Merge branch 'main' into dev_20260130_RemoveRedis

# Conflicts:
#	backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/task/JmTaskScheduler.java
#	backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/control/SarControlContext.java
#	backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/listen/SarStatusListener.java
#	backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/service/impl/SarControlServiceImpl.java

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobServiceImpl.java

@@ -28,7 +28,6 @@ import com.zhangy.skyeye.publics.consts.UavAirlineUploadEnum;
 import com.zhangy.skyeye.publics.consts.WebSocketKey;
 import com.zhangy.skyeye.publics.service.SysFileTypeService;
 import com.zhangy.skyeye.publics.utils.CoordUtil;
-import com.zhangy.skyeye.py.service.IPyAirlineService;
 import com.zhangy.skyeye.quartz.service.QuartzService;
 import com.zhangy.skyeye.sar.consts.SarImageModeEnum;
 import com.zhangy.skyeye.sar.dto.SarControlParamDTO;
@@ -353,7 +352,7 @@ public class JmJobServiceImpl implements JmJobService {
 
         JmJobUav uav = job.getUavList().get(0);
         List<JmAirline> airlineList = uav.getAirlineList();
-        for(JmAirline airline:airlineList) {
+        for (JmAirline airline : airlineList) {
             log.info("we are going to start job {}", job.getId());
             log.info("airline origin status is {}, set to {}", airline.getStatus(), ExecStatusEnum.NOT);
             airline.setStatus(ExecStatusEnum.NOT.getValue());
@@ -377,6 +376,7 @@ public class JmJobServiceImpl implements JmJobService {
             // 4.任务状态放入缓存
             jobStatusService.add(job);
         } catch (Throwable ex) {
+            log.warn("{}", ex.getMessage(), ex);
             jobStatusService.remove(job.getId());
             throw ex;
         }

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/control/SarControlContext.java

@@ -78,9 +78,11 @@ public class SarControlContext {
      * @param param
      */
     public void execute(SarControlParamDTO param) {
+        log.info("execute :{}", JSON.toJSONString(param));
         List<ISarControlStrategy> matchedStrategys = strategies.stream()
                 .filter(strategy -> strategy.supports(param))
                 .collect(Collectors.toList());
+        log.info("matchedStrategys :{}", JSON.toJSONString(matchedStrategys));
         if (ObjectUtil.isEmpty(matchedStrategys)) {
             throw ServiceException.errorLog("无效的控制指令！");
         }

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/listen/SarStatusListener.java

@@ -75,11 +75,10 @@ public class SarStatusListener extends SarAbstractListener {
         if (packet.getLength() != 100) {
             return;
         }
-        log.debug("接收到状态包----------------------");
         String ip = packet.getAddress().getHostAddress();
         // 处理接收到的数据
         SarStatusPackDTO packDTO = SarStatusPackDTO.parse(ip, packet.getData());
-        log.debug("recv status:\n{}", JSON.toJSONString(packDTO));
+        log.trace("recv status:\n{}", JSON.toJSONString(packDTO));
         if (packDTO == null) {
             if (running)
                 log.warn("状态包校验失败，已丢弃。");
@@ -102,6 +101,5 @@ public class SarStatusListener extends SarAbstractListener {
             sarJobStatusService.update(ip, info);
             sarCache.saveStatus(ip, info);  //  使用 SarCache，类型安全，自动短期缓存，自动过期
         }
-        log.debug("状态包解析完毕");
     }
 }

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/service/impl/SarControlServiceImpl.java

@@ -1,11 +1,12 @@
 package com.zhangy.skyeye.sar.service.impl;
 
+import com.alibaba.fastjson2.JSON;
+import com.zhangy.skyeye.cache.sar.SarCache;
 import com.zhangy.skyeye.common.extend.exception.ServiceException;
 import com.zhangy.skyeye.common.extend.util.JsonUtil;
 import com.zhangy.skyeye.jm.dto.JmJobDTO;
 import com.zhangy.skyeye.jm.dto.JmSarStatusDTO;
 import com.zhangy.skyeye.jm.entity.JmJobPayload;
-import com.zhangy.skyeye.cache.sar.SarCache;
 import com.zhangy.skyeye.sar.control.SarControlContext;
 import com.zhangy.skyeye.sar.dto.SarControlParamDTO;
 import com.zhangy.skyeye.sar.enums.SarControlTypeEnum;
@@ -31,6 +32,7 @@ public class SarControlServiceImpl implements ISarControlService {
 
     @Override
     public void sendUdp(JmJobDTO job) {
+        log.info("sendUdp：{}", JSON.toJSONString(job));
         if (job == null || job.getUavList() == null) return;
         job.getUavList().forEach(uav -> {
             JmJobPayload sar = uav.getSar0();
@@ -43,7 +45,7 @@ public class SarControlServiceImpl implements ISarControlService {
             param.setImageBit(sar.getImageBit());
             param.setResolution(sar.getResolution());
             if (job.getMode().equals(CRUISE.getCode())) {
-                param.setControlType(SarControlTypeEnum.TURNON);
+                param.setControlType(SarControlTypeEnum.UPLOAD);
             } else {
                 param.setControlType(SarControlTypeEnum.AUTO);
             }
@@ -62,6 +64,7 @@ public class SarControlServiceImpl implements ISarControlService {
         });
     }
 
