From 402fe914957546a820c60731181501c554826fa4 Mon Sep 17 00:00:00 2001
From: Xiajijian <1176061145@qq.com>
Date: Wed, 27 May 2026 09:18:19 +0800
Subject: [PATCH] 1. 提交细节修改。
---
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 47 +++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 47 insertions(+), 0 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java b/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
index 2fc7464..e13e928 100644
--- a/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
+++ b/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
@@ -46,6 +46,7 @@
import com.ard.work.domain.dto.settings.VideoStreamSettingDTO;
import com.ard.work.domain.dto.signal.SignalInfo;
import com.ard.work.domain.dto.speaker.*;
+import com.ard.work.domain.dto.state.PointData;
import com.ard.work.domain.dto.state.UavState;
import com.ard.work.domain.dto.telemetry.TelemetryData;
import com.ard.work.domain.dto.wayline.*;
@@ -827,11 +828,33 @@
if (ardDroneInfo == null) {
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
+
+ if ("3".equals(wayLineUploadDTO.getWayLineData().getRouteType())){
+ CreateWayLineUploadDTO(wayLineUploadDTO);
+ }
+
//wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据
log.info("打印航线上传数据 ++++++++ wayLineUploadDTO:~~~~~~~~~~~~~~~" + wayLineUploadDTO);
WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd);
return true;
+ }
+
+ /**
+ * 根据航线类型重新加工每个行点的高度
+ * 如果行点类型是精细化巡检
+ */
+ private void CreateWayLineUploadDTO(WayLineUploadDTO wayLineUploadDTO) {
+ // 先获取遥测数据
+ String boxSn = wayLineUploadDTO.getBoxSn();
+ TelemetryData telemetryData = getUavTelemetryData(boxSn);
+ if (telemetryData == null) {
+ throw new ControlException("获取遥测数据失败, boxSn:{}" + boxSn);
+ }
+ float altitude = telemetryData.getAltitude();
+ for (PointData interest : wayLineUploadDTO.getWayLineData().getInterests()) {
+ interest.setHeight(interest.getHeight() - altitude);
+ }
}
//创建航线
@@ -1180,6 +1203,30 @@
}
/**
+ * 开启爆闪灯
+ */
+ @Override
+ public Boolean turnOnLight() {
+ return null;
+ }
+
+ /**
+ * 关闭爆闪灯
+ */
+ @Override
+ public Boolean turnOffLight() {
+ return null;
+ }
+
+ /**
+ * 亮度调节
+ */
+ @Override
+ public Boolean adjustBrightness() {
+ return null;
+ }
+
+ /**
* 根据[服务器id]查询无人机盒子列表
*/
private List<ArdDroneInfo> getDroneLs(String serverId) {
--
Gitblit v1.9.3