优化任务执行代码

.idea/.gitignore

@@ -17,9 +17,9 @@
 *.class
 
 # 忽略日志文件
+/log/
 *.log
 
 # 忽略系统生成文件
 .DS_Store
 Thumbs.db
-

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/device/controller/PayloadController.java

@@ -1,9 +1,9 @@
 package com.zhangy.skyeye.device.controller;
 
+import com.zhangy.skyeye.device.dto.PayloadPageDTO;
 import com.zhangy.skyeye.device.dto.PayloadQueryDTO;
 import com.zhangy.skyeye.device.entity.SkyeyePayload;
 import com.zhangy.skyeye.device.service.IPayloadService;
-import com.zhangy.skyeye.device.dto.PayloadPageDTO;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.validation.annotation.Validated;
 import org.springframework.web.bind.annotation.*;
@@ -36,6 +36,7 @@ public class PayloadController {
 
     /**
      * 查询可用的雷达（未执行任务且已连接）
+     *
      * @return
      */
     @GetMapping("/getEnableList")

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

@@ -6,7 +6,6 @@ import com.zhangy.skyeye.common.extend.dto.QueryDTO;
 import com.zhangy.skyeye.common.extend.enums.EnumUtil;
 import com.zhangy.skyeye.common.extend.exception.ServiceException;
 import com.zhangy.skyeye.common.extend.util.ObjectUtil;
-import com.zhangy.skyeye.redis.utils.RedisUtil;
 import com.zhangy.skyeye.device.consts.PayloadTypeEnum;
 import com.zhangy.skyeye.device.dto.PayloadQueryDTO;
 import com.zhangy.skyeye.device.entity.SkyeyePayload;
@@ -18,6 +17,7 @@ import com.zhangy.skyeye.jm.dto.JmUavStatusDTO;
 import com.zhangy.skyeye.jm.service.JmJobStatusService;
 import com.zhangy.skyeye.publics.consts.CacheKey;
 import com.zhangy.skyeye.publics.consts.ExecStatusEnum;
+import com.zhangy.skyeye.redis.utils.RedisUtil;
 import com.zhangy.skyeye.sar.service.ISarControlService;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.data.redis.core.RedisTemplate;
@@ -57,9 +57,7 @@ public class PayloadServiceImpl implements IPayloadService {
         PayloadQueryDTO payloadQueryDTO = new PayloadQueryDTO();
         payloadQueryDTO.setType(PayloadTypeEnum.SAR.getCode());
         List<SkyeyePayload> sarList = selectList(payloadQueryDTO);
-        sarList.forEach(e -> {
+        sarList.forEach(this::cacheSar);
-            cacheSar(e);
-        });
     }
 
     private void cacheSar(SkyeyePayload e) {
@@ -116,6 +114,7 @@ public class PayloadServiceImpl implements IPayloadService {
 
     /**
      * 先判断该设备（同IP、编号）是否已删除过，是则更新，否则新增
+     *
      * @param e
      * @return
      */
@@ -151,6 +150,7 @@ public class PayloadServiceImpl implements IPayloadService {
 
     /**
      * 保存前校验
+     *
      * @param e
      * @return 返回已逻辑删除的载荷
      */
@@ -176,7 +176,7 @@ public class PayloadServiceImpl implements IPayloadService {
                 .stream()
                 .flatMap(vo -> vo.getUavMap().values().stream())
                 .filter(vo -> vo.getSarStatus() != ExecStatusEnum.OVER)
-                .map(vo -> vo.getSarId())
+                .map(JmUavStatusDTO::getSarId)
                 .collect(Collectors.toList());
         // 任务中的不可删除
         for (Long sarId : id) {

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

@@ -5,65 +5,86 @@ import com.zhangy.skyeye.common.extend.exception.ServiceException;
 import com.zhangy.skyeye.device.consts.PayloadTypeEnum;
 import com.zhangy.skyeye.jm.entity.JmAirline;
 import com.zhangy.skyeye.jm.entity.JmJobPayload;
+import com.zhangy.skyeye.jm.entity.JmJobUav;
 import com.zhangy.skyeye.publics.consts.ExecStatusEnum;
 import lombok.Data;
 
