From 04a270ff2b5919127524913ffc45c59c6c6d9201 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Wed, 22 Apr 2026 14:22:30 +0800
Subject: [PATCH] 增加部门区域管理业务和无人机实时位置所属区域推送
---
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 448 ++++++++++++++++++++++++-------------------------------
1 files changed, 198 insertions(+), 250 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java b/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
index 311c6c8..2fc7464 100644
--- a/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
+++ b/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
@@ -1,14 +1,10 @@
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.vtdu.config.MediamtxConfig;
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;
@@ -19,7 +15,7 @@
import com.ard.work.component.netty.command.control.SpeedControlCmd;
import com.ard.work.component.netty.command.manual.*;
import com.ard.work.component.netty.command.notice.BoxPowerStatusReplyCmd;
-import com.ard.work.component.netty.command.notice.FlyWayEndReplyCmd;
+import com.ard.work.component.netty.command.notice.WayLineFinishedReplyCmd;
import com.ard.work.component.netty.command.notice.UavReadyReplyCmd;
import com.ard.work.component.netty.command.real.SignalInfoCmd;
import com.ard.work.component.netty.command.real.UavStateCmd;
@@ -31,12 +27,14 @@
import com.ard.work.component.netty.handler.ErrorCodeEnum;
import com.ard.work.component.netty.protobuf.TelemetryDataPB;
import com.ard.work.component.websocket.utils.WebSocketUtil;
+import com.ard.work.config.RouteStateMachineService;
import com.ard.work.domain.cache.UavSignalInfoCache;
import com.ard.work.domain.cache.UavStateCache;
import com.ard.work.domain.cache.UavTelemetryDataCache;
import com.ard.work.domain.dto.BoxHistoryDTO;
import com.ard.work.domain.dto.BoxPhotosDTO;
import com.ard.work.domain.dto.BoxSettingsDTO;
+import com.ard.work.domain.dto.BoxVideosDTO;
import com.ard.work.domain.dto.camera.*;
import com.ard.work.domain.dto.control.AbsAngleControlDTO;
import com.ard.work.domain.dto.control.AngleControlDTO;
@@ -53,10 +51,12 @@
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.enums.RouteEvent;
import com.ard.work.domain.message.ServerReplyMessage;
import com.ard.work.domain.message.UavControlType;
import com.ard.work.domain.receiver.*;
import com.ard.work.service.IArdDroneInfoService;
+import com.ard.work.service.IArdFlightTaskPartService;
import com.ard.work.service.IArdServerInfoService;
import com.ard.work.service.ITyService;
import lombok.extern.slf4j.Slf4j;
@@ -65,6 +65,7 @@
import javax.annotation.Resource;
import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
import java.util.stream.Collectors;
import java.util.stream.Stream;
@@ -82,12 +83,13 @@
@Resource
private IArdDroneInfoService ardDroneService;
@Resource
- private IArdNoFlyZoneService ardNoFlyZoneService;
- @Resource
private TyClient tyClient;
+ @Autowired
+ private RouteStateMachineService stateMachineService;
@Resource
- private RedisCache redisCache;
-
+ private UavPositionChangeService uavPositionChangeService;
+ @Resource
+ private UavRegionDetectService uavRegionDetectService;
/**
* 获取边缘服务器token信息
*
@@ -131,12 +133,10 @@
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 +152,7 @@
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);
@@ -164,7 +160,7 @@
}
/**
- * 获取盒子图片
+ * 获取任务图片
*
* @return List<BoxPhotosReceiver>
*/
@@ -173,17 +169,28 @@
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);
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
*/
@@ -192,14 +199,10 @@
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;
+ return result.getState() == 0;
}
/**
@@ -210,11 +213,7 @@
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 +228,7 @@
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 +243,7 @@
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 +275,7 @@
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 +291,7 @@
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);
@@ -324,30 +307,35 @@
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);
return true;
}
+ @Override
