    ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getLatitude().toString() +"," +
                    ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getLongitude().toString()+","+
                    ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getHeight().toString());
        }

        return ardRouteInfo;
    }

    // 提取航点高度调整逻辑到方法中
    private void adjustRoutePointHeight(RoutePointReq routePointReq, double altitudeOffset) {
        routePointReq.setHeight(routePointReq.getHeight() + altitudeOffset);
    }
@@ -234,6 +245,9 @@
     */
    @Override
    public int deleteArdRouteInfoById(String id) {
        // 删除航线(kmz)文件
        ArdRouteInfo information = ardRouteInfoMapper.selectArdRouteInfoById(id);
        delOssService(information);
        return ardRouteInfoMapper.deleteArdRouteInfoById(id);
    }

@@ -332,7 +346,6 @@

    /**
     * 上传航线到边缘服务器
     *
     * ardNoflyDto
     * @return 结果
     */
@@ -346,6 +359,34 @@
        } catch (IOException | ClassNotFoundException e) {
            throw new RuntimeException(e);
        }

        // 获取第一个点
        double firstPointLng = route.getUavRouteReq().getRoutePointList().get(0).getLongitude();
        double firstPointLat = route.getUavRouteReq().getRoutePointList().get(0).getLatitude();

        // 获取最后一个点
        double lastPointLng = route.getUavRouteReq().getRoutePointList().get(route.getUavRouteReq().getRoutePointList().size()-1).getLongitude();
        double lastPointLat = route.getUavRouteReq().getRoutePointList().get(route.getUavRouteReq().getRoutePointList().size()-1).getLatitude();

        // 无人机遥测数据,用于校验真实起飞点和第一个点是否在禁飞区
        TelemetryData telemetryData = UavTelemetryDataCache.get(boxSn);
        double telemetryDataLng = 0;
        double telemetryDataLat = 0;
        if (telemetryData != null){
            telemetryDataLng = telemetryData.getLng();
            telemetryDataLat = telemetryData.getLat();
        }

        ArdNoflyDto dto1 = new ArdNoflyDto();
        dto1.setCurrent(new Vertex(telemetryDataLng,telemetryDataLat));
        dto1.setTarget(new Vertex(firstPointLng,firstPointLat));
        verifyNoFlyZone(dto1);

        ArdNoflyDto dto2 = new ArdNoflyDto();
        dto2.setCurrent(new Vertex(lastPointLng,lastPointLat));
        dto2.setTarget(new Vertex(telemetryDataLng,telemetryDataLat));
        verifyNoFlyZone(dto2);

        // 判断禁飞区
        arrayWithinNoFlyZone(route.getUavRouteReq().getRoutePointList());
        // 1.2通过minio获取航线信息
@@ -369,7 +410,12 @@
     * @return 结果
     */
    @Override
    public Boolean routeBegins(String boxSn) {
    public Boolean routeBegins(String id,String boxSn) {
        ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(id);
        // 判断是否循环航线
        if ("1".equals(route.getIsLoop())) {
            deleteArdRouteInfoById(id);
        }
        WayLineBeginDTO wayLineBeginDTO = new WayLineBeginDTO(boxSn);
        tyService.wayLineBegin(wayLineBeginDTO);
        return true;

 ard-route/src/main/resources/mapper/ArdRouteInfoMapper.xml

@@ -8,7 +8,6 @@
        <result property="id"    column="id"    />
        <result property="name"    column="name"    />
        <result property="path"    column="path"    />
<!--        <result property="path1"    column="path1"    />-->
        <result property="groupId"    column="group_id"    />
        <result property="type"    column="type"    />
        <result property="aircraft"    column="aircraft"    />
@@ -20,13 +19,13 @@
        <result property="updateBy"    column="update_by"    />
        <result property="updateTime"    column="update_time"    />
        <result property="pointCount"    column="point_count"    />
        <result property="isLoop"    column="is_loop"    />
    </resultMap>

    <sql id="selectArdRouteInfoVo">
        select id,
               name,
               path,
<!--               path1,-->
               group_id,
               type,
               aircraft,
@@ -37,7 +36,8 @@
               create_time,
               update_by,
               update_time,
               point_count
               point_count,
               is_loop
        from ard_route_info
    </sql>

