From 0f5b969ddd52ca43ef003867b5a6749d74b7d71d Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Wed, 12 Nov 2025 17:52:38 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev

---
 ard-route/src/main/java/com/ard/route/service/UavRouteService.java                        |    8 
 ard-work/src/main/java/com/ard/work/domain/entity/ArdDroneInfo.java                       |    2 
 ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInformationController.java   |   28 +
 ard-system/src/main/resources/mapper/data/ArdModelMapper.xml                              |   10 
 ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java                       |  281 +++------------
 ard-system/src/main/resources/mapper/data/ArdMapMapper.xml                                |   10 
 ard-work/src/main/resources/mapper/ArdDroneInfoMapper.xml                                 |   16 
 ard-work/src/main/java/com/ard/work/aspect/annotation/CheckNoFlyZone.java                 |   14 
 ard-route/src/main/java/com/ard/route/util/InitializationUtils.java                       |    8 
 ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java                            |    3 
 ard-vtdu/src/main/java/com/ard/vtdu/service/impl/ArdArdMediaServiceImpl.java              |   54 --
 ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInformation.java               |    6 
 ard-system/src/main/java/com/ard/data/model/domain/ArdModel.java                          |    2 
 ard-work/src/main/resources/mapper/ArdServerInfoMapper.xml                                |   14 
 ard-work/src/main/java/com/ard/work/aspect/annotation/CheckTakeoffAltitude.java           |    3 
 ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteFolderController.java        |    7 
 ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInformationServiceImpl.java    |   94 ++++
 ard-route/src/main/java/com/ard/route/service/impl/ArdRouteFolderServiceImpl.java         |   15 
 ard-system/src/main/java/com/ard/data/noflyzone/service/impl/ArdNoFlyZoneServiceImpl.java |    2 
 ard-route/src/main/resources/mapper/ArdRouteInformationMapper.xml                         |   27 +
 ard-work/src/main/java/com/ard/work/aspect/annotation/CheckDroneStatus.java               |   15 
 ard-work/src/main/java/com/ard/work/aspect/annotation/CheckControlRight.java              |    3 
 ard-system/src/main/java/com/ard/data/map/domain/ArdMap.java                              |    2 
 ard-route/src/main/java/com/ard/route/util/ToolUtils.java                                 |   18 +
 ard-route/src/main/java/com/ard/route/mapper/ArdRouteInformationMapper.java               |   18 +
 ard-system/src/main/java/com/ard/data/noflyzone/utils/NoFlyZoneUtils.java                 |  105 +++++
 ard-work/src/main/java/com/ard/work/domain/entity/ArdServerInfo.java                      |    2 
 ard-route/src/main/java/com/ard/route/service/IArdRouteInformationService.java            |   18 +
 ard-system/src/main/resources/mapper/data/ArdTileMapper.xml                               |   10 
 ard-oss/src/main/java/com/ard/oss/service/impl/MinIOServiceImpl.java                      |   26 +
 ard-route/pom.xml                                                                         |    4 
 ard-route/src/main/java/com/ard/route/service/impl/UavRouteServiceImpl.java               |   66 +++
 ard-route/src/main/resources/mapper/ArdRouteFolderMapper.xml                              |   11 
 ard-system/src/main/java/com/ard/data/tile/domain/ArdTile.java                            |    2 
 ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java                          |  145 +++++--
 ard-route/src/main/java/com/ard/route/domain/vo/KmzResultVo.java                          |    7 
 ard-vtdu/src/main/java/com/ard/vtdu/domain/StreamInfo.java                                |    2 
 ard-oss/src/main/java/com/ard/oss/service/IOssService.java                                |   16 
 38 files changed, 653 insertions(+), 421 deletions(-)

diff --git a/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteFolderController.java b/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteFolderController.java
index 08aa466..f696a17 100644
--- a/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteFolderController.java
+++ b/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteFolderController.java
@@ -43,7 +43,6 @@
      * 查询分组列表
      */
     @ApiOperation("查询分组列表")
-    //@PreAuthorize("@ss.hasPermi('route:folder:list')")
     @GetMapping("/list")
     public TableDataInfo list(ArdRouteFolder ardRouteFolder) {
         //startPage();
@@ -55,7 +54,6 @@
      * 导出分组列表
      */
     @ApiOperation("导出分组列表")
-    //@PreAuthorize("@ss.hasPermi('route:folder:export')")
     @Log(title = "分组", businessType = BusinessType.EXPORT)
     @PostMapping("/export")
     public void export(HttpServletResponse response, ArdRouteFolder ardRouteFolder) {
@@ -68,7 +66,6 @@
      * 获取分组详细信息
      */
     @ApiOperation("获取分组详细信息")
-    //@PreAuthorize("@ss.hasPermi('route:folder:query')")
     @GetMapping(value = "/{id}")
     public AjaxResult getInfo(@PathVariable("id") String id) {
         return success(ardRouteFolderService.selectArdRouteFolderById(id));
@@ -78,7 +75,6 @@
      * 新增分组
      */
     @ApiOperation("新增分组")
-    //@PreAuthorize("@ss.hasPermi('route:folder:add')")
     @Log(title = "分组", businessType = BusinessType.INSERT)
     @PostMapping
     public AjaxResult add(@RequestBody ArdRouteFolder ardRouteFolder) {
@@ -90,7 +86,6 @@
      * 修改分组
      */
     @ApiOperation("修改分组")
-    //@PreAuthorize("@ss.hasPermi('route:folder:edit')")
     @Log(title = "分组", businessType = BusinessType.UPDATE)
     @PutMapping
     public AjaxResult edit(@RequestBody ArdRouteFolder ardRouteFolder) {
@@ -102,7 +97,6 @@
      * 删除分组
      */
     @ApiOperation("删除分组")
-    //@PreAuthorize("@ss.hasPermi('route:folder:remove')")
     @Log(title = "分组", businessType = BusinessType.DELETE)
 	@DeleteMapping("/{ids}")
     public AjaxResult remove(@PathVariable String[] ids) {
@@ -117,4 +111,5 @@
             return AjaxResult.error(e.getMessage());
         }
     }
+
 }
diff --git a/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInformationController.java b/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInformationController.java
index 80d564b..06f0da7 100644
--- a/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInformationController.java
+++ b/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInformationController.java
@@ -39,7 +39,6 @@
      * 查询航线(kmz)列表
      */
     @ApiOperation("查询航线(kmz)列表")
-    //@PreAuthorize("@ss.hasPermi('route:information:list')")
     @GetMapping("/list")
     public TableDataInfo list(ArdRouteInformation ardRouteInformation) {
         startPage();
@@ -51,7 +50,6 @@
      * 导出航线(kmz)列表
      */
     @ApiOperation("导出航线(kmz)列表")
-    //@PreAuthorize("@ss.hasPermi('route:information:export')")
     @Log(title = "航线(kmz)", businessType = BusinessType.EXPORT)
     @PostMapping("/export")
     public void export(HttpServletResponse response, ArdRouteInformation ardRouteInformation) {
@@ -64,7 +62,6 @@
      * 获取航线(kmz)详细信息
      */
     @ApiOperation("获取航线(kmz)详细信息")
-    //@PreAuthorize("@ss.hasPermi('route:information:query')")
     @GetMapping(value = "/{id}")
     public AjaxResult getInfo(@PathVariable("id") String id) {
         return success(ardRouteInformationService.selectArdRouteInformationById(id));
@@ -74,7 +71,6 @@
      * 新增航线(kmz)
      */
     @ApiOperation("新增航线(kmz)")
-    //@PreAuthorize("@ss.hasPermi('route:information:add')")
     @Log(title = "航线(kmz)", businessType = BusinessType.INSERT)
     @PostMapping
     public AjaxResult add(@RequestBody ArdRouteInformation ardRouteInformation) {
@@ -86,7 +82,6 @@
      * 修改航线(kmz)
      */
     @ApiOperation("修改航线(kmz)")
-    //@PreAuthorize("@ss.hasPermi('route:information:edit')")
     @Log(title = "航线(kmz)", businessType = BusinessType.UPDATE)
     @PutMapping
     public AjaxResult edit(@RequestBody ArdRouteInformation ardRouteInformation) {
@@ -98,7 +93,6 @@
      * 删除航线(kmz)
      */
     @ApiOperation("删除航线(kmz)")
-    //@PreAuthorize("@ss.hasPermi('route:information:remove')")
     @Log(title = "航线(kmz)", businessType = BusinessType.DELETE)
 	@DeleteMapping("/{ids}")
     public AjaxResult remove(@PathVariable String[] ids) {
@@ -109,11 +103,31 @@
      * 导入航线(kmz)文件
      */
     @ApiOperation("导入航线(kmz)文件")
-    //@PreAuthorize("@ss.hasPermi('route:information:upload')")
     @PostMapping("/upload")
     public AjaxResult upload(@RequestPart("file") MultipartFile file) {
         MinioUploadResult minioUploadResult = ardRouteInformationService.uploadArdRouteInformation(file);
         return success(minioUploadResult);
     }
 