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
 import java.util.Map;
-import java.util.function.Function;
+
-import java.util.stream.Collectors;
 /**
  * 任务状态 - 任务
  */
 @Data
 public class JmJobStatusDTO {
 
-    /**
-     * 任务配置ID
-     */
     private Long id;
-
     private ExecStatusEnum status;
-
     private Map<Long, JmUavStatusDTO> uavMap;
 
-    public static JmJobStatusDTO parse(JmJobDTO e) {
+    /**
+     * 将 JmJobDTO 转换为前端 DTO
+     */
+    public static JmJobStatusDTO parse(JmJobDTO job) {
+        if (job.getStatus() == null) throw ServiceException.noLog("任务状态不能为空");
         JmJobStatusDTO vo = new JmJobStatusDTO();
-        long jobConfId = e.getConfId();
+        vo.setId(job.getConfId());
-        vo.setId(jobConfId);
+        vo.setStatus(EnumUtil.parseEx(ExecStatusEnum.class, job.getStatus()));
-        Integer jobStatus = e.getStatus();
+        // 构建 UAV Map
-        if (jobStatus == null) {
+        Map<Long, JmUavStatusDTO> uavMap = new HashMap<>();
-            throw ServiceException.noLog("任务状态不能为空");
+        for (JmJobUav uav : job.getUavList()) {
+            uavMap.put(uav.getUavId(), parseUav(uav, job));
         }
-        vo.setStatus(EnumUtil.parseEx(ExecStatusEnum.class, jobStatus));
+        vo.setUavMap(uavMap);
-        vo.setUavMap(e.getUavList()
+        return vo;
-                .stream()
+    }
-                .map(u -> {
+
+    /**
+     * 将单个 UAV 对象转换为 DTO，包括 SAR 信息和航线列表
+     */
+    private static JmUavStatusDTO parseUav(JmJobUav uav, JmJobDTO job) {
         JmUavStatusDTO uVo = new JmUavStatusDTO();
-                    long uavId = u.getUavId();
+        // UAV 基本信息
-                    uVo.setUavId(uavId);
+        uVo.setUavId(uav.getUavId());
-                    // sar
+        uVo.setHomeAlt(uav.getStartAltitude());
-                    JmJobPayload sar = u.getPayloadList()
+        uVo.setHomeLon(uav.getStartLon());
-                            .stream()
+        uVo.setHomeLat(uav.getStartLat());
+        uVo.setJobId(job.getConfId());
+        uVo.setJobExecId(job.getExecId());
+        uVo.setJobName(job.getName());
+        uVo.setUavName(uav.getUavName());
+        // 找到 UAV 的 SAR Payload
+        JmJobPayload sar = uav.getPayloadList().stream()
                 .filter(p -> PayloadTypeEnum.SAR.getCode().equals(p.getType()))
                 .findFirst()
-                            .get();
+                .orElseThrow(() -> new ServiceException("SAR payload不存在"));
-                    long sarId = sar.getPayloadId();
+        uVo.setSarId(sar.getPayloadId());
-                    uVo.setSarId(sarId);
         uVo.setSarIp(sar.getIp());
         uVo.setSarImageLight(sar.getImageLight());
-                    // smp
+        uVo.setSarName(sar.getPayloadName());
-                    uVo.setHomeAlt(u.getStartAltitude());
+        // uVo.setSarStatus(ExecStatusEnum.parseEx(sar.getStatus()));
