1.导入航线优化、生成航线kmz优化

2.增加修改返航高度、预计飞行时间（航点航线）接口

admin/pom.xml

@@ -0,0 +1,151 @@
+<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+    <parent>
+        <groupId>com.multictrl</groupId>
+        <artifactId>Dock-MultiCtrl</artifactId>
+        <version>5.5.0</version>
+    </parent>
+    <modelVersion>4.0.0</modelVersion>
+    <artifactId>admin</artifactId>
+    <packaging>jar</packaging>
+    <description>admin</description>
+
+    <properties>
+        <quartz.version>2.5.2</quartz.version>
+        <shiro.version>2.1.0</shiro.version>
+        <captcha.version>1.6.2</captcha.version>
+        <easyexcel.version>3.2.1</easyexcel.version>
+        <minio.version>8.6.0</minio.version>
+        <okhttp.version>4.9.2</okhttp.version>
+        <mqtt.version>6.3.1</mqtt.version>
+        <influxdb.version>7.2.0</influxdb.version>
+        <dom4j.version>1.6.1</dom4j.version>
+        <metadata.version>2.19.0</metadata.version>
+        <spatial4j.version>0.8</spatial4j.version>
+    </properties>
+
+    <dependencies>
+        <dependency>
+            <groupId>com.multictrl</groupId>
+            <artifactId>common</artifactId>
+            <version>5.5.0</version>
+        </dependency>
+        <dependency>
+            <groupId>com.multictrl</groupId>
+            <artifactId>dynamic-datasource</artifactId>
+            <version>5.5.0</version>
+        </dependency>
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-quartz</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>org.apache.shiro</groupId>
+            <artifactId>shiro-spring</artifactId>
+            <classifier>jakarta</classifier>
+            <version>${shiro.version}</version>
+            <!-- 排除仍使用了javax.servlet的依赖 -->
+            <exclusions>
+                <exclusion>
+                    <groupId>org.apache.shiro</groupId>
+                    <artifactId>shiro-core</artifactId>
+                </exclusion>
+                <exclusion>
+                    <groupId>org.apache.shiro</groupId>
+                    <artifactId>shiro-web</artifactId>
+                </exclusion>
+            </exclusions>
+        </dependency>
+        <!-- 引入适配jakarta的依赖包 -->
+        <dependency>
+            <groupId>org.apache.shiro</groupId>
+            <artifactId>shiro-core</artifactId>
+            <classifier>jakarta</classifier>
+            <version>${shiro.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>org.apache.shiro</groupId>
+            <artifactId>shiro-web</artifactId>
+            <classifier>jakarta</classifier>
+            <version>${shiro.version}</version>
+            <exclusions>
+                <exclusion>
+                    <groupId>org.apache.shiro</groupId>
+                    <artifactId>shiro-core</artifactId>
+                </exclusion>
+            </exclusions>
+        </dependency>
+        <dependency>
+            <groupId>com.github.whvcse</groupId>
+            <artifactId>easy-captcha</artifactId>
+            <version>${captcha.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.alibaba</groupId>
+            <artifactId>easyexcel</artifactId>
+            <version>${easyexcel.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>io.minio</groupId>
+            <artifactId>minio</artifactId>
+            <version>${minio.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>com.squareup.okhttp3</groupId>
+            <artifactId>okhttp</artifactId>
+            <version>${okhttp.version}</version>
+        </dependency>
+        <!-- mqtt -->
+        <dependency>
+            <groupId>org.springframework.integration</groupId>
+            <artifactId>spring-integration-mqtt</artifactId>
+            <version>${mqtt.version}</version>
+        </dependency>
+        <!-- influxdb -->
+        <dependency>
+            <groupId>com.influxdb</groupId>
+            <artifactId>influxdb-client-java</artifactId>
+            <version>${influxdb.version}</version>
+        </dependency>
+        <!-- dom4j -->
+        <dependency>
+            <groupId>dom4j</groupId>
+            <artifactId>dom4j</artifactId>
+            <version>${dom4j.version}</version>
+        </dependency>
+        <!-- metadata -->
+        <dependency>
+            <groupId>com.drewnoakes</groupId>
+            <artifactId>metadata-extractor</artifactId>
+            <version>${metadata.version}</version>
+        </dependency>
+        <!-- spatial4j -->
+        <dependency>
+            <groupId>org.locationtech.spatial4j</groupId>
+            <artifactId>spatial4j</artifactId>
+            <version>${spatial4j.version}</version>
+        </dependency>
+        <!-- openfeign -->
+        <dependency>
+            <groupId>org.springframework.cloud</groupId>
+            <artifactId>spring-cloud-starter-openfeign</artifactId>
+        </dependency>
+    </dependencies>
+
+    <build>
+        <finalName>dj-multictrl-admin</finalName>
+        <plugins>
+            <plugin>
+                <groupId>org.springframework.boot</groupId>
+                <artifactId>spring-boot-maven-plugin</artifactId>
+            </plugin>
+            <plugin>
+                <groupId>org.apache.maven.plugins</groupId>
+                <artifactId>maven-surefire-plugin</artifactId>
+                <configuration>
+                    <skipTests>true</skipTests>
+                </configuration>
+            </plugin>
+        </plugins>
+    </build>
+</project>

admin/src/main/java/com/multictrl/AdminApplication.java

@@ -0,0 +1,45 @@
+package com.multictrl;
+
+import com.multictrl.common.utils.DateUtils;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.boot.SpringApplication;
+import org.springframework.boot.autoconfigure.SpringBootApplication;
+import org.springframework.boot.builder.SpringApplicationBuilder;
+import org.springframework.boot.context.event.ApplicationReadyEvent;
+import org.springframework.boot.web.servlet.support.SpringBootServletInitializer;
+import org.springframework.cloud.openfeign.EnableFeignClients;
+import org.springframework.context.event.EventListener;
+import org.springframework.scheduling.annotation.EnableScheduling;
+
+import java.util.Date;
+
+
+/**
+ * DJ-MultiCtrl
+ *
+ * @author Sdy
+ */
+@Slf4j
+@EnableScheduling
+@EnableFeignClients
+@SpringBootApplication
+public class AdminApplication extends SpringBootServletInitializer {
+
+    public static void main(String[] args) {
+        SpringApplication.run(AdminApplication.class, args);
+    }
+
+    @Override
+    protected SpringApplicationBuilder configure(SpringApplicationBuilder application) {
+        return application.sources(AdminApplication.class);
+    }
+
+    @EventListener(ApplicationReadyEvent.class)
+    public void onApplicationReady(ApplicationReadyEvent event) {
+        log.info("\n" +
+                "====================================================================================================================\n" +
+                "                                [DJ-MultiCtrl] 系统启动完成！\n" +
+                "                                当前时间: " + DateUtils.format(new Date(), DateUtils.DATE_TIME_PATTERN) + "\n" +
+                "====================================================================================================================\n");
+    }
+}

admin/src/main/java/com/multictrl/common/annotation/ApiOrder.java

@@ -0,0 +1,29 @@
+package com.multictrl.common.annotation;
+
+import java.lang.annotation.Documented;
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+
+/**
+ * Swagger文档目录排序注解
+ * <p>
+ * 用法：在Controller类上与@Tag一起使用，value值越小越靠前
+ * <pre>{@code
+ * @Tag(name = "机库信息表")
+ * @ApiOrder(1)
+ * }</pre>
+ *
+ * @author Sdy
+ */
+@Target(ElementType.TYPE)
+@Retention(RetentionPolicy.RUNTIME)
+@Documented
+public @interface ApiOrder {
+
+    /**
+     * 排序序号，数值越小显示越靠前
+     */
+    int value() default 9999;
+}

admin/src/main/java/com/multictrl/common/annotation/DataFilter.java

@@ -0,0 +1,29 @@
+package com.multictrl.common.annotation;
+
+import java.lang.annotation.*;
+
+/**
+ * 数据过滤注解
+ *
+ * @author Sdy
+ */
+@Target(ElementType.METHOD)
+@Retention(RetentionPolicy.RUNTIME)
+@Documented
+public @interface DataFilter {
+    /**
+     * 表的别名
+     */
+    String tableAlias() default "";
+
+    /**
+     * 用户ID
+     */
+    String userId() default "creator";
+
+    /**
+     * 部门ID
+     */
+    String deptId() default "dept_id";
+
+}

admin/src/main/java/com/multictrl/common/annotation/LogOperation.java

@@ -0,0 +1,20 @@
+package com.multictrl.common.annotation;
+
+import java.lang.annotation.Documented;
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+
+/**
+ * 操作日志注解
+ *
+ * @author Sdy
+ */
+@Target(ElementType.METHOD)
+@Retention(RetentionPolicy.RUNTIME)
+@Documented
+public @interface LogOperation {
+
+	String value() default "";
+}

admin/src/main/java/com/multictrl/common/aspect/DataFilterAspect.java

@@ -0,0 +1,117 @@
+package com.multictrl.common.aspect;
+
+import cn.hutool.core.collection.CollUtil;
+import cn.hutool.core.util.StrUtil;
+import com.multictrl.common.annotation.DataFilter;
+import com.multictrl.common.constant.Constant;
+import com.multictrl.common.exception.ErrorCode;
+import com.multictrl.common.exception.RenException;
+import com.multictrl.common.interceptor.DataScope;
+import com.multictrl.common.interceptor.DataScopeContext;
+import com.multictrl.modules.security.user.SecurityUser;
+import com.multictrl.modules.security.user.UserDetail;
+import com.multictrl.modules.sys.enums.SuperAdminEnum;
+import lombok.extern.slf4j.Slf4j;
+import org.aspectj.lang.JoinPoint;
+import org.aspectj.lang.annotation.Aspect;
+import org.aspectj.lang.annotation.Before;
+import org.aspectj.lang.annotation.Pointcut;
+import org.aspectj.lang.reflect.MethodSignature;
+import org.springframework.stereotype.Component;
+
+import java.lang.reflect.Method;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 数据过滤，切面处理类
+ *
+ * @author Sdy
+ */
+@Slf4j
+@Aspect
+@Component
+public class DataFilterAspect {
+
+    @Pointcut("@annotation(com.multictrl.common.annotation.DataFilter)")
+    public void dataFilterCut() {
+
+    }
+
+    @Before("dataFilterCut()")
+    public void dataFilter(JoinPoint point) {
+//        Object params = point.getArgs()[0];
+//        if (params != null && params instanceof Map) {
+        UserDetail user = SecurityUser.getUser();
+
+        //如果是超级管理员，则不进行数据过滤
+        if (user.getSuperAdmin() == SuperAdminEnum.YES.value()) {
+            return;
+        }
+
+           /* try {
+                //否则进行数据过滤
+                Map map = (Map) params;
+                String sqlFilter = getSqlFilter(user, point);
+                // 放入 ThreadLocal
+                DataScopeContext.setDataScope(new DataScope(sqlFilter));
+
+                map.put(Constant.SQL_FILTER, new DataScope(sqlFilter));
+            } catch (Exception e) {
+
+            }*/
+        try {
+            String sqlFilter = getSqlFilter(user, point);
+            // 放入 ThreadLocal
+            DataScopeContext.setDataScope(new DataScope(sqlFilter));
+            return;
+        } catch (Exception e) {
+            throw new RenException(e.getMessage());
+        }
+
+//        return;
+//        }
+
+//        throw new RenException(ErrorCode.DATA_SCOPE_PARAMS_ERROR);
+    }
+
+    /**
+     * 获取数据过滤的SQL
+     */
+    private String getSqlFilter(UserDetail user, JoinPoint point) throws Exception {
+        MethodSignature signature = (MethodSignature) point.getSignature();
+        Method method = point.getTarget().getClass().getDeclaredMethod(signature.getName(), signature.getParameterTypes());
+        DataFilter dataFilter = method.getAnnotation(DataFilter.class);
+
+        //获取表的别名
+        String tableAlias = dataFilter.tableAlias();
+        if (StrUtil.isNotBlank(tableAlias)) {
+            tableAlias += ".";
+        }
+
+        StringBuilder sqlFilter = new StringBuilder(" ");
+//        sqlFilter.append("(");
+
+        //部门ID列表
+        List<Long> deptIdList = user.getDeptIdList();
+        if (CollUtil.isNotEmpty(deptIdList)) {
+            sqlFilter.append(tableAlias).append(dataFilter.deptId());
+
+            sqlFilter.append(" in(").append(CollUtil.join(deptIdList, ",")).append(")");
+        } else {
+            throw new RenException("暂无数据权限，无法访问");
+        }
+
+        //查询本人数据
+       /* if (CollUtil.isNotEmpty(deptIdList)) {
+            sqlFilter.append(" or ");
+        }
+        sqlFilter.append(tableAlias).append(dataFilter.userId()).append("=").append(user.getId());*/
+
+//        sqlFilter.append(")");
+        String sqlFilterString = sqlFilter.toString();
+        log.debug("数据过滤SQL：{}", sqlFilterString);
+
+        return sqlFilterString;
+    }
+}

admin/src/main/java/com/multictrl/common/aspect/LogOperationAspect.java

@@ -0,0 +1,102 @@
+package com.multictrl.common.aspect;
+
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.utils.HttpContextUtils;
+import com.multictrl.common.utils.IpUtils;
+import com.multictrl.common.utils.JsonUtils;
+import com.multictrl.modules.log.entity.SysLogOperationEntity;
+import com.multictrl.modules.log.enums.OperationStatusEnum;
+import com.multictrl.modules.log.service.SysLogOperationService;
+import com.multictrl.modules.security.user.SecurityUser;
+import com.multictrl.modules.security.user.UserDetail;
+import jakarta.servlet.http.HttpServletRequest;
+import lombok.AllArgsConstructor;
+import org.aspectj.lang.ProceedingJoinPoint;
+import org.aspectj.lang.annotation.Around;
+import org.aspectj.lang.annotation.Aspect;
+import org.aspectj.lang.annotation.Pointcut;
+import org.aspectj.lang.reflect.MethodSignature;
+import org.springframework.http.HttpHeaders;
+import org.springframework.stereotype.Component;
+
+import java.lang.reflect.Method;
+
+/**
+ * 操作日志，切面处理类
+ *
+ * @author Sdy
+ */
+@Aspect
+@Component
+@AllArgsConstructor
+public class LogOperationAspect {
+    private final SysLogOperationService sysLogOperationService;
+
+    @Pointcut("@annotation(com.multictrl.common.annotation.LogOperation)")
+    public void logPointCut() {
+
+    }
+
+    @Around("logPointCut()")
+    public Object around(ProceedingJoinPoint point) throws Throwable {
+        long beginTime = System.currentTimeMillis();
+        try {
+            //执行方法
+            Object result = point.proceed();
+
+            //执行时长(毫秒)
+            long time = System.currentTimeMillis() - beginTime;
+            //保存日志
+            saveLog(point, time, OperationStatusEnum.SUCCESS.value());
+
+            return result;
+        } catch (Exception e) {
+            //执行时长(毫秒)
+            long time = System.currentTimeMillis() - beginTime;
+            //保存日志
+            saveLog(point, time, OperationStatusEnum.FAIL.value());
+
+            throw e;
+        }
+    }
+
+    private void saveLog(ProceedingJoinPoint joinPoint, long time, Integer status) throws Exception {
+        MethodSignature signature = (MethodSignature) joinPoint.getSignature();
+        Method method = joinPoint.getTarget().getClass().getDeclaredMethod(signature.getName(), signature.getParameterTypes());
+        LogOperation annotation = method.getAnnotation(LogOperation.class);
+
+        SysLogOperationEntity log = new SysLogOperationEntity();
+        if (annotation != null) {
+            //注解上的描述
+            log.setOperation(annotation.value());
+        }
+
+        //登录用户信息
+        UserDetail user = SecurityUser.getUser();
+        log.setCreatorName(user.getUsername());
+
+        log.setStatus(status);
+        log.setRequestTime((int) time);
+
+        //请求相关信息
+        HttpServletRequest request = HttpContextUtils.getHttpServletRequest();
+        if (request != null) {
+            log.setIp(IpUtils.getIpAddr(request));
+            log.setUserAgent(request.getHeader(HttpHeaders.USER_AGENT));
+            log.setRequestUri(request.getRequestURI());
+            log.setRequestMethod(request.getMethod());
+        }
+
+        //请求参数
+        Object[] args = joinPoint.getArgs();
+        try {
+            String params = JsonUtils.toJsonString(args[0]);
+            log.setRequestParams(params);
+        } catch (Exception ignored) {
+
+        }
+
+        //保存到DB
+        sysLogOperationService.save(log);
+    }
+}

admin/src/main/java/com/multictrl/common/aspect/Q20ServiceLogAspect.java

@@ -0,0 +1,51 @@
+package com.multictrl.common.aspect;
+
+import lombok.extern.slf4j.Slf4j;
+import org.aspectj.lang.ProceedingJoinPoint;
+import org.aspectj.lang.annotation.Around;
+import org.aspectj.lang.annotation.Aspect;
+import org.aspectj.lang.annotation.Pointcut;
+import org.aspectj.lang.reflect.MethodSignature;
+import org.springframework.stereotype.Component;
+
+/**
+ * Q20 service 调用日志切面
+ * 在每个 Q20 service 方法执行前后打印开始/结束及耗时，异常时打印错误信息
+ *
+ * @author 938693313@qq.com
+ * @since 1.0.0 2026/5/20
+ */
+@Slf4j
+@Aspect
+@Component
+public class Q20ServiceLogAspect {
+
+    @Pointcut("execution(public * com.multictrl.modules.business.q20.service.impl.*.*(..))")
+    public void q20ServicePointcut() {
+    }
+
+    @Around("q20ServicePointcut()")
+    public Object around(ProceedingJoinPoint point) throws Throwable {
+        MethodSignature sig = (MethodSignature) point.getSignature();
+        String className = sig.getDeclaringType().getSimpleName();
+        String methodName = sig.getName();
+        String tag = className + "." + methodName;
+
+        // 第一个参数通常是 deviceSn
+        Object[] args = point.getArgs();
+        String deviceSn = (args != null && args.length > 0 && args[0] instanceof String)
+                ? (String) args[0] : "-";
+
+        log.info("Q20 [{}] 开始 deviceSn={}", tag, deviceSn);
+        long start = System.currentTimeMillis();
+        try {
+            Object result = point.proceed();
+            log.info("Q20 [{}] 结束 deviceSn={} 耗时={}ms", tag, deviceSn, System.currentTimeMillis() - start);
+            return result;
+        } catch (Exception e) {
+            log.error("Q20 [{}] 异常 deviceSn={} 耗时={}ms error={}",
+                    tag, deviceSn, System.currentTimeMillis() - start, e.getMessage());
+            throw e;
+        }
+    }
+}

admin/src/main/java/com/multictrl/common/config/DJIConfig.java

@@ -0,0 +1,33 @@
+package com.multictrl.common.config;
+
+import lombok.Data;
+import org.springframework.boot.context.properties.ConfigurationProperties;
+import org.springframework.context.annotation.Configuration;
+
+/**
+ * 大疆机场属性配置
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/4/22
+ */
+@Data
+@Configuration
+@ConfigurationProperties(prefix = "dji")
+public class DJIConfig {
+    private String appId;
+    private String appKey;
+    private String appLicense;
+    private String ntpServerHost;
+    private Integer ntpServerPort;
+    private DockBind dockBind = new DockBind();
+
+    @Data
+    public static class DockBind {
+        private String url;
+        private String username;
+        private String password;
+        private String organizationName;
+        private String organizationId;
+        private String deviceBindCode;
+    }
+}

admin/src/main/java/com/multictrl/common/config/InfluxConfig.java

@@ -0,0 +1,69 @@
+package com.multictrl.common.config;
+
+import com.influxdb.LogLevel;
+import com.influxdb.client.InfluxDBClient;
+import com.influxdb.client.InfluxDBClientFactory;
+import com.influxdb.client.InfluxDBClientOptions;
+import lombok.Data;
+import okhttp3.ConnectionPool;
+import okhttp3.ConnectionSpec;
+import okhttp3.OkHttpClient;
+import okhttp3.logging.HttpLoggingInterceptor;
+import org.slf4j.LoggerFactory;
+import org.springframework.boot.context.properties.ConfigurationProperties;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+
+import java.time.Duration;
+import java.util.Collections;
+import java.util.concurrent.TimeUnit;
+
+/**
+ * influxdb配置
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/5/3
+ */
+@Data
+@Configuration
+@ConfigurationProperties(prefix = "influx")
+public class InfluxConfig {
+
+    private Boolean saveOpen;
+    private String url;
+    private String token;
+    private String org;
+    private String bucket;
+
+    @Bean
+    public InfluxDBClient influxDBClient() {
+        // 1. 构建高性能 OkHttpClient（连接池+重试）
+        OkHttpClient.Builder okHttpClient = new OkHttpClient.Builder()
+                .connectionSpecs(Collections.singletonList(ConnectionSpec.CLEARTEXT))
+                .connectTimeout(Duration.ofSeconds(15))
+                .readTimeout(Duration.ofSeconds(300))
+                .writeTimeout(Duration.ofSeconds(120))
+                .connectionPool(new ConnectionPool(
+                        20,
+                        300,
+                        TimeUnit.SECONDS
+                ))
+                .retryOnConnectionFailure(true)
+                .addInterceptor(new HttpLoggingInterceptor(message ->
+                        LoggerFactory.getLogger("InfluxDB").debug("HTTP: {}", message)
+                ).setLevel(HttpLoggingInterceptor.Level.NONE));
+
+        // 2. 通过 Options 精确配置
+        InfluxDBClientOptions options = InfluxDBClientOptions.builder()
+                .url(url)
+                .authenticateToken(token.toCharArray())
+                .org(org)
+                .bucket(bucket)
+                .okHttpClient(okHttpClient)
+                .build();
+
+        InfluxDBClient client = InfluxDBClientFactory.create(options);
+        client.setLogLevel(LogLevel.NONE);
+        return client;
+    }
+}

admin/src/main/java/com/multictrl/common/config/Jackson2ObjectMapperConfig.java

@@ -0,0 +1,24 @@
+package com.multictrl.common.config;
+
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.fasterxml.jackson.databind.SerializationFeature;
+import com.fasterxml.jackson.datatype.jsr310.JavaTimeModule;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+
+/**
+ * 注册 Jackson 2.x ObjectMapper bean。
+ * Spring Boot 4.x 默认只注册 tools.jackson.databind.ObjectMapper（Jackson 3.x），
+ * 项目中使用 com.fasterxml.jackson.annotation.JsonProperty 的代码需要此 bean。
+ */
+@Configuration
+public class Jackson2ObjectMapperConfig {
+
+    @Bean
+    public ObjectMapper objectMapper() {
+        ObjectMapper mapper = new ObjectMapper();
+        mapper.registerModule(new JavaTimeModule());
+        mapper.disable(SerializationFeature.WRITE_DATES_AS_TIMESTAMPS);
+        return mapper;
+    }
+}

admin/src/main/java/com/multictrl/common/config/MinioConfig.java

@@ -0,0 +1,36 @@
+package com.multictrl.common.config;
+
+import io.minio.MinioClient;
+import lombok.*;
+import org.springframework.boot.context.properties.ConfigurationProperties;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+
+/**
+ * minio配置类
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/4/16
+ */
+@Data
+@Configuration
+@ConfigurationProperties(prefix = "minio")
+public class MinioConfig {
+    private String endpoint;
+    private String accessKey;
+    private String secretKey;
+    private Other other = new Other();
+
+    @Data
+    public static class Other {
+        private String dataPath;
+    }
+
+    @Bean
+    public MinioClient minioClient() {
+        return MinioClient.builder()
+                .endpoint(endpoint)
+                .credentials(accessKey, secretKey)
+                .build();
+    }
+}

admin/src/main/java/com/multictrl/common/config/MqttConfig.java

@@ -0,0 +1,154 @@
+package com.multictrl.common.config;
+
+import com.multictrl.common.handler.Mqtt1MessageHandler;
+import com.multictrl.common.handler.Mqtt2MessageHandler;
+import lombok.Data;
+import org.eclipse.paho.client.mqttv3.MqttConnectOptions;
+import org.springframework.boot.context.properties.ConfigurationProperties;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.integration.annotation.ServiceActivator;
+import org.springframework.integration.channel.DirectChannel;
+import org.springframework.integration.config.EnableIntegration;
+import org.springframework.integration.dsl.IntegrationFlow;
+import org.springframework.integration.mqtt.core.DefaultMqttPahoClientFactory;
+import org.springframework.integration.mqtt.inbound.MqttPahoMessageDrivenChannelAdapter;
+import org.springframework.integration.mqtt.outbound.MqttPahoMessageHandler;
+import org.springframework.integration.mqtt.support.DefaultPahoMessageConverter;
+import org.springframework.messaging.MessageChannel;
+import org.springframework.messaging.MessageHandler;
+
+/**
+ * MQTT双客户端配置
+ */
+@Data
+@Configuration
+@EnableIntegration
+@ConfigurationProperties(prefix = "mqtt")
+public class MqttConfig {
+
+    private Client client1 = new Client();
+    private Client client2 = new Client();
+
+    @Data
+    public static class Client {
+        private String url;
+        private String username;
+        private String password;
+        private String subClientId;
+        private String subTopic;
+        private String pubClientId;
+    }
+
+    // ==================== 通用工厂方法 ====================
+
+    private DefaultMqttPahoClientFactory createFactory(Client c) {
+        MqttConnectOptions opt = new MqttConnectOptions();
+        opt.setCleanSession(true);
+        opt.setServerURIs(new String[]{c.getUrl()});
+        opt.setUserName(c.getUsername());
+        opt.setPassword(c.getPassword().toCharArray());
+        opt.setConnectionTimeout(10);
+        opt.setKeepAliveInterval(60);
+        opt.setAutomaticReconnect(true);
+        DefaultMqttPahoClientFactory factory = new DefaultMqttPahoClientFactory();
+        factory.setConnectionOptions(opt);
+        return factory;
+    }
+
+    private MqttPahoMessageDrivenChannelAdapter createInbound(Client c, MessageChannel channel) {
+        MqttPahoMessageDrivenChannelAdapter adapter = new MqttPahoMessageDrivenChannelAdapter(
+                c.getSubClientId(), createFactory(c), splitTopics(c.getSubTopic()));
+        adapter.setQos(2);
+        adapter.setConverter(new DefaultPahoMessageConverter());
+        adapter.setOutputChannel(channel);
+        adapter.setCompletionTimeout(5000);
+        return adapter;
+    }
+
+    private MessageHandler createOutbound(Client c) {
+        MqttPahoMessageHandler handler = new MqttPahoMessageHandler(c.getPubClientId(), createFactory(c));
+        handler.setDefaultQos(2);
+        handler.setDefaultTopic("/default/topic");
+        handler.setAsync(true);
+        handler.setCompletionTimeout(5000);
+        return handler;
+    }
+
+    private String[] splitTopics(String topics) {
+        if (topics == null || topics.isBlank()) return new String[0];
+        return java.util.Arrays.stream(topics.split(",")).map(String::trim).filter(t -> !t.isEmpty()).toArray(String[]::new);
+    }
+
+    // ==================== 客户端1 ====================
+
+    @Bean("mqttInputChannel1")
+    public MessageChannel mqttInputChannel1() {
+        return new DirectChannel();
+    }
+
+    @Bean("mqttInboundAdapter1")
+    public MqttPahoMessageDrivenChannelAdapter mqttInboundAdapter1() {
+        return createInbound(client1, mqttInputChannel1());
+    }
+
+    @Bean
+    @ServiceActivator(inputChannel = "mqttInputChannel1")
+    public MessageHandler messageHandler1(Mqtt1MessageHandler receiverMessageHandler) {
+        return receiverMessageHandler;
+    }
+
+    @Bean("mqttOutboundChannel1")
+    public MessageChannel mqttOutboundChannel1() {
+        return new DirectChannel();
+    }
+
+    @Bean("mqttOutboundHandler1")
+    @ServiceActivator(inputChannel = "mqttOutboundChannel1")
+    public MessageHandler mqttOutboundHandler1() {
+        return createOutbound(client1);
+    }
+
+    /*@Bean("mqttOutboundFlow1")
+    public IntegrationFlow mqttOutboundFlow1() {
+        return IntegrationFlow.from(mqttOutboundChannel1())
+                .handle(mqttOutboundHandler1())
+                .get();
+    }*/
+
+    // ==================== 客户端2 ====================
+
+    @Bean("mqttInputChannel2")
+    public MessageChannel mqttInputChannel2() {
+        return new DirectChannel();
+    }
+
+    @Bean("mqttInboundAdapter2")
+    public MqttPahoMessageDrivenChannelAdapter mqttInboundAdapter2() {
+        return createInbound(client2, mqttInputChannel2());
+    }
+
+    @Bean
+    @ServiceActivator(inputChannel = "mqttInputChannel2")
+    public MessageHandler messageHandler2(Mqtt2MessageHandler receiverMessageHandler) {
+        return receiverMessageHandler;
+    }
+
+    @Bean("mqttOutboundChannel2")
+    public MessageChannel mqttOutboundChannel2() {
+        return new DirectChannel();
+    }
+
+    @Bean("mqttOutboundHandler2")
+    @ServiceActivator(inputChannel = "mqttOutboundChannel2")
+    public MessageHandler mqttOutboundHandler2() {
+        return createOutbound(client2);
+    }
+
+    /*@Bean("mqttOutboundFlow2")
+    public IntegrationFlow mqttOutboundFlow2() {
+        return IntegrationFlow.from(mqttOutboundChannel2())
+                .handle(mqttOutboundHandler2())
+                .get();
+    }*/
+}

admin/src/main/java/com/multictrl/common/config/MqttThreadConfig.java

@@ -0,0 +1,31 @@
+package com.multictrl.common.config;
+
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+
+import java.util.concurrent.*;
+
+/**
+ * MQTT线程池配置 + Channel绑定
+ */
+@Configuration
+public class MqttThreadConfig {
+
+    @Bean("mqttExecutor1")
+    public ExecutorService mqttExecutor1() {
+        ThreadPoolExecutor executor = new ThreadPoolExecutor(10, 20, 60L, TimeUnit.SECONDS,
+                new LinkedBlockingQueue<>(200), Executors.defaultThreadFactory(), new ThreadPoolExecutor.CallerRunsPolicy());
+        // JVM关闭时优雅关闭线程池
+        Runtime.getRuntime().addShutdownHook(new Thread(executor::shutdown));
+        return executor;
+    }
+
+    @Bean("mqttExecutor2")
+    public ExecutorService mqttExecutor2() {
+        ThreadPoolExecutor executor = new ThreadPoolExecutor(10, 20, 60L, TimeUnit.SECONDS,
+                new LinkedBlockingQueue<>(200), Executors.defaultThreadFactory(), new ThreadPoolExecutor.CallerRunsPolicy());
+        // JVM关闭时优雅关闭线程池
+        Runtime.getRuntime().addShutdownHook(new Thread(executor::shutdown));
+        return executor;
+    }
+}

admin/src/main/java/com/multictrl/common/config/MybatisPlusConfig.java

@@ -0,0 +1,35 @@
+package com.multictrl.common.config;
+
+import com.baomidou.mybatisplus.extension.plugins.MybatisPlusInterceptor;
+import com.baomidou.mybatisplus.extension.plugins.inner.BlockAttackInnerInterceptor;
+import com.baomidou.mybatisplus.extension.plugins.inner.OptimisticLockerInnerInterceptor;
+import com.baomidou.mybatisplus.extension.plugins.inner.PaginationInnerInterceptor;
+import com.multictrl.common.interceptor.DataFilterInterceptor;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+
+/**
+ * mybatis-plus配置
+ *
+ * @author Sdy
+ * @since 1.0.0
+ */
+@Configuration
+public class MybatisPlusConfig {
+
+    @Bean
+    public MybatisPlusInterceptor mybatisPlusInterceptor() {
+        MybatisPlusInterceptor mybatisPlusInterceptor = new MybatisPlusInterceptor();
+        // 数据权限
+        mybatisPlusInterceptor.addInnerInterceptor(new DataFilterInterceptor());
+        // 分页插件
+        mybatisPlusInterceptor.addInnerInterceptor(new PaginationInnerInterceptor());
+        // 乐观锁
+        mybatisPlusInterceptor.addInnerInterceptor(new OptimisticLockerInnerInterceptor());
+        // 防止全表更新与删除
+        mybatisPlusInterceptor.addInnerInterceptor(new BlockAttackInnerInterceptor());
+
+        return mybatisPlusInterceptor;
+    }
+
+}

admin/src/main/java/com/multictrl/common/config/SrsConfig.java

@@ -0,0 +1,29 @@
+package com.multictrl.common.config;
+
+import feign.auth.BasicAuthRequestInterceptor;
+import lombok.Data;
+import org.springframework.boot.context.properties.ConfigurationProperties;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+
+/**
+ * 直播服务器配置
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/5/7
+ */
+@Data
+@Configuration
+@ConfigurationProperties(prefix = "srs")
+public class SrsConfig {
+    private String ip;
+    private String rtmpPort;
+    private String rtmpToken;
+    private String username;
+    private String password;
+
+    @Bean
+    public BasicAuthRequestInterceptor basicAuthRequestInterceptor() {
+        return new BasicAuthRequestInterceptor(username, password);
+    }
+}

admin/src/main/java/com/multictrl/common/config/SwaggerConfig.java

@@ -0,0 +1,131 @@
+package com.multictrl.common.config;
+
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.constant.Constant;
+import io.swagger.v3.oas.models.OpenAPI;
+import io.swagger.v3.oas.models.Operation;
+import io.swagger.v3.oas.models.PathItem;
+import io.swagger.v3.oas.models.info.Info;
+import io.swagger.v3.oas.models.security.SecurityRequirement;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.extern.slf4j.Slf4j;
+import org.springdoc.core.customizers.OpenApiCustomizer;
+import org.springframework.context.ApplicationContext;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.context.annotation.Lazy;
+import org.springframework.core.annotation.AnnotationUtils;
+import org.springframework.web.bind.annotation.RestController;
+
+import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.stream.Collectors;
+
+/**
+ * Swagger配置
+ *
+ * @author Sdy
+ */
+@Slf4j
+@Configuration
+public class SwaggerConfig {
+
+    @Bean
+    public OpenAPI createRestApi() {
+        return new OpenAPI()
+                .info(apiInfo())
+                .security(security());
+    }
+
+    /**
+     * 按Controller上的@ApiOrder注解对Swagger Tag排序
+     */
+    @Bean
+    public OpenApiCustomizer openApiCustomizer(@Lazy ApplicationContext ctx) {
+        return openApi -> {
+            Map<String, Integer> tagOrderMap = buildTagOrderMap(ctx);
+            log.info("=== Swagger Tag Order Map: {} ===", tagOrderMap);
+
+            // springdoc 3.x: openApi.getTags() 为空，需要从Paths中收集Tag
+            List<io.swagger.v3.oas.models.tags.Tag> allTags = collectTagsFromPaths(openApi);
+            log.info("=== Collected Tags: {} ===",
+                    allTags.stream().map(io.swagger.v3.oas.models.tags.Tag::getName).collect(Collectors.toList()));
+
+            // 按@ApiOrder排序
+            allTags.sort(Comparator.comparingInt(
+                    t -> tagOrderMap.getOrDefault(t.getName(), 9999)
+            ));
+
+            openApi.tags(allTags);
+        };
+    }
+
+    /**
+     * 从OpenAPI的Paths中收集所有用到的Tag（去重）
+     */
+    private List<io.swagger.v3.oas.models.tags.Tag> collectTagsFromPaths(OpenAPI openApi) {
+        Set<String> tagNameSet = new LinkedHashSet<>();
+        if (openApi.getPaths() != null) {
+            for (PathItem pathItem : openApi.getPaths().values()) {
+                for (Operation op : pathItem.readOperations()) {
+                    if (op.getTags() != null) {
+                        tagNameSet.addAll(op.getTags());
+                    }
+                }
+            }
+        }
+        return tagNameSet.stream()
+                .map(name -> new io.swagger.v3.oas.models.tags.Tag().name(name))
+                .collect(Collectors.toList());
+    }
+
+    /**
+     * 扫描所有带@RestController和@Tag的类，读取@ApiOrder值
+     */
+    private Map<String, Integer> buildTagOrderMap(ApplicationContext ctx) {
+        Map<String, Integer> orderMap = new ConcurrentHashMap<>();
+        try {
+            String[] beanNames = ctx.getBeanNamesForAnnotation(RestController.class);
+            for (String beanName : beanNames) {
+                Object bean = ctx.getBean(beanName);
+                Class<?> clazz = bean.getClass();
+                // 处理CGLIB/JDK代理，获取原始类
+                while (clazz.getName().contains("$$") || clazz.getName().contains("Proxy")) {
+                    Class<?> superClazz = clazz.getSuperclass();
+                    if (superClazz != null && !superClazz.equals(Object.class)) {
+                        clazz = superClazz;
+                    } else {
+                        break;
+                    }
+                }
+
+                ApiOrder apiOrder = AnnotationUtils.findAnnotation(clazz, ApiOrder.class);
+                Tag tag = AnnotationUtils.findAnnotation(clazz, Tag.class);
+
+                if (tag != null && apiOrder != null) {
+                    orderMap.put(tag.name(), apiOrder.value());
+                    log.info("Found ApiOrder: {} -> {}", tag.name(), apiOrder.value());
+                }
+            }
+        } catch (Exception e) {
+            log.warn("Failed to build tag order map: {}", e.getMessage());
+        }
+        return orderMap;
+    }
+
+    private Info apiInfo() {
+        return new Info()
+                .title("大疆机场操控系统")
+                .description("api文档")
+                .version("5.x");
+    }
+
+    private List<SecurityRequirement> security() {
+        SecurityRequirement key = new SecurityRequirement();
+        key.addList(Constant.TOKEN_HEADER, Constant.TOKEN_HEADER);
+
+        List<SecurityRequirement> list = new ArrayList<>();
+        list.add(key);
+        return list;
+    }
+}

admin/src/main/java/com/multictrl/common/config/SysConfig.java

@@ -0,0 +1,23 @@
+package com.multictrl.common.config;
+
+import lombok.Data;
+import org.springframework.boot.context.properties.ConfigurationProperties;
+import org.springframework.context.annotation.Configuration;
+
+/**
+ * 系统配置信息
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/4/26
+ */
+@Data
+@Configuration
+@ConfigurationProperties(prefix = "host")
+public class SysConfig {
+
+    private String ip;
+
+    private String port;
+
+    private Boolean isSsl;
+}