+    /**
+     * 修改航线分组ID
+     */
+    @ApiOperation("修改航线分组ID")
+    @Log(title = "航线(kmz)", businessType = BusinessType.UPDATE)
+    @PutMapping("/updateFolderId/{id}/{folderId}")
+    public AjaxResult updateFolderId(@PathVariable("id") String id,
+                                     @PathVariable("folderId") String folderId) {
+        return toAjax(ardRouteInformationService.updateRouteInformationFolderId(id,folderId));
+    }
+
+    /**
+     * 判断行点是否在禁飞区
+     */
+    @ApiOperation("判断行点是否在禁飞区")
+    @GetMapping("/noFly/{longitude}/{latitude}")
+    public Boolean noFly(@PathVariable("longitude") Double longitude,
+                               @PathVariable("latitude") Double latitude) {
+        return ardRouteInformationService.selectRouteInformationNoFly(longitude,latitude);
+    }
+
 }
diff --git a/ard-oss/src/main/java/com/ard/oss/service/IOssService.java b/ard-oss/src/main/java/com/ard/oss/service/IOssService.java
index 27c916a..a4145cb 100644
--- a/ard-oss/src/main/java/com/ard/oss/service/IOssService.java
+++ b/ard-oss/src/main/java/com/ard/oss/service/IOssService.java
@@ -12,14 +12,14 @@
  */
 public interface IOssService {
 
-    String getOssType();
+    public String getOssType();
 
     /**
      * Get temporary credentials.
      *
      * @return
      */
-    CredentialsDTO getCredentials();
+    public CredentialsDTO getCredentials();
 
     /**
      * Get the address of the object based on the bucket name and the object name.
@@ -28,7 +28,7 @@
      * @param objectKey object name
      * @return download link
      */
-    URL getObjectUrl(String bucket, String objectKey);
+    public URL getObjectUrl(String bucket, String objectKey);
 
     /**
      * Deletes the object in the storage bucket.
@@ -37,7 +37,7 @@
      * @param objectKey
      * @return
      */
-    Boolean deleteObject(String bucket, String objectKey);
+    public Boolean deleteObject(String bucket, String objectKey);
 
     /**
      * Get the contents of an object.
@@ -46,12 +46,12 @@
      * @param objectKey
      * @return
      */
-    InputStream getObject(String bucket, String objectKey);
+    public InputStream getObject(String bucket, String objectKey);
 
-    void putObject(String bucket, String objectKey, InputStream input);
+    public void putObject(String bucket, String objectKey, InputStream input);
 
-    void putObject(String bucket, String objectKey, InputStream input, String contentType);
+    public void putObject(String bucket, String objectKey, InputStream input, String contentType);
 
-    void createClient();
+    public void createClient();
 
 }
diff --git a/ard-oss/src/main/java/com/ard/oss/service/impl/MinIOServiceImpl.java b/ard-oss/src/main/java/com/ard/oss/service/impl/MinIOServiceImpl.java
index 38718a3..4d9065c 100644
--- a/ard-oss/src/main/java/com/ard/oss/service/impl/MinIOServiceImpl.java
+++ b/ard-oss/src/main/java/com/ard/oss/service/impl/MinIOServiceImpl.java
@@ -127,7 +127,10 @@
     @Override
     public Boolean deleteObject(String bucket, String objectKey) {
         try {
-            client.removeObject(RemoveObjectArgs.builder().bucket(bucket).object(objectKey).build());
+            client.removeObject(RemoveObjectArgs.builder()
+                    .bucket(bucket)
+                    .object(objectKey)
+                    .build());
         } catch (MinioException | NoSuchAlgorithmException | IOException | InvalidKeyException e) {
             log.error("Failed to delete file.");
             e.printStackTrace();
@@ -139,7 +142,10 @@
     @Override
     public InputStream getObject(String bucket, String objectKey) {
         try {
-            GetObjectResponse object = client.getObject(GetObjectArgs.builder().bucket(bucket).object(objectKey).build());
+            GetObjectResponse object = client.getObject(GetObjectArgs.builder()
+                    .bucket(bucket)
+                    .object(objectKey)
+                    .build());
             return new ByteArrayInputStream(object.readAllBytes());
         } catch (ErrorResponseException | InsufficientDataException | InternalException | InvalidKeyException | InvalidResponseException | IOException | NoSuchAlgorithmException | ServerException | XmlParserException e) {
             e.printStackTrace();
@@ -150,7 +156,10 @@
     @Override
     public void putObject(String bucket, String objectKey, InputStream input) {
         try {
-            client.statObject(StatObjectArgs.builder().bucket(bucket).object(objectKey).build());
+            client.statObject(StatObjectArgs.builder()
+                    .bucket(bucket)
+                    .object(objectKey)
+                    .build());
             throw new RuntimeException("The filename already exists.");
         } catch (MinioException | InvalidKeyException | IOException | NoSuchAlgorithmException e) {
             log.info("The file does not exist, start uploading.");
@@ -158,7 +167,11 @@
                 // 设置 partSize 为 10MB
                 long partSize = 10 * 1024 * 1024;
                 ObjectWriteResponse response = client.putObject(
-                        PutObjectArgs.builder().bucket(bucket).object(objectKey).stream(input, -1, partSize).build());
+                        PutObjectArgs.builder()
+                                .bucket(bucket)
+                                .object(objectKey)
+                                .stream(input, -1, partSize)
+                                .build());
                 log.info("Upload File: {}", response.etag());
             } catch (MinioException | IOException | InvalidKeyException | NoSuchAlgorithmException ex) {
                 log.error("Failed to upload File {}.", objectKey);
@@ -170,7 +183,10 @@
     public void putObject(String bucket, String objectKey, InputStream input, String contentType) {
         try {
             // 检查文件是否已经存在
-            client.statObject(StatObjectArgs.builder().bucket(bucket).object(objectKey).build());
+            client.statObject(StatObjectArgs.builder()
+                    .bucket(bucket)
+                    .object(objectKey)
+                    .build());
             throw new RuntimeException("The file already exists: " + objectKey);
         } catch (ErrorResponseException e) {
             // 如果文件不存在，则继续上传
diff --git a/ard-route/pom.xml b/ard-route/pom.xml
index 18a8f24..34a8b9a 100644
--- a/ard-route/pom.xml
+++ b/ard-route/pom.xml
@@ -51,6 +51,10 @@
             <groupId>com.ard</groupId>
             <artifactId>ard-oss</artifactId>
         </dependency>
+        <dependency>
+            <groupId>com.ard</groupId>
+            <artifactId>ard-system</artifactId>
+        </dependency>
 
     </dependencies>
 
diff --git a/ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInformation.java b/ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInformation.java
index b0d655f..24cd6eb 100644
--- a/ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInformation.java
+++ b/ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInformation.java
@@ -42,6 +42,9 @@
     /** 分组ID */
     private String folderId;
 
+    /** 航线类型 */
+    private String routeType;
+
     /** 飞行器 */
     private String aircraft;
 
@@ -53,4 +56,7 @@
      */
     private UavRouteReq uavRouteReq;
 
+    /** 航线数据 */
+    private byte[] routeData;
+
 }
diff --git a/ard-route/src/main/java/com/ard/route/domain/vo/KmzResultVo.java b/ard-route/src/main/java/com/ard/route/domain/vo/KmzResultVo.java
index 3c587f6..0e5622e 100644
--- a/ard-route/src/main/java/com/ard/route/domain/vo/KmzResultVo.java
+++ b/ard-route/src/main/java/com/ard/route/domain/vo/KmzResultVo.java
@@ -5,12 +5,19 @@
 @Data
 public class KmzResultVo {
 
+    /** 新文件名称 */
     private String fileNameNew;
 
+    /** Minio文件路径 */
     private String minioUpPath;
 
+    /** 文件路径 */
     private String upPath;
 
+    /** 文件大小 */
     private Double upFileSize;
 