-                    uVo.setHomeLon(u.getStartLon());
+        // 构建航线 DTO 列表，同时计算总距离
-                    uVo.setHomeLat(u.getStartLat());
+        int totalDistance = 0;
-                    Integer sarStatus = sar.getStatus();
+        List<JmAirlineStatusDTO> airlines = new ArrayList<>();
-                    if (sarStatus == null) {
+        for (JmAirline a : uav.getAirlineList()) {
-                        throw new ServiceException("sar状态不能为空");
+            airlines.add(parseAirline(a, job.getConfId(), uav.getUavId(), sar.getPayloadId()));
+            totalDistance += a.getDistance();
         }
-                 //   uVo.setSarStatus(ExecStatusEnum.parseEx(sarStatus));
+        uVo.setAirlineList(airlines);
-                    uVo.setAirlineList(u.getAirlineList()
+        uVo.setDistance(totalDistance);
-                            .stream()
+
-                            .map(a -> {
+        return uVo;
+    }
+
+    /**
+     * 将单条航线对象转换为 DTO
+     */
+    private static JmAirlineStatusDTO parseAirline(JmAirline a, long jobId, long uavId, long payloadId) {
+        if (a.getStatus() == null) throw ServiceException.noLog("航线状态不能为空");
         JmAirlineStatusDTO aVo = new JmAirlineStatusDTO();
+        // 航线基础信息
         aVo.setConfId(a.getConfId());
         aVo.setExecId(a.getExecId());
         aVo.setNo(a.getFlightNo());
@@ -73,29 +94,12 @@ public class JmJobStatusDTO {
         aVo.setStartHeight(a.getStartHeight());
         aVo.setTargetHeading(a.getTargetHeading());
         aVo.setDirection(a.getDirection());
-                                aVo.setJobId(jobConfId);
+        // 关联任务和 UAV
+        aVo.setJobId(jobId);
         aVo.setUavId(uavId);
-                                aVo.setPayloadId(sarId);
+        aVo.setPayloadId(payloadId);
-                                Integer airlineStatus = a.getStatus();
+        // 状态枚举
-                                if (airlineStatus == null) {
+        aVo.setStatus(EnumUtil.parseEx(ExecStatusEnum.class, a.getStatus()));
-                                    throw ServiceException.noLog("航线状态不能为空");
-                                }
-                                aVo.setStatus(EnumUtil.parseEx(ExecStatusEnum.class, airlineStatus));
         return aVo;
-                            })
-                            .collect(Collectors.toList())
-                    );
-                    uVo.setDistance(u.getAirlineList().stream().mapToInt(JmAirline::getDistance).sum());
-                    // 向前端推送图像时需要
-                    uVo.setJobId(jobConfId);
-                    uVo.setJobExecId(e.getExecId());
-                    uVo.setJobName(e.getName());
-                    uVo.setUavName(u.getUavName());
-                    uVo.setSarName(sar.getPayloadName());
-                    return uVo;
-                })
-                .collect(Collectors.toMap(uVo -> uVo.getUavId(), Function.identity()))
-        );
-        return vo;
     }
 }

