From f2c909e42b81bb7b589c956bfcf90dba3e16d0a8 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Wed, 26 Nov 2025 10:12:42 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-work/src/main/java/com/ard/work/component/websocket/handler/UavAllManager.java | 8 ++++
ard-work/src/main/java/com/ard/work/domain/dto/manual/FlyRoundControlDTO.java | 4 ++
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 22 +++++++----
ard-work/src/main/java/com/ard/work/domain/dto/wayline/WaylineInfo.java | 19 +++++++++
ard-work/src/main/java/com/ard/work/component/netty/command/manual/FlyRoundControlCmd.java | 5 ++
ard-work/src/main/java/com/ard/work/domain/cache/UavWaylineCache.java | 42 +++++++++++++++++++++
6 files changed, 91 insertions(+), 9 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/manual/FlyRoundControlCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/FlyRoundControlCmd.java
index 3684c57..dc9c434 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/manual/FlyRoundControlCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/manual/FlyRoundControlCmd.java
@@ -15,18 +15,20 @@
private final double longitude; // 兴趣点经度
private final double latitude; // 兴趣点纬度
private final float altitude; // 兴趣点高度
+ private final float height; // 飞行高度
private final float speed; // 环绕速度
private final float radius; // 环绕半径
private final byte flyMode; // 飞行模式
public FlyRoundControlCmd(FlyRoundControlDTO flyRoundControlDTO) {
setDataHeader((short) 0x7479);
- setDataLength((short) 47);
+ setDataLength((short) 51);
setBoxSn(flyRoundControlDTO.getBoxSn().getBytes());
setCmdCode((byte) 0xD1);
this.longitude = flyRoundControlDTO.getLongitude();
this.latitude = flyRoundControlDTO.getLatitude();
this.altitude = flyRoundControlDTO.getAltitude();
+ this.height=flyRoundControlDTO.getHeight();
this.speed = flyRoundControlDTO.getSpeed();
this.radius= flyRoundControlDTO.getRadius();
this.flyMode = flyRoundControlDTO.getFlyMode();
@@ -43,6 +45,7 @@
out.writeDouble(longitude); // 写入兴趣点经度
out.writeDouble(latitude); // 写入兴趣点纬度
out.writeFloat(altitude); // 写入兴趣点高度
+ out.writeFloat(height); // 写入飞行高度
out.writeFloat(speed); // 写入环绕速度
out.writeFloat(radius); // 写入环绕半径
out.writeByte(flyMode); // 写入飞行模式
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 72c2fe7..ecfee04 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
@@ -6,9 +6,11 @@
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.service.control.UavControlService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -33,10 +35,16 @@
log.debug("获取无人机所有数据");
Map<String, Object> map = new HashMap<>();
map.put("boxSn", boxSn);
+
+ WaylineInfo waylineInfo = UavWaylineCache.get(boxSn);
+ 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
diff --git a/ard-work/src/main/java/com/ard/work/domain/cache/UavWaylineCache.java b/ard-work/src/main/java/com/ard/work/domain/cache/UavWaylineCache.java
new file mode 100644
index 0000000..0c8fefe
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/domain/cache/UavWaylineCache.java
@@ -0,0 +1,42 @@
+package com.ard.work.domain.cache;
+
+import com.ard.work.domain.dto.signal.SignalInfo;
+import com.ard.work.domain.dto.wayline.WaylineInfo;
+
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 无人机当前航线缓存
+ *
+ * @author 刘苏义
+ * @date 2024/10/24 8:55
+ */
+public class UavWaylineCache {
+
+ // 使用 ConcurrentHashMap 来缓存无人机信道质量数据，key 是 boxSn（无人机序列号）
+ private static final ConcurrentHashMap<String, WaylineInfo> cache = new ConcurrentHashMap<>();
+
+ // 存储无人机信道质量数据到缓存
+ public static void put(WaylineInfo waylineInfo) {
+ cache.put(waylineInfo.getBoxSn(), waylineInfo);