+    /** 返回数据 */
+    private String data;
+
 }
diff --git a/ard-route/src/main/java/com/ard/route/mapper/ArdRouteInformationMapper.java b/ard-route/src/main/java/com/ard/route/mapper/ArdRouteInformationMapper.java
index cb2652c..62a0099 100644
--- a/ard-route/src/main/java/com/ard/route/mapper/ArdRouteInformationMapper.java
+++ b/ard-route/src/main/java/com/ard/route/mapper/ArdRouteInformationMapper.java
@@ -1,6 +1,7 @@
 package com.ard.route.mapper;
 
 import com.ard.route.domain.route.ArdRouteInformation;
+import org.apache.ibatis.annotations.Param;
 
 import java.util.List;
 
@@ -76,4 +77,21 @@
      */
     public int deleteRouteInformationByFolderIds(String[] folderIds);
 
+    /**
+     * 查询航线(kmz)列表
+     *
+     * @param folderId 所属文件夹ID
+     * @return 航线(kmz)集合
+     */
+    public List<ArdRouteInformation> selectArdRouteInformationByFolderId(String folderId);
+
+    /**
+     * 修改航线分组ID
+     *
+     * @param id ID
+     * @param folderId 分组ID
+     * @return 结果
+     */
+    public int updateRouteInformationFolderId(@Param("id") String id, @Param("folderId")String folderId);
+
 }
diff --git a/ard-route/src/main/java/com/ard/route/service/IArdRouteInformationService.java b/ard-route/src/main/java/com/ard/route/service/IArdRouteInformationService.java
index b18c08e..4de644c 100644
--- a/ard-route/src/main/java/com/ard/route/service/IArdRouteInformationService.java
+++ b/ard-route/src/main/java/com/ard/route/service/IArdRouteInformationService.java
@@ -78,4 +78,22 @@
      */
     public ArdRouteInformation selectArdRouteInformationByName(String name);
 
+    /**
+     * 修改航线分组ID
+     *
+     * @param id ID
+     * @param folderId 分组ID
+     * @return 结果
+     */
+    public int updateRouteInformationFolderId(String id,String folderId);
+
+    /**
+     * 判断行点是否在禁飞区
+     *
+     * @param longitude 经度
+     * @param latitude 纬度
+     * @return 结果
+     */
+    public Boolean selectRouteInformationNoFly(Double longitude, Double latitude);
+
 }
diff --git a/ard-route/src/main/java/com/ard/route/service/UavRouteService.java b/ard-route/src/main/java/com/ard/route/service/UavRouteService.java
index a9cfd30..4937908 100644
--- a/ard-route/src/main/java/com/ard/route/service/UavRouteService.java
+++ b/ard-route/src/main/java/com/ard/route/service/UavRouteService.java
@@ -12,7 +12,7 @@
     /**
      * 编辑kmz文件
      */
-    public String updateKmz(UavRouteReq uavRouteReq,String fileName);
+    public KmzResultVo updateKmz(UavRouteReq uavRouteReq,String fileName);
 
     /**
      * 生成kmz文件(带航点)
@@ -24,4 +24,10 @@
      */
     public KmzInfoVO parseKmz(String file);
 
+    /**
+     * 编辑kmz文件
+     * 定制：删除旧的文件名的文件，并添加新文件名的文件
+     */
+    public KmzResultVo updateKmzNew(UavRouteReq uavRouteReq, String oldFileName, String newFilePath) ;
+
 }
diff --git a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteFolderServiceImpl.java b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteFolderServiceImpl.java
index b195861..a97621b 100644
--- a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteFolderServiceImpl.java
+++ b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteFolderServiceImpl.java
@@ -43,9 +43,7 @@
     @Override
     public ArdRouteFolder selectArdRouteFolderById(String id) {
         ArdRouteFolder ardRouteFolder = ardRouteFolderMapper.selectArdRouteFolderById(id);
-        ArdRouteInformation ardRouteInformation = new ArdRouteInformation();
-        ardRouteInformation.setFolderId(id);
-        ardRouteFolder.setArdRouteInformationLs(ardRouteInformationMapper.selectArdRouteInformationList(ardRouteInformation));
+        ardRouteFolder.setArdRouteInformationLs(ardRouteInformationMapper.selectArdRouteInformationByFolderId(id));
         return ardRouteFolder;
     }
 
@@ -60,18 +58,9 @@
     public List<ArdRouteFolder> selectArdRouteFolderList(ArdRouteFolder ardRouteFolder) {
         List<ArdRouteFolder> list = ardRouteFolderMapper.selectArdRouteFolderList(ardRouteFolder);
         for (ArdRouteFolder routeFolder : list) {
-            routeFolder.setArdRouteInformationLs(getArdRouteInformation(routeFolder.getId()));
+            routeFolder.setArdRouteInformationLs(ardRouteInformationMapper.selectArdRouteInformationByFolderId(routeFolder.getId()));
         }
         return list;
-    }
-
-    /**
-     * 查询文件列表
-     */
-    private List<ArdRouteInformation> getArdRouteInformation(String folderId) {
-        ArdRouteInformation ardRouteInformation = new ArdRouteInformation();
-        ardRouteInformation.setFolderId(folderId);
-        return ardRouteInformationMapper.selectArdRouteInformationList(ardRouteInformation);
     }
 
     /**
diff --git a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInformationServiceImpl.java b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInformationServiceImpl.java
index 36dd8dd..7118c21 100644
--- a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInformationServiceImpl.java
+++ b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInformationServiceImpl.java
@@ -1,11 +1,19 @@
 package com.ard.route.service.impl;
 
+import java.io.IOException;
 import java.util.List;
+
+import com.ard.common.exception.ControlException;
 import com.ard.common.utils.DateUtils;
 import com.ard.common.utils.file.FileUtils;
 import com.ard.common.utils.uuid.IdUtils;
+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.oss.model.MinioUploadResult;
 import com.ard.oss.service.impl.OssServiceContext;
+import com.ard.route.domain.UavRouteReq;
 import com.ard.route.domain.route.ArdRouteInformation;
 import com.ard.route.domain.vo.KmzResultVo;
 import com.ard.route.service.UavRouteService;
@@ -17,8 +25,7 @@
 
 import javax.annotation.Resource;
 
-import static com.ard.route.util.ToolUtils.extractFilePath;
-import static com.ard.route.util.ToolUtils.getFileNameWithoutExtension;
+import static com.ard.route.util.ToolUtils.*;
 
 /**
  * 航线(kmz)Service业务层处理
@@ -38,6 +45,9 @@
     @Autowired
     private UavRouteService routeService;
 
+    @Resource
+    private IArdNoFlyZoneService ardNoFlyZoneService;
+
     /**
      * 查询航线(kmz)
      * 
@@ -46,7 +56,13 @@
      */
     @Override
     public ArdRouteInformation selectArdRouteInformationById(String id) {
-        return ardRouteInformationMapper.selectArdRouteInformationById(id);
+        ArdRouteInformation ardRouteInformation = ardRouteInformationMapper.selectArdRouteInformationById(id);
+        try {
+            ardRouteInformation.setUavRouteReq((UavRouteReq) deserialize(ardRouteInformation.getRouteData()));
+        } catch (IOException | ClassNotFoundException e) {
+            throw new RuntimeException(e);
+        }
+        return ardRouteInformation;
     }
 
     /**
@@ -73,13 +89,16 @@
         if (ardRouteInformation.getFolderId() == null){
             ardRouteInformation.setFolderId("0");
         }
+        // 航线数据
+        byte[] routeData;
+        try {
+            routeData = serialize(ardRouteInformation.getUavRouteReq());
+        } catch (IOException e) {
+            throw new RuntimeException(e);
+        }
+        ardRouteInformation.setRouteData(routeData);
         KmzResultVo kmzResult = routeService.buildKmz(ardRouteInformation.getUavRouteReq(), ardRouteInformation.getFileName());
-        // 将KmzResult中的信息设置到ardRouteInformation中
-        ardRouteInformation.setFileNameNew(kmzResult.getFileNameNew());
-        ardRouteInformation.setMinioUpPath(kmzResult.getMinioUpPath());
-        ardRouteInformation.setUpPath(kmzResult.getUpPath());
-        ardRouteInformation.setUpFileSize(kmzResult.getUpFileSize());
-        ardRouteInformationMapper.insertArdRouteInformation(ardRouteInformation);
+        ardRouteInformationMapper.insertArdRouteInformation(assembly(ardRouteInformation,kmzResult));
         return kmzResult.getUpPath();
     }
 
