From 19763ebd20ad16435f3c1ccfdc8abd1518712cc1 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Wed, 24 Dec 2025 15:09:58 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInfo.java | 14 +
ard-work/src/main/java/com/ard/work/domain/receiver/BoxVideosReceiver.java | 32 ++++
ard-work/src/main/resources/mapper/ArdFlightTaskPartMapper.xml | 30 ++-
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 27 +++
ard-route/src/main/resources/mapper/ArdRouteInfoMapper.xml | 15 +-
ard-admin/src/main/java/com/ard/web/controller/work/UavCameraController.java | 7 +
ard-work/src/main/java/com/ard/work/service/impl/ArdFlightTaskPartServiceImpl.java | 36 +++-
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java | 62 +++++++-
ard-route/src/main/java/com/ard/route/service/IArdRouteInfoService.java | 2
ard-admin/src/main/java/com/ard/web/controller/work/UavBaseController.java | 21 +-
ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInfoController.java | 7
ard-oss/src/main/java/com/ard/oss/service/impl/MinIOServiceImpl.java | 21 ++
ard-work/src/main/java/com/ard/work/component/forest/TyClient.java | 12 +
ard-work/src/main/resources/mapper/ArdFlightTaskMapper.xml | 2
ard-work/src/main/java/com/ard/work/component/forest/TyConst.java | 1
ard-admin/src/main/java/com/ard/web/controller/work/UavControlController.java | 2
ard-work/src/main/java/com/ard/work/domain/entity/ArdFlightTaskPart.java | 5
ard-work/src/main/java/com/ard/work/domain/dto/BoxVideosDTO.java | 27 +++
ard-work/src/main/java/com/ard/work/service/impl/ArdServerInfoServiceImpl.java | 29 +++
ard-admin/src/main/java/com/ard/web/controller/work/ArdServerInfoController.java | 12 +
ard-work/src/main/java/com/ard/work/mapper/ArdFlightTaskPartMapper.java | 8
ard-work/src/main/java/com/ard/work/service/IArdServerInfoService.java | 2
ard-work/src/main/java/com/ard/work/service/ITyService.java | 19 ++
23 files changed, 315 insertions(+), 78 deletions(-)
diff --git a/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInfoController.java b/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInfoController.java
index 85d0068..2f4abf0 100644
--- a/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInfoController.java
+++ b/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInfoController.java
@@ -143,9 +143,10 @@
* 开始航线
*/
@ApiOperation("开始航线")
- @PostMapping("/routeBegins/{boxSn}")
- public AjaxResult routeBegins(@PathVariable("boxSn") String boxSn) {
- ardRouteInfoService.routeBegins(boxSn);
+ @PostMapping("/routeBegins/{id}/{boxSn}")
+ public AjaxResult routeBegins(@PathVariable("id") String id,
+ @PathVariable("boxSn") String boxSn) {
+ ardRouteInfoService.routeBegins(id,boxSn);
return AjaxResult.success();
}
diff --git a/ard-admin/src/main/java/com/ard/web/controller/work/ArdServerInfoController.java b/ard-admin/src/main/java/com/ard/web/controller/work/ArdServerInfoController.java
index 8a531ba..7c14a8d 100644
--- a/ard-admin/src/main/java/com/ard/web/controller/work/ArdServerInfoController.java
+++ b/ard-admin/src/main/java/com/ard/web/controller/work/ArdServerInfoController.java
@@ -51,6 +51,18 @@
}
/**
+ * 查询服务器管理列表
+ */
+ @ApiOperation("查询服务器管理列表")
+ @PreAuthorize("@ss.hasPermi('work:server:listNo')")
+ @GetMapping("/listNo")
+ public TableDataInfo listNo(ArdServerInfo ardServerInfo) {
+ startPage();
+ List<ArdServerInfo> list = ardServerInfoService.selectArdServerInfoListNo(ardServerInfo);
+ return getDataTable(list);
+ }
+
+ /**
* 导出服务器管理列表
*/
@ApiOperation("导出服务器管理列表")
diff --git a/ard-admin/src/main/java/com/ard/web/controller/work/UavBaseController.java b/ard-admin/src/main/java/com/ard/web/controller/work/UavBaseController.java
index 626e421..bc41a9c 100644
--- a/ard-admin/src/main/java/com/ard/web/controller/work/UavBaseController.java
+++ b/ard-admin/src/main/java/com/ard/web/controller/work/UavBaseController.java
@@ -3,18 +3,12 @@
import com.ard.common.core.controller.BaseController;
import com.ard.common.core.domain.AjaxResult;
import com.ard.common.core.page.TableDataInfo;
-import com.ard.work.domain.dto.BoxHistoryDTO;
-import com.ard.work.domain.dto.BoxPhotosDTO;
-import com.ard.work.domain.dto.BoxSettingsDTO;
-import com.ard.work.domain.dto.UavFlightStateDTO;
+import com.ard.work.domain.dto.*;
import com.ard.work.domain.dto.telemetry.TelemetryData;
import com.ard.work.domain.entity.ArdFlightTask;
