处理机场飞行控制数据
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孙小云
parent
69bb49c869
commit
a4950f3d0e
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@ -45,7 +45,7 @@ public class AircraftFlyController extends BaseController
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* @param request 飞控命令请求
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* @param request 飞控命令请求
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* @return 结果
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* @return 结果
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*/
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*/
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@Operation(summary = "无人机飞控命令", description = "发送飞控命令控制无人机的飞行动作，包括前进、后退、左移、右移、左旋、右旋、上升、下降、返航、急停等")
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@Operation(summary = "无人机飞控命令", description = "发送飞控指令")
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@PostMapping("/flight-control")
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@PostMapping("/flight-control")
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public R<Void> flightControl(@RequestBody DroneFlightControlRequest request)
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public R<Void> flightControl(@RequestBody DroneFlightControlRequest request)
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{
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{
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@ -81,9 +81,6 @@ public class AircraftFlyController extends BaseController
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}
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}
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switch (request.getCommand()) {
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switch (request.getCommand()) {
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case RETURN_HOME:
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commandType = CommandType.RETURN_HOME;
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break;
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case FORWARD:
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case FORWARD:
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commandType = CommandType.FORWARD;
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commandType = CommandType.FORWARD;
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break;
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break;
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@ -32,91 +32,85 @@ public class FlightLogCallback implements IDroneRealTimeCallback {
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@Override
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@Override
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public void onDroneRealTimeData(String deviceSn, DroneRealTimeData data) {
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public void onDroneRealTimeData(String deviceSn, DroneRealTimeData data) {
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if (data == null) {
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log.warn("【FlightLogCallback】收到空数据: deviceSn={}", deviceSn);
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return;
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return;
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}
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// if (data == null) {
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if (data.getData() == null) {
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// log.warn("【FlightLogCallback】收到空数据: deviceSn={}", deviceSn);
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log.warn("【FlightLogCallback】收到空数据体: deviceSn={}, messageId={}", deviceSn, data.getMessageID());
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// return;
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return;
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// }
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}
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//
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// if (data.getData() == null) {
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log.info("【FlightLogCallback】处理实时消息: deviceSn={}, messageId={}, data={}",
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// log.warn("【FlightLogCallback】收到空数据体: deviceSn={}, messageId={}", deviceSn, data.getMessageID());
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deviceSn, data.getMessageID(), JSON.toJSONString(data.getData()));
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// return;
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// }
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DroneRealTimeData.DroneInfo droneInfo = data.getData();
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//
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// log.info("【FlightLogCallback】处理实时消息: deviceSn={}, messageId={}, data={}", deviceSn, data.getMessageID(), JSON.toJSONString(data.getData()));
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try {
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//
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if (droneInfo.getJiancha() != null && !droneInfo.getJiancha().isEmpty()) {
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// DroneRealTimeData.DroneInfo droneInfo = data.getData();
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log.info("【FlightLogCallback】检测到自检数据: deviceSn={}, messageId={}, checkBody={}", deviceSn, data.getMessageID(), data.getData().getJiancha());
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//
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handlePreCheckLog(deviceSn, data.getMessageID(), droneInfo.getJiancha());
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// try {
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} else {
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// if (droneInfo.getJiancha() != null && !droneInfo.getJiancha().isEmpty()) {
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log.debug("【FlightLogCallback】实时消息中无自检数据: deviceSn={}, messageId={}", deviceSn, data.getMessageID());
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// log.info("【FlightLogCallback】检测到自检数据: deviceSn={}, messageId={}, checkBody={}", deviceSn, data.getMessageID(), data.getData().getJiancha());
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}
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// handlePreCheckLog(deviceSn, data.getMessageID(), droneInfo.getJiancha());
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} catch (Exception e) {
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// } else {
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log.error("【FlightLogCallback】处理自检日志失败: deviceSn={}, messageId={}, error={}", deviceSn, data.getMessageID(), e.getMessage(), e);
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// log.debug("【FlightLogCallback】实时消息中无自检数据: deviceSn={}, messageId={}", deviceSn, data.getMessageID());
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}
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// }
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// } catch (Exception e) {
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// log.error("【FlightLogCallback】处理自检日志失败: deviceSn={}, messageId={}, error={}", deviceSn, data.getMessageID(), e.getMessage(), e);
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// }
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}
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}
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private void handlePreCheckLog(String deviceSn, String messageID, String jianchaJson) {
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private void handlePreCheckLog(String deviceSn, String messageID, String jianchaJson) {
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// log.info("【FlightLogCallback】开始处理自检日志: deviceSn={}, messageId={}, jianchaJson={}", deviceSn, messageID, jianchaJson);
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log.info("【FlightLogCallback】开始处理自检日志: deviceSn={}, messageId={}, jianchaJson={}", deviceSn, messageID, jianchaJson);
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//
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// try {
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try {
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// FlightEntity flight;
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FlightEntity flight;
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//
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// if (messageID != null && !messageID.isEmpty()) {
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if (messageID != null && !messageID.isEmpty()) {
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// log.info("【FlightLogCallback】通过messageId获取飞行记录: deviceSn={}, messageId={}", deviceSn, messageID);
