From 63e503016c78aac218a4c7f9a765bcbb0b1e398e Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Mon, 24 Nov 2025 12:27:08 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-work/src/main/java/com/ard/work/component/netty/handler/MessageProtocolDecoder.java | 8 -
ard-device/src/main/java/com/ard/device/channel/service/impl/ArdChannelServiceImpl.java | 2
ard-device/src/main/resources/mapper/ArdCameraMapper.xml | 3
ard-device/src/main/java/com/ard/device/component/sdk/hik/service/impl/HikVisionSDK.java | 1
ard-system/src/main/java/com/ard/system/authorize/common/AuthorizeUtil.java | 44 ++++++++++
ard-work/src/main/java/com/ard/work/component/netty/command/camera/FormatSdCardCmd.java | 35 ++++++++
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 19 ++++
ard-admin/src/main/java/com/ard/web/controller/work/UavCameraController.java | 11 ++
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java | 3
ard-work/src/main/java/com/ard/work/domain/dto/camera/FormatSdCardDTO.java | 19 ++++
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/ArdDroneInfoServiceImpl.java | 2
ard-work/src/main/java/com/ard/work/component/netty/command/camera/FormatSdCardReplyCmd.java | 30 +++++++
ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java | 7 +
ard-work/src/main/java/com/ard/work/service/ITyService.java | 5 +
16 files changed, 210 insertions(+), 14 deletions(-)
diff --git a/ard-admin/src/main/java/com/ard/web/controller/work/UavCameraController.java b/ard-admin/src/main/java/com/ard/web/controller/work/UavCameraController.java
index 4562849..e613605 100644
--- a/ard-admin/src/main/java/com/ard/web/controller/work/UavCameraController.java
+++ b/ard-admin/src/main/java/com/ard/web/controller/work/UavCameraController.java
@@ -73,6 +73,15 @@
return AjaxResult.success();
}
+ @ApiOperation("格式化存储卡")
+ @ApiOperationSupport(order = 9)
+ @PostMapping("/formatSdCard")
+ public AjaxResult formatSdCard(@RequestBody FormatSdCardDTO formatSdCardDTO) {
+ tyService.formatSdCard(formatSdCardDTO);
+ return AjaxResult.success();
+ }
+
+
@ApiOperation(value = "打开或关闭照片回传", notes = "actionParam值：0-关闭，1-打开")
@ApiOperationSupport(order = 10)
@PostMapping("/photoReturnToggle")
@@ -81,4 +90,6 @@
return AjaxResult.success();
}
+
+
}
\ No newline at end of file
diff --git a/ard-device/src/main/java/com/ard/device/channel/service/impl/ArdChannelServiceImpl.java b/ard-device/src/main/java/com/ard/device/channel/service/impl/ArdChannelServiceImpl.java
index d2cefb6..9a46d7f 100644
--- a/ard-device/src/main/java/com/ard/device/channel/service/impl/ArdChannelServiceImpl.java
+++ b/ard-device/src/main/java/com/ard/device/channel/service/impl/ArdChannelServiceImpl.java
@@ -143,7 +143,7 @@
log.debug("定时同步Vtdu任务");
List<ArdChannel> channels = this.selectArdChannelList(new ArdChannel());
if (channels == null || channels.isEmpty()) {
- log.warn("没有获取到通道数据，退出同步");
+ // log.warn("没有获取到通道数据，退出同步");
return;
}
List<ArdVtdu> ardVtduList = ardVtduService.selectArdVtduList(new ArdVtdu());
diff --git a/ard-device/src/main/java/com/ard/device/component/sdk/hik/service/impl/HikVisionSDK.java b/ard-device/src/main/java/com/ard/device/component/sdk/hik/service/impl/HikVisionSDK.java
index 4f000f6..c146539 100644
--- a/ard-device/src/main/java/com/ard/device/component/sdk/hik/service/impl/HikVisionSDK.java
+++ b/ard-device/src/main/java/com/ard/device/component/sdk/hik/service/impl/HikVisionSDK.java
@@ -106,6 +106,7 @@
eventPublisher.publishEvent(loginEvent);