+
     @Override
     public void sendUdp(SarControlParamDTO param) {
         udpSendContext.execute(param);

frontend/Skyeye-sys-ui/src/views/home/components/task-manage/index.js

@@ -1151,7 +1151,7 @@ export default {
           })
           let airlineList = [
             {
-              direction: 0,
+              direction: params.direction,
               distance: 0,
               endHeight: 0,
               endLat: 0,
@@ -1165,7 +1165,7 @@ export default {
               flightStartLat: 0,
               flightStartLon: 0,
               flightType: 0,
-              grazingAngle: 0,
+              grazingAngle: 90 - params.theta,
               groundStartHeight: 0,
               groundStartLat: 0,
               groundStartLon: 0,

frontend/Skyeye-sys-ui/src/views/home/components/twin-situation/OrthoImageryManager.js

@@ -11,7 +11,7 @@ export default class OrthoImageryManager {
     this.maxLayers = options.maxLayers || 400;
 
     // 全局亮度与透明度
-    this.globalBrightness = options.brightness ?? 1.0;
+    this.globalBrightness = options.brightness ?? 2;
     this.globalAlpha = options.alpha ?? 1.0;
   }
 
@@ -39,7 +39,7 @@ export default class OrthoImageryManager {
     const layer = this.viewer.cesiumViewer.imageryLayers.addImageryProvider(provider);
 
     // ✅ 使用全局亮度和透明度，保证新图生效
-    layer.brightness = brightness ? brightness : this.globalBrightness;
+    layer.brightness = this.globalBrightness;
     console.log(layer.brightness, '新增图片时的亮度值');
 
     layer.alpha = this.globalAlpha;
@@ -54,7 +54,7 @@ export default class OrthoImageryManager {
    * 设置全局亮度，影响所有已有图片和未来新推送的图片
    */
   setBrightness(value) {
-    // this.globalBrightness = value;
+    this.globalBrightness = value;
     this.layerMap.forEach(layer => {
       layer.brightness = value;
     });

frontend/Skyeye-sys-ui/src/views/home/components/twin-situation/index.js

@@ -54,6 +54,7 @@ let sceneEntity = {}
 let taskListResource = []
 let orthoManager = null
 let socketPositionIndex = 0
+let uavTracks = {}
 const lang = window.localStorage.getItem('locale') || 'zh_CN'
 export default {
   name: 'TwinSituation',
@@ -472,7 +473,7 @@ export default {
     // )
     orthoManager = new OrthoImageryManager(viewer, DT.Cesium, {
       maxLayers: 400,
-      brightness: 1,  // 默认亮度
+      brightness: 5,  // 默认亮度
       alpha: 1.0        // 默认透明度
     })
     // this.startTest()
@@ -481,6 +482,7 @@ export default {
     this.SET_SPLIT_VISIBLE(false)
     this.removePictureHandle()
     socketPositionIndex = 0
+    uavTracks = {}
     if (orthoManager) {
       orthoManager.clearAll()
       orthoManager = null
@@ -1099,6 +1101,7 @@ export default {
           let data = res.data.data
           let list = []
           socketPositionIndex = 0
+          uavTracks = {}
           data.forEach(item => {
             // item.check = item.status === 1 || item.status === 3
             item.check = false
@@ -1118,7 +1121,7 @@ export default {
               uav = item.uavList[0].uavName
               if (item.uavList[0].payloadList.length) {
                 sar = item.uavList[0].payloadList[0].payloadName
-                ip = item.uavList[0].ip
+                ip = item.uavList[0].payloadList[0].ip
               }
             }
             list.push({
@@ -1582,6 +1585,7 @@ export default {
         // }
         this.removeTaskTarget(info.id);
         socketPositionIndex = 0
+        uavTracks = {}
         if (orthoManager) {
           orthoManager.clearAll()
           orthoManager = null
@@ -1614,7 +1618,9 @@ export default {
                 viewer.entities.remove(item)
               }
             })
+            viewer.entities
             socketPositionIndex = 0
+            uavTracks = {}
             if (orthoManager) {
               orthoManager.clearAll()
               orthoManager = null
@@ -2786,51 +2792,76 @@ export default {
       this.updateSceneUav(data)
     },
     updateSceneUav(data) {
-      console.log(data, 44444);
+      // 1. 坐标转换（建议添加异常处理，避免非法坐标）
+      if (!data.longitude || !data.latitude) {
+        console.warn('无人机坐标不完整', data);
+        return;
+      }
+      let position = DT.Cesium.Cartesian3.fromDegrees(
+        Number(data.longitude),
+        Number(data.latitude),
+        Number(data.altitude) || 0 // 高度默认0，避免undefined
+      );
+      let uavId = 'uav-' + data.jobId;
 