import com.ard.work.domain.entity.ArdFlightTaskPart;
import com.ard.work.domain.entity.ArdMedia;
-import com.ard.work.domain.receiver.BoxHistoryReceiver;
-import com.ard.work.domain.receiver.BoxInfoReceiver;
-import com.ard.work.domain.receiver.BoxPhotosReceiver;
-import com.ard.work.domain.receiver.BoxStreamUrlReceiver;
+import com.ard.work.domain.receiver.*;
import com.ard.work.service.IArdFlightTaskPartService;
import com.ard.work.service.IArdFlightTaskService;
import com.ard.work.service.IArdMediaService;
@@ -77,6 +71,7 @@
List<BoxHistoryReceiver> boxHistory = tyService.getBoxHistory(boxHistoryDTO);
return AjaxResult.success(boxHistory);
}
+
@ApiOperation("获取飞行架次")
@ApiOperationSupport(order = 4)
@GetMapping("/getFlightTask")
@@ -89,7 +84,7 @@
@ApiOperation("获取架次飞行轨迹")
@ApiOperationSupport(order = 4)
@GetMapping("/getCompleteFlightData")
- public TableDataInfo getCompleteFlightData(ArdFlightTaskPart ardFlightTaskPart){
+ public TableDataInfo getCompleteFlightData(ArdFlightTaskPart ardFlightTaskPart) {
List<UavFlightStateDTO> completeFlightData = ardFlightTaskPartService.getCompleteFlightData(ardFlightTaskPart);
return getDataTable(completeFlightData);
}
@@ -111,6 +106,14 @@
return AjaxResult.success(boxPhotos);
}
+ @ApiOperation("获取任务视频")
+ @ApiOperationSupport(order = 5)
+ @PostMapping("/getBoxVideos")
+ public AjaxResult getBoxVideos(@RequestBody BoxVideosDTO boxVideosDTO) {
+ List<BoxVideosReceiver> boxVideos = tyService.getBoxVideos(boxVideosDTO);
+ return AjaxResult.success(boxVideos);
+ }
+
@ApiOperation("获取直播地址")
@ApiOperationSupport(order = 6)
@GetMapping("/getBoxLiveUrl/{boxSn}")
diff --git a/ard-admin/src/main/java/com/ard/web/controller/work/UavCameraController.java b/ard-admin/src/main/java/com/ard/web/controller/work/UavCameraController.java
index e613605..b47b862 100644
--- a/ard-admin/src/main/java/com/ard/web/controller/work/UavCameraController.java
+++ b/ard-admin/src/main/java/com/ard/web/controller/work/UavCameraController.java
@@ -24,6 +24,13 @@
@Resource
private ITyService tyService;
+ @ApiOperation(value = "设置相机模式", notes = "actionParam值：1-拍照，2-录像")
+ @ApiOperationSupport(order = 1)
+ @PostMapping("/updateCameraMode")
+ public AjaxResult updateCameraMode(@RequestBody CameraModeDTO cameraModeDTO) {
+ tyService.updateCameraMode(cameraModeDTO);
+ return AjaxResult.success();
+ }
@ApiOperation("拍照")
@ApiOperationSupport(order = 1)
diff --git a/ard-admin/src/main/java/com/ard/web/controller/work/UavControlController.java b/ard-admin/src/main/java/com/ard/web/controller/work/UavControlController.java
index f61d61c..12cd1de 100644
--- a/ard-admin/src/main/java/com/ard/web/controller/work/UavControlController.java
+++ b/ard-admin/src/main/java/com/ard/web/controller/work/UavControlController.java
@@ -4,6 +4,7 @@
import com.ard.work.service.control.UavControlService;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
+import org.springframework.security.access.prepost.PreAuthorize;
import org.springframework.web.bind.annotation.*;
import javax.annotation.Resource;
@@ -20,6 +21,7 @@
* 申请控制权（请求通过 WebSocket 发送给当前控制者）
*/
@ApiOperation("申请控制权")
+ @PreAuthorize("@ss.hasPermi('uav:control:request')")
@PostMapping("/request")
public AjaxResult requestControl(@RequestParam String boxSn, @RequestParam String type) {
return AjaxResult.success(uavControlService.requestControl(boxSn, type));
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 e9b3f96..2fe171d 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
@@ -9,7 +9,10 @@
import io.minio.errors.*;
import io.minio.http.Method;
import lombok.extern.slf4j.Slf4j;
+import okhttp3.ConnectionPool;
+import okhttp3.ConnectionSpec;
import okhttp3.OkHttpClient;
+import okhttp3.TlsVersion;
import org.springframework.stereotype.Service;
import javax.net.ssl.SSLContext;
@@ -25,7 +28,9 @@
import java.security.ProviderException;
import java.security.SecureRandom;
import java.security.cert.X509Certificate;
+import java.util.Collections;
import java.util.Objects;
+import java.util.concurrent.TimeUnit;
import static com.ard.common.config.OssConfiguration.*;
@@ -74,9 +79,18 @@
};
SSLContext sslContext = SSLContext.getInstance("TLSv1.2");
sslContext.init(null, trustAllCerts, new SecureRandom());
+
+ ConnectionSpec spec = new ConnectionSpec.Builder(ConnectionSpec.MODERN_TLS)
+ .tlsVersions(TlsVersion.TLS_1_2)
+ .allEnabledCipherSuites()
