From b2ce863ccd86aa2b7e308e0f8098fc0b932f57eb Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Fri, 19 Dec 2025 10:18:55 +0800
Subject: [PATCH] 修改只记录相对高度1米的飞行轨迹数据
---
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 406 ++++++++++++++++++++++-----------------------------------
1 files changed, 160 insertions(+), 246 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 311c6c8..3d134e3 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
@@ -1,14 +1,9 @@
package com.ard.work.service.impl;
-import com.ard.common.constant.CacheConstants;
-import com.ard.common.core.redis.RedisCache;
-import com.ard.common.exception.ServiceException;
-import com.ard.common.utils.StringUtils;
-import com.ard.data.noflyzone.domain.ArdNoFlyZone;
-import com.ard.data.noflyzone.domain.Vertex;
-import com.ard.data.noflyzone.service.IArdNoFlyZoneService;
-import com.ard.data.noflyzone.utils.NoFlyZoneUtils;
+import com.ard.common.exception.ControlException;
import com.ard.work.aspect.annotation.CheckControlRight;
+import com.ard.work.aspect.annotation.CheckDroneStatus;
+import com.ard.work.aspect.annotation.CheckNoFlyZone;
import com.ard.work.aspect.annotation.CheckTakeoffAltitude;
import com.ard.work.component.forest.TyClient;
import com.ard.work.component.netty.TcpClientUtil;
@@ -19,7 +14,7 @@
import com.ard.work.component.netty.command.control.SpeedControlCmd;
import com.ard.work.component.netty.command.manual.*;
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.notice.WayLineFinishedReplyCmd;
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;
@@ -31,6 +26,7 @@
import com.ard.work.component.netty.handler.ErrorCodeEnum;
import com.ard.work.component.netty.protobuf.TelemetryDataPB;
import com.ard.work.component.websocket.utils.WebSocketUtil;
+import com.ard.work.config.RouteStateMachineService;
import com.ard.work.domain.cache.UavSignalInfoCache;
import com.ard.work.domain.cache.UavStateCache;
import com.ard.work.domain.cache.UavTelemetryDataCache;
@@ -53,10 +49,12 @@
import com.ard.work.domain.dto.wayline.*;
import com.ard.work.domain.entity.ArdDroneInfo;
import com.ard.work.domain.entity.ArdServerInfo;
+import com.ard.work.domain.enums.RouteEvent;
import com.ard.work.domain.message.ServerReplyMessage;
import com.ard.work.domain.message.UavControlType;
import com.ard.work.domain.receiver.*;
import com.ard.work.service.IArdDroneInfoService;
+import com.ard.work.service.IArdFlightTaskPartService;
import com.ard.work.service.IArdServerInfoService;
import com.ard.work.service.ITyService;
import lombok.extern.slf4j.Slf4j;
@@ -65,6 +63,7 @@
import javax.annotation.Resource;
import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
import java.util.stream.Collectors;
import java.util.stream.Stream;
@@ -82,11 +81,11 @@
@Resource
private IArdDroneInfoService ardDroneService;
@Resource
- private IArdNoFlyZoneService ardNoFlyZoneService;
- @Resource
private TyClient tyClient;
- @Resource
- private RedisCache redisCache;
+ @Autowired
+ private RouteStateMachineService stateMachineService;
+ @Autowired
+ private IArdFlightTaskPartService ardFlightTaskPartService;
/**
* 获取边缘服务器token信息
@@ -131,12 +130,10 @@
public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) {
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
- }
+
+
TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(),
boxSn);
return boxLiveUrl == null ? null : boxLiveUrl.getContent();
@@ -152,11 +149,7 @@
String boxSn = boxHistoryDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行起飞指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(ardDroneInfo.getServerId(),
boxHistoryDTO);
@@ -173,11 +166,7 @@
String boxSn = boxPhotosDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行起飞指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(ardDroneInfo.getServerId(),
boxPhotosDTO);
@@ -192,14 +181,10 @@
String boxSn = boxSettingsDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(ardDroneInfo.getServerId(), boxSettingsDTO);
- return result.getState() == 1;
+ return result.getState() == 0;
}
/**
@@ -210,11 +195,7 @@
String boxSn = returnHeightSettingDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
ReturnHeightSettingCmd returnHeightSettingCmd = new ReturnHeightSettingCmd(returnHeightSettingDTO);
this.sendMessage(ardDroneInfo.getServerId(), returnHeightSettingCmd);
@@ -229,11 +210,7 @@
String boxSn = returnPointSettingDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
ReturnPointSettingCmd returnPointSettingCmd = new ReturnPointSettingCmd(returnPointSettingDTO);
