From 5fb4a09cfaa9e8a7731aad90c3dd61c29b27187b Mon Sep 17 00:00:00 2001
From: Xiajijian <1176061145@qq.com>
Date: Fri, 21 Nov 2025 16:56:43 +0800
Subject: [PATCH] 1.代码优化，BUG修改获取权限错误。 2.增加打印日志。
---
ard-route/src/main/java/com/ard/route/util/InitializationUtils.java | 15 +++++++++++++++
ard-work/src/main/java/com/ard/work/component/netty/handler/MessageProtocolEncoder.java | 20 +++++++++++++++++++-
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 2 ++
ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java | 7 ++++---
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java | 3 +++
5 files changed, 43 insertions(+), 4 deletions(-)
diff --git a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
index d2e9f34..8b02c8b 100644
--- a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
+++ b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
@@ -253,8 +253,11 @@
} catch (IOException | ClassNotFoundException e) {
throw new RuntimeException(e);
}
+ // 1.2通过minio获取航线信息
+
// 2.将航线信息转换成对应实体类
WayLineUploadDTO wayLineUploadDTO = buildWayLineUploadDTO(route);
+ wayLineUploadDTO.setBoxSn(boxSn);
// 3.调用接口
tyService.wayLineUpload(wayLineUploadDTO);
return true;
diff --git a/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java b/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
index f630224..7a34b79 100644
--- a/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
+++ b/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
@@ -249,4 +249,19 @@
// ardRouteActions2.setType(1);
// ardRouteActions2.setWaitTime(2);
// }
+
+ public byte[] testParameters() {
+ String data = "74 79 01 3C 44 42 4D 32 35 30 39 37 34 30 36 35 30 30 38 D1 00 10 08 01 15 00 00 70 41 1D 00 00 00 41 22 4A 09 06 9C E7 80 8B F0 59 40 11 08 98 33 BA 07 1D 3F 40 1D 00 00 F0 41 25 00 00 00 41 2A 09 08 01 15 00 00 20 41 18 02 2A 09 08 03 15 00 00 80 3F 18 02 2A 09 08 04 15 00 00 80 3F 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 22 55 09 F1 BC 12 50 7A F0 59 40 11 08 98 33 BA 07 1D 3F 40 1D 00 00 20 42 25 00 00 00 41 2A 09 08 09 15 00 00 A0 41 18 02 2A 09 08 06 15 00 00 20 42 18 02 2A 09 08 07 15 00 00 20 42 18 02 2A 09 08 08 15 00 00 20 42 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 22 3F 09 F1 BC 12 50 7A F0 59 40 11 91 92 E4 DA CC 1C 3F 40 1D 00 00 48 42 25 00 00 00 41 2A 09 08 09 15 00 00 70 41 18 02 2A 09 08 0A 15 00 00 40 40 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 22 34 09 06 9C E7 80 8B F0 59 40 11 91 92 E4 DA CC 1C 3F 40 1D 00 00 70 42 25 00 00 00 41 2A 09 08 02 15 00 00 80 3F 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 30 32 70 32";
+ String[] hexStrings = data.split(" ");
+ StringBuilder sb = new StringBuilder();
+ sb.append("byte[] encodedBytes = {");
+ for (int i = 0; i < hexStrings.length; i++) {
+ sb.append("(byte) 0x").append(hexStrings[i]);
+ if (i < hexStrings.length - 1) {
+ sb.append(", ");
+ }
+ }
+ sb.append("};");
+ return sb.toString().getBytes();
+ }
}
diff --git a/ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java b/ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java
index 5f1f2fb..f03b555 100644
--- a/ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java
+++ b/ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java
@@ -87,7 +87,7 @@
* 高度检查
*/
@Before("@annotation(checkTakeoffAltitude)")
- public void takeoffAltitudeCheck(JoinPoint joinPoint, CheckTakeoffAltitude checkTakeoffAltitude) {
+ public void takeoffAltitudeCheck(JoinPoint joinPoint, CheckTakeoffAltitude checkTakeoffAltitude){
// 获取最小高度
double minAltitude = checkTakeoffAltitude.minAltitude();
