From 226b062ef301b61260efac126e1db373ace85b87 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Fri, 16 Jan 2026 09:01:43 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-work/src/main/java/com/ard/work/service/impl/ArdFlightTaskPartServiceImpl.java | 56 ++++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 42 insertions(+), 14 deletions(-)
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 9985e7e..dd0d4b1 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
@@ -1,6 +1,7 @@
package com.ard.work.service.impl;
import cn.hutool.core.util.SerializeUtil;
+import com.ard.common.utils.DateUtils;
import com.ard.work.domain.cache.UavStateCache;
import com.ard.work.domain.cache.UavTelemetryDataCache;
import com.ard.work.domain.dto.UavFlightStateDTO;
@@ -14,10 +15,13 @@
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
*/
@@ -27,7 +31,8 @@
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
*/
@@ -40,24 +45,40 @@
/**
* 定时任务：每秒读取一次设备状态数据
- * 注意：这里模拟读取状态，实际应该调用设备接口或缓存
*/
@Scheduled(fixedRate = 1000)
public void readTelemetryTask() {
+ long now = System.currentTimeMillis();
UavTelemetryDataCache.forEach((boxSn, telemetryData) -> {
-
- // 从状态缓存里取当前状态
+ // 1️⃣ 从状态缓存里取当前状态
UavState uavState = UavStateCache.get(boxSn);
if (uavState == null) {
+ log.warn("状态不存在，不记录");
return; // 状态不存在，不记录
}
- UavFlightStateDTO dto = new UavFlightStateDTO(
- uavState,
- telemetryData
- );
+ // 2️⃣ 使用遥测自身时间戳判断是否还活着
+ long dataTs = telemetryData.getTimestamp(); // 设备时间 / 服务器接收时间
+ if (now - dataTs > 3000) {
+ //log.warn("超过 3 秒没有新遥测 → 认为已离线或冻结，不记录：{}", new Date(dataTs));
+ return; // 超过 3 秒没有新遥测 → 认为已离线或冻结，不记录
+ }
- addTelemetryData(dto);
+ 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);
+ log.debug("设备 {} 当前状态为：{}", boxSn, currentStatus);
+ // 只有飞行中才添加缓存
+ if (currentStatus == 2) {
+ log.warn("设备 {} 当前状态为飞行中，添加遥测数据到缓存", boxSn);
+ UavFlightStateDTO dto = new UavFlightStateDTO(uavState, telemetryData, dataTs);
+ addTelemetryData(dto);
+ }
});
}
@@ -88,11 +109,15 @@
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();
part.setCreateTime(new Date());
ardflightTaskPartMapper.insert(part);
@@ -123,18 +148,21 @@
* 获取完整航线轨迹（合并所有分片）
*/
@Override
- public List<TelemetryData> getCompleteFlightData(ArdFlightTaskPart ardFlightTaskPart) {
- List<TelemetryData> allData = new ArrayList<>();
+ 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<TelemetryData> partData = SerializeUtil.deserialize(part.getDataPart());
+ List<UavFlightStateDTO> partData = SerializeUtil.deserialize(part.getDataPart());
allData.addAll(partData);
} catch (Exception e) {
log.error("反序列化 boxSn={} 分片数据失败", boxSn, e);
}
}
+ // 按 telemetryData.timestamp 升序排序
+ allData.sort(Comparator.comparingLong(dto -> dto.getTelemetryData().getTimestamp()));
+
return allData;
}
}
--
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