admin/src/main/java/com/multictrl/common/constant/BusinessConstant.java

@@ -0,0 +1,115 @@
+package com.multictrl.common.constant;
+
+/**
+ * 业务常量类
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/4/16
+ */
+public interface BusinessConstant {
+
+    String ZHIMOU_AI_CALLBACK_TOPIC = "thing/product/%s/zhimou_ai_callback";
+    String WEB_EVENT_TOPIC = "thing/product/%s/web_event";
+    String NOFLY_ZONE_METHOD = "nofly_zone";
+    String ZHIMOU_AI_CALLBACK = "zhimou_ai_callback";
+    String ZHIMOU_AI_METHOD = "zhimou_ai";
+
+    //********************************* minio *********************************//
+    String ROUTE_IMG_BUCKET = "route-images";//航线图片桶
+    String ROUTE_KMZ_BUCKET = "route-kmz";//航线桶
+    String DOCK_MEDIA_BUCKET = "dock-media";//机库回传媒体桶
+    String REMOTE_LOG_BUCKET = "remote-log";//机库回传媒体桶
+    String DEVICE_FIRMWARE_BUCKET = "device-firmware";//设备固件桶
+    String SPEAKER_AUDIO_BUCKET = "speaker-audio";//喊话器音频桶
+    String GEO_MARK_BUCKET = "geo-mark";//地图标注文件桶
+    String DICT_IMAGE_BUCKET = "source-material";//字典图片桶
+    String MAINTENANCE_IMAGE_BUCKET = "maintenance-images";//字典图片桶
+
+    //********************************* route action *********************************//
+    String DEFAULT_ACTION_TRIGGER_TYPE = "reachPoint";//默认动作触发器类型  到达航点执行
+    String START_VIDEO_FLAG = "startRecord";//开始录像
+    String STOP_VIDEO_FLAG = "stopRecord";//停止录像
+    String EQUAL_TIME_TAKE_PHOTO_FLAG = "multipleTiming";//等时拍照
+    String EQUAL_DISTANCE_TAKE_PHOTO_FLAG = "multipleDistance";//等距拍照
+    String FINISH_TAKE_PHOTO_FLAG = "takePhotoFinish";//结束间隔拍照
+    String TAKE_PHOTO_FLAG = "takePhoto";//拍照
+
+    //********************************* dj topic *********************************//
+    String REQUESTS = "requests";
+    String STATUS = "status";
+    String OSD = "osd";
+    String STATE = "state";
+    String EVENTS = "events";
+    String SERVICES_REPLY = "services_reply";
+    String SET_REPLY = "set_reply";
+    String STORAGE_CONFIG_GET = "storage_config_get";
+    String _REPLY = "_reply";
+    //********************************* dj payload key *********************************//
+    String METHOD = "method";
+    String GATEWAY = "gateway";
+    String DATA = "data";
+    String NEED_REPLY = "need_reply";
+    //********************************* dj requests topic method *********************************//
+    String CONFIG = "config";
+    String AIRPORT_BIND_STATUS = "airport_bind_status";
+    String AIRPORT_ORGANIZATION_GET = "airport_organization_get";
+    String AIRPORT_ORGANIZATION_BIND = "airport_organization_bind";
+    String FLIGHT_TASK_RESOURCE_GET = "flighttask_resource_get";
+    //私有协议，为了确认跳飞场景下，妙算pskd设备是否开启成功
+    String PRIVATE_GET_MULTI_MIAOSUAN_PSDK_STATUS = "private_get_multi_miaosuan_psdk_status";
+    //********************************* dj events topic method *********************************//
+    String FLIGHTTASK_PROGRESS = "flighttask_progress";
+    String TAKEOFF_TO_POINT_PROGRESS = "takeoff_to_point_progress";
+    String FLY_TO_POINT_PROGRESS = "fly_to_point_progress";
+    String FILE_UPLOAD_CALLBACK = "file_upload_callback";
+    String FILEUPLOAD_PROGRESS = "fileupload_progress";
+    String FLIGHTTASK_READY = "flighttask_ready";
+    String RETURN_HOME_INFO = "return_home_info";
+    String DEVICE_EXIT_HOMING_NOTIFY = "device_exit_homing_notify";
+    String IN_FLIGHT_WAYLINE_PROGRESS = "in_flight_wayline_progress";
+    String OBSTACLE_AVOIDANCE_NOTIFY = "obstacle_avoidance_notify";
+    String OTA_PROGRESS = "ota_progress";
+    String HMS = "hms";
+    //********************************* dj status topic method *********************************//
+    String UPDATE_TOPO = "update_topo";
+    //********************************* dj cache key *********************************//
+    String DOCK_VIDEO_ID = "dock_video_id_";
+    String UAV_VIDEO_ID = "uav_video_id_";
+    String UAV_CAMERA_INDEX = "uav_camera_index_";
+    String DOCK_OSD = "dock_osd_";
+    String UAV_OSD = "uav_osd_";
+    String WORKING_TASK_ID = "working_task_id_";
+    String IN_FLIGHT_WORKING_TASK_ID = "in_flight_working_task_id_";
+    String UAV_VIDEO_TYPE = "uav_video_type_";
+    String FLIGHT_TASK_PROGRESS = "flight_task_progress_";
+    String FLIGHT_TASK_PROGRESS_STATUS = "flight_task_progress_status_";
+    String FLIGHT_TASK_PROGRESS_FLIGHT_ID = "flight_task_progress_flight_id_";
+    String DRC_HEART_BEAT_SN = "DRC_HEART_BEAT_SN";
+    String DOCK_IN_WORK = "dock_in_work_";
+    String FLIGHT_TASK_KMZ_FILE_INFO = "flight_task_kmz_file_info_";
+    String UAV_SPEAKER_INDEX = "uav_speaker_index_";
+    String UAV_LIGHT_INDEX = "uav_light_index_";
+    String UAV_MODE_CODE = "uav_mode_code_";
+
+    //********************************* other cache key *********************************//
+    String DOCK_NOFLY_ZONE = "dock_nofly_zone_";
+    String DOCK_NOFLY_ZONE_TRIGGER_SIGN = "dock_nofly_zone_trigger_sign_";
+    String ZHIMOU_TOKEN = "zhiMou_token";
+    String DOCK_ZHIMOU_CONFIG = "dock_zhiMou_config_";
+    String ZHIMOU_AI_START = "zhimou_ai_start_";
+    String ZHIMOU_AI_STOP = "zhimou_ai_stop_";
+
+    //********************************* other *********************************//
+    String HTTP_PROTOCOL = "http://";
+    String HTTPS_PROTOCOL = "https://";
+    String TCP_PROTOCOL = "tcp://";
+    String DRC = "drc_";
+    String FILE_PATH = "file/";
+    String IMAGE_PATH = "image/";
+    String VIDEO_PATH = "video/";
+    String GEO_MODEL_DIR = "/geo/model";
+    String GEO_MODEL_DISK_UPLOAD_PATH = "/geo_model";
+    String VIDEO_COVER_SUFFIX = "_cover.jpeg";
+    String DJI_SIGN = "DJI";
+    String MIAO_SUAN_SIGN = "MIAO_SUAN";
+}

admin/src/main/java/com/multictrl/common/constant/DJIImage.java

@@ -0,0 +1,26 @@
+package com.multictrl.common.constant;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@AllArgsConstructor
+@Getter
+public enum DJIImage {
+    DJI("DJI", "source-material/dji.png"),
+    DOCK1("DJI Dock", "source-material/dock1.png"),
+    DOCK2("DJI Dock2", "source-material/dock2.png"),
+    DOCK3("DJI Dock3", "source-material/dock3.png");
+
+    private final String name;
+    private final String imageUrl;
+
+    //根据名称获取图片地址
+    public static String getImageUrlByName(String name) {
+        for (DJIImage djiImage : DJIImage.values()) {
+            if (djiImage.getName().equals(name)) {
+                return djiImage.getImageUrl();
+            }
+        }
+        return null;
+    }
+}

admin/src/main/java/com/multictrl/common/constant/DeviceType.java

@@ -0,0 +1,14 @@
+package com.multictrl.common.constant;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@AllArgsConstructor
+@Getter
+public enum DeviceType {
+    DOCK("dock", "机场"),
+    UAV("uav", "飞机");
+
+    private final String code;
+    private final String desc;
+}

admin/src/main/java/com/multictrl/common/constant/DockMode.java

@@ -0,0 +1,38 @@
+package com.multictrl.common.constant;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@AllArgsConstructor
+@Getter
+public enum DockMode {
+    IDLE(0, "空闲中"),
+    FIELD_DEBUG(1, "现场调试"),
+    REMOTE_DEBUG(2, "远程调试"),
+    FIRMWARE_UPGRADING(3, "固件升级中"),
+    WORKING(4, "作业中"),
+    PENDING_CALIBRATION(5, "待标定");
+
+    private final Integer code;
+    private final String desc;
+
+    // 根据code获取DockMode
+    public static DockMode getByCode(Integer code) {
+        for (DockMode dockMode : DockMode.values()) {
+            if (dockMode.getCode().equals(code)) {
+                return dockMode;
+            }
+        }
+        return null;
+    }
+
+    //根据code获取desc
+    public static String getDescByCode(Integer code) {
+        for (DockMode dockMode : DockMode.values()) {
+            if (dockMode.getCode().equals(code)) {
+                return dockMode.getDesc();
+            }
+        }
+        return null;
+    }
+}

admin/src/main/java/com/multictrl/common/constant/ExposureValue.java

@@ -0,0 +1,51 @@
+package com.multictrl.common.constant;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@Getter
+@AllArgsConstructor
+public enum ExposureValue {
+    // 负曝光值
+    EV_NEG_5_0("1", "-5.0EV"),
+    EV_NEG_4_7("2", "-4.7EV"),
+    EV_NEG_4_3("3", "-4.3EV"),
+    EV_NEG_4_0("4", "-4.0EV"),
+    EV_NEG_3_7("5", "-3.7EV"),
+    EV_NEG_3_3("6", "-3.3EV"),
+    EV_NEG_3_0("7", "-3.0EV"),
+    EV_NEG_2_7("8", "-2.7EV"),
+    EV_NEG_2_3("9", "-2.3EV"),
+    EV_NEG_2_0("10", "-2.0EV"),
+    EV_NEG_1_7("11", "-1.7EV"),
+    EV_NEG_1_3("12", "-1.3EV"),
+    EV_NEG_1_0("13", "-1.0EV"),
+    EV_NEG_0_7("14", "-0.7EV"),
+    EV_NEG_0_3("15", "-0.3EV"),
+
+    // 零曝光值
+    EV_0("16", "0EV"),
+
+    // 正曝光值
+    EV_POS_0_3("17", "0.3EV"),
+    EV_POS_0_7("18", "0.7EV"),
+    EV_POS_1_0("19", "1.0EV"),
+    EV_POS_1_3("20", "1.3EV"),
+    EV_POS_1_7("21", "1.7EV"),
+    EV_POS_2_0("22", "2.0EV"),
+    EV_POS_2_3("23", "2.3EV"),
+    EV_POS_2_7("24", "2.7EV"),
+    EV_POS_3_0("25", "3.0EV"),
+    EV_POS_3_3("26", "3.3EV"),
+    EV_POS_3_7("27", "3.7EV"),
+    EV_POS_4_0("28", "4.0EV"),
+    EV_POS_4_3("29", "4.3EV"),
+    EV_POS_4_7("30", "4.7EV"),
+    EV_POS_5_0("31", "5.0EV"),
+
+    // 特殊值
+    FIXED("255", "FIXED");
+
+    private final String code;
+    private final String desc;
+}

admin/src/main/java/com/multictrl/common/constant/FlightTaskProgressStatus.java

@@ -0,0 +1,21 @@
+package com.multictrl.common.constant;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@AllArgsConstructor
+@Getter
+public enum FlightTaskProgressStatus {
+    CANCELED("canceled", "取消或终止"),
+    FAILED("failed", "失败"),
+    IN_PROGRESS("in_progress", "执行中"),
+    OK("ok", "执行成功"),
+    PARTIALLY_DONE("partially_done", "部分完成"),
+    PAUSED("paused", "暂停"),
+    REJECTED("rejected", "拒绝"),
+    SENT("sent", "已下发"),
+    TIMEOUT("timeout", "超时");
+
+    private final String code;
+    private final String desc;
+}

admin/src/main/java/com/multictrl/common/constant/FlightTaskStatus.java

@@ -0,0 +1,16 @@
+package com.multictrl.common.constant;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@AllArgsConstructor
+@Getter
+public enum FlightTaskStatus {
+    FAILED(-1, "任务失败"),
+    IN_PROGRESS(0, "任务进行中"),
+    FINISHED(1, "任务完成"),
+    PREVENTED(2, "任务被阻止");
+
+    private final Integer code;
+    private final String desc;
+}

admin/src/main/java/com/multictrl/common/constant/FlightTaskType.java

@@ -0,0 +1,15 @@
+package com.multictrl.common.constant;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@AllArgsConstructor
+@Getter
+public enum FlightTaskType {
+    ROUTE(1, "航线飞行"),
+    MANUAL(2, "手动飞行"),
+    SCHEDULED(3, "定时飞行");
+
+    private final Integer code;
+    private final String desc;
+}

admin/src/main/java/com/multictrl/common/constant/SetActionParams.java

@@ -0,0 +1,212 @@
+package com.multictrl.common.constant;
+
+import com.multictrl.modules.business.dto.WaypointActionDTO;
+import lombok.extern.slf4j.Slf4j;
+import org.dom4j.Element;
+
+/**
+ * 动作类型
+ *
+ * @author Sdy
+ * @since 1.0.0
+ */
+@Slf4j
+public enum SetActionParams {
+    takePhoto {//拍照
+
+        @Override
+        public void setActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+            actionActuatorFuncParam.addElement("wpml:payloadPositionIndex").setText("0");
+            actionActuatorFuncParam.addElement("wpml:fileSuffix").setText("航点" + actionDTO.getWaypointOrder());
+            actionActuatorFuncParam.addElement("wpml:payloadLensIndex").setText("wide,zoom,ir,visable");
+            actionActuatorFuncParam.addElement("wpml:useGlobalPayloadLensIndex").setText("1");
+        }
+
+        @Override
+        public void getActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+//            String payloadLensIndex = actionActuatorFuncParam.elementText("payloadLensIndex");
+
+        }
+    }, startRecord {//开始录像
+
+        @Override
+        public void setActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+            takePhoto.setActionParam(actionDTO, actionActuatorFuncParam);
+
+        }
+
+        @Override
+        public void getActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+
+        }
+    }, stopRecord {//结束录像
+
+        @Override
+        public void setActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+            actionActuatorFuncParam.addElement("wpml:payloadPositionIndex").setText("0");
+        }
+
+        @Override
+        public void getActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+
+        }
+    }, zoom {//变焦
+
+        @Override
+        public void setActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+            actionActuatorFuncParam.addElement("wpml:payloadPositionIndex").setText("0");
+            actionActuatorFuncParam.addElement("wpml:focalLength").setText(
+                    Math.round(Double.parseDouble(actionDTO.getActionValue()) * 23.75f) + "");
+            actionActuatorFuncParam.addElement("wpml:isUseFocalFactor").setText("0");
+        }
+
+        @Override
+        public void getActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+            String focalLength = actionActuatorFuncParam.elementText("focalLength");
+            actionDTO.setActionValue(Math.round(Double.parseDouble(focalLength) / 23.75f) + "");
+        }
+    }, hover {//悬停
+
+        @Override
+        public void setActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+            actionActuatorFuncParam.addElement("wpml:hoverTime").setText(actionDTO.getActionValue());
+        }
+
+        @Override
+        public void getActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+            String hoverTime = actionActuatorFuncParam.elementText("hoverTime");
+            actionDTO.setActionValue(hoverTime);
+        }
+    }, rotateYaw {//飞行器偏航角
+
+        @Override
+        public void setActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+            actionActuatorFuncParam.addElement("wpml:aircraftHeading").setText(actionDTO.getActionValue());
+            actionActuatorFuncParam.addElement("wpml:aircraftPathMode").setText("counterClockwise");
+        }
+
+        @Override
+        public void getActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+            String aircraftHeading = actionActuatorFuncParam.elementText("aircraftHeading");
+            actionDTO.setActionValue(aircraftHeading);
+        }
+    }, gimbalRotate {//云台俯仰角
+
+        @Override
+        public void setActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+            setGimbalParam(actionActuatorFuncParam);
+            actionActuatorFuncParam.addElement("wpml:gimbalYawRotateEnable").setText("0");
+            actionActuatorFuncParam.addElement("wpml:gimbalYawRotateAngle").setText("0");
+            actionActuatorFuncParam.addElement("wpml:gimbalPitchRotateEnable").setText("1");
+            actionActuatorFuncParam.addElement("wpml:gimbalPitchRotateAngle").setText(actionDTO.getActionValue());
+        }
+
+        @Override
+        public void getActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+            String gimbalPitchRotateAngle = actionActuatorFuncParam.elementText("gimbalPitchRotateAngle");
+            actionDTO.setActionValue(gimbalPitchRotateAngle);
+        }
+    }, gimbalRotate_yaw {//云台偏航角
+
+        @Override
+        public void setActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+            setGimbalParam(actionActuatorFuncParam);
+            actionActuatorFuncParam.addElement("wpml:gimbalPitchRotateEnable").setText("0");
+            actionActuatorFuncParam.addElement("wpml:gimbalPitchRotateAngle").setText("0");
+            actionActuatorFuncParam.addElement("wpml:gimbalYawRotateEnable").setText("1");
+            actionActuatorFuncParam.addElement("wpml:gimbalYawRotateAngle").setText(actionDTO.getActionValue());
+        }
+
+        @Override
+        public void getActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+            String gimbalYawRotateAngle = actionActuatorFuncParam.elementText("gimbalYawRotateAngle");
+            actionDTO.setActionValue(gimbalYawRotateAngle);
+        }
+    }, panoShot {//全景拍照
+
+        @Override
+        public void setActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+            takePhoto.setActionParam(actionDTO, actionActuatorFuncParam);
+            actionActuatorFuncParam.addElement("wpml:panoShotSubMode").setText("panoShot_360");
+        }
+
+        @Override
+        public void getActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+
+        }
+    }, multipleTiming {//等时拍照
+
+        @Override
+        public void setActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+            takePhoto.setActionParam(actionDTO, actionActuatorFuncParam);
+        }
+
+        @Override
+        public void getActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+
+        }
+    }, multipleDistance {//等距拍照
+
+        @Override
+        public void setActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+            takePhoto.setActionParam(actionDTO, actionActuatorFuncParam);
+        }
+
+        @Override
+        public void getActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+
+        }
+    };
+
+    /**
+     * 设置参数
+     */
+    public abstract void setActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam);
+
+    /**
+     * 获取值
+     */
+    public abstract void getActionParam(WaypointActionDTO actionDTO, Element actionActuatorFuncParam);
+
+    /**
+     * 根据传入的动作类型执行对应的方法
+     *
+     * @param actionDTO               动作
+     * @param actionActuatorFuncParam 参数元素
+     */
+    public static void executeAction(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+        try {
+            SetActionParams.valueOf(actionDTO.getActionType()).setActionParam(actionDTO, actionActuatorFuncParam);
+        } catch (IllegalArgumentException e) {
+            // 处理未知动作类型的异常情况
+            System.err.println("未知的动作类型: " + actionDTO.getActionType());
+        }
+    }
+
+    /**
+     * 根据传入的动作类型执行对应的方法
+     *
+     * @param actionDTO               动作
+     * @param actionActuatorFuncParam 参数元素
+     */
+    public static void getAction(WaypointActionDTO actionDTO, Element actionActuatorFuncParam) {
+        try {
+            SetActionParams.valueOf(actionDTO.getActionType()).getActionParam(actionDTO, actionActuatorFuncParam);
+        } catch (IllegalArgumentException e) {
+            // 处理未知动作类型的异常情况
+            log.error("未知的动作类型: {}", actionDTO.getActionType());
+        }
+    }
+
+    /**
+     * 云台参数
+     */
+    private static void setGimbalParam(Element actionActuatorFuncParam) {
+        actionActuatorFuncParam.addElement("wpml:gimbalRotateMode").setText("absoluteAngle");
+        actionActuatorFuncParam.addElement("wpml:gimbalRollRotateEnable").setText("0");
+        actionActuatorFuncParam.addElement("wpml:gimbalRollRotateAngle").setText("0");
+        actionActuatorFuncParam.addElement("wpml:gimbalRotateTimeEnable").setText("0");
+        actionActuatorFuncParam.addElement("wpml:gimbalRotateTime").setText("0");
+        actionActuatorFuncParam.addElement("wpml:payloadPositionIndex").setText("0");
+    }
+}

admin/src/main/java/com/multictrl/common/constant/SysParamsKey.java

@@ -0,0 +1,22 @@
+package com.multictrl.common.constant;
+
+/**
+ * 系统参数key
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/6/9
+ */
+public interface SysParamsKey {
+
+    //********************************* zhimou *********************************//
+    String ZHIMOU_AI_URL = "zhimou_ai_url";
+    String ZHIMOU_AI_APP_KEY = "zhimou_ai_app_key";
+    String ZHIMOU_AI_APP_SECRET = "zhimou_ai_app_secret";
+
+    //********************************* gaode *********************************//
+    String GAODE_API_KEY = "gaode_api_key";
+
+    //********************************* sys component *********************************//
+    String SRS_RTMP_MAP_URL = "srs_rtmp_map_url";
+    String EMQX_MAP_URL = "emqx_map_url";
+}

admin/src/main/java/com/multictrl/common/exception/RenExceptionHandler.java

@@ -0,0 +1,84 @@
+package com.multictrl.common.exception;
+
+import cn.hutool.core.map.MapUtil;
+import com.multictrl.common.utils.HttpContextUtils;
+import com.multictrl.common.utils.IpUtils;
+import com.multictrl.common.utils.JsonUtils;
+import com.multictrl.common.utils.Result;
+import com.multictrl.modules.log.entity.SysLogErrorEntity;
+import com.multictrl.modules.log.service.SysLogErrorService;
+import jakarta.servlet.http.HttpServletRequest;
+import lombok.AllArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.dao.DuplicateKeyException;
+import org.springframework.http.HttpHeaders;
+import org.springframework.web.bind.annotation.ExceptionHandler;
+import org.springframework.web.bind.annotation.RestControllerAdvice;
+
+import java.util.Map;
+
+/**
+ * 异常处理器
+ *
+ * @author Sdy
+ * @since 1.0.0
+ */
+@Slf4j
+@RestControllerAdvice
+@AllArgsConstructor
+public class RenExceptionHandler {
+    private final SysLogErrorService sysLogErrorService;
+
+    /**
+     * 处理自定义异常
+     */
+    @ExceptionHandler(RenException.class)
+    public Result<Object> handleRenException(RenException ex) {
+        Result<Object> result = new Result<Object>();
+        result.error(ex.getCode(), ex.getMsg());
+
+        return result;
+    }
+
+    @ExceptionHandler(DuplicateKeyException.class)
+    public Result<Object> handleDuplicateKeyException(DuplicateKeyException ex) {
+        Result<Object> result = new Result<Object>();
+        result.error(ErrorCode.DB_RECORD_EXISTS);
+
+        return result;
+    }
+
+    @ExceptionHandler(Exception.class)
+    public Result<Object> handleException(Exception ex) {
+        log.error(ex.getMessage(), ex);
+
+        saveLog(ex);
+
+        return new Result<Object>().error();
+    }
+
+    /**
+     * 保存异常日志
+     */
+    private void saveLog(Exception ex) {
+        SysLogErrorEntity log = new SysLogErrorEntity();
+
+        //请求相关信息
+        HttpServletRequest request = HttpContextUtils.getHttpServletRequest();
+        if (request != null) {
+            log.setIp(IpUtils.getIpAddr(request));
+            log.setUserAgent(request.getHeader(HttpHeaders.USER_AGENT));
+            log.setRequestUri(request.getRequestURI());
+            log.setRequestMethod(request.getMethod());
+            Map<String, String> params = HttpContextUtils.getParameterMap(request);
+            if (MapUtil.isNotEmpty(params)) {
+                log.setRequestParams(JsonUtils.toJsonString(params));
+            }
+        }
+        //异常信息
+        log.setErrorInfo(ExceptionUtils.getErrorStackTrace(ex));
+
+        //保存
+        sysLogErrorService.save(log);
+    }
+}

admin/src/main/java/com/multictrl/common/handler/FieldMetaObjectHandler.java

@@ -0,0 +1,50 @@
+package com.multictrl.common.handler;
+
+import com.baomidou.mybatisplus.core.handlers.MetaObjectHandler;
+import com.multictrl.modules.security.user.SecurityUser;
+import com.multictrl.modules.security.user.UserDetail;
+import org.apache.ibatis.reflection.MetaObject;
+import org.springframework.stereotype.Component;
+
+import java.util.Date;
+
+/**
+ * 公共字段，自动填充值
+ *
+ * @author Sdy
+ */
+@Component
+public class FieldMetaObjectHandler implements MetaObjectHandler {
+    private final static String CREATE_DATE = "createDate";
+    private final static String CREATOR = "creator";
+    private final static String UPDATE_DATE = "updateDate";
+    private final static String UPDATER = "updater";
+    private final static String DEPT_ID = "deptId";
+
+    @Override
+    public void insertFill(MetaObject metaObject) {
+        UserDetail user = SecurityUser.getUser();
+        Date date = new Date();
+
+        //创建者
+        strictInsertFill(metaObject, CREATOR, Long.class, user.getId());
+        //创建时间
+        strictInsertFill(metaObject, CREATE_DATE, Date.class, date);
+
+        //创建者所属部门
+        strictInsertFill(metaObject, DEPT_ID, Long.class, user.getDeptId());
+
+        //更新者
+        strictInsertFill(metaObject, UPDATER, Long.class, user.getId());
+        //更新时间
+        strictInsertFill(metaObject, UPDATE_DATE, Date.class, date);
+    }
+
+    @Override
+    public void updateFill(MetaObject metaObject) {
+        //更新者
+        strictUpdateFill(metaObject, UPDATER, Long.class, SecurityUser.getUserId());
+        //更新时间
+        strictUpdateFill(metaObject, UPDATE_DATE, Date.class, new Date());
+    }
+}

admin/src/main/java/com/multictrl/common/handler/Mqtt1MessageHandler.java

@@ -0,0 +1,47 @@
+package com.multictrl.common.handler;
+
+import com.multictrl.common.exception.ExceptionUtils;
+import com.multictrl.modules.business.handler.TopicDistributor;
+import lombok.extern.slf4j.Slf4j;
+import org.jetbrains.annotations.NotNull;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Qualifier;
+import org.springframework.integration.mqtt.support.MqttHeaders;
+import org.springframework.messaging.Message;
+import org.springframework.messaging.MessageHandler;
+import org.springframework.messaging.MessagingException;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.ExecutorService;
+
+/**
+ * MQTT消息处理器
+ */
+@Slf4j
+@Component
+public class Mqtt1MessageHandler implements MessageHandler {
+    @Autowired
+    @Qualifier("mqttExecutor1")
+    private ExecutorService executor;
+
+    @Autowired
+    private TopicDistributor topicDistributor;
+
+    @Override
+    public void handleMessage(@NotNull Message<?> message) throws MessagingException {
+        try {
+            executor.submit(() -> {
+                String topic = String.valueOf(message.getHeaders().get(MqttHeaders.RECEIVED_TOPIC));
+                String payload = message.getPayload().toString();
+                try {
+//                    log.debug("client1接收到的消息:{} {}", topic, payload);
+                    topicDistributor.route(topic, payload);
+                } catch (Exception e) {
+                    log.error("消费信息异常: {}", ExceptionUtils.getErrorStackTrace(e));
+                }
+            });
+        } catch (Exception e) {
+            log.error("handleMessage异常: {}", ExceptionUtils.getErrorStackTrace(e));
+        }
+    }
+}

admin/src/main/java/com/multictrl/common/handler/Mqtt2MessageHandler.java

@@ -0,0 +1,77 @@
+package com.multictrl.common.handler;
+
+import cn.hutool.core.util.StrUtil;
+import cn.hutool.json.JSONObject;
+import com.multictrl.common.constant.BusinessConstant;
+import com.multictrl.common.exception.ExceptionUtils;
+import com.multictrl.common.utils.CacheUtils;
+import com.multictrl.common.utils.JsonUtils;
+import com.multictrl.common.utils.Utils;
+import lombok.extern.slf4j.Slf4j;
+import org.jetbrains.annotations.NotNull;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Qualifier;
+import org.springframework.integration.mqtt.support.MqttHeaders;
+import org.springframework.messaging.Message;
+import org.springframework.messaging.MessageHandler;
+import org.springframework.messaging.MessagingException;
+import org.springframework.stereotype.Component;
+
+import java.util.Arrays;
+import java.util.List;
+import java.util.concurrent.ExecutorService;
+
+/**
+ * MQTT消息处理器
+ */
+@Slf4j
+@Component
+public class Mqtt2MessageHandler implements MessageHandler {
+    @Autowired
+    @Qualifier("mqttExecutor2")
+    private ExecutorService executor;
+    private static final List<String> VALID_METHODS = Arrays.asList(
+            "drone_emergency_stop",
+            "drc_speaker_play_volume_set",
+            "drc_speaker_play_mode_set",
+            "drc_speaker_tts_set",
+            "drc_speaker_play_stop",
+            "drc_speaker_replay",
+            "drc_speaker_tts_play_start"
+    );
+
+    @Override
+    public void handleMessage(@NotNull Message<?> message) throws MessagingException {
+        try {
+            executor.submit(() -> {
+                String topic = String.valueOf(message.getHeaders().get(MqttHeaders.RECEIVED_TOPIC));
+                String payload = message.getPayload().toString();
+                try {
+//                    log.debug("client2接收到的消息:{} {}", topic, message.getPayload());
+                    String method = Utils.getLastTwoSegments(topic, "/");
+                    String afterProduct = StrUtil.subAfter(topic, "product/", false); // "8UUXP1P00A107D/drc/up"
+                    String gateway = StrUtil.subBefore(afterProduct, "/", false);
+                    if ("drc/up".equals(method)) {
+                        JSONObject messageJson = JsonUtils.parseObject(payload, JSONObject.class);
+                        if (messageJson != null) {
+                            String methodJson = messageJson.getStr(BusinessConstant.METHOD);
+                            if (VALID_METHODS.contains(methodJson)) {
+                                log.debug("drc 回复--> topic:{} ,payload:{}", topic, payload);
+                                JSONObject dataJson = messageJson.getJSONObject(BusinessConstant.DATA);
+                                if (dataJson == null) {
+                                    dataJson = new JSONObject();
+                                    dataJson.set("result", 0);
+                                }
+                                CacheUtils.set(gateway + "_" + methodJson, dataJson);
+                            }
+                        }
+                    }
+                } catch (Exception e) {
+                    log.error("消费信息异常: {}", ExceptionUtils.getErrorStackTrace(e));
+                }
+            });
+        } catch (Exception e) {
+            log.error("handleMessage异常: {}", ExceptionUtils.getErrorStackTrace(e));
+        }
+    }
+}

admin/src/main/java/com/multictrl/common/interceptor/DataFilterInterceptor.java

@@ -0,0 +1,80 @@
+package com.multictrl.common.interceptor;
+
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.core.toolkit.PluginUtils;
+import com.baomidou.mybatisplus.extension.plugins.inner.InnerInterceptor;
+import net.sf.jsqlparser.JSQLParserException;
+import net.sf.jsqlparser.expression.Expression;
+import net.sf.jsqlparser.expression.StringValue;
+import net.sf.jsqlparser.expression.operators.conditional.AndExpression;
+import net.sf.jsqlparser.parser.CCJSqlParserUtil;
+import net.sf.jsqlparser.statement.select.PlainSelect;
+import net.sf.jsqlparser.statement.select.Select;
+import org.apache.ibatis.executor.Executor;
+import org.apache.ibatis.mapping.BoundSql;
+import org.apache.ibatis.mapping.MappedStatement;
+import org.apache.ibatis.session.ResultHandler;
+import org.apache.ibatis.session.RowBounds;
+
+import java.util.Map;
+
+/**
+ * 数据过滤
+ *
+ * @author Sdy
+ */
+public class DataFilterInterceptor implements InnerInterceptor {
+
+    @Override
+    public void beforeQuery(Executor executor, MappedStatement ms, Object parameter, RowBounds rowBounds, ResultHandler resultHandler, BoundSql boundSql) {
+        DataScope scope = getDataScope(parameter);
+        // 不进行数据过滤
+        if(scope == null || StrUtil.isBlank(scope.getSqlFilter())){
+            return;
+        }
+
+        // 拼接新SQL
+        String buildSql = getSelect(boundSql.getSql(), scope);
+
+        // 重写SQL
+        PluginUtils.mpBoundSql(boundSql).sql(buildSql);
+    }
+
+    private DataScope getDataScope(Object parameter){
+        if (parameter == null){
+            return null;
+        }
+
+        // 判断参数里是否有DataScope对象
+        if (parameter instanceof Map<?, ?> parameterMap) {
+            for (Map.Entry entry : parameterMap.entrySet()) {
+                if (entry.getValue() != null && entry.getValue() instanceof DataScope) {
+                    return (DataScope) entry.getValue();
+                }
+            }
+        } else if (parameter instanceof DataScope) {
+            return (DataScope) parameter;
+        }
+
+        return null;
+    }
+
+    private String getSelect(String buildSql, DataScope scope){
+        try {
+            Select select = (Select) CCJSqlParserUtil.parse(buildSql);
+            PlainSelect plainSelect = (PlainSelect) select.getSelectBody();
+
+            Expression expression = plainSelect.getWhere();
+            if(expression == null){
+                plainSelect.setWhere(new StringValue(scope.getSqlFilter()));
+            }else{
+                AndExpression andExpression =  new AndExpression(expression, new StringValue(scope.getSqlFilter()));
+                plainSelect.setWhere(andExpression);
+            }
+
+            return select.toString().replaceAll("'", "");
+        }catch (JSQLParserException e){
+            return buildSql;
+        }
+    }
+}

admin/src/main/java/com/multictrl/common/interceptor/DataScope.java

@@ -0,0 +1,25 @@
+package com.multictrl.common.interceptor;
+
+import lombok.Getter;
+import lombok.Setter;
+
+/**
+ * 数据范围
+ *
+ * @author Sdy
+ * @since 1.0.0
+ */
+@Setter
+@Getter
+public class DataScope {
+    private String sqlFilter;
+
+    public DataScope(String sqlFilter) {
+        this.sqlFilter = sqlFilter;
+    }
+
+    @Override
+    public String toString() {
+        return this.sqlFilter;
+    }
+}

admin/src/main/java/com/multictrl/common/interceptor/DataScopeContext.java

@@ -0,0 +1,23 @@
+package com.multictrl.common.interceptor;
+
+/**
+ * 数据鉴权
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/5/26
+ */
+public class DataScopeContext {
+    private static final ThreadLocal<DataScope> DATA_SCOPE_HOLDER = new ThreadLocal<>();
+
+    public static void setDataScope(DataScope dataScope) {
+        DATA_SCOPE_HOLDER.set(dataScope);
+    }
+
+    public static DataScope getDataScope() {
+        return DATA_SCOPE_HOLDER.get();
+    }
+
+    public static void clear() {
+        DATA_SCOPE_HOLDER.remove();
+    }
+}

admin/src/main/java/com/multictrl/common/task/DrcHeartbeat.java

@@ -0,0 +1,50 @@
+package com.multictrl.common.task;
+
+import cn.hutool.core.util.IdUtil;
+import cn.hutool.json.JSONObject;
+import com.multictrl.common.constant.BusinessConstant;
+import com.multictrl.common.utils.CacheUtils;
+import com.multictrl.modules.business.service.MqttPushService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.scheduling.annotation.Scheduled;
+import org.springframework.stereotype.Component;
+
+import java.util.Collections;
+import java.util.List;
+import java.util.Optional;
+
+/**
+ * DRC心跳任务
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/4/27
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class DrcHeartbeat {
+    private final MqttPushService mqttPushService;
+
+    @Scheduled(fixedRate = 10 * 1000)
+    public void drcHeartBeat() {
+        List<String> dockSnList = Optional.ofNullable(CacheUtils.get(BusinessConstant.DRC_HEART_BEAT_SN))
+                .filter(obj -> obj instanceof List)
+                .map(obj -> (List<String>) obj)
+                .orElse(Collections.emptyList());
+        log.info("drc-->{}, HeartBeat", dockSnList);
+        for (String dockSn : dockSnList) {
+            String topic = "thing/product/" + dockSn + "/drc/down";
+            JSONObject message = new JSONObject();
+            message.set("timestamp", System.currentTimeMillis());
+            message.set("method", "heart_beat");
+            //适配机场1
+            message.set("seq", System.currentTimeMillis());
+            JSONObject data = new JSONObject();
+            data.set("timestamp", System.currentTimeMillis());
+            message.set("data", data);
+            mqttPushService.pushMessageByClient2(topic, message.toString());
+            log.info("drc-->{}, HeartBeat topic:{}, data:{}", dockSn, topic, data);
+        }
+    }
+}

admin/src/main/java/com/multictrl/common/task/FlightTaskUpdate.java

@@ -0,0 +1,195 @@
+package com.multictrl.common.task;
+
+import cn.hutool.core.date.DateTime;
+import cn.hutool.core.date.DateUtil;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.google.common.collect.Maps;
+import com.multictrl.common.utils.DateUtils;
+import com.multictrl.common.utils.map.Spatial4jUtils;
+import com.multictrl.modules.business.dao.FlightTaskDao;
+import com.multictrl.modules.business.entity.FlightTaskEntity;
+import com.multictrl.modules.business.entity.MediaFileEntity;
+import com.multictrl.modules.business.influxdb.UavReport;
+import com.multictrl.modules.business.service.FlightTaskService;
+import com.multictrl.modules.business.service.InfluxService;
+import com.multictrl.modules.business.service.MediaFileService;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.scheduling.annotation.Scheduled;
+import org.springframework.stereotype.Component;
+
+import java.util.*;
+
+/**
+ * 航线任务矫正
+ *
+ * @author Sdy
+ * @since 1.0.0 2025/5/29
+ */
+@Slf4j
+@Component
+@RequiredArgsConstructor
+public class FlightTaskUpdate {
+    private final InfluxService influxService;
+    private final MediaFileService mediaFileService;
+    private final FlightTaskService flightTaskService;
+    private final FlightTaskDao flightTaskDao;
+
+    @Scheduled(fixedRate = 60 * 1000) // 每 60秒执行一次（单位：毫秒）
+    public void updateFlightTask() {
+        Date threeHoursAgo = DateUtil.offsetHour(new Date(), -3);
+        LambdaQueryWrapper<FlightTaskEntity> wrapper = new LambdaQueryWrapper<>();
+        wrapper.gt(FlightTaskEntity::getCreateDate, threeHoursAgo)
+                .and(wrapper2 -> wrapper2
+                        .isNull(FlightTaskEntity::getTaskStatus)
+                        .or()
+                        .eq(FlightTaskEntity::getTaskStatus, 0)
+                        .or()
+                        .isNull(FlightTaskEntity::getFlightDistance)
+                        .or()
+                        .isNull(FlightTaskEntity::getFlightDuration)
+                        .or()
+                        .isNull(FlightTaskEntity::getMediaNum)
+                        .or()
+                        .eq(FlightTaskEntity::getMediaNum, 0)
+                );
+        List<FlightTaskEntity> taskList = flightTaskDao.selectList(wrapper);
+        Map<String, FlightTaskEntity> updateMap = new HashMap<>();
+        for (FlightTaskEntity entity : taskList) {
+            Date createDate = entity.getCreateDate();
+            long createMillis = createDate.getTime();
+            long diffSeconds = Math.abs((new Date().getTime() - createMillis) / 1000);
+            // 1. 处理状态字段
+            handleStatus(entity, diffSeconds, updateMap);
+            // 2. 处理飞行距离
+            handleFlightDistance(entity, diffSeconds, updateMap);
+            // 3. 处理飞行时长
+            handleFlightDuration(entity, diffSeconds, updateMap);
+            // 4. 处理媒体数量
+            handleMediaNum(entity, diffSeconds, updateMap);
+        }
+        if (!updateMap.isEmpty()) {
+            flightTaskService.updateBatchById(new ArrayList<>(updateMap.values()));
+        }
+    }
+
+    private void handleStatus(FlightTaskEntity entity, long diffSeconds, Map<String, FlightTaskEntity> updateMap) {
+        if (entity.getTaskStatus() == null || entity.getTaskStatus() == 0) {
+            if (entity.getFailureReason() != null) {
+                entity.setTaskStatus(-1);
+                updateMap.put(entity.getTaskId(), entity);
+            } else if (entity.getInboundDate() != null) {
+                entity.setTaskStatus(1);
+                updateMap.put(entity.getTaskId(), entity);
+            } else if (diffSeconds > 7200) {
+                entity.setTaskStatus(-1);
+                updateMap.put(entity.getTaskId(), entity);
+            } else if (entity.getTaskStatus() == null) {
+                entity.setTaskStatus(0);
+                updateMap.put(entity.getTaskId(), entity);
+            }
+        }
+    }
+
+    private void handleFlightDistance(FlightTaskEntity entity, long diffSeconds, Map<String, FlightTaskEntity> updateMap) {
+        if (entity.getFlightDistance() == null) {
+            if (entity.getOutboundDate() != null && entity.getInboundDate() != null) {
+                entity.setFlightDistance(getFlightDistance(entity.getDockSn(), entity.getOutboundDate(), entity.getInboundDate()));
+                updateMap.put(entity.getTaskId(), entity);
+            } else if (diffSeconds > 7200) {
+                if (entity.getInboundDate() != null) {
+                    entity.setFlightDistance(getFlightDistance(entity.getDockSn(), entity.getCreateDate(), entity.getInboundDate()));
+                    updateMap.put(entity.getTaskId(), entity);
+                } else if (entity.getOutboundDate() != null) {
+                    entity.setFlightDistance(getFlightDistance(entity.getDockSn(), entity.getOutboundDate(),
+                            DateUtils.getBeforeHour(entity.getOutboundDate(), 1)));
+                    updateMap.put(entity.getTaskId(), entity);
+                } else {
+                    entity.setFlightDistance(getFlightDistance(entity.getDockSn(), entity.getCreateDate(),
+                            DateUtils.getBeforeHour(entity.getCreateDate(), 1)));
+                    updateMap.put(entity.getTaskId(), entity);
+                }
+            }
+        }
+    }
+
+    //获取飞行距离
+    private double getFlightDistance(String dockSn, Date startDate, Date endDate) {
+        HashMap<String, Object> condition = Maps.newHashMap();
+        condition.put("dockSn", dockSn);
+        List<UavReport> flyList = influxService.queryData(DateUtils.format(startDate, DateUtils.DATE_TIME_PATTERN),
+                DateUtils.format(endDate, DateUtils.DATE_TIME_PATTERN), "uav_osd", condition, UavReport.class,
+                "longitude", "latitude", "elevation", "_time");
+        double total = 0;
+        for (int i = 0; i < flyList.size() - 1; i++) {
+            UavReport p1 = flyList.get(i);
+            UavReport p2 = flyList.get(i + 1);
+            total += Spatial4jUtils.distance(p1.getLatitude(), p1.getLongitude(), p2.getLatitude(), p2.getLongitude());
+        }
+
+        return total;
+    }
+
+    private void handleFlightDuration(FlightTaskEntity entity, long diffSeconds, Map<String, FlightTaskEntity> updateMap) {
+        if (entity.getFlightDuration() == null) {
+            if (entity.getOutboundDate() != null && entity.getInboundDate() != null) {
+                setFlightDuration(entity, entity.getOutboundDate(), entity.getInboundDate());
+                updateMap.put(entity.getTaskId(), entity);
+            } else if (diffSeconds > 7200) {
+                if (entity.getInboundDate() != null) {
+                    setFlightDuration(entity, entity.getCreateDate(), entity.getInboundDate());
+                    updateMap.put(entity.getTaskId(), entity);
+                } else if (entity.getOutboundDate() != null) {
+                    setFlightDuration(entity, entity.getOutboundDate(),
+                            DateUtils.getBeforeHour(entity.getOutboundDate(), 1));
+                    updateMap.put(entity.getTaskId(), entity);
+                } else {
+                    setFlightDuration(entity, entity.getCreateDate(),
+                            DateUtils.getBeforeHour(entity.getCreateDate(), 1));
+                    updateMap.put(entity.getTaskId(), entity);
+                }
+            }
+        }
+    }
+
+    //设置飞行时间
+    private void setFlightDuration(FlightTaskEntity entity, Date startTime, Date endTime) {
+        HashMap<String, Object> condition = Maps.newHashMap();
+        condition.put("dockSn", entity.getDockSn());
+        List<UavReport> flyList = influxService.queryData(DateUtils.format(startTime, DateUtils.DATE_TIME_PATTERN),
+                DateUtils.format(endTime, DateUtils.DATE_TIME_PATTERN), "uav_osd", condition, UavReport.class,
+                "longitude", "latitude", "elevation", "_time");
+
+        UavReport start = null;
+        UavReport end = null;
+        for (int i = 0; i < flyList.size() - 1; i++) {
+            //过滤出起飞和降落的记录，当飞机和机场的相对高度大于0，则认为飞机在飞行中，开始计算飞行时长
+            if (flyList.get(i).getElevation() > 0) {
+                end = flyList.get(i);
+                if (start == null) {
+                    start = flyList.get(i);
+                }
+            }
+        }
+        String flightDurationText = "0秒";
+        long flightDuration = 0L;
+        if (start != null && end != null) {
+            DateTime startDate = DateUtil.parseDateTime(start.getTimeStr());
+            DateTime endDate = DateUtil.parseDateTime(end.getTimeStr());
+            flightDurationText = DateUtils.formatDifference(startDate, endDate);
+            flightDuration = Math.abs((endDate.getTime() - startDate.getTime()) / 1000);
+        }
+        entity.setFlightDurationText(flightDurationText);
+        entity.setFlightDuration(flightDuration);
+    }
+
+    private void handleMediaNum(FlightTaskEntity entity, long diffSeconds, Map<String, FlightTaskEntity> updateMap) {
+        if ((entity.getMediaNum() == null || entity.getMediaNum() == 0) && diffSeconds > 7200) {
+            Long count = mediaFileService.getDao().selectCount(new QueryWrapper<MediaFileEntity>()
+                    .eq("task_id", entity.getTaskId()).eq("dock_sn", entity.getDockSn()));
+            entity.setMediaNum(count.intValue());
+            updateMap.put(entity.getTaskId(), entity);
+        }
+    }
+}

