From 27b3ffa1dcf89f4dc5fdd13a96f7c985d0eba68d Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Thu, 30 Oct 2025 11:19:00 +0800
Subject: [PATCH] oss增加按【通过文件扩展名获取MIME类型】存储对象
---
ard-work/src/main/java/com/ard/work/service/impl/GimbalSpeedService.java | 45 ++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 42 insertions(+), 3 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/work/service/impl/GimbalSpeedService.java b/ard-work/src/main/java/com/ard/work/service/impl/GimbalSpeedService.java
index 062969d..dc5956f 100644
--- a/ard-work/src/main/java/com/ard/work/service/impl/GimbalSpeedService.java
+++ b/ard-work/src/main/java/com/ard/work/service/impl/GimbalSpeedService.java
@@ -1,38 +1,70 @@
package com.ard.work.service.impl;
+import com.ard.common.constant.CacheConstants;
import com.ard.common.core.domain.model.LoginUser;
+import com.ard.common.core.redis.RedisCache;
import com.ard.common.utils.SecurityUtils;
import com.ard.work.domain.cache.UavStateCache;
import com.ard.work.domain.dto.control.SpeedControlDTO;
import com.ard.work.domain.dto.state.UavState;
+import com.ard.work.service.IGimbalSpeedService;
import com.ard.work.service.ITyService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.security.authentication.UsernamePasswordAuthenticationToken;
import org.springframework.security.core.context.SecurityContextHolder;
import org.springframework.stereotype.Service;
-
import javax.annotation.Resource;
import java.util.Map;
import java.util.concurrent.*;
+/**
+ * 云台速度控制实现
+ *
+ * @author lsy
+ * @date 2025/10/28
+ */
@Service
@Slf4j
-public class GimbalSpeedService {
+public class GimbalSpeedService implements IGimbalSpeedService {
private final ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
private final Map<String, ScheduledFuture<?>> tasks = new ConcurrentHashMap<>();
@Resource
private ITyService tyService;
+ @Resource
+ private RedisCache redisCache;
+ @Override
public synchronized void startControl(SpeedControlDTO speed) {
String boxSn = speed.getBoxSn();
+
+ // ✅ 先判断是否在线
+ if (!isUavOnline(boxSn)) {
+ throw new RuntimeException("无人机离线，无法启动云台控制: " + boxSn);
+ }
+
if (tasks.containsKey(boxSn)) {
return;
}
LoginUser loginUser = SecurityUtils.getLoginUser();// 主线程获取
+ // ✅ 启动前先试探一次，确保正常
+ try {
+ SecurityContextHolder.getContext().setAuthentication(
+ new UsernamePasswordAuthenticationToken(loginUser, null, loginUser.getAuthorities())
+ );
+ Boolean ok = tyService.speedControl(speed);
+ if (ok == null || !ok) {
+ throw new RuntimeException("初始速度控制指令失败");
+ }
+ } catch (Exception e) {
+ log.error("初次控制指令异常: {}", e.getMessage());
+ throw new RuntimeException("无法启动云台控制：" + e.getMessage());
+ }
+
ScheduledFuture<?> future = executor.scheduleAtFixedRate(() -> {
double currentYaw = getCurrentYaw(boxSn);
+ log.warn("currentYaw: {}", currentYaw);
if ((speed.getYawSpeed() < 0 && currentYaw <= -180) ||
(speed.getYawSpeed() > 0 && currentYaw >= 180)) {
stopControl(boxSn);
@@ -55,7 +87,7 @@
tasks.put(boxSn, future);
}
-
+ @Override
public synchronized void stopControl(String boxSn) {
ScheduledFuture<?> future = tasks.remove(boxSn);
if (future != null) {
@@ -71,4 +103,11 @@
}
return uavState.getPtzState().getYaw();
}
+
+ private boolean isUavOnline(String boxSn) {
+ // 如果 Redis 中存在对应 key，则认为在线
+ Object obj = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn);
+ return obj != null;
+ }
+
}
--
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