+ .build();
+
OkHttpClient httpClient = new OkHttpClient.Builder()
- .sslSocketFactory(sslContext.getSocketFactory(), (X509TrustManager) trustAllCerts[0])
+ .sslSocketFactory(sslContext.getSocketFactory(),
+ (X509TrustManager) trustAllCerts[0])
.hostnameVerifier((hostname, session) -> true)
+ .connectionSpecs(Collections.singletonList(spec)) // ⭐关键
+ .connectionPool(new ConnectionPool(0, 1, TimeUnit.SECONDS)) // ⭐禁用复用
.build();
// 构建 AssumeRoleProvider，使用自定义 httpClient
@@ -244,6 +258,11 @@
OkHttpClient httpClient = new OkHttpClient.Builder()
.sslSocketFactory(sslSocketFactory, (X509TrustManager) trustAllCerts[0])
.hostnameVerifier((hostname, session) -> true)
+ .connectionSpecs(Collections.singletonList(
+ new ConnectionSpec.Builder(ConnectionSpec.MODERN_TLS)
+ .tlsVersions(TlsVersion.TLS_1_2) // 强制 TLS1.2
+ .build()
+ ))
.build();
this.client = MinioClient.builder()
diff --git a/ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInfo.java b/ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInfo.java
index b2746ad..3835f2c 100644
--- a/ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInfo.java
+++ b/ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInfo.java
@@ -29,10 +29,6 @@
@Excel(name = "文件路径")
private String path;
-// /** 文件路径1 */
-// @Excel(name = "文件路径1")
-// private String path1;
-
/** 分组ID */
@Excel(name = "分组ID")
private String groupId;
@@ -50,7 +46,7 @@
private String payload;
/**
- * 是否只读 是否只读
+ * 是否只读
* 0：否
* 1：是
*/
@@ -66,6 +62,14 @@
private String orderByTime;
/**
+ * 是否循环 isLoop
+ * 0：否
+ * 1：是
+ */
+ @Excel(name = "是否循环")
+ private String isLoop;
+
+ /**
* 生成kmz文件实体类
*/
private UavRouteReq uavRouteReq;
diff --git a/ard-route/src/main/java/com/ard/route/service/IArdRouteInfoService.java b/ard-route/src/main/java/com/ard/route/service/IArdRouteInfoService.java
index 19e0e1e..65e911c 100644
--- a/ard-route/src/main/java/com/ard/route/service/IArdRouteInfoService.java
+++ b/ard-route/src/main/java/com/ard/route/service/IArdRouteInfoService.java
@@ -114,7 +114,7 @@
* @param boxSn 云盒SN编号
* @return 结果
*/
- public Boolean routeBegins(String boxSn);
+ public Boolean routeBegins(String id, String boxSn);
/**
* 暂停航线
diff --git a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
index 97f5cd3..5a0b49c 100644
--- a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
+++ b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
@@ -25,8 +25,10 @@
import com.ard.route.mapper.ArdRouteInfoMapper;
import com.ard.route.service.IArdRouteInfoService;
import com.ard.route.service.UavRouteService;
+import com.ard.work.domain.cache.UavTelemetryDataCache;
import com.ard.work.domain.cache.UavWaylineCache;
import com.ard.work.domain.dto.state.PointData;
+import com.ard.work.domain.dto.telemetry.TelemetryData;
import com.ard.work.domain.dto.wayline.*;
import com.ard.work.service.ITyService;
import org.slf4j.Logger;
@@ -86,17 +88,26 @@
throw new RuntimeException(e);
}
- // 主逻辑优化
- double altitudeOffset = getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(), "alt");
+ // 如果参考起飞点不为空，将每个航点高度进行加工。
+ if (ardRouteInfo.getUavRouteReq().getTakeOffRefPoint() != null){
- for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
- // 调整航点高度
- adjustRoutePointHeight(routePointReq, altitudeOffset);
+ double altitudeOffset = getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(), "alt");
+
+ for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
+ // 调整每个航点高度
+ adjustRoutePointHeight(routePointReq, altitudeOffset);
+ }
+ }else {
+ // 如果没有设置参考起飞点，将第一个航点设置为参考起飞点。
+ ardRouteInfo.getUavRouteReq().setTakeOffRefPoint(
+ ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getLatitude().toString() +"," +
+ ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getLongitude().toString()+","+
+ ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getHeight().toString());
}
+
return ardRouteInfo;
}
- // 提取航点高度调整逻辑到方法中
private void adjustRoutePointHeight(RoutePointReq routePointReq, double altitudeOffset) {
routePointReq.setHeight(routePointReq.getHeight() + altitudeOffset);
}
@@ -234,6 +245,9 @@
*/
@Override
public int deleteArdRouteInfoById(String id) {
+ // 删除航线(kmz)文件
+ ArdRouteInfo information = ardRouteInfoMapper.selectArdRouteInfoById(id);
+ delOssService(information);
return ardRouteInfoMapper.deleteArdRouteInfoById(id);
}
@@ -332,7 +346,6 @@
/**
* 上传航线到边缘服务器
- *
* ardNoflyDto