@@ -50,6 +50,7 @@
            <if test="type != null  and type != ''"> and type = #{type}</if>
            <if test="path != null  and path != ''"> and path = #{path}</if>
            <if test="groupId != null"> and group_id = #{groupId}</if>
            <if test="isLoop != null"> and is_loop = #{isLoop}</if>
        </where>
        <if test="orderByTime == null and orderByTime == ''">
            ORDER BY update_time DESC
@@ -71,7 +72,6 @@
            <if test="id != null">id,</if>
            <if test="name != null">name,</if>
            <if test="path != null">path,</if>
<!--            <if test="path1 != null">path1,</if>-->
            <if test="groupId != null">group_id,</if>
            <if test="type != null">type,</if>
            <if test="aircraft != null">aircraft,</if>
@@ -83,12 +83,12 @@
            <if test="updateBy != null">update_by,</if>
            <if test="updateTime != null">update_time,</if>
            <if test="pointCount != null">point_count,</if>
            <if test="isLoop != null">is_loop,</if>
         </trim>
        <trim prefix="values (" suffix=")" suffixOverrides=",">
            <if test="id != null">#{id},</if>
            <if test="name != null">#{name},</if>
            <if test="path != null">#{path},</if>
<!--            <if test="path1 != null">#{path1},</if>-->
            <if test="groupId != null">#{groupId},</if>
            <if test="type != null">#{type},</if>
            <if test="aircraft != null">#{aircraft},</if>
@@ -100,6 +100,7 @@
            <if test="updateBy != null">#{updateBy},</if>
            <if test="updateTime != null">#{updateTime},</if>
            <if test="pointCount != null">#{pointCount},</if>
            <if test="isLoop != null">#{isLoop},</if>
         </trim>
    </insert>

@@ -108,7 +109,6 @@
        <trim prefix="SET" suffixOverrides=",">
            <if test="name != null">name = #{name},</if>
            <if test="path != null">path = #{path},</if>
<!--            <if test="path1 != null">path1 = #{path1},</if>-->
            <if test="groupId != null">group_id = #{groupId},</if>
            <if test="type != null">type = #{type},</if>
            <if test="aircraft != null">aircraft = #{aircraft},</if>
@@ -120,6 +120,7 @@
            <if test="updateBy != null">update_by = #{updateBy},</if>
            <if test="updateTime != null">update_time = #{updateTime},</if>
            <if test="pointCount != null">point_count = #{pointCount},</if>
            <if test="isLoop != null">is_loop = #{isLoop},</if>
        </trim>
        where id = #{id}
    </update>
@@ -148,7 +149,7 @@
    </delete>

    <select id="selectArdRouteInfoByGroupId" parameterType="String" resultMap="ArdRouteInfoResult">
        select id,name,path,group_id,type,aircraft,payload,read_only,create_by,create_time,update_by,update_time,point_count from ard_route_info
        select id,name,path,group_id,type,aircraft,payload,read_only,create_by,create_time,update_by,update_time,point_count,is_loop from ard_route_info
        <where>
            <if test="groupId != null "> and group_id = #{groupId}</if>
        </where>

 ard-work/src/main/java/com/ard/work/component/forest/TyClient.java

@@ -1,9 +1,6 @@
package com.ard.work.component.forest;

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.TokenDTO;
import com.ard.work.domain.dto.*;
import com.ard.work.domain.receiver.*;
import com.dtflys.forest.annotation.*;

@@ -43,13 +40,18 @@
    @Post(value = TyConst.POST_BOX_HISTORY, interceptor = TokenInterceptor.class)
    TyHttpCommonReceiver<List<BoxHistoryReceiver>> getBoxHistory(@Var("serverId") String serverId,
                                                                 @JSONBody BoxHistoryDTO boxHistoryDTO);

    /**
     * 获取任务照片
     */
    @Post(value = TyConst.POST_BOX_PHOTOS, interceptor = TokenInterceptor.class)
    TyHttpCommonReceiver<List<BoxPhotosReceiver>> getBoxPhotos(@Var("serverId") String serverId,
                                                               @JSONBody BoxPhotosDTO boxPhotosDTO);
    /**
     * 获取任务视频
     */
    @Post(value = TyConst.POST_BOX_VIDEOS, interceptor = TokenInterceptor.class)
    TyHttpCommonReceiver<List<BoxVideosReceiver>> getBoxVideos(@Var("serverId") String serverId,
                                                               @JSONBody BoxVideosDTO boxVideosDTO);