this.sendMessage(ardDroneInfo.getServerId(), returnPointSettingCmd);
@@ -248,11 +225,7 @@
String boxSn = videoStreamSettingDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
VideoStreamSettingCmd videoStreamSettingCmd = new VideoStreamSettingCmd(videoStreamSettingDTO);
this.sendMessage(ardDroneInfo.getServerId(), videoStreamSettingCmd);
@@ -284,11 +257,7 @@
String boxSn = angleControlDto.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto);
this.sendMessage(ardDroneInfo.getServerId(), controlAngleCommand);
@@ -304,11 +273,7 @@
String boxSn = absAngleControlDto.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto);
this.sendMessage(ardDroneInfo.getServerId(), absAngleControlCommand);
@@ -324,30 +289,35 @@
String boxSn = speedControlDto.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto);
this.sendMessage(ardDroneInfo.getServerId(), speedControlCommand);
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
*/
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean updateCameraMode(CameraModeDTO cameraModeDTO) {
String boxSn = cameraModeDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO);
this.sendMessage(ardDroneInfo.getServerId(), cameraModeCommand);
@@ -357,16 +327,13 @@
/**
* 拍照
*/
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean capturePic(CapturePicDTO capturePicDto) {
String boxSn = capturePicDto.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ 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());
@@ -381,16 +348,13 @@
/**
* 录像
*/
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean record(RecordDTO recordDto) {
String boxSn = recordDto.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
BaseCmd baseCmd;
if (recordDto.getIsRecord()) {
@@ -412,11 +376,7 @@
String boxSn = zoomDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
ZoomCmd zoomCommand = new ZoomCmd(zoomDTO);
this.sendMessage(ardDroneInfo.getServerId(), zoomCommand);
@@ -432,11 +392,7 @@
String boxSn = zoomToLevelDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO);
this.sendMessage(ardDroneInfo.getServerId(), zoomToLevelCommand);
@@ -446,16 +402,13 @@
/**
* 切换摄像头
*/
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean switchCamera(SwitchCameraDTO switchCameraDTO) {
String boxSn = switchCameraDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO);
this.sendMessage(ardDroneInfo.getServerId(), switchCameraCmd);
@@ -465,16 +418,13 @@
/**
* 切换视频源
*/
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean switchSource(SwitchSourceDTO switchSourceDTO) {
String boxSn = switchSourceDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO);
this.sendMessage(ardDroneInfo.getServerId(), switchSourceCmd);
@@ -484,16 +434,13 @@
/**
* 打开或关闭照片回传
*/
+ @CheckControlRight(UavControlType.PAYLOAD)
@Override
public Boolean photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) {
String boxSn = photoReturnToggleDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO);
this.sendMessage(ardDroneInfo.getServerId(), photoReturnToggleCmd);
@@ -503,16 +450,13 @@
/**
* 切换无人机控制权
*/
+ @CheckDroneStatus
@Override
public Boolean switchUavControl(SwitchUavControlDTO switchUavControlDTO) {
String boxSn = switchUavControlDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO);
this.sendMessage(ardDroneInfo.getServerId(), switchUavControlCmd);
@@ -528,11 +472,7 @@
String boxSn = takeOffDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
this.sendMessage(ardDroneInfo.getServerId(), takeOffCmd);
@@ -548,11 +488,7 @@
String boxSn = returnHomeDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO);
this.sendMessage(ardDroneInfo.getServerId(), returnHomeCmd);
@@ -568,11 +504,7 @@
String boxSn = returnHomeCancelDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO);
this.sendMessage(ardDroneInfo.getServerId(), returnHomeCancelCmd);
@@ -588,11 +520,7 @@
String boxSn = landDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
LandCmd landCmd = new LandCmd(landDTO);
this.sendMessage(ardDroneInfo.getServerId(), landCmd);
@@ -608,11 +536,7 @@
String boxSn = landCancelDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO);
this.sendMessage(ardDroneInfo.getServerId(), landCancelCmd);
@@ -628,11 +552,7 @@
String boxSn = landForcedDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO);
this.sendMessage(ardDroneInfo.getServerId(), landForcedCmd);
@@ -643,17 +563,13 @@
* 方向控制
*/
@CheckControlRight(UavControlType.FLY)
- @CheckTakeoffAltitude(minAltitude = 30.0)