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

@@ -7,7 +7,10 @@ import com.zhangy.skyeye.common.extend.util.ObjectUtil;
 import com.zhangy.skyeye.device.service.IPayloadService;
 import com.zhangy.skyeye.jm.dto.JmJobDTO;
 import com.zhangy.skyeye.jm.dto.JmJobQueryDTO;
-import com.zhangy.skyeye.jm.entity.*;
+import com.zhangy.skyeye.jm.entity.JmAirlineExec;
+import com.zhangy.skyeye.jm.entity.JmJobExec;
+import com.zhangy.skyeye.jm.entity.JmJobPoint;
+import com.zhangy.skyeye.jm.entity.JmJobUav;
 import com.zhangy.skyeye.jm.event.JmJobStatusInitEvent;
 import com.zhangy.skyeye.jm.mapper.JmJobExecMapper;
 import com.zhangy.skyeye.jm.service.*;
@@ -74,6 +77,7 @@ public class JmJobExecServiceImpl implements JmJobExecService {
 
     /**
      * 查询进行中的任务
+     *
      * @return
      */
     @Override
@@ -125,40 +129,36 @@ public class JmJobExecServiceImpl implements JmJobExecService {
     @Transactional
     @Override
     public void save(JmJobDTO dto) {
-        Long jobConfigId = dto.getId();
+        // 1. 保存任务执行信息
-        // 任务
+        JmJobExec jobExec = new JmJobExec();
-        JmJobExec e = new JmJobExec();
+        jobExec.setConfId(dto.getId());
-        e.setStatus(dto.getStatus());
+        jobExec.setStatus(dto.getStatus());
-        e.setBeginTime(dto.getBeginTime());
+        jobExec.setBeginTime(dto.getBeginTime());
-        e.setConfId(jobConfigId);
+        jobExec.setType(dto.getType());
-        e.setType(dto.getType());
+        jobExecMapper.insert(jobExec);
-        jobExecMapper.insert(e);
+        long execId = jobExec.getId();
-        long execId = e.getId();
+        // 2. 构建并保存航线执行列表
-        // 航线
+        List<JmAirlineExec> airlineExecList = dto.getUavList().stream()
-        List<JmAirlineExec> airlineExecList = dto.getUavList()
+                .flatMap(uav -> uav.getAirlineList().stream()
-                .stream()
-                .flatMap(uav -> {
-                    return uav.getAirlineList()
-                            .stream()
                         .map(airline -> {
                             JmAirlineExec ae = new JmAirlineExec();
                             ae.setConfId(airline.getId());
-                                ae.setStatus(ExecStatusEnum.NOT.getValue());
                             ae.setJobId(execId);
+                            ae.setStatus(ExecStatusEnum.NOT.getValue());
                             return ae;
-                            });
+                        }))
-                }).collect(Collectors.toList());
+                .collect(Collectors.toList());
         jmAirlineExecService.insert(airlineExecList);
-        // 回写航线执行ID
+        // 3. 回写航线执行ID
-        // 键 航线配置ID，值 航线执行ID
+        Map<Long, Long> airlineIdMap = airlineExecList.stream()
-        Map<Long, Long> airlineIdMap = airlineExecList.stream().collect(Collectors.toMap(a -> a.getConfId(), a -> a.getId(), (x, y) -> y));
+                .collect(Collectors.toMap(JmAirlineExec::getConfId, JmAirlineExec::getId));
-        dto.getUavList().forEach(uav -> {
+        dto.getUavList().forEach(uav -> uav.getAirlineList().forEach(airline ->
-            uav.getAirlineList().forEach(a -> a.setExecId(airlineIdMap.get(a.getId())));
+                airline.setExecId(airlineIdMap.get(airline.getId()))));
-        });
+        // 4. 回写任务执行ID
-        // 回写任务执行ID
         dto.setExecId(execId);
     }
 
+
     @Override
     public void updateNotNull(JmJobExec e) {
         Long jobExecId = e.getId();

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

@@ -1,6 +1,7 @@
 package com.zhangy.skyeye.jm.service.impl;
 
 import cn.hutool.core.bean.BeanUtil;
+import cn.hutool.core.date.DateUtil;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.zhangy.skyeye.common.extend.enums.EnumUtil;
@@ -378,11 +379,9 @@ public class JmJobServiceImpl implements JmJobService {
        // SarBackImageFrameDTO.i = 1;
         // 校验无人机、载荷
         jobStatusService.checkDeviceForNewJob(job.getUavList());
-        Long jobId = job.getId();
+        // 保存任务状态
-        // 更新任务状态
         job.setStatus(ExecStatusEnum.PROCESSING.getValue());
-        job.setBeginTime(new Date());
+        job.setBeginTime(DateUtil.date());
-        // add exec
         jmJobExecService.save(job);
         try {
             // 1.发送航线到雷达