+ }
+
+ // 从缓存中获取信道质量数据
+ public static WaylineInfo get(String boxSn) {
+ return cache.get(boxSn);
+ }
+
+ // 删除缓存中的信道质量数据
+ public static void remove(String boxSn) {
+ cache.remove(boxSn);
+ }
+
+ // 定时任务使用：判断状遥测数据是否变化，但不更新缓存
+ public static boolean hasChanged(String boxSn, WaylineInfo waylineInfo) {
+ WaylineInfo oldWaylineInfo= cache.get(boxSn);
+ if (oldWaylineInfo == null) {
+ return true; // 没有缓存，算作变化
+ }
+ return !oldWaylineInfo.equals(waylineInfo); // true = 有变化
+ }
+}
diff --git a/ard-work/src/main/java/com/ard/work/domain/dto/manual/FlyRoundControlDTO.java b/ard-work/src/main/java/com/ard/work/domain/dto/manual/FlyRoundControlDTO.java
index 7a10ec4..c2cd1c1 100644
--- a/ard-work/src/main/java/com/ard/work/domain/dto/manual/FlyRoundControlDTO.java
+++ b/ard-work/src/main/java/com/ard/work/domain/dto/manual/FlyRoundControlDTO.java
@@ -33,6 +33,10 @@
private Float altitude;
/**
+ * 飞行高度
+ */
+ private Float height;
+ /**
* 环绕速度
*/
private Float speed;
diff --git a/ard-work/src/main/java/com/ard/work/domain/dto/wayline/WaylineInfo.java b/ard-work/src/main/java/com/ard/work/domain/dto/wayline/WaylineInfo.java
new file mode 100644
index 0000000..e1f9f93
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/domain/dto/wayline/WaylineInfo.java
@@ -0,0 +1,19 @@
+package com.ard.work.domain.dto.wayline;
+
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * Description: 当前航线信息
+ * Author: lsy
+ * Date: 2025年11月25日16:29
+ **/
+
+@Data
+@NoArgsConstructor
+@AllArgsConstructor
+public class WaylineInfo {
+ private String boxSn;
+ private String waylineId;
+}
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 432a475..3d40757 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
@@ -29,6 +29,7 @@
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.BoxHistoryDTO;
import com.ard.work.domain.dto.BoxPhotosDTO;
import com.ard.work.domain.dto.BoxSettingsDTO;
@@ -123,8 +124,8 @@
if (ardDroneInfo == null) {
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
-
-
+
+
TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(),
boxSn);
return boxLiveUrl == null ? null : boxLiveUrl.getContent();
@@ -596,8 +597,8 @@
if (ardDroneInfo == null) {
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
-
-
+
+
FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO);
this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd);
return true;
@@ -614,8 +615,8 @@
if (ardDroneInfo == null) {
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
- FlyRoundControlCmd flyPointControlCmd = new FlyRoundControlCmd(flyRoundControlDTO);
- this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd);
+ FlyRoundControlCmd flyRoundControlCmd = new FlyRoundControlCmd(flyRoundControlDTO);
+ this.sendMessage(ardDroneInfo.getServerId(), flyRoundControlCmd);
return true;
}
@@ -645,8 +646,8 @@
if (ardDroneInfo == null) {
throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn);
}
-
-
+
+
EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO);
this.sendMessage(ardDroneInfo.getServerId(), emergencyBrakeCmd);
return true;
@@ -941,6 +942,11 @@
// 处理无人机状态消息
UavStateCmd uavStateCmd = (UavStateCmd) tyCommand;
UavStateCache.put(uavStateCmd.getUavState());
+ int flightMode = uavStateCmd.getUavState().getFlightControllerState().getFlightMode();
+ if (flightMode != 14) {
+ //不在航线中 移除航线信息
+ UavWaylineCache.remove(uavStateCmd.getUavState().getBoxSn());
+ }
//logPrint("无人机状态", uavStateCmd.getUavState().getBoxSn());
// WebSocketUtil.sendMessageAll(uavStateCmd.getUavState());
break;
--
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