增加无人机状态和禁飞区检查

liusuyi

2025-11-11 eb92bf8c9e0278655b058e31b15be278fddacc2c

增加无人机状态和禁飞区检查

 ard-system/src/main/java/com/ard/data/noflyzone/service/impl/ArdNoFlyZoneServiceImpl.java

@@ -100,4 +100,6 @@
    {
        return ardNoFlyZoneMapper.deleteArdNoFlyZoneById(id);
    }


}

 ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java

@@ -1,11 +1,23 @@
package com.ard.work.aspect;

import com.ard.common.constant.CacheConstants;
import com.ard.common.core.redis.RedisCache;
import com.ard.common.exception.ControlException;
import com.ard.common.utils.SecurityUtils;
import com.ard.common.utils.StringUtils;
import com.ard.common.utils.reflect.ReflectUtils;
import com.ard.data.noflyzone.domain.ArdNoFlyZone;
import com.ard.data.noflyzone.domain.Vertex;
import com.ard.data.noflyzone.service.IArdNoFlyZoneService;
import com.ard.data.noflyzone.utils.NoFlyZoneUtils;
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.aspect.annotation.CheckControlRight;
import com.ard.work.domain.cache.UavTelemetryDataCache;
import com.ard.work.domain.dto.telemetry.TelemetryData;
import com.ard.work.domain.entity.ArdDroneInfo;
import com.ard.work.service.IArdDroneInfoService;
import com.ard.work.service.control.UavControlService;
import com.ard.work.domain.message.UavControlType;
import org.aspectj.lang.JoinPoint;
@@ -14,11 +26,11 @@
import org.springframework.stereotype.Component;

import javax.annotation.Resource;
import java.lang.reflect.Field;
import java.util.List;

/**
 * AOP 切面：拦截 @RequireUavControl，检查用户是否拥有 UAV 控制权限
 *
 * 无人机控制切面
 * <p>
 * 注意切面顺序：同类方法注解按字母ABCD顺序，不同类注解按order(1)顺序 越小优先级越高
 */
@Aspect
@@ -27,9 +39,13 @@

    @Resource
    private UavControlService uavControlService;
    @Resource
    private IArdNoFlyZoneService ardNoFlyZoneService;
    @Resource
    private RedisCache redisCache;

    /**
     * 前置通知：控制权检测
     * 控制权检查
     */
    @Before("@annotation(checkControlRight)")
    public void checkUavControl(JoinPoint joinPoint, CheckControlRight checkControlRight) {
@@ -42,22 +58,35 @@
        // 获取方法参数
        Object[] args = joinPoint.getArgs();

        // 遍历参数，使用反射获取每个参数中的 boxSn
        for (Object arg : args) {
            String boxSn = getBoxSn(arg);  // 调用之前实现的 getBoxSn 方法
            if (boxSn != null) {
                // 检查当前用户是否拥有该设备的控制权限
                Long currentController = uavControlService.getCurrentController(boxSn,
                        controlType.name().toLowerCase());
                if (currentController == null || !currentController.equals(userId)) {
                    throw new ControlException("无权执行该操作，需要 " + controlType + " 控制权限");
                }
            if (arg == null) {
                continue;
            }

            // 1️⃣ 获取 boxSn
            String boxSn = ReflectUtils.getFieldValue(arg, "boxSn");
            if (StringUtils.isBlank(boxSn)) {
                continue;
            }

            // 2️⃣ 检查控制权
            Long currentController = uavControlService.getCurrentController(boxSn,
                    controlType.name().toLowerCase());
            if (currentController == null || !currentController.equals(userId)) {
                throw new ControlException("无权执行该操作，需要 " + controlType + " 控制权限");
            }

            // 3️⃣ 检查在线状态
            Boolean online = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn);
            if (online == null || !online) {
                throw new ControlException("无人机离线，无法执行操作！boxSn: " + boxSn);
            }

        }
    }

    /**
     * 前置通知：高度检查
     * 高度检查
     */
    @Before("@annotation(checkTakeoffAltitude)")
    public void takeoffAltitudeCheck(JoinPoint joinPoint, CheckTakeoffAltitude checkTakeoffAltitude) {
@@ -68,7 +97,7 @@