* @return 结果
*/
@@ -346,6 +359,34 @@
} catch (IOException | ClassNotFoundException e) {
throw new RuntimeException(e);
}
+
+ // 获取第一个点
+ double firstPointLng = route.getUavRouteReq().getRoutePointList().get(0).getLongitude();
+ double firstPointLat = route.getUavRouteReq().getRoutePointList().get(0).getLatitude();
+
+ // 获取最后一个点
+ double lastPointLng = route.getUavRouteReq().getRoutePointList().get(route.getUavRouteReq().getRoutePointList().size()-1).getLongitude();
+ double lastPointLat = route.getUavRouteReq().getRoutePointList().get(route.getUavRouteReq().getRoutePointList().size()-1).getLatitude();
+
+ // 无人机遥测数据,用于校验真实起飞点和第一个点是否在禁飞区
+ TelemetryData telemetryData = UavTelemetryDataCache.get(boxSn);
+ double telemetryDataLng = 0;
+ double telemetryDataLat = 0;
+ if (telemetryData != null){
+ telemetryDataLng = telemetryData.getLng();
+ telemetryDataLat = telemetryData.getLat();
+ }
+
+ ArdNoflyDto dto1 = new ArdNoflyDto();
+ dto1.setCurrent(new Vertex(telemetryDataLng,telemetryDataLat));
+ dto1.setTarget(new Vertex(firstPointLng,firstPointLat));
+ verifyNoFlyZone(dto1);
+
+ ArdNoflyDto dto2 = new ArdNoflyDto();
+ dto2.setCurrent(new Vertex(lastPointLng,lastPointLat));
+ dto2.setTarget(new Vertex(telemetryDataLng,telemetryDataLat));
+ verifyNoFlyZone(dto2);
+
// 判断禁飞区
arrayWithinNoFlyZone(route.getUavRouteReq().getRoutePointList());
// 1.2通过minio获取航线信息
@@ -369,7 +410,12 @@
* @return 结果
*/
@Override
- public Boolean routeBegins(String boxSn) {
+ public Boolean routeBegins(String id,String boxSn) {
+ ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(id);
+ // 判断是否循环航线
+ if ("1".equals(route.getIsLoop())) {
+ deleteArdRouteInfoById(id);
+ }
WayLineBeginDTO wayLineBeginDTO = new WayLineBeginDTO(boxSn);
tyService.wayLineBegin(wayLineBeginDTO);
return true;
diff --git a/ard-route/src/main/resources/mapper/ArdRouteInfoMapper.xml b/ard-route/src/main/resources/mapper/ArdRouteInfoMapper.xml
index 94af829..658cfeb 100644
--- a/ard-route/src/main/resources/mapper/ArdRouteInfoMapper.xml
+++ b/ard-route/src/main/resources/mapper/ArdRouteInfoMapper.xml
@@ -8,7 +8,6 @@
<result property="id" column="id" />
<result property="name" column="name" />
<result property="path" column="path" />
-<!-- <result property="path1" column="path1" />-->
<result property="groupId" column="group_id" />
<result property="type" column="type" />
<result property="aircraft" column="aircraft" />
@@ -20,13 +19,13 @@
<result property="updateBy" column="update_by" />
<result property="updateTime" column="update_time" />
<result property="pointCount" column="point_count" />
+ <result property="isLoop" column="is_loop" />
</resultMap>
<sql id="selectArdRouteInfoVo">
select id,
name,
path,
-<!-- path1,-->
group_id,
type,
aircraft,
@@ -37,7 +36,8 @@
create_time,
update_by,
update_time,
- point_count
+ point_count,
+ is_loop
from ard_route_info
</sql>
@@ -50,6 +50,7 @@
<if test="type != null and type != ''"> and type = #{type}</if>
<if test="path != null and path != ''"> and path = #{path}</if>
<if test="groupId != null"> and group_id = #{groupId}</if>
+ <if test="isLoop != null"> and is_loop = #{isLoop}</if>
</where>
<if test="orderByTime == null and orderByTime == ''">
ORDER BY update_time DESC
@@ -71,7 +72,6 @@
<if test="id != null">id,</if>
<if test="name != null">name,</if>
<if test="path != null">path,</if>
-<!-- <if test="path1 != null">path1,</if>-->
<if test="groupId != null">group_id,</if>
<if test="type != null">type,</if>
<if test="aircraft != null">aircraft,</if>
@@ -83,12 +83,12 @@
<if test="updateBy != null">update_by,</if>
<if test="updateTime != null">update_time,</if>
<if test="pointCount != null">point_count,</if>
+ <if test="isLoop != null">is_loop,</if>
</trim>
<trim prefix="values (" suffix=")" suffixOverrides=",">
<if test="id != null">#{id},</if>
<if test="name != null">#{name},</if>
<if test="path != null">#{path},</if>
-<!-- <if test="path1 != null">#{path1},</if>-->
<if test="groupId != null">#{groupId},</if>
<if test="type != null">#{type},</if>
<if test="aircraft != null">#{aircraft},</if>
@@ -100,6 +100,7 @@
<if test="updateBy != null">#{updateBy},</if>
<if test="updateTime != null">#{updateTime},</if>
<if test="pointCount != null">#{pointCount},</if>
+ <if test="isLoop != null">#{isLoop},</if>
</trim>
</insert>
@@ -108,7 +109,6 @@
<trim prefix="SET" suffixOverrides=",">
