From a82c9a2633c519d5d7d868d3ec89832f77849700 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Mon, 17 Mar 2025 09:35:58 +0800
Subject: [PATCH] 增加飞行高度控制切面

---
 ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java |   29 +++++++++++++++++++++++------
 1 files changed, 23 insertions(+), 6 deletions(-)

diff --git a/ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java b/ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java
index e3e3e54..359228f 100644
--- a/ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java
+++ b/ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java
@@ -1,7 +1,8 @@
 package com.ard.tianyu.service.impl;
 
 import com.ard.common.utils.ByteUtils;
-import com.ard.tianyu.aspect.annotation.RequireUavControl;
+import com.ard.tianyu.aspect.annotation.CheckTakeoffAltitude;
+import com.ard.tianyu.aspect.annotation.CheckControlRight;
 import com.ard.tianyu.config.TyConfiguration;
 import com.ard.tianyu.domain.dto.camera.*;
 import com.ard.tianyu.domain.dto.manual.*;
@@ -47,7 +48,6 @@
 import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
 import com.ard.tianyu.service.ITyService;
 import com.ard.tianyu.websocket.domain.UavControlType;
-import com.ard.tianyu.websocket.utils.WebSocketUtil;
 import com.ard.vtdu.service.IMediaService;
 import io.netty.channel.Channel;
 import io.netty.channel.ChannelFuture;
@@ -197,7 +197,7 @@
     /**
      * 云台控制基于角度
      */
-    @RequireUavControl(UavControlType.PAYLOAD)
+    @CheckControlRight(UavControlType.PAYLOAD)
     @Override
     public Boolean angleControl(AngleControlDTO angleControlDto) {
         AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto);
@@ -208,7 +208,7 @@
     /**
      * 云台绝对值控制(基于角度)
      */
-    @RequireUavControl(UavControlType.PAYLOAD)
+    @CheckControlRight(UavControlType.PAYLOAD)
     @Override
     public Boolean absAngleControl(AbsAngleControlDTO absAngleControlDto) {
         AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto);
@@ -219,7 +219,7 @@
     /**
      * 云台转动(基于速度)
      */
-    @RequireUavControl(UavControlType.PAYLOAD)
+    @CheckControlRight(UavControlType.PAYLOAD)
     @Override
     public Boolean speedControl(SpeedControlDTO speedControlDto) {
         SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto);
@@ -267,6 +267,7 @@
     /**
      * 变倍
      */
+    @CheckControlRight(UavControlType.PAYLOAD)
     @Override
     public Boolean zoom(ZoomDTO zoomDTO) {
         ZoomCmd zoomCommand = new ZoomCmd(zoomDTO);
@@ -277,6 +278,7 @@
     /**
      * 变倍到指定倍数
      */
+    @CheckControlRight(UavControlType.PAYLOAD)
     @Override
     public Boolean zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) {
         ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO);
@@ -327,7 +329,7 @@
     /**
      * 起飞
      */
-    @RequireUavControl(UavControlType.FLY)
+    @CheckControlRight(UavControlType.FLY)
     @Override
     public Boolean takeOff(TakeOffDTO takeOffDTO) {
         TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
@@ -338,6 +340,7 @@
     /**
      * 返航
      */
+    @CheckControlRight(UavControlType.FLY)
     @Override
     public Boolean returnHome(ReturnHomeDTO returnHomeDTO) {
         ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO);
@@ -348,6 +351,7 @@
     /**
      * 取消返航
      */
+    @CheckControlRight(UavControlType.FLY)
     @Override
     public Boolean returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) {
         ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO);
@@ -358,6 +362,7 @@
     /**
      * 降落
      */
+    @CheckControlRight(UavControlType.FLY)
     @Override
     public Boolean land(LandDTO landDTO) {
         LandCmd landCmd = new LandCmd(landDTO);
@@ -368,6 +373,7 @@
     /**
      * 取消降落
      */
+    @CheckControlRight(UavControlType.FLY)
     @Override
     public Boolean landCancel(LandCancelDTO landCancelDTO) {
         LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO);
@@ -378,6 +384,7 @@
     /**
      * 强制降落
      */
+    @CheckControlRight(UavControlType.FLY)
     @Override
     public Boolean landForced(LandForcedDTO landForcedDTO) {
         LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO);
@@ -388,6 +395,8 @@
     /**
      * 方向控制
      */
+    @CheckControlRight(UavControlType.FLY)
+    @CheckTakeoffAltitude(minAltitude = 30.0)
     @Override
     public Boolean flyControl(FlyControlDTO flyControlDTO) {
         FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO);
@@ -398,6 +407,8 @@
     /**
      * 指点飞行控制
      */
+    @CheckControlRight(UavControlType.FLY)
+    @CheckTakeoffAltitude(minAltitude = 30.0)
     @Override
     public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) {
         FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
@@ -408,6 +419,7 @@
     /**
      * 停止指点飞行控制
      */
+    @CheckControlRight(UavControlType.FLY)
     @Override
     public Boolean flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) {
         FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO);
@@ -418,6 +430,7 @@
     /**
      * 紧急制动
      */
+    @CheckControlRight(UavControlType.FLY)
     @Override
     public Boolean emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) {
         EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO);
@@ -559,6 +572,7 @@
     /**
      * 航线开始
      */
+    @CheckControlRight(UavControlType.FLY)
     @Override
     public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
         WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO);
@@ -568,6 +582,7 @@
     /**
      * 航线暂停
      */
+    @CheckControlRight(UavControlType.FLY)
     @Override
     public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
         WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO);
@@ -577,6 +592,7 @@
     /**
      * 航线恢复
      */
+    @CheckControlRight(UavControlType.FLY)
     @Override
     public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
         WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO);
@@ -586,6 +602,7 @@
     /**
      * 航线结束
      */
+    @CheckControlRight(UavControlType.FLY)
     @Override
     public void wayLineEnd(WayLineEndDTO wayLineEndDTO) {
         WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);

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