    /**
     * 修改云盒设置

 ard-work/src/main/java/com/ard/work/component/forest/TyConst.java

@@ -8,6 +8,7 @@
    public static final String POST_UPDATE_LIVE = "/eapi/update/live";
    public static final String GET_BOX_LIVE_URL = "/eapi/box/pullUrl/{boxSn}";
    public static final String POST_BOX_PHOTOS = "/eapi/box/photos";
    public static final String POST_BOX_VIDEOS = "/eapi/box/videos";
    public static final String GET_OPEN_LIVE = "/eapi/box/openlive/{boxSn}";
    public static final String GET_CLOSE_LIVE = "/eapi/box/closelive/{boxSn}";
}

 ard-work/src/main/java/com/ard/work/domain/dto/BoxVideosDTO.java

New file
@@ -0,0 +1,27 @@
package com.ard.work.domain.dto;

import com.fasterxml.jackson.annotation.JsonProperty;
import lombok.AllArgsConstructor;
import lombok.Builder;
import lombok.Data;
import lombok.NoArgsConstructor;

@Data
@Builder
@AllArgsConstructor
@NoArgsConstructor
public class BoxVideosDTO {

    @JsonProperty("boxSn")
    private String boxSn;

    @JsonProperty("taskId")
    private Integer taskId;

    @JsonProperty("pageIndex")
    private Integer pageIndex;

    @JsonProperty("pageSize")
    private Integer pageSize;

}

 ard-work/src/main/java/com/ard/work/domain/entity/ArdFlightTaskPart.java

@@ -3,6 +3,8 @@
import com.ard.common.core.domain.BaseEntity;
import lombok.*;

import java.util.Date;

@EqualsAndHashCode(callSuper = true)
@Data
@Builder
@@ -13,4 +15,7 @@
    private String boxSn;
    private Integer count;
    private byte[] dataPart;
    private Date startTime;
    private Date endTime;

}

 ard-work/src/main/java/com/ard/work/domain/receiver/BoxVideosReceiver.java

New file
@@ -0,0 +1,32 @@
package com.ard.work.domain.receiver;

import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
import com.fasterxml.jackson.annotation.JsonProperty;
import lombok.Data;

@Data
@JsonIgnoreProperties(ignoreUnknown = true)
public class BoxVideosReceiver {

    @JsonProperty("id")
    private Long id;

    @JsonProperty("taskId")
    private Long taskId;

    @JsonProperty("name")
    private String name;

    @JsonProperty("spanSeconds")
    private String spanSeconds;

    @JsonProperty("uri")
    private String imgUrl;

    @JsonProperty("startTime")
    private String startTime;

    @JsonProperty("endTime")
    private String endTime;

}

 ard-work/src/main/java/com/ard/work/mapper/ArdFlightTaskPartMapper.java

@@ -13,14 +13,10 @@
public interface ArdFlightTaskPartMapper {

    /**
     * 根据 taskId 查询分片
     */
    List<ArdFlightTaskPart> selectByTaskId(int taskId);
    /**
     * 根据 boxSn 和航线开始结束时间查询分片
     * 根据开始结束时间查询分片
     * @return 对应时间段的分片列表
     */
    List<ArdFlightTaskPart> selectByTaskStartTime(ArdFlightTaskPart ardFlightTaskPart);
    List<ArdFlightTaskPart> selectByTimeRange(ArdFlightTaskPart ardFlightTaskPart);

    int insert(ArdFlightTaskPart entity);
}

 ard-work/src/main/java/com/ard/work/service/IArdServerInfoService.java

@@ -28,6 +28,8 @@
     */
    public List<ArdServerInfo> selectArdServerInfoList(ArdServerInfo ardServerInfo);

    public List<ArdServerInfo> selectArdServerInfoListNo(ArdServerInfo ardServerInfo);

    /**
     * 新增服务器管理
     * 

 ard-work/src/main/java/com/ard/work/service/ITyService.java

@@ -3,6 +3,7 @@
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.BoxVideosDTO;
import com.ard.work.domain.dto.camera.*;
import com.ard.work.domain.dto.manual.*;
import com.ard.work.domain.dto.speaker.*;
@@ -32,12 +33,14 @@

    /**
     * 获取边缘服务器token信息
     *
     * @return
     */
    AccessTokenReceiver getAccessToken(String ServerId);

    /**
     * 获取全部服务器云盒列表
     *
     * @return
     */
    List<BoxInfoReceiver> getBoxList();
@@ -51,42 +54,56 @@

    /**
     * 获取直播地址
     *
     * @return
     */
    BoxStreamUrlReceiver getBoxLiveUrl(@Var("boxSn") String boxSn);

    /**
     * 获取飞行历史
     *
     * @return
     */
    List<BoxHistoryReceiver> getBoxHistory(BoxHistoryDTO boxHistoryDTO);

    /**
     * 获取盒子图片
     * 获取任务图片
     *
     * @return
     */
    List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO);

    /**
     * 获取任务视频
     *
     * @return
     */
    List<BoxVideosReceiver> getBoxVideos(BoxVideosDTO boxVideosDTO);