// 获取方法参数
@@ -125,8 +125,9 @@
}
// 检查在线状态
if (checkDroneStatus.checkOnline()) {
- Boolean online = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn);
- if (online == null || !online) {
+ // 3️⃣ 检查在线状态
+ BoxInfoReceiver obj = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn);
+ if (obj == null || !obj.getOnLine().equals(1)) {
throw new ControlException("无人机离线，无法执行操作！boxSn: " + boxSn);
}
}
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/handler/MessageProtocolEncoder.java b/ard-work/src/main/java/com/ard/work/component/netty/handler/MessageProtocolEncoder.java
index 2ab6411..7c71749 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/handler/MessageProtocolEncoder.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/handler/MessageProtocolEncoder.java
@@ -7,6 +7,8 @@
import io.netty.handler.codec.MessageToByteEncoder;
import lombok.extern.slf4j.Slf4j;
+import java.util.Arrays;
+
@Slf4j
public class MessageProtocolEncoder extends MessageToByteEncoder<BaseCmd> {
@Override
@@ -24,9 +26,25 @@
// 打印编码后的字节数组
byte[] encodedBytes = new byte[out.readableBytes()]; // 创建字节数组，大小为可读字节数
out.getBytes(out.readerIndex(), encodedBytes); // 读取ByteBuf中的字节到字节数组中
- // log.warn("Encoded message bytes: {}", Arrays.toString(encodedBytes));
+ log.warn("encodedBytes message bytes: {}------", encodedBytes);
+ log.warn("Encoded message bytes: {}------", Arrays.toString(encodedBytes));
// 将字节数组转换为十六进制格式
String hexString = ByteUtils.bytesToHexWithSpaces(encodedBytes);
log.warn("Encoded message in hex: {}", hexString);
}
+
+ public byte[] testParameters() {
+ String data = "74 79 01 3C 44 42 4D 32 35 30 39 37 34 30 36 35 30 30 38 D1 00 10 08 01 15 00 00 70 41 1D 00 00 00 41 22 4A 09 06 9C E7 80 8B F0 59 40 11 08 98 33 BA 07 1D 3F 40 1D 00 00 F0 41 25 00 00 00 41 2A 09 08 01 15 00 00 20 41 18 02 2A 09 08 03 15 00 00 80 3F 18 02 2A 09 08 04 15 00 00 80 3F 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 22 55 09 F1 BC 12 50 7A F0 59 40 11 08 98 33 BA 07 1D 3F 40 1D 00 00 20 42 25 00 00 00 41 2A 09 08 09 15 00 00 A0 41 18 02 2A 09 08 06 15 00 00 20 42 18 02 2A 09 08 07 15 00 00 20 42 18 02 2A 09 08 08 15 00 00 20 42 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 22 3F 09 F1 BC 12 50 7A F0 59 40 11 91 92 E4 DA CC 1C 3F 40 1D 00 00 48 42 25 00 00 00 41 2A 09 08 09 15 00 00 70 41 18 02 2A 09 08 0A 15 00 00 40 40 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 22 34 09 06 9C E7 80 8B F0 59 40 11 91 92 E4 DA CC 1C 3F 40 1D 00 00 70 42 25 00 00 00 41 2A 09 08 02 15 00 00 80 3F 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 30 32 70 32";
+ String[] hexStrings = data.split(" ");
+ StringBuilder sb = new StringBuilder();
+ sb.append("byte[] encodedBytes = {");
+ for (int i = 0; i < hexStrings.length; i++) {
+ sb.append("(byte) 0x").append(hexStrings[i]);
+ if (i < hexStrings.length - 1) {
+ sb.append(", ");
+ }
+ }
+ sb.append("};");
+ return sb.toString().getBytes();
+ }
}
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 22b68f0..5908682 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
@@ -750,7 +750,9 @@
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
//wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据
+ System.out.println("wayLineUploadDTO:-----------------" + wayLineUploadDTO);
WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
+ System.out.println("wayLineUploadCmd:-----------------" + wayLineUploadCmd);
this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd);
return true;
}
--
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