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

@@ -2,6 +2,7 @@ package com.zhangy.skyeye.jm.service.impl;
 
 import com.zhangy.skyeye.common.extend.exception.ServiceException;
 import com.zhangy.skyeye.jm.dto.*;
+import com.zhangy.skyeye.jm.entity.JmJobPayload;
 import com.zhangy.skyeye.jm.entity.JmJobUav;
 import com.zhangy.skyeye.jm.event.JmAirlineStatusEvent;
 import com.zhangy.skyeye.jm.event.JmJobStatusEvent;
@@ -12,7 +13,6 @@ import com.zhangy.skyeye.publics.consts.ExecStatusEnum;
 import com.zhangy.skyeye.publics.consts.WebSocketKey;
 import com.zhangy.skyeye.publics.utils.CoordUtil;
 import com.zhangy.skyeye.sar.listen.SarImageUdpProcessor;
-// import com.zhangy.skyeye.smp.service.ISmpSubscriptService;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.context.ApplicationEventPublisher;
@@ -158,27 +158,29 @@ public class JmJobStatusServiceImpl implements JmJobStatusService {
     }
 
     @Override
-    public void checkDeviceForNewJob(List<JmJobUav> uavList) {
+    public void checkDeviceForNewJob(List<JmJobUav> newJobUavs) {
-        // 查询未完成的无人机、载荷
+        // 收集正在执行任务的无人机ID和载荷ID
-        Set<Long> uavIds = new HashSet<>();
+        Set<Long> runningUavIds = new HashSet<>();
-        Set<Long> sarIds = new HashSet<>();
+        Set<Long> runningPayloadIds = new HashSet<>();
-        getAll().stream().flatMap(vo -> vo.getUavMap().values().stream())
+        for (JmJobStatusDTO job : getAll()) {
-                .forEach(vo -> {
+            for (JmUavStatusDTO value : job.getUavMap().values()) {
-                    if (vo.getSarStatus() != ExecStatusEnum.OVER) {
+                if (value.getSarStatus() != ExecStatusEnum.OVER) {
-                        uavIds.add(vo.getUavId());
+                    runningUavIds.add(value.getUavId());
-                        sarIds.add(vo.getSarId());
+                    runningPayloadIds.add(value.getSarId());
                 }
-                });
+            }
-        uavList.forEach(u -> {
+        }
-            if (uavIds.contains(u.getUavId())) {
+        // 校验新任务中的无人机和载荷是否冲突
+        for (JmJobUav newUav : newJobUavs) {
+            if (runningUavIds.contains(newUav.getUavId())) {
                 throw ServiceException.warnLog("无人机正在任务中，无法执行新任务");
             }
-            u.getPayloadList().forEach(p -> {
+            for (JmJobPayload payload : newUav.getPayloadList()) {
-                if (sarIds.contains(p.getPayloadId())) {
+                if (runningPayloadIds.contains(payload.getPayloadId())) {
                     throw ServiceException.warnLog("载荷正在任务中，无法执行新任务");
                 }
-            });
+            }
-        });
+        }
     }
 
     /**
@@ -314,6 +316,7 @@ public class JmJobStatusServiceImpl implements JmJobStatusService {
 
     /**
      * 获取任务完成度
+     *
      * @return
      */
     private int getCompletion(JmJobStatusDTO job) {

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

@@ -69,7 +69,7 @@ public class SarControlContext {
 
     @PostConstruct
     public void log() {
-        log.info("雷达传图类型：" + imgType);
+        log.info("雷达传图类型：{}", imgType);
     }
 
     /**

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

@@ -1,6 +1,5 @@
 package com.zhangy.skyeye.sar.listen;
 
-import com.zhangy.skyeye.common.extend.exception.ServiceException;
 import com.zhangy.skyeye.jm.dto.JmAirlineStatusDTO;
 import com.zhangy.skyeye.jm.entity.JmImage;
 import com.zhangy.skyeye.jm.service.JmJobStatusService;
@@ -10,12 +9,10 @@ import com.zhangy.skyeye.sar.dto.SarImagePacketDTO;
 import com.zhangy.skyeye.sar.dto.SarImagePacketGroupDTO;
 import com.zhangy.skyeye.sar.service.ISarImageService;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.tomcat.util.security.MD5Encoder;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.context.annotation.Primary;
 import org.springframework.stereotype.Service;
 
-import java.io.*;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import java.util.Map;
@@ -57,6 +54,7 @@ public class SarImageUdpProcessor extends SarAbstractUdpProcessor<SarImagePacket
 