    /**
     * 修改云盒设置
     *
     * @return
     */
    Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO);

    /**
     * 设置返航高度
     *
     * @return
     */
    Boolean updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO);

    /**
     * 设置视频码流
     *
     * @return
     */
    Boolean updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO);

    /**
     * 设置返航点
     *
     * @return
     */
    Boolean updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO);

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

@@ -14,11 +14,13 @@
import org.springframework.scheduling.annotation.Async;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Service;

import java.util.ArrayList;
import java.util.Comparator;
import java.util.Date;
import java.util.List;
import java.util.concurrent.ConcurrentHashMap;

/**
 * 轨迹分片处理业务
 */
@@ -28,7 +30,8 @@
public class ArdFlightTaskPartServiceImpl implements IArdFlightTaskPartService {

    private final ArdFlightTaskPartMapper ardflightTaskPartMapper;

    // 上一次飞行状态缓存
    private final ConcurrentHashMap<String, Integer> lastFlightStatusMap = new ConcurrentHashMap<>();
    /**
     * 缓存：boxSn -> 当前分片数据
     */
@@ -60,12 +63,20 @@
                return; // 超过 3 秒没有新遥测 → 认为已离线或冻结，不记录
            }

            // 3️⃣ 飞行状态必须是飞行中
            if(uavState.getFlightControllerState().getFlightStatus()!=2)
            {
                return; // 飞行状态不是飞行中，不记录
            }
            int currentStatus = uavState.getFlightControllerState().getFlightStatus();
            Integer lastStatus = lastFlightStatusMap.get(boxSn);

            // 仅在“飞行中 → 非飞行中”状态变化时 flush
            if (lastStatus != null && lastStatus == 2 && currentStatus != 2) {
                flushRemaining(boxSn);
            }
            lastFlightStatusMap.put(boxSn, currentStatus);

            // 只有飞行中才添加缓存
            if (currentStatus == 2) {
                UavFlightStateDTO dto = new UavFlightStateDTO(uavState, telemetryData, dataTs);
                addTelemetryData(dto);
            }
            UavFlightStateDTO dto = new UavFlightStateDTO(
                    uavState,
                    telemetryData,
@@ -102,16 +113,17 @@

        try {
            byte[] blobData = SerializeUtil.serialize(dataList);

            // 取第一个和最后一个状态时间
            long startTs = dataList.get(0).getTimestamp();
            long endTs = dataList.get(dataList.size() - 1).getTimestamp();
            ArdFlightTaskPart part = ArdFlightTaskPart.builder()
                    .boxSn(boxSn)
                    .count(dataList.size())
                    .dataPart(blobData)
                    .startTime(new Date(startTs))
                    .endTime(new Date(endTs))
                    .build();
            // 使用 list 中第一条数据的时间作为 createTime
            long firstTimeMillis = dataList.get(0).getTimestamp();
            Date createTime = new Date(firstTimeMillis);
            part.setCreateTime(createTime);
            part.setCreateTime(new Date());
            ardflightTaskPartMapper.insert(part);

            log.info("设备 {} 分片保存 {} 条飞行数据到数据库成功", boxSn, dataList.size());
@@ -143,7 +155,7 @@
    public List<UavFlightStateDTO> getCompleteFlightData(ArdFlightTaskPart ardFlightTaskPart) {
        List<UavFlightStateDTO> allData = new ArrayList<>();
        String boxSn = ardFlightTaskPart.getBoxSn();
        List<ArdFlightTaskPart> parts = ardflightTaskPartMapper.selectByTaskStartTime(ardFlightTaskPart);
        List<ArdFlightTaskPart> parts = ardflightTaskPartMapper.selectByTimeRange(ardFlightTaskPart);
        for (ArdFlightTaskPart part : parts) {
            try {
                List<UavFlightStateDTO> partData = SerializeUtil.deserialize(part.getDataPart());

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

@@ -5,9 +5,11 @@
import com.ard.work.component.forest.TyClient;
import com.ard.work.component.netty.TyTcpClientManager;
import com.ard.work.domain.dto.TokenDTO;
import com.ard.work.domain.entity.ArdDroneInfo;
import com.ard.work.domain.entity.ArdServerInfo;
import com.ard.work.domain.receiver.AccessTokenReceiver;
import com.ard.work.domain.receiver.TyHttpCommonReceiver;
import com.ard.work.mapper.ArdDroneInfoMapper;
import com.ard.work.mapper.ArdServerInfoMapper;
import com.ard.work.service.IArdServerInfoService;
import com.dtflys.forest.exceptions.ForestRuntimeException;
@@ -30,11 +32,16 @@
public class ArdServerInfoServiceImpl implements IArdServerInfoService {