+ public Boolean formatSdCard(FormatSdCardDTO formatSdCardDTO) {
+ String boxSn = formatSdCardDTO.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);
+ }
+ FormatSdCardCmd formatSdCardCmd = new FormatSdCardCmd(formatSdCardDTO);
+ this.sendMessage(ardDroneInfo.getServerId(), formatSdCardCmd);
+ return true;
+ }
+
/**
* 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);
@@ -357,21 +345,19 @@
/**
* 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());
+ //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);
@@ -381,20 +367,17 @@
/**
* 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()) {
- 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);
@@ -412,11 +395,7 @@
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 +411,7 @@
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 +421,13 @@
/**
* 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 +437,13 @@
/**
* 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 +453,13 @@
/**
* 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 +469,13 @@
/**
* 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 +491,7 @@
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 +507,7 @@
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 +523,7 @@
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 +539,7 @@
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 +555,7 @@
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 +571,7 @@
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);
@@ -643,17 +582,13 @@
* 方向控制
*/
@CheckControlRight(UavControlType.FLY)
- @CheckTakeoffAltitude(minAltitude = 30.0)
+ @CheckTakeoffAltitude
@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);
@@ -664,27 +599,18 @@
* 指点飞行控制
*/
@CheckControlRight(UavControlType.FLY)
- @CheckTakeoffAltitude(minAltitude = 30.0)
+ @CheckTakeoffAltitude
+ @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);
- }
- }
+ //打点之前先停止打点
+ FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(FlyPointControlCancelDTO.builder().boxSn(boxSn).build());
+ this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd);
FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd);
@@ -700,14 +626,46 @@
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;
+ }
+
+
+ /**
+ * 环绕飞行控制
+ */
+// @CheckControlRight(UavControlType.FLY)
+// @CheckTakeoffAltitude
+// @CheckNoFlyZone
+ @Override
+ public Boolean FlyRoundControl(FlyRoundControlDTO flyRoundControlDTO) {
+ String boxSn = flyRoundControlDTO.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);
+ }
+ FlyRoundControlCmd flyRoundControlCmd = new FlyRoundControlCmd(flyRoundControlDTO);
+ this.sendMessage(ardDroneInfo.getServerId(), flyRoundControlCmd);
+ return true;
+ }
+
+ /**
+ * 停止环绕飞行控制
+ */
+ @Override
+ public Boolean FlyRoundControlCancel(FlyRoundControlCancelDTO flyRoundControlCancelDTO) {
+ String boxSn = flyRoundControlCancelDTO.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);
+ }
+ FlyRoundControlCancelCmd flyRoundControlCancelCmd = new FlyRoundControlCancelCmd(flyRoundControlCancelDTO);
+ this.sendMessage(ardDroneInfo.getServerId(), flyRoundControlCancelCmd);
return true;
}
@@ -720,12 +678,10 @@
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 +719,7 @@
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 +734,7 @@
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 +749,7 @@
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 +764,7 @@
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 +779,7 @@
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 +794,7 @@
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 +809,7 @@
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);
@@ -891,18 +819,16 @@
/**
* 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
+ log.info("打印航线上传数据 ++++++++ wayLineUploadDTO:~~~~~~~~~~~~~~~" + wayLineUploadDTO);
WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd);
return true;
@@ -951,11 +877,7 @@
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 +893,7 @@
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 +909,7 @@
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 +925,7 @@
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);