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log.info("【FlightLogCallback】通过messageId获取飞行记录: deviceSn={}, messageId={}", deviceSn, messageID);
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// flight = flightService.getOrCreateFlightByMessageId(deviceSn, messageID);
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flight = flightService.getOrCreateFlightByMessageId(deviceSn, messageID);
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// } else {
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} else {
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// log.info("【FlightLogCallback】获取当前飞行记录: deviceSn={}", deviceSn);
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log.warn("【FlightLogCallback】获取当前飞行记录: deviceSn={} messageID为空", deviceSn);
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// flight = flightService.getOrCreateCurrentFlight(deviceSn);
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return;
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// }
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}
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//
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// if (flight == null) {
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log.info("【FlightLogCallback】获取到飞行记录: deviceSn={}, flightId={}, status={}", deviceSn, flight.getFlightId(), flight.getStatus());
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// log.error("【FlightLogCallback】获取飞行记录失败，无法保存自检日志: deviceSn={}, messageId={}", deviceSn, messageID);
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// return;
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JSONArray checkItems = JSON.parseArray(jianchaJson);
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// }
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if (checkItems == null || checkItems.isEmpty()) {
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//
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log.warn("【FlightLogCallback】自检数据为空或解析失败: deviceSn={}, jianchaJson={}", deviceSn, jianchaJson);
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// log.info("【FlightLogCallback】获取到飞行记录: deviceSn={}, flightId={}, status={}", deviceSn, flight.getFlightId(), flight.getStatus());
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return;
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//
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}
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// JSONArray checkItems = JSON.parseArray(jianchaJson);
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// if (checkItems == null || checkItems.isEmpty()) {
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log.info("【FlightLogCallback】解析到{}个自检项: deviceSn={}, flightId={}", checkItems.size(), deviceSn, flight.getFlightId());
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// log.warn("【FlightLogCallback】自检数据为空或解析失败: deviceSn={}, jianchaJson={}", deviceSn, jianchaJson);
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// return;
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for (int i = 0; i < checkItems.size(); i++) {
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// }
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JSONObject item = checkItems.getJSONObject(i);
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//
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PreCheckLogEntity logEntity = new PreCheckLogEntity();
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// log.info("【FlightLogCallback】解析到{}个自检项: deviceSn={}, flightId={}", checkItems.size(), deviceSn, flight.getFlightId());
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logEntity.setFlightId(flight.getFlightId());
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//
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// for (int i = 0; i < checkItems.size(); i++) {
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String check = item.getString("check");
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// JSONObject item = checkItems.getJSONObject(i);
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String value = item.getString("value");
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// PreCheckLogEntity logEntity = new PreCheckLogEntity();
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Boolean result = item.getBoolean("result");
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// logEntity.setFlightId(flight.getFlightId());
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//
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String statusText = result != null && result ? "自检成功" : "自检失败";
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// String check = item.getString("check");
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String logContent = check + " " + value + " " + statusText;
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// String value = item.getString("value");
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// Boolean result = item.getBoolean("result");
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logEntity.setLogContent(logContent);
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//
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logEntity.setSuccess(result != null ? result : false);
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// String statusText = result != null && result ? "自检成功" : "自检失败";
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// String logContent = check + " " + value + " " + statusText;
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log.info("【FlightLogCallback】准备插入自检日志[{}/{}]: deviceSn={}, flightId={}, check={}, value={}, result={}",
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//
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i + 1, checkItems.size(), deviceSn, flight.getFlightId(), check, value, result);
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// logEntity.setLogContent(logContent);
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// logEntity.setSuccess(result != null ? result : false);
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flightService.insertPreCheckLog(logEntity);
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//
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// log.info("【FlightLogCallback】准备插入自检日志[{}/{}]: deviceSn={}, flightId={}, check={}, value={}, result={}",
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log.info("【FlightLogCallback】成功插入自检日志[{}/{}]: deviceSn={}, flightId={}, logId={}",
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// i + 1, checkItems.size(), deviceSn, flight.getFlightId(), check, value, result);
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i + 1, checkItems.size(), deviceSn, flight.getFlightId(), logEntity.getLogId());
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//
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}
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// flightService.insertPreCheckLog(logEntity);
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log.info("【FlightLogCallback】完成保存自检日志: deviceSn={}, flightId={}, 检查项数量={}",
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//
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deviceSn, flight.getFlightId(), checkItems.size());
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// log.info("【FlightLogCallback】成功插入自检日志[{}/{}]: deviceSn={}, flightId={}, logId={}",
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} catch (Exception e) {
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// i + 1, checkItems.size(), deviceSn, flight.getFlightId(), logEntity.getLogId());
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log.error("【FlightLogCallback】保存自检日志失败: deviceSn={}, messageId={}, jiancha={}, error={}",
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// }
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deviceSn, messageID, jianchaJson, e.getMessage(), e);
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// log.info("【FlightLogCallback】完成保存自检日志: deviceSn={}, flightId={}, 检查项数量={}",
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}
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// deviceSn, flight.getFlightId(), checkItems.size());
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// } catch (Exception e) {
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// log.error("【FlightLogCallback】保存自检日志失败: deviceSn={}, messageId={}, jiancha={}, error={}",
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// deviceSn, messageID, jianchaJson, e.getMessage(), e);
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// }
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}
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}
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}
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}
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