log.warn("设备[{}:{}]登录失败: {}({})", camera.getIp(), camera.getPort(),
SdkErrorCodeEnum.getDescByCode(errorCode), errorCode);
+ return;
}
log.info("Login Success 【 {}:{} 】", camera.getIp(), camera.getPort());
diff --git a/ard-device/src/main/resources/mapper/ArdCameraMapper.xml b/ard-device/src/main/resources/mapper/ArdCameraMapper.xml
index bd3fb07..cf87cad 100644
--- a/ard-device/src/main/resources/mapper/ArdCameraMapper.xml
+++ b/ard-device/src/main/resources/mapper/ArdCameraMapper.xml
@@ -201,7 +201,8 @@
<if test="longitude != null">longitude = #{longitude},</if>
<if test="latitude != null">latitude = #{latitude},</if>
<if test="altitude != null">altitude = #{altitude},</if>
- <if test="dockId != null">dock_id = #{dockId},</if>
+ <!-- 简洁写法：直接设置值，包括null -->
+ dock_id = #{dockId},
<if test="loginId != null">login_id = #{loginId},</if>
<if test="deptId != null">dept_id = #{deptId},</if>
<if test="userId != null">user_id = #{userId},</if>
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-system/src/main/java/com/ard/system/authorize/common/AuthorizeUtil.java b/ard-system/src/main/java/com/ard/system/authorize/common/AuthorizeUtil.java
index dc8b641..8fe1cc2 100644
--- a/ard-system/src/main/java/com/ard/system/authorize/common/AuthorizeUtil.java
+++ b/ard-system/src/main/java/com/ard/system/authorize/common/AuthorizeUtil.java
@@ -76,7 +76,7 @@
return null;
}
- public static String getMachineCode() {
+ public static String getMachineCode1() {
StringBuffer sb = new StringBuffer();
try {
InetAddress ia = InetAddress.getLocalHost();
@@ -104,6 +104,48 @@
log.debug("机器码:"+code);
return code;
}
+ public static String getMachineCode() {
+ try {
+ Enumeration<NetworkInterface> interfaces = NetworkInterface.getNetworkInterfaces();
+ while (interfaces.hasMoreElements()) {
+ NetworkInterface nif = interfaces.nextElement();
+
+ // 跳过回环、虚拟、未启动网卡
+ if (nif.isLoopback() || nif.isVirtual() || !nif.isUp()) {
+ continue;
+ }
+
+ // 可选：跳过 idrac 管理网卡
+ if (nif.getName().toLowerCase().contains("idrac")) {
+ continue;
+ }
+
+ byte[] mac = nif.getHardwareAddress();
+ if (mac == null || mac.length == 0) {
+ continue;
+ }
+
+ StringBuilder sb = new StringBuilder();
+ for (int i = 0; i < mac.length; i++) {
+ if (i != 0) sb.append("-");
+ sb.append(String.format("%02X", mac[i]));
+ }
+
+ String macStr = sb.toString();
+ log.debug("物理网卡: " + nif.getName() + " MAC: " + macStr);
+
+ // 返回 MAC 的 MD5 作为机器码
+ String code = Md5Utils.hash(macStr);
+ log.debug("机器码: " + code);
+ return code;
+ }
+ } catch (Exception e) {
+ log.error("获取机器码异常: " + e.getMessage(), e);
+ }
+
+ // 找不到 MAC 返回 null
+ return null;
+ }
public static String getCPUCode() {
String serial = null;
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/command/camera/FormatSdCardCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/FormatSdCardCmd.java
new file mode 100644
index 0000000..4a09997
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/FormatSdCardCmd.java
@@ -0,0 +1,35 @@
+package com.ard.work.component.netty.command.camera;
+
+import com.ard.work.component.netty.command.BaseCmd;
+import com.ard.work.domain.dto.camera.FormatSdCardDTO;
+import io.netty.buffer.ByteBuf;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * Description: 格式化存储卡指令
+ * Author: lsy
+ * Date: 2025年11月24日9:31
+ **/
+@Data
+@EqualsAndHashCode(callSuper = false)
+public class FormatSdCardCmd extends BaseCmd {
+ private final byte encryptFlag = 0x00; // 加密标志
+ private final byte actionCode = 0x40; // 动作编号
