From 2fd6dc640f0f94ea5c1109aa7a8fd3ae33643dec Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Mon, 22 Dec 2025 09:42:03 +0800
Subject: [PATCH] 轨迹重新排序
---
ard-work/src/main/java/com/ard/work/service/impl/ArdFlightTaskPartServiceImpl.java | 16 ++++++++++++++--
1 files changed, 14 insertions(+), 2 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 4f20a52..46c0ef5 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
@@ -15,6 +15,7 @@
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;
@@ -44,14 +45,22 @@
*/
@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) {
return; // 状态不存在，不记录
}
+ // 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) {
+ 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
@@ -60,7 +69,7 @@
UavFlightStateDTO dto = new UavFlightStateDTO(
uavState,
telemetryData,
- System.currentTimeMillis()
+ dataTs
);
addTelemetryData(dto);
});
@@ -143,6 +152,9 @@
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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