<if test="name != null">name = #{name},</if>
<if test="path != null">path = #{path},</if>
-<!-- <if test="path1 != null">path1 = #{path1},</if>-->
<if test="groupId != null">group_id = #{groupId},</if>
<if test="type != null">type = #{type},</if>
<if test="aircraft != null">aircraft = #{aircraft},</if>
@@ -120,6 +120,7 @@
<if test="updateBy != null">update_by = #{updateBy},</if>
<if test="updateTime != null">update_time = #{updateTime},</if>
<if test="pointCount != null">point_count = #{pointCount},</if>
+ <if test="isLoop != null">is_loop = #{isLoop},</if>
</trim>
where id = #{id}
</update>
@@ -148,7 +149,7 @@
</delete>
<select id="selectArdRouteInfoByGroupId" parameterType="String" resultMap="ArdRouteInfoResult">
- select id,name,path,group_id,type,aircraft,payload,read_only,create_by,create_time,update_by,update_time,point_count from ard_route_info
+ select id,name,path,group_id,type,aircraft,payload,read_only,create_by,create_time,update_by,update_time,point_count,is_loop from ard_route_info
<where>
<if test="groupId != null "> and group_id = #{groupId}</if>
</where>
diff --git a/ard-work/src/main/java/com/ard/work/component/forest/TyClient.java b/ard-work/src/main/java/com/ard/work/component/forest/TyClient.java
index 928ea74..badc96f 100644
--- a/ard-work/src/main/java/com/ard/work/component/forest/TyClient.java
+++ b/ard-work/src/main/java/com/ard/work/component/forest/TyClient.java
@@ -1,9 +1,6 @@
package com.ard.work.component.forest;
-import com.ard.work.domain.dto.BoxHistoryDTO;
-import com.ard.work.domain.dto.BoxPhotosDTO;
-import com.ard.work.domain.dto.BoxSettingsDTO;
-import com.ard.work.domain.dto.TokenDTO;
+import com.ard.work.domain.dto.*;
import com.ard.work.domain.receiver.*;
import com.dtflys.forest.annotation.*;
@@ -43,13 +40,18 @@
@Post(value = TyConst.POST_BOX_HISTORY, interceptor = TokenInterceptor.class)
TyHttpCommonReceiver<List<BoxHistoryReceiver>> getBoxHistory(@Var("serverId") String serverId,
@JSONBody BoxHistoryDTO boxHistoryDTO);
-
/**
* 获取任务照片
*/
@Post(value = TyConst.POST_BOX_PHOTOS, interceptor = TokenInterceptor.class)
TyHttpCommonReceiver<List<BoxPhotosReceiver>> getBoxPhotos(@Var("serverId") String serverId,
@JSONBody BoxPhotosDTO boxPhotosDTO);
+ /**
+ * 获取任务视频
+ */
+ @Post(value = TyConst.POST_BOX_VIDEOS, interceptor = TokenInterceptor.class)
+ TyHttpCommonReceiver<List<BoxVideosReceiver>> getBoxVideos(@Var("serverId") String serverId,
+ @JSONBody BoxVideosDTO boxVideosDTO);
/**
* 修改云盒设置
diff --git a/ard-work/src/main/java/com/ard/work/component/forest/TyConst.java b/ard-work/src/main/java/com/ard/work/component/forest/TyConst.java
index dba5e71..4d7f49c 100644
--- a/ard-work/src/main/java/com/ard/work/component/forest/TyConst.java
+++ b/ard-work/src/main/java/com/ard/work/component/forest/TyConst.java
@@ -8,6 +8,7 @@
public static final String POST_UPDATE_LIVE = "/eapi/update/live";
public static final String GET_BOX_LIVE_URL = "/eapi/box/pullUrl/{boxSn}";
public static final String POST_BOX_PHOTOS = "/eapi/box/photos";
+ public static final String POST_BOX_VIDEOS = "/eapi/box/videos";
public static final String GET_OPEN_LIVE = "/eapi/box/openlive/{boxSn}";
public static final String GET_CLOSE_LIVE = "/eapi/box/closelive/{boxSn}";
}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/work/domain/dto/BoxVideosDTO.java b/ard-work/src/main/java/com/ard/work/domain/dto/BoxVideosDTO.java
new file mode 100644
index 0000000..5dfe819
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/domain/dto/BoxVideosDTO.java
@@ -0,0 +1,27 @@
+package com.ard.work.domain.dto;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class BoxVideosDTO {
+
+ @JsonProperty("boxSn")
+ private String boxSn;
+
+ @JsonProperty("taskId")
+ private Integer taskId;
+
+ @JsonProperty("pageIndex")
+ private Integer pageIndex;
+
+ @JsonProperty("pageSize")
+ private Integer pageSize;
+
+}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/work/domain/entity/ArdFlightTaskPart.java b/ard-work/src/main/java/com/ard/work/domain/entity/ArdFlightTaskPart.java
index 7f18ee1..a5991cc 100644
--- a/ard-work/src/main/java/com/ard/work/domain/entity/ArdFlightTaskPart.java
+++ b/ard-work/src/main/java/com/ard/work/domain/entity/ArdFlightTaskPart.java
@@ -3,6 +3,8 @@
import com.ard.common.core.domain.BaseEntity;
import lombok.*;
+import java.util.Date;
+
@EqualsAndHashCode(callSuper = true)