+
+ public FormatSdCardCmd(FormatSdCardDTO formatSdCardDTO) {
+ setDataHeader((short) 0x7479);
+ setDataLength((short) 18);
+ setBoxSn(formatSdCardDTO.getBoxSn().getBytes());
+ setCmdCode((byte) 0xD1);
+ }
+ @Override
+ public void encode(ByteBuf out) {
+ out.writeShort(getDataHeader()); // 写入数据头
+ out.writeShort(getDataLength()); // 写入数据长度
+ out.writeBytes(getBoxSn()); // 写入盒子SN
+ out.writeByte(getCmdCode()); // 写入命令码
+ out.writeByte(encryptFlag); // 写入加密标志
+ out.writeByte(actionCode); // 写入动作编号
+ }
+}
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/camera/FormatSdCardReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/FormatSdCardReplyCmd.java
new file mode 100644
index 0000000..6c4f054
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/camera/FormatSdCardReplyCmd.java
@@ -0,0 +1,30 @@
+package com.ard.work.component.netty.command.camera;
+
+import com.ard.work.component.netty.command.BaseCmd;
+import io.netty.buffer.ByteBuf;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * Description: 格式化存储卡回复指令
+ * Author: lsy
+ * Date: 2025年11月24日9:31
+ **/
+@Data
+@EqualsAndHashCode(callSuper = false)
+public class FormatSdCardReplyCmd extends BaseCmd {
+ private final byte result; // 执行结果
+ private final Integer errorCode; // 错误码
+ public FormatSdCardReplyCmd(String boxSn, Byte result, Integer errorCode) {
+ setDataHeader((short) 0x6A77);
+ setDataLength((short) 20);
+ setBoxSn(boxSn.getBytes());
+ setCmdCode((byte) 0xD1);
+ this.result = result;
+ this.errorCode = errorCode;
+ }
+ @Override
+ public void encode(ByteBuf out) {
+
+ }
+}
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/handler/MessageProtocolDecoder.java b/ard-work/src/main/java/com/ard/work/component/netty/handler/MessageProtocolDecoder.java
index 10ea780..a36e068 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/handler/MessageProtocolDecoder.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/handler/MessageProtocolDecoder.java
@@ -1,6 +1,7 @@
package com.ard.work.component.netty.handler;// MessageProtocolDecoder.java
import com.ard.common.utils.ByteUtils;
+import com.ard.work.component.netty.command.camera.*;
import com.ard.work.component.netty.command.manual.*;
import com.ard.work.component.netty.command.wayline.*;
import com.ard.work.domain.dto.converter.realdata.UavSignalInfoConverter;
@@ -10,13 +11,8 @@
import com.ard.work.domain.dto.state.UavState;
import com.ard.work.domain.dto.telemetry.TelemetryData;
import com.ard.work.component.netty.command.BaseCmd;
-import com.ard.work.component.netty.command.camera.CameraModeReplyCmd;
-import com.ard.work.component.netty.command.camera.CapturePicReplyCmd;
-import com.ard.work.component.netty.command.camera.RecordStartReplyCmd;
-import com.ard.work.component.netty.command.camera.RecordStopReplyCmd;
import com.ard.work.component.netty.command.notice.BoxPowerStatusReplyCmd;
import com.ard.work.component.netty.command.notice.FlyWayEndReplyCmd;
-import com.ard.work.component.netty.command.camera.PicUploadCompletedReplyCmd;
import com.ard.work.component.netty.command.notice.UavReadyReplyCmd;
import com.ard.work.component.netty.command.real.SignalInfoCmd;
import com.ard.work.component.netty.command.real.UavStateCmd;
@@ -190,6 +186,8 @@
return new FlyWayEndReplyCmd(boxSn, result, errorCode);
// Special cases
case 0x3D:
+ case 0x40:
+ return new FormatSdCardReplyCmd(boxSn, result, errorCode);
case 0x42:
return processSpecialD1ReplyCmd(in, actionCode, boxSn);
// Add other cases...
