From b8b5a3895e741d5348ecdd39ad2e5cbd443f8e89 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Wed, 01 Apr 2026 12:17:04 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-work/src/main/java/com/ard/work/component/websocket/handler/UavAllManager.java | 41 +++++++++++++++++++++++++++++++++--------
1 files changed, 33 insertions(+), 8 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/work/component/websocket/handler/UavAllManager.java b/ard-work/src/main/java/com/ard/work/component/websocket/handler/UavAllManager.java
index e0ac46a..9e60142 100644
--- a/ard-work/src/main/java/com/ard/work/component/websocket/handler/UavAllManager.java
+++ b/ard-work/src/main/java/com/ard/work/component/websocket/handler/UavAllManager.java
@@ -1,17 +1,26 @@
package com.ard.work.component.websocket.handler;
+import com.ard.common.constant.CacheConstants;
+import com.ard.common.core.domain.entity.SysUser;
+import com.ard.common.core.redis.RedisCache;
+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;
+import com.ard.work.domain.cache.UavWaylineCache;
import com.ard.work.domain.dto.signal.SignalInfo;
import com.ard.work.domain.dto.state.UavState;
import com.ard.work.domain.dto.telemetry.TelemetryData;
+import com.ard.work.domain.dto.wayline.WaylineInfo;
+import com.ard.work.domain.enums.RouteState;
import com.ard.work.service.control.UavControlService;
import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import javax.annotation.Resource;
import java.util.HashMap;
+import java.util.List;
import java.util.Map;
@Slf4j
@@ -20,30 +29,46 @@
@Resource
private UavControlService uavControlService;
+ @Autowired
+ private RedisCache redisCache;
+ @Autowired
+ private RouteStateMachineService stateMachineService;
@Override
protected Map<String, Object> getData(String boxSn) {
log.debug("获取无人机所有数据");
Map<String, Object> map = new HashMap<>();
map.put("boxSn", boxSn);
- UavState uavState = UavStateCache.get(boxSn);
- if (uavState != null) {
- uavState.calculateFieldAngle();// 计算当前无人机的FieldAngle
- }
+ WaylineInfo waylineInfo = UavWaylineCache.get(boxSn);
+ if (waylineInfo != null) {
+ RouteState currentState = stateMachineService.getCurrentState(boxSn);
+ waylineInfo.setRouteState(currentState);
+ }
+ map.put("wayline", waylineInfo);
+
+ UavState uavState = UavStateCache.get(boxSn);
map.put("state", uavState);
+
TelemetryData uavTelemetryData = UavTelemetryDataCache.get(boxSn);
map.put("telemetry", uavTelemetryData);
+
SignalInfo uavSignalInfo = UavSignalInfoCache.get(boxSn);
map.put("signal", uavSignalInfo);
// 获取当前控制飞行的用户ID
Long flyUserId = uavControlService.getCurrentController(boxSn, "fly");
- // 将飞行当前控制者用户ID添加到映射中
- map.put("flyController", flyUserId);
+ if(flyUserId!=null) {
+ SysUser flyUser = redisCache.getCacheMapValue(CacheConstants.SYS_USER, flyUserId.toString());
+ // 将飞行当前控制者用户ID添加到映射中
+ map.put("flyController", flyUser);
+ }
// 获取当前控制载荷的用户ID
Long payloadUserId = uavControlService.getCurrentController(boxSn, "payload");
- // 将载荷当前控制者用户ID添加到映射中
- map.put("payloadController", payloadUserId);
+ if(payloadUserId!=null) {
+ SysUser payloadUser = redisCache.getCacheMapValue(CacheConstants.SYS_USER, payloadUserId.toString());
+ // 将载荷当前控制者用户ID添加到映射中
+ map.put("payloadController", payloadUser);
+ }
return map;
}
--
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