From 06186db36b1dabbcf1bdf9745314ff45a2e92984 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Tue, 25 Nov 2025 16:40:48 +0800
Subject: [PATCH] 通过飞行模式状态判断是否移除航线缓存
---
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 346 ++++++++++++++++++++-------------------------------------
1 files changed, 123 insertions(+), 223 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 95bf621..3d40757 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
@@ -1,10 +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.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;
@@ -30,6 +29,7 @@
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.cache.UavWaylineCache;
import com.ard.work.domain.dto.BoxHistoryDTO;
import com.ard.work.domain.dto.BoxPhotosDTO;
import com.ard.work.domain.dto.BoxSettingsDTO;
@@ -56,7 +56,6 @@
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;
@@ -79,8 +78,6 @@
private IArdDroneInfoService ardDroneService;
@Resource
private TyClient tyClient;
- @Autowired
- private RedisCache redisCache;
/**
* 获取边缘服务器token信息
@@ -125,12 +122,10 @@
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();
@@ -146,11 +141,7 @@
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);
@@ -167,11 +158,7 @@
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);
@@ -186,11 +173,7 @@
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;
@@ -204,11 +187,7 @@
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);
@@ -223,11 +202,7 @@
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);
@@ -242,11 +217,7 @@
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);
@@ -278,11 +249,7 @@
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);
@@ -298,11 +265,7 @@
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);
@@ -318,30 +281,35 @@
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);
@@ -351,16 +319,13 @@
/**
* 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());
@@ -375,16 +340,13 @@
/**
* 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()) {
@@ -406,11 +368,7 @@
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);
@@ -426,11 +384,7 @@
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);
@@ -440,16 +394,13 @@
/**
* 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);
@@ -459,16 +410,13 @@
/**
* 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);
@@ -478,16 +426,13 @@
/**
* 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);
@@ -497,16 +442,13 @@
/**
* 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);
@@ -522,11 +464,7 @@
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);
@@ -542,11 +480,7 @@
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);
@@ -562,11 +496,7 @@
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);
@@ -582,11 +512,7 @@
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);
@@ -602,11 +528,7 @@
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);
@@ -622,11 +544,7 @@
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);
@@ -643,11 +561,7 @@
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);
@@ -659,16 +573,13 @@
*/
@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);
- }
- // ✅ 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);
}
FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd);
@@ -684,14 +595,43 @@
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
+ */
+ @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;
}
@@ -704,12 +644,10 @@
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;
@@ -747,11 +685,7 @@
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);
@@ -766,11 +700,7 @@
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);
@@ -785,11 +715,7 @@
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);
@@ -804,11 +730,7 @@
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);
@@ -823,11 +745,7 @@
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);
@@ -842,11 +760,7 @@
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);
@@ -861,11 +775,7 @@
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);
@@ -875,19 +785,19 @@
/**
* 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
+ System.out.println("wayLineUploadDTO:-----------------" + wayLineUploadDTO);
+ log.info("打印数据 ++++ wayLineUploadDTO:-----------------" + wayLineUploadDTO);
WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
+ System.out.println("wayLineUploadCmd:-----------------" + wayLineUploadCmd);
this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd);
return true;
}
@@ -935,11 +845,7 @@
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);
@@ -955,11 +861,7 @@
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);
@@ -975,11 +877,7 @@
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);
@@ -995,11 +893,7 @@
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);
@@ -1026,7 +920,7 @@
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
@@ -1048,6 +942,11 @@
// 处理无人机状态消息
UavStateCmd uavStateCmd = (UavStateCmd) tyCommand;
UavStateCache.put(uavStateCmd.getUavState());
+ int flightMode = uavStateCmd.getUavState().getFlightControllerState().getFlightMode();
+ if (flightMode != 14) {
+ //不在航线中 移除航线信息
+ UavWaylineCache.remove(uavStateCmd.getUavState().getBoxSn());
+ }
//logPrint("无人机状态", uavStateCmd.getUavState().getBoxSn());
// WebSocketUtil.sendMessageAll(uavStateCmd.getUavState());
break;
@@ -1084,6 +983,11 @@
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;
@@ -1174,6 +1078,12 @@
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:
@@ -1275,14 +1185,4 @@
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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