@Data
@Builder
@@ -13,4 +15,7 @@
private String boxSn;
private Integer count;
private byte[] dataPart;
+ private Date startTime;
+ private Date endTime;
+
}
diff --git a/ard-work/src/main/java/com/ard/work/domain/receiver/BoxVideosReceiver.java b/ard-work/src/main/java/com/ard/work/domain/receiver/BoxVideosReceiver.java
new file mode 100644
index 0000000..704d9fd
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/domain/receiver/BoxVideosReceiver.java
@@ -0,0 +1,32 @@
+package com.ard.work.domain.receiver;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class BoxVideosReceiver {
+
+ @JsonProperty("id")
+ private Long id;
+
+ @JsonProperty("taskId")
+ private Long taskId;
+
+ @JsonProperty("name")
+ private String name;
+
+ @JsonProperty("spanSeconds")
+ private String spanSeconds;
+
+ @JsonProperty("uri")
+ private String imgUrl;
+
+ @JsonProperty("startTime")
+ private String startTime;
+
+ @JsonProperty("endTime")
+ private String endTime;
+
+}
diff --git a/ard-work/src/main/java/com/ard/work/mapper/ArdFlightTaskPartMapper.java b/ard-work/src/main/java/com/ard/work/mapper/ArdFlightTaskPartMapper.java
index db94cd2..787e567 100644
--- a/ard-work/src/main/java/com/ard/work/mapper/ArdFlightTaskPartMapper.java
+++ b/ard-work/src/main/java/com/ard/work/mapper/ArdFlightTaskPartMapper.java
@@ -13,14 +13,10 @@
public interface ArdFlightTaskPartMapper {
/**
- * 根据 taskId 查询分片
- */
- List<ArdFlightTaskPart> selectByTaskId(int taskId);
- /**
- * 根据 boxSn 和航线开始结束时间查询分片
+ * 根据开始结束时间查询分片
* @return 对应时间段的分片列表
*/
- List<ArdFlightTaskPart> selectByTaskStartTime(ArdFlightTaskPart ardFlightTaskPart);
+ List<ArdFlightTaskPart> selectByTimeRange(ArdFlightTaskPart ardFlightTaskPart);
int insert(ArdFlightTaskPart entity);
}
diff --git a/ard-work/src/main/java/com/ard/work/service/IArdServerInfoService.java b/ard-work/src/main/java/com/ard/work/service/IArdServerInfoService.java
index 78b1125..2e25e77 100644
--- a/ard-work/src/main/java/com/ard/work/service/IArdServerInfoService.java
+++ b/ard-work/src/main/java/com/ard/work/service/IArdServerInfoService.java
@@ -28,6 +28,8 @@
*/
public List<ArdServerInfo> selectArdServerInfoList(ArdServerInfo ardServerInfo);
+ public List<ArdServerInfo> selectArdServerInfoListNo(ArdServerInfo ardServerInfo);
+
/**
* 新增服务器管理
*
diff --git a/ard-work/src/main/java/com/ard/work/service/ITyService.java b/ard-work/src/main/java/com/ard/work/service/ITyService.java
index 9f40e9a..18db889 100644
--- a/ard-work/src/main/java/com/ard/work/service/ITyService.java
+++ b/ard-work/src/main/java/com/ard/work/service/ITyService.java
@@ -3,6 +3,7 @@
import com.ard.work.domain.dto.BoxHistoryDTO;
import com.ard.work.domain.dto.BoxPhotosDTO;
import com.ard.work.domain.dto.BoxSettingsDTO;
+import com.ard.work.domain.dto.BoxVideosDTO;
import com.ard.work.domain.dto.camera.*;
import com.ard.work.domain.dto.manual.*;
import com.ard.work.domain.dto.speaker.*;
@@ -32,12 +33,14 @@
/**
* 获取边缘服务器token信息
+ *
* @return
*/
AccessTokenReceiver getAccessToken(String ServerId);
/**
* 获取全部服务器云盒列表
+ *
* @return
*/
List<BoxInfoReceiver> getBoxList();
@@ -51,42 +54,56 @@
/**
* 获取直播地址
+ *
* @return
*/
BoxStreamUrlReceiver getBoxLiveUrl(@Var("boxSn") String boxSn);
/**
* 获取飞行历史
+ *
* @return
*/
List<BoxHistoryReceiver> getBoxHistory(BoxHistoryDTO boxHistoryDTO);
/**
- * 获取盒子图片
+ * 获取任务图片
+ *
* @return
*/
List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO);
/**
+ * 获取任务视频
+ *
+ * @return
+ */
+ List<BoxVideosReceiver> getBoxVideos(BoxVideosDTO boxVideosDTO);
+
+ /**
* 修改云盒设置
+ *
* @return
*/
Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO);
/**
* 设置返航高度
+ *
* @return
*/
Boolean updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO);
/**
* 设置视频码流
+ *
* @return
*/
Boolean updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO);
/**
* 设置返航点
+ *
* @return
*/
Boolean updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO);
diff --git a/ard-work/src/main/java/com/ard/work/service/impl/ArdFlightTaskPartServiceImpl.java b/ard-work/src/main/java/com/ard/work/service/impl/ArdFlightTaskPartServiceImpl.java
index 46c0ef5..0917724 100644
--- a/ard-work/src/main/java/com/ard/work/service/impl/ArdFlightTaskPartServiceImpl.java
+++ b/ard-work/src/main/java/com/ard/work/service/impl/ArdFlightTaskPartServiceImpl.java
@@ -14,11 +14,13 @@
