From a222a89580ad46ad31924bdfba4f0e05ecefde16 Mon Sep 17 00:00:00 2001
From: Xiajijian <1176061145@qq.com>
Date: Tue, 10 Mar 2026 17:14:46 +0800
Subject: [PATCH] 1. 优化精细化巡检业务逻辑。
---
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 39 ++++++++++++++++++++++++++++++---------
1 files changed, 30 insertions(+), 9 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 a2eba51..2206340 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
@@ -33,6 +33,7 @@
import com.ard.work.domain.dto.BoxHistoryDTO;
import com.ard.work.domain.dto.BoxPhotosDTO;
import com.ard.work.domain.dto.BoxSettingsDTO;
+import com.ard.work.domain.dto.BoxVideosDTO;
import com.ard.work.domain.dto.camera.*;
import com.ard.work.domain.dto.control.AbsAngleControlDTO;
import com.ard.work.domain.dto.control.AngleControlDTO;
@@ -157,7 +158,7 @@
}
/**
- * 获取盒子图片
+ * 获取任务图片
*
* @return List<BoxPhotosReceiver>
*/
@@ -172,7 +173,22 @@
boxPhotosDTO);
return boxPhotos == null ? null : boxPhotos.getContent();
}
-
+ /**
+ * 获取任务视频
+ *
+ * @return List<BoxVideosReceiver>
+ */
+ @Override
+ public List<BoxVideosReceiver> getBoxVideos(BoxVideosDTO boxVideosDTO) {
+ String boxSn = boxVideosDTO.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);
+ }
+ TyHttpCommonReceiver<List<BoxVideosReceiver>> boxVideos = tyClient.getBoxVideos(ardDroneInfo.getServerId(),
+ boxVideosDTO);
+ return boxVideos == null ? null : boxVideos.getContent();
+ }
/**
* 修改云盒设置
*/
@@ -336,9 +352,10 @@
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
//设置相机模式为拍照模式
- updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
+ //updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
//设置拍照回传
- photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
+ //photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01)
+ // .build());
CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);
this.sendMessage(ardDroneInfo.getServerId(), capturePicCommand);
@@ -358,7 +375,7 @@
}
BaseCmd baseCmd;
if (recordDto.getIsRecord()) {
- updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build());
+ //updateCameraMode(CameraModeDTO.builder().boxSn(recordDto.getBoxSn()).actionParam((byte) 0x02).build());
baseCmd = new RecordStartCmd(recordDto);
} else {
baseCmd = new RecordStopCmd(recordDto);
@@ -589,6 +606,10 @@
if (ardDroneInfo == null) {
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
+ //打点之前先停止打点
+ FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(FlyPointControlCancelDTO.builder().boxSn(boxSn).build());
+ this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd);
+
FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd);
return true;
@@ -616,6 +637,9 @@
/**
* 环绕飞行控制
*/
+// @CheckControlRight(UavControlType.FLY)
+// @CheckTakeoffAltitude
+// @CheckNoFlyZone
@Override
public Boolean FlyRoundControl(FlyRoundControlDTO flyRoundControlDTO) {
String boxSn = flyRoundControlDTO.getBoxSn();
@@ -802,10 +826,8 @@
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);
- log.info("打印数据 ++++ wayLineUploadDTO:-----------------" + wayLineUploadDTO);
+ log.info("打印航线上传数据 ++++++++ wayLineUploadDTO:~~~~~~~~~~~~~~~" + wayLineUploadDTO);
WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
- System.out.println("wayLineUploadCmd:-----------------" + wayLineUploadCmd);
this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd);
return true;
}
@@ -957,7 +979,6 @@
// 处理无人机遥测消息
UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
TelemetryData telemetryData = uavTelemetryDataCmd.getTelemetryData();
- telemetryData.setTimestamp(System.currentTimeMillis());//由于六合提供的状态时间戳不准，先以接收状态作为时间戳
UavTelemetryDataCache.put(telemetryData);
//logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
//WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
--
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