From 4fafee90e483bb10e092186a9b07b8cc356dbdb2 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Thu, 11 Jun 2026 14:49:37 +0800
Subject: [PATCH] Merge branch 'dev' of http://59.110.226.79:18000/r/uav/ard-uav-server into dev
---
ard-work/src/main/java/com/ard/work/service/impl/ArdFlightTaskPartServiceImpl.java | 76 +++++++++++++++++++++-----------------
1 files changed, 42 insertions(+), 34 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 0917724..3544e79 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
@@ -1,8 +1,11 @@
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.cache.UavWaylineCache;
import com.ard.work.domain.dto.UavFlightStateDTO;
import com.ard.work.domain.dto.state.UavState;
import com.ard.work.domain.dto.telemetry.TelemetryData;
@@ -44,46 +47,51 @@
/**
* 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) -> {
+ log.debug("定时任务：读取遥测数据");
+ try {
+ long now = System.currentTimeMillis();
+ UavTelemetryDataCache.forEach((boxSn, telemetryData) -> {
+ // 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
+ }
- // 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) {
+ //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
+ }
- // 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
- }
+ int currentStatus = uavState.getFlightControllerState().getFlightStatus();
+ Integer lastStatus = lastFlightStatusMap.get(boxSn);
- 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);
-
- // 只有飞行中才添加缓存
- if (currentStatus == 2) {
- UavFlightStateDTO dto = new UavFlightStateDTO(uavState, telemetryData, dataTs);
- addTelemetryData(dto);
- }
- UavFlightStateDTO dto = new UavFlightStateDTO(
- uavState,
- telemetryData,
- dataTs
- );
- addTelemetryData(dto);
- });
+ // 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) {
+ int flightMode = telemetryData.getFlightMode();
+ if (flightMode != 14) {
+ // 非航线模式 → 清理航线缓存，避免手动飞行被错绑 routeId
+ UavWaylineCache.remove(boxSn);
+ }
+ UavFlightStateDTO dto = new UavFlightStateDTO(uavState, telemetryData, dataTs);
+ addTelemetryData(dto);
+ }
+ });
+ }
+ catch (Exception e) {
+ log.error("定时任务：读取遥测数据异常", e);
+ }
}
/**
--
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