admin/src/main/java/com/multictrl/common/utils/CacheUtils.java

@@ -0,0 +1,77 @@
+package com.multictrl.common.utils;
+
+import cn.hutool.cache.impl.TimedCache;
+
+/**
+ * 缓存工具类
+ * 支持为每个缓存项单独设置过期时间，过期后自动删除
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/4/24
+ */
+public class CacheUtils {
+
+    private static final TimedCache<String, Object> timedCache = new TimedCache<>(1000 * 60 * 60);
+
+    static {
+        // 设置每5分钟自动清理一次过期缓存（必须调用！）
+        timedCache.schedulePrune(1000 * 60 * 5);
+    }
+
+    /**
+     * 获取缓存值（默认会重置过期时间）
+     *
+     * @param key 缓存键
+     * @return 缓存值
+     */
+    public static Object get(String key) {
+        return timedCache.get(key);
+    }
+
+    /**
+     * 获取缓存值，不重置过期时间
+     *
+     * @param key 缓存键
+     * @return 缓存值
+     */
+    public static Object getWithoutReset(String key) {
+        return timedCache.get(key, false);
+    }
+
+    /**
+     * 设置缓存值（使用默认过期时间）
+     *
+     * @param key   缓存键
+     * @param value 缓存值
+     */
+    public static void set(String key, Object value) {
+        timedCache.put(key, value);
+    }
+
+    /**
+     * 设置缓存值并指定过期时间
+     *
+     * @param key     缓存键
+     * @param value   缓存值
+     * @param timeout 过期时间（毫秒）
+     */
+    public static void set(String key, Object value, long timeout) {
+        timedCache.put(key, value, timeout);
+    }
+
+    /**
+     * 删除缓存
+     *
+     * @param key 缓存键
+     */
+    public static void delete(String key) {
+        timedCache.remove(key);
+    }
+
+    /**
+     * 清空所有缓存
+     */
+    public static void clear() {
+        timedCache.clear();
+    }
+}

admin/src/main/java/com/multictrl/common/utils/DJIErrorCodeUtils.java

@@ -0,0 +1,63 @@
+package com.multictrl.common.utils;
+
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.excel.EasyExcel;
+import com.alibaba.excel.context.AnalysisContext;
+import com.alibaba.excel.event.AnalysisEventListener;
+import com.alibaba.excel.support.ExcelTypeEnum;
+import com.multictrl.modules.business.dto.error.DJICloudErrorCode;
+import jakarta.annotation.PostConstruct;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.io.InputStream;
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * DJI错误码
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/4/24
+ */
+@Slf4j
+@Component
+public class DJIErrorCodeUtils {
+    public static Map<String, DJICloudErrorCode> ERROR_CODE_INFO = new HashMap<>();
+
+    @PostConstruct
+    private void init() {
+        try (InputStream inputStream = this.getClass().getClassLoader()
+                .getResourceAsStream("dji/dji_cloud_api_error_code.csv")) {
+            EasyExcel.read(inputStream, DJICloudErrorCode.class,
+                    new AnalysisEventListener<DJICloudErrorCode>() {
+                        @Override
+                        public void invoke(DJICloudErrorCode djiCloudErrorCode,
+                                           AnalysisContext analysisContext) {
+                            if (StrUtil.isEmpty(djiCloudErrorCode.getCode())) {
+                                return;
+                            }
+                            ERROR_CODE_INFO.put(djiCloudErrorCode.getCode().trim(), djiCloudErrorCode);
+                        }
+                        @Override
+                        public void doAfterAllAnalysed(AnalysisContext analysisContext) {
+                            //log.info("dji_cloud_api_error_code--->{}", ERROR_CODE_INFO);
+                        }
+                    }).excelType(ExcelTypeEnum.CSV).sheet().doRead();
+            log.info("大疆 dji_cloud_api_error_code.csv 初始化成功,长度：{}", ERROR_CODE_INFO.size());
+            //log.info("dji_cloud_api_error_code.csv 错误码：{}", ERROR_CODE_INFO);
+        } catch (Exception e) {
+            log.error("dji_cloud_api_error_code.csv 初始化失败", e);
+        }
+    }
+
+    /**
+     * 获取错误码信息
+     */
+    public static DJICloudErrorCode getErrorMsg(String errorCode) {
+        if (ERROR_CODE_INFO.containsKey(errorCode)) {
+            return ERROR_CODE_INFO.get(errorCode);
+        }
+        return null;
+    }
+}

admin/src/main/java/com/multictrl/common/utils/ExcelUtils.java

@@ -0,0 +1,67 @@
+package com.multictrl.common.utils;
+
+import cn.hutool.core.util.StrUtil;
+import cn.hutool.core.util.URLUtil;
+import com.alibaba.excel.EasyExcel;
+import com.alibaba.excel.converters.longconverter.LongStringConverter;
+import jakarta.servlet.http.HttpServletResponse;
+import org.springframework.beans.BeanUtils;
+
+import java.io.IOException;
+import java.nio.charset.StandardCharsets;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * excel工具类
+ *
+ * @author Sdy
+ */
+public class ExcelUtils {
+
+    /**
+     * Excel导出
+     *
+     * @param response  response
+     * @param fileName  文件名
+     * @param sheetName sheetName
+     * @param list      数据List
+     * @param pojoClass 对象Class
+     */
+    public static void exportExcel(HttpServletResponse response, String fileName, String sheetName, List<?> list,
+                                   Class<?> pojoClass) throws IOException {
+        if (StrUtil.isBlank(fileName)) {
+            //当前日期
+            fileName = DateUtils.format(new Date());
+        }
+
+        response.setContentType("application/vnd.ms-excel");
+        response.setCharacterEncoding("UTF-8");
+        fileName = URLUtil.encode(fileName, StandardCharsets.UTF_8);
+        response.setHeader("Content-disposition", "attachment;filename=" + fileName + ".xlsx");
+        EasyExcel.write(response.getOutputStream(), pojoClass).registerConverter(new LongStringConverter()).sheet(sheetName).doWrite(list);
+    }
+
+    /**
+     * Excel导出，先sourceList转换成List<targetClass>，再导出
+     *
+     * @param response    response
+     * @param fileName    文件名
+     * @param sheetName   sheetName
+     * @param sourceList  原数据List
+     * @param targetClass 目标对象Class
+     */
+    public static void exportExcelToTarget(HttpServletResponse response, String fileName, String sheetName, List<?> sourceList,
+                                           Class<?> targetClass) throws Exception {
+        List<Object> targetList = new ArrayList<>(sourceList.size());
+        for (Object source : sourceList) {
+            Object target = targetClass.newInstance();
+            BeanUtils.copyProperties(source, target);
+            targetList.add(target);
+        }
+
+        exportExcel(response, fileName, sheetName, targetList, targetClass);
+    }
+
+}

admin/src/main/java/com/multictrl/common/utils/FfmpegUtils.java

@@ -0,0 +1,84 @@
+package com.multictrl.common.utils;
+
+import lombok.extern.slf4j.Slf4j;
+
+import java.io.File;
+import java.io.InputStream;
+import java.io.InputStreamReader;
+
+/**
+ * 图像、音频处理
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/4/29
+ */
+@Slf4j
+public class FfmpegUtils {
+    //视频预览图片帧抽取
+    private static final String FFMPEG_VIDEO_COVER_IMAGE_COMMAND =
+            "ffmpeg -i %s -vf \"select=eq(pict_type\\,I)\" -frames:v 1 -pix_fmt yuvj422p  -vsync vfr -qscale:v 2 -f image2 %s -y";
+
+    /**
+     * 生成视频封面图片
+     */
+    public static void generateVideoCover(String videoPath, String videoCoverPath) {
+        File file = new File(videoPath);
+        if (file.exists()) {
+            File imageFile = new File(videoCoverPath);
+            if (!imageFile.exists()) {
+                String command = String.format(FFMPEG_VIDEO_COVER_IMAGE_COMMAND, videoPath, videoCoverPath);
+                String[] cmd = {"/bin/sh", "-c", command};
+                try {
+                    ProcessBuilder processBuilder = new ProcessBuilder();
+                    processBuilder.command(cmd).inheritIO();
+                    processBuilder.environment().clear();
+                    processBuilder.environment().put("LANG", "en_US.UTF-8");
+                    processBuilder.redirectErrorStream(true);
+                    Process process = processBuilder.start();
+                    InputStream inputStream = process.getInputStream();
+                    InputStreamReader reader = new InputStreamReader(inputStream, "GBK");
+                    char[] chars = new char[1024];
+                    int len;
+                    while ((len = reader.read(chars)) != -1) {
+                        String string = new String(chars, 0, len);
+                        log.debug("ffmpeg->video->cover : {}", string);
+                    }
+                    reader.close();
+                    inputStream.close();
+                } catch (Exception e) {
+                    log.error("ffmpeg->video->cover: error", e);
+                }
+                log.debug("mp4 file = {} ,image file={} ,执行ffmpeg命令={} , imageFile_exists_flag={}",
+                        file.getAbsolutePath(),
+                        imageFile.getAbsolutePath(), command, imageFile.exists());
+            }
+        }
+    }
+
+    /**
+     * 指令运行
+     */
+    public static void runCommand(String command) {
+        String[] cmd = {"/bin/sh", "-c", command};
+        try {
+            ProcessBuilder processBuilder = new ProcessBuilder();
+            processBuilder.command(cmd).inheritIO();
+            processBuilder.environment().clear();
+            processBuilder.environment().put("LANG", "en_US.UTF-8");
+            processBuilder.redirectErrorStream(true);
+            Process process = processBuilder.start();
+            InputStream inputStream = process.getInputStream();
+            InputStreamReader reader = new InputStreamReader(inputStream, "GBK");
+            char[] chars = new char[1024];
+            int len;
+            while ((len = reader.read(chars)) != -1) {
+                String string = new String(chars, 0, len);
+                log.info("ffmpeg->shout->file->cover : {}", string);
+            }
+            reader.close();
+            inputStream.close();
+        } catch (Exception e) {
+            log.error("ffmpeg->shout->file->cover: error", e);
+        }
+    }
+}

admin/src/main/java/com/multictrl/common/utils/HmsUtils.java

@@ -0,0 +1,105 @@
+package com.multictrl.common.utils;
+
+import cn.hutool.json.JSONObject;
+import cn.hutool.json.JSONUtil;
+import jakarta.annotation.PostConstruct;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.InputStreamReader;
+import java.nio.charset.StandardCharsets;
+import java.util.Collections;
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * HMS健康告警工具类
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/5/10
+ */
+@Slf4j
+@Component
+public class HmsUtils {
+    private static final String HMS_CONFIG_PATH = "dji/hms.json";
+    private static final String ZH_FIELD = "zh";
+    private static final String KEY_DELIMITER = "_";
+    /**
+     * 转换后的 HMS 映射：key = 第三段(如 0x1BA10004), value = 中文文本
+     */
+    private static Map<String, String> hmsMap;
+
+    @PostConstruct
+    private void init() {
+        hmsMap = loadAndTransformHms();
+    }
+
+    //加载并转换 HMS 配置
+    private Map<String, String> loadAndTransformHms() {
+        JSONObject rawJson = loadRawJson();
+        if (rawJson == null || rawJson.isEmpty()) {
+            log.warn("大疆 hms.json 为空或加载失败，返回空映射");
+            return Collections.emptyMap();
+        }
+
+        log.info("大疆 hms.json 加载成功，原始条目数：{}", rawJson.size());
+
+        Map<String, String> result = new HashMap<>();
+        for (String key : rawJson.keySet()) {
+            String[] parts = key.split(KEY_DELIMITER);
+            // 格式要求：至少三段，如 "fpv_tip_0x1BA10004"
+            if (parts.length < 3) {
+                log.debug("跳过格式不正确的key: {}", key);
+                continue;
+            }
+            String code = parts[2];  // 取第三段作为映射的key
+            JSONObject data = rawJson.getJSONObject(key);
+            if (data != null && data.containsKey(ZH_FIELD)) {
+                String zhText = data.getStr(ZH_FIELD);
+                if (zhText != null && !zhText.isEmpty()) {
+                    result.put(code, zhText);
+                } else {
+                    log.debug("key: {} 的中文文本为空", key);
+                }
+            } else {
+                log.debug("key: {} 缺少'zh'字段", key);
+            }
+        }
+
+        log.info("转换完成，有效条目数：{}", result.size());
+        return Collections.unmodifiableMap(result); // 返回只读视图，防止后续意外修改
+    }
+
+    //仅负责从 classpath 读取并解析 JSON，返回原始 JSONObject
+    private JSONObject loadRawJson() {
+        try (InputStream inputStream = getClass().getClassLoader().getResourceAsStream(HMS_CONFIG_PATH)) {
+            if (inputStream == null) {
+                log.error("资源文件不存在: {}", HMS_CONFIG_PATH);
+                return null;
+            }
+            try (InputStreamReader reader = new InputStreamReader(inputStream, StandardCharsets.UTF_8)) {
+                JSONObject json = JSONUtil.parseObj(reader);
+                if (json == null) {
+                    log.error("解析 hms.json 结果为 null");
+                }
+                return json;
+            }
+        } catch (IOException e) {
+            log.error("读取或解析 hms.json 失败", e);
+            return null;
+        }
+    }
+
+    /**
+     * 根据 HMS 代码查找对应的中文文本
+     */
+    public static String getHmsText(String code) {
+        if (hmsMap.containsKey(code)) {
+            return hmsMap.get(code);
+        }
+        return "未知错误";
+    }
+
+}

admin/src/main/java/com/multictrl/common/utils/Utils.java

@@ -0,0 +1,282 @@
+package com.multictrl.common.utils;
+
+import cn.hutool.core.collection.CollUtil;
+import cn.hutool.core.util.StrUtil;
+import cn.hutool.json.JSONArray;
+import cn.hutool.json.JSONObject;
+import cn.hutool.json.JSONUtil;
+import com.alibaba.fastjson2.JSON;
+import com.alibaba.fastjson2.filter.NameFilter;
+import com.drew.imaging.jpeg.JpegMetadataReader;
+import com.drew.imaging.jpeg.JpegProcessingException;
+import com.drew.imaging.mp4.Mp4MetadataReader;
+import com.drew.metadata.Directory;
+import com.drew.metadata.Metadata;
+import com.drew.metadata.Tag;
+import com.multictrl.common.exception.ExceptionUtils;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.io.FileUtils;
+
+import java.io.File;
+import java.io.IOException;
+import java.math.BigDecimal;
+import java.math.RoundingMode;
+import java.security.MessageDigest;
+import java.security.NoSuchAlgorithmException;
+import java.text.ParseException;
+import java.text.SimpleDateFormat;
+import java.util.Date;
+import java.util.List;
+import java.util.Locale;
+
+/**
+ * 通用工具
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/4/24
+ */
+@Slf4j
+public class Utils {
+
+    /**
+     * 线程休息n毫秒
+     */
+    public static void sleep(long millis) {
+        try {
+            Thread.sleep(millis);
+        } catch (InterruptedException e) {
+            log.error("线程睡眠异常:{}", ExceptionUtils.getErrorStackTrace(e));
+        }
+    }
+
+    /*
+     * 驼峰转下划线
+     */
+    public static JSONObject beanToSnakeJson(Object obj) {
+        JSONObject camelJson = JSONUtil.parseObj(obj);
+        JSONObject snakeJson = new JSONObject();
+        for (String key : camelJson.keySet()) {
+            String snakeKey = StrUtil.toUnderlineCase(key); // 驼峰转下划线
+            Object value = camelJson.get(key);
+            // 递归处理嵌套 JSONObject 或 JSONArray
+            if (value instanceof JSONObject) {
+                value = beanToSnakeJson(value); // 递归转换
+            } else if (value instanceof JSONArray) {
+                JSONArray arr = new JSONArray();
+                for (Object item : (JSONArray) value) {
+                    if (item instanceof JSONObject) {
+                        arr.add(beanToSnakeJson(item));
+                    } else {
+                        arr.add(item);
+                    }
+                }
+                value = arr;
+            }
+            snakeJson.set(snakeKey, value);
+        }
+        return snakeJson;
+    }
+
+    /*
+     * 阿里FastJson2驼峰转下划线
+     */
+    public static com.alibaba.fastjson2.JSONObject beanToSnakeJsonFastJson(Object o) {
+        NameFilter snakeCaseFilter = (object, name, value)
+                -> name.replaceAll("([a-z])([A-Z])", "$1_$2").toLowerCase();
+        return com.alibaba.fastjson2.JSONObject.parseObject(JSON.toJSONString(o, snakeCaseFilter));
+    }
+
+    /**
+     * 获取最后两个字符
+     * "a/b/c/d"	"c/d"
+     */
+    public static String getLastTwoSegments(String str, String separator) {
+        if (StrUtil.isBlank(str)) return str;
+        // 按分隔符切割
+        List<String> parts = StrUtil.split(str, separator);
+        if (parts.size() <= 2) {
+            return str; // 不足两段则原样返回
+        } else {
+            // 取最后两段
+            List<String> lastTwo = parts.subList(parts.size() - 2, parts.size());
+            return CollUtil.join(lastTwo, String.valueOf(separator));
+        }
+    }
+
+    /**
+     * 文件转md5
+     */
+    public static String md5File(String path) {
+        StringBuilder sb = new StringBuilder();
+        try {
+            MessageDigest md = MessageDigest.getInstance("MD5");
+            md.update(FileUtils.readFileToByteArray(new File(path)));
+            byte[] b = md.digest();
+            int d;
+            for (byte value : b) {
+                d = value;
+                if (d < 0) {
+                    d = value & 0xff;
+                    // 与上一行效果等同
+                    // i += 256;
+                }
+                if (d < 16) {
+                    sb.append("0");
+                }
+                sb.append(Integer.toHexString(d));
+            }
+        } catch (NoSuchAlgorithmException | IOException e) {
+            log.error("md5 fail", e);
+        }
+        return sb.toString();
+    }
+
+    /**
+     * 获取文本的md5
+     */
+    public static String md5Txt(String context) {
+        try {
+            MessageDigest md = MessageDigest.getInstance("MD5");
+            byte[] buffer = context.getBytes();
+            md.update(buffer, 0, buffer.length);
+            byte[] digest = md.digest();
+            StringBuilder sb = new StringBuilder();
+            for (byte b : digest) {
+                sb.append(String.format("%02x", b));
+            }
+            return sb.toString();
+        } catch (NoSuchAlgorithmException exception) {
+            log.error("md5 fail", exception);
+
+        }
+        return null;
+    }
+
+    /**
+     * 获取图片的Windows XP Keywords
+     */
+    public static String getImageWindowsXpKeywords(String mediaPath) {
+
+        Metadata metadata;
+        try {
+            metadata = JpegMetadataReader.readMetadata(new File(mediaPath));
+            for (Directory exif : metadata.getDirectories()) {
+                for (Tag tag : exif.getTags()) {
+                    if ("Windows XP Keywords".equals(tag.getTagName())) {
+                        return tag.getDescription();
+                    }
+                }
+            }
+        } catch (JpegProcessingException | IOException e) {
+            log.error("error", e);
+        }
+        return null;
+    }
+
+    public static long getImageTime(String mediaPath) {
+        SimpleDateFormat sdf = new SimpleDateFormat("yyyy:MM:dd HH:mm:ss");
+        Metadata metadata;
+        try {
+            metadata = JpegMetadataReader.readMetadata(new File(mediaPath));
+
+            for (Directory exif : metadata.getDirectories()) {
+                for (Tag tag : exif.getTags()) {
+                    if ("Date/Time".equals(tag.getTagName())) {
+                        return sdf.parse(tag.getDescription()).getTime();
+                    }
+                }
+            }
+        } catch (JpegProcessingException | IOException e) {
+            log.error("error", e);
+        } catch (ParseException e) {
+            throw new RuntimeException(e);
+        }
+        return 0;
+    }
+
+    public static long getVideoTime(String videoPath) {
+        Metadata metadata;
+        try {
+            metadata = Mp4MetadataReader.readMetadata(new File(videoPath));
+            for (Directory exif : metadata.getDirectories()) {
+                for (Tag tag : exif.getTags()) {
+                    if ("Creation Time".equals(tag.getTagName())) {
+                        try {
+                            SimpleDateFormat sdf = new SimpleDateFormat("EEE MMM dd HH:mm:ss zzz yyyy",
+                                    Locale.US);
+                            Date d = sdf.parse(tag.getDescription());
+                            return d.getTime();
+                        } catch (ParseException ignored) {
+                        }
+                    }
+                }
+            }
+        } catch (IOException e) {
+            log.error("error", e);
+        }
+        return 0;
+    }
+
+    /**
+     * 格式化double，保留指定位小数（四舍五入）
+     *
+     * @param value 原始数值
+     * @param scale 小数位数
+     * @return 格式化后的字符串
+     */
+    private static String format(double value, int scale) {
+        if (Double.isNaN(value) || Double.isInfinite(value)) {
+            return "0";
+        }
+        BigDecimal bd = BigDecimal.valueOf(value);
+        bd = bd.setScale(scale, RoundingMode.HALF_UP);
+        return bd.stripTrailingZeros().toPlainString();
+    }
+
+    /**
+     * 字节数格式化为人性化字符串（自动选择B, KB, MB, GB, TB）
+     * 1024进制
+     *
+     * @param bytes 字节数
+     * @return 如 "1.45 GB"
+     */
+    public static String formatBytes(long bytes) {
+        if (bytes < 0) {
+            return "0 B";
+        }
+        if (bytes < 1024) {
+            return bytes + " B";
+        }
+        int exp = (int) (Math.log(bytes) / Math.log(1024));
+        char pre = "KMGTPE".charAt(exp - 1);
+        double result = bytes / Math.pow(1024, exp);
+        return format(result, 2) + " " + pre + "B";
+    }
+
+    /**
+     * 将秒转换为分秒
+     */
+    public static String calculateSeconds(long totalSeconds) {
+        // 处理负数
+        if (totalSeconds < 0) {
+            return "-" + calculateSeconds(-totalSeconds);
+        }
+
+        long hours = totalSeconds / 3600;
+        long minutes = (totalSeconds % 3600) / 60;
+        long seconds = totalSeconds % 60;
+
+        StringBuilder sb = new StringBuilder();
+        if (hours > 0) {
+            sb.append(hours).append('h');
+        }
+        if (minutes > 0) {
+            sb.append(minutes).append('m');
+        }
+        // 当所有部分都为0时，至少显示 "0s"
+        if (seconds > 0 || sb.isEmpty()) {
+            sb.append(seconds).append('s');
+        }
+        return sb.toString();
+    }
+}

admin/src/main/java/com/multictrl/common/utils/kmz/KmzUtils.java

@@ -0,0 +1,189 @@
+package com.multictrl.common.utils.kmz;
+
+import com.multictrl.common.exception.RenException;
+import com.multictrl.modules.business.dto.RouteDTO;
+import org.apache.commons.compress.archivers.zip.ZipArchiveEntry;
+import org.apache.commons.compress.archivers.zip.ZipArchiveInputStream;
+
+import java.io.*;
+import java.nio.charset.StandardCharsets;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.util.HashMap;
+import java.util.Map;
+import java.util.zip.ZipEntry;
+import java.util.zip.ZipInputStream;
+import java.util.zip.ZipOutputStream;
+
+/**
+ * kmz工具类
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/4/21
+ */
+public class KmzUtils {
+    private static final String WPMZ_TEMPLATE_KML = "wpmz/template.kml";
+    private static final String WPMZ_WAYLINES_WPML = "wpmz/waylines.wpml";
+
+    /**
+     * 生成byte[]数组
+     */
+    public static byte[] generateKmzBytes(RouteDTO route) throws IOException {
+        try (ByteArrayOutputStream byteArrayOutputStream = new ByteArrayOutputStream();
+             ZipOutputStream zos = new ZipOutputStream(byteArrayOutputStream)) {
+
+            // 添加 wpmz/template.kml 文件
+            String kmlContent = TemplateUtils.createTemplateContent(route);
+            addEntry(zos, WPMZ_TEMPLATE_KML, kmlContent);
+
+            // 添加 wpmz/waylines.wpl 文件
+            String waylinesContent = WaylinesUtils.createTemplateContent(route);
+            addEntry(zos, WPMZ_WAYLINES_WPML, waylinesContent);
+
+            zos.finish();
+            return byteArrayOutputStream.toByteArray();
+        }
+    }
+
+    /**
+     * 将指定内容写入 ZIP 中指定路径
+     */
+    private static void addEntry(ZipOutputStream zos, String path, String content) throws IOException {
+        zos.putNextEntry(new ZipEntry(path));
+        zos.write(content.getBytes(StandardCharsets.UTF_8));
+        zos.closeEntry();
+    }
+
+    /**
+     * 将 zip 输入流解压到目标目录，完整保留 zip 内的目录结构。
+     *
+     * @param zipStream zip 输入流（调用方负责关闭外层流）
+     * @param destDir   目标目录
+     * @throws IOException 解压失败
+     */
+    public static void unzipToDirectory(InputStream zipStream, Path destDir) throws IOException {
+        // 确保目标目录存在（已存在时不会重复创建）
+        Files.createDirectories(destDir);
+        // 获取规范化的目标目录路径（用于安全校验）
+        Path normalizedDest = destDir.toAbsolutePath().normalize();
+
+        try (ZipInputStream zis = new ZipInputStream(zipStream)) {
+            ZipEntry entry;
+            while ((entry = zis.getNextEntry()) != null) {
+                String entryName = entry.getName();
+                // 拼接并规范化目标文件路径
+                Path targetPath = normalizedDest.resolve(entryName).normalize();
+
+                // 防止 Zip Slip 攻击：确保解压路径仍在目标目录内
+                if (!targetPath.startsWith(normalizedDest)) {
+                    throw new IOException("非法路径：" + entryName);
+                }
+
+                if (entry.isDirectory()) {
+                    Files.createDirectories(targetPath);
+                } else {
+                    // 创建父目录（如果不存在）
+                    Path parent = targetPath.getParent();
+                    if (parent != null) {
+                        Files.createDirectories(parent);
+                    }
+                    // 使用 NIO 方式将 zip 条目内容写入文件
+                    try (OutputStream out = Files.newOutputStream(targetPath)) {
+                        byte[] buffer = new byte[8192];
+                        int len;
+                        while ((len = zis.read(buffer)) > 0) {
+                            out.write(buffer, 0, len);
+                        }
+                    }
+                }
+                zis.closeEntry();
+            }
+        }
+    }
+
+    /**
+     * 解析 KMZ 文件，提取指定内容为 byte[]
+     *
+     * @param inputStream KMZ 文件流
+     * @return 包含文件名与 byte[] 的映射
+     * @throws IOException IO 异常
+     */
+    public static Map<String, byte[]> extractKmzAsBytes(InputStream inputStream) throws IOException {
+        Map<String, byte[]> result = new HashMap<>();
+
+        try (ZipArchiveInputStream zipStream = new ZipArchiveInputStream(inputStream)) {
+            ZipArchiveEntry entry;
+            while ((entry = zipStream.getNextEntry()) != null) {
+                String entryName = entry.getName();
+
+                if (WPMZ_TEMPLATE_KML.equals(entryName)) {
+                    result.put("template.kml", readStreamToBytes(zipStream));
+                } else if (WPMZ_WAYLINES_WPML.equals(entryName)) {
+                    result.put("waylines.wpml", readStreamToBytes(zipStream));
+                }
+            }
+        }
+
+        return result;
+    }
+
+    /**
+     * 将 InputStream 读取为 byte[]
+     *
+     * @param inputStream 输入流
+     * @return 字节数组
+     * @throws IOException IO 异常
+     */
+    private static byte[] readStreamToBytes(InputStream inputStream) throws IOException {
+        try (ByteArrayOutputStream buffer = new ByteArrayOutputStream()) {
+            byte[] data = new byte[1024];
+            int bytesRead;
+
+            while ((bytesRead = inputStream.read(data, 0, data.length)) != -1) {
+                buffer.write(data, 0, bytesRead);
+            }
+
+            return buffer.toByteArray();
+        }
+    }
+
+    /**
+     * 将 zip 输入流解压到目标目录，完整保留 zip 内的目录结构。
+     *
+     * @param zipStream zip 输入流（调用方负责关闭外层流）
+     * @param destDir   目标目录
+     * @throws IOException 解压失败
+     */
+    public static void unzipToDirectory(InputStream zipStream, File destDir) throws Exception {
+        if (!destDir.exists()) {
+            Files.createDirectories(destDir.toPath());
+        }
+
+        try (ZipInputStream zis = new ZipInputStream(zipStream)) {
+            ZipEntry entry;
+            while ((entry = zis.getNextEntry()) != null) {
+                String entryName = entry.getName();
+                File targetFile = new File(destDir, entryName);
+                Path targetPath = targetFile.getCanonicalFile().toPath();
+                Path destPath = destDir.getCanonicalFile().toPath();
+                if (!targetPath.startsWith(destPath)) {
+                    throw new RenException("非法路径：" + entryName);
+                }
+
+                if (entry.isDirectory()) {
+                    Files.createDirectories(targetFile.toPath());
+                } else {
+                    Files.createDirectories(targetFile.getParentFile().toPath());
+                    try (FileOutputStream fos = new FileOutputStream(targetFile)) {
+                        byte[] buffer = new byte[8192];
+                        int len;
+                        while ((len = zis.read(buffer)) > 0) {
+                            fos.write(buffer, 0, len);
+                        }
+                    }
+                }
+                zis.closeEntry();
+            }
+        }
+    }
+}

admin/src/main/java/com/multictrl/common/utils/kmz/TemplateUtils.java

@@ -0,0 +1,98 @@
+package com.multictrl.common.utils.kmz;
+
+import cn.hutool.core.util.StrUtil;
+import com.multictrl.modules.business.dto.RouteDTO;
+import com.multictrl.modules.business.dto.RouteWaypointDTO;
+import com.multictrl.modules.business.dto.WaypointActionDTO;
+import lombok.extern.slf4j.Slf4j;
+import org.dom4j.Document;
+import org.dom4j.DocumentHelper;
+import org.dom4j.Element;
+
+import java.util.List;
+import java.util.Map;
+
+/**
+ * template文件工具
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/4/21
+ */
+@Slf4j
+public class TemplateUtils {
+
+    /**
+     * 创建航线template内容
+     */
+    public static String createTemplateContent(RouteDTO route) {
+        Document document = createDocument(route);
+
+        //生成内容
+        return XmlUtils.documentToString(document);
+    }
+
+    /**
+     * 配置Document
+     */
+    public static Document createDocument(RouteDTO route) {
+        //创建document对象
+        Document document = DocumentHelper.createDocument();
+
+        //创建根kml节点
+        Element kml = document.addElement("kml");
+        kml.addNamespace("", "http://www.opengis.net/kml/2.2")
+                .addNamespace("wpml", "http://www.dji.com/wpmz/1.0.6");
+
+        //创建Document节点（创建信息）
+        Element dc = kml.addElement("Document");
+        dc.addElement("wpml:createTime").setText(System.currentTimeMillis() + "");
+        dc.addElement("wpml:updateTime").setText(System.currentTimeMillis() + "");
+
+        //创建missionConfig节点（任务信息）
+        XmlUtils.addMissionConfigElement(dc, route);
+
+        //创建folder节点（飞行信息）
+        Element folder = dc.addElement("Folder");
+        String templateType = route.getTemplateType();
+        folder.addElement("wpml:templateType").setText(templateType);
+        folder.addElement("wpml:templateId").setText("0");
+        Element waylineCoordinateSysParam = folder.addElement("wpml:waylineCoordinateSysParam");
+        waylineCoordinateSysParam.addElement("wpml:coordinateMode").setText("WGS84");
+        waylineCoordinateSysParam.addElement("wpml:heightMode").setText(StrUtil.isBlank(route.getHeightModel()) ? "relativeToStartPoint" : route.getHeightModel());
+        waylineCoordinateSysParam.addElement("wpml:positioningType").setText("GPS");
+        folder.addElement("wpml:autoFlightSpeed").setText(route.getFlightSpeed() + "");
+        folder.addElement("wpml:globalHeight").setText(route.getFlightHeight() + "");
+        folder.addElement("wpml:caliFlightEnable").setText("0");
+        folder.addElement("wpml:gimbalPitchMode").setText("manual");
+        folder.addElement("wpml:globalWaypointTurnMode").setText("toPointAndStopWithDiscontinuityCurvature");
+        folder.addElement("wpml:globalUseStraightLine").setText("1");
+
+        List<RouteWaypointDTO> waypointList = route.getRouteWaypointList();
+        for (int i = 0; i < waypointList.size(); i++) {
+            RouteWaypointDTO waypoint = waypointList.get(i);
+            Element placemark = folder.addElement("Placemark");
+            Element point = placemark.addElement("Point");
+            point.addElement("coordinates").setText(waypoint.getLongitude() + "," + waypoint.getLatitude());
+            placemark.addElement("wpml:index").setText(i + "");
+            placemark.addElement("wpml:ellipsoidHeight").setText(waypoint.getFlightHeight() + "");
+            placemark.addElement("wpml:height").setText(waypoint.getFlightHeight() + "");
+            placemark.addElement("wpml:waypointSpeed").setText(waypoint.getFlightSpeed() + "");
+            placemark.addElement("wpml:useGlobalSpeed").setText(waypoint.getFollowRouteSpeed() == true ? "1" : "0");
+            placemark.addElement("wpml:useGlobalHeight").setText(waypoint.getFollowRouteHeight() == true ? "1" : "0");
+            placemark.addElement("wpml:useGlobalHeadingParam").setText("0");
+            placemark.addElement("wpml:useGlobalTurnParam").setText("0");
+            //添加转弯模式/飞机偏航角模式
+            XmlUtils.addWaypointTurnMode(placemark, waypoint);
+
+            //航点动作
+            Map<Integer, List<WaypointActionDTO>> maps = XmlUtils.getWaypointActionMap(waypointList);
+            XmlUtils.addWaypointAction(placemark, waypoint, maps);
+        }
+
+        Element payloadParam = folder.addElement("wpml:payloadParam");
+        payloadParam.addElement("wpml:payloadPositionIndex").setText("0");
+        payloadParam.addElement("wpml:imageFormat").setText("wide,zoom,ir,visable");
+
+        return document;
+    }
+}

