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 | 63 +++++++++++++++++++++++--------
1 files changed, 46 insertions(+), 17 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 d6fb8c5..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
@@ -1,7 +1,10 @@
package com.ard.work.service.impl;
import cn.hutool.core.util.SerializeUtil;
+import com.ard.work.domain.cache.UavStateCache;
import com.ard.work.domain.cache.UavTelemetryDataCache;
+import com.ard.work.domain.dto.UavFlightStateDTO;
+import com.ard.work.domain.dto.state.UavState;
import com.ard.work.domain.dto.telemetry.TelemetryData;
import com.ard.work.domain.entity.ArdFlightTaskPart;
import com.ard.work.mapper.ArdFlightTaskPartMapper;
@@ -11,9 +14,8 @@
import org.springframework.scheduling.annotation.Async;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Service;
-import java.time.LocalDateTime;
-import java.time.temporal.ChronoUnit;
import java.util.ArrayList;
+import java.util.Comparator;
import java.util.Date;
import java.util.List;
import java.util.concurrent.ConcurrentHashMap;
@@ -30,7 +32,7 @@
/**
* 缓存：boxSn -> 当前分片数据
*/
- private final ConcurrentHashMap<String, List<TelemetryData>> cacheMap = new ConcurrentHashMap<>();
+ private final ConcurrentHashMap<String, List<UavFlightStateDTO>> cacheMap = new ConcurrentHashMap<>();
/**
* 分片保存阈值条数
@@ -43,12 +45,33 @@
*/
@Scheduled(fixedRate = 1000)
public void readTelemetryTask() {
+ long now = System.currentTimeMillis();
UavTelemetryDataCache.forEach((boxSn, telemetryData) -> {
- // 只记录相对高度大于1米的数据
- float relativeHeight = telemetryData.getUltrasonic(); // 或者 telemetryData.getRelativeHeight()，根据你的字段
- if (relativeHeight > 1) {
- addTelemetryData(telemetryData);
+
+ // 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
+ }
+
+ UavFlightStateDTO dto = new UavFlightStateDTO(
+ uavState,
+ telemetryData,
+ dataTs
+ );
+ addTelemetryData(dto);
});
}
@@ -56,10 +79,10 @@
* 添加一条遥测数据到缓存
*/
@Override
- public void addTelemetryData(TelemetryData telemetryData) {
- String boxSn = telemetryData.getBoxSn();
- List<TelemetryData> list = cacheMap.computeIfAbsent(boxSn, k -> new ArrayList<>());
- list.add(telemetryData);
+ public void addTelemetryData(UavFlightStateDTO uavFlightStateDTO) {
+ String boxSn = uavFlightStateDTO.getTelemetryData().getBoxSn();
+ List<UavFlightStateDTO> list = cacheMap.computeIfAbsent(boxSn, k -> new ArrayList<>());
+ list.add(uavFlightStateDTO);
// 当缓存条数达到阈值 或 时间间隔超过 CHUNK_INTERVAL 时，分片保存
if (list.size() >= CHUNK_SIZE) {
@@ -72,7 +95,7 @@
*/
@Async
public void saveChunk(String boxSn) {
- List<TelemetryData> dataList = cacheMap.getOrDefault(boxSn, new ArrayList<>());
+ List<UavFlightStateDTO> dataList = cacheMap.getOrDefault(boxSn, new ArrayList<>());
if (dataList.isEmpty()) {
return;
}
@@ -85,7 +108,10 @@
.count(dataList.size())
.dataPart(blobData)
.build();
- part.setCreateTime(new Date());
+ // 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);
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());
@@ -104,7 +130,7 @@
*/
@Override
public void flushRemaining(String boxSn) {
- List<TelemetryData> dataList = cacheMap.getOrDefault(boxSn, new ArrayList<>());
+ List<UavFlightStateDTO> dataList = cacheMap.getOrDefault(boxSn, new ArrayList<>());
if (!dataList.isEmpty()) {
saveChunk(boxSn);
}
@@ -114,18 +140,21 @@
* 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);
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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