From b097f7539a7429a85cdda7959c9ecb83a37a2918 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Thu, 11 Jun 2026 14:49:28 +0800
Subject: [PATCH] 架次关联航线
---
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 77 +++++++++++++++++++++++++++++++++++---
1 files changed, 70 insertions(+), 7 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 c6a0d66..e13e928 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
@@ -1,6 +1,7 @@
package com.ard.work.service.impl;
import com.ard.common.exception.ControlException;
+import com.ard.vtdu.config.MediamtxConfig;
import com.ard.work.aspect.annotation.CheckControlRight;
import com.ard.work.aspect.annotation.CheckDroneStatus;
import com.ard.work.aspect.annotation.CheckNoFlyZone;
@@ -45,6 +46,7 @@
import com.ard.work.domain.dto.settings.VideoStreamSettingDTO;
import com.ard.work.domain.dto.signal.SignalInfo;
import com.ard.work.domain.dto.speaker.*;
+import com.ard.work.domain.dto.state.PointData;
import com.ard.work.domain.dto.state.UavState;
import com.ard.work.domain.dto.telemetry.TelemetryData;
import com.ard.work.domain.dto.wayline.*;
@@ -85,9 +87,10 @@
private TyClient tyClient;
@Autowired
private RouteStateMachineService stateMachineService;
- @Autowired
- private IArdFlightTaskPartService ardFlightTaskPartService;
-
+ @Resource
+ private UavPositionChangeService uavPositionChangeService;
+ @Resource
+ private UavRegionDetectService uavRegionDetectService;
/**
* 获取边缘服务器token信息
*
@@ -606,6 +609,10 @@
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;
@@ -633,6 +640,9 @@
/**
* 环绕飞行控制
*/
+// @CheckControlRight(UavControlType.FLY)
+// @CheckTakeoffAltitude
+// @CheckNoFlyZone
@Override
public Boolean FlyRoundControl(FlyRoundControlDTO flyRoundControlDTO) {
String boxSn = flyRoundControlDTO.getBoxSn();
@@ -818,13 +828,33 @@
if (ardDroneInfo == null) {
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
+
+ if ("3".equals(wayLineUploadDTO.getWayLineData().getRouteType())){
+ CreateWayLineUploadDTO(wayLineUploadDTO);
+ }
+
//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;
+ }
+
+ /**
+ * 根据航线类型重新加工每个行点的高度
+ * 如果行点类型是精细化巡检
+ */
+ private void CreateWayLineUploadDTO(WayLineUploadDTO wayLineUploadDTO) {
+ // 先获取遥测数据
+ String boxSn = wayLineUploadDTO.getBoxSn();
+ TelemetryData telemetryData = getUavTelemetryData(boxSn);
+ if (telemetryData == null) {
+ throw new ControlException("获取遥测数据失败, boxSn:{}" + boxSn);
+ }
+ float altitude = telemetryData.getAltitude();
+ for (PointData interest : wayLineUploadDTO.getWayLineData().getInterests()) {
+ interest.setHeight(interest.getHeight() - altitude);
+ }
}
//创建航线
@@ -974,7 +1004,16 @@
// 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
+
+ // 判断是否需要触发区域检测
+ if (uavPositionChangeService.shouldTriggerRegionCheck(telemetryData)) {
+ log.debug("无人机 {} 位置变化，触发区域检测", telemetryData.getBoxSn());
+ // 异步触发区域检测（不阻塞）
+ uavRegionDetectService.detectRegionAsync(telemetryData);
+ } else {
+ log.debug("无人机 {} 位置未变化，跳过区域检测", telemetryData.getBoxSn());
+ }
+
UavTelemetryDataCache.put(telemetryData);
//logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
//WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
@@ -1164,6 +1203,30 @@
}
/**
+ * 开启爆闪灯
+ */
+ @Override
+ public Boolean turnOnLight() {
+ return null;
+ }
+
+ /**
+ * 关闭爆闪灯
+ */
+ @Override
+ public Boolean turnOffLight() {
+ return null;
+ }
+
+ /**
+ * 亮度调节
+ */
+ @Override
+ public Boolean adjustBrightness() {
+ return null;
+ }
+
+ /**
* 根据[服务器id]查询无人机盒子列表
*/
private List<ArdDroneInfo> getDroneLs(String serverId) {
--
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