@@ -1042,7 +952,7 @@
case 0x02:
// 处理注册消息
HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
- logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
+ //logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
break;
case 0x03:
// 处理订阅消息
@@ -1070,7 +980,18 @@
case (byte) 0xA9:
// 处理无人机遥测消息
UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
- UavTelemetryDataCache.put(uavTelemetryDataCmd.getTelemetryData());
+ TelemetryData telemetryData = uavTelemetryDataCmd.getTelemetryData();
+
+ // 判断是否需要触发区域检测
+ if (uavPositionChangeService.shouldTriggerRegionCheck(telemetryData)) {
+ log.debug("无人机 {} 位置变化，触发区域检测", telemetryData.getBoxSn());
+ // 异步触发区域检测（不阻塞）
+ uavRegionDetectService.detectRegionAsync(telemetryData);
+ } else {
+ log.debug("无人机 {} 位置未变化，跳过区域检测", telemetryData.getBoxSn());
+ }
+
+ UavTelemetryDataCache.put(telemetryData);
//logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
//WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
break;
@@ -1097,9 +1018,10 @@
CameraModeReplyCmd cameraModeReplyCommand = (CameraModeReplyCmd) tyCommand;
logPrint("无人机设置相机模式", cameraModeReplyCommand.getResult(), cameraModeReplyCommand.getErrorCode());
}
- if (tyCommand instanceof FlyWayEndReplyCmd) {
- FlyWayEndReplyCmd flyWayEndReplyCmd = (FlyWayEndReplyCmd) tyCommand;
- logPrint("无人机飞行结束", flyWayEndReplyCmd.getResult(), flyWayEndReplyCmd.getErrorCode());
+ //格式化存储卡
+ if (tyCommand instanceof FormatSdCardReplyCmd) {
+ FormatSdCardReplyCmd formatSdCardReplyCmd = (FormatSdCardReplyCmd) tyCommand;
+ logPrint("格式化存储卡", formatSdCardReplyCmd.getResult(), formatSdCardReplyCmd.getErrorCode());
}
if (tyCommand instanceof CapturePicReplyCmd) {
CapturePicReplyCmd capturePicReplyCommand = (CapturePicReplyCmd) tyCommand;
@@ -1161,23 +1083,53 @@
}
//开始航线回复
if (tyCommand instanceof WayLineBeginReplyCmd) {
+
WayLineBeginReplyCmd wayLineBeginReplyCmd = (WayLineBeginReplyCmd) tyCommand;
logPrint("开始航线", wayLineBeginReplyCmd.getResult(), wayLineBeginReplyCmd.getErrorCode());
+ if (wayLineBeginReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.START_SUCCESS);
+ }
}
//暂停航线回复
if (tyCommand instanceof WayLinePauseReplyCmd) {
WayLinePauseReplyCmd wayLinePauseReplyCmd = (WayLinePauseReplyCmd) tyCommand;
logPrint("暂停航线", wayLinePauseReplyCmd.getResult(), wayLinePauseReplyCmd.getErrorCode());
+ if (wayLinePauseReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.PAUSE_SUCCESS);
+ }
}
//恢复航线回复
if (tyCommand instanceof WayLineResumeReplyCmd) {
WayLineResumeReplyCmd wayLineResumeReplyCmd = (WayLineResumeReplyCmd) tyCommand;
logPrint("恢复航线", wayLineResumeReplyCmd.getResult(), wayLineResumeReplyCmd.getErrorCode());
+ if (wayLineResumeReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.RESUME_SUCCESS);
+ }
}
//结束航线回复
if (tyCommand instanceof WayLineEndReplyCmd) {
WayLineEndReplyCmd wayLineEndReplyCmd = (WayLineEndReplyCmd) tyCommand;
logPrint("结束航线", wayLineEndReplyCmd.getResult(), wayLineEndReplyCmd.getErrorCode());
+ if (wayLineEndReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.STOP_SUCCESS);
+ }
+ }
+ if (tyCommand instanceof WayLineFinishedReplyCmd) {
+ WayLineFinishedReplyCmd wayLineFinishedReplyCmd = (WayLineFinishedReplyCmd) tyCommand;
+ logPrint("航线执行完成", wayLineFinishedReplyCmd.getResult(), wayLineFinishedReplyCmd.getErrorCode());
+ if (wayLineFinishedReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.RESET_ROUTE);
+ }
}
//设置返航高度回复
if (tyCommand instanceof ReturnHeightSettingReplyCmd) {
@@ -1190,6 +1142,12 @@
ReturnPointSettingReplyCmd returnPointSettingReplyCmd = (ReturnPointSettingReplyCmd) tyCommand;
logPrint("设置返航点", returnPointSettingReplyCmd.getResult(),
returnPointSettingReplyCmd.getErrorCode());
+ }
+ //到达环绕位置回复
+ if (tyCommand instanceof FlyRoundReplyCmd) {
+ FlyRoundReplyCmd flyRoundReplyCmd = (FlyRoundReplyCmd) tyCommand;
+ logPrint("到达环绕位置", flyRoundReplyCmd.getResult(),
+ flyRoundReplyCmd.getErrorCode());
}
break;
case (byte) 0xD2:
@@ -1291,14 +1249,4 @@
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;
- }
-
}
\ No newline at end of file
--
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