admin/src/main/java/com/multictrl/common/utils/kmz/WaylinesUtils.java

@@ -0,0 +1,84 @@
+package com.multictrl.common.utils.kmz;
+
+import com.multictrl.modules.business.dto.RouteDTO;
+import com.multictrl.modules.business.dto.RouteWaypointDTO;
+import com.multictrl.modules.business.dto.WaypointActionDTO;
+import lombok.extern.slf4j.Slf4j;
+import org.dom4j.Document;
+import org.dom4j.DocumentHelper;
+import org.dom4j.Element;
+
+import java.util.List;
+import java.util.Map;
+
+/**
+ * waylines文件工具
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/4/21
+ */
+@Slf4j
+public class WaylinesUtils {
+
+    /**
+     * 创建waylines文件
+     */
+    public static String createTemplateContent(RouteDTO route) {
+        Document document = createDocument(route);
+
+        //生成内容
+        return XmlUtils.documentToString(document);
+    }
+
+    /**
+     * 配置document
+     */
+    public static Document createDocument(RouteDTO route) {
+        //创建document对象
+        Document document = DocumentHelper.createDocument();
+
+        //创建根kml节点
+        Element kml = document.addElement("kml");
+        kml.addNamespace("", "http://www.opengis.net/kml/2.2")
+                .addNamespace("wpml", "http://www.dji.com/wpmz/1.0.6");
+
+        //创建Document节点（创建信息）
+        Element dc = kml.addElement("Document");
+
+        //创建missionConfig节点（任务信息）
+        XmlUtils.addMissionConfigElement(dc, route);
+
+        //创建folder节点（飞行信息）
+        Element folder = dc.addElement("Folder");
+        folder.addElement("wpml:templateId").setText("0");
+        folder.addElement("wpml:executeHeightMode").setText("relativeToStartPoint");
+        folder.addElement("wpml:waylineId").setText("0");
+//        folder.addElement("wpml:distance").setText("360.651885986328");
+//        folder.addElement("wpml:duration").setText("73.1895170211792");
+        folder.addElement("wpml:autoFlightSpeed").setText(route.getFlightSpeed() + "");
+
+        //航点信息
+        List<RouteWaypointDTO> waypointList = route.getRouteWaypointList();
+        for (int i = 0; i < waypointList.size(); i++) {
+            RouteWaypointDTO waypoint = waypointList.get(i);
+            Element placemark = folder.addElement("Placemark");
+            Element point = placemark.addElement("Point");
+            point.addElement("coordinates").setText(waypoint.getLongitude() + "," + waypoint.getLatitude());
+            placemark.addElement("wpml:index").setText(i + "");
+            placemark.addElement("wpml:executeHeight").setText(waypoint.getFlightHeight() + "");
+            placemark.addElement("wpml:waypointSpeed").setText(waypoint.getFlightSpeed() + "");
+            //添加转弯模式/飞机偏航角模式
+            XmlUtils.addWaypointTurnMode(placemark, waypoint);
+
+            //添加动作
+            Map<Integer, List<WaypointActionDTO>> maps = XmlUtils.getWaypointActionMap(waypointList);
+            XmlUtils.addWaypointAction(placemark, waypoint, maps);
+
+            Element waypointGimbalHeadingParam = placemark.addElement("wpml:waypointGimbalHeadingParam");
+            waypointGimbalHeadingParam.addElement("wpml:waypointGimbalPitchAngle").setText("0");
+            waypointGimbalHeadingParam.addElement("wpml:waypointGimbalYawAngle").setText("0");
+        }
+
+        return document;
+    }
+}

admin/src/main/java/com/multictrl/common/utils/kmz/WpmlKmlParser.java

@@ -0,0 +1,279 @@
+package com.multictrl.common.utils.kmz;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.util.StrUtil;
+import com.multictrl.common.constant.BusinessConstant;
+import com.multictrl.common.constant.SetActionParams;
+import com.multictrl.common.exception.RenException;
+import com.multictrl.modules.business.dto.RouteDTO;
+import com.multictrl.modules.business.dto.RouteWaypointDTO;
+import com.multictrl.modules.business.dto.WaypointActionDTO;
+import org.apache.commons.lang3.StringUtils;
+import org.dom4j.Document;
+import org.dom4j.DocumentException;
+import org.dom4j.Element;
+import org.dom4j.io.SAXReader;
+
+import java.io.ByteArrayInputStream;
+import java.io.IOException;
+import java.math.BigDecimal;
+import java.math.RoundingMode;
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * kml解析
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/6/18
+ */
+public class WpmlKmlParser {
+
+    public static RouteDTO parseKmlFile(byte[] bytes, Boolean accurateImport) throws DocumentException {
+        RouteDTO dto = new RouteDTO();
+        SAXReader reader = new SAXReader();
+        Document document = reader.read(new ByteArrayInputStream(bytes));
+        Element root = document.getRootElement();
+
+        Element doc = root.element("Document");
+        if (doc == null) {
+            throw new RenException("kml文件有误，无法解析");
+        }
+        Element folder = doc.element("Folder");
+        if (folder == null) {
+            throw new RenException("模板信息不存在，无法解析");
+        }
+        //解析高度模式
+        Element waylineCoordinateSysParam = folder.element("waylineCoordinateSysParam");
+        if (waylineCoordinateSysParam == null) {
+            if (!accurateImport) {
+                throw new RenException("坐标系参数有误，无法解析");
+            }
+        } else {
+            String heightMode = filedValid(waylineCoordinateSysParam.elementText("heightMode"), accurateImport);
+            dto.setHeightModel(heightMode);
+        }
+
+        // 解析
+        String templateType = folder.elementText("templateType");
+        if (StringUtils.isEmpty(templateType) && accurateImport) {
+            return dto;
+        }
+        if (StringUtils.isEmpty(templateType) && !accurateImport) {
+            throw new RenException("模板类型不存在，解析失败");
+        }
+        dto.setTemplateType(templateType);
+        String autoFlightSpeed = filedValid(folder.elementText("autoFlightSpeed"), accurateImport);
+        dto.setFlightSpeed(autoFlightSpeed == null ? null : Double.parseDouble(autoFlightSpeed));
+        String globalHeight = filedValid(folder.elementText("globalHeight"), accurateImport);
+        dto.setFlightHeight(globalHeight == null ? null : Double.parseDouble(globalHeight));
+
+        List<RouteWaypointDTO> waypointList = new ArrayList<>();
+        List<Element> placemarks = folder.elements("Placemark");
+        if (CollectionUtil.isEmpty(placemarks)) {
+            if (accurateImport) {
+                dto.setRouteWaypointList(waypointList);
+            } else {
+                throw new RenException("航点信息不存在，解析失败");
+            }
+        } else {
+            for (Element placemark : placemarks) {
+                RouteWaypointDTO waypoint = new RouteWaypointDTO();
+                String useGlobalSpeed = placemark.elementText("useGlobalSpeed");
+                String useGlobalHeight = placemark.elementText("useGlobalHeight");
+                waypoint.setFollowRouteSpeed(filedValid(useGlobalSpeed, accurateImport) == null ? null : "1".equals(useGlobalSpeed));
+                waypoint.setFollowRouteHeight(filedValid(useGlobalHeight, accurateImport) == null ? null : "1".equals(useGlobalHeight));
+                waypointList.add(waypoint);
+            }
+            dto.setRouteWaypointList(waypointList);
+        }
+        return dto;
+    }
+
+    public static void parseWpmlFile(byte[] bytes, RouteDTO dto, Boolean accurateImport) throws DocumentException, IOException {
+        SAXReader reader = new SAXReader();
+        Document document = reader.read(new ByteArrayInputStream(bytes));
+        Element root = document.getRootElement();
+
+        Element doc = root.element("Document");
+        if (doc == null) {
+            throw new RenException("wpml文件有误，无法解析");
+        }
+        Element missionConfig = doc.element("missionConfig");
+        if (missionConfig == null) {
+            throw new RenException("任务信息不存在，无法解析");
+        }
+        dto.setFlyToWaylineMode(filedValid(missionConfig.elementText("flyToWaylineMode"), accurateImport));
+        dto.setFinishAction(filedValid(missionConfig.elementText("finishAction"), accurateImport));
+        String exitOnRCLost = filedValid(missionConfig.elementText("exitOnRCLost"), accurateImport);
+        dto.setExitOnRcLost(exitOnRCLost);
+        if ("executeLostAction".equals(exitOnRCLost)) {
+            dto.setExecuteRcLostAction(filedValid(missionConfig.elementText("executeRCLostAction"), accurateImport));
+        }
+        String takeOffSecurityHeight = filedValid(missionConfig.elementText("takeOffSecurityHeight"), accurateImport);
+        dto.setTakeoffSecurityHeight(StringUtils.isBlank(takeOffSecurityHeight) ? null : Double.parseDouble(missionConfig.elementText("takeOffSecurityHeight")));
+        String globalTransitionalSpeed = filedValid(missionConfig.elementText("globalTransitionalSpeed"), accurateImport);
+        dto.setGlobalTransitionalSpeed(StringUtils.isBlank(globalTransitionalSpeed) ? null : Double.parseDouble(globalTransitionalSpeed));
+        String globalRTHHeight = filedValid(missionConfig.elementText("globalRTHHeight"), accurateImport);
+        dto.setGlobalRthHeight(StringUtils.isBlank(globalRTHHeight) ? null : Double.parseDouble(globalRTHHeight));
+        /*Element droneInfo = missionConfig.element("droneInfo");
+        if (droneInfo == null) {
+            if (!accurateImport) {
+                throw new RenException("飞行器机型信息不存在，无法解析");
+            }
+        } else {
+            String droneEnumValue = filedValid(droneInfo.elementText("droneEnumValue"), accurateImport);
+            String droneSubEnumValue = filedValid(droneInfo.elementText("droneSubEnumValue"), accurateImport);
+        }*/
+        /*Element payloadInfo = missionConfig.element("payloadInfo");
+        if (payloadInfo == null) {
+            if (!accurateImport) {
+                throw new RenException("负载机型信息不存在，无法解析");
+            }
+        } else {
+            String payloadEnumValue = filedValid(payloadInfo.elementText("payloadEnumValue"), accurateImport);
+            String cameraName = CameraModel.getNameByType(payloadEnumValue);
+            dto.setCameraType(cameraName);
+        }*/
+
+        Element folder = doc.element("Folder");
+        if (folder == null) {
+            if (!accurateImport) {
+                throw new RenException("航线信息不存在，无法解析");
+            }
+        } else {
+            String autoFlightSpeed = filedValid(folder.elementText("autoFlightSpeed"), accurateImport);
+            dto.setFlightSpeed(StringUtils.isBlank(autoFlightSpeed) ? null : Double.parseDouble(autoFlightSpeed));
+
+            List<Element> placemarks = folder.elements("Placemark");
+            if (CollectionUtil.isEmpty(placemarks)) {
+                if (!accurateImport) {
+                    throw new RenException("航点信息不存在，无法解析");
+                }
+            } else {
+                List<RouteWaypointDTO> waypointList = dto.getRouteWaypointList();
+                if (waypointList == null || waypointList.isEmpty()) {
+                    return;
+                }
+
+                for (int i = 0; i < waypointList.size(); i++) {
+                    RouteWaypointDTO waypoint = waypointList.get(i);
+                    Element placemark = placemarks.get(i);
+                    Element point = placemark.element("Point");
+                    if (point == null) {
+                        if (!accurateImport) {
+                            throw new RenException("航点经纬度不存在，无法解析");
+                        }
+                    } else {
+                        String coordinates = point.elementText("coordinates");
+                        String[] split = coordinates.split(",");
+                        waypoint.setLongitude(Double.valueOf(split[0]));
+                        waypoint.setLatitude(Double.valueOf(split[1]));
+                    }
+                    String index = filedValid(placemark.elementText("index"), accurateImport);
+                    waypoint.setWaypointSort(StringUtils.isBlank(index) ? null : Integer.valueOf(index));
+                    String executeHeight = filedValid(placemark.elementText("executeHeight"), accurateImport);
+                    waypoint.setFlightHeight(StringUtils.isBlank(executeHeight) ? null : Double.parseDouble(executeHeight));
+                    String waypointSpeed = filedValid(placemark.elementText("waypointSpeed"), accurateImport);
+                    waypoint.setFlightSpeed(StringUtils.isBlank(waypointSpeed) ? null : Double.parseDouble(waypointSpeed));
+                    Element waypointHeadingParam = placemark.element("waypointHeadingParam");
+                    if (waypointHeadingParam == null) {
+                        if (!accurateImport) {
+                            throw new RenException("偏航角模式参数不存在，无法解析");
+                        }
+                    } else {
+                        waypoint.setWaypointHeadingMode(filedValid(waypointHeadingParam.elementText("waypointHeadingMode"), accurateImport));
+                        String waypointHeadingAngle = filedValid(waypointHeadingParam.elementText("waypointHeadingAngle"), accurateImport);
+                        if (StrUtil.isNotBlank(waypointHeadingAngle)) {
+                            waypoint.setWaypointHeadingAngle(waypointHeadingAngle);
+                        }
+                        String waypointPoiPoint = waypointHeadingParam.elementText("waypointPoiPoint");
+                        if (StrUtil.isNotBlank(waypointPoiPoint)) {
+                            waypoint.setWaypointPoiPoint(waypointPoiPoint);
+                        }
+                        String waypointHeadingPathMode = filedValid(waypointHeadingParam.elementText("waypointHeadingPathMode"), accurateImport);
+                        waypoint.setWaypointHeadingPathMode(StringUtils.isBlank(waypointHeadingPathMode) ? "" : waypointHeadingPathMode);
+                    }
+
+                    Element waypointTurnParam = placemark.element("waypointTurnParam");
+                    if (waypointTurnParam == null) {
+                        if (!accurateImport) {
+                            throw new RenException("航点转弯模式不存在，无法解析");
+                        }
+                    } else {
+                        waypoint.setWaypointTruningMode(filedValid(waypointTurnParam.elementText("waypointTurnMode"), accurateImport));
+                        String waypointTurnDampingDist = filedValid(waypointTurnParam.elementText("waypointTurnDampingDist"), accurateImport);
+                        if (StrUtil.isNotBlank(waypointTurnDampingDist)) {
+                            waypoint.setWaypointTurnDampingDist(waypointTurnDampingDist);
+                        }
+                    }
+
+                    List<WaypointActionDTO> actionList = waypoint.getWaypointActionList();
+                    if (CollectionUtil.isEmpty(actionList)) {
+                        actionList = new ArrayList<>();
+                    }
+                    List<Element> actionGroups = placemark.elements("actionGroup");
+                    for (Element actionGroup : actionGroups) {
+                        Element actionTrigger = actionGroup.element("actionTrigger");
+                        String actionTriggerType = actionTrigger.elementText("actionTriggerType");
+                        if ("multipleTiming".equals(actionTriggerType) || "multipleDistance".equals(actionTriggerType)) {
+                            String actionGroupId = actionGroup.elementText("actionGroupId");
+                            String actionTriggerParam = actionTrigger.elementText("actionTriggerParam");
+                            WaypointActionDTO action = new WaypointActionDTO();
+                            action.setActionType(actionTriggerType);
+                            action.setActionValue(actionTriggerParam);
+                            action.setActionSort(Integer.parseInt(actionGroupId));
+                            actionList.add(action);
+
+                            String actionGroupEndIndex = actionGroup.elementText("actionGroupEndIndex");
+                            RouteWaypointDTO uavWaypointDTO = waypointList.get(Integer.parseInt(actionGroupEndIndex));
+                            List<WaypointActionDTO> actionList1 = uavWaypointDTO.getWaypointActionList();
+                            if (CollectionUtil.isEmpty(actionList1)) {
+                                actionList1 = new ArrayList<>();
+                            }
+                            WaypointActionDTO action2 = new WaypointActionDTO();
+                            action2.setActionType(BusinessConstant.FINISH_TAKE_PHOTO_FLAG);
+                            action2.setActionValue(actionGroupEndIndex);
+                            action.setActionSort(Integer.parseInt(actionGroupId));
+                            actionList1.add(action2);
+                            uavWaypointDTO.setWaypointActionList(actionList1);
+                        } else {
+                            List<Element> actions = actionGroup.elements("action");
+                            for (Element act : actions) {
+                                WaypointActionDTO action = new WaypointActionDTO();
+                                String actionActuatorFunc = act.elementText("actionActuatorFunc");
+                                Element actionActuatorFuncParam = act.element("actionActuatorFuncParam");
+                                if ("gimbalRotate".equals(actionActuatorFunc)) {
+                                    String gimbalYawRotateEnable = actionActuatorFuncParam.elementText("gimbalYawRotateEnable");
+                                    if ("1".equals(gimbalYawRotateEnable)) {
+                                        action.setActionType(actionActuatorFunc + "_yaw");
+                                    } else {
+                                        action.setActionType(actionActuatorFunc);
+                                    }
+                                } else {
+                                    action.setActionType(actionActuatorFunc);
+                                }
+                                SetActionParams.getAction(action, actionActuatorFuncParam);
+                                actionList.add(action);
+                            }
+                        }
+                    }
+                    waypoint.setWaypointActionList(actionList);
+                }
+            }
+        }
+    }
+
+    //赋值器
+    public static String filedValid(String value, Boolean accurateImport) {
+        if (StringUtils.isBlank(value)) {
+            if (accurateImport) {
+                return null;
+            } else {
+                throw new RenException("字段缺失，无法解析");
+            }
+        } else {
+            return value;
+        }
+    }
+}

admin/src/main/java/com/multictrl/common/utils/kmz/XmlUtils.java

@@ -0,0 +1,244 @@
+package com.multictrl.common.utils.kmz;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.util.StrUtil;
+import com.google.common.collect.Lists;
+import com.multictrl.common.constant.BusinessConstant;
+import com.multictrl.common.constant.SetActionParams;
+import com.multictrl.modules.business.dto.RouteDTO;
+import com.multictrl.modules.business.dto.RouteWaypointDTO;
+import com.multictrl.modules.business.dto.WaypointActionDTO;
+import org.dom4j.Document;
+import org.dom4j.Element;
+import org.dom4j.io.OutputFormat;
+import org.dom4j.io.XMLWriter;
+
+import java.io.IOException;
+import java.io.StringWriter;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * Xml生成工具
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/4/21
+ */
+public class XmlUtils {
+
+    /**
+     * 添加航点航线missionConfig节点（任务信息）
+     */
+    public static void addMissionConfigElement(Element dc, RouteDTO route) {
+        //创建missionConfig节点（任务信息）
+        Element missionConfig = dc.addElement("wpml:missionConfig");
+        missionConfig.addElement("wpml:flyToWaylineMode").setText(route.getFlyToWaylineMode());
+        missionConfig.addElement("wpml:finishAction").setText(route.getFinishAction());
+        missionConfig.addElement("wpml:exitOnRCLost").setText(route.getExitOnRcLost());
+        if ("executeLostAction".equals(route.getExitOnRcLost())) {
+            missionConfig.addElement("wpml:executeRCLostAction").setText(route.getExecuteRcLostAction());
+        }
+        missionConfig.addElement("wpml:takeOffSecurityHeight").setText(route.getTakeoffSecurityHeight() + "");
+        missionConfig.addElement("wpml:globalTransitionalSpeed").setText(route.getGlobalTransitionalSpeed() + "");
+        missionConfig.addElement("wpml:globalRTHHeight").setText(route.getGlobalRthHeight() + "");
+
+        //todo飞行器信息/负载信息
+        Element droneInfo = missionConfig.addElement("wpml:droneInfo");
+        /*droneInfo.addElement("wpml:droneEnumValue").setText(uavModel.getType());
+        droneInfo.addElement("wpml:droneSubEnumValue").setText(uavModel.getSubType());*/
+
+        Element payloadInfo = missionConfig.addElement("wpml:payloadInfo");
+        /*payloadInfo.addElement("wpml:payloadEnumValue").setText(type);
+        payloadInfo.addElement("wpml:payloadSubEnumValue").setText("0");
+        payloadInfo.addElement("wpml:payloadPositionIndex").setText("0");*/
+    }
+
+    /**
+     * 获取航点动作
+     */
+    public static Map<Integer, List<WaypointActionDTO>> getWaypointActionMap(List<RouteWaypointDTO> waypointList) {
+        Map<Integer, List<WaypointActionDTO>> maps = new HashMap<>();
+        for (RouteWaypointDTO waypoint : waypointList) {
+            List<WaypointActionDTO> actionList = waypoint.getWaypointActionList();
+            if (CollectionUtil.isEmpty(actionList)) {
+                actionList = Lists.newArrayList();
+            }
+            maps.put(waypoint.getWaypointSort(), actionList);
+        }
+
+        return maps;
+    }
+
+    /**
+     * 添加转弯模式/偏航模式
+     */
+    public static void addWaypointTurnMode(Element placemark, RouteWaypointDTO waypoint) {
+        Element waypointHeadingParam = placemark.addElement("wpml:waypointHeadingParam");
+        waypointHeadingParam.addElement("wpml:waypointHeadingMode").setText(waypoint.getWaypointHeadingMode());
+//            waypointHeadingParam.addElement("wpml:waypointHeadingAngle").setText("0");
+        if (StrUtil.isNotBlank(waypoint.getWaypointHeadingAngle())) {
+            waypointHeadingParam.addElement("wpml:waypointHeadingAngle").setText(waypoint.getWaypointHeadingAngle());
+        }
+//            waypointHeadingParam.addElement("wpml:waypointPoiPoint").setText("0.000000,0.000000,0.000000");
+        if (StrUtil.isNotBlank(waypoint.getWaypointPoiPoint())) {
+            waypointHeadingParam.addElement("wpml:waypointPoiPoint").setText(waypoint.getWaypointPoiPoint());
+        }
+        waypointHeadingParam.addElement("wpml:waypointHeadingPathMode").setText(waypoint.getWaypointHeadingPathMode());
+        Element waypointTurnParam = placemark.addElement("wpml:waypointTurnParam");
+        waypointTurnParam.addElement("wpml:waypointTurnMode").setText(waypoint.getWaypointTruningMode());
+        if (StrUtil.isNotBlank(waypoint.getWaypointTurnDampingDist())) {
+            waypointTurnParam.addElement("wpml:waypointTurnDampingDist").setText(waypoint.getWaypointTurnDampingDist());
+        }
+        placemark.addElement("wpml:useStraightLine").setText("1");
+    }
+
+    /**
+     * 添加航点动作
+     *
+     * @param placemark 元素
+     * @param waypoint  点位
+     */
+    public static void addWaypointAction(Element placemark, RouteWaypointDTO waypoint, Map<Integer, List<WaypointActionDTO>> maps) {
+        List<WaypointActionDTO> actionList = waypoint.getWaypointActionList();
+        List<WaypointActionDTO> reachPoint = Lists.newArrayList();
+        List<WaypointActionDTO> otherAction = Lists.newArrayList();
+
+        for (WaypointActionDTO actionDTO : actionList) {
+            String actionType = actionDTO.getActionType();
+            if (BusinessConstant.EQUAL_TIME_TAKE_PHOTO_FLAG.equals(actionType) ||
+                    BusinessConstant.EQUAL_DISTANCE_TAKE_PHOTO_FLAG.equals(actionType) || BusinessConstant.FINISH_TAKE_PHOTO_FLAG.equals(actionType)) {
+                otherAction.add(actionDTO);
+            } else {
+                reachPoint.add(actionDTO);
+            }
+        }
+
+        if (CollectionUtil.isNotEmpty(reachPoint)) {
+            Element actionGroup = placemark.addElement("wpml:actionGroup");
+            actionGroup.addElement("wpml:actionGroupId").setText(getNextGlobalActionGroupId(actionGroup) + "");
+            actionGroup.addElement("wpml:actionGroupStartIndex").setText(waypoint.getWaypointSort() + "");
+            actionGroup.addElement("wpml:actionGroupEndIndex").setText(waypoint.getWaypointSort() + "");
+            actionGroup.addElement("wpml:actionGroupMode").setText("sequence");
+            Element actionTrigger = actionGroup.addElement("wpml:actionTrigger");
+            actionTrigger.addElement("wpml:actionTriggerType").setText(BusinessConstant.DEFAULT_ACTION_TRIGGER_TYPE);
+
+            for (int j = 0; j < reachPoint.size(); j++) {
+                WaypointActionDTO actionDTO = reachPoint.get(j);
+                Element action = actionGroup.addElement("wpml:action");
+                action.addElement("wpml:actionId").setText(j + "");
+                action.addElement("wpml:actionActuatorFunc").setText(StrUtil.splitTrim(actionDTO.getActionType(), "_").get(0));
+                Element actionActuatorFuncParam = action.addElement("wpml:actionActuatorFuncParam");
+                actionDTO.setWaypointOrder(waypoint.getWaypointSort() + "");
+                SetActionParams.executeAction(actionDTO, actionActuatorFuncParam);
+            }
+        }
+
+        //等时等距处理
+        if (CollectionUtil.isNotEmpty(otherAction)) {
+            addEqualTimeEqualDistanceTakePhotoAction(placemark, waypoint, otherAction, maps);
+        }
+    }
+
+    /**
+     * 查找下一个可用的 actionGroupId（从0开始递增）
+     *
+     * @param element 节点
+     * @return 下一个可用的 actionGroupId 值
+     */
+    private static int getNextGlobalActionGroupId(Element element) {
+        Element rootElement = element.getDocument().getRootElement();
+        int maxId = -1;
+
+        List<Element> actionGroups = rootElement.elements("wpml:actionGroup");
+        for (Element actionGroup : actionGroups) {
+            List<Element> existingElements = actionGroup.elements("wpml:actionGroupId");
+
+            for (Element e : existingElements) {
+                try {
+                    int id = Integer.parseInt(e.getText());
+                    if (id > maxId) {
+                        maxId = id;
+                    }
+                } catch (NumberFormatException ignored) {
+                }
+            }
+        }
+
+        return maxId + 1; // 返回下一个可用 ID
+    }
+
+    /**
+     * 等时等距拍照
+     */
+    private static void addEqualTimeEqualDistanceTakePhotoAction(Element placemark, RouteWaypointDTO waypoint
+            , List<WaypointActionDTO> otherAction, Map<Integer, List<WaypointActionDTO>> maps) {
+        for (int i = 0; i < otherAction.size(); i++) {
+            WaypointActionDTO currentAction = otherAction.get(i);
+            String actionType = currentAction.getActionType();
+            if (BusinessConstant.FINISH_TAKE_PHOTO_FLAG.equals(actionType)) continue;
+            String finishActionValue = null;
+            for (int j = i + 1; j < otherAction.size(); j++) {
+                WaypointActionDTO futureAction = otherAction.get(j);
+                if (BusinessConstant.FINISH_TAKE_PHOTO_FLAG.equals(futureAction.getActionType())) {
+                    finishActionValue = futureAction.getActionValue();
+                    break;
+                }
+            }
+
+            // 如果当前列表没有找到 finish 动作，尝试查找后续列表中的 finish 动作
+            if (finishActionValue == null) {
+                for (int ii = waypoint.getWaypointSort() + 1; ii < maps.size(); ii++) {
+                    List<WaypointActionDTO> dtos = maps.get(ii);
+                    for (WaypointActionDTO futureAction : dtos) {
+                        if (BusinessConstant.FINISH_TAKE_PHOTO_FLAG.equals(futureAction.getActionType())) {
+                            finishActionValue = futureAction.getActionValue();
+                            break;
+                        }
+                    }
+                    if (finishActionValue != null) break;
+                }
+            }
+
+            if (finishActionValue == null) break;
+            if (BusinessConstant.EQUAL_DISTANCE_TAKE_PHOTO_FLAG.equals(actionType) || BusinessConstant.EQUAL_TIME_TAKE_PHOTO_FLAG.equals(actionType)) {
+                Integer waypointIndex = waypoint.getWaypointSort();
+                Element actionGroup = placemark.addElement("wpml:actionGroup");
+                actionGroup.addElement("wpml:actionGroupId").setText(getNextGlobalActionGroupId(actionGroup) + "");
+                actionGroup.addElement("wpml:actionGroupStartIndex").setText(waypointIndex + "");
+                actionGroup.addElement("wpml:actionGroupEndIndex").setText(finishActionValue);
+                actionGroup.addElement("wpml:actionGroupMode").setText("sequence");
+                Element actionTrigger = actionGroup.addElement("wpml:actionTrigger");
+                actionTrigger.addElement("wpml:actionTriggerType").setText(actionType);
+                actionTrigger.addElement("wpml:actionTriggerParam").setText(currentAction.getActionValue());
+
+                Element action = actionGroup.addElement("wpml:action");
+                action.addElement("wpml:actionId").setText("0");
+                action.addElement("wpml:actionActuatorFunc").setText(BusinessConstant.TAKE_PHOTO_FLAG);
+                Element actionActuatorFuncParam = action.addElement("wpml:actionActuatorFuncParam");
+                currentAction.setWaypointOrder(waypoint.getWaypointSort() + "");
+                SetActionParams.executeAction(currentAction, actionActuatorFuncParam);
+            }
+        }
+    }
+
+    /**
+     * 文档转字符串
+     *
+     * @param document 文档
+     * @return 返回字符串
+     */
+    public static String documentToString(Document document) {
+        OutputFormat format = OutputFormat.createPrettyPrint();
+        StringWriter stringWriter = new StringWriter();
+        XMLWriter writer = new XMLWriter(stringWriter, format);
+        writer.setEscapeText(false);
+        try {
+            writer.write(document);
+            writer.close();
+        } catch (IOException e) {
+            throw new RuntimeException(e);
+        }
+        return stringWriter.toString();
+    }
+}

admin/src/main/java/com/multictrl/common/utils/map/GeoPoint.java

@@ -0,0 +1,36 @@
+package com.multictrl.common.utils.map;
+
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+import java.util.Arrays;
+import java.util.List;
+
+/**
+ * 经纬度
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/6/23
+ */
+
+@NoArgsConstructor
+@AllArgsConstructor
+@Data
+public class GeoPoint {
+
+    private double longitude;
+
+    private double latitude;
+
+    /**
+     * 构造方法
+     *
+     * @param location 经纬度x,y
+     */
+    public GeoPoint(String location) {
+        List<String> list = Arrays.asList(location.split(","));
+        this.longitude = Double.parseDouble(list.get(0));
+        this.latitude = Double.parseDouble(list.get(1));
+    }
+}

admin/src/main/java/com/multictrl/common/utils/map/GeoUtils.java

@@ -0,0 +1,245 @@
+package com.multictrl.common.utils.map;
+
+import cn.hutool.http.HttpUtil;
+import cn.hutool.json.JSONObject;
+import cn.hutool.json.JSONUtil;
+import com.multictrl.common.exception.RenException;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 地图数据工具
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/6/23
+ */
+public class GeoUtils {
+
+    private static final int EARTH_RADIUS_IN_METERS = 6371000; // 地球半径，单位：米
+
+    /**
+     * 创建wkt点
+     *
+     * @param longitude 精度
+     * @param latitude  维度
+     * @return 返回WKT格式的点，例如 "POINT(120.123456789 30.987654789)"
+     */
+    public static String createPointWkt(Double longitude, Double latitude) {
+        if (longitude == null || latitude == null) {
+            return null;
+        }
+        // 判断是否是合法的数字
+        if (Double.isNaN(longitude) || Double.isNaN(latitude) ||
+                Double.isInfinite(longitude) || Double.isInfinite(latitude)) {
+            return null;
+        }
+        return String.format("POINT(%.9f %.9f)", longitude, latitude);
+    }
+
+    /**
+     * 解析 WKT 格式的 POINT 字符串，并根据指定的精度返回经度和纬度
+     *
+     * @param pointWkt WKT 格式的 POINT 字符串，例如 "POINT(120.123456789 30.987654789)"
+     * @return 包含经度和纬度的 GeoPoint 对象
+     */
+    public static GeoPoint parsePointWkt(String pointWkt) {
+        if (pointWkt == null || !pointWkt.startsWith("POINT(") || !pointWkt.endsWith(")")) {
+            throw new RenException("经纬度解析错误");
+        }
+
+        // 去掉 "POINT(" 和 ")"，然后按空格分割
+        String content = pointWkt.substring(6, pointWkt.length() - 1);
+        String[] parts = content.split("\\s+");
+
+        if (parts.length != 2) {
+            throw new RenException("经纬度解析错误");
+        }
+
+        try {
+            double longitude = Double.parseDouble(parts[0]);
+            double latitude = Double.parseDouble(parts[1]);
+
+            // 根据精度进行四舍五入
+            longitude = roundToPrecision(longitude, 9);
+            latitude = roundToPrecision(latitude, 9);
+
+            return new GeoPoint(longitude, latitude);
+        } catch (Exception e) {
+            throw new RenException("经纬度解析错误", e);
+        }
+    }
+
+    /**
+     * 四舍五入到指定的小数位数
+     *
+     * @param value     要四舍五入的值
+     * @param precision 小数点后保留的位数
+     * @return 四舍五入后的结果
+     */
+    private static double roundToPrecision(double value, int precision) {
+        double scale = Math.pow(10, precision);
+        return Math.round(value * scale) / scale;
+    }
+
+    /**
+     * 使用 Haversine 公式计算两个经纬度之间的距离（单位：米）
+     *
+     * @param lat1 第一个点的纬度
+     * @param lon1 第一个点的经度
+     * @param lat2 第二个点的纬度
+     * @param lon2 第二个点的经度
+     * @return 距离（米）
+     */
+    public static double calculateDistance(double lat1, double lon1, double lat2, double lon2) {
+        double lat1Rad = Math.toRadians(lat1);
+        double lon1Rad = Math.toRadians(lon1);
+        double lat2Rad = Math.toRadians(lat2);
+        double lon2Rad = Math.toRadians(lon2);
+
+        double a = Math.pow(Math.sin((lat2Rad - lat1Rad) / 2), 2) +
+                Math.cos(lat1Rad) * Math.cos(lat2Rad) *
+                        Math.pow(Math.sin((lon2Rad - lon1Rad) / 2), 2);
+
+        double c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1 - a));
+        return EARTH_RADIUS_IN_METERS * c;
+    }
+
+    /**
+     * 判断两点之间的距离是否在指定范围内（单位：米）
+     *
+     * @param lat1        第一个点的纬度
+     * @param lon1        第一个点的经度
+     * @param lat2        第二个点的纬度
+     * @param lon2        第二个点的经度
+     * @param minDistance 最小距离（单位：米）
+     * @param maxDistance 最大距离（单位：米）
+     * @return 是否在范围内
+     */
+    public static boolean isDistanceInRange(double lat1, double lon1, double lat2, double lon2,
+                                            double minDistance, double maxDistance) {
+        double distance = calculateDistance(lat1, lon1, lat2, lon2);
+        return distance >= minDistance && distance <= maxDistance;
+    }
+
+    /**
+     * 将 "经度,纬度;经度,纬度" 格式的字符串转换为闭合的坐标数组（用于 GeoJSON Polygon）
+     *
+     * @param mapping 输入的坐标字符串
+     * @return 格式化后的 List<List<Double>>，每个内层 List 为 [经度, 纬度]
+     */
+    public static List<List<Double>> parseCoordinates(String mapping) {
+        if (mapping == null || mapping.trim().isEmpty()) {
+            throw new RenException("面状范围不能为空");
+        }
+
+        String[] points = mapping.split(";");
+        List<List<Double>> coordinates = new ArrayList<>();
+
+        List<Double> firstPoint = null;
+
+        for (int i = 0; i < points.length; i++) {
+            String[] latLon = points[i].split(",");
+            if (latLon.length != 2) {
+                throw new RenException("无效坐标对: " + points[i]);
+            }
+
+            double lon = Double.parseDouble(latLon[0].trim());
+            double lat = Double.parseDouble(latLon[1].trim());
+
+            List<Double> point = List.of(lon, lat);
+            coordinates.add(point);
+
+            // 记录第一个点用于闭合
+            /*if (i == 0) {
+                firstPoint = point;
+            }*/
+        }
+
+        // 闭合多边形：最后一个点必须等于第一个点
+        /*if (firstPoint != null && !coordinates.get(coordinates.size() - 1).equals(firstPoint)) {
+            coordinates.add(firstPoint);
+        }*/
+
+        return coordinates;
+    }
+
+    /**
+     * 根据经纬度获取高程（单位：米）
+     *
+     * @param latitude  纬度（如 40.714728）
+     * @param longitude 经度（如 -73.998672）
+     * @return 海拔高度（米）
+     * @throws Exception 如果API请求失败或数据异常
+     */
+    public static double getElevation(double latitude, double longitude) {
+        // 构建API请求URL（使用aster30m数据集）
+        String url = "https://api.opentopodata.org/v1/aster30m?locations=" + latitude + "," + longitude;
+
+        //发送HTTP请求
+        String response = HttpUtil.get(url);
+
+        // 解析JSON
+        JSONObject json = JSONUtil.parseObj(response);
+        if (!json.containsKey("results") || json.getJSONArray("results").isEmpty()) {
+            return 0;
+        }
+
+        // 返回第一个结果的高程值
+        return json.getJSONArray("results").getJSONObject(0).getDouble("elevation");
+    }
+
+    /**
+     * 计算点数集合总时长
+     * 包含了上升时间
+     */
+    public static long calculateFlightTime(List<JSONObject> waypoints) {
+        if (waypoints == null || waypoints.size() < 2) {
+            return 0;
+        }
+
+        double totalSeconds = 0.0;
+        final double EARTH_RADIUS = 6371000.0; // 地球半径（米）
+        final double VERTICAL_SPEED = 2.0;      // 垂直调整速度（m/s，大疆典型值）
+
+        for (int i = 1; i < waypoints.size(); i++) {
+            JSONObject prev = waypoints.get(i - 1);
+            JSONObject curr = waypoints.get(i);
+
+            // 获取位置和速度
+            double lat1 = prev.getDouble("latitude");
+            double lon1 = prev.getDouble("longitude");
+            double alt1 = prev.getDouble("altitude");
+            double lat2 = curr.getDouble("latitude");
+            double lon2 = curr.getDouble("longitude");
+            double alt2 = curr.getDouble("altitude");
+            double horizontalSpeed = prev.getDouble("speed"); // 水平速度（m/s）
+
+            // 1. 计算水平距离（地面投影，单位：米）
+            double lat1Rad = Math.toRadians(lat1);
+            double lon1Rad = Math.toRadians(lon1);
+            double lat2Rad = Math.toRadians(lat2);
+            double lon2Rad = Math.toRadians(lon2);
+
+            double deltaLat = lat2Rad - lat1Rad;
+            double deltaLon = lon2Rad - lon1Rad;
+
+            double a = Math.sin(deltaLat / 2) * Math.sin(deltaLat / 2) +
+                    Math.cos(lat1Rad) * Math.cos(lat2Rad) *
+                            Math.sin(deltaLon / 2) * Math.sin(deltaLon / 2);
+            double c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1 - a));
+            double groundDistance = EARTH_RADIUS * c;
+
+            // 2. 计算垂直高度差（绝对值）
+            double heightDiff = Math.abs(alt2 - alt1);
+
+            // 3. 计算两段飞行时间
+            double timeVertical = heightDiff / VERTICAL_SPEED;    // 垂直调整时间
+            double timeHorizontal = groundDistance / horizontalSpeed; // 水平飞行时间
+
+            totalSeconds += timeVertical + timeHorizontal;
+        }
+
+        return Math.round(totalSeconds); // 四舍五入为整数秒
+    }
+}

admin/src/main/java/com/multictrl/common/utils/map/Spatial4jUtils.java

@@ -0,0 +1,58 @@
+package com.multictrl.common.utils.map;
+
+import org.locationtech.spatial4j.context.SpatialContext;
+import org.locationtech.spatial4j.distance.DistanceUtils;
+import org.locationtech.spatial4j.shape.Point;
+import org.locationtech.spatial4j.shape.impl.PointImpl;
+
+/**
+ * 地理空间工具
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/5/6
+ */
+public class Spatial4jUtils {
+
+    // 使用 WGS84 坐标系（地球经纬度）
+    private static final SpatialContext ctx = SpatialContext.GEO;
+
+    /**
+     * 计算两个经纬度点之间的球面距离（单位：米）
+     *
+     * @param lat1 第一个点纬度
+     * @param lon1 第一个点经度
+     * @param lat2 第二个点纬度
+     * @param lon2 第二个点经度
+     * @return 距离，单位：米
+     */
+    public static double distance(double lat1, double lon1, double lat2, double lon2) {
+        Point p1 = new PointImpl(lon1, lat1, ctx);
+        Point p2 = new PointImpl(lon2, lat2, ctx);
+
+        return distance(p1, p2);
+    }
+
+    /**
+     * 如果你已经有 Point 对象，可以直接传入计算
+     */
+    public static double distance(Point p1, Point p2) {
+        // 计算两点之间的角度
+        double distanceRad = ctx.getDistCalc().distance(p1, p2);
+        // 使用地球平均半径（公里）转为米（弧度*半径）
+        return DistanceUtils.degrees2Dist(distanceRad, DistanceUtils.EARTH_MEAN_RADIUS_KM * 1000);
+    }
+
+    public static double distance(String lat1Str, String lon1Str, String lat2Str, String lon2Str) {
+        try {
+            double lat1 = Double.parseDouble(lat1Str);
+            double lon1 = Double.parseDouble(lon1Str);
+            double lat2 = Double.parseDouble(lat2Str);
+            double lon2 = Double.parseDouble(lon2Str);
+
+            return distance(lat1, lon1, lat2, lon2);
+        } catch (NumberFormatException e) {
+            System.err.println("Invalid input: " + e.getMessage());
+            return 0; // 或抛出异常 throw new IllegalArgumentException("Invalid coordinate format", e);
+        }
+    }
+}

