From fc7ee73b5f804116ada59048fdf6fb9265856a3f Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Wed, 04 Feb 2026 09:45:14 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-work/src/main/java/com/ard/work/component/websocket/handler/UavAllManager.java | 16 ++++++++++++++++
1 files changed, 16 insertions(+), 0 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 72c2fe7..b993a9a 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
@@ -3,12 +3,16 @@
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;
@@ -27,16 +31,28 @@
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);
+
+ 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
--
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