+ @CheckTakeoffAltitude
@Override
public Boolean flyControl(FlyControlDTO flyControlDTO) {
String boxSn = flyControlDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO);
this.sendMessage(ardDroneInfo.getServerId(), flyControlCmd);
@@ -664,28 +580,15 @@
* 指点飞行控制
*/
@CheckControlRight(UavControlType.FLY)
- @CheckTakeoffAltitude(minAltitude = 30.0)
+ @CheckTakeoffAltitude
+ @CheckNoFlyZone
@Override
public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) {
String boxSn = flyPointControlDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
- }
- // 判断目标点是否经过禁飞区
- List<ArdNoFlyZone> ardNoFlyZones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());
- if (!ardNoFlyZones.isEmpty()) {
- Vertex vertex = new Vertex(flyPointControlDTO.getLongitude(), flyPointControlDTO.getLatitude());
- boolean inNoFlyZones = NoFlyZoneUtils.isInNoFlyZones(vertex, ardNoFlyZones);
- if (inNoFlyZones) {
- throw new ServiceException("目标点在禁飞区内，无法执行指令, boxSn: " + boxSn);
- }
- }
-
FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd);
return true;
@@ -700,14 +603,43 @@
String boxSn = flyPointControlCancelDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
- }
+
+
FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO);
this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd);
+ return true;
+ }
+
+
+ /**
+ * 环绕飞行控制
+ */
+ @Override
+ public Boolean FlyRoundControl(FlyRoundControlDTO flyRoundControlDTO) {
+ String boxSn = flyRoundControlDTO.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);
+ }
+ FlyRoundControlCmd flyRoundControlCmd = new FlyRoundControlCmd(flyRoundControlDTO);
+ this.sendMessage(ardDroneInfo.getServerId(), flyRoundControlCmd);
+ return true;
+ }
+
+ /**
+ * 停止环绕飞行控制
+ */
+ @Override
+ public Boolean FlyRoundControlCancel(FlyRoundControlCancelDTO flyRoundControlCancelDTO) {
+ String boxSn = flyRoundControlCancelDTO.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);
+ }
+ FlyRoundControlCancelCmd flyRoundControlCancelCmd = new FlyRoundControlCancelCmd(flyRoundControlCancelDTO);
+ this.sendMessage(ardDroneInfo.getServerId(), flyRoundControlCancelCmd);
return true;
}
@@ -720,12 +652,10 @@
String boxSn = emeragencyBrakeDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
- }
+
+
EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO);
this.sendMessage(ardDroneInfo.getServerId(), emergencyBrakeCmd);
return true;
@@ -763,11 +693,7 @@
String boxSn = speakModeSwitchDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
SpeakModeSwitchCmd speakModeSwitchCmd = new SpeakModeSwitchCmd(speakModeSwitchDTO);
this.sendMessage(ardDroneInfo.getServerId(), speakModeSwitchCmd);
@@ -782,11 +708,7 @@
String boxSn = textSpeakDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
TextSpeakCmd textSpeakCmd = new TextSpeakCmd(textSpeakDTO);
this.sendMessage(ardDroneInfo.getServerId(), textSpeakCmd);
@@ -801,11 +723,7 @@
String boxSn = realSpeakDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
RealSpeakCmd realSpeakCmd = new RealSpeakCmd(realSpeakDTO);
this.sendMessage(ardDroneInfo.getServerId(), realSpeakCmd);
@@ -820,11 +738,7 @@
String boxSn = recordSpeakDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO);
this.sendMessage(ardDroneInfo.getServerId(), recordSpeakCmd);
@@ -839,11 +753,7 @@
String boxSn = volumeSettingDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
VolumeSettingCmd volumeSettingCmd = new VolumeSettingCmd(volumeSettingDTO);
this.sendMessage(ardDroneInfo.getServerId(), volumeSettingCmd);
@@ -858,11 +768,7 @@
String boxSn = loopSettingDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
LoopSettingCmd loopSettingCmd = new LoopSettingCmd(loopSettingDTO);
this.sendMessage(ardDroneInfo.getServerId(), loopSettingCmd);
@@ -877,11 +783,7 @@
String boxSn = stopSpeakDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
StopSpeakCmd stopSpeakCmd = new StopSpeakCmd(stopSpeakDTO);
this.sendMessage(ardDroneInfo.getServerId(), stopSpeakCmd);
@@ -891,19 +793,19 @@
/**
* 航线上传
*/
+ @CheckControlRight(UavControlType.FLY)
@Override
public Boolean wayLineUpload(WayLineUploadDTO wayLineUploadDTO) {
String boxSn = wayLineUploadDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ 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);
WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
+ System.out.println("wayLineUploadCmd:-----------------" + wayLineUploadCmd);
this.sendMessage(ardDroneInfo.getServerId(), wayLineUploadCmd);
return true;
}
@@ -951,11 +853,7 @@