import org.springframework.scheduling.annotation.Async;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Service;
+
import java.util.ArrayList;
import java.util.Comparator;
import java.util.Date;
import java.util.List;
import java.util.concurrent.ConcurrentHashMap;
+
/**
* 轨迹分片处理业务
*/
@@ -28,7 +30,8 @@
public class ArdFlightTaskPartServiceImpl implements IArdFlightTaskPartService {
private final ArdFlightTaskPartMapper ardflightTaskPartMapper;
-
+ // 上一次飞行状态缓存
+ private final ConcurrentHashMap<String, Integer> lastFlightStatusMap = new ConcurrentHashMap<>();
/**
* 缓存：boxSn -> 当前分片数据
*/
@@ -60,12 +63,20 @@
return; // 超过 3 秒没有新遥测 → 认为已离线或冻结，不记录
}
- // 3️⃣ 飞行状态必须是飞行中
- if(uavState.getFlightControllerState().getFlightStatus()!=2)
- {
- return; // 飞行状态不是飞行中，不记录
- }
+ int currentStatus = uavState.getFlightControllerState().getFlightStatus();
+ Integer lastStatus = lastFlightStatusMap.get(boxSn);
+ // 仅在“飞行中 → 非飞行中”状态变化时 flush
+ if (lastStatus != null && lastStatus == 2 && currentStatus != 2) {
+ flushRemaining(boxSn);
+ }
+ lastFlightStatusMap.put(boxSn, currentStatus);
+
+ // 只有飞行中才添加缓存
+ if (currentStatus == 2) {
+ UavFlightStateDTO dto = new UavFlightStateDTO(uavState, telemetryData, dataTs);
+ addTelemetryData(dto);
+ }
UavFlightStateDTO dto = new UavFlightStateDTO(
uavState,
telemetryData,
@@ -102,16 +113,17 @@
try {
byte[] blobData = SerializeUtil.serialize(dataList);
-
+ // 取第一个和最后一个状态时间
+ long startTs = dataList.get(0).getTimestamp();
+ long endTs = dataList.get(dataList.size() - 1).getTimestamp();
ArdFlightTaskPart part = ArdFlightTaskPart.builder()
.boxSn(boxSn)
.count(dataList.size())
.dataPart(blobData)
+ .startTime(new Date(startTs))
+ .endTime(new Date(endTs))
.build();
- // 使用 list 中第一条数据的时间作为 createTime
- long firstTimeMillis = dataList.get(0).getTimestamp();
- Date createTime = new Date(firstTimeMillis);
- part.setCreateTime(createTime);
+ part.setCreateTime(new Date());
ardflightTaskPartMapper.insert(part);
log.info("设备 {} 分片保存 {} 条飞行数据到数据库成功", boxSn, dataList.size());
@@ -143,7 +155,7 @@
public List<UavFlightStateDTO> getCompleteFlightData(ArdFlightTaskPart ardFlightTaskPart) {
List<UavFlightStateDTO> allData = new ArrayList<>();
String boxSn = ardFlightTaskPart.getBoxSn();
- List<ArdFlightTaskPart> parts = ardflightTaskPartMapper.selectByTaskStartTime(ardFlightTaskPart);
+ List<ArdFlightTaskPart> parts = ardflightTaskPartMapper.selectByTimeRange(ardFlightTaskPart);
for (ArdFlightTaskPart part : parts) {
try {
List<UavFlightStateDTO> partData = SerializeUtil.deserialize(part.getDataPart());
diff --git a/ard-work/src/main/java/com/ard/work/service/impl/ArdServerInfoServiceImpl.java b/ard-work/src/main/java/com/ard/work/service/impl/ArdServerInfoServiceImpl.java
index d4063de..ad2e534 100644
--- a/ard-work/src/main/java/com/ard/work/service/impl/ArdServerInfoServiceImpl.java
+++ b/ard-work/src/main/java/com/ard/work/service/impl/ArdServerInfoServiceImpl.java
@@ -5,9 +5,11 @@
import com.ard.work.component.forest.TyClient;
import com.ard.work.component.netty.TyTcpClientManager;
import com.ard.work.domain.dto.TokenDTO;
+import com.ard.work.domain.entity.ArdDroneInfo;
import com.ard.work.domain.entity.ArdServerInfo;
import com.ard.work.domain.receiver.AccessTokenReceiver;
import com.ard.work.domain.receiver.TyHttpCommonReceiver;
+import com.ard.work.mapper.ArdDroneInfoMapper;
import com.ard.work.mapper.ArdServerInfoMapper;
import com.ard.work.service.IArdServerInfoService;
import com.dtflys.forest.exceptions.ForestRuntimeException;
@@ -30,11 +32,16 @@
public class ArdServerInfoServiceImpl implements IArdServerInfoService {
@Resource
- private ArdServerInfoMapper ardServerInfoMapper;
- @Resource
private TyClient tyClient;
+
+ @Resource
+ private ArdServerInfoMapper ardServerInfoMapper;
+
@Resource
private TyTcpClientManager tyTcpClientManager;
+
+ @Resource
+ private ArdDroneInfoMapper ArdDroneInfoMapper;
/**
* 查询服务器管理
@@ -59,6 +66,24 @@
return ardServerInfoMapper.selectArdServerInfoList(ardServerInfo);
}
+ @Override
+ @DataScope(deptAlias = "d", userAlias = "u")
+ public List<ArdServerInfo> selectArdServerInfoListNo(ArdServerInfo ardServerInfo) {
+
+// List<ArdDroneInfo> ardDroneInfos = ArdDroneInfoMapper.selectArdDroneList(new ArdDroneInfo());
+// for (ArdDroneInfo ardDroneInfo : ardDroneInfos) {
+// ardDroneInfo.getBoxSn();
+// }
+// List<ArdServerInfo> servers = ardServerInfoMapper.selectArdServerInfoList(ardServerInfo);