admin/src/main/java/com/multictrl/common/utils/weather/FogUtils.java

@@ -0,0 +1,70 @@
+package com.multictrl.common.utils.weather;
+
+/**
+ * 雾量工具类
+ *
+ * @author Sdy
+ * @since 1.0.0 2025/10/13
+ */
+public class FogUtils {
+    // 轻雾类天气现象
+    public static final String[] LIGHT_FOG_TYPES = {
+            "轻雾"
+    };
+
+    // 中雾类天气现象
+    public static final String[] MODERATE_FOG_TYPES = {
+            "雾",
+            "浓雾"
+    };
+
+    // 大雾类天气现象
+    public static final String[] HEAVY_FOG_TYPES = {
+            "强浓雾",
+            "大雾",
+            "特强浓雾"
+    };
+
+    /**
+     * 判断是否为轻雾类
+     */
+    public static boolean isMinFog(String fogType) {
+        return contains(LIGHT_FOG_TYPES, fogType);
+    }
+
+    /**
+     * 判断是否为中雾类
+     */
+    public static boolean isModerateFog(String fogType) {
+        return contains(MODERATE_FOG_TYPES, fogType);
+    }
+
+    /**
+     * 判断是否为大雾类
+     */
+    public static boolean isMaxFog(String fogType) {
+        return contains(HEAVY_FOG_TYPES, fogType);
+    }
+
+    /**
+     * 获取雾类型所属的类别名称
+     */
+    public static String getCategory(String fogType) {
+        if (isMinFog(fogType)) return "轻雾";
+        if (isModerateFog(fogType)) return "中雾";
+        if (isMaxFog(fogType)) return "大雾";
+        return "未知";
+    }
+
+    /**
+     * 检查字符串是否在数组中
+     */
+    private static boolean contains(String[] array, String value) {
+        for (String item : array) {
+            if (item.equals(value)) {
+                return true;
+            }
+        }
+        return false;
+    }
+}

admin/src/main/java/com/multictrl/common/utils/weather/HazeUtils.java

@@ -0,0 +1,69 @@
+package com.multictrl.common.utils.weather;
+
+/**
+ * 霾量工具类
+ *
+ * @author Sdy
+ * @since 1.0.0 2025/10/13
+ */
+public class HazeUtils {
+
+    // 轻度霾类天气现象
+    public static final String[] LIGHT_HAZE_TYPES = {
+            "霾"
+    };
+
+    // 中度霾类天气现象
+    public static final String[] MODERATE_HAZE_TYPES = {
+            "中度霾"
+    };
+
+    // 重度霾类天气现象
+    public static final String[] HEAVY_HAZE_TYPES = {
+            "重度霾",
+            "严重霾"
+    };
+
+    /**
+     * 判断是否为轻度霾类
+     */
+    public static boolean isMinHaze(String hazeType) {
+        return contains(LIGHT_HAZE_TYPES, hazeType);
+    }
+
+    /**
+     * 判断是否为中度霾类
+     */
+    public static boolean isModerateHaze(String hazeType) {
+        return contains(MODERATE_HAZE_TYPES, hazeType);
+    }
+
+    /**
+     * 判断是否为重度霾类
+     */
+    public static boolean isMaxHaze(String hazeType) {
+        return contains(HEAVY_HAZE_TYPES, hazeType);
+    }
+
+    /**
+     * 获取霾类型所属的类别名称
+     */
+    public static String getCategory(String hazeType) {
+        if (isMinHaze(hazeType)) return "轻度霾";
+        if (isModerateHaze(hazeType)) return "中度霾";
+        if (isMaxHaze(hazeType)) return "重度霾";
+        return "未知";
+    }
+
+    /**
+     * 检查字符串是否在数组中
+     */
+    private static boolean contains(String[] array, String value) {
+        for (String item : array) {
+            if (item.equals(value)) {
+                return true;
+            }
+        }
+        return false;
+    }
+}

admin/src/main/java/com/multictrl/common/utils/weather/RainfallUtils.java

@@ -0,0 +1,87 @@
+package com.multictrl.common.utils.weather;
+
+/**
+ * 雨量工具类
+ *
+ * @author Sdy
+ * @since 1.0.0 2025/10/13
+ */
+public class RainfallUtils {
+
+    // 小雨类天气现象
+    public static final String[] LIGHT_RAIN_TYPES = {
+            "毛毛雨/细雨",
+            "小雨",
+            "阵雨",
+            "雷阵雨",
+            "雨雪天气",
+            "雨夹雪",
+            "阵雨夹雪",
+            "冻雨"
+    };
+
+    // 中雨类天气现象
+    public static final String[] MODERATE_RAIN_TYPES = {
+            "中雨",
+            "小雨-中雨",
+            "雷阵雨并伴有冰雹"
+    };
+
+    // 大雨类天气现象
+    public static final String[] HEAVY_RAIN_TYPES = {
+            "大雨",
+            "中雨-大雨",
+            "强阵雨",
+            "强雷阵雨",
+            "暴雨",
+            "大暴雨",
+            "特大暴雨",
+            "极端降雨",
+            "大雨-暴雨",
+            "暴雨-大暴雨",
+            "大暴雨-特大暴雨"
+    };
+
+    /**
+     * 判断是否为小雨类
+     */
+    public static boolean isMinRain(String precipitation) {
+        return contains(LIGHT_RAIN_TYPES, precipitation);
+    }
+
+    /**
+     * 判断是否为中雨类
+     */
+    public static boolean isModerateRain(String precipitation) {
+        return contains(MODERATE_RAIN_TYPES, precipitation);
+    }
+
+    /**
+     * 判断是否为大雨类
+     */
+    public static boolean isMaxRain(String precipitation) {
+        return contains(HEAVY_RAIN_TYPES, precipitation);
+    }
+
+    /**
+     * 获取降水类型所属的类别名称
+     */
+    public static String getCategory(String precipitation) {
+        if (isMinRain(precipitation)) return "小雨";
+        if (isModerateRain(precipitation)) return "中雨";
+        if (isMaxRain(precipitation)) return "大雨";
+        return "未知";
+    }
+
+    /**
+     * 检查字符串是否在数组中
+     */
+    private static boolean contains(String[] array, String value) {
+        for (String item : array) {
+            if (item.equals(value)) {
+                return true;
+            }
+        }
+        return false;
+    }
+}

admin/src/main/java/com/multictrl/common/utils/weather/SnowUtils.java

@@ -0,0 +1,76 @@
+package com.multictrl.common.utils.weather;
+
+/**
+ * 雪量工具类
+ *
+ * @author Sdy
+ * @since 1.0.0 2025/10/13
+ */
+public class SnowUtils {
+    // 小雪类天气现象
+    public static final String[] LIGHT_SNOW_TYPES = {
+            "雪",
+            "阵雪",
+            "小雪",
+            "雨雪天气",
+            "雨夹雪",
+            "阵雨夹雪"
+    };
+
+    // 中雪类天气现象
+    public static final String[] MODERATE_SNOW_TYPES = {
+            "中雪",
+            "小雪-中雪"
+    };
+
+    // 大雪类天气现象
+    public static final String[] HEAVY_SNOW_TYPES = {
+            "大雪",
+            "暴雪",
+            "中雪-大雪",
+            "大雪-暴雪"
+    };
+
+    /**
+     * 判断是否为小雪类
+     */
+    public static boolean isMinSnow(String snowType) {
+        return contains(LIGHT_SNOW_TYPES, snowType);
+    }
+
+    /**
+     * 判断是否为中雪类
+     */
+    public static boolean isModerateSnow(String snowType) {
+        return contains(MODERATE_SNOW_TYPES, snowType);
+    }
+
+    /**
+     * 判断是否为大雪类
+     */
+    public static boolean isMaxSnow(String snowType) {
+        return contains(HEAVY_SNOW_TYPES, snowType);
+    }
+
+    /**
+     * 获取雪类型所属的类别名称
+     */
+    public static String getCategory(String snowType) {
+        if (isMinSnow(snowType)) return "小雪";
+        if (isModerateSnow(snowType)) return "中雪";
+        if (isMaxSnow(snowType)) return "大雪";
+        return "未知";
+    }
+
+    /**
+     * 检查字符串是否在数组中
+     */
+    private static boolean contains(String[] array, String value) {
+        for (String item : array) {
+            if (item.equals(value)) {
+                return true;
+            }
+        }
+        return false;
+    }
+}

admin/src/main/java/com/multictrl/common/utils/weather/WindSpeedConverter.java

@@ -0,0 +1,51 @@
+package com.multictrl.common.utils.weather;
+
+/**
+ * 飞速级别转换
+ *
+ * @author Sdy
+ * @since 1.0.0 2025/10/12
+ */
+public class WindSpeedConverter {
+
+    /**
+     * 根据级别名称获取最大风速
+     *
+     * @param levelName 级别名称 ("≤3", "4", "5", ..., "12")
+     * @return 最大风速 (m/s)
+     */
+    public static double getMaxWindSpeed(String levelName) {
+        return switch (levelName) {
+            case "≤3" -> 5.4;
+            case "4" -> 7.9;
+            case "5" -> 10.7;
+            case "6" -> 13.8;
+            case "7" -> 17.1;
+            case "8" -> 20.7;
+            case "9" -> 24.4;
+            case "10" -> 28.4;
+            case "11" -> 32.6;
+            case "12" -> 56.0;
+            default -> throw new IllegalArgumentException("无效的级别名称: " + levelName);
+        };
+    }
+
+    /**
+     * 获取指定级别的最小风速
+     */
+    public static double getMinWindSpeed(String levelName) {
+        return switch (levelName) {
+            case "≤3" -> 0.0;
+            case "4" -> 5.5;
+            case "5" -> 8.0;
+            case "6" -> 10.8;
+            case "7" -> 13.9;
+            case "8" -> 17.2;
+            case "9" -> 20.8;
+            case "10" -> 24.5;
+            case "11" -> 28.5;
+            case "12" -> 32.7;
+            default -> throw new IllegalArgumentException("无效的级别名称: " + levelName);
+        };
+    }
+}

admin/src/main/java/com/multictrl/modules/business/controller/AiWarningController.java

@@ -0,0 +1,71 @@
+package com.multictrl.modules.business.controller;
+
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.utils.Result;
+import com.multictrl.common.validator.ValidatorUtils;
+import com.multictrl.common.validator.group.AddGroup;
+import com.multictrl.common.validator.group.DefaultGroup;
+import com.multictrl.common.validator.group.UpdateGroup;
+import com.multictrl.modules.business.dto.AiWarningDTO;
+import com.multictrl.modules.business.service.AiWarningService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+
+/**
+ * AI识别预警
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-06-18
+ */
+@RestController
+@RequestMapping("business/ai/warning")
+@Tag(name = "AI识别预警")
+@ApiOrder(26)
+@RequiredArgsConstructor
+public class AiWarningController {
+    private final AiWarningService aiWarningService;
+
+    @PostMapping
+    @Operation(summary = "设置ai预警")
+    @LogOperation("设置ai预警")
+    @RequiresPermissions("bus:ai:warning:save")
+    public Result<Object> save(@RequestBody AiWarningDTO dto) {
+        //效验数据
+        ValidatorUtils.validateEntity(dto, AddGroup.class);
+        aiWarningService.save(dto);
+
+        return new Result<>();
+    }
+
+    @PutMapping
+    @Operation(summary = "修改ai预警")
+    @LogOperation("修改ai预警")
+    @RequiresPermissions("bus:ai:warning:update")
+    public Result<Object> update(@RequestBody AiWarningDTO dto) {
+        //效验数据
+        ValidatorUtils.validateEntity(dto, UpdateGroup.class);
+        aiWarningService.update(dto);
+
+        return new Result<>();
+    }
+
+    @GetMapping
+    @Operation(summary = "获取预警信息")
+    @RequiresPermissions("bus:ai:warning:get")
+    public Result<List<AiWarningDTO>> get() {
+        Map<String, Object> map = new HashMap<>();
+        map.put("status", "1");
+        List<AiWarningDTO> list = aiWarningService.list(map);
+
+        return new Result<List<AiWarningDTO>>().ok(list);
+    }
+}

admin/src/main/java/com/multictrl/modules/business/controller/CameraController.java

@@ -0,0 +1,242 @@
+package com.multictrl.modules.business.controller;
+
+import cn.hutool.json.JSONObject;
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.constant.BusinessConstant;
+import com.multictrl.common.exception.ErrorCode;
+import com.multictrl.common.utils.CacheUtils;
+import com.multictrl.common.utils.Result;
+import com.multictrl.common.validator.ValidatorUtils;
+import com.multictrl.modules.business.dto.camera.*;
+import com.multictrl.modules.business.service.CameraService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+import java.util.Objects;
+
+/**
+ * 云台相机控制
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/4/28
+ */
+@RestController
+@RequestMapping("business/camera")
+@Tag(name = "云台相机控制")
+@ApiOrder(7)
+@RequiredArgsConstructor
+public class CameraController {
+    private final CameraService cameraService;
+
+    @LogOperation("框选变焦")
+    @PostMapping("/frameZoom/{dockSn}")
+    @Operation(summary = "框选变焦")
+    @RequiresPermissions("bus:camera:frameZoom")
+    public Result<Object> frameZoom(@PathVariable String dockSn, @RequestBody FrameZoom frameZoom) {
+        ValidatorUtils.validateEntity(frameZoom);
+
+        return new Result<>().ok(cameraService.frameZoom(dockSn, frameZoom));
+    }
+
+    @LogOperation("切换相机模式")
+    @PostMapping("/modeSwitch/{dockSn}")
+    @Operation(summary = "切换相机模式")
+    @RequiresPermissions("bus:camera:modeSwitch")
+    public Result<Object> modeSwitch(@PathVariable String dockSn,
+                                     @Parameter(name = "mode", description = "模式 0:拍照 1:录像 2:智能低光 3:全景拍照")
+                                     @RequestParam Integer mode) {
+
+        return new Result<>().ok(cameraService.modeSwitch(dockSn, mode));
+    }
+
+    @LogOperation("拍照录像")
+    @PostMapping("/photoVideo/{dockSn}")
+    @Operation(summary = "拍照录像")
+    @RequiresPermissions("bus:camera:photoVideo")
+    public Result<Object> photoVideo(@PathVariable String dockSn,
+                                     @Parameter(name = "mode", description = "类型 camera_photo_take开始拍照 camera_photo_stop停止拍照（目前仅支持全景拍照模式） " +
+                                             "camera_recording_start开始录像 camera_recording_stop停止录像")
+                                     @RequestParam String mode) {
+        if (!mode.equals("camera_photo_take") && !mode.equals("camera_photo_stop") &&
+                !mode.equals("camera_recording_start") && !mode.equals("camera_recording_stop")) {
+            return new Result<>().error(ErrorCode.PARAMS_ERROR);
+        }
+
+        return new Result<>().ok(cameraService.photoVideo(dockSn, mode));
+    }
+
+    @LogOperation("画面拖动控制")
+    @PostMapping("/screenDrag/{dockSn}")
+    @Operation(summary = "画面拖动控制")
+    @RequiresPermissions("bus:camera:screenDrag")
+    public Result<Object> screenDrag(@PathVariable String dockSn, @RequestBody ScreenDrag screenDrag) {
+        ValidatorUtils.validateEntity(screenDrag);
+
+        return new Result<>().ok(cameraService.screenDrag(dockSn, screenDrag));
+    }
+
+    @LogOperation("双击成为AIM")
+    @PostMapping("/aim/{dockSn}")
+    @Operation(summary = "双击成为AIM")
+    @RequiresPermissions("bus:camera:aim")
+    public Result<Object> aim(@PathVariable String dockSn, @RequestBody AimParam aimParam) {
+        ValidatorUtils.validateEntity(aimParam);
+
+        return new Result<>().ok(cameraService.aim(dockSn, aimParam));
+    }
+
+    @LogOperation("变焦")
+    @PostMapping("/focalLengthSet/{dockSn}")
+    @Operation(summary = "变焦")
+    @RequiresPermissions("bus:camera:focalLengthSet")
+    public Result<Object> focalLengthSet(@PathVariable String dockSn, @RequestBody FocalLengthSet focalLengthSet) {
+        Object videoType = CacheUtils.get(BusinessConstant.UAV_VIDEO_TYPE + dockSn);
+        focalLengthSet.setCameraType(Objects.requireNonNullElse((String) videoType, "wide"));
+        ValidatorUtils.validateEntity(focalLengthSet);
+
+        return new Result<>().ok(cameraService.focalLengthSet(dockSn, focalLengthSet));
+    }
+
+    @LogOperation("重置云台")
+    @PostMapping("/gimbalReset/{dockSn}")
+    @Operation(summary = "重置云台")
+    @RequiresPermissions("bus:camera:gimbalReset")
+    public Result<Object> gimbalReset(@PathVariable String dockSn,
+                                      @Parameter(name = "mode", description = "模式 0:回中 1:向下 2:偏航回中 3:俯仰向下")
+                                      @RequestParam Integer mode) {
+
+        return new Result<>().ok(cameraService.gimbalReset(dockSn, mode));
+    }
+
+    @LogOperation("Look At")
+    @PostMapping("/lookAt/{dockSn}")
+    @Operation(summary = "Look At", description = "lookat 功能指飞行器将从当前朝向转向实际经纬高度指定的点，" +
+            "在 M30/M30T 机型上建议使用锁定机头的方式，仅云台转动场景下在抵达云台限位角后 lookat 功能将出现异常")
+    @RequiresPermissions("bus:camera:lookAt")
+    public Result<Object> lookAt(@PathVariable String dockSn, @RequestBody LookAt lookAt) {
+        ValidatorUtils.validateEntity(lookAt);
+
+        return new Result<>().ok(cameraService.lookAt(dockSn, lookAt));
+    }
+
+    @LogOperation("分屏")
+    @PostMapping("/screenSplit/{dockSn}")
+    @Operation(summary = "分屏")
+    @RequiresPermissions("bus:camera:screenSplit")
+    public Result<Object> screenSplit(@PathVariable String dockSn,
+                                      @Parameter(name = "enable", description = "是否使能分屏 1开启分屏 0关闭分屏")
+                                      @RequestParam Integer enable) {
+
+        return new Result<>().ok(cameraService.screenSplit(dockSn, enable));
+    }
+
+    @LogOperation("照片、视频存储设置")
+    @PostMapping("/storageSet/{dockSn}")
+    @Operation(summary = "照片、视频存储设置")
+    @RequiresPermissions("bus:camera:storageSet")
+    public Result<Object> storageSet(@PathVariable String dockSn, @RequestBody StorageSet storageSet) {
+        ValidatorUtils.validateEntity(storageSet);
+
+        return new Result<>().ok(cameraService.storageSet(dockSn, storageSet));
+    }
+
+    @LogOperation("相机曝光模式设置")
+    @PostMapping("/exposureModeSet/{dockSn}")
+    @Operation(summary = "相机曝光模式设置")
+    @RequiresPermissions("bus:camera:exposureModeSet")
+    public Result<Object> exposureModeSet(@PathVariable String dockSn,
+                                          @Parameter(name = "mode", description = "曝光模式 1:自动 2:快门优先曝光 3:光圈优先曝光 4:手动曝光")
+                                          @RequestParam Integer mode) {
+
+        return new Result<>().ok(cameraService.exposureModeSet(dockSn, mode));
+    }
+
+    @LogOperation("相机曝光值调节")
+    @PostMapping("/exposureSet/{dockSn}")
+    @Operation(summary = "相机曝光值调节")
+    @RequiresPermissions("bus:camera:exposureSet")
+    public Result<Object> exposureSet(@PathVariable String dockSn,
+                                      @Parameter(name = "value", description = "曝光值 1:-5.0EV 2:-4.7EV 3:-4.3EV 4:-4.0EV " +
+                                              "5:-3.7EV 6:-3.3EV 7:-3.0EV 8:-2.7EV 9:-2.3EV 10:-2.0EV 11:-1.7EV 12:-1.3EV " +
+                                              "13:-1.0EV ...查看接口(获取相机曝光值)")
+                                      @RequestParam Integer value) {
+
+        return new Result<>().ok(cameraService.exposureSet(dockSn, value));
+    }
+
+    @LogOperation("相机对焦模式设置")
+    @PostMapping("/focusModeSet/{dockSn}")
+    @Operation(summary = "相机对焦模式设置", description = "注意: Matrice 30 系列飞行器只支持 zoom 镜头下配置该参数")
+    @RequiresPermissions("bus:camera:focusModeSet")
+    public Result<Object> focusModeSet(@PathVariable("dockSn") String dockSn,
+                                       @Parameter(name = "mode", description = "对焦模式 0:MF 1:AFS 2:AFC")
+                                       @RequestParam Integer mode) {
+
+        return new Result<>().ok(cameraService.focusModeSet(dockSn, mode));
+    }
+
+    @LogOperation("相机对焦值设置")
+    @PostMapping("/focusSet/{dockSn}")
+    @Operation(summary = "相机对焦值设置", description = "注意: Matrice 30 系列飞行器只支持 zoom 镜头下配置该参数")
+    @RequiresPermissions("bus:camera:focusSet")
+    public Result<Object> focusSet(@PathVariable("dockSn") String dockSn,
+                                   @Parameter(name = "value", description = "对焦值:范围参见飞行器物模型属性 zoom_max_focus_value 和 zoom_min_focus_value")
+                                   @RequestParam Integer value) {
+
+        return new Result<>().ok(cameraService.focusSet(dockSn, value));
+    }
+
+    @LogOperation("点对焦")
+    @PostMapping("/pointFocusAction/{dockSn}")
+    @Operation(summary = "点对焦")
+    @RequiresPermissions("bus:camera:pointFocusAction")
+    public Result<Object> pointFocusAction(@PathVariable String dockSn, @RequestBody PointFocusAction pointFocusAction) {
+        ValidatorUtils.validateEntity(pointFocusAction);
+
+        return new Result<>().ok(cameraService.pointFocusAction(dockSn, pointFocusAction));
+    }
+
+    @LogOperation("红外测温模式设置")
+    @PostMapping("/irMeteringModeSet/{dockSn}")
+    @Operation(summary = "红外测温模式设置", description = "注意: Matrice 30 系列飞行器只支持 zoom 镜头下配置该参数")
+    @RequiresPermissions("bus:camera:focusSet")
+    public Result<Object> irMeteringModeSet(@PathVariable("dockSn") String dockSn,
+                                            @Parameter(name = "value", description = "对焦值:范围参见飞行器物模型属性 zoom_max_focus_value 和 zoom_min_focus_value")
+                                            @RequestParam Integer value) {
+
+        return new Result<>().ok(cameraService.focusSet(dockSn, value));
+    }
+
+    @LogOperation("红外测温点设置")
+    @PostMapping("/irMeteringPointSet/{dockSn}")
+    @Operation(summary = "红外测温点设置")
+    @RequiresPermissions("bus:camera:irMeteringPointSet")
+    public Result<Object> irMeteringPointSet(@PathVariable String dockSn, @RequestBody IrMeteringPointSet irMeteringPointSet) {
+        ValidatorUtils.validateEntity(irMeteringPointSet);
+
+        return new Result<>().ok(cameraService.irMeteringPointSet(dockSn, irMeteringPointSet));
+    }
+
+    @LogOperation("红外测温区域设置")
+    @PostMapping("/irMeteringAreaSet/{dockSn}")
+    @Operation(summary = "红外测温区域设置")
+    @RequiresPermissions("bus:camera:irMeteringAreaSet")
+    public Result<Object> irMeteringAreaSet(@PathVariable String dockSn, @RequestBody IrMeteringAreaSet irMeteringAreaSet) {
+        ValidatorUtils.validateEntity(irMeteringAreaSet);
+
+        return new Result<>().ok(cameraService.irMeteringAreaSet(dockSn, irMeteringAreaSet));
+    }
+
+    @GetMapping("/getExposureValue")
+    @Operation(summary = "获取相机曝光值")
+    public Result<List<JSONObject>> getExposureValue() {
+
+        return new Result<List<JSONObject>>().ok(cameraService.getExposureValue());
+    }
+}

admin/src/main/java/com/multictrl/modules/business/controller/CommandController.java

@@ -0,0 +1,125 @@
+package com.multictrl.modules.business.controller;
+
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.utils.Result;
+import com.multictrl.common.validator.ValidatorUtils;
+import com.multictrl.modules.business.dto.command.DrcStick;
+import com.multictrl.modules.business.dto.command.FlyToPoint;
+import com.multictrl.modules.business.dto.command.TakeoffToPoint;
+import com.multictrl.modules.business.service.CommandService;
+import com.multictrl.modules.business.service.DJIBaseService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.media.Schema;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.web.bind.annotation.*;
+
+/**
+ * 指令飞行
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/4/27
+ */
+@RestController
+@RequestMapping("business/command")
+@Tag(name = "指令飞行", description = "指令飞行功能的开放目的是解决无人机与机场在远程控制过程中，无法即时性操作的限制。" +
+        "在实际应用场景中，飞行器可以从空闲状态响应或暂停正在执行的航线任务。开发者通过手动方式继续控制设备或负载。" +
+        "通过指令飞行功能，开发者可以获得安全可靠的飞行器控制、高实时性的指令下发与直播画面传输、osd 信息上报以及对负载的控制能力。")
+@ApiOrder(6)
+@RequiredArgsConstructor
+public class CommandController {
+    private final CommandService commandService;
+    private final DJIBaseService djiBaseService;
+
+    @LogOperation("一键起飞")
+    @PostMapping("/takeoffToPoint/{dockSn}")
+    @Operation(summary = "一键起飞")
+    @RequiresPermissions("bus:command:takeoff")
+    public Result<Object> takeoffToPoint(@PathVariable String dockSn, @RequestBody TakeoffToPoint takeoffToPoint) {
+        ValidatorUtils.validateEntity(takeoffToPoint);
+
+        return new Result<>().ok(commandService.takeoffToPoint(dockSn, takeoffToPoint));
+    }
+
+    @LogOperation("起飞到备降点100米处悬停")
+    @PostMapping("/takeOffToAlternateLandPoint/{dockSn}")
+    @Operation(summary = "起飞到备降点100米处悬停")
+    @RequiresPermissions("bus:command:takeoff")
+    public Result<Object> takeOffToAlternateLandPoint(@PathVariable String dockSn) {
+
+        return new Result<>().ok(commandService.takeOffToAlternateLandPoint(dockSn));
+    }
+
+    @PostMapping("/flyToPoint/{dockSn}")
+    @LogOperation("飞向目标点")
+    @Operation(summary = "飞向目标点")
+    @Schema(description = "特别说明：飞行器有最低飞行高度(20m)安全保障机制，如果飞行器相对起飞点高度低于20m，会先上升到20m")
+    @RequiresPermissions("bus:command:flyToPoint")
+    public Result<Object> flyToPoint(@PathVariable String dockSn, @RequestBody FlyToPoint flyToPoint) {
+        ValidatorUtils.validateEntity(flyToPoint);
+
+        return new Result<>().ok(commandService.flyToPoint(dockSn, flyToPoint));
+    }
+
+    @PostMapping("/flyToPointStop/{dockSn}")
+    @LogOperation("结束飞向目标点")
+    @Operation(summary = "结束飞向目标点")
+    @RequiresPermissions("bus:command:flyToPointStop")
+    public Result<Object> flyToPointStop(@PathVariable String dockSn) {
+
+        return new Result<>().ok(djiBaseService.executeAndReturnResult(dockSn, "fly_to_point_stop"));
+    }
+
+    @PostMapping("/flyToPointUpdate/{dockSn}")
+    @LogOperation("飞向目标点更新")
+    @Operation(summary = "飞向目标点更新")
+    @Schema(description = "「一键起飞」或「flyto 飞向目标点」的过程中，可以通过该命令快速更新目标点")
+    @RequiresPermissions("bus:command:flyToPointUpdate")
+    public Result<Object> flyToPointUpdate(@PathVariable String dockSn, @RequestBody FlyToPoint flyToPoint) {
+        ValidatorUtils.validateEntity(flyToPoint);
+
+        return new Result<>().ok(commandService.flyToPointUpdate(dockSn, flyToPoint));
+    }
+
+    @PostMapping("/drcModeEnter/{dockSn}")
+    @LogOperation("进入指令飞行控制模式")
+    @Operation(summary = "进入指令飞行控制模式")
+    @Schema(description = "如果想使用虚拟摇杆控制飞机，必须进入该模式。在进入指令飞行控制模式后，必须发送心跳包，否则飞机会自动退出指令飞行控制模式,1分钟内没心跳退出")
+    @RequiresPermissions("bus:command:drcModeEnter")
+    public Result<Object> drcModeEnter(@PathVariable String dockSn) {
+
+        return new Result<>().ok(commandService.drcModeEnter(dockSn));
+    }
+
+    @PostMapping("/drcModeExit/{dockSn}")
+    @LogOperation("退出指令飞行控制模式")
+    @Operation(summary = "退出指令飞行控制模式")
+    @RequiresPermissions("bus:command:drcModeExit")
+    public Result<Object> drcModeExit(@PathVariable String dockSn) {
+
+        return new Result<>().ok(commandService.drcModeExit(dockSn));
+    }
+
+    @PostMapping("/drcStickControl/{dockSn}")
+//    @LogOperation("DRC-杆量控制")
+    @Operation(summary = "DRC-杆量控制")
+    @Schema(description = "建立DRC链路之后，可通过“DRC-杆量控制”指令控制飞行器和云台姿态。发送频率需要保持5-10hz（一秒5~10次），才能比较精准地控制飞行器的运动。本协议无回包机制。")
+    @RequiresPermissions("bus:command:drcStickControl")
+    public void drcStickControl(@PathVariable String dockSn, @RequestBody DrcStick drcStick) {
+        ValidatorUtils.validateEntity(drcStick);
+
+        commandService.drcStickControl(dockSn, drcStick);
+//        return new Result<>();
+    }
+
+    @PostMapping("/drcEmergencyStop/{dockSn}")
+    @LogOperation("DRC-飞行器急停")
+    @Operation(summary = "DRC-飞行器急停")
+    @RequiresPermissions("bus:command:drcEmergencyStop")
+    public Result<Object> drcEmergencyStop(@PathVariable String dockSn) {
+
+        return new Result<>().ok(djiBaseService.executeDrcAndReturnResult(dockSn, "drone_emergency_stop"));
+    }
+}

admin/src/main/java/com/multictrl/modules/business/controller/DebugController.java

@@ -0,0 +1,273 @@
+package com.multictrl.modules.business.controller;
+
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.exception.ErrorCode;
+import com.multictrl.common.utils.Result;
+import com.multictrl.common.validator.ValidatorUtils;
+import com.multictrl.modules.business.dto.remote.debug.ESIMActivate;
+import com.multictrl.modules.business.dto.remote.debug.ESIMOperatorSwitch;
+import com.multictrl.modules.business.dto.remote.debug.RtkCalibration;
+import com.multictrl.modules.business.dto.remote.debug.SIMSlotSwitch;
+import com.multictrl.modules.business.service.DJIBaseService;
+import com.multictrl.modules.business.service.DebugService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.web.bind.annotation.*;
+
+/**
+ * 远程调试
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/4/24
+ */
+@RestController
+@RequestMapping("business/debug")
+@Tag(name = "远程调试", description = "远程调试为在调试的作业流中实现无人值守，即让作业人员无需到现场，在云端就可以下发命令到设备端，" +
+        "进行设备的远程排障。远程调试命令可分为命令（cmd）和任务（job）。命令（cmd）一般指命令下发后，设备能即刻回复的行为，而任务（job）" +
+        "为任务下发后，设备需要持续动作的行为。")
+@ApiOrder(3)
+@RequiredArgsConstructor
+public class DebugController {
+    private final DJIBaseService djiBaseService;
+    private final DebugService debugService;
+
+    @Operation(summary = "调试模式开启")
+    @PostMapping("/debugModeOpen/{dockSn}")
+    @LogOperation("调试模式开启")
+    @RequiresPermissions("bus:debug:operation")
+    public Result<Object> debugModeOpen(@PathVariable String dockSn) {
+        return new Result<>().ok(djiBaseService.executeAndReturnResult(dockSn, "debug_mode_open"));
+    }
+
+    @Operation(summary = "调试模式关闭")
+    @PostMapping("/debugModeClose/{dockSn}")
+    @LogOperation("调试模式关闭")
+    @RequiresPermissions("bus:debug:operation")
+    public Result<Object> debugModeClose(@PathVariable String dockSn) {
+        return new Result<>().ok(djiBaseService.executeAndReturnResult(dockSn, "debug_mode_close"));
+    }
+
+    @Operation(summary = "强制关舱盖",
+            description = "机场“设备属性”推送的 drone_in_dock 字段值为 0 时，且通过机场摄像头观看确认飞行器不在舱内后，可调用该指令强制关闭舱盖。否则可能导致桨叶被夹。")
+    @PostMapping("/coverForceClose/{dockSn}")
+    @LogOperation("强制关舱盖")
+    @RequiresPermissions("bus:debug:operation")
+    public Result<Object> coverForceClose(@PathVariable String dockSn) {
+        return new Result<>().ok(djiBaseService.executeAndReturnResult(dockSn, "cover_force_close"));
+    }
+
+    @Operation(summary = "打开舱盖")
+    @PostMapping("/coverOpen/{dockSn}")
+    @LogOperation("打开舱盖")
+    @RequiresPermissions("bus:debug:operation")
+    public Result<Object> coverOpen(@PathVariable String dockSn) {
+        return new Result<>().ok(djiBaseService.executeAndReturnResult(dockSn, "cover_open"));
+    }
+
+    @Operation(summary = "关闭舱盖")
+    @PostMapping("/coverClose/{dockSn}")
+    @LogOperation("关闭舱盖")
+    @RequiresPermissions("bus:debug:operation")
+    public Result<Object> coverClose(@PathVariable String dockSn) {
+        return new Result<>().ok(djiBaseService.executeAndReturnResult(dockSn, "cover_close"));
+    }
+
+    @Operation(summary = "飞行器开机")
+    @PostMapping("/droneOpen/{dockSn}")
+    @LogOperation("飞行器开机")
+    @RequiresPermissions("bus:debug:operation")
+    public Result<Object> droneOpen(@PathVariable String dockSn) {
+        return new Result<>().ok(djiBaseService.executeAndReturnResult(dockSn, "drone_open"));
+    }
+
+    @Operation(summary = "飞行器关机")
+    @PostMapping("/droneClose/{dockSn}")
+    @LogOperation("飞行器关机")
+    @RequiresPermissions("bus:debug:operation")
+    public Result<Object> droneClose(@PathVariable String dockSn) {
+        return new Result<>().ok(djiBaseService.executeAndReturnResult(dockSn, "drone_close"));
+    }
+
+    @Operation(summary = "eSIM的运营商切换")
+    @PostMapping("/eSIMOperatorSwitch/{dockSn}")
+    @LogOperation("eSIM的运营商切换")
+    @RequiresPermissions("bus:debug:eSIMOperatorSwitch")
+    public Result<Object> eSIMOperatorSwitch(@PathVariable String dockSn,
+                                             @RequestBody ESIMOperatorSwitch eSimOperatorSwitch) {
+        ValidatorUtils.validateEntity(eSimOperatorSwitch);
+        return new Result<>().ok(debugService.eSIMOperatorSwitch(dockSn, eSimOperatorSwitch));
+    }
+
+    @Operation(summary = "eSIM和SIM切换")
+    @PostMapping("/simSlotSwitch/{dockSn}")
+    @LogOperation("eSIM和SIM切换")
+    @RequiresPermissions("bus:debug:simSlotSwitch")
+    public Result<Object> simSlotSwitch(@PathVariable String dockSn,
+                                        @RequestBody SIMSlotSwitch simSlotSwitch) {
+        ValidatorUtils.validateEntity(simSlotSwitch);
+        return new Result<>().ok(debugService.simSlotSwitch(dockSn, simSlotSwitch));
+    }
+
+    @Operation(summary = "eSIM激活")
+    @PostMapping("/eSimActivate/{dockSn}")
+    @LogOperation("eSIM激活")
+    @RequiresPermissions("bus:debug:eSimActivate")
+    public Result<Object> eSimActivate(@PathVariable String dockSn,
+                                       @RequestBody ESIMActivate esimActivate) {
+        ValidatorUtils.validateEntity(esimActivate);
+        return new Result<>().ok(debugService.eSimActivate(dockSn, esimActivate));
+    }
+
+    @Operation(summary = "增强图传开关")
+    @PostMapping("/sdrWorkModeSwitch/{dockSn}")
+    @LogOperation("增强图传开关")
+    @RequiresPermissions("bus:debug:sdrWorkModeSwitch")
+    public Result<Object> sdrWorkModeSwitch(@PathVariable String dockSn,
+                                            @Parameter(description = "图传模式 {0:仅使用 SDR,1:4G 增强模式},在 4G 增强模式下，SDR 与 4G 会同时使用")
+                                            @RequestParam Integer workMode) {
+        if (workMode != 0 && workMode != 1) {
+            return new Result<>().error(ErrorCode.PARAMS_ERROR);
+        }
+        return new Result<>().ok(debugService.sdrWorkModeSwitch(dockSn, workMode));
+    }
+
+    @Operation(summary = "关闭充电")
+    @PostMapping("/chargeClose/{dockSn}")
+    @LogOperation("关闭充电")
+    @RequiresPermissions("bus:debug:chargeClose")
+    public Result<Object> chargeClose(@PathVariable String dockSn) {
+        return new Result<>().ok(djiBaseService.executeAndReturnResult(dockSn, "charge_close"));
+    }
+
+    @Operation(summary = "打开充电")
+    @PostMapping("/chargeOpen/{dockSn}")
+    @LogOperation("打开充电")
+    @RequiresPermissions("bus:debug:chargeOpen")
+    public Result<Object> chargeOpen(@PathVariable String dockSn) {
+        return new Result<>().ok(djiBaseService.executeAndReturnResult(dockSn, "charge_open"));
+    }
+
+    @Operation(summary = "飞行器数据格式化")
+    @PostMapping("/droneFormat/{dockSn}")
+    @LogOperation("飞行器数据格式化")
+    @RequiresPermissions("bus:debug:droneFormat")
+    public Result<Object> droneFormat(@PathVariable String dockSn) {
+        return new Result<>().ok(djiBaseService.executeAndReturnResult(dockSn, "drone_format"));
+    }
+
+    @Operation(summary = "机场数据格式化")
+    @PostMapping("/deviceFormat/{dockSn}")
+    @LogOperation("机场数据格式化")
+    @RequiresPermissions("bus:debug:deviceFormat")
+    public Result<Object> deviceFormat(@PathVariable String dockSn) {
+        return new Result<>().ok(djiBaseService.executeAndReturnResult(dockSn, "device_format"));
+    }
+
+    @Operation(summary = "机场重启")
+    @PostMapping("/deviceReboot/{dockSn}")
+    @LogOperation("机场重启")
+    @RequiresPermissions("bus:debug:deviceReboot")
+    public Result<Object> deviceReboot(@PathVariable String dockSn) {
+        return new Result<>().ok(djiBaseService.executeAndReturnResult(dockSn, "device_reboot"));
+    }
+
+    @Operation(summary = "电池运行模式切换")
+    @PostMapping("/batteryStoreModeSwitch/{dockSn}")
+    @LogOperation("电池运行模式切换")
+    @RequiresPermissions("bus:debug:batteryStoreModeSwitch")
+    public Result<Object> batteryStoreModeSwitch(@PathVariable String dockSn,
+                                                 @Parameter(description = "操作 {1:计划模式,2:待命模式}")
+                                                 @RequestParam Integer action) {
+        if (action != 1 && action != 2) {
+            return new Result<>().error(ErrorCode.PARAMS_ERROR);
+        }
+        return new Result<>().ok(debugService.batteryStoreModeSwitch(dockSn, action));
+    }
+
+    @Operation(summary = "机场声光报警开关")
+    @PostMapping("/alarmStateSwitch/{dockSn}")
+    @LogOperation("机场声光报警开关")
+    @RequiresPermissions("bus:debug:alarmStateSwitch")
+    public Result<Object> alarmStateSwitch(@PathVariable String dockSn,
+                                           @Parameter(description = "操作 {0:关闭,1:开启}")
+                                           @RequestParam Integer action) {
+        if (action != 0 && action != 1) {
+            return new Result<>().error(ErrorCode.PARAMS_ERROR);
+        }
+        return new Result<>().ok(debugService.alarmStateSwitch(dockSn, action));
+    }
+
+    @Operation(summary = "机场空调工作模式切换")
+    @PostMapping("/airConditionerModeSwitch/{dockSn}")
+    @LogOperation("机场空调工作模式切换")
+    @RequiresPermissions("bus:debug:airConditionerModeSwitch")
+    public Result<Object> airConditionerModeSwitch(@PathVariable String dockSn,
+                                                   @Parameter(description = "操作 {0:使机场空调进入空闲模式(关闭制冷、制热或除湿)," +
+                                                           "1:使机场空调进入制冷模式,2:使机场空调进入制热模式," +
+                                                           "3:使机场空调进入除湿模式(除湿包含制冷除湿及制热除湿，由设备端根据自身所处情况自动化处理，无需用户介入}")
+                                                   @RequestParam Integer action) {
+        if (action != 0 && action != 1 && action != 2 && action != 3) {
+            return new Result<>().error(ErrorCode.PARAMS_ERROR);
+        }
+        return new Result<>().ok(debugService.airConditionerModeSwitch(dockSn, action));
+    }
+
+    @Operation(summary = "电池保养状态切换")
+    @PostMapping("/batteryMaintenanceSwitch/{dockSn}")
+    @LogOperation("电池保养状态切换")
+    @RequiresPermissions("bus:debug:batteryMaintenanceSwitch")
+    public Result<Object> batteryMaintenanceSwitch(@PathVariable String dockSn,
+                                                   @Parameter(description = "操作 {0:关闭,1:开启}")
+                                                   @RequestParam Integer action) {
+        if (action != 0 && action != 1) {
+            return new Result<>().error(ErrorCode.PARAMS_ERROR);
+        }
+        return new Result<>().ok(debugService.batteryMaintenanceSwitch(dockSn, action));
+    }
+
+    @Operation(summary = "关闭补光灯")
+    @PostMapping("/supplementLightClose/{dockSn}")
+    @LogOperation("关闭补光灯")
+    @RequiresPermissions("bus:debug:supplementLightClose")
+    public Result<Object> supplementLightClose(@PathVariable String dockSn) {
+        return new Result<>().ok(djiBaseService.executeAndReturnResult(dockSn, "supplement_light_close"));
+    }
+
+    @Operation(summary = "打开补光灯")
+    @PostMapping("/supplementLightOpen/{dockSn}")
+    @LogOperation("打开补光灯")
+    @RequiresPermissions("bus:debug:supplementLightOpen")
+    public Result<Object> supplementLightOpen(@PathVariable String dockSn) {
+        return new Result<>().ok(djiBaseService.executeAndReturnResult(dockSn, "supplement_light_open"));
+    }
+
+    @Operation(summary = "一键标定（仅支持大疆机场三）")
+    @PostMapping("/rtkCalibration/{dockSn}")
+    @LogOperation("一键标定")
+    @RequiresPermissions("bus:debug:rtkCalibration")
+    public Result<Object> rtkCalibration(@PathVariable String dockSn,
+                                         @RequestBody RtkCalibration rtkCalibration) {
+        ValidatorUtils.validateEntity(rtkCalibration);
+        return new Result<>().ok(debugService.rtkCalibration(dockSn, rtkCalibration));
+    }
+
+    @Operation(summary = "推杆展开（仅支持阿罗斯系列、大疆机场一）")
+    @PostMapping("/putterOpen/{dockSn}")
+    @LogOperation("推杆展开")
+    @RequiresPermissions("bus:debug:putterOpen")
+    public Result<Object> putterOpen(@PathVariable String dockSn) {
+        return new Result<>().ok(djiBaseService.executeAndReturnResult(dockSn, "putter_open"));
+    }
+
+    @Operation(summary = "推杆闭合（仅支持阿罗斯系列、大疆机场一）")
+    @PostMapping("/putterClose/{dockSn}")
+    @LogOperation("推杆闭合")
+    @RequiresPermissions("bus:debug:putterClose")
+    public Result<Object> putterClose(@PathVariable String dockSn) {
+        return new Result<>().ok(djiBaseService.executeAndReturnResult(dockSn, "putter_close"));
+    }
+}

admin/src/main/java/com/multictrl/modules/business/controller/DockController.java