@@ -92,7 +111,27 @@
     @Override
     public int updateArdRouteInformation(ArdRouteInformation ardRouteInformation) {
         ardRouteInformation.setUpdateTime(DateUtils.getNowDate());
-        return ardRouteInformationMapper.updateArdRouteInformation(ardRouteInformation);
+        KmzResultVo kmzResult = new KmzResultVo();
+        // 获取源文件名字
+        ArdRouteInformation route = ardRouteInformationMapper.selectArdRouteInformationById(ardRouteInformation.getId());
+        if (route.getFileName().equals(ardRouteInformation.getFileName())) {
+            kmzResult = routeService.updateKmz(ardRouteInformation.getUavRouteReq(), ardRouteInformation.getFileName());
+        }else {
+            kmzResult = routeService.updateKmzNew(ardRouteInformation.getUavRouteReq(), route.getFileName(),ardRouteInformation.getFileName());
+        }
+        if ("更新航线kmz文件失败".equals(kmzResult.getData())) {
+            return 0;
+        }
+        return ardRouteInformationMapper.updateArdRouteInformation(assembly(ardRouteInformation,kmzResult));
+    }
+
+    //组装数据
+    private ArdRouteInformation assembly(ArdRouteInformation information,KmzResultVo kmzResult){
+        information.setFileNameNew(kmzResult.getFileNameNew());
+        information.setMinioUpPath(kmzResult.getMinioUpPath());
+        information.setUpPath(kmzResult.getUpPath());
+        information.setUpFileSize(kmzResult.getUpFileSize());
+        return information;
     }
 
     /**
@@ -161,6 +200,41 @@
     }
 
     /**
+     * 修改航线分组ID
+     *
+     * @param id ID
+     * @param folderId 分组ID
+     * @return 结果
+     */
+    @Override
+    public int updateRouteInformationFolderId(String id, String folderId) {
+        return ardRouteInformationMapper.updateRouteInformationFolderId(id, folderId);
+    }
+
+    /**
+     * 判断行点是否在禁飞区
+     *
+     * @param longitude 经度
+     * @param latitude 纬度
+     * @return 结果
+     */
+    @Override
+    public Boolean selectRouteInformationNoFly(Double longitude, Double latitude) {
+        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！");
+            }
+        }
+        return true;
+    }
+
+    /**
      * 数据新增航线信息
      */
     private void insertRouteInformation(ArdRouteInformation ardRouteInformation){
diff --git a/ard-route/src/main/java/com/ard/route/service/impl/UavRouteServiceImpl.java b/ard-route/src/main/java/com/ard/route/service/impl/UavRouteServiceImpl.java
index 01c9c06..8ed3af7 100644
--- a/ard-route/src/main/java/com/ard/route/service/impl/UavRouteServiceImpl.java
+++ b/ard-route/src/main/java/com/ard/route/service/impl/UavRouteServiceImpl.java
@@ -61,12 +61,15 @@
      * 编辑kmz文件
      */
     @Override
-    public String updateKmz(UavRouteReq uavRouteReq,String fileName){
+    public KmzResultVo updateKmz(UavRouteReq uavRouteReq,String fileName){
+        KmzResultVo result = new KmzResultVo();
         // 校验修改的文件是否存在
         ArdRouteInformation routeInformation = ardRouteInformationService.selectArdRouteInformationByName(fileName);
         if ( routeInformation == null ){
-            return "修改航线文件失败，请检查文件是否存在";
+            result.setData("修改航线文件失败，请检查文件是否存在");
+            return result;
         }
+
         // 获取文件
         String minioUrl = routeInformation.getMinioUpPath();
         try (InputStream inputStream = ossService.getObject(kmzPath,minioUrl);
@@ -86,13 +89,13 @@
                     this.handleRouteUpdate(wpmlInfo, uavRouteReq, FileTypeConstants.WPML, kmlParams);
                 }
             }
-            // 删除minio的文件
-
-            // 插入修改好的minio文件
-
-            return RouteFileUtils.buildKmz("更新航线kmz文件111111", kmlInfo, wpmlInfo, kmzPath);
+            // 删除文件
+            ossService.deleteObject(kmzPath, minioUrl);
+            return buildKmzMethod(routeInformation.getFileName(), kmlInfo, wpmlInfo);
         } catch (Exception e) {
-            return "更新航线kmz文件失败";
+            e.printStackTrace();
+            result.setData("更新航线kmz文件失败");
+            return result;
         }
     }
 
@@ -160,7 +163,7 @@
     public KmzResultVo buildKmz(String fileName, KmlParams kmlParams) {
         KmlInfo kmlInfo = buildKml(kmlParams);
         KmlInfo wpmlInfo = buildWpml(kmlParams);
-        return buildKmz(fileName, kmlInfo, wpmlInfo);
+        return buildKmzMethod(fileName, kmlInfo, wpmlInfo);
     }
 
     /**
@@ -171,7 +174,7 @@
      * @param wpmlInfo wpml 文件信息
      * @return 本地文件路径
      */
-    public KmzResultVo buildKmz(String fileName, KmlInfo kmlInfo, KmlInfo wpmlInfo) {
+    public KmzResultVo buildKmzMethod(String fileName, KmlInfo kmlInfo, KmlInfo wpmlInfo) {
         XStream xStream = new XStream(new DomDriver());
         xStream.processAnnotations(KmlInfo.class);
         xStream.addImplicitCollection(KmlActionGroup.class, "action");
@@ -202,8 +205,10 @@
                  ZipOutputStream zipOutputStream = new ZipOutputStream(baos)) {
                 zipOutputStream.setLevel(0);
 
-                // 创建KMZ文件内容
+                // 创建 wpmz 目录中的 template.kml 文件条目
                 buildZipFile("wpmz/template.kml", zipOutputStream, kml);
+
+                // 创建 wpmz 目录中的 waylines.wpml 文件条目
                 buildZipFile("wpmz/waylines.wpml", zipOutputStream, wpml);
 
                 zipOutputStream.finish();
@@ -254,4 +259,43 @@
         }
         return null;
     }
+
+    @Override
+    public KmzResultVo updateKmzNew(UavRouteReq uavRouteReq, String oldFile, String newFile) {
+        KmzResultVo result = new KmzResultVo();
+        // 校验修改的文件是否存在
+        ArdRouteInformation routeInformation = ardRouteInformationService.selectArdRouteInformationByName(oldFile);
+        if ( routeInformation == null ){
+            result.setData("修改航线文件失败，请检查文件是否存在");
+            return result;
+        }
+
+        // 获取文件
+        String minioUrl = routeInformation.getMinioUpPath();
+        try (InputStream inputStream = ossService.getObject(kmzPath,minioUrl);
+             ArchiveInputStream archiveInputStream = new ZipArchiveInputStream(inputStream)){
+            ArchiveEntry entry;
+            KmlInfo kmlInfo = new KmlInfo();
+            KmlInfo wpmlInfo = new KmlInfo();
+            KmlParams kmlParams = new KmlParams();
+            while (!Objects.isNull(entry = archiveInputStream.getNextEntry())) {
+                String name = entry.getName();
+                if (name.toLowerCase().endsWith(".kml")) {
+                    kmlInfo = RouteFileUtils.parseKml(archiveInputStream);
+                    buildKmlParams(kmlParams, kmlInfo);
+                    this.handleRouteUpdate(kmlInfo, uavRouteReq, FileTypeConstants.KML, kmlParams);
+                } else if (name.toLowerCase().endsWith(".wpml")) {
+                    wpmlInfo = RouteFileUtils.parseKml(archiveInputStream);
+                    this.handleRouteUpdate(wpmlInfo, uavRouteReq, FileTypeConstants.WPML, kmlParams);
+                }
+            }
+            // 删除文件
+            ossService.deleteObject(kmzPath, minioUrl);
+            return buildKmzMethod(newFile, kmlInfo, wpmlInfo);
+        } catch (Exception e) {
+            result.setData("更新航线kmz文件失败");
+            return result;
+        }
+    }
+
 }
diff --git a/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java b/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
index 090cc8f..621110a 100644
--- a/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
+++ b/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
@@ -17,9 +17,11 @@
     public UavRouteReq initialization(UavRouteReq uavRouteReq){
         uavRouteReq.setTemplateType("waypoint");
         // 起始点默认航线第一个点
-        uavRouteReq.setTakeOffRefPoint(
-                uavRouteReq.getRoutePointList().get(0).getLatitude() + "," +
-                        uavRouteReq.getRoutePointList().get(0).getLongitude() + "," + "0");
+        if (uavRouteReq.getTakeOffRefPoint().isEmpty()){
+            uavRouteReq.setTakeOffRefPoint(
+                    uavRouteReq.getRoutePointList().get(0).getLatitude() + "," +
+                            uavRouteReq.getRoutePointList().get(0).getLongitude() + "," + "0");
+        }
         //uavRouteReq.setDroneType(89);
         uavRouteReq.setSubDroneType(0);
         uavRouteReq.setPayloadType(43);
diff --git a/ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java b/ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java
index 628b2b1..a650ec9 100644
--- a/ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java
+++ b/ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java
@@ -53,10 +53,11 @@
      * @param wpmlInfo wpml 文件信息
      * @return 本地文件路径
      */
-    public static String buildKmz(String fileName, KmlInfo kmlInfo, KmlInfo wpmlInfo, String kmzFilePath) {
+    public static String buildKmzA(String fileName, KmlInfo kmlInfo, KmlInfo wpmlInfo, String kmzFilePath) {
         XStream xStream = new XStream(new DomDriver());
         xStream.processAnnotations(KmlInfo.class);
         xStream.addImplicitCollection(KmlActionGroup.class, "action");
+        xStream.addImplicitCollection(KmlPlacemark.class, "actionGroup");
 
