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/service/impl/TyServiceImpl.java | 12 +++++++-----
1 files changed, 7 insertions(+), 5 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 41103d9..83e24dd 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;
@@ -87,7 +88,8 @@
private RouteStateMachineService stateMachineService;
@Autowired
private IArdFlightTaskPartService ardFlightTaskPartService;
-
+ @Resource
+ private MediamtxConfig mediamtxConfig;
/**
* 获取边缘服务器token信息
*
@@ -637,6 +639,9 @@
/**
* 环绕飞行控制
*/
+// @CheckControlRight(UavControlType.FLY)
+// @CheckTakeoffAltitude
+// @CheckNoFlyZone
@Override
public Boolean FlyRoundControl(FlyRoundControlDTO flyRoundControlDTO) {
String boxSn = flyRoundControlDTO.getBoxSn();
@@ -823,10 +828,8 @@
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;
}
@@ -978,7 +981,6 @@
// 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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