     /**
      * 判断是否可以合并回图帧，首包不能丢
+     *
      * @param group
      * @return
      */
@@ -72,6 +70,7 @@ public class SarImageUdpProcessor extends SarAbstractUdpProcessor<SarImagePacket
      * 合并后删除frameMap的分包数据
      * 使用ByteBuffer替代ByteArrayOutputStream，以减少内存分配。ByteArrayOutputStream 的 toByteArray()底层用Arrays.copyOf实现，
      * 有性能开销；ByteBuffer的array()无需拷贝数组
+     *
      * @param group
      * @return
      */
@@ -97,7 +96,6 @@ public class SarImageUdpProcessor extends SarAbstractUdpProcessor<SarImagePacket
 
     @Override
     public SarImagePacketGroupDTO putPacket(String sourceIp, SarImagePacketDTO packet) {
-        //System.out.println("udp:" + packet.getSessionId() + "," + packet.getPacketNo());
         // 1.包放入缓冲区
         long sessionId = packet.getSessionId();
         SarImagePacketGroupDTO group;
@@ -114,12 +112,11 @@ public class SarImageUdpProcessor extends SarAbstractUdpProcessor<SarImagePacket
             group.setAirlineExecId(currAirline.getExecId());
             put(sourceIp, sessionId, group);
         }
-        //System.out.println(packet);
         // 2.判断是否全部包到达，是则合并
         SarImagePacketDTO last = group.getLastPacket();
         // 若所有包已收到则合并
         if (last != null && last.isLast() && group.getPackets().size() == group.getMaxNo() + 1) {
-            log.info("[UDP] sesionid="+ packet.getSessionId() + "全部到达合并！");
+            log.info("[UDP] sesionid=" + packet.getSessionId() + "全部到达合并！");
             byte[] framePacketData = join(group);
             afterJoin(framePacketData, group);
             remove(sourceIp, sessionId);
@@ -137,15 +134,16 @@ public class SarImageUdpProcessor extends SarAbstractUdpProcessor<SarImagePacket
     protected void expireProcess(SarImagePacketGroupDTO group) {
         // 定时判断：超过 PACKET_TIMEOUT 时间未收到新包且符合生成条件则合成图
         if (canJoin(group)) {
-            log.info("[UDP] sesionid="+ group.getSessionId() + "超时合并！");
+            log.info("[UDP] sesionid： {} 超时合并！", group.getSessionId());
             byte[] framePacketData = join(group);
             afterJoin(framePacketData, group);
-        } else {    // 超时且无法合并，丢弃
+        } else {
+            // 超时且无法合并，丢弃
             Map<Integer, SarImagePacketDTO> packets = group.getPackets();
             if (packets.size() == 1 && packets.values().iterator().next().isLast()) {
                 // 雷达传图有bug，每帧的尾包会多发一个，丢弃且不打印日志
             } else {
-                log.warn(getText() + "-移除超时帧: {}", group.getSessionId());
+                log.warn("{}-移除超时帧: {}", getText(), group.getSessionId());
             }
         }
     }

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

@@ -1,15 +1,15 @@
 package com.zhangy.skyeye.sar.service.impl;
 
+import com.zhangy.skyeye.jm.dto.JmAirlineStatusDTO;
 import com.zhangy.skyeye.jm.dto.JmUavStatusDTO;
 import com.zhangy.skyeye.jm.entity.JmImage;
 import com.zhangy.skyeye.jm.service.JmJobStatusService;
-import com.zhangy.skyeye.jm.dto.JmAirlineStatusDTO;
 import com.zhangy.skyeye.publics.consts.WebSocketKey;
 import com.zhangy.skyeye.publics.service.SysFileTypeService;
+import com.zhangy.skyeye.sar.dto.JmSarWaveWsDTO;
 import com.zhangy.skyeye.sar.dto.SarBackWaveFrameDTO;
 import com.zhangy.skyeye.sar.service.ISarBackWsService;
 import com.zhangy.skyeye.sar.service.SarWsAsyncService;
-import com.zhangy.skyeye.sar.dto.JmSarWaveWsDTO;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.messaging.simp.SimpMessagingTemplate;