         String kml = XML_HEADER + xStream.toXML(kmlInfo);
         String wpml = XML_HEADER + xStream.toXML(wpmlInfo);
diff --git a/ard-route/src/main/java/com/ard/route/util/ToolUtils.java b/ard-route/src/main/java/com/ard/route/util/ToolUtils.java
index 0e221c5..5c11f9b 100644
--- a/ard-route/src/main/java/com/ard/route/util/ToolUtils.java
+++ b/ard-route/src/main/java/com/ard/route/util/ToolUtils.java
@@ -1,5 +1,6 @@
 package com.ard.route.util;
 
+import java.io.*;
 import java.time.LocalDateTime;
 import java.time.format.DateTimeFormatter;
 
@@ -85,4 +86,21 @@
         return "";
     }
 
+    // 对象序列化为字节数组
+    public static byte[] serialize(Object obj) throws IOException {
+        try (ByteArrayOutputStream baos = new ByteArrayOutputStream();
+             ObjectOutputStream oos = new ObjectOutputStream(baos)) {
+            oos.writeObject(obj);
+            return baos.toByteArray();
+        }
+    }
+
+    // 字节数组反序列化为对象
+    public static Object deserialize(byte[] data) throws IOException, ClassNotFoundException {
+        try (ByteArrayInputStream bais = new ByteArrayInputStream(data);
+             ObjectInputStream ois = new ObjectInputStream(bais)) {
+            return ois.readObject();
+        }
+    }
+
 }
diff --git a/ard-route/src/main/resources/mapper/ArdRouteFolderMapper.xml b/ard-route/src/main/resources/mapper/ArdRouteFolderMapper.xml
index e886150..16cf8f2 100644
--- a/ard-route/src/main/resources/mapper/ArdRouteFolderMapper.xml
+++ b/ard-route/src/main/resources/mapper/ArdRouteFolderMapper.xml
@@ -12,18 +12,7 @@
         <result property="createTime"    column="create_time"    />
         <result property="updateBy"    column="update_by"    />
         <result property="updateTime"    column="update_time"    />
-        <!-- 关联 ArdRouteFile 对象 -->
-        <association property="ardRouteFile"
-                     javaType="com.ard.route.domain.route.ArdRouteFile"
-                     column="folder_id"
-                     autoMapping="true"
-                     select="selectArdRouteFile">
-        </association>
     </resultMap>
-
-    <select id="selectArdRouteFile" resultType="com.ard.route.domain.route.ArdRouteFile">
-        select * from ard_route_file where id = #{folderId}
-    </select>
 
     <sql id="selectArdRouteFolderVo">
         select id,
diff --git a/ard-route/src/main/resources/mapper/ArdRouteInformationMapper.xml b/ard-route/src/main/resources/mapper/ArdRouteInformationMapper.xml
index 767a940..6eca74e 100644
--- a/ard-route/src/main/resources/mapper/ArdRouteInformationMapper.xml
+++ b/ard-route/src/main/resources/mapper/ArdRouteInformationMapper.xml
@@ -12,8 +12,10 @@
         <result property="minioUpPath"    column="minio_up_path"    />
         <result property="upFileSize"    column="up_file_size"    />
         <result property="folderId"    column="folder_id"    />
+        <result property="routeType"    column="route_type"    />
         <result property="aircraft"    column="aircraft"    />
         <result property="aircraftModel"    column="aircraft_model"    />
+        <result property="routeData"    column="route_data"    />
         <result property="createBy"    column="create_by"    />
         <result property="createTime"    column="create_time"    />
         <result property="updateBy"    column="update_by"    />
@@ -28,8 +30,10 @@
                minio_up_path,
                up_file_size,
                folder_id,
+               route_type,
                aircraft,
                aircraft_model,
+               route_data,
                create_by,
                create_time,
                update_by,
@@ -41,6 +45,9 @@
         <include refid="selectArdRouteInformationVo"/>
         <where>  
             <if test="fileName != null  and fileName != ''"> and file_name like concat('%', #{fileName}, '%')</if>
+            <if test="aircraft != null  and aircraft != ''"> and aircraft = #{aircraft}</if>
+            <if test="aircraftModel != null  and aircraftModel != ''"> and aircraft_model = #{aircraftModel}</if>
+            <if test="routeType != null  and routeType != ''"> and route_type = #{routeType}</if>
             <if test="upPath != null  and upPath != ''"> and up_path = #{upPath}</if>
             <if test="upFileSize != null "> and up_file_size = #{upFileSize}</if>
         </where>
@@ -61,8 +68,10 @@
             <if test="minioUpPath != null">minio_up_path,</if>
             <if test="upFileSize != null">up_file_size,</if>
             <if test="folderId != null">folder_id,</if>
+            <if test="routeType != null">route_type,</if>
             <if test="aircraft != null">aircraft,</if>
             <if test="aircraftModel != null">aircraft_model,</if>
+            <if test="routeData != null">route_data,</if>
             <if test="createBy != null">create_by,</if>
             <if test="createTime != null">create_time,</if>
             <if test="updateBy != null">update_by,</if>
@@ -76,8 +85,10 @@
             <if test="minioUpPath != null">#{minioUpPath},</if>
             <if test="upFileSize != null">#{upFileSize},</if>
             <if test="folderId != null">#{folderId},</if>
+            <if test="routeType != null">#{routeType},</if>
             <if test="aircraft != null">#{aircraft},</if>
             <if test="aircraftModel != null">#{aircraftModel},</if>
+            <if test="routeData != null">#{routeData},</if>
             <if test="createBy != null">#{createBy},</if>
             <if test="createTime != null">#{createTime},</if>
             <if test="updateBy != null">#{updateBy},</if>
@@ -94,6 +105,7 @@
             <if test="minioUpPath != null">minio_up_path = #{minioUpPath},</if>
             <if test="upFileSize != null">up_file_size = #{upFileSize},</if>
             <if test="folderId != null">folder_id = #{folderId},</if>
+            <if test="routeType != null">route_type = #{routeType},</if>
             <if test="aircraft != null">aircraft = #{aircraft},</if>
             <if test="aircraftModel != null">aircraft_model = #{aircraftModel},</if>
             <if test="createBy != null">create_by = #{createBy},</if>
@@ -127,4 +139,19 @@
         </foreach>
     </delete>
 
+    <select id="selectArdRouteInformationByFolderId" parameterType="String" resultMap="ArdRouteInformationResult">
+        <include refid="selectArdRouteInformationVo"/>
+        <where>
+            <if test="folderId != null "> and folder_id = #{folderId}</if>
+        </where>
+    </select>
+
+    <update id="updateRouteInformationFolderId">
+        update ard_route_information
+        <trim prefix="SET" suffixOverrides=",">
+            <if test="folderId != null">folder_id = #{folderId},</if>
+        </trim>
+        where id = #{id}
+    </update>
+
 </mapper>
\ No newline at end of file
diff --git a/ard-system/src/main/java/com/ard/data/map/domain/ArdMap.java b/ard-system/src/main/java/com/ard/data/map/domain/ArdMap.java
index cd42c5d..fb7b6da 100644
--- a/ard-system/src/main/java/com/ard/data/map/domain/ArdMap.java
+++ b/ard-system/src/main/java/com/ard/data/map/domain/ArdMap.java
@@ -5,7 +5,7 @@
 import lombok.Data;
 