@@ -0,0 +1,103 @@
+package com.multictrl.modules.business.controller;
+
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.DataFilter;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.constant.Constant;
+import com.multictrl.common.page.PageData;
+import com.multictrl.common.utils.Result;
+import com.multictrl.common.validator.AssertUtils;
+import com.multictrl.common.validator.ValidatorUtils;
+import com.multictrl.common.validator.group.AddGroup;
+import com.multictrl.common.validator.group.DefaultGroup;
+import com.multictrl.common.validator.group.UpdateGroup;
+import com.multictrl.modules.business.dto.DockDTO;
+import com.multictrl.modules.business.service.DockService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.Parameters;
+import jakarta.servlet.http.HttpServletResponse;
+
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 机库信息表
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-04-17
+ */
+@RestController
+@RequestMapping("business/dock")
+@Tag(name = "机库管理")
+@ApiOrder(1)
+@RequiredArgsConstructor
+public class DockController {
+    private final DockService dockService;
+
+    @GetMapping("page")
+    @Operation(summary = "分页")
+    @Parameters({
+            @Parameter(name = Constant.PAGE, description = "当前页码，从1开始"),
+            @Parameter(name = Constant.LIMIT, description = "每页显示记录数"),
+            @Parameter(name = "key", description = "机库名称、机库SN码")
+    })
+    @DataFilter
+    @RequiresPermissions("bus:dock:page")
+    public Result<PageData<DockDTO>> page(@Parameter(hidden = true) @RequestParam Map<String, Object> params) {
+        PageData<DockDTO> page = dockService.pageList(params);
+
+        return new Result<PageData<DockDTO>>().ok(page);
+    }
+
+    @GetMapping("{id}")
+    @Operation(summary = "信息")
+    @RequiresPermissions("bus:dock:info")
+    public Result<DockDTO> get(@PathVariable("id") Long id) {
+        DockDTO data = dockService.get(id);
+
+        return new Result<DockDTO>().ok(data);
+    }
+
+    @PostMapping
+    @Operation(summary = "保存")
+    @LogOperation("保存")
+    @RequiresPermissions("bus:dock:save")
+    public Result<Object> save(@RequestBody DockDTO dto) {
+        //效验数据
+        ValidatorUtils.validateEntity(dto, AddGroup.class);
+        dockService.save(dto);
+
+        return new Result<>();
+    }
+
+    @PutMapping
+    @Operation(summary = "修改")
+    @LogOperation("修改")
+    @RequiresPermissions("bus:dock:update")
+    public Result<Object> update(@RequestBody DockDTO dto) {
+        //效验数据
+        ValidatorUtils.validateEntity(dto, UpdateGroup.class);
+        dockService.update(dto);
+
+        return new Result<>();
+    }
+
+    @DeleteMapping
+    @Operation(summary = "删除")
+    @LogOperation("删除")
+    @RequiresPermissions("bus:dock:delete")
+    public Result<Object> delete(@RequestBody Long[] ids) {
+        //效验数据
+        AssertUtils.isArrayEmpty(ids, "id");
+        dockService.delete(ids);
+
+        return new Result<>();
+    }
+
+}

admin/src/main/java/com/multictrl/modules/business/controller/DockSetController.java

@@ -0,0 +1,280 @@
+package com.multictrl.modules.business.controller;
+
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.utils.Result;
+import com.multictrl.modules.business.service.DockSetService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.web.bind.annotation.*;
+
+/**
+ * 机场属性设置
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/6/17
+ */
+@RestController
+@RequestMapping("business/dock/set")
+@Tag(name = "属性设置")
+@ApiOrder(25)
+@RequiredArgsConstructor
+public class DockSetController {
+    private final DockSetService dockSetService;
+
+    @Operation(summary = "空中回传（目前仅大疆机场三支持）")
+    @PostMapping("/airTransfer/{dockSn}")
+    @LogOperation("空中回传")
+    @RequiresPermissions("bus:dockSet:airTransfer")
+    public Result<Object> supplementLightClose(@PathVariable String dockSn,
+                                               @Parameter(description = "空中回传开关 false:关闭,true:开启")
+                                               @RequestParam Boolean enable) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "air_transfer_enable", null, enable));
+    }
+
+    @Operation(summary = "机场静音模式")
+    @PostMapping("/silentMode/{dockSn}")
+    @LogOperation("机场静音模式")
+    @RequiresPermissions("bus:dockSet:silentMode")
+    public Result<Object> supplementLightClose(@PathVariable String dockSn,
+                                               @Parameter(description = "机场静音模式 0:非静音模式,1:静音模式")
+                                               @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "silent_mode", null, value));
+    }
+
+    @Operation(summary = "用户体验改善计划")
+    @PostMapping("/userExperienceImprovement/{dockSn}")
+    @LogOperation("用户体验改善计划")
+    @RequiresPermissions("bus:dockSet:userExperienceImprovement")
+    public Result<Object> userExperienceImprovement(@PathVariable String dockSn,
+                                                    @Parameter(description = "用户体验改善计划 0:初始状态,1:拒绝加入用户体验改善计划,2:同意加入用户体验改善计划")
+                                                    @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "user_experience_improvement", null, value));
+    }
+
+    @Operation(summary = "飞行器限远设置")
+    @PostMapping("/distanceLimitStatus/{dockSn}")
+    @LogOperation("飞行器限远设置")
+    @RequiresPermissions("bus:dockSet:distanceLimitStatus")
+    public Result<Object> distanceLimitStatus(@PathVariable String dockSn,
+                                              @Parameter(description = "是否开启限远 0:未设置,1:已设置")
+                                              @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "distance_limit_status", "state", value));
+    }
+
+    @Operation(summary = "飞行器限远距离设置")
+    @PostMapping("/distanceLimit/{dockSn}")
+    @LogOperation("飞行器限远距离设置")
+    @RequiresPermissions("bus:dockSet:distanceLimit")
+    public Result<Object> distanceLimit(@PathVariable String dockSn,
+                                        @Parameter(description = "限远距离 {max:8000,min:15}")
+                                        @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "distance_limit_status", "distance_limit", value));
+    }
+
+    @Operation(summary = "飞行器限高设置")
+    @PostMapping("/heightLimit/{dockSn}")
+    @LogOperation("飞行器限高设置")
+    @RequiresPermissions("bus:dockSet:heightLimit")
+    public Result<Object> heightLimit(@PathVariable String dockSn,
+                                      @Parameter(description = "限远距离 {max:1500,min:20}")
+                                      @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "height_limit", null, value));
+    }
+
+    @Operation(summary = "飞行器夜航灯设置")
+    @PostMapping("/nightLightsState/{dockSn}")
+    @LogOperation("飞行器夜航灯设置")
+    @RequiresPermissions("bus:dockSet:nightLightsState")
+    public Result<Object> nightLightsState(@PathVariable String dockSn,
+                                           @Parameter(description = "飞行器夜航灯状态 0:关闭,1:打开")
+                                           @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "night_lights_state", null, value));
+    }
+
+    @Operation(summary = "调色盘样式设置", description = "红外相机提供多种调色样式，用户可根据不同的场景选择不同的色彩，便于更加清晰地查看目标")
+    @PostMapping("/thermalCurrentPaletteStyle/{dockSn}")
+    @LogOperation("调色盘样式设置")
+    @RequiresPermissions("bus:dockSet:thermalCurrentPaletteStyle")
+    public Result<Object> thermalCurrentPaletteStyle(@PathVariable String dockSn,
+                                                     @Parameter(description = "调色盘样式 {0:白热,1:黑热,2:描红,3:医疗,5:彩虹 1,6:铁红,8:北极,11:熔岩,12:热铁,13:彩虹 2}")
+                                                     @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "type_subtype_gimbalindex", "thermal_current_palette_style", value));
+    }
+
+    @Operation(summary = "增益模式设置", description = "低增益提供更大的测温范围，高增益拥有更高的测温精度")
+    @PostMapping("/thermalGainMode/{dockSn}")
+    @LogOperation("增益模式设置")
+    @RequiresPermissions("bus:dockSet:thermalGainMode")
+    public Result<Object> thermalGainMode(@PathVariable String dockSn,
+                                          @Parameter(description = "增益模式 {0:自动,1:低增益, 测温范围0°C-500°C,2:高增益, 测温范围-20°C-150°C}")
+                                          @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "type_subtype_gimbalindex", "thermal_gain_mode", value));
+    }
+
+    @Operation(summary = "开启等温线设置", description = "等温线允许用户观测自己感兴趣的温度区间的内容，让兴趣温度区间的物体能更加凸显")
+    @PostMapping("/thermalIsothermState/{dockSn}")
+    @LogOperation("开启等温线设置")
+    @RequiresPermissions("bus:dockSet:thermalIsothermState")
+    public Result<Object> thermalIsothermState(@PathVariable String dockSn,
+                                               @Parameter(description = "是否开启等温线 0:关闭,1:开启")
+                                               @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "type_subtype_gimbalindex", "thermal_isotherm_state", value));
+    }
+
+    @Operation(summary = "测温区间上限设置", description = "仅启用等温线功能后有效")
+    @PostMapping("/thermalIsothermUpperLimit/{dockSn}")
+    @LogOperation("测温区间上限设置")
+    @RequiresPermissions("bus:dockSet:thermalIsothermUpperLimit")
+    public Result<Object> thermalIsothermUpperLimit(@PathVariable String dockSn,
+                                                    @Parameter(description = "测温区间上限 {unit_name:摄氏度 / °C}")
+                                                    @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "type_subtype_gimbalindex", "thermal_isotherm_upper_limit", value));
+    }
+
+    @Operation(summary = "测温区间下限设置", description = "仅启用等温线功能后有效")
+    @PostMapping("/thermalIsothermLowerLimit/{dockSn}")
+    @LogOperation("测温区间下限设置")
+    @RequiresPermissions("bus:dockSet:thermalIsothermLowerLimit")
+    public Result<Object> thermalIsothermLowerLimit(@PathVariable String dockSn,
+                                                    @Parameter(description = "测温区间下限 {unit_name:摄氏度 / °C}")
+                                                    @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "type_subtype_gimbalindex", "thermal_isotherm_lower_limit", value));
+    }
+
+    @Operation(summary = "指点飞行高度设置", description = "相对(机场)起飞点的高度，相对高 ALT")
+    @PostMapping("/commanderFlightHeight/{dockSn}")
+    @LogOperation("指点飞行高度设置")
+    @RequiresPermissions("bus:dockSet:commanderFlightHeight")
+    public Result<Object> commanderFlightHeight(@PathVariable String dockSn,
+                                                @Parameter(description = "指点飞行高度 {max:3000,min:2,step:0.1,unit_name:米 / m}")
+                                                @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "commander_flight_height", null, value));
+    }
+
+    @Operation(summary = "指点飞行模式设置", description = "指点飞行模式设置值")
+    @PostMapping("/commanderFlightMode/{dockSn}")
+    @LogOperation("指点飞行模式设置")
+    @RequiresPermissions("bus:dockSet:commanderFlightMode")
+    public Result<Object> commanderFlightMode(@PathVariable String dockSn,
+                                              @Parameter(description = "指点飞行模式设置值 {0:智能高度飞行,1:设定高度飞行}")
+                                              @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "commander_flight_mode", null, value));
+    }
+
+    @Operation(summary = "指点飞行失控动作设置", description = "执行指点飞行时失控了，选择继续执行完，还是执行普通失控行为")
+    @PostMapping("/commanderModeLostAction/{dockSn}")
+    @LogOperation("指点飞行失控动作设置")
+    @RequiresPermissions("bus:dockSet:commanderModeLostAction")
+    public Result<Object> commanderModeLostAction(@PathVariable String dockSn,
+                                                  @Parameter(description = "指点飞行失控动作 {0:继续执行指点飞行任务,1:退出指点飞行任务，执行普通失控行为}")
+                                                  @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "commander_mode_lost_action", null, value));
+    }
+
+    //用户对相机拍摄的照片和录像文件进行水印配置, 目前暂不支持直播画面水印
+    @Operation(summary = "水印显示全局开关设置", description = "需要开启全局开关才能显示水印")
+    @PostMapping("/cameraWatermarkGlobalEnable/{dockSn}")
+    @LogOperation("水印显示全局开关设置")
+    @RequiresPermissions("bus:dockSet:cameraWatermarkGlobalEnable")
+    public Result<Object> cameraWatermarkGlobalEnable(@PathVariable String dockSn,
+                                                      @Parameter(description = "水印显示全局开关 0:关闭,1:开启")
+                                                      @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "camera_watermark_settings", "global_enable", value));
+    }
+
+    @Operation(summary = "机型显示开关设置")
+    @PostMapping("/cameraWatermarkDroneTypeEnable/{dockSn}")
+    @LogOperation("机型显示开关设置")
+    @RequiresPermissions("bus:dockSet:cameraWatermarkDroneTypeEnable")
+    public Result<Object> cameraWatermarkDroneTypeEnable(@PathVariable String dockSn,
+                                                         @Parameter(description = "机型显示开关 0:关闭,1:开启")
+                                                         @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "camera_watermark_settings", "drone_type_enable", value));
+    }
+
+    @Operation(summary = "飞行器序列号显示开关设置")
+    @PostMapping("/cameraWatermarkDroneSnEnable/{dockSn}")
+    @LogOperation("飞行器序列号显示开关设置")
+    @RequiresPermissions("bus:dockSet:cameraWatermarkDroneSnEnable")
+    public Result<Object> cameraWatermarkDroneSnEnable(@PathVariable String dockSn,
+                                                       @Parameter(description = "飞行器序列号显示开关 0:关闭,1:开启")
+                                                       @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "camera_watermark_settings", "drone_sn_enable", value));
+    }
+
+    @Operation(summary = "日期时间显示开关设置", description = "时区默认为当地时区")
+    @PostMapping("/cameraWatermarkDateTimeEnable/{dockSn}")
+    @LogOperation("日期时间显示开关设置")
+    @RequiresPermissions("bus:dockSet:cameraWatermarkDateTimeEnable")
+    public Result<Object> cameraWatermarkDateTimeEnable(@PathVariable String dockSn,
+                                                        @Parameter(description = "日期时间显示开关 0:关闭,1:开启")
+                                                        @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "camera_watermark_settings", "datetime_enable", value));
+    }
+
+    @Operation(summary = "经纬度&海拔高显示开关设置")
+    @PostMapping("/cameraWatermarkGpsEnable/{dockSn}")
+    @LogOperation("经纬度&海拔高显示开关设置")
+    @RequiresPermissions("bus:dockSet:cameraWatermarkGpsEnable")
+    public Result<Object> cameraWatermarkGpsEnable(@PathVariable String dockSn,
+                                                   @Parameter(description = "经纬度&海拔高显示开关 0:关闭,1:开启")
+                                                   @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "camera_watermark_settings", "gps_enable", value));
+    }
+
+    @Operation(summary = "自定义文案显示开关设置")
+    @PostMapping("/cameraWatermarkCustomStrEnable/{dockSn}")
+    @LogOperation("自定义文案显示开关设置")
+    @RequiresPermissions("bus:dockSet:cameraWatermarkCustomStrEnable")
+    public Result<Object> cameraWatermarkCustomStrEnable(@PathVariable String dockSn,
+                                                         @Parameter(description = "自定义文案显示开关 0:关闭,1:开启")
+                                                         @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "camera_watermark_settings", "user_custom_string_enable", value));
+    }
+
+    @Operation(summary = "自定义文案内容设置", description = "最多可显示 250 字节")
+    @PostMapping("/cameraWatermarkCustomStr/{dockSn}")
+    @LogOperation("自定义文案内容设置")
+    @RequiresPermissions("bus:dockSet:cameraWatermarkCustomStr")
+    public Result<Object> cameraWatermarkCustomStr(@PathVariable String dockSn,
+                                                   @Parameter(description = "自定义文案内容 (最多可显示 250 字节)")
+                                                   @RequestParam String value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "camera_watermark_settings", "user_custom_string", value));
+    }
+
+    @Operation(summary = "水印在画面中位置设置")
+    @PostMapping("/cameraWatermarkLayout/{dockSn}")
+    @LogOperation("水印在画面中位置设置")
+    @RequiresPermissions("bus:dockSet:cameraWatermarkLayout")
+    public Result<Object> cameraWatermarkLayout(@PathVariable String dockSn,
+                                                @Parameter(description = "水印在画面中位置 {0:左上,1:左下,2:右上,3:右下}")
+                                                @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "camera_watermark_settings", "layout", value));
+    }
+
+
+    @Operation(summary = "返航高度设置")
+    @PostMapping("/rthAltitude/{dockSn}")
+    @LogOperation("返航高度设置")
+    @RequiresPermissions("bus:dockSet:rthAltitude")
+    public Result<Object> rthAltitude(@PathVariable String dockSn,
+                                      @Parameter(description = "返航高度 {max:500,min:20,unit_name:米 / m}")
+                                      @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "rth_altitude", null, value));
+    }
+
+    @Operation(summary = "返航预留电量设置",
+            description = "注意：预留返航电量设置过低可能导致飞机没有足够电量完成返航。对于 DJI Dock 3，我们建议将该值设置在 15% ~ 50% 范围内以提供更安全的返航电量预留。")
+    @PostMapping("/remainingPowerForReturnHome/{dockSn}")
+    @LogOperation("返航预留电量设置")
+    @RequiresPermissions("bus:dockSet:remainingPowerForReturnHome")
+    public Result<Object> remainingPowerForReturnHome(@PathVariable String dockSn,
+                                                      @Parameter(description = "返航预留电量 {max:100,min:0}")
+                                                      @RequestParam Integer value) {
+        return new Result<>().ok(dockSetService.setProperty(dockSn, "remaining_power_for_return_home", null, value));
+    }
+}

admin/src/main/java/com/multictrl/modules/business/controller/FirmwareController.java

@@ -0,0 +1,129 @@
+package com.multictrl.modules.business.controller;
+
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.constant.Constant;
+import com.multictrl.common.page.PageData;
+import com.multictrl.common.utils.Result;
+import com.multictrl.common.validator.AssertUtils;
+import com.multictrl.common.validator.ValidatorUtils;
+import com.multictrl.modules.business.dto.DockDeviceDTO;
+import com.multictrl.modules.business.dto.FirmwareDTO;
+import com.multictrl.modules.business.dto.firmware.FirmwareVersion;
+import com.multictrl.modules.business.service.FirmwareService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.Parameters;
+import org.springframework.web.multipart.MultipartFile;
+
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 固件表
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-05-11
+ */
+@RestController
+@RequestMapping("business/firmware")
+@Tag(name = "固件更新")
+@ApiOrder(11)
+@RequiredArgsConstructor
+public class FirmwareController {
+    private final FirmwareService firmwareService;
+
+    @GetMapping("page")
+    @Operation(summary = "分页")
+    @Parameters({
+            @Parameter(name = Constant.PAGE, description = "当前页码，从1开始"),
+            @Parameter(name = Constant.LIMIT, description = "每页显示记录数")
+    })
+    @RequiresPermissions("bus:firmware:page")
+    public Result<PageData<FirmwareDTO>> page(@Parameter(hidden = true) @RequestParam Map<String, Object> params) {
+        PageData<FirmwareDTO> page = firmwareService.page(params);
+
+        return new Result<PageData<FirmwareDTO>>().ok(page);
+    }
+
+    @GetMapping("/getFirmware/{dockSn}")
+    @Operation(summary = "获取设备固件")
+    @LogOperation("获取设备固件")
+    @RequiresPermissions("bus:firmware:getFirmware")
+    public Result<List<FirmwareDTO>> getFirmware(@PathVariable String dockSn) {
+        List<FirmwareDTO> data = firmwareService.getFirmwareList(dockSn);
+
+        return new Result<List<FirmwareDTO>>().ok(data);
+    }
+
+    @PostMapping
+    @Operation(summary = "上传固件", description = "上传从大疆官网获取的机库或飞机的固件包，格式：zip")
+    @LogOperation("上传固件")
+    @RequiresPermissions("bus:firmware:upload")
+    public Result<Object> uploadFirmware(@Parameter(description = "官方固件包") @RequestParam("file") MultipartFile file,
+                                         @Parameter(description = "设备名称") @RequestParam("deviceName") String deviceName,
+                                         @Parameter(description = "备注") @RequestParam(value = "remark", required = false) String remark) {
+
+        firmwareService.uploadFirmware(file, deviceName, remark);
+
+        return new Result<>();
+    }
+
+    @PutMapping
+    @Operation(summary = "修改备注")
+    @LogOperation("修改备注")
+    @RequiresPermissions("bus:firmware:update")
+    public Result<Object> update(@RequestBody FirmwareDTO dto) {
+        ValidatorUtils.validateEntity(dto);
+        firmwareService.update(dto);
+
+        return new Result<>();
+    }
+
+    @DeleteMapping
+    @Operation(summary = "删除")
+    @LogOperation("删除")
+    @RequiresPermissions("bus:firmware:delete")
+    public Result<Object> delete(@RequestBody Long[] ids) {
+        //效验数据
+        AssertUtils.isArrayEmpty(ids, "id");
+        firmwareService.deleteFirmware(ids);
+
+        return new Result<>();
+    }
+
+    @PostMapping("/ota/{dockSn}")
+    @LogOperation("固件升级")
+    @Operation(summary = "固件升级", description = "固件升级，设备必须开机情况下才能升级，如果给飞机升级，需要调试模式打开飞机，然后关闭调试模式，再进行升级")
+    @RequiresPermissions("bus:firmware:ota")
+    public Result<Object> ota(@PathVariable String dockSn,
+                              @Parameter(description = "固件id") @RequestParam Long firmwareId) {
+
+        return new Result<>().ok(firmwareService.ota(dockSn, firmwareId));
+    }
+
+    @GetMapping("/registerDevices")
+    @Operation(summary = "设备列表")
+    @LogOperation("设备列表")
+    @RequiresPermissions("bus:firmware:registerDevices")
+    public Result<List<DockDeviceDTO>> registerDevices() {
+        List<DockDeviceDTO> list = firmwareService.registerDevices();
+
+        return new Result<List<DockDeviceDTO>>().ok(list);
+    }
+
+    @GetMapping("/getCurrentFirmwareVersion/{dockSn}")
+    @Operation(summary = "设备当前版本", description = "获取机库和飞机的固件版本，如果为空，需重启机场")
+    @LogOperation("设备当前版本")
+    @RequiresPermissions("bus:firmware:currentFirmware")
+    public Result<FirmwareVersion> getCurrentFirmwareVersion(@PathVariable String dockSn) {
+        FirmwareVersion data = firmwareService.getCurrentFirmwareVersion(dockSn);
+
+        return new Result<FirmwareVersion>().ok(data);
+    }
+
+}

admin/src/main/java/com/multictrl/modules/business/controller/FlightTaskController.java

@@ -0,0 +1,112 @@
+package com.multictrl.modules.business.controller;
+
+import cn.hutool.json.JSONObject;
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.constant.Constant;
+import com.multictrl.common.page.PageData;
+import com.multictrl.common.utils.Result;
+import com.multictrl.common.validator.AssertUtils;
+import com.multictrl.modules.business.dto.FlightTaskDTO;
+import com.multictrl.modules.business.dto.MediaFileDTO;
+import com.multictrl.modules.business.entity.SrsRecordEntity;
+import com.multictrl.modules.business.service.FlightTaskService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.Parameters;
+
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 飞行架次
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-05-02
+ */
+@RestController
+@RequestMapping("business/task")
+@Tag(name = "飞行架次")
+@ApiOrder(7)
+@RequiredArgsConstructor
+public class FlightTaskController {
+    private final FlightTaskService flightTaskService;
+
+    @GetMapping("page")
+    @Operation(summary = "分页")
+    @Parameters({
+            @Parameter(name = Constant.PAGE, description = "当前页码，从1开始"),
+            @Parameter(name = Constant.LIMIT, description = "每页显示记录数"),
+            @Parameter(name = "key", description = "机库/航线名称"),
+            @Parameter(name = "taskType", description = "任务类型 1:航线飞行 2:手动飞行 3:定时飞行"),
+            @Parameter(name = "routeType", description = "航线类型 航点waypoint"),
+            @Parameter(name = "taskStatus", description = "任务状态 0:进行中 -1:失败 1:完成 2:阻飞")
+    })
+    @RequiresPermissions("bus:task:page")
+    public Result<PageData<FlightTaskDTO>> page(@Parameter(hidden = true) @RequestParam Map<String, Object> params) {
+        PageData<FlightTaskDTO> page = flightTaskService.pageList(params);
+
+        return new Result<PageData<FlightTaskDTO>>().ok(page);
+    }
+
+    @GetMapping("{id}")
+    @Operation(summary = "信息")
+    @RequiresPermissions("bus:task:info")
+    public Result<FlightTaskDTO> get(@PathVariable("id") Long id) {
+        FlightTaskDTO data = flightTaskService.get(id);
+
+        return new Result<FlightTaskDTO>().ok(data);
+    }
+
+    @DeleteMapping
+    @Operation(summary = "删除")
+    @LogOperation("删除")
+    @RequiresPermissions("bus:task:delete")
+    public Result<Object> delete(@RequestBody Long[] ids) {
+        //效验数据
+        AssertUtils.isArrayEmpty(ids, "id");
+        flightTaskService.delete(ids);
+
+        return new Result<>();
+    }
+
+    @GetMapping("/getFlightTrack/{taskId}")
+    @Operation(summary = "飞行轨迹")
+    @RequiresPermissions("bus:task:flightTrack")
+    public Result<List<JSONObject>> getFlightTrack(@PathVariable("taskId") String taskId) {
+        List<JSONObject> data = flightTaskService.getFlightTrack(taskId);
+
+        return new Result<List<JSONObject>>().ok(data);
+    }
+
+    @GetMapping("/getFlightLog/{taskId}")
+    @Operation(summary = "飞行日志")
+    @RequiresPermissions("bus:task:flightLog")
+    public Result<List<JSONObject>> getFlightLog(@PathVariable("taskId") String taskId) {
+        List<JSONObject> data = flightTaskService.getFlightLog(taskId);
+
+        return new Result<List<JSONObject>>().ok(data);
+    }
+
+    @GetMapping("/getTaskMedia/{taskId}")
+    @Operation(summary = "媒体文件")
+    @RequiresPermissions("bus:task:taskMedia")
+    public Result<List<MediaFileDTO>> getTaskMedia(@PathVariable("taskId") String taskId) {
+        List<MediaFileDTO> data = flightTaskService.getTaskMedia(taskId);
+
+        return new Result<List<MediaFileDTO>>().ok(data);
+    }
+
+    @GetMapping("/getFlightVideo/{taskId}")
+    @Operation(summary = "飞行视频")
+    @RequiresPermissions("bus:task:flightVideo")
+    public Result<List<SrsRecordEntity>> getFlightVideo(@PathVariable("taskId") String taskId) {
+        List<SrsRecordEntity> data = flightTaskService.getFlightVideo(taskId);
+
+        return new Result<List<SrsRecordEntity>>().ok(data);
+    }
+}

admin/src/main/java/com/multictrl/modules/business/controller/GeoMarkController.java

@@ -0,0 +1,87 @@
+package com.multictrl.modules.business.controller;
+
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.constant.Constant;
+import com.multictrl.common.page.PageData;
+import com.multictrl.common.utils.Result;
+import com.multictrl.common.validator.AssertUtils;
+import com.multictrl.common.validator.ValidatorUtils;
+import com.multictrl.modules.business.dto.GeoMarkDTO;
+import com.multictrl.modules.business.service.GeoMarkService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.Parameters;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.Map;
+
+
+/**
+ * 地图标注
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-05-25
+ */
+@RestController
+@RequestMapping("business/mark")
+@Tag(name = "地图标注")
+@ApiOrder(12)
+@RequiredArgsConstructor
+public class GeoMarkController {
+    private final GeoMarkService geoMarkService;
+
+    @GetMapping("page")
+    @Operation(summary = "分页")
+    @Parameters({
+            @Parameter(name = Constant.PAGE, description = "当前页码，从1开始"),
+            @Parameter(name = Constant.LIMIT, description = "每页显示记录数"),
+            @Parameter(name = "dockSn", description = "设备编号"),
+            @Parameter(name = "markType", description = "标注类型"),
+            @Parameter(name = "markName", description = "标注名称"),
+            @Parameter(name = "showAll", description = "是否展示全局", example = "字符串:true")
+    })
+    @RequiresPermissions("bus:mark:page")
+    public Result<PageData<GeoMarkDTO>> page(@Parameter(hidden = true) @RequestParam Map<String, Object> params) {
+        PageData<GeoMarkDTO> page = geoMarkService.pageList(params);
+
+        return new Result<PageData<GeoMarkDTO>>().ok(page);
+    }
+
+    @GetMapping("{id}")
+    @Operation(summary = "信息")
+    @RequiresPermissions("bus:mark:info")
+    public Result<GeoMarkDTO> get(@PathVariable("id") Long id) {
+        GeoMarkDTO data = geoMarkService.getDetail(id);
+
+        return new Result<GeoMarkDTO>().ok(data);
+    }
+
+    @PostMapping
+    @Operation(summary = "保存")
+    @LogOperation("保存")
+    @RequiresPermissions("bus:mark:save")
+    public Result<Object> save(@RequestBody GeoMarkDTO dto) {
+        //效验数据
+        ValidatorUtils.validateEntity(dto);
+        geoMarkService.save(dto);
+
+        return new Result<>();
+    }
+
+    @DeleteMapping
+    @Operation(summary = "删除")
+    @LogOperation("删除")
+    @RequiresPermissions("bus:mark:delete")
+    public Result<Object> delete(@RequestBody Long[] ids) {
+        //效验数据
+        AssertUtils.isArrayEmpty(ids, "id");
+        geoMarkService.delete(ids);
+
+        return new Result<>();
+    }
+
+}

admin/src/main/java/com/multictrl/modules/business/controller/GeoPhotoController.java

@@ -0,0 +1,117 @@
+package com.multictrl.modules.business.controller;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.io.FileUtil;
+import com.alibaba.fastjson2.JSONObject;
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.constant.Constant;
+import com.multictrl.common.exception.ErrorCode;
+import com.multictrl.common.page.PageData;
+import com.multictrl.common.utils.Result;
+import com.multictrl.common.validator.AssertUtils;
+import com.multictrl.modules.business.dto.GeoPhotoDTO;
+import com.multictrl.modules.business.service.GeoPhotoService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.Parameters;
+import org.springframework.web.multipart.MultipartFile;
+
+import java.util.List;
+import java.util.Map;
+import java.util.Objects;
+
+
+/**
+ * 地理照片模型
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-06-05
+ */
+@RestController
+@RequestMapping("business/geophoto")
+@Tag(name = "地理模型")
+@ApiOrder(13)
+@RequiredArgsConstructor
+public class GeoPhotoController {
+    private final GeoPhotoService geoPhotoService;
+
+    @GetMapping("page")
+    @Operation(summary = "分页")
+    @Parameters({
+            @Parameter(name = Constant.PAGE, description = "当前页码，从1开始"),
+            @Parameter(name = Constant.LIMIT, description = "每页显示记录数"),
+            @Parameter(name = "type", description = "类型 1正射 2倾斜")
+    })
+    @RequiresPermissions("bus:geophoto:page")
+    public Result<PageData<GeoPhotoDTO>> page(@Parameter(hidden = true) @RequestParam Map<String, Object> params) {
+        PageData<GeoPhotoDTO> page = geoPhotoService.pageList(params);
+
+        return new Result<PageData<GeoPhotoDTO>>().ok(page);
+    }
+
+    @PostMapping
+    @Operation(summary = "上传地理资源")
+    @LogOperation("上传地理资源")
+    @RequiresPermissions("bus:geophoto:upload")
+    public Result<Object> upload(@Parameter(description = "模型类型{1:正射，2:倾斜}")
+                                 @RequestParam("type") String type,
+                                 @RequestParam("file") MultipartFile file) {
+        String suffix = FileUtil.getSuffix(file.getOriginalFilename());
+        Map<String, String> typeSuffixMap = Map.of("1", "tif", "2", "zip");
+        String expectedSuffix = typeSuffixMap.get(type);
+        if (expectedSuffix == null) {
+            return new Result<>().error(ErrorCode.PARAMS_ERROR, "模型类型");
+        }
+        if (!expectedSuffix.equals(suffix)) {
+            return new Result<>().error(ErrorCode.FILE_FORMAT_ERROR, expectedSuffix);
+        }
+
+        geoPhotoService.upload(type, file);
+        return new Result<>();
+    }
+
+    @GetMapping
+    @Operation(summary = "获取地理资源")
+    public Result<List<GeoPhotoDTO>> get(@Parameter(description = "类型{1:正射，2:倾斜}")
+                                         @RequestParam("type") String type) {
+        List<GeoPhotoDTO> layerInfo = geoPhotoService.getGeoList(type);
+
+        return new Result<List<GeoPhotoDTO>>().ok(layerInfo);
+    }
+
+    @DeleteMapping
+    @Operation(summary = "删除")
+    @LogOperation("删除")
+    @RequiresPermissions("bus:geophoto:delete")
+    public Result<Object> delete(@RequestParam Long id) {
+        geoPhotoService.remove(id);
+
+        return new Result<>();
+    }
+
+    @GetMapping("/getDiskModel")
+    @Operation(summary = "获取磁盘模型")
+    @LogOperation("获取磁盘模型")
+    @RequiresPermissions("bus:geophoto:getDiskModel")
+    public Result<List<GeoPhotoDTO>> getDiskModel() {
+        List<GeoPhotoDTO> diskData = geoPhotoService.getDiskMap();
+
+        return new Result<List<GeoPhotoDTO>>().ok(diskData);
+    }
+
+    @PostMapping("/uploadModelDisk")
+    @Operation(summary = "磁盘上传模型")
+    @LogOperation("磁盘上传模型")
+    @RequiresPermissions("bus:geophoto:uploadModelDisk")
+    public Result<List<GeoPhotoDTO>> uploadModelDisk(@RequestBody List<String> names) {
+        AssertUtils.isListEmpty(names, "模型名称");
+        geoPhotoService.uploadModelDisk(names);
+
+        return new Result<>();
+    }
+}

admin/src/main/java/com/multictrl/modules/business/controller/LiveController.java