    @Resource
    private ArdServerInfoMapper ardServerInfoMapper;
    @Resource
    private TyClient tyClient;

    @Resource
    private ArdServerInfoMapper ardServerInfoMapper;

    @Resource
    private TyTcpClientManager tyTcpClientManager;

    @Resource
    private ArdDroneInfoMapper ArdDroneInfoMapper;

    /**
     * 查询服务器管理
@@ -59,6 +66,24 @@
        return ardServerInfoMapper.selectArdServerInfoList(ardServerInfo);
    }

    @Override
    @DataScope(deptAlias = "d", userAlias = "u")
    public List<ArdServerInfo> selectArdServerInfoListNo(ArdServerInfo ardServerInfo) {

//        List<ArdDroneInfo> ardDroneInfos = ArdDroneInfoMapper.selectArdDroneList(new ArdDroneInfo());
//        for (ArdDroneInfo ardDroneInfo : ardDroneInfos) {
//            ardDroneInfo.getBoxSn();
//        }
//        List<ArdServerInfo> servers = ardServerInfoMapper.selectArdServerInfoList(ardServerInfo);
//        for (ArdServerInfo server : servers) {
//            for (ArdDroneInfo ardDroneInfo : server.getArdDroneInfoList()) {
//                ardDroneInfo.getBoxSn();
//            }
//        }

        return ardServerInfoMapper.selectArdServerInfoList(ardServerInfo);
    }

    /**
     * 新增服务器管理
     *

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

@@ -33,6 +33,7 @@
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.BoxVideosDTO;
import com.ard.work.domain.dto.camera.*;
import com.ard.work.domain.dto.control.AbsAngleControlDTO;
import com.ard.work.domain.dto.control.AngleControlDTO;
@@ -157,7 +158,7 @@
    }

    /**
     * 获取盒子图片
     * 获取任务图片
     *
     * @return List<BoxPhotosReceiver>
     */
@@ -172,7 +173,22 @@
                boxPhotosDTO);
        return boxPhotos == null ? null : boxPhotos.getContent();
    }

    /**
     * 获取任务视频
     *
     * @return List<BoxVideosReceiver>
     */
    @Override
    public List<BoxVideosReceiver> getBoxVideos(BoxVideosDTO boxVideosDTO) {
        String boxSn = boxVideosDTO.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<BoxVideosReceiver>> boxVideos = tyClient.getBoxVideos(ardDroneInfo.getServerId(),
                boxVideosDTO);
        return boxVideos == null ? null : boxVideos.getContent();
    }
    /**
     * 修改云盒设置
     */
@@ -336,9 +352,10 @@
            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);
@@ -358,7 +375,7 @@
        }
        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);

 ard-work/src/main/resources/mapper/ArdFlightTaskMapper.xml

 ard-work/src/main/resources/mapper/ArdFlightTaskPartMapper.xml

@@ -8,21 +8,27 @@
    <!-- 插入一条分片数据 -->
    <insert id="insert" parameterType="ArdFlightTaskPart" useGeneratedKeys="true" keyProperty="id">
        INSERT INTO ard_flight_task_part
            (box_sn, count, data_part, create_time)
        VALUES
            (#{boxSn}, #{count}, #{dataPart}, #{createTime})
            (box_sn, count, data_part, start_time, end_time, create_time)
        VALUES (#{boxSn}, #{count}, #{dataPart}, #{startTime}, #{endTime}, #{createTime})
    </insert>
    <select id="selectByTaskStartTime" resultType="ArdFlightTaskPart">
    <select id="selectByTimeRange" resultType="ArdFlightTaskPart">
        SELECT *
        FROM ard_flight_task_part u
        WHERE u.box_sn = #{boxSn}
        <if test="params.beginTime != null"><!-- 开始时间检索 -->
            AND u.create_time &gt;= #{params.beginTime}
        <where>
            u.box_sn = #{boxSn}
            <!-- 动态参数中的开始时间 -->
            <if test="params.beginTime != null">
                AND u.end_time &gt;= #{params.beginTime}  <!-- blob 内最后状态 >= 架次起飞 -->
        </if>
        <if test="params.endTime != null"><!-- 结束时间检索 -->
            AND u.create_time &lt;= #{params.endTime}
            <!-- 动态参数中的结束时间 -->
            <if test="params.endTime != null">
                AND u.start_time &lt;= #{params.endTime}  <!-- blob 内第一状态 <= 架次降落 -->
        </if>
        ORDER BY u.create_time asc
        </where>
        ORDER BY u.start_time ASC
    </select>




</mapper>