 /**
- * 地图管理对象 ard_map_management
+ * 地图管理对象 ard_map
  * 
  * @author xia
  * @date 2025-10-10
diff --git a/ard-system/src/main/java/com/ard/data/model/domain/ArdModel.java b/ard-system/src/main/java/com/ard/data/model/domain/ArdModel.java
index 2bba041..45e44fc 100644
--- a/ard-system/src/main/java/com/ard/data/model/domain/ArdModel.java
+++ b/ard-system/src/main/java/com/ard/data/model/domain/ArdModel.java
@@ -5,7 +5,7 @@
 import lombok.Data;
 
 /**
- * 模型管理对象 ard_model_management
+ * 模型管理对象 ard_model
  * 
  * @author xia
  * @date 2025-10-10
diff --git a/ard-system/src/main/java/com/ard/data/noflyzone/service/impl/ArdNoFlyZoneServiceImpl.java b/ard-system/src/main/java/com/ard/data/noflyzone/service/impl/ArdNoFlyZoneServiceImpl.java
index 8f4c338..56e2c48 100644
--- a/ard-system/src/main/java/com/ard/data/noflyzone/service/impl/ArdNoFlyZoneServiceImpl.java
+++ b/ard-system/src/main/java/com/ard/data/noflyzone/service/impl/ArdNoFlyZoneServiceImpl.java
@@ -100,4 +100,6 @@
     {
         return ardNoFlyZoneMapper.deleteArdNoFlyZoneById(id);
     }
+
+
 }
diff --git a/ard-system/src/main/java/com/ard/data/noflyzone/utils/NoFlyZoneUtils.java b/ard-system/src/main/java/com/ard/data/noflyzone/utils/NoFlyZoneUtils.java
new file mode 100644
index 0000000..350b3d4
--- /dev/null
+++ b/ard-system/src/main/java/com/ard/data/noflyzone/utils/NoFlyZoneUtils.java
@@ -0,0 +1,105 @@
+package com.ard.data.noflyzone.utils;
+
+import com.ard.data.noflyzone.domain.ArdNoFlyBox;
+import com.ard.data.noflyzone.domain.ArdNoFlyZone;
+import com.ard.data.noflyzone.domain.Vertex;
+
+import java.util.List;
+
+public class NoFlyZoneUtils {
+
+    /**
+     * 判断点是否在禁飞区集合中
+     *
+     * @param point   目标点
+     * @param zones   禁飞区集合
+     * @return true: 点在任意禁飞区内
+     */
+    public static boolean isInNoFlyZones(Vertex point, List<ArdNoFlyZone> zones) {
+        if (point == null || zones == null || zones.isEmpty()) {
+            return false;
+        }
+
+        for (ArdNoFlyZone zone : zones) {
+            // 1️⃣ 先快速判断外接矩形
+            if (zone.getArdNoFlyBox() != null &&
+                !isInBox(point, zone.getArdNoFlyBox())) {
+                continue; // 点不在外接矩形内，跳过
+            }
+
+            // 2️⃣ 多边形判断
+            List<Vertex> vertices = zone.getVertices();
+            if (vertices != null && !vertices.isEmpty()) {
+                if (isPointInPolygon(point, vertices)) {
+                    return true;
+                }
+            }
+        }
+        return false;
+    }
+
+    /**
+     * 判断点是否在矩形框内
+     */
+    private static boolean isInBox(Vertex point, ArdNoFlyBox box) {
+        return point.x >= box.getMinx() && point.x <= box.getMaxx() &&
+               point.y >= box.getMiny() && point.y <= box.getMaxy();
+    }
+
+    /**
+     * 射线法判断点是否在多边形内
+     */
+    private static boolean isPointInPolygon(Vertex point, List<Vertex> vertices) {
+        if (point == null || vertices == null || vertices.size() < 3) {
+            return false;
+        }
+
+        int count = 0;
+        int n = vertices.size();
+        double epsilon = 1e-9;
+
+        for (int i = 0; i < n; i++) {
+            Vertex v1 = vertices.get(i);
+            Vertex v2 = vertices.get((i + 1) % n);
+
+            // 点就是顶点
+            if (v1.IsSame(point)) {
+                return true;
+            }
+
+            double minX = Math.min(v1.x, v2.x);
+            double maxX = Math.max(v1.x, v2.x);
+            double minY = Math.min(v1.y, v2.y);
+            double maxY = Math.max(v1.y, v2.y);
+
+            // 水平线段
+            if (Math.abs(minY - maxY) < epsilon) {
+                if (Math.abs(point.y - minY) < epsilon && point.x >= minX && point.x <= maxX) {
+                    return true;
+                } else {
+                    continue;
+                }
+            }
+
+            // 点不在纵向范围
+            if (point.y < minY || point.y > maxY) {
+                continue;
+            }
+
+            double xIntersect = v1.x + (point.y - v1.y) * (v2.x - v1.x) / (v2.y - v1.y);
+
+            if (Math.abs(xIntersect - point.x) < epsilon) {
+                return true; // 点在边界
+            }
+            if (xIntersect > point.x) {
+                count++;
+            }
+
+            if (Math.abs(point.y - minY) < epsilon) {
+                count--;
+            }
+        }
+
+        return count % 2 != 0;
+    }
+}
diff --git a/ard-system/src/main/java/com/ard/data/tile/domain/ArdTile.java b/ard-system/src/main/java/com/ard/data/tile/domain/ArdTile.java
index dbb8269..be90b3c 100644
--- a/ard-system/src/main/java/com/ard/data/tile/domain/ArdTile.java
+++ b/ard-system/src/main/java/com/ard/data/tile/domain/ArdTile.java
@@ -5,7 +5,7 @@
 import lombok.Data;
 
 /**
- * tile管理对象 ard_tile_management
+ * tile管理对象 ard_tile
  * 
  * @author xia
  * @date 2025-10-10
diff --git a/ard-system/src/main/resources/mapper/data/ArdMapMapper.xml b/ard-system/src/main/resources/mapper/data/ArdMapMapper.xml
index a3da6ff..a5ecaac 100644
--- a/ard-system/src/main/resources/mapper/data/ArdMapMapper.xml
+++ b/ard-system/src/main/resources/mapper/data/ArdMapMapper.xml
@@ -22,7 +22,7 @@
                release_status,
                default_loading,
                map_path
-        from ard_map_management
+        from ard_map
     </sql>
 
     <select id="selectArdMapList" parameterType="ArdMap" resultMap="ArdMapResult">
@@ -41,7 +41,7 @@
     </select>
 
     <insert id="insertArdMap" parameterType="ArdMap">
-        insert into ard_map_management
+        insert into ard_map
         <trim prefix="(" suffix=")" suffixOverrides=",">
             <if test="id != null">id,</if>
             <if test="mapName != null">map_name,</if>
@@ -63,7 +63,7 @@
     </insert>
 
     <update id="updateArdMap" parameterType="ArdMap">
-        update ard_map_management
+        update ard_map
         <trim prefix="SET" suffixOverrides=",">
             <if test="mapName != null">map_name = #{mapName},</if>
             <if test="mapType != null">map_type = #{mapType},</if>
@@ -76,11 +76,11 @@
     </update>
 
     <delete id="deleteArdMapById" parameterType="String">
-        delete from ard_map_management where id = #{id}
+        delete from ard_map where id = #{id}
     </delete>
 
     <delete id="deleteArdMapByIds" parameterType="String">
-        delete from ard_map_management where id in 
+        delete from ard_map where id in
         <foreach item="id" collection="array" open="(" separator="," close=")">
             #{id}
         </foreach>
diff --git a/ard-system/src/main/resources/mapper/data/ArdModelMapper.xml b/ard-system/src/main/resources/mapper/data/ArdModelMapper.xml
index 5fe974f..a014f0e 100644
--- a/ard-system/src/main/resources/mapper/data/ArdModelMapper.xml
+++ b/ard-system/src/main/resources/mapper/data/ArdModelMapper.xml
@@ -22,7 +22,7 @@
                height,
                proportion,
                model_url
-        from ard_model_management
+        from ard_model
     </sql>
 