@@ -0,0 +1,120 @@
+package com.multictrl.modules.business.controller;
+
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.exception.ErrorCode;
+import com.multictrl.common.utils.Result;
+import com.multictrl.modules.business.dto.live.LiveUrl;
+import com.multictrl.modules.business.service.LiveService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+/**
+ * 直播管理
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/4/24
+ */
+@RestController
+@RequestMapping("business/live")
+@Tag(name = "直播管理")
+@ApiOrder(4)
+@RequiredArgsConstructor
+public class LiveController {
+    private final LiveService liveService;
+
+    @LogOperation("开启直播")
+    @PostMapping("/startLive/{dockSn}")
+    @Operation(summary = "开启直播")
+    @RequiresPermissions("bus:live:start")
+    public Result<Object> startLive(@PathVariable String dockSn,
+                                    @Parameter(description = "直播质量：0-自适应，1-流畅，2-标清，3-高清，4-超清")
+                                    @RequestParam Integer videoQuality,
+                                    @Parameter(description = "直播类型：dock-机场，uav-飞机")
+                                    @RequestParam String videoType) {
+        if (videoQuality != 0 && videoQuality != 1 && videoQuality != 2 && videoQuality != 3 && videoQuality != 4) {
+            return new Result<>().error(ErrorCode.PARAMS_ERROR);
+        }
+        if (!videoType.equals("dock") && !videoType.equals("uav")) {
+            return new Result<>().error(ErrorCode.PARAMS_ERROR);
+        }
+
+        return new Result<>().ok(liveService.startLive(dockSn, videoQuality, videoType));
+    }
+
+    @LogOperation("停止直播")
+    @PostMapping("/stopLive/{dockSn}")
+    @Operation(summary = "停止直播")
+    @RequiresPermissions("bus:live:stop")
+    public Result<Object> stopLive(@PathVariable String dockSn,
+                                   @Parameter(description = "直播类型：dock-机场，uav-飞机")
+                                   @RequestParam String videoType) {
+        if (!videoType.equals("dock") && !videoType.equals("uav")) {
+            return new Result<>().error(ErrorCode.PARAMS_ERROR);
+        }
+
+        return new Result<>().ok(liveService.stopLive(dockSn, videoType));
+    }
+
+    @LogOperation("机场直播流切换")
+    @PostMapping("/liveCameraChange/{dockSn}")
+    @Operation(summary = "机场直播流切换")
+    @RequiresPermissions("bus:dock:live:change")
+    public Result<Object> liveCameraChange(@PathVariable String dockSn,
+                                           @Parameter(description = "直播流类型：0-舱内，1-舱外")
+                                           @RequestParam Integer cameraPosition) {
+        if (cameraPosition != 0 && cameraPosition != 1) {
+            return new Result<>().error(ErrorCode.PARAMS_ERROR);
+        }
+
+        return new Result<>().ok(liveService.liveCameraChange(dockSn, cameraPosition));
+    }
+
+    @LogOperation("无人机直播镜头切换")
+    @PostMapping("/liveLensChange/{dockSn}")
+    @Operation(summary = "无人机直播镜头切换")
+    @RequiresPermissions("bus:uav:live:change")
+    public Result<Object> liveLensChange(@PathVariable String dockSn,
+                                         @Parameter(description = "镜头类型：ir-红外，normal-默认，wide-广角，zoom-变焦")
+                                         @RequestParam String videoType) {
+        if (!videoType.equals("ir") && !videoType.equals("normal") && !videoType.equals("wide") && !videoType.equals("zoom")) {
+            return new Result<>().error(ErrorCode.PARAMS_ERROR);
+        }
+
+        return new Result<>().ok(liveService.liveLensChange(dockSn, videoType));
+    }
+
+    @LogOperation("直播清晰度设置")
+    @PostMapping("/liveSetQuality/{dockSn}")
+    @Operation(summary = "直播清晰度设置")
+    @RequiresPermissions("bus:live:set:quality")
+    public Result<Object> liveSetQuality(@PathVariable String dockSn,
+                                         @Parameter(description = "直播清晰度：0-自适应，1-流畅，2-标清，3-高清，4-超清")
+                                         @RequestParam Integer videoQuality,
+                                         @Parameter(description = "直播类型：dock-机场，uav-飞机")
+                                         @RequestParam String videoType) {
+        if (videoQuality != 0 && videoQuality != 1 && videoQuality != 2 && videoQuality != 3 && videoQuality != 4) {
+            return new Result<>().error(ErrorCode.PARAMS_ERROR);
+        }
+        if (!videoType.equals("dock") && !videoType.equals("uav")) {
+            return new Result<>().error(ErrorCode.PARAMS_ERROR);
+        }
+
+        return new Result<>().ok(liveService.liveSetQuality(dockSn, videoQuality, videoType));
+    }
+
+    @LogOperation("获取直播地址信息")
+    @GetMapping("/getLiveUrl/{dockSn}")
+    @Operation(summary = "获取直播地址信息")
+    @RequiresPermissions("bus:live:url:get")
+    public Result<List<LiveUrl>> getLiveUrl(@PathVariable String dockSn) {
+
+        return new Result<List<LiveUrl>>().ok(liveService.getLiveUrl(dockSn));
+    }
+}

admin/src/main/java/com/multictrl/modules/business/controller/MaintenanceController.java

@@ -0,0 +1,99 @@
+package com.multictrl.modules.business.controller;
+
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.constant.Constant;
+import com.multictrl.common.page.PageData;
+import com.multictrl.common.utils.Result;
+import com.multictrl.common.validator.AssertUtils;
+import com.multictrl.common.validator.ValidatorUtils;
+import com.multictrl.common.validator.group.AddGroup;
+import com.multictrl.common.validator.group.UpdateGroup;
+import com.multictrl.modules.business.dto.MaintenanceDTO;
+import com.multictrl.modules.business.service.MaintenanceService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.Parameters;
+
+import java.util.Map;
+
+
+/**
+ * 设备维护信息
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-06-12
+ */
+@RestController
+@RequestMapping("business/maintenance")
+@Tag(name = "设备维护")
+@ApiOrder(23)
+@RequiredArgsConstructor
+public class MaintenanceController {
+    private final MaintenanceService maintenanceService;
+
+    @GetMapping("page")
+    @Operation(summary = "分页")
+    @Parameters({
+            @Parameter(name = Constant.PAGE, description = "当前页码，从1开始"),
+            @Parameter(name = Constant.LIMIT, description = "每页显示记录数"),
+            @Parameter(name = "dockSn", description = "机库SN"),
+            @Parameter(name = "date", description = "维保日期 yyyy-MM-dd")
+    })
+    @RequiresPermissions("bus:maintenance:page")
+    public Result<PageData<MaintenanceDTO>> page(@Parameter(hidden = true) @RequestParam Map<String, Object> params) {
+        PageData<MaintenanceDTO> page = maintenanceService.pageList(params);
+
+        return new Result<PageData<MaintenanceDTO>>().ok(page);
+    }
+
+    @GetMapping("{id}")
+    @Operation(summary = "信息")
+    @RequiresPermissions("bus:maintenance:info")
+    public Result<MaintenanceDTO> get(@PathVariable("id") Long id) {
+        MaintenanceDTO data = maintenanceService.getInfo(id);
+
+        return new Result<MaintenanceDTO>().ok(data);
+    }
+
+    @PostMapping
+    @Operation(summary = "保存")
+    @LogOperation("保存")
+    @RequiresPermissions("bus:maintenance:save")
+    public Result<Object> save(@RequestBody MaintenanceDTO dto) {
+        //效验数据
+        ValidatorUtils.validateEntity(dto, AddGroup.class);
+        maintenanceService.addMaintenance(dto);
+
+        return new Result<>();
+    }
+
+    @PutMapping
+    @Operation(summary = "修改")
+    @LogOperation("修改")
+    @RequiresPermissions("bus:maintenance:update")
+    public Result<Object> update(@RequestBody MaintenanceDTO dto) {
+        //效验数据
+        ValidatorUtils.validateEntity(dto, UpdateGroup.class);
+        maintenanceService.updateMaintenance(dto);
+
+        return new Result<>();
+    }
+
+    @DeleteMapping
+    @Operation(summary = "删除")
+    @LogOperation("删除")
+    @RequiresPermissions("bus:maintenance:delete")
+    public Result<Object> delete(@RequestBody Long[] ids) {
+        //效验数据
+        AssertUtils.isArrayEmpty(ids, "id");
+        maintenanceService.deleteMaintenance(ids);
+
+        return new Result<>();
+    }
+
+}

admin/src/main/java/com/multictrl/modules/business/controller/MediaFileController.java

@@ -0,0 +1,137 @@
+package com.multictrl.modules.business.controller;
+
+import cn.hutool.json.JSONObject;
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.DataFilter;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.constant.Constant;
+import com.multictrl.common.page.PageData;
+import com.multictrl.common.utils.Result;
+import com.multictrl.common.validator.AssertUtils;
+import com.multictrl.modules.business.dto.MediaFileDTO;
+import com.multictrl.modules.business.service.MediaFileService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.Parameters;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.core.io.Resource;
+import org.springframework.http.ResponseEntity;
+import org.springframework.web.bind.annotation.*;
+import org.springframework.web.servlet.mvc.method.annotation.StreamingResponseBody;
+
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 媒体图库
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/5/27
+ */
+@RestController
+@RequestMapping("business/media")
+@Tag(name = "媒体图库")
+@ApiOrder(8)
+@RequiredArgsConstructor
+public class MediaFileController {
+    private final MediaFileService mediaFileService;
+
+    @GetMapping("/page")
+    @Operation(summary = "分页")
+    @Parameters({
+            @Parameter(name = Constant.PAGE, description = "当前页码，从1开始"),
+            @Parameter(name = Constant.LIMIT, description = "每页显示记录数"),
+            @Parameter(name = "dockSn", description = "机库sn"),
+            @Parameter(name = "routeId", description = "航线id"),
+            @Parameter(name = "startTime", description = "开始时间"),
+            @Parameter(name = "endTime", description = "结束时间")
+    })
+    @DataFilter(tableAlias = "t")
+    @RequiresPermissions("bus:media:page")
+    public Result<PageData<JSONObject>> page(@Parameter(hidden = true) @RequestParam Map<String, Object> params) {
+        PageData<JSONObject> page = mediaFileService.pageList(params);
+
+        return new Result<PageData<JSONObject>>().ok(page);
+    }
+
+    @GetMapping("/getAlbum")
+    @Operation(summary = "获取相簿")
+    @Parameters({
+            @Parameter(name = Constant.PAGE, description = "当前页码，从1开始"),
+            @Parameter(name = Constant.LIMIT, description = "每页显示记录数"),
+            @Parameter(name = "dockSn", description = "机库sn")
+    })
+    @DataFilter(tableAlias = "t")
+    @RequiresPermissions("bus:media:album")
+    public Result<PageData<MediaFileDTO>> getAlbum(@Parameter(hidden = true) @RequestParam Map<String, Object> params) {
+        PageData<MediaFileDTO> page = mediaFileService.getAlbum(params);
+
+        return new Result<PageData<MediaFileDTO>>().ok(page);
+    }
+
+    @DeleteMapping
+    @Operation(summary = "删除")
+    @LogOperation("删除媒体文件")
+    @RequiresPermissions("bus:media:delete")
+    public Result<Object> delete(@RequestBody Long[] ids) {
+        //效验数据
+        AssertUtils.isArrayEmpty(ids, "id");
+        mediaFileService.deleteMediaFile(ids);
+
+        return new Result<>();
+    }
+
+    @Operation(summary = "下载媒体文件")
+    @LogOperation("下载媒体文件")
+    @GetMapping("/downloadMedia")
+    @RequiresPermissions("bus:media:download")
+    public ResponseEntity<Resource> downloadMedia(@RequestParam Long id) {
+
+        return mediaFileService.downloadMedia(id);
+    }
+
+    @Operation(summary = "条件下载媒体文件")
+    @LogOperation("条件下载媒体文件")
+    @GetMapping("/conditionDownloadMedia")
+    @RequiresPermissions("bus:media:download")
+    @Parameters({
+            @Parameter(name = "dockSn", description = "机库sn"),
+            @Parameter(name = "routeId", description = "航线标识"),
+            @Parameter(name = "startTime", description = "开始时间"),
+            @Parameter(name = "endTime", description = "结束时间")
+    })
+    @DataFilter(tableAlias = "t")
+    public ResponseEntity<StreamingResponseBody> conditionDownloadMedia(@Parameter(hidden = true) @RequestParam Map<String, Object> params) {
+
+        return mediaFileService.downloadMediaByZip(params);
+    }
+
+    @Operation(summary = "一键获取下载媒体地址")
+    @LogOperation("一键获取下载媒体地址")
+    @GetMapping("/oneClickGetDownloadPath")
+    @RequiresPermissions("bus:media:download")
+    @Parameters({
+            @Parameter(name = "dockSn", description = "机库sn"),
+            @Parameter(name = "routeId", description = "航线标识"),
+            @Parameter(name = "startTime", description = "开始时间"),
+            @Parameter(name = "endTime", description = "结束时间")
+    })
+    @DataFilter(tableAlias = "t")
+    public Result<Map<String, List<String>>> oneClickGetDownloadPath(@Parameter(hidden = true) @RequestParam Map<String, Object> params) {
+        Map<String, List<String>> map = mediaFileService.oneClickGetDownloadPath(params);
+
+        return new Result<Map<String, List<String>>>().ok(map);
+    }
+
+    @DeleteMapping("/conditionDeleteMedia")
+    @Operation(summary = "条件删除媒体文件 -- 参数和条件下载一样，形式为json")
+    @LogOperation("条件删除媒体文件")
+    @RequiresPermissions("bus:media:delete")
+    public Result<Object> conditionDeleteMedia(@RequestBody Map<String, Object> params) {
+        mediaFileService.conditionDeleteMedia(params);
+
+        return new Result<>();
+    }
+}

admin/src/main/java/com/multictrl/modules/business/controller/MinioController.java

@@ -0,0 +1,80 @@
+package com.multictrl.modules.business.controller;
+
+import com.multictrl.common.exception.ErrorCode;
+import com.multictrl.common.utils.Result;
+import com.multictrl.modules.business.service.MinioService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
+import org.springframework.web.multipart.MultipartFile;
+
+/**
+ * minio对象存储
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/4/16
+ */
+@Tag(name = "媒体文件存储")
+@RestController
+@RequestMapping("/oss")
+@RequiredArgsConstructor
+public class MinioController {
+    private final MinioService minioService;
+
+
+    @Operation(summary = "上传航线媒体照片")
+    @PostMapping("/uploadRouteImg/{dockSn}")
+    public Result<String> uploadRouteImg(@PathVariable String dockSn,
+                                         @RequestParam("file") MultipartFile file) {
+        if (file.isEmpty()) {
+            return new Result<String>().error(ErrorCode.UPLOAD_FILE_EMPTY);
+        }
+
+        return new Result<String>().ok(minioService.uploadRouteImg(dockSn, file));
+    }
+
+    @Operation(summary = "上传喊话器音频文件")
+    @PostMapping("/uploadSpeakerAudio/{dockSn}")
+    public Result<String> uploadSpeakerAudio(@PathVariable String dockSn,
+                                             @RequestParam("file") MultipartFile file) {
+        if (file.isEmpty()) {
+            return new Result<String>().error(ErrorCode.UPLOAD_FILE_EMPTY);
+        }
+
+        return new Result<String>().ok(minioService.uploadSpeakerAudio(dockSn, file));
+    }
+
+    @Operation(summary = "上传地图标注文件")
+    @PostMapping("/uploadGeoMark/{dockSn}")
+    public Result<String> uploadGeoMark(@PathVariable String dockSn,
+                                        @RequestParam("file") MultipartFile file) {
+        if (file.isEmpty()) {
+            return new Result<String>().error(ErrorCode.UPLOAD_FILE_EMPTY);
+        }
+
+        return new Result<String>().ok(minioService.uploadGeoMark(dockSn, file));
+    }
+
+    @Operation(summary = "上传字典图片")
+    @PostMapping("/uploadDictImage")
+    public Result<String> uploadDictImage(
+            @RequestParam("file") MultipartFile file) {
+        if (file.isEmpty()) {
+            return new Result<String>().error(ErrorCode.UPLOAD_FILE_EMPTY);
+        }
+
+        return new Result<String>().ok(minioService.uploadDictImage(file));
+    }
+
+    @Operation(summary = "上传维保图片")
+    @PostMapping("/uploadMaintenanceImage/{dockSn}")
+    public Result<String> uploadMaintenanceImage(@PathVariable String dockSn,
+                                                 @RequestParam("file") MultipartFile file) {
+        if (file.isEmpty()) {
+            return new Result<String>().error(ErrorCode.UPLOAD_FILE_EMPTY);
+        }
+
+        return new Result<String>().ok(minioService.uploadMaintenanceImage(dockSn, file));
+    }
+}

admin/src/main/java/com/multictrl/modules/business/controller/MiscController.java

@@ -0,0 +1,53 @@
+package com.multictrl.modules.business.controller;
+
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.constant.Constant;
+import com.multictrl.common.utils.Result;
+import com.multictrl.modules.business.service.MiscService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.Parameters;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.Map;
+
+/**
+ * api接口
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/5/10
+ */
+@RestController
+@RequestMapping("business/misc")
+@Tag(name = "api接口")
+@ApiOrder(0)
+@RequiredArgsConstructor
+public class MiscController {
+    private final MiscService miscService;
+
+    //    @LogOperation("HMS健康日志")
+    @GetMapping("/getHmsLog")
+    @Operation(summary = "HMS健康日志")
+    @Parameters({
+            @Parameter(name = Constant.PAGE, description = "当前页码，从1开始"),
+            @Parameter(name = Constant.LIMIT, description = "每页显示记录数"),
+            @Parameter(name = "dockSn", description = "机库sn码"),
+            @Parameter(name = "level", description = "告警等级 {0:通知,1:提醒,2:警告},默认查询所有")
+    })
+    @RequiresPermissions("bus:misc:getHmsLog")
+    public Result<Object> getHmsLog(@Parameter(hidden = true) @RequestParam Map<String, Object> params) {
+
+        return new Result<>().ok(miscService.pageHmsLog(params));
+    }
+
+    @GetMapping("/getDockBindInfo")
+    @Operation(summary = "机库注册信息")
+    @RequiresPermissions("bus:misc:getDockBindInfo")
+    public Result<Object> getDockBindInfo() {
+
+        return new Result<>().ok(miscService.getDockBindInfo());
+    }
+}

admin/src/main/java/com/multictrl/modules/business/controller/MultiController.java

@@ -0,0 +1,147 @@
+package com.multictrl.modules.business.controller;
+
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.DataFilter;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.constant.Constant;
+import com.multictrl.common.page.PageData;
+import com.multictrl.common.utils.Result;
+import com.multictrl.common.validator.AssertUtils;
+import com.multictrl.common.validator.ValidatorUtils;
+import com.multictrl.common.validator.group.AddGroup;
+import com.multictrl.common.validator.group.UpdateGroup;
+import com.multictrl.modules.business.dto.DockDTO;
+import com.multictrl.modules.business.dto.MultiTestDTO;
+import com.multictrl.modules.business.dto.multi.MultiDockDTO;
+import com.multictrl.modules.business.dto.multi.MultiGroupDTO;
+import com.multictrl.modules.business.dto.multi.MultiGroupDeviceDTO;
+import com.multictrl.modules.business.service.MultiService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.Parameters;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 阿罗斯机场蛙跳任务
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/6/8
+ */
+@RestController
+@RequestMapping("business/multi")
+@Tag(name = "机场蛙跳任务")
+@ApiOrder(21)
+@RequiredArgsConstructor
+public class MultiController {
+    private final MultiService multiService;
+
+    @GetMapping("page")
+    @Operation(summary = "蛙跳设备分页列表")
+    @Parameters({
+            @Parameter(name = Constant.PAGE, description = "当前页码，从1开始"),
+            @Parameter(name = Constant.LIMIT, description = "每页显示记录数"),
+            @Parameter(name = "key", description = "机库名称、机库SN码")
+    })
+    @DataFilter
+    @RequiresPermissions("bus:dock:page")
+    public Result<PageData<DockDTO>> page(@Parameter(hidden = true) @RequestParam Map<String, Object> params) {
+        PageData<DockDTO> page = multiService.pageList(params);
+
+        return new Result<PageData<DockDTO>>().ok(page);
+    }
+
+    @GetMapping("pageMultiGroup")
+    @Operation(summary = "蛙跳组分页列表")
+    @Parameters({
+            @Parameter(name = Constant.PAGE, description = "当前页码，从1开始"),
+            @Parameter(name = Constant.LIMIT, description = "每页显示记录数"),
+            @Parameter(name = "name", description = "蛙跳组名")
+    })
+    @DataFilter
+    @RequiresPermissions("bus:dock:pageMultiGroup")
+    public Result<PageData<MultiGroupDTO>> pageMultiGroup(@Parameter(hidden = true) @RequestParam Map<String, Object> params) {
+        PageData<MultiGroupDTO> page = multiService.pageMultiGroup(params);
+
+        return new Result<PageData<MultiGroupDTO>>().ok(page);
+    }
+
+    @PostMapping("/saveMultiGroup")
+    @Operation(summary = "新增蛙跳组")
+    @LogOperation("新增蛙跳组")
+    @RequiresPermissions("bus:multi:saveMultiGroup")
+    public Result<Object> saveMultiGroup(@RequestBody MultiGroupDTO dto) {
+        //效验数据
+        ValidatorUtils.validateEntity(dto, AddGroup.class);
+        multiService.saveMultiGroup(dto);
+
+        return new Result<>();
+    }
+
+    @PutMapping("/updateMultiGroup")
+    @Operation(summary = "修改蛙跳组")
+    @LogOperation("修改蛙跳组")
+    @RequiresPermissions("bus:multi:updateMultiGroup")
+    public Result<Object> updateMultiGroup(@RequestBody MultiGroupDTO dto) {
+        //效验数据
+        ValidatorUtils.validateEntity(dto, UpdateGroup.class);
+        multiService.updateMultiGroup(dto);
+
+        return new Result<>();
+    }
+
+    @DeleteMapping("/deleteMultiGroup")
+    @Operation(summary = "删除蛙跳组")
+    @LogOperation("删除蛙跳组")
+    @RequiresPermissions("bus:multi:deleteMultiGroup")
+    public Result<Object> deleteMultiGroup(@RequestBody List<Long> ids) {
+        AssertUtils.isListEmpty(ids, "ids");
+        multiService.deleteMultiGroup(ids);
+
+        return new Result<>();
+    }
+
+    @PostMapping("/saveMultiGroupDevice")
+    @Operation(summary = "蛙跳组绑定设备")
+    @LogOperation("蛙跳组绑定设备")
+    @RequiresPermissions("bus:multi:saveMultiGroupDevice")
+    public Result<Object> saveMultiGroupDevice(@RequestBody MultiGroupDeviceDTO dto) {
+        //效验数据
+        ValidatorUtils.validateEntity(dto, AddGroup.class);
+        multiService.saveMultiGroupDevice(dto);
+
+        return new Result<>();
+    }
+
+    @DeleteMapping("/deleteMultiGroupDevice")
+    @Operation(summary = "蛙跳组解绑设备")
+    @LogOperation("蛙跳组解绑设备")
+    @RequiresPermissions("bus:multi:deleteMultiGroupDevice")
+    public Result<Object> deleteMultiGroupDevice(@RequestBody List<String> dockSn) {
+        //效验数据
+        AssertUtils.isListEmpty(dockSn, "dockSn");
+        multiService.deleteMultiGroupDevice(dockSn);
+
+        return new Result<>();
+    }
+
+    @GetMapping("/getMultiGroupDockList")
+    @Operation(summary = "获取蛙跳组机库列表")
+    public Result<List<DockDTO>> getMultiGroupDockList(@RequestParam Long multiGroupId) {
+        List<DockDTO> list = multiService.getMultiGroupDockList(multiGroupId);
+        return new Result<List<DockDTO>>().ok(list);
+    }
+
+    @PostMapping("/multiGroupDockTest")
+    @Operation(summary = "蛙跳组机库测试")
+    public Result<String> multiGroupDockTest(MultiTestDTO dto) {
+        String message = multiService.multiGroupDockTest(dto);
+
+        return new Result<String>().ok(message);
+    }
+}

admin/src/main/java/com/multictrl/modules/business/controller/NoflyZoneController.java

@@ -0,0 +1,97 @@
+package com.multictrl.modules.business.controller;
+
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.constant.Constant;
+import com.multictrl.common.page.PageData;
+import com.multictrl.common.utils.Result;
+import com.multictrl.common.validator.AssertUtils;
+import com.multictrl.common.validator.ValidatorUtils;
+import com.multictrl.common.validator.group.AddGroup;
+import com.multictrl.common.validator.group.UpdateGroup;
+import com.multictrl.modules.business.dto.NoflyZoneDTO;
+import com.multictrl.modules.business.service.NoflyZoneService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.Parameters;
+
+import java.util.List;
+import java.util.Map;
+
+
+/**
+ * 禁飞区
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-06-09
+ */
+@RestController
+@RequestMapping("business/noflyzone")
+@Tag(name = "禁飞区")
+@ApiOrder(22)
+@RequiredArgsConstructor
+public class NoflyZoneController {
+    private final NoflyZoneService noflyZoneService;
+
+    @GetMapping("page")
+    @Operation(summary = "分页")
+    @Parameters({
+            @Parameter(name = Constant.PAGE, description = "当前页码，从1开始"),
+            @Parameter(name = Constant.LIMIT, description = "每页显示记录数"),
+            @Parameter(name = "name", description = "名称")
+    })
+    @RequiresPermissions("bus:noflyzone:page")
+    public Result<PageData<NoflyZoneDTO>> page(@Parameter(hidden = true) @RequestParam Map<String, Object> params) {
+        PageData<NoflyZoneDTO> page = noflyZoneService.pageList(params);
+
+        return new Result<PageData<NoflyZoneDTO>>().ok(page);
+    }
+
+    @PostMapping
+    @Operation(summary = "保存")
+    @LogOperation("保存")
+    @RequiresPermissions("bus:noflyzone:save")
+    public Result<Object> save(@RequestBody NoflyZoneDTO dto) {
+        //效验数据
+        ValidatorUtils.validateEntity(dto, AddGroup.class);
+        noflyZoneService.saveNoFlying(dto);
+
+        return new Result<>();
+    }
+
+    @PutMapping
+    @Operation(summary = "修改")
+    @LogOperation("修改")
+    @RequiresPermissions("bus:noflyzone:update")
+    public Result<Object> update(@RequestBody NoflyZoneDTO dto) {
+        //效验数据
+        ValidatorUtils.validateEntity(dto, UpdateGroup.class);
+        noflyZoneService.update(dto);
+
+        return new Result<>();
+    }
+
+    @DeleteMapping
+    @Operation(summary = "删除")
+    @LogOperation("删除")
+    @RequiresPermissions("bus:noflyzone:delete")
+    public Result<Object> delete(@RequestBody Long[] ids) {
+        //效验数据
+        AssertUtils.isArrayEmpty(ids, "id");
+        noflyZoneService.delete(ids);
+
+        return new Result<>();
+    }
+
+    @GetMapping("/getNoFlying")
+    @Operation(summary = "获取机库禁飞区", description = "返回机库所属组织以及上级组织设置的禁飞区")
+    public Result<List<NoflyZoneDTO>> getNoFlying(@RequestParam String dockSn) {
+        List<NoflyZoneDTO> list = noflyZoneService.getNoFlyZoneByDockSn(dockSn);
+
+        return new Result<List<NoflyZoneDTO>>().ok(list);
+    }
+}

admin/src/main/java/com/multictrl/modules/business/controller/PsdkController.java

@@ -0,0 +1,101 @@
+package com.multictrl.modules.business.controller;
+
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.utils.Result;
+import com.multictrl.common.validator.ValidatorUtils;
+import com.multictrl.modules.business.dto.speaker.TtsText;
+import com.multictrl.modules.business.service.PsdkService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.web.bind.annotation.*;
+
+/**
+ * psdk负载控制
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/5/7
+ */
+@RestController
+@RequestMapping("business/psdk")
+@Tag(name = "psdk负载控制")
+@ApiOrder(9)
+@RequiredArgsConstructor
+public class PsdkController {
+    private final PsdkService psdkService;
+
+    @LogOperation("设置音量")
+    @PostMapping("/setVolume/{dockSn}")
+    @Operation(summary = "设置音量")
+    @RequiresPermissions("bus:speaker:setVolume")
+    public Result<Object> setVolume(@PathVariable String dockSn,
+                                    @Parameter(name = "volume", description = "音量 0-100")
+                                    @RequestParam Integer volume) {
+
+        return new Result<>().ok(psdkService.setVolume(dockSn, volume));
+    }
+
+    @LogOperation("设置播放模式")
+    @PostMapping("/setMode/{dockSn}")
+    @Operation(summary = "设置播放模式")
+    @RequiresPermissions("bus:speaker:setMode")
+    public Result<Object> setMode(@PathVariable String dockSn,
+                                  @Parameter(name = "mode", description = "模式 0：单次播放 1：循环播放（单曲）")
+                                  @RequestParam Integer mode) {
+
+        return new Result<>().ok(psdkService.setMode(dockSn, mode));
+    }
+
+    @LogOperation("停止播放")
+    @PostMapping("/stopSpeaker/{dockSn}")
+    @Operation(summary = "停止播放")
+    @RequiresPermissions("bus:speaker:stopSpeaker")
+    public Result<Object> stopSpeaker(@PathVariable String dockSn) {
+
+        return new Result<>().ok(psdkService.stopSpeaker(dockSn));
+    }
+
+    @LogOperation("重新播放")
+    @PostMapping("/replaySpeaker/{dockSn}")
+    @Operation(summary = "重新播放")
+    @RequiresPermissions("bus:speaker:replaySpeaker")
+    public Result<Object> replaySpeaker(@PathVariable String dockSn) {
+
+        return new Result<>().ok(psdkService.replaySpeaker(dockSn));
+    }
+
+    @LogOperation("播放TTS文本")
+    @PostMapping("/startSpeakerTts/{dockSn}")
+    @Operation(summary = "播放TTS文本")
+    @RequiresPermissions("bus:speaker:startSpeakerTts")
+    public Result<Object> startSpeakerTts(@PathVariable String dockSn, @RequestBody TtsText ttsText) {
+        ValidatorUtils.validateEntity(ttsText);
+
+        return new Result<>().ok(psdkService.startSpeakerTts(dockSn, ttsText));
+    }
+
+    @LogOperation("播放模板文本")
+    @PostMapping("/startSpeakerTemplate/{dockSn}")
+    @Operation(summary = "播放模板文本")
+    @RequiresPermissions("bus:speaker:startSpeakerTemplate")
+    public Result<Object> startSpeakerTemplate(@PathVariable String dockSn,
+                                               @Parameter(name = "id", description = "模版编号")
+                                               @RequestParam Long id) {
+
+        return new Result<>().ok(psdkService.startSpeakerTemplate(dockSn, id));
+    }
+
+    @LogOperation("播放音频文件")
+    @PostMapping("/playAudio/{dockSn}")
+    @Operation(summary = "播放音频文件")
+    @RequiresPermissions("bus:speaker:playAudio")
+    public Result<Object> playAudio(@PathVariable String dockSn,
+                                    @Parameter(name = "id", description = "模版编号")
+                                    @RequestParam Long id) {
+
+        return new Result<>().ok(psdkService.playAudio(dockSn, id));
+    }
+}

admin/src/main/java/com/multictrl/modules/business/controller/RemoteController.java

@@ -0,0 +1,240 @@
+package com.multictrl.modules.business.controller;
+
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.utils.Result;
+import com.multictrl.common.validator.ValidatorUtils;
+import com.multictrl.modules.business.dto.remote.control.LightFineTuningSet;
+import com.multictrl.modules.business.service.DJIBaseService;
+import com.multictrl.modules.business.service.RemoteService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.web.bind.annotation.*;
+
+/**
+ * 远程控制
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/5/21
+ */
+@RestController
+@RequestMapping("business/remote")
+@Tag(name = "远程控制", description = "远程控制是开启DRC后执行的特定通道命令，提高命令执行速度")
+@ApiOrder(11)
+@RequiredArgsConstructor
+public class RemoteController {
+    private final RemoteService remoteService;
+    private final DJIBaseService djiBaseService;
+
+    @LogOperation("夜景模式设置")
+    @PostMapping("/drcCameraNightModeSet/{dockSn}")
+    @Operation(summary = "夜景模式设置")
+    @RequiresPermissions("bus:remote:drcCameraNightModeSet")
+    public Result<Object> drcCameraNightModeSet(@PathVariable String dockSn,
+                                                @Parameter(name = "mode", description = "{0:关闭,1:开启,2:自动(自动模式根据进光量自动开启)}")
+                                                @RequestParam Integer mode) {
+
+        return new Result<>().ok(remoteService.drcCameraNightModeSet(dockSn, mode));
+    }
+
+    @LogOperation("降噪等级设置")
+    @PostMapping("/drcCameraDenoiseLevelSet/{dockSn}")
+    @Operation(summary = "降噪等级设置")
+    @RequiresPermissions("bus:remote:drcCameraDenoiseLevelSet")
+    public Result<Object> drcCameraDenoiseLevelSet(@PathVariable String dockSn,
+                                                   @Parameter(name = "level", description = "{2:增强降噪 15fps,3:超强降噪 5fps}(仅手动开启夜景模式后生效)")
+                                                   @RequestParam Integer level) {
+
+        return new Result<>().ok(remoteService.drcCameraDenoiseLevelSet(dockSn, level));
+    }
+
+    @LogOperation("黑白夜视使能")
+    @PostMapping("/drcCameraNightVisionEnable/{dockSn}")
+    @Operation(summary = "黑白夜视使能")
+    @RequiresPermissions("bus:remote:drcCameraNightVisionEnable")
+    public Result<Object> drcCameraNightVisionEnable(@PathVariable String dockSn,
+                                                     @Parameter(name = "enable", description = "{false:关闭,true:开启}(仅变焦7x以上生效)")
+                                                     @RequestParam Boolean enable) {
+
+        return new Result<>().ok(remoteService.drcCameraNightVisionEnable(dockSn, enable));
+    }
+
+    @LogOperation("近红外补光使能")
+    @PostMapping("/drcInfraredFillLightEnable/{dockSn}")
+    @Operation(summary = "近红外补光使能")
+    @RequiresPermissions("bus:remote:drcInfraredFillLightEnable")
+    public Result<Object> drcInfraredFillLightEnable(@PathVariable String dockSn,
+                                                     @Parameter(name = "enable", description = "{false:关闭,true:开启}(仅变焦7x以上生效)")
+                                                     @RequestParam Boolean enable) {
+
+        return new Result<>().ok(remoteService.drcInfraredFillLightEnable(dockSn, enable));
+    }
+
+    @LogOperation("强制降落（慎用! 急停可取消）")
+    @PostMapping("/drcForceLanding/{dockSn}")
+    @Operation(summary = "强制降落", description = "调用后，无论是否有障碍飞行器都会直接降到地面，用 drone_emergency_stop 命令可取消。降落完成后只能人工拾取飞行器，慎用!")
+    @RequiresPermissions("bus:remote:drcForceLanding")
+    public Result<Object> drcForceLanding(@PathVariable String dockSn) {
+
+        return new Result<>().ok(djiBaseService.executeDrcAndReturnResult(dockSn, "drc_force_landing"));
+    }
+
+    @LogOperation("急停")
+    @PostMapping("/droneEmergencyStop/{dockSn}")
+    @Operation(summary = "急停", description = "可取消强制降落")
+    @RequiresPermissions("bus:remote:droneEmergencyStop")
+    public Result<Object> droneEmergencyStop(@PathVariable String dockSn) {
+
+        return new Result<>().ok(djiBaseService.executeDrcAndReturnResult(dockSn, "drone_emergency_stop"));
+    }
+
+    @LogOperation("紧急降落（慎用! 急停可取消）")
+    @PostMapping("/drcEmergencyLanding/{dockSn}")
+    @Operation(summary = "紧急降落", description = "调用后，飞行器会开始降落，在开启避障时可能会因触发避障而中止。用 drone_emergency_stop 命令可取消。降落完成后只能人工拾取飞行器，慎用!")
+    @RequiresPermissions("bus:remote:drcEmergencyLanding")
+    public Result<Object> drcEmergencyLanding(@PathVariable String dockSn) {
+
+        return new Result<>().ok(djiBaseService.executeDrcAndReturnResult(dockSn, "drc_emergency_landing"));
+    }
+
+    @LogOperation("探照灯—亮度设置")
+    @PostMapping("/drcLightBrightnessSet/{dockSn}")
+    @Operation(summary = "探照灯—亮度设置")
+    @RequiresPermissions("bus:remote:drcLightBrightnessSet")
+    public Result<Object> drcLightBrightnessSet(@PathVariable String dockSn,
+                                                @Parameter(name = "brightness", description = "亮度 {max:100,min:1}")
+                                                @RequestParam Integer brightness) {
+
+        return new Result<>().ok(remoteService.drcInfraredFillLightEnable(dockSn, brightness));
+    }
+
+    @LogOperation("探照灯—模式设置")
+    @PostMapping("/drcLightModeSet/{dockSn}")
+    @Operation(summary = "探照灯—模式设置")
+    @RequiresPermissions("bus:remote:drcLightModeSet")
+    public Result<Object> drcLightModeSet(@PathVariable String dockSn,
+                                          @Parameter(name = "mode", description = "模式{ 0: 关闭, 1: 常亮, 2: 爆闪, 3: 快速爆闪, 4: 交替爆闪 }")
+                                          @RequestParam Integer mode) {
+
+        return new Result<>().ok(remoteService.drcLightModeSet(dockSn, mode));
+    }
+
+    @LogOperation("探照灯—左右角度微调")
+    @PostMapping("/drcLightFineTuningSet/{dockSn}")
+    @Operation(summary = "探照灯—左右角度微调")
+    @RequiresPermissions("bus:remote:drcLightFineTuningSet")
+    public Result<Object> drcLightFineTuningSet(@PathVariable String dockSn, @RequestBody LightFineTuningSet lightFineTuningSet) {
+        ValidatorUtils.validateEntity(lightFineTuningSet);
+
+        return new Result<>().ok(remoteService.drcLightFineTuningSet(dockSn, lightFineTuningSet));
+    }
+
+    @LogOperation("探照灯—云台校准")
+    @PostMapping("/drcLightCalibration/{dockSn}")
+    @Operation(summary = "探照灯—云台校准")
+    @RequiresPermissions("bus:remote:drcLightCalibration")
+    public Result<Object> drcLightCalibration(@PathVariable String dockSn) {
+
+        return new Result<>().ok(remoteService.drcLightCalibration(dockSn));
+    }
+
+    @LogOperation("DRC初始状态订阅")
+    @PostMapping("/drcInitialState/{dockSn}")
+    @Operation(summary = "DRC初始状态订阅")
+    @RequiresPermissions("bus:remote:drcInitialState")
+    public Result<Object> drcInitialState(@PathVariable String dockSn) {
+
+        return new Result<>().ok(djiBaseService.executeDrcAndReturnResult(dockSn, "drc_initial_state_subscribe"));
+    }
+
+    @LogOperation("夜航灯设置")
+    @PostMapping("/drcNightLightsStateSet/{dockSn}")
+    @Operation(summary = "夜航灯设置")
+    @RequiresPermissions("bus:remote:drcNightLightsStateSet")
+    public Result<Object> drcNightLightsStateSet(@PathVariable String dockSn,
+                                                 @Parameter(name = "state", description = "状态 {0:关闭 1:开启}")
+                                                 @RequestParam Integer state) {
+
+        return new Result<>().ok(remoteService.drcLightModeSet(dockSn, state));
+    }
+
+    @LogOperation("飞行控制—隐蔽模式")
+    @PostMapping("/drcStealthStateSet/{dockSn}")
+    @Operation(summary = "飞行控制—隐蔽模式（关闭所有飞机灯光）", description = "设置飞机的隐蔽模式，用于关闭所有飞机灯光")
+    @RequiresPermissions("bus:remote:drcStealthStateSet")
+    public Result<Object> drcStealthStateSet(@PathVariable String dockSn,
+                                             @Parameter(name = "state", description = "隐蔽模式 {0:关闭 1:开启}")
+                                             @RequestParam Integer state) {
+
+        return new Result<>().ok(remoteService.drcStealthStateSet(dockSn, state));
+    }
+
+    @LogOperation("负载控制—相机光圈")
+    @PostMapping("/drcCameraApertureValueSet/{dockSn}")
+    @Operation(summary = "负载控制—相机光圈")
+    @RequiresPermissions("bus:remote:drcCameraApertureValueSet")
+    public Result<Object> drcCameraApertureValueSet(@PathVariable String dockSn,
+                                                    @Parameter(name = "value", description = "光圈值 {0:F_AUTO 50:F_AUTO ...}")
+                                                    @RequestParam Integer value) {
+
+        return new Result<>().ok(remoteService.drcCameraApertureValueSet(dockSn, value));
+    }
+
+    @LogOperation("负载控制—相机快门")
+    @PostMapping("/drcCameraShutterSet/{dockSn}")
+    @Operation(summary = "负载控制—相机快门")
+    @RequiresPermissions("bus:remote:drcCameraShutterSet")
+    public Result<Object> drcCameraShutterSet(@PathVariable String dockSn,
+                                              @Parameter(name = "value", description = "快门设置 {0:1/8000s 1:1/6400s ...}")
+                                              @RequestParam Integer value) {
+
+        return new Result<>().ok(remoteService.drcCameraShutterSet(dockSn, value));
+    }
+
+    @LogOperation("负载控制—ISO设置")
+    @PostMapping("/drcCameraIsoSet/{dockSn}")
+    @Operation(summary = "负载控制—ISO设置")
+    @RequiresPermissions("bus:remote:drcCameraIsoSet")
+    public Result<Object> drcCameraIsoSet(@PathVariable String dockSn,
+                                          @Parameter(name = "value", description = "ISO值 {0:ISO_AUTO 1:ISO_50 ...}")
+                                          @RequestParam Integer value) {
+
+        return new Result<>().ok(remoteService.drcCameraIsoSet(dockSn, value));
+    }
+
+    @LogOperation("负载控制—机械快门")
+    @PostMapping("/drcCameraMechanicalShutterSet/{dockSn}")
+    @Operation(summary = "负载控制—机械快门", description = "支持用户手动关闭机械快门，提高设备作业寿命，Matrice 3D广角模式下机械快门开关")
+    @RequiresPermissions("bus:remote:drcCameraMechanicalShutterSet")
+    public Result<Object> drcCameraMechanicalShutterSet(@PathVariable String dockSn,
+                                                        @Parameter(name = "state", description = "是否使能机械快门 {0:关闭 1:开启}")
+                                                        @RequestParam Integer state) {
+
+        return new Result<>().ok(remoteService.drcCameraMechanicalShutterSet(dockSn, state));
+    }
+
+    @LogOperation("负载控制—镜头去畸变")
+    @PostMapping("/drcCameraDewarpingSet/{dockSn}")
+    @Operation(summary = "负载控制—镜头去畸变", description = "能让用户的广角视角不再有暗角，Matrice 3D广角模式的镜头去畸变")
+    @RequiresPermissions("bus:remote:drcCameraDewarpingSet")
+    public Result<Object> drcCameraDewarpingSet(@PathVariable String dockSn,
+                                                @Parameter(name = "state", description = "是否使能去畸变 {0:关闭 1:开启}")
+                                                @RequestParam Integer state) {
+
+        return new Result<>().ok(remoteService.drcCameraDewarpingSet(dockSn, state));
+    }
+
+    @LogOperation("红外照片格式设置")
+    @PostMapping("/drcCameraPhotoFormatSet/{dockSn}")
+    @Operation(summary = "红外照片格式设置", description = "用于设置红外照片格式，需要直播镜头先切换为红外才可有效使用")
+    @RequiresPermissions("bus:remote:drcCameraPhotoFormatSet")
+    public Result<Object> drcCameraPhotoFormatSet(@PathVariable String dockSn,
+                                                  @Parameter(name = "format", description = "照片格式 {7:RJPEG 16:DLT664}")
+                                                  @RequestParam Integer format) {
+
+        return new Result<>().ok(remoteService.drcCameraPhotoFormatSet(dockSn, format));
+    }
+}

admin/src/main/java/com/multictrl/modules/business/controller/RemoteLogController.java