+// for (ArdServerInfo server : servers) {
+// for (ArdDroneInfo ardDroneInfo : server.getArdDroneInfoList()) {
+// ardDroneInfo.getBoxSn();
+// }
+// }
+
+ return ardServerInfoMapper.selectArdServerInfoList(ardServerInfo);
+ }
+
/**
* 新增服务器管理
*
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 a2eba51..c6a0d66 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
@@ -33,6 +33,7 @@
import com.ard.work.domain.dto.BoxHistoryDTO;
import com.ard.work.domain.dto.BoxPhotosDTO;
import com.ard.work.domain.dto.BoxSettingsDTO;
+import com.ard.work.domain.dto.BoxVideosDTO;
import com.ard.work.domain.dto.camera.*;
import com.ard.work.domain.dto.control.AbsAngleControlDTO;
import com.ard.work.domain.dto.control.AngleControlDTO;
@@ -157,7 +158,7 @@
}
/**
- * 获取盒子图片
+ * 获取任务图片
*
* @return List<BoxPhotosReceiver>
*/
@@ -172,7 +173,22 @@
boxPhotosDTO);
return boxPhotos == null ? null : boxPhotos.getContent();
}
-
+ /**
+ * 获取任务视频
+ *
+ * @return List<BoxVideosReceiver>
+ */
+ @Override
+ public List<BoxVideosReceiver> getBoxVideos(BoxVideosDTO boxVideosDTO) {
+ String boxSn = boxVideosDTO.getBoxSn();
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
+ if (ardDroneInfo == null) {
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
+ }
+ TyHttpCommonReceiver<List<BoxVideosReceiver>> boxVideos = tyClient.getBoxVideos(ardDroneInfo.getServerId(),
+ boxVideosDTO);
+ return boxVideos == null ? null : boxVideos.getContent();
+ }
/**
* 修改云盒设置
*/
@@ -336,9 +352,10 @@
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
//设置相机模式为拍照模式
- updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
+ //updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
//设置拍照回传
- photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
+ //photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01)
+ // .build());
CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);
this.sendMessage(ardDroneInfo.getServerId(), capturePicCommand);
@@ -358,7 +375,7 @@
}
BaseCmd baseCmd;
if (recordDto.getIsRecord()) {
- updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build());
+ //updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build());
baseCmd = new RecordStartCmd(recordDto);
} else {
baseCmd = new RecordStopCmd(recordDto);
diff --git a/ard-work/src/main/resources/mapper/ArdFlightTaskMapper.xml b/ard-work/src/main/resources/mapper/ArdFlightTaskMapper.xml
index 5f7bd31..a231ccf 100644
--- a/ard-work/src/main/resources/mapper/ArdFlightTaskMapper.xml
+++ b/ard-work/src/main/resources/mapper/ArdFlightTaskMapper.xml
@@ -61,7 +61,7 @@
AND aft.create_time >= #{params.beginTime}
</if>
<if test="params.endTime != null"><!-- 结束时间检索 -->
- ANDaft.create_time <= #{params.endTime}
+ AND aft.create_time <= #{params.endTime}
</if>
</trim>
</where>
diff --git a/ard-work/src/main/resources/mapper/ArdFlightTaskPartMapper.xml b/ard-work/src/main/resources/mapper/ArdFlightTaskPartMapper.xml
index c11cad7..1416f31 100644
--- a/ard-work/src/main/resources/mapper/ArdFlightTaskPartMapper.xml
+++ b/ard-work/src/main/resources/mapper/ArdFlightTaskPartMapper.xml
@@ -8,21 +8,27 @@
<!-- 插入一条分片数据 -->
<insert id="insert" parameterType="ArdFlightTaskPart" useGeneratedKeys="true" keyProperty="id">
INSERT INTO ard_flight_task_part
- (box_sn, count, data_part, create_time)
- VALUES
- (#{boxSn}, #{count}, #{dataPart}, #{createTime})
+ (box_sn, count, data_part, start_time, end_time, create_time)
+ VALUES (#{boxSn}, #{count}, #{dataPart}, #{startTime}, #{endTime}, #{createTime})
</insert>
- <select id="selectByTaskStartTime" resultType="ArdFlightTaskPart">
+ <select id="selectByTimeRange" resultType="ArdFlightTaskPart">
SELECT *
FROM ard_flight_task_part u
- WHERE u.box_sn = #{boxSn}
- <if test="params.beginTime != null"><!-- 开始时间检索 -->
- AND u.create_time >= #{params.beginTime}
- </if>
- <if test="params.endTime != null"><!-- 结束时间检索 -->
- AND u.create_time <= #{params.endTime}
- </if>
- ORDER BY u.create_time asc
+ <where>
+ u.box_sn = #{boxSn}
+ <!-- 动态参数中的开始时间 -->
+ <if test="params.beginTime != null">
+ AND u.end_time >= #{params.beginTime} <!-- blob 内最后状态 >= 架次起飞 -->
+ </if>
+ <!-- 动态参数中的结束时间 -->
+ <if test="params.endTime != null">
+ AND u.start_time <= #{params.endTime} <!-- blob 内第一状态 <= 架次降落 -->
+ </if>
+ </where>
+ ORDER BY u.start_time ASC
</select>
+
+
+
</mapper>
--
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