     <select id="selectArdModelList" parameterType="ArdModel" resultMap="ArdModelResult">
@@ -43,7 +43,7 @@
     </select>
 
     <insert id="insertArdModel" parameterType="ArdModel">
-        insert into ard_model_management
+        insert into ard_model
         <trim prefix="(" suffix=")" suffixOverrides=",">
             <if test="id != null">id,</if>
             <if test="modelName != null">model_name,</if>
@@ -65,7 +65,7 @@
     </insert>
 
     <update id="updateArdModel" parameterType="ArdModel">
-        update ard_model_management
+        update ard_model
         <trim prefix="SET" suffixOverrides=",">
             <if test="modelName != null">model_name = #{modelName},</if>
             <if test="longitude != null">longitude = #{longitude},</if>
@@ -78,11 +78,11 @@
     </update>
 
     <delete id="deleteArdModelById" parameterType="String">
-        delete from ard_model_management where id = #{id}
+        delete from ard_model where id = #{id}
     </delete>
 
     <delete id="deleteArdModelByIds" parameterType="String">
-        delete from ard_model_management where id in 
+        delete from ard_model where id in
         <foreach item="id" collection="array" open="(" separator="," close=")">
             #{id}
         </foreach>
diff --git a/ard-system/src/main/resources/mapper/data/ArdTileMapper.xml b/ard-system/src/main/resources/mapper/data/ArdTileMapper.xml
index 248f5aa..f0b9cb6 100644
--- a/ard-system/src/main/resources/mapper/data/ArdTileMapper.xml
+++ b/ard-system/src/main/resources/mapper/data/ArdTileMapper.xml
@@ -30,7 +30,7 @@
                user_id,
                dept_id,
                default_loading
-        from ard_tile_management
+        from ard_tile
     </sql>
 
     <select id="selectArdTileList" parameterType="ArdTile" resultMap="ArdTileResult">
@@ -48,7 +48,7 @@
     </select>
 
     <insert id="insertArdTile" parameterType="ArdTile">
-        insert into ard_tile_management
+        insert into ard_tile
         <trim prefix="(" suffix=")" suffixOverrides=",">
             <if test="id != null">id,</if>
             <if test="tilesName != null">tiles_name,</if>
@@ -78,7 +78,7 @@
     </insert>
 
     <update id="updateArdTile" parameterType="ArdTile">
-        update ard_tile_management
+        update ard_tile
         <trim prefix="SET" suffixOverrides=",">
             <if test="tilesName != null">tiles_name = #{tilesName},</if>
             <if test="tilesHeight != null">tiles_height = #{tilesHeight},</if>
@@ -95,11 +95,11 @@
     </update>
 
     <delete id="deleteArdTileById" parameterType="String">
-        delete from ard_tile_management where id = #{id}
+        delete from ard_tile where id = #{id}
     </delete>
 
     <delete id="deleteArdTileByIds" parameterType="String">
-        delete from ard_tile_management where id in 
+        delete from ard_tile where id in
         <foreach item="id" collection="array" open="(" separator="," close=")">
             #{id}
         </foreach>
diff --git a/ard-vtdu/src/main/java/com/ard/vtdu/domain/StreamInfo.java b/ard-vtdu/src/main/java/com/ard/vtdu/domain/StreamInfo.java
index 6b84817..1a1dee4 100644
--- a/ard-vtdu/src/main/java/com/ard/vtdu/domain/StreamInfo.java
+++ b/ard-vtdu/src/main/java/com/ard/vtdu/domain/StreamInfo.java
@@ -25,7 +25,7 @@
      */
     String name;
     /**
-     * 源rtsp地址
+     * 源
      */
     String rtspSource;
     /**
diff --git a/ard-vtdu/src/main/java/com/ard/vtdu/service/impl/ArdArdMediaServiceImpl.java b/ard-vtdu/src/main/java/com/ard/vtdu/service/impl/ArdArdMediaServiceImpl.java
index 7446a03..d68a004 100644
--- a/ard-vtdu/src/main/java/com/ard/vtdu/service/impl/ArdArdMediaServiceImpl.java
+++ b/ard-vtdu/src/main/java/com/ard/vtdu/service/impl/ArdArdMediaServiceImpl.java
@@ -196,6 +196,8 @@
             String name = item.getName();
             info.setName(name);
             Conf conf = mediaClient.getPathConfig(name);
+            //源
+            info.setRtspSource(conf.getSource());
             //RTMP播放地址
             String rtmpUrl = "rtmp://" + mediamtxConfig.getPlayHost() + ":1935/" + name;
             info.setRtmpUrl(rtmpUrl);
@@ -206,51 +208,21 @@
             String protocol = mediamtxConfig.isHttps() ? "https://" : "http://";
             String webrtcUrl = protocol + mediamtxConfig.getPlayHost() + ":8889/" + name;
             info.setWebrtcUrl(webrtcUrl);
-            Source source = item.getSource();
-            if (source == null || source.getId().equals("")) {
-                //会话ID
-                info.setId("0");
-                //下行流量
-                long bytesReceived = item.getBytesReceived();
-                String formatReceivedSize = ArdTool.formatFileSize(bytesReceived);
-                info.setDownTraffic(formatReceivedSize);
-                //上行流量
-                long bytesSent = item.getBytesSent();
-                String formatSentdSize = ArdTool.formatFileSize(bytesSent);
-                info.setUpTraffic(formatSentdSize);
-                info.setBeginTime(item.getReadyTime());
-            } else {
-                RtspSession rtspSession = getRtspSessionById(source.getId());
-                //会话ID
-                info.setId(rtspSession.getId());
-                //开始推流时间
-                info.setBeginTime(rtspSession.getCreated());
-                //上行流量
-                long bytesReceived = rtspSession.getBytesReceived();
-                String formatReceivedSize = ArdTool.formatFileSize(bytesReceived);
-                info.setUpTraffic(formatReceivedSize);
-                //下行流量
-                long bytesSent = rtspSession.getBytesSent();
-                String formatSentSize = ArdTool.formatFileSize(bytesSent);
-                info.setDownTraffic(formatSentSize);
-                //推流服务器
-                info.setRemoteAddr(rtspSession.getRemoteAddr());
-            }
-            //RTSP源地址
-            String runOn = "";
-            if (StringUtils.isNotEmpty(conf.getRunOnDemand())) {
-                runOn = conf.getRunOnDemand();
-            }
-            Matcher matcher = Pattern.compile("rtsp://[^\\s\"]+").matcher(runOn);
-            if (matcher.find()) {
-                info.setRtspSource(matcher.group());
-            } else {
-                info.setRtspSource(conf.getSource());
-            }
+
+            //上行流量
+            long bytesReceived = item.getBytesReceived();
+            String formatReceivedSize = ArdTool.formatFileSize(bytesReceived);
+            info.setUpTraffic(formatReceivedSize);
+            //下行流量
+            long bytesSent = item.getBytesSent();
+            String formatSentSize = ArdTool.formatFileSize(bytesSent);
+            info.setDownTraffic(formatSentSize);
             //传输协议
             info.setProtocol(conf.getSourceProtocol());
             //拉流数量
             List<Readers> readers = item.getReaders();
+            //开始时间
+            info.setBeginTime(item.getReadyTime());
             info.setNum(readers.size());
 
             PushStreamInfoList.add(info);
diff --git a/ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java b/ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java
index f796aa1..06ee04a 100644
--- a/ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java
+++ b/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！");
+            }
+        }
     }
+
 }
diff --git a/ard-work/src/main/java/com/ard/work/aspect/annotation/CheckControlRight.java b/ard-work/src/main/java/com/ard/work/aspect/annotation/CheckControlRight.java
index 55c3f34..f67e0c8 100644
--- a/ard-work/src/main/java/com/ard/work/aspect/annotation/CheckControlRight.java
+++ b/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
diff --git a/ard-work/src/main/java/com/ard/work/aspect/annotation/CheckDroneStatus.java b/ard-work/src/main/java/com/ard/work/aspect/annotation/CheckDroneStatus.java
new file mode 100644
index 0000000..e00f915
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/aspect/annotation/CheckDroneStatus.java
@@ -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;
+}
diff --git a/ard-work/src/main/java/com/ard/work/aspect/annotation/CheckNoFlyZone.java b/ard-work/src/main/java/com/ard/work/aspect/annotation/CheckNoFlyZone.java
new file mode 100644
index 0000000..0d7c228
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/aspect/annotation/CheckNoFlyZone.java
@@ -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
+}
diff --git a/ard-work/src/main/java/com/ard/work/aspect/annotation/CheckTakeoffAltitude.java b/ard-work/src/main/java/com/ard/work/aspect/annotation/CheckTakeoffAltitude.java
index b765bc0..a9f3902 100644
--- a/ard-work/src/main/java/com/ard/work/aspect/annotation/CheckTakeoffAltitude.java
+++ b/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 {
diff --git a/ard-work/src/main/java/com/ard/work/domain/entity/ArdDroneInfo.java b/ard-work/src/main/java/com/ard/work/domain/entity/ArdDroneInfo.java
index eb9432d..b96ad89 100644
--- a/ard-work/src/main/java/com/ard/work/domain/entity/ArdDroneInfo.java
+++ b/ard-work/src/main/java/com/ard/work/domain/entity/ArdDroneInfo.java
@@ -10,7 +10,7 @@
 import java.util.Objects;
 