@@ -0,0 +1,106 @@
+package com.multictrl.modules.business.controller;
+
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.constant.Constant;
+import com.multictrl.common.exception.ErrorCode;
+import com.multictrl.common.page.PageData;
+import com.multictrl.common.utils.Result;
+import com.multictrl.common.validator.AssertUtils;
+import com.multictrl.common.validator.ValidatorUtils;
+import com.multictrl.modules.business.dto.RemoteLogDTO;
+import com.multictrl.modules.business.dto.remote.log.SyncRemoteLog;
+import com.multictrl.modules.business.dto.remote.log.RemoteLog;
+import com.multictrl.modules.business.service.RemoteLogService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.Parameters;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 远程日志
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/5/10
+ */
+@RestController
+@RequestMapping("business/remoteLog")
+@Tag(name = "远程日志")
+@ApiOrder(10)
+@RequiredArgsConstructor
+public class RemoteLogController {
+    private final RemoteLogService remoteLogService;
+
+    @LogOperation("远程日志列表")
+    @PostMapping("/getRemoteLogList/{dockSn}")
+    @Operation(summary = "远程日志列表")
+    @RequiresPermissions("bus:remoteLog:list")
+    public Result<List<RemoteLog>> getRemoteLogList(@PathVariable String dockSn,
+                                                    @Parameter(description = "设备类型 0-飞行器 3-机场")
+                                                    @RequestParam String module) {
+        if (!module.equals("0") && !module.equals("3")) {
+            return new Result<List<RemoteLog>>().error(ErrorCode.PARAMS_ERROR);
+        }
+
+        return new Result<List<RemoteLog>>().ok(remoteLogService.getRemoteLogList(dockSn, module));
+    }
+
+    @LogOperation("同步远程日志")
+    @PostMapping("/syncRemoteLog/{dockSn}")
+    @Operation(summary = "同步远程日志",
+            description = "同步机库或飞机日志到minio,这一步如果成功会立马返回，机库会自动将文件上传到minio，可以通过fileupload_progress监听上传进度")
+    @RequiresPermissions("bus:remoteLog:sync")
+    public Result<Object> syncRemoteLog(@PathVariable String dockSn,
+                                        @RequestBody SyncRemoteLog remoteLog) {
+        ValidatorUtils.validateEntity(remoteLog);
+
+        return new Result<>().ok(remoteLogService.syncRemoteLog(dockSn, remoteLog));
+    }
+
+    @LogOperation("取消日志同步")
+    @PostMapping("/cancelSyncRemoteLog/{dockSn}")
+    @Operation(summary = "取消日志同步", description = "当前日志上传启动后，暂时不支持上传任务暂停、暂停后恢复、上传任务拒绝")
+    @RequiresPermissions("bus:remoteLog:cancelSync")
+    public Result<Object> cancelSyncRemoteLog(@PathVariable String dockSn,
+                                              @Parameter(description = "设备类型 0-飞行器 3-机场")
+                                              @RequestParam String module) {
+        if (!module.equals("0") && !module.equals("3")) {
+            return new Result<>().error(ErrorCode.PARAMS_ERROR);
+        }
+
+        return new Result<>().ok(remoteLogService.cancelSyncRemoteLog(dockSn, module));
+    }
+
+    @GetMapping("page")
+    @Operation(summary = "日志列表查询")
+    @Parameters({
+            @Parameter(name = Constant.PAGE, description = "当前页码，从1开始"),
+            @Parameter(name = Constant.LIMIT, description = "每页显示记录数"),
+            @Parameter(name = "dockSn", description = "机场SN"),
+            @Parameter(name = "module", description = "设备类型 0飞机 3机场")
+    })
+    @RequiresPermissions("bus:remoteLog:page")
+    public Result<PageData<RemoteLogDTO>> page(@Parameter(hidden = true) @RequestParam Map<String, Object> params) {
+        PageData<RemoteLogDTO> page = remoteLogService.queryPage(params);
+
+        return new Result<PageData<RemoteLogDTO>>().ok(page);
+    }
+
+    @DeleteMapping
+    @Operation(summary = "删除日志")
+    @LogOperation("删除日志")
+    @RequiresPermissions("bus:remoteLog:delete")
+    public Result<Object> delete(@RequestBody Long[] ids) {
+        //效验数据
+        AssertUtils.isArrayEmpty(ids, "id");
+        remoteLogService.delete(ids);
+
+        return new Result<>();
+    }
+}

admin/src/main/java/com/multictrl/modules/business/controller/RouteController.java

@@ -0,0 +1,159 @@
+package com.multictrl.modules.business.controller;
+
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.constant.Constant;
+import com.multictrl.common.page.PageData;
+import com.multictrl.common.utils.Result;
+import com.multictrl.common.validator.AssertUtils;
+import com.multictrl.common.validator.ValidatorUtils;
+import com.multictrl.common.validator.group.AddGroup;
+import com.multictrl.common.validator.group.UpdateGroup;
+import com.multictrl.modules.business.dto.RouteAiDTO;
+import com.multictrl.modules.business.dto.RouteDTO;
+import com.multictrl.modules.business.dto.RouteEstimateTimeDTO;
+import com.multictrl.modules.business.dto.UploadRouteDTO;
+import com.multictrl.modules.business.service.RouteService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.media.Schema;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.Parameters;
+
+import java.util.Map;
+
+/**
+ * 航线信息表
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-04-20
+ */
+@RestController
+@RequestMapping("business/route")
+@Tag(name = "航线管理")
+@ApiOrder(2)
+@RequiredArgsConstructor
+public class RouteController {
+
+    private final RouteService routeService;
+
+    @GetMapping("page")
+    @Operation(summary = "分页")
+    @Parameters({
+            @Parameter(name = Constant.PAGE, description = "当前页码，从1开始"),
+            @Parameter(name = Constant.LIMIT, description = "每页显示记录数"),
+            @Parameter(name = "routeName", description = "航线名称"),
+            @Parameter(name = "dockSn", description = "机库SN码")
+    })
+    @RequiresPermissions("bus:route:page")
+    public Result<PageData<RouteDTO>> page(@Parameter(hidden = true) @RequestParam Map<String, Object> params) {
+        PageData<RouteDTO> page = routeService.pageList(params);
+
+        return new Result<PageData<RouteDTO>>().ok(page);
+    }
+
+    @GetMapping("{id}")
+    @Operation(summary = "信息")
+    @RequiresPermissions("bus:route:info")
+    public Result<RouteDTO> get(@PathVariable("id") Long id) {
+        RouteDTO data = routeService.getRoute(id);
+
+        return new Result<RouteDTO>().ok(data);
+    }
+
+    @PostMapping
+    @Operation(summary = "保存")
+    @LogOperation("保存")
+    @RequiresPermissions("bus:route:save")
+    public Result<Object> save(@RequestBody RouteDTO dto) {
+        //效验数据
+        ValidatorUtils.validateEntity(dto, AddGroup.class);
+        routeService.saveRoute(dto);
+
+        return new Result<>();
+    }
+
+    @PutMapping
+    @Operation(summary = "修改")
+    @LogOperation("修改")
+    @RequiresPermissions("bus:route:update")
+    public Result<Object> update(@RequestBody RouteDTO dto) {
+        //效验数据
+        ValidatorUtils.validateEntity(dto, UpdateGroup.class);
+        routeService.updateRoute(dto);
+
+        return new Result<>();
+    }
+
+    @DeleteMapping
+    @Operation(summary = "删除")
+    @LogOperation("删除")
+    @RequiresPermissions("bus:route:delete")
+    public Result<Object> delete(@RequestBody Long[] ids) {
+        //效验数据
+        AssertUtils.isArrayEmpty(ids, "id");
+        routeService.delete(ids);
+
+        return new Result<>();
+    }
+
+    @PostMapping("/setRouteAi")
+    @Operation(summary = "设置航线AI任务")
+    @LogOperation("设置航线AI任务")
+    @RequiresPermissions("bus:route:setAi")
+    public Result<Object> setRouteAi(@RequestBody RouteAiDTO dto) {
+        routeService.setRouteAi(dto);
+
+        return new Result<>();
+    }
+
+    @DeleteMapping("/deleteRouteAi")
+    @Operation(summary = "删除航线AI任务")
+    @LogOperation("删除航线AI任务")
+    @RequiresPermissions("bus:route:deleteAi")
+    public Result<Object> deleteRouteAi(@RequestParam Long routeId) {
+        routeService.deleteRouteAi(routeId);
+
+        return new Result<>();
+    }
+
+    @PostMapping("/upload")
+    @Operation(summary = "导入航线")
+    @LogOperation("导入航线")
+    @Parameters({
+            @Parameter(name = "dockSn", description = "机库SN"),
+            @Parameter(name = "accurateImport", description = "是否精准导入"),
+            @Parameter(name = "globalRthHeight", description = "返航高度"),
+            @Parameter(name = "file", description = "航线文件",
+                    schema = @Schema(type = "string", format = "binary"))
+    })
+    @RequiresPermissions("bus:route:upload")
+    public Result<Object> upload(@Parameter(hidden = true) UploadRouteDTO dto) {
+        ValidatorUtils.validateEntity(dto);
+        routeService.upload(dto);
+
+        return new Result<>();
+    }
+
+    @PostMapping("/getWaypointEstimateTime")
+    @Operation(summary = "航点航线预计飞行时间")
+    public Result<String> getWaypointEstimateTime(@RequestBody RouteEstimateTimeDTO dto) {
+        ValidatorUtils.validateEntity(dto);
+        String estimateTime = routeService.getWaypointEstimateTime(dto);
+
+        return new Result<String>().ok(estimateTime);
+    }
+
+    @PutMapping("/updateGlobalRthHeight")
+    @Operation(summary = "修改返航高度")
+    @LogOperation("修改返航高度")
+    public Result<Object> updateGlobalRthHeight(@RequestParam Long routeId,
+                                                @RequestParam Integer globalRthHeight) {
+        routeService.updateGlobalRthHeight(routeId, globalRthHeight);
+
+        return new Result<>();
+    }
+}

admin/src/main/java/com/multictrl/modules/business/controller/RouteFlightController.java

@@ -0,0 +1,136 @@
+package com.multictrl.modules.business.controller;
+
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.constant.FlightTaskType;
+import com.multictrl.common.exception.ErrorCode;
+import com.multictrl.common.utils.Result;
+import com.multictrl.modules.business.dto.flight.FlightExecute;
+import com.multictrl.modules.business.service.DJIBaseService;
+import com.multictrl.modules.business.service.RouteFlightService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+/**
+ * 航线飞行管理
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/4/27
+ */
+@RestController
+@RequestMapping("business/command")
+@Tag(name = "航线飞行", description = """
+        航线管理是无人机自主作业的重要功能，
+        可以实现行业领域的批量化、智能化作业。
+        上云 API 提供了相关的接口，实现了航线任务在云端的共享查看、下发执行、取消以及进度上报等功能。
+        用户需要遵照航线文件格式规范（WPML）编写航线文件，定义航线任务。一个航线任务中可以定义多条航线。""")
+@ApiOrder(5)
+@RequiredArgsConstructor
+public class RouteFlightController {
+
+    private final DJIBaseService djiBaseService;
+    private final RouteFlightService routeFlightService;
+
+    @LogOperation("一键返航")
+    @PostMapping("/returnHome/{dockSn}")
+    @Operation(summary = "一键返航")
+    @RequiresPermissions("bus:route:flight:returnHome")
+    public Result<Object> returnHome(@PathVariable String dockSn) {
+
+        return new Result<>().ok(djiBaseService.executeAndReturnResult(dockSn, "return_home"));
+    }
+
+    @LogOperation("取消返航")
+    @PostMapping("/returnHomeCancel/{dockSn}")
+    @Operation(summary = "取消返航", description = "返航后，飞行器会退出航线模式，此时取消返航，飞行器会悬停")
+    @RequiresPermissions("bus:route:flight:returnHomeCancel")
+    public Result<Object> returnHomeCancel(@PathVariable String dockSn) {
+
+        return new Result<>().ok(djiBaseService.executeAndReturnResult(dockSn, "return_home_cancel"));
+    }
+
+    @LogOperation("航线恢复")
+    @PostMapping("/flightTaskRecovery/{dockSn}")
+    @Operation(summary = "航线恢复")
+    @RequiresPermissions("bus:route:flight:flightTaskRecovery")
+    public Result<Object> flightTaskRecovery(@PathVariable String dockSn) {
+
+        return new Result<>().ok(djiBaseService.executeAndReturnResult(dockSn, "flighttask_recovery"));
+    }
+
+    @LogOperation("航线暂停")
+    @PostMapping("/flightTaskPause/{dockSn}")
+    @Operation(summary = "航线暂停")
+    @RequiresPermissions("bus:route:flight:flightTaskPause")
+    public Result<Object> flightTaskPause(@PathVariable String dockSn) {
+
+        return new Result<>().ok(djiBaseService.executeAndReturnResult(dockSn, "flighttask_pause"));
+    }
+
+    @LogOperation("取消任务")
+    @PostMapping("/flightTaskUndo/{dockSn}")
+    @Operation(summary = "取消任务")
+    @RequiresPermissions("bus:route:flight:flightTaskUndo")
+    public Result<Object> flightTaskUndo(@PathVariable String dockSn,
+                                         @RequestBody List<String> taskIds) {
+        if (taskIds.isEmpty()) {
+            return new Result<>().error(ErrorCode.PARAMS_ERROR);
+        }
+
+        return new Result<>().ok(routeFlightService.flightTaskUndo(dockSn, taskIds));
+    }
+
+    @LogOperation("执行航线")
+    @PostMapping("/flightExecute/{dockSn}")
+    @Operation(summary = "执行航线")
+    @RequiresPermissions("bus:route:flight:flightExecute")
+    public Result<Object> flightExecute(@PathVariable String dockSn,
+                                        @RequestBody FlightExecute flightExecute) {
+
+        return new Result<>().ok(routeFlightService.flightExecute(dockSn, flightExecute, true, FlightTaskType.ROUTE.getCode()));
+    }
+
+    @LogOperation("空中下发航线")
+    @PostMapping("/inFlightWaylineDeliver/{dockSn}")
+    @Operation(summary = "空中下发航线")
+    @RequiresPermissions("bus:route:flight:inFlightWaylineDeliver")
+    public Result<Object> inFlightWaylineDeliver(@PathVariable String dockSn,
+                                                 @Parameter(name = "routeId", description = "航线标识")
+                                                 @RequestParam Long routeId) {
+
+        return new Result<>().ok(routeFlightService.inFlightWaylineDeliver(dockSn, routeId));
+    }
+
+    @LogOperation("暂停空中航线")
+    @PostMapping("/inFlightWaylineStop/{dockSn}")
+    @Operation(summary = "暂停空中航线")
+    @RequiresPermissions("bus:route:flight:inFlightWaylineStop")
+    public Result<Object> inFlightWaylineStop(@PathVariable String dockSn) {
+
+        return new Result<>().ok(routeFlightService.inFlightWaylineStop(dockSn));
+    }
+
+    @LogOperation("恢复空中航线")
+    @PostMapping("/inFlightWaylineRecover/{dockSn}")
+    @Operation(summary = "恢复空中航线")
+    @RequiresPermissions("bus:route:flight:inFlightWaylineRecover")
+    public Result<Object> inFlightWaylineRecover(@PathVariable String dockSn) {
+
+        return new Result<>().ok(routeFlightService.inFlightWaylineRecover(dockSn));
+    }
+
+    @LogOperation("取消空中航线")
+    @PostMapping("/inFlightWaylineCancel/{dockSn}")
+    @Operation(summary = "取消空中航线")
+    @RequiresPermissions("bus:route:flight:inFlightWaylineCancel")
+    public Result<Object> inFlightWaylineCancel(@PathVariable String dockSn) {
+
+        return new Result<>().ok(djiBaseService.executeAndReturnResult(dockSn, "in_flight_wayline_cancel"));
+    }
+}

admin/src/main/java/com/multictrl/modules/business/controller/SpeakerController.java

@@ -0,0 +1,144 @@
+package com.multictrl.modules.business.controller;
+
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.constant.Constant;
+import com.multictrl.common.page.PageData;
+import com.multictrl.common.utils.Result;
+import com.multictrl.common.validator.ValidatorUtils;
+import com.multictrl.modules.business.dto.SpeakerDTO;
+import com.multictrl.modules.business.dto.speaker.SpeakerSet;
+import com.multictrl.modules.business.dto.speaker.TtsText;
+import com.multictrl.modules.business.service.SpeakerService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.Parameters;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.Map;
+
+/**
+ * 喊话器控制 大疆官方AS1喊话器
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/5/6
+ */
+@RestController
+@RequestMapping("business/speaker")
+@Tag(name = "喊话器控制")
+@ApiOrder(8)
+@RequiredArgsConstructor
+public class SpeakerController {
+    private final SpeakerService speakerService;
+
+    @GetMapping("page")
+    @Operation(summary = "分页")
+    @Parameters({
+            @Parameter(name = Constant.PAGE, description = "当前页码，从1开始"),
+            @Parameter(name = Constant.LIMIT, description = "每页显示记录数"),
+            @Parameter(name = "type", description = "类型 1:文本 2:音频"),
+            @Parameter(name = "dockSn", description = "机库SN码")
+    })
+    @RequiresPermissions("bus:speaker:page")
+    public Result<PageData<SpeakerDTO>> page(@Parameter(hidden = true) @RequestParam Map<String, Object> params) {
+        PageData<SpeakerDTO> page = speakerService.page(params);
+
+        return new Result<PageData<SpeakerDTO>>().ok(page);
+    }
+
+    @LogOperation("添加喊话模版")
+    @PostMapping("/addTemplate")
+    @Operation(summary = "添加喊话模版")
+    @RequiresPermissions("bus:speaker:addTemplate")
+    public Result<Object> addTemplate(@RequestBody SpeakerDTO speaker) {
+        ValidatorUtils.validateEntity(speaker);
+        speakerService.addTemplate(speaker);
+
+        return new Result<>();
+    }
+
+    @LogOperation("删除模版")
+    @DeleteMapping("/deleteTemplate")
+    @Operation(summary = "删除模版")
+    @RequiresPermissions("bus:speaker:deleteTemplate")
+    public Result<Object> deleteTemplate(@Parameter(name = "id", description = "模版编号")
+                                         @RequestParam Long id) {
+        speakerService.deleteTemplate(id);
+
+        return new Result<>();
+    }
+
+    @LogOperation("设置音量")
+    @PostMapping("/drcSetVolume/{dockSn}")
+    @Operation(summary = "设置音量")
+    @RequiresPermissions("bus:speaker:drcSetVolume")
+    public Result<Object> drcSetVolume(@PathVariable String dockSn,
+                                       @Parameter(name = "volume", description = "音量 0-100")
+                                       @RequestParam Integer volume) {
+
+        return new Result<>().ok(speakerService.drcSetVolume(dockSn, volume));
+    }
+
+    @LogOperation("模式设置")
+    @PostMapping("/drcSetMode/{dockSn}")
+    @Operation(summary = "模式设置")
+    @RequiresPermissions("bus:speaker:drcSetMode")
+    public Result<Object> drcSetMode(@PathVariable String dockSn,
+                                     @Parameter(name = "mode", description = "模式 0：单次播放 1：循环播放（单曲）")
+                                     @RequestParam Integer mode) {
+
+        return new Result<>().ok(speakerService.drcSetMode(dockSn, mode));
+    }
+
+    @LogOperation("喊话设置")
+    @PostMapping("/drcSetTts/{dockSn}")
+    @Operation(summary = "喊话设置")
+    @RequiresPermissions("bus:speaker:drcSetTts")
+    public Result<Object> drcSetTts(@PathVariable String dockSn, @RequestBody SpeakerSet ttsSpeaker) {
+        ValidatorUtils.validateEntity(ttsSpeaker);
+
+        return new Result<>().ok(speakerService.drcSetTts(dockSn, ttsSpeaker));
+    }
+
+    @LogOperation("停止播放")
+    @PostMapping("/drcStopSpeaker/{dockSn}")
+    @Operation(summary = "停止播放")
+    @RequiresPermissions("bus:speaker:drcStopSpeaker")
+    public Result<Object> drcStopSpeaker(@PathVariable String dockSn) {
+
+        return new Result<>().ok(speakerService.drcStopSpeaker(dockSn));
+    }
+
+    @LogOperation("重新播放")
+    @PostMapping("/drcReplaySpeaker/{dockSn}")
+    @Operation(summary = "重新播放")
+    @RequiresPermissions("bus:speaker:drcReplaySpeaker")
+    public Result<Object> drcReplaySpeaker(@PathVariable String dockSn) {
+
+        return new Result<>().ok(speakerService.drcReplaySpeaker(dockSn));
+    }
+
+    @LogOperation("播放TTS文本")
+    @PostMapping("/drcStartSpeakerTts/{dockSn}")
+    @Operation(summary = "播放TTS文本")
+    @RequiresPermissions("bus:speaker:drcStartSpeakerTts")
+    public Result<Object> drcStartSpeakerTts(@PathVariable String dockSn, @RequestBody TtsText ttsText) {
+        ValidatorUtils.validateEntity(ttsText);
+
+        return new Result<>().ok(speakerService.drcStartSpeakerTts(dockSn, ttsText));
+    }
+
+    @LogOperation("播放模板文本")
+    @PostMapping("/drcStartSpeakerTemplate/{dockSn}")
+    @Operation(summary = "播放模板文本")
+    @RequiresPermissions("bus:speaker:drcStartSpeakerTemplate")
+    public Result<Object> drcStartSpeakerTemplate(@PathVariable String dockSn,
+                                                  @Parameter(name = "id", description = "模版编号")
+                                                  @RequestParam Long id) {
+
+        return new Result<>().ok(speakerService.drcStartSpeakerTemplate(dockSn, id));
+    }
+}

admin/src/main/java/com/multictrl/modules/business/controller/SrsController.java

@@ -0,0 +1,124 @@
+package com.multictrl.modules.business.controller;
+
+import cn.hutool.json.JSONArray;
+import com.multictrl.common.utils.Result;
+import com.multictrl.modules.business.dto.SrsCallBackDTO;
+import com.multictrl.modules.business.service.SrsService;
+import io.swagger.v3.oas.annotations.Hidden;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.Map;
+
+/**
+ * SRS直播流管理
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-05-07
+ */
+@Slf4j
+@Hidden
+@RestController
+@RequestMapping("/srs")
+@Tag(name = "SRS直播流管理")
+@RequiredArgsConstructor
+public class SrsController {
+    private final SrsService srsService;
+
+    @PostMapping("/streamsBySn/{dockSn}")
+    @Operation(summary = "根据sn号查询流列表（查所有数据时sn传all）")
+    public Result<JSONArray> streamsBySn(@PathVariable String dockSn) {
+
+        return new Result<JSONArray>().ok(srsService.streamsBySn(dockSn));
+    }
+
+    @Operation(hidden = true)
+    @PostMapping("/on_connect")
+    public String onConnect(@RequestBody SrsCallBackDTO srsCallBack) {
+//        log.info("on_connect  {}", srsCallBack);
+        return "0";
+    }
+
+    @Operation(hidden = true)
+    @PostMapping("/on_close")
+    public String onClose(@RequestBody SrsCallBackDTO srsCallBack) {
+//        log.info("on_close  {}", srsCallBack);
+        return "0";
+    }
+
+
+    @Operation(hidden = true)
+    @PostMapping("/on_publish")
+    public String onPublish(@RequestBody SrsCallBackDTO srsCallBack) {
+//        log.info("on_publish  {}", srsCallBack);
+        if (srsService.checkToken(srsCallBack)) {
+            return "0";
+        }
+        return "-1";
+    }
+
+
+    @Operation(hidden = true)
+    @PostMapping("/on_unpublish")
+    public String onUnpublish(@RequestBody SrsCallBackDTO srsCallBack) {
+//        log.info("on_unpublish  {}", srsCallBack);
+        return "0";
+    }
+
+
+    @Operation(hidden = true)
+    @PostMapping("/on_play")
+    public String onPlay(@RequestBody SrsCallBackDTO srsCallBack) {
+//        log.debug("on_play  {}", srsCallBack);
+        return "0";
+    }
+
+    @Operation(hidden = true)
+    @PostMapping("/on_stop")
+    public String onStop(@RequestBody SrsCallBackDTO srsCallBack) {
+//        log.debug("on_stop  {}", srsCallBack);
+        return "0";
+    }
+
+    @Operation(hidden = true)
+    @PostMapping("/on_dvr")
+    public String onDvr(@RequestBody SrsCallBackDTO srsCallBack) {
+//        log.info("on_dvr  {}", srsCallBack);
+        srsService.saveSrsRecord(srsCallBack);
+        return "0";
+    }
+
+    public static void main(String[] args) {
+        String file = "/live_record/zc/aaaaa/2025-04-03_16-33-43-404.mp4";
+        String dateTime = (file = file.substring(file.lastIndexOf("/") + 1))
+                .substring(0, file.indexOf("."));
+        dateTime = dateTime.split("_")[0] + " " + dateTime.split("_")[1]
+                .replaceAll("-", ":");
+        System.out.println(dateTime);
+    }
+
+    @Operation(hidden = true)
+    @PostMapping("/on_hls")
+    public String onHls(@RequestBody SrsCallBackDTO srsCallBack) {
+//        log.debug("on_hls  {}", srsCallBack);
+
+        return "0";
+    }
+
+    /*@Operation(hidden = true)
+    @PostMapping("/on_hls_notify")
+    public String onHlsNotify(@RequestBody SrsCallBackDTO srsCallBack) {
+        log.debug("on_hls_notify  {}", srsCallBack);
+        return "0";
+    }*/
+
+    @Operation(hidden = true)
+    @RequestMapping(value = "/on_hls_notify", method = {RequestMethod.GET, RequestMethod.POST})
+    public String onHlsNotify(@RequestParam Map<String, String> allParams) {
+//        log.debug("on_hls_notify: {}", allParams);
+        return "0";
+    }
+}

admin/src/main/java/com/multictrl/modules/business/controller/WeatherNoflyController.java

@@ -0,0 +1,78 @@
+package com.multictrl.modules.business.controller;
+
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.utils.Result;
+import com.multictrl.common.validator.AssertUtils;
+import com.multictrl.common.validator.ValidatorUtils;
+import com.multictrl.common.validator.group.AddGroup;
+import com.multictrl.common.validator.group.DefaultGroup;
+import com.multictrl.common.validator.group.UpdateGroup;
+import com.multictrl.modules.business.dto.WeatherNoflyDTO;
+import com.multictrl.modules.business.service.WeatherNoflyService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.web.bind.annotation.*;
+
+/**
+ * 天气阻飞
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-06-15
+ */
+@RestController
+@RequestMapping("business/weathernofly")
+@Tag(name = "天气阻飞")
+@ApiOrder(24)
+@RequiredArgsConstructor
+public class WeatherNoflyController {
+    private final WeatherNoflyService weatherNoflyService;
+
+    @GetMapping("{dockSn}")
+    @Operation(summary = "信息")
+    @RequiresPermissions("bus:weathernofly:info")
+    public Result<WeatherNoflyDTO> get(@PathVariable String dockSn) {
+        WeatherNoflyDTO data = weatherNoflyService.getInfoByDockSn(dockSn);
+
+        return new Result<WeatherNoflyDTO>().ok(data);
+    }
+
+    @PostMapping
+    @Operation(summary = "保存")
+    @LogOperation("保存")
+    @RequiresPermissions("bus:weathernofly:save")
+    public Result<Object> save(@RequestBody WeatherNoflyDTO dto) {
+        //效验数据
+        ValidatorUtils.validateEntity(dto, AddGroup.class);
+        weatherNoflyService.addWeatherNofly(dto);
+
+        return new Result<>();
+    }
+
+    @PutMapping
+    @Operation(summary = "修改")
+    @LogOperation("修改")
+    @RequiresPermissions("bus:weathernofly:update")
+    public Result<Object> update(@RequestBody WeatherNoflyDTO dto) {
+        //效验数据
+        ValidatorUtils.validateEntity(dto, UpdateGroup.class);
+        weatherNoflyService.update(dto);
+
+        return new Result<>();
+    }
+
+    @DeleteMapping
+    @Operation(summary = "删除")
+    @LogOperation("删除")
+    @RequiresPermissions("bus:weathernofly:delete")
+    public Result<Object> delete(@RequestBody Long[] ids) {
+        //效验数据
+        AssertUtils.isArrayEmpty(ids, "id");
+        weatherNoflyService.delete(ids);
+
+        return new Result<>();
+    }
+
+}

admin/src/main/java/com/multictrl/modules/business/controller/ZhiMouController.java

@@ -0,0 +1,121 @@
+package com.multictrl.modules.business.controller;
+
+import com.alibaba.fastjson2.JSONArray;
+import com.alibaba.fastjson2.JSONObject;
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.utils.Result;
+import com.multictrl.common.validator.ValidatorUtils;
+import com.multictrl.modules.business.dto.zhimou.DownloadReport;
+import com.multictrl.modules.business.dto.zhimou.Osd;
+import com.multictrl.modules.business.dto.zhimou.ZhiMouAiStart;
+import com.multictrl.modules.business.service.ZhiMouService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import jakarta.servlet.http.HttpServletResponse;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.http.HttpHeaders;
+import org.springframework.http.MediaType;
+import org.springframework.http.ResponseEntity;
+import org.springframework.web.bind.annotation.*;
+
+import java.net.URLEncoder;
+import java.nio.charset.StandardCharsets;
+
+/**
+ * 智眸AI接口封装
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/6/9
+ */
+@RestController
+@RequestMapping("business/zhiMou")
+@Tag(name = "智眸AI接口")
+@ApiOrder(23)
+@RequiredArgsConstructor
+public class ZhiMouController {
+    private final ZhiMouService zhiMouService;
+
+    @Operation(summary = "获取应用列表")
+    @GetMapping("/getApp")
+    @RequiresPermissions("bus:zhimou:get")
+    public Result<Object> getApp() {
+        JSONObject data = zhiMouService.getApp();
+        return zhiMouService.resultHandle(data);
+    }
+
+    @Operation(summary = "开始AI检测任务")
+    @LogOperation("开始AI检测任务")
+    @PostMapping("/startByWeb")
+    @RequiresPermissions("bus:zhimou:start")
+    public Result<Object> startByWeb(@RequestBody ZhiMouAiStart zhiMouAiStart) {
+        ValidatorUtils.validateEntity(zhiMouAiStart);
+        JSONObject data = zhiMouService.startByWeb(zhiMouAiStart);
+        return zhiMouService.resultHandle(data);
+    }
+
+    @Operation(summary = "停止AI检测任务")
+    @LogOperation("停止AI检测任务")
+    @PostMapping("/stopByWeb")
+    @RequiresPermissions("bus:zhimou:stop")
+    public Result<Object> stopByWeb(@RequestParam String dockSn) {
+        JSONObject data = zhiMouService.stopByWeb(dockSn);
+        return zhiMouService.resultHandle(data);
+    }
+
+    @Operation(summary = "获取AI检测任务")
+    @GetMapping("/getRunningTaskByWeb")
+    public Result<Object> getRunningTaskByWeb(@RequestParam String dockSn) {
+        JSONObject data = zhiMouService.getRunningTaskByWeb(dockSn);
+        return new Result<>().ok(data);
+    }
+
+    @Operation(summary = "配置AI检测任务")
+    @LogOperation("配置AI检测任务")
+    @PostMapping("/configurationByWeb")
+    @RequiresPermissions("bus:zhimou:config")
+    public Result<Object> configurationByWeb(@RequestBody Osd osd) {
+        JSONObject data = zhiMouService.configurationByWeb(osd);
+        return zhiMouService.resultHandle(data);
+    }
+
+    @Operation(summary = "获取实时检测结果")
+    @GetMapping("/currentTaskMessageRecord")
+    public Result<Object> currentTaskMessageRecord(@RequestParam String dockSn) {
+        JSONObject data = zhiMouService.currentTaskMessageRecord(dockSn);
+        return zhiMouService.resultHandle(data);
+    }
+
+    @Operation(summary = "获取飞行任务检测结果")
+    @GetMapping("/getTaskMessageRecord")
+    @RequiresPermissions("bus:zhiMou:image")
+    public Result<Object> getTaskMessageRecordList(@RequestParam String taskId) {
+        JSONArray data = zhiMouService.getTaskMessageRecordList(taskId);
+        return new Result<>().ok(data);
+    }
+
+    @Operation(summary = "下载AI检测报告")
+    @PostMapping("/downloadReport")
+    @RequiresPermissions("bus:zhiMou:downloadReport")
+    public ResponseEntity<byte[]> getReportByBusinessId(@RequestBody DownloadReport downloadReport) {
+        ValidatorUtils.validateEntity(downloadReport);
+        byte[] reportBytes = zhiMouService.downloadReport(downloadReport);
+
+        String fileName = "AI报告_" + downloadReport.getTaskId() + ".zip";
+        String encodedFileName = URLEncoder.encode(fileName, StandardCharsets.UTF_8);
+        return ResponseEntity.ok()
+                .contentType(MediaType.APPLICATION_OCTET_STREAM)
+                .header(HttpHeaders.CONTENT_DISPOSITION, "attachment; filename=" + encodedFileName)
+                .body(reportBytes);
+    }
+
+    @Operation(summary = "是否有AI服务")
+    @GetMapping("/hasAiServer")
+    @RequiresPermissions("bus:zhiMou:hasAiServer")
+    public Result<Object> hasAiServer() {
+        boolean result = zhiMouService.hasAiService();
+
+        return new Result<>().ok(result);
+    }
+}

admin/src/main/java/com/multictrl/modules/business/dao/AiWarningDao.java

@@ -0,0 +1,16 @@
+package com.multictrl.modules.business.dao;
+
+import com.multictrl.common.dao.BaseDao;
+import com.multictrl.modules.business.entity.AiWarningEntity;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * AI识别预警
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-06-18
+ */
+@Mapper
+public interface AiWarningDao extends BaseDao<AiWarningEntity> {
+
+}

admin/src/main/java/com/multictrl/modules/business/dao/CacheDao.java

@@ -0,0 +1,16 @@
+package com.multictrl.modules.business.dao;
+
+import com.multictrl.common.dao.BaseDao;
+import com.multictrl.modules.business.entity.CacheEntity;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 数据缓存表
+ *
+ * @author Sdy 
+ * @since 1.0.0 2026-04-27
+ */
+@Mapper
+public interface CacheDao extends BaseDao<CacheEntity> {
+	
+}

admin/src/main/java/com/multictrl/modules/business/dao/DeviceDicDao.java

@@ -0,0 +1,16 @@
+package com.multictrl.modules.business.dao;
+
+import com.multictrl.common.dao.BaseDao;
+import com.multictrl.modules.business.entity.DeviceDicEntity;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 设备字典
+ *
+ * @author Sdy 
+ * @since 1.0.0 2026-05-11
+ */
+@Mapper
+public interface DeviceDicDao extends BaseDao<DeviceDicEntity> {
+	
+}

admin/src/main/java/com/multictrl/modules/business/dao/DockDao.java

@@ -0,0 +1,16 @@
+package com.multictrl.modules.business.dao;
+
+import com.multictrl.common.dao.BaseDao;
+import com.multictrl.modules.business.entity.DockEntity;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 机库信息表
+ *
+ * @author Sdy 
+ * @since 1.0.0 2026-04-17
+ */
+@Mapper
+public interface DockDao extends BaseDao<DockEntity> {
+	
+}

admin/src/main/java/com/multictrl/modules/business/dao/DockDeviceDao.java

@@ -0,0 +1,16 @@
+package com.multictrl.modules.business.dao;
+
+import com.multictrl.common.dao.BaseDao;
+import com.multictrl.modules.business.entity.DockDeviceEntity;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 机场设备信息
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-04-23
+ */
+@Mapper
+public interface DockDeviceDao extends BaseDao<DockDeviceEntity> {
+
+}

admin/src/main/java/com/multictrl/modules/business/dao/FirmwareDao.java

@@ -0,0 +1,16 @@
+package com.multictrl.modules.business.dao;
+
+import com.multictrl.common.dao.BaseDao;
+import com.multictrl.modules.business.entity.FirmwareEntity;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 固件表
+ *
+ * @author Sdy 
+ * @since 1.0.0 2026-05-11
+ */
+@Mapper
+public interface FirmwareDao extends BaseDao<FirmwareEntity> {
+	
+}

admin/src/main/java/com/multictrl/modules/business/dao/FlightTaskDao.java

@@ -0,0 +1,21 @@
+package com.multictrl.modules.business.dao;
+
+import com.multictrl.common.dao.BaseDao;
+import com.multictrl.modules.business.entity.FlightTaskEntity;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 飞行架次
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-05-02
+ */
+@Mapper
+public interface FlightTaskDao extends BaseDao<FlightTaskEntity> {
+
+    //获取最新的任务
+    FlightTaskEntity getLatestRouteTask(String dockSn);
+
+    //获取当前任务的上一条任务
+    FlightTaskEntity getPreviousTask(String taskId, String dockSn);
+}

admin/src/main/java/com/multictrl/modules/business/dao/GeoMarkDao.java

@@ -0,0 +1,16 @@
+package com.multictrl.modules.business.dao;
+
+import com.multictrl.common.dao.BaseDao;
+import com.multictrl.modules.business.entity.GeoMarkEntity;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 地图标注
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-05-25
+ */
+@Mapper
+public interface GeoMarkDao extends BaseDao<GeoMarkEntity> {
+
+}

admin/src/main/java/com/multictrl/modules/business/dao/GeoPhotoDao.java

@@ -0,0 +1,16 @@
+package com.multictrl.modules.business.dao;
+
+import com.multictrl.common.dao.BaseDao;
+import com.multictrl.modules.business.entity.GeoPhotoEntity;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 地理照片模型
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-06