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

@@ -1,20 +1,23 @@
 package com.zhangy.skyeye.sar.service.impl;
 
 import com.zhangy.skyeye.common.extend.util.JsonUtil;
-import com.zhangy.skyeye.redis.utils.RedisUtil;
 import com.zhangy.skyeye.jm.dto.JmJobDTO;
-import com.zhangy.skyeye.publics.consts.CacheKey;
-import com.zhangy.skyeye.sar.control.SarControlContext;
-import com.zhangy.skyeye.sar.enums.SarControlTypeEnum;
-import com.zhangy.skyeye.jm.entity.JmJobPayload;
 import com.zhangy.skyeye.jm.dto.JmSarStatusDTO;
-import com.zhangy.skyeye.sar.service.ISarControlService;
+import com.zhangy.skyeye.jm.entity.JmJobPayload;
+import com.zhangy.skyeye.jm.entity.JmJobUav;
+import com.zhangy.skyeye.publics.consts.CacheKey;
+import com.zhangy.skyeye.redis.utils.RedisUtil;
+import com.zhangy.skyeye.sar.control.SarControlContext;
 import com.zhangy.skyeye.sar.dto.SarControlParamDTO;
+import com.zhangy.skyeye.sar.enums.SarControlTypeEnum;
+import com.zhangy.skyeye.sar.service.ISarControlService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 
+import java.util.Optional;
+
 /**
  * 控制指令
  */
@@ -30,35 +33,34 @@ public class SarControlServiceImpl implements ISarControlService {
 
     @Override
     public void sendUdp(JmJobDTO job) {
-        if (job == null) {
+        if (job == null || job.getUavList() == null) return;
-            return;
-        }
         job.getUavList().forEach(uav -> {
             JmJobPayload sar = uav.getSar0();
+            if (sar == null) return;
             SarControlParamDTO param = new SarControlParamDTO();
-            // 载荷参数 -> 雷达控制参数
             param.setIp(sar.getIp());
             param.setAirlineList(uav.getAirlineList());
             param.setAutoFocus(sar.getAutoFocus());
             param.setMoto(sar.getMoto());
             param.setImageBit(sar.getImageBit());
-
-            double startAltitude = uav.getStartAltitude();
-            param.getAirlineList().forEach(a -> {
-                // 雷达参数中的高度转为海拔高度
-                a.setFlightEndHeight(a.getFlightEndHeight() + startAltitude);
-                a.setFlightStartHeight(a.getFlightStartHeight() + startAltitude);
-                a.setGroundStartHeight(a.getGroundStartHeight() + startAltitude);
-                a.setTargetCentroidHeight(a.getTargetCentroidHeight() + startAltitude);
-            });
             param.setResolution(sar.getResolution());
             param.setControlType(SarControlTypeEnum.AUTO);
+            double startAltitude = uav.getStartAltitude();
+            // 高度加上起始高度
+            Optional.ofNullable(param.getAirlineList())
+                    .ifPresent(list -> list.forEach(a -> {
+                        a.setFlightStartHeight(a.getFlightStartHeight() + startAltitude);
+                        a.setFlightEndHeight(a.getFlightEndHeight() + startAltitude);
+                        a.setGroundStartHeight(a.getGroundStartHeight() + startAltitude);
+                        a.setTargetCentroidHeight(a.getTargetCentroidHeight() + startAltitude);
+                    }));
             param.checkOrSetData();
-            log.info("上传雷达：" + JsonUtil.toString(param));
+            log.info("上传雷达：{}", JsonUtil.toString(param));
             sendUdp(param);
         });
     }
 
+
     @Override
     public void sendUdp(SarControlParamDTO param) {
         udpSendContext.execute(param);

frontend/.gitignore

@@ -19,3 +19,4 @@ pack/
 package-lock.json
 .DS_Store
 .history
+/*.lock