 /**
- * 无人机盒子对象 ard_drone_info
+ * 无人机盒子对象 ard_drone
  * 
  * @author ard
  * @date 2025-03-04
diff --git a/ard-work/src/main/java/com/ard/work/domain/entity/ArdServerInfo.java b/ard-work/src/main/java/com/ard/work/domain/entity/ArdServerInfo.java
index b388502..0ce9bef 100644
--- a/ard-work/src/main/java/com/ard/work/domain/entity/ArdServerInfo.java
+++ b/ard-work/src/main/java/com/ard/work/domain/entity/ArdServerInfo.java
@@ -7,7 +7,7 @@
 import lombok.Data;
 
 /**
- * 服务器管理对象 ard_server_info
+ * 服务器管理对象 ard_server
  * 
  * @author xia
  * @date 2025-10-10
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..bb840da 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;
@@ -56,7 +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;
@@ -79,8 +77,6 @@
     private IArdDroneInfoService ardDroneService;
     @Resource
     private TyClient tyClient;
-    @Autowired
-    private RedisCache redisCache;
 
     /**
      * 获取边缘服务器token信息
@@ -125,12 +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();
@@ -146,11 +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);
@@ -167,11 +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);
@@ -186,11 +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;
@@ -204,11 +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);
@@ -223,11 +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);
@@ -242,11 +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);
@@ -278,11 +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);
@@ -298,11 +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);
@@ -318,11 +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);
@@ -332,16 +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);
@@ -351,16 +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());
@@ -375,16 +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()) {
@@ -406,11 +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);
@@ -426,11 +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);
@@ -440,16 +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);
@@ -459,16 +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);
@@ -478,16 +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);
@@ -497,16 +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);
@@ -522,11 +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);
@@ -542,11 +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);
@@ -562,11 +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);
@@ -582,11 +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);
@@ -602,11 +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);
@@ -622,11 +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);
@@ -643,11 +548,7 @@
         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 +560,13 @@
      */
     @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);
@@ -684,12 +582,10 @@
         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;
@@ -704,12 +600,10 @@
         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 +641,7 @@
         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 +656,7 @@
         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 +671,7 @@
         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 +686,7 @@
         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 +701,7 @@
         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 +716,7 @@
         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 +731,7 @@
         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);
@@ -875,16 +741,13 @@
     /**
      * 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);
@@ -935,11 +798,7 @@
         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 +814,7 @@
         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 +830,7 @@
         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 +846,7 @@
         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);
@@ -1275,14 +1122,4 @@
     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
diff --git a/ard-work/src/main/resources/mapper/ArdDroneInfoMapper.xml b/ard-work/src/main/resources/mapper/ArdDroneInfoMapper.xml
index b3c8119..71440a6 100644
--- a/ard-work/src/main/resources/mapper/ArdDroneInfoMapper.xml
+++ b/ard-work/src/main/resources/mapper/ArdDroneInfoMapper.xml
@@ -33,7 +33,7 @@
     </resultMap>
 
     <select id="selectArdServerInfo" resultType="com.ard.work.domain.entity.ArdServerInfo">
-        select * from ard_server_info where id = #{serverId}
+        select * from ard_server where id = #{serverId}
     </select>
 
     <sql id="selectArdDroneVo">
@@ -50,7 +50,7 @@
                c.user_id,
                c.dept_id,
                c.box_alias_name
-        from ard_drone_info c
+        from ard_drone c
                  left join sys_dept d on d.dept_id = c.dept_id
                  left join sys_user u on u.user_id = c.user_id
     </sql>
@@ -82,7 +82,7 @@
         where box_sn = #{boxSn}
     </select>
     <insert id="insertArdDrone" parameterType="ArdDroneInfo">
-        insert into ard_drone_info
+        insert into ard_drone
         <trim prefix="(" suffix=")" suffixOverrides=",">
             <if test="id != null">id,</if>
             <if test="boxSn != null">box_sn,</if>
@@ -126,7 +126,7 @@
     </insert>
 
     <update id="updateArdDrone" parameterType="ArdDroneInfo">
-        update ard_drone_info
+        update ard_drone
         <trim prefix="SET" suffixOverrides=",">
             <if test="boxSn != null">box_sn = #{boxSn},</if>
             <if test="boxName != null">box_name = #{boxName},</if>
@@ -150,18 +150,18 @@
     </update>
 
     <delete id="deleteArdDroneById" parameterType="String">
-        delete from ard_drone_info where id = #{id}
+        delete from ard_drone where id = #{id}
     </delete>
 
     <delete id="deleteArdDroneByIds" parameterType="String">
-        delete from ard_drone_info where id in
+        delete from ard_drone where id in
         <foreach item="id" collection="array" open="(" separator="," close=")">
             #{id}
         </foreach>
     </delete>
 
     <insert id="insertArdDroneLs" parameterType="java.util.List">
-        insert into ard_drone_info(
+        insert into ard_drone(
             id,
             box_sn,
             box_name,
@@ -204,7 +204,7 @@
     </insert>
 
     <update id="updateDroneStatus">
-        update ard_drone_info
+        update ard_drone
         <trim prefix="SET" suffixOverrides=",">
             <if test="onLine != null">on_line = #{onLine},</if>
         </trim>
diff --git a/ard-work/src/main/resources/mapper/ArdServerInfoMapper.xml b/ard-work/src/main/resources/mapper/ArdServerInfoMapper.xml
index ea973ec..5f5a58a 100644
--- a/ard-work/src/main/resources/mapper/ArdServerInfoMapper.xml
+++ b/ard-work/src/main/resources/mapper/ArdServerInfoMapper.xml
@@ -34,7 +34,7 @@
                user_id,
                dept_id,
                server_status
-        from ard_server_info
+        from ard_server
     </sql>
 
     <sql id="selectArdServerInfoVo">
@@ -51,7 +51,7 @@
                c.user_id,
                c.dept_id,
                c.server_status
-        from ard_server_info c
+        from ard_server c
                  left join sys_dept d on d.dept_id = c.dept_id
                  left join sys_user u on u.user_id = c.user_id
     </sql>
@@ -78,7 +78,7 @@
     </select>
 
     <insert id="insertArdServerInfo" parameterType="ArdServerInfo">
-        insert into ard_server_info
+        insert into ard_server
         <trim prefix="(" suffix=")" suffixOverrides=",">
             <if test="id != null">id,</if>
             <if test="serverName != null">server_name,</if>
@@ -112,7 +112,7 @@
     </insert>
 
     <update id="updateArdServerInfo" parameterType="ArdServerInfo">
-        update ard_server_info
+        update ard_server
         <trim prefix="SET" suffixOverrides=",">
             <if test="serverName != null">server_name = #{serverName},</if>
             <if test="host != null">host = #{host},</if>
@@ -131,7 +131,7 @@
     </update>
 
     <update id="updateServerStatus">
-        update ard_server_info
+        update ard_server
         <trim prefix="SET" suffixOverrides=",">
             <if test="status != null">server_status = #{status},</if>
         </trim>
@@ -139,11 +139,11 @@
     </update>
 
     <delete id="deleteArdServerInfoById" parameterType="String">
-        delete from ard_server_info where id = #{id}
+        delete from ard_server where id = #{id}
     </delete>
 
     <delete id="deleteArdServerInfoByIds" parameterType="String">
-        delete from ard_server_info where id in
+        delete from ard_server where id in
         <foreach item="id" collection="array" open="(" separator="," close=")">
             #{id}
         </foreach>

--
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