String boxSn = wayLineBeginDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO);
this.sendMessage(ardDroneInfo.getServerId(), wayLineBeginCmd);
@@ -971,11 +869,7 @@
String boxSn = wayLinePauseDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO);
this.sendMessage(ardDroneInfo.getServerId(), wayLinePauseCmd);
@@ -991,11 +885,7 @@
String boxSn = wayLineResumeDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO);
this.sendMessage(ardDroneInfo.getServerId(), wayLineResumeCmd);
@@ -1011,11 +901,7 @@
String boxSn = wayLineEndDTO.getBoxSn();
ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
if (ardDroneInfo == null) {
- throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
- }
- // ✅ 判断无人机是否在线
- if (!isDroneOnline(boxSn)) {
- throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
+ throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);
this.sendMessage(ardDroneInfo.getServerId(), wayLineEndCmd);
@@ -1042,7 +928,7 @@
case 0x02:
// 处理注册消息
HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
- logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
+ //logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
break;
case 0x03:
// 处理订阅消息
@@ -1070,7 +956,8 @@
case (byte) 0xA9:
// 处理无人机遥测消息
UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
- UavTelemetryDataCache.put(uavTelemetryDataCmd.getTelemetryData());
+ TelemetryData telemetryData = uavTelemetryDataCmd.getTelemetryData();
+ UavTelemetryDataCache.put(telemetryData);
//logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
//WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
break;
@@ -1097,9 +984,10 @@
CameraModeReplyCmd cameraModeReplyCommand = (CameraModeReplyCmd) tyCommand;
logPrint("无人机设置相机模式", cameraModeReplyCommand.getResult(), cameraModeReplyCommand.getErrorCode());
}
- if (tyCommand instanceof FlyWayEndReplyCmd) {
- 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;
@@ -1161,23 +1049,53 @@
}
//开始航线回复
if (tyCommand instanceof WayLineBeginReplyCmd) {
+
WayLineBeginReplyCmd wayLineBeginReplyCmd = (WayLineBeginReplyCmd) tyCommand;
logPrint("开始航线", wayLineBeginReplyCmd.getResult(), wayLineBeginReplyCmd.getErrorCode());
+ if (wayLineBeginReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.START_SUCCESS);
+ }
}
//暂停航线回复
if (tyCommand instanceof WayLinePauseReplyCmd) {
WayLinePauseReplyCmd wayLinePauseReplyCmd = (WayLinePauseReplyCmd) tyCommand;
logPrint("暂停航线", wayLinePauseReplyCmd.getResult(), wayLinePauseReplyCmd.getErrorCode());
+ if (wayLinePauseReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.PAUSE_SUCCESS);
+ }
}
//恢复航线回复
if (tyCommand instanceof WayLineResumeReplyCmd) {
WayLineResumeReplyCmd wayLineResumeReplyCmd = (WayLineResumeReplyCmd) tyCommand;
logPrint("恢复航线", wayLineResumeReplyCmd.getResult(), wayLineResumeReplyCmd.getErrorCode());
+ if (wayLineResumeReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.RESUME_SUCCESS);
+ }
}
//结束航线回复
if (tyCommand instanceof WayLineEndReplyCmd) {
WayLineEndReplyCmd wayLineEndReplyCmd = (WayLineEndReplyCmd) tyCommand;
logPrint("结束航线", wayLineEndReplyCmd.getResult(), wayLineEndReplyCmd.getErrorCode());
+ if (wayLineEndReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.STOP_SUCCESS);
+ }
+ }
+ if (tyCommand instanceof WayLineFinishedReplyCmd) {
+ WayLineFinishedReplyCmd wayLineFinishedReplyCmd = (WayLineFinishedReplyCmd) tyCommand;
+ logPrint("航线执行完成", wayLineFinishedReplyCmd.getResult(), wayLineFinishedReplyCmd.getErrorCode());
+ if (wayLineFinishedReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.RESET_ROUTE);
+ }
}
//设置返航高度回复
if (tyCommand instanceof ReturnHeightSettingReplyCmd) {
@@ -1190,6 +1108,12 @@
ReturnPointSettingReplyCmd returnPointSettingReplyCmd = (ReturnPointSettingReplyCmd) tyCommand;
logPrint("设置返航点", returnPointSettingReplyCmd.getResult(),
returnPointSettingReplyCmd.getErrorCode());
+ }
+ //到达环绕位置回复
+ if (tyCommand instanceof FlyRoundReplyCmd) {
+ FlyRoundReplyCmd flyRoundReplyCmd = (FlyRoundReplyCmd) tyCommand;
+ logPrint("到达环绕位置", flyRoundReplyCmd.getResult(),
+ flyRoundReplyCmd.getErrorCode());
}
break;
case (byte) 0xD2:
@@ -1291,14 +1215,4 @@
private void sendMessage(String key, BaseCmd msg) {
TcpClientUtil.sendMessage(key, msg);
}
-
- // 判断无人机是否在线
- private boolean isDroneOnline(String boxSn) {
- if (StringUtils.isBlank(boxSn)) {
- return false;
- }
- Object obj = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn);
- return obj != null;
- }
-
}
\ No newline at end of file
--
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