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修改dock status

This commit is contained in:
孙小云 2026-02-06 11:16:20 +08:00
parent 384dac68a3
commit b7e7899958
1 changed files with 37 additions and 26 deletions
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63
src/main/java/com/ruoyi/device/service/impl/TuohengBufferDeviceImpl.java
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@ -223,7 +223,7 @@ public class TuohengBufferDeviceImpl implements IBufferDeviceService {
dto.setDockStatus("OFFLINE"); dto.setDockStatus("OFFLINE");
log.info("心跳超时(>5分钟)，设置机场状态为 OFFLINE"); log.info("心跳超时(>5分钟)，设置机场状态为 OFFLINE");
} else { } else {
// 心跳正常，机场在线，通过无人机mode判断是IDLE还是WORKING // 心跳正常，机场在线，通过无人机mode和舱门状态判断是IDLE还是WORKING
String dockStatus = "IDLE"; // 默认空闲 String dockStatus = "IDLE"; // 默认空闲
if (aircraftIotDeviceId != null) { if (aircraftIotDeviceId != null) {
@ -238,14 +238,25 @@ public class TuohengBufferDeviceImpl implements IBufferDeviceService {
log.info("无人机MODE值: {}", mode); log.info("无人机MODE值: {}", mode);
if ("auto".equalsIgnoreCase(mode)) { // 获取舱门状态（从机场遥测数据中获取）
dockStatus = "WORKING"; // auto模式表示正在执行任务 Integer doorStatus = telemetry.get(TuohengDeviceTelemetry.NEST_DOOR_STATUS)
log.info("无人机处于auto模式，设置机场状态为 WORKING"); .map(TelemetryValue::getValue)
.orElse(null);
log.info("机场舱门状态: {}", doorStatus);
// WORKING状态需要同时满足：mode=="auto" 且舱门打开(doorStatus==0)
if ("auto".equalsIgnoreCase(mode) && doorStatus != null && doorStatus == 0) {
dockStatus = "WORKING"; // auto模式且舱门打开表示正在执行任务
log.info("无人机处于auto模式且舱门打开，设置机场状态为 WORKING");
} else { } else {
log.info("无人机处于{}模式，设置机场状态为 IDLE", mode); if ("auto".equalsIgnoreCase(mode) && (doorStatus == null || doorStatus != 0)) {
log.info("无人机处于auto模式但舱门未打开(doorStatus={}), 设置机场状态为 IDLE", doorStatus);
} else {
log.info("无人机处于{}模式，设置机场状态为 IDLE", mode);
}
} }
} catch (Exception e) { } catch (Exception e) {
log.warn("获取无人机mode失败，默认设置为IDLE: {}", e.getMessage()); log.warn("获取无人机mode或舱门状态失败，默认设置为IDLE: {}", e.getMessage());
} }
} else { } else {
log.info("机场未绑定无人机，设置机场状态为 IDLE"); log.info("机场未绑定无人机，设置机场状态为 IDLE");
@ -449,26 +460,26 @@ public class TuohengBufferDeviceImpl implements IBufferDeviceService {
.orElse(""); .orElse("");
log.info("无人机 MODE 值: {}", mode); log.info("无人机 MODE 值: {}", mode);
// 获取 tsingal（图传信号强度，用于判断开关机）
Integer tsingal = telemetry.get(TuohengDeviceTelemetry.TSINGAL)
.map(TelemetryValue::getValue)
.orElse(0);
log.info("无人机 TSINGAL 值: {}", tsingal);
boolean isPowerOn = tsingal > 60; // tsingal > 60 表示开机
log.info("无人机开关机状态: {}", isPowerOn ? "开机" : "关机");
// 判断逻辑 // 判断逻辑
if ("auto".equalsIgnoreCase(mode)) { // 注意：无人机详情接口无法获取机场舱门状态
// mode == "auto" 表示正在执行任务 // 如果 mode == "auto" 且开机，推测为 IN_MISSION
dto.setAircraftStatus("IN_MISSION"); // 否则根据开关机状态判断
log.info("无人机处于 auto 模式，设置状态: IN_MISSION"); String aircraftStatus;
if ("auto".equalsIgnoreCase(mode) && isPowerOn) {
// mode == "auto" 且开机，推测正在执行任务
aircraftStatus = "IN_MISSION";
log.info("无人机处于 auto 模式且开机，推测状态: IN_MISSION");
} else { } else {
// mode != "auto"，根据 tsingal 判断开关机 // 其他情况，根据开关机状态判断（默认舱内）
// 注意：无人机详情接口无法获取机场舱门状态，只能根据开关机判断
// 获取 tsingal（图传信号强度，用于判断开关机）
Integer tsingal = telemetry.get(TuohengDeviceTelemetry.TSINGAL)
.map(TelemetryValue::getValue)
.orElse(0);
log.info("无人机 TSINGAL 值: {}", tsingal);
boolean isPowerOn = tsingal > 60; // tsingal > 60 表示开机
log.info("无人机开关机状态: {}", isPowerOn ? "开机" : "关机");
// 无法获取舱门状态，默认根据开关机状态判断
String aircraftStatus;
if (isPowerOn) { if (isPowerOn) {
aircraftStatus = "POWER_ON_IN_CABIN"; aircraftStatus = "POWER_ON_IN_CABIN";
log.info("开机状态，默认设置: POWER_ON_IN_CABIN"); log.info("开机状态，默认设置: POWER_ON_IN_CABIN");
@ -476,10 +487,10 @@ public class TuohengBufferDeviceImpl implements IBufferDeviceService {
aircraftStatus = "POWER_OFF_IN_CABIN"; aircraftStatus = "POWER_OFF_IN_CABIN";
log.info("关机状态，默认设置: POWER_OFF_IN_CABIN"); log.info("关机状态，默认设置: POWER_OFF_IN_CABIN");
} }
dto.setAircraftStatus(aircraftStatus);
} }
dto.setAircraftStatus(aircraftStatus);
// 设置作业架次 - 暂时设置为0 // 设置作业架次 - 暂时设置为0
dto.setMissionCount(0); dto.setMissionCount(0);
log.info("设置作业架次: 0"); log.info("设置作业架次: 0");