-      let position = DT.Cesium.Cartesian3.fromDegrees(data.longitude, data.latitude, data.altitude)
+      // 2. 轨迹数组维护（过滤重复坐标，避免无长度轨迹）
-      let entity = viewer.entities.getById('uav-' + data.id)
+      if (uavTracks[uavId]) {
+        // 获取最后一个坐标，计算与新坐标的距离（小于1米则不添加）
+        const lastPos = uavTracks[uavId][uavTracks[uavId].length - 1];
+        const distance = lastPos ? DT.Cesium.Cartesian3.distance(lastPos, position) : 0;
+        // 只有距离大于1米时才添加新坐标，避免高频重复
+        if (distance > 1) {
+          uavTracks[uavId].push(position);
+          // 限制轨迹长度，避免数组过大（可选，比如最多保存1000个点）
+          if (uavTracks[uavId].length > 1000) {
+            uavTracks[uavId].shift();
+          }
+        }
+      } else {
+        uavTracks[uavId] = [position];
+      }
+      // 3. 获取/创建无人机实体
+      let entity = viewer.entities.getById(uavId);
       if (entity) {
-        entity.position = position
+        entity.position = position;
       } else {
         entity = viewer.entities.add({
-          id: 'uav-' + data.id,
+          id: uavId,
           position: position,
           label: {
             text: '无人机',
             font: '14px sans-serif',
-            fillColor: DT.Cesium.Color.WHITE,
+            fillColor: DT.Cesium.Color.RED,
             horizontalOrigin: DT.Cesium.HorizontalOrigin.LEFT,
             verticalOrigin: DT.Cesium.VerticalOrigin.CENTER,
             disableDepthTestDistance: 100000,
-            pixelOffset: new DT.Cesium.Cartesian2(10, 0),
             showBackground: true,
             scaleByDistance: new DT.Cesium.NearFarScalar(0, 1, 1, 0.8),
-            distanceDisplayCondition: new DT.Cesium.DistanceDisplayCondition(0, 20000),
+            distanceDisplayCondition: new DT.Cesium.DistanceDisplayCondition(0, 10000),
-            backgroundColor: DT.Cesium.Color.fromCssColorString('rgba(0,0,0,0.7)'),
+            backgroundColor: DT.Cesium.Color.fromCssColorString('rgba(255,255,255,0.6)'),
-            style: DT.Cesium.LabelStyle.FILL_AND_OUTLINE,
+            pixelOffset: new DT.Cesium.Cartesian2(10, -15),
           },
           model: {
             uri: process.env.BASE_URL + 'model/uav.gltf',
             minimumPixelSize: 64,
             maximumScale: 128,
           },
-          // point: {
-          //   pixelSize: 40,
-          //   color: DT.Cesium.Color.RED,
-          //   disableDepthTestDistance: 10000
-          // },
           polyline: {
-            positions: new DT.Cesium.CallbackProperty(function () {
+            // 修复：绑定uavId到回调作用域，避免丢失
-              return this.positions
+            positions: new DT.Cesium.CallbackProperty(() => {
+              return uavTracks[uavId] || [];
             }, false),
-            width: 8,
+            width: 2,          // 线宽加大，更容易观察
-            zIndex: 600,
+            zIndex: 600,       // 提高层级，避免被其他元素覆盖
-            material: DT.Cesium.Color.BLACK,
+            material: DT.Cesium.Color.fromCssColorString('#1fe46b'), // 半透明，更易见
-            depthFailMaterial: DT.Cesium.Color.CYAN,
+            depthFailMaterial: DT.Cesium.Color.CYAN.withAlpha(0.8),
-            arcType: DT.Cesium.ArcType.NONE
+            arcType: DT.Cesium.ArcType.NONE, // 关键：添加直线轨迹配置
+            disableDepthTestDistance: Number.POSITIVE_INFINITY, // 永不被遮挡
+            distanceDisplayCondition: new DT.Cesium.DistanceDisplayCondition(0, 50000), // 扩大显示范围
+            clampToGround: false, // 不贴地，跟随无人机高度
+            show: true // 显式开启，避免默认隐藏
           }
-        })
+        });
       }
     },
     handleWebsocketWave(info) {
@@ -2870,7 +2901,7 @@ export default {
       // this.imageInfos = Object.assign({}, this.imageInfos, data)
       // this.imageInfos.brightness = data.brightness
       console.log('SAR图像2', data)
-      orthoManager.add(data, this.imageInfos.brightness)
+      orthoManager.add(data)
       // this.addMarkPicture2(data)
       // console.log('灭有匹配到吗taskUavCollection', taskUavCollection, taskUavCollection[data.jobId])
       // if (taskUavCollection[data.jobId]) {
@@ -3090,6 +3121,7 @@ export default {
             }
           })
           socketPositionIndex = 0
+          uavTracks = {}
           if (orthoManager) {
             orthoManager.clearAll()
             orthoManager = null