        // 遍历参数，使用反射获取每个参数中的 boxSn
        for (Object arg : args) {
            String boxSn = getBoxSn(arg);  // 调用之前实现的 getBoxSn 方法
            String boxSn = ReflectUtils.getFieldValue(arg, "boxSn");  // 调用之前实现的 getBoxSn 方法
            if (boxSn != null) {
                TelemetryData uavTelemetryData = UavTelemetryDataCache.get(boxSn);
                if (uavTelemetryData == null) {
@@ -83,41 +112,67 @@
    }

    /**
     * 通过反射获取对象中的 boxSn 字段
     *
     * @param dto 要反射的对象
     * @return boxSn 字段的值，如果没有找到则返回 null
     * 状态检查
     */
    public static String getBoxSn(Object dto) {
        if (dto == null) {
            return null; // 如果对象为空，直接返回 null
        }
    @Before("@annotation(checkDroneStatus)")
    public void checkDroneStatus(JoinPoint joinPoint, CheckDroneStatus checkDroneStatus) {
        for (Object arg : joinPoint.getArgs()) {
            if (arg == null) {
                continue;
            }

        try {
            // 获取类的所有字段
            Field[] fields = dto.getClass().getDeclaredFields();
            for (Field field : fields) {
                // 设置字段可访问
                field.setAccessible(true);

                // 判断是否是 boxSn 字段
                if ("boxSn".equals(field.getName())) {
                    // 检查字段类型是否是 String 类型
                    if (field.getType().equals(String.class)) {
                        // 获取并返回 boxSn 字段的值
                        return (String) field.get(dto);
                    } else {
                        // 如果字段类型不是 String，返回 null
                        return null;
                    }
            String boxSn = ReflectUtils.getFieldValue(arg, "boxSn");
            if (boxSn == null) {
                continue;
            }
            // 检查在线状态
            if (checkDroneStatus.checkOnline()) {
                Boolean online = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn);
                if (online == null || !online) {
                    throw new ControlException("无人机离线，无法执行操作！boxSn: " + boxSn);
                }
            }
        } catch (IllegalAccessException e) {
            // 捕获异常并打印日志
            System.err.println("反射访问失败: " + e.getMessage());
            e.printStackTrace();
        }
    }

    /**
     * 禁飞区检查
     */
    @Before("@annotation(checkNoFlyZone)")
    public void checkNoFlyZone(JoinPoint joinPoint, CheckNoFlyZone checkNoFlyZone) {
        Object[] args = joinPoint.getArgs();
        if (args == null || args.length == 0) {
            return;
        }

        return null; // 如果没有找到 boxSn 字段，返回 null
        Double longitude = null;
        Double latitude = null;

        for (Object arg : args) {
            if (arg == null) {
                continue;
            }
            Double lon = ReflectUtils.getFieldValue(arg, "longitude");
            Double lat = ReflectUtils.getFieldValue(arg, "latitude");
            if (lon != null && lat != null) {
                longitude = lon;
                latitude = lat;
                break;
            }
        }

        if (longitude == null || latitude == null) {
            throw new ControlException("方法参数中未找到有效经纬度字段，无法判断禁飞区！");
        }

        List<ArdNoFlyZone> ardNoFlyZones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());
        if (!ardNoFlyZones.isEmpty()) {
            Vertex vertex = new Vertex(longitude, latitude);
            boolean inNoFlyZones = NoFlyZoneUtils.isInNoFlyZones(vertex, ardNoFlyZones);
            if (inNoFlyZones) {
                throw new ControlException("目标点在禁飞区内，无法执行操作！");
            }
        }
    }

}

 ard-work/src/main/java/com/ard/work/aspect/annotation/CheckControlRight.java

@@ -8,7 +8,8 @@
import java.lang.annotation.Target;

/**
 * 自定义注解：用于方法拦截，检查 UAV 控制权限
 * 控制权限检查
 * 包含无人机在线检查
 */
@Target(ElementType.METHOD)   // 作用于方法
@Retention(RetentionPolicy.RUNTIME) // 运行时生效

 ard-work/src/main/java/com/ard/work/aspect/annotation/CheckDroneStatus.java

New file
@@ -0,0 +1,15 @@
package com.ard.work.aspect.annotation;

import java.lang.annotation.*;

