From 1fe0965d93e376fd5ae7392365f2f7e7ce7f9b4f Mon Sep 17 00:00:00 2001
From: Xiajijian <1176061145@qq.com>
Date: Wed, 11 Feb 2026 08:48:37 +0800
Subject: [PATCH] 1. 修改用户为空时，获取不到无人机遥测数据。
---
ard-work/src/main/java/com/ard/work/component/websocket/handler/UavAllManager.java | 53 +++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 41 insertions(+), 12 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/work/component/websocket/handler/UavAllManager.java b/ard-work/src/main/java/com/ard/work/component/websocket/handler/UavAllManager.java
index 1e1e469..9e60142 100644
--- a/ard-work/src/main/java/com/ard/work/component/websocket/handler/UavAllManager.java
+++ b/ard-work/src/main/java/com/ard/work/component/websocket/handler/UavAllManager.java
@@ -1,45 +1,74 @@
package com.ard.work.component.websocket.handler;
+import com.ard.common.constant.CacheConstants;
+import com.ard.common.core.domain.entity.SysUser;
+import com.ard.common.core.redis.RedisCache;
+import com.ard.work.config.RouteStateMachineService;
import com.ard.work.domain.cache.UavSignalInfoCache;
import com.ard.work.domain.cache.UavStateCache;
import com.ard.work.domain.cache.UavTelemetryDataCache;
+import com.ard.work.domain.cache.UavWaylineCache;
import com.ard.work.domain.dto.signal.SignalInfo;
import com.ard.work.domain.dto.state.UavState;
import com.ard.work.domain.dto.telemetry.TelemetryData;
+import com.ard.work.domain.dto.wayline.WaylineInfo;
+import com.ard.work.domain.enums.RouteState;
import com.ard.work.service.control.UavControlService;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import javax.annotation.Resource;
import java.util.HashMap;
+import java.util.List;
import java.util.Map;
-
+@Slf4j
@Component
-public class UavAllManager extends BaseSubscriptionManager<Map<String,Object>> {
+public class UavAllManager extends BaseSubscriptionManager<Map<String, Object>> {
@Resource
private UavControlService uavControlService;
+ @Autowired
+ private RedisCache redisCache;
+ @Autowired
+ private RouteStateMachineService stateMachineService;
+
@Override
- protected Map<String,Object> getData(String boxSn) {
- Map<String,Object> map=new HashMap<>();
- UavState uavState = UavStateCache.get(boxSn);
- if (uavState != null) {
- uavState.calculateFieldAngle();// 计算当前无人机的FieldAngle
+ protected Map<String, Object> getData(String boxSn) {
+ log.debug("获取无人机所有数据");
+ Map<String, Object> map = new HashMap<>();
+ map.put("boxSn", boxSn);
+
+ WaylineInfo waylineInfo = UavWaylineCache.get(boxSn);
+ if (waylineInfo != null) {
+ RouteState currentState = stateMachineService.getCurrentState(boxSn);
+ waylineInfo.setRouteState(currentState);
}
- map.put("boxSn", uavState.getBoxSn());
+ map.put("wayline", waylineInfo);
+
+ UavState uavState = UavStateCache.get(boxSn);
map.put("state", uavState);
+
TelemetryData uavTelemetryData = UavTelemetryDataCache.get(boxSn);
map.put("telemetry", uavTelemetryData);
+
SignalInfo uavSignalInfo = UavSignalInfoCache.get(boxSn);
map.put("signal", uavSignalInfo);
// 获取当前控制飞行的用户ID
Long flyUserId = uavControlService.getCurrentController(boxSn, "fly");
- // 将飞行当前控制者用户ID添加到映射中
- map.put("flyController", flyUserId);
+ if(flyUserId!=null) {
+ SysUser flyUser = redisCache.getCacheMapValue(CacheConstants.SYS_USER, flyUserId.toString());
+ // 将飞行当前控制者用户ID添加到映射中
+ map.put("flyController", flyUser);
+ }
// 获取当前控制载荷的用户ID
Long payloadUserId = uavControlService.getCurrentController(boxSn, "payload");
- // 将载荷当前控制者用户ID添加到映射中
- map.put("payloadController", payloadUserId);
+ if(payloadUserId!=null) {
+ SysUser payloadUser = redisCache.getCacheMapValue(CacheConstants.SYS_USER, payloadUserId.toString());
+ // 将载荷当前控制者用户ID添加到映射中
+ map.put("payloadController", payloadUser);
+ }
return map;
}
--
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