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 ec54797..9e53cbf 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 +26,23 @@
// 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));
// 将字节数组转换为十六进制格式
String hexString = ByteUtils.bytesToHexWithSpaces(encodedBytes);
- log.debug("Encoded message in hex: {}", hexString);
+ 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/domain/dto/camera/FormatSdCardDTO.java b/ard-work/src/main/java/com/ard/work/domain/dto/camera/FormatSdCardDTO.java
new file mode 100644
index 0000000..bc28d8d
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/domain/dto/camera/FormatSdCardDTO.java
@@ -0,0 +1,19 @@
+package com.ard.work.domain.dto.camera;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * Description: 格式化存储卡实体对象
+ * Author: lsy
+ * Date: 2025年11月24日9:39
+ **/
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class FormatSdCardDTO {
+ private String boxSn;
+}
diff --git a/ard-work/src/main/java/com/ard/work/service/ITyService.java b/ard-work/src/main/java/com/ard/work/service/ITyService.java
index c8fd86e..b5b1350 100644
--- a/ard-work/src/main/java/com/ard/work/service/ITyService.java
+++ b/ard-work/src/main/java/com/ard/work/service/ITyService.java
@@ -112,6 +112,11 @@
Boolean speedControl(SpeedControlDTO speedControlDto);
/**
+ * 格式化存储卡
+ */
+ Boolean formatSdCard(FormatSdCardDTO formatSdCardDTO);
+
+ /**
* 设置相机模式
*/
Boolean updateCameraMode(CameraModeDTO cameraModeDTO);
diff --git a/ard-work/src/main/java/com/ard/work/service/impl/ArdDroneInfoServiceImpl.java b/ard-work/src/main/java/com/ard/work/service/impl/ArdDroneInfoServiceImpl.java
index 4172edb..09b3fdc 100644
--- a/ard-work/src/main/java/com/ard/work/service/impl/ArdDroneInfoServiceImpl.java
+++ b/ard-work/src/main/java/com/ard/work/service/impl/ArdDroneInfoServiceImpl.java
@@ -287,7 +287,7 @@
// 只有在线的无人机才存 Redis
String redisKey = CacheConstants.UAV_ONLINE_KEY + boxSn;
if (remote.getOnLine() == 1) {
- redisCache.setCacheObject(redisKey, remote, 10, TimeUnit.SECONDS);
+ redisCache.setCacheObject(redisKey, remote, 30, TimeUnit.SECONDS);
} else {
redisCache.deleteObject(CacheConstants.UAV_ONLINE_KEY + boxSn);
}
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..6543a15 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
@@ -287,6 +287,18 @@
return true;
}
+ @Override
+ public Boolean formatSdCard(FormatSdCardDTO formatSdCardDTO) {
+ String boxSn = formatSdCardDTO.getBoxSn();
+ ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
+ if (ardDroneInfo == null) {
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
+ }
+ FormatSdCardCmd formatSdCardCmd = new FormatSdCardCmd(formatSdCardDTO);
+ this.sendMessage(ardDroneInfo.getServerId(), formatSdCardCmd);
+ return true;
+ }
+
/**
* 设置相机模式
*/
@@ -750,7 +762,9 @@
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;
}
@@ -932,6 +946,11 @@
FlyWayEndReplyCmd flyWayEndReplyCmd = (FlyWayEndReplyCmd) tyCommand;
logPrint("无人机飞行结束", flyWayEndReplyCmd.getResult(), flyWayEndReplyCmd.getErrorCode());
}
+ //格式化存储卡
+ if (tyCommand instanceof FormatSdCardReplyCmd) {
+ FormatSdCardReplyCmd formatSdCardReplyCmd = (FormatSdCardReplyCmd) tyCommand;
+ logPrint("格式化存储卡", formatSdCardReplyCmd.getResult(), formatSdCardReplyCmd.getErrorCode());
+ }
if (tyCommand instanceof CapturePicReplyCmd) {
CapturePicReplyCmd capturePicReplyCommand = (CapturePicReplyCmd) tyCommand;
logPrint("无人机拍照", capturePicReplyCommand.getResult(), capturePicReplyCommand.getErrorCode());
--
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