/**
 * 检查飞行器状态
 *
 */

@Target({ElementType.METHOD})
@Retention(RetentionPolicy.RUNTIME)
@Documented
public @interface CheckDroneStatus {
    boolean checkOnline() default true;
}

 ard-work/src/main/java/com/ard/work/aspect/annotation/CheckNoFlyZone.java

New file
@@ -0,0 +1,14 @@
package com.ard.work.aspect.annotation;

import java.lang.annotation.*;


/**
 * 检查禁飞区
 */
@Target(ElementType.METHOD)
@Retention(RetentionPolicy.RUNTIME)
@Documented
public @interface CheckNoFlyZone {
    // 简化，不需要字段
}

 ard-work/src/main/java/com/ard/work/aspect/annotation/CheckTakeoffAltitude.java

@@ -5,6 +5,9 @@
import java.lang.annotation.RetentionPolicy;
import java.lang.annotation.Target;

/**
 * 检查最低高度
 */
@Target(ElementType.METHOD)
@Retention(RetentionPolicy.RUNTIME)
public @interface CheckTakeoffAltitude {

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

@@ -1,14 +1,9 @@
package com.ard.work.service.impl;

import com.ard.common.constant.CacheConstants;
import com.ard.common.core.redis.RedisCache;
import com.ard.common.exception.ServiceException;
import com.ard.common.utils.StringUtils;
import com.ard.data.noflyzone.domain.ArdNoFlyZone;
import com.ard.data.noflyzone.domain.Vertex;
import com.ard.data.noflyzone.service.IArdNoFlyZoneService;
import com.ard.data.noflyzone.utils.NoFlyZoneUtils;
import com.ard.common.exception.ControlException;
import com.ard.work.aspect.annotation.CheckControlRight;
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;
@@ -60,7 +55,6 @@
import com.ard.work.service.IArdServerInfoService;
import com.ard.work.service.ITyService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import javax.annotation.Resource;
@@ -82,11 +76,7 @@
    @Resource
    private IArdDroneInfoService ardDroneService;
    @Resource
    private IArdNoFlyZoneService ardNoFlyZoneService;
    @Resource
    private TyClient tyClient;
    @Resource
    private RedisCache redisCache;

    /**
     * 获取边缘服务器token信息
@@ -131,12 +121,10 @@
    public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
        }
        
        
        TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(),
                boxSn);
        return boxLiveUrl == null ? null : boxLiveUrl.getContent();
@@ -152,11 +140,7 @@
        String boxSn = boxHistoryDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行起飞指令, boxSn: " + boxSn);
            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);
@@ -173,11 +157,7 @@
        String boxSn = boxPhotosDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行起飞指令, boxSn: " + boxSn);
            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);
@@ -192,11 +172,7 @@
        String boxSn = boxSettingsDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            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;
@@ -210,11 +186,7 @@
        String boxSn = returnHeightSettingDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        ReturnHeightSettingCmd returnHeightSettingCmd = new ReturnHeightSettingCmd(returnHeightSettingDTO);
        this.sendMessage(ardDroneInfo.getServerId(), returnHeightSettingCmd);
@@ -229,11 +201,7 @@
        String boxSn = returnPointSettingDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        ReturnPointSettingCmd returnPointSettingCmd = new ReturnPointSettingCmd(returnPointSettingDTO);
        this.sendMessage(ardDroneInfo.getServerId(), returnPointSettingCmd);
@@ -248,11 +216,7 @@
        String boxSn = videoStreamSettingDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        VideoStreamSettingCmd videoStreamSettingCmd = new VideoStreamSettingCmd(videoStreamSettingDTO);
        this.sendMessage(ardDroneInfo.getServerId(), videoStreamSettingCmd);
@@ -284,11 +248,7 @@
        String boxSn = angleControlDto.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto);
        this.sendMessage(ardDroneInfo.getServerId(), controlAngleCommand);
@@ -304,11 +264,7 @@
        String boxSn = absAngleControlDto.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto);
        this.sendMessage(ardDroneInfo.getServerId(), absAngleControlCommand);
@@ -324,11 +280,7 @@
        String boxSn = speedControlDto.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto);
        this.sendMessage(ardDroneInfo.getServerId(), speedControlCommand);
@@ -338,16 +290,13 @@
    /**
     * 设置相机模式
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean updateCameraMode(CameraModeDTO cameraModeDTO) {
        String boxSn = cameraModeDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO);
        this.sendMessage(ardDroneInfo.getServerId(), cameraModeCommand);
@@ -357,16 +306,13 @@
    /**
     * 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 ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            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());
@@ -381,16 +327,13 @@
    /**
     * 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 ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        BaseCmd baseCmd;
        if (recordDto.getIsRecord()) {
@@ -412,11 +355,7 @@
        String boxSn = zoomDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        ZoomCmd zoomCommand = new ZoomCmd(zoomDTO);
        this.sendMessage(ardDroneInfo.getServerId(), zoomCommand);
@@ -432,11 +371,7 @@
        String boxSn = zoomToLevelDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO);
        this.sendMessage(ardDroneInfo.getServerId(), zoomToLevelCommand);
@@ -446,16 +381,13 @@
    /**
     * 切换摄像头
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean switchCamera(SwitchCameraDTO switchCameraDTO) {
        String boxSn = switchCameraDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO);
        this.sendMessage(ardDroneInfo.getServerId(), switchCameraCmd);
@@ -465,16 +397,13 @@
    /**
     * 切换视频源
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean switchSource(SwitchSourceDTO switchSourceDTO) {
        String boxSn = switchSourceDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO);
        this.sendMessage(ardDroneInfo.getServerId(), switchSourceCmd);
@@ -484,16 +413,13 @@
    /**
     * 打开或关闭照片回传
     */
    @CheckControlRight(UavControlType.PAYLOAD)
    @Override
    public Boolean photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) {
        String boxSn = photoReturnToggleDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO);
        this.sendMessage(ardDroneInfo.getServerId(), photoReturnToggleCmd);
@@ -503,16 +429,13 @@
    /**
     * 切换无人机控制权
     */
    @CheckDroneStatus
    @Override
    public Boolean switchUavControl(SwitchUavControlDTO switchUavControlDTO) {
        String boxSn = switchUavControlDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO);
        this.sendMessage(ardDroneInfo.getServerId(), switchUavControlCmd);
@@ -528,11 +451,7 @@
        String boxSn = takeOffDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
        this.sendMessage(ardDroneInfo.getServerId(), takeOffCmd);
@@ -548,11 +467,7 @@
        String boxSn = returnHomeDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO);
        this.sendMessage(ardDroneInfo.getServerId(), returnHomeCmd);
@@ -568,11 +483,7 @@
        String boxSn = returnHomeCancelDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO);
        this.sendMessage(ardDroneInfo.getServerId(), returnHomeCancelCmd);
@@ -588,11 +499,7 @@
        String boxSn = landDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        LandCmd landCmd = new LandCmd(landDTO);
        this.sendMessage(ardDroneInfo.getServerId(), landCmd);
@@ -608,11 +515,7 @@
        String boxSn = landCancelDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO);
        this.sendMessage(ardDroneInfo.getServerId(), landCancelCmd);
@@ -628,11 +531,7 @@
        String boxSn = landForcedDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO);
        this.sendMessage(ardDroneInfo.getServerId(), landForcedCmd);
@@ -644,16 +543,13 @@
     */
    @CheckControlRight(UavControlType.FLY)
    @CheckTakeoffAltitude(minAltitude = 30.0)
    @CheckNoFlyZone
    @Override
    public Boolean flyControl(FlyControlDTO flyControlDTO) {
        String boxSn = flyControlDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO);
        this.sendMessage(ardDroneInfo.getServerId(), flyControlCmd);
@@ -665,27 +561,14 @@
     */
    @CheckControlRight(UavControlType.FLY)
    @CheckTakeoffAltitude(minAltitude = 30.0)
    @CheckNoFlyZone
    @Override
    public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) {
        String boxSn = flyPointControlDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
        }
        // 判断目标点是否经过禁飞区
        List<ArdNoFlyZone> ardNoFlyZones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());
        if (!ardNoFlyZones.isEmpty()) {
            Vertex vertex = new Vertex(flyPointControlDTO.getLongitude(), flyPointControlDTO.getLatitude());
            boolean inNoFlyZones = NoFlyZoneUtils.isInNoFlyZones(vertex, ardNoFlyZones);
            if (inNoFlyZones) {
                throw new ServiceException("目标点在禁飞区内，无法执行指令, boxSn: " + boxSn);
            }
        }

        FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
        this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd);
        return true;
@@ -700,12 +583,10 @@
        String boxSn = flyPointControlCancelDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
        }
        
        
        FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO);
        this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd);
        return true;
@@ -720,12 +601,10 @@
        String boxSn = emeragencyBrakeDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
        }
        
        
        EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO);
        this.sendMessage(ardDroneInfo.getServerId(), emergencyBrakeCmd);
        return true;
@@ -763,11 +642,7 @@
        String boxSn = speakModeSwitchDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        SpeakModeSwitchCmd speakModeSwitchCmd = new SpeakModeSwitchCmd(speakModeSwitchDTO);
        this.sendMessage(ardDroneInfo.getServerId(), speakModeSwitchCmd);
@@ -782,11 +657,7 @@
        String boxSn = textSpeakDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        TextSpeakCmd textSpeakCmd = new TextSpeakCmd(textSpeakDTO);
        this.sendMessage(ardDroneInfo.getServerId(), textSpeakCmd);
@@ -801,11 +672,7 @@
        String boxSn = realSpeakDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        RealSpeakCmd realSpeakCmd = new RealSpeakCmd(realSpeakDTO);
        this.sendMessage(ardDroneInfo.getServerId(), realSpeakCmd);
@@ -820,11 +687,7 @@
        String boxSn = recordSpeakDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO);
        this.sendMessage(ardDroneInfo.getServerId(), recordSpeakCmd);
@@ -839,11 +702,7 @@
        String boxSn = volumeSettingDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        VolumeSettingCmd volumeSettingCmd = new VolumeSettingCmd(volumeSettingDTO);
        this.sendMessage(ardDroneInfo.getServerId(), volumeSettingCmd);
@@ -858,11 +717,7 @@
        String boxSn = loopSettingDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        LoopSettingCmd loopSettingCmd = new LoopSettingCmd(loopSettingDTO);
        this.sendMessage(ardDroneInfo.getServerId(), loopSettingCmd);
@@ -877,11 +732,7 @@
        String boxSn = stopSpeakDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        StopSpeakCmd stopSpeakCmd = new StopSpeakCmd(stopSpeakDTO);
        this.sendMessage(ardDroneInfo.getServerId(), stopSpeakCmd);
@@ -891,16 +742,13 @@
    /**
     * 航线上传
     */
    @CheckControlRight(UavControlType.FLY)
    @Override
    public Boolean wayLineUpload(WayLineUploadDTO wayLineUploadDTO) {
        String boxSn = wayLineUploadDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            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);
@@ -951,11 +799,7 @@
        String boxSn = wayLineBeginDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO);
        this.sendMessage(ardDroneInfo.getServerId(), wayLineBeginCmd);
@@ -971,11 +815,7 @@
        String boxSn = wayLinePauseDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO);
        this.sendMessage(ardDroneInfo.getServerId(), wayLinePauseCmd);
@@ -991,11 +831,7 @@
        String boxSn = wayLineResumeDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO);
        this.sendMessage(ardDroneInfo.getServerId(), wayLineResumeCmd);
@@ -1011,11 +847,7 @@
        String boxSn = wayLineEndDTO.getBoxSn();
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if (ardDroneInfo == null) {
            throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        // ✅ 判断无人机是否在线
        if (!isDroneOnline(boxSn)) {
            throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
            throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
        }
        WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);
        this.sendMessage(ardDroneInfo.getServerId(), wayLineEndCmd);
@@ -1291,14 +1123,4 @@
    private void sendMessage(String key, BaseCmd msg) {
        TcpClientUtil.sendMessage(key, msg);
    }

    // 判断无人机是否在线
    private boolean isDroneOnline(String boxSn) {
        if (StringUtils.isBlank(boxSn)) {
            return false;
        }
        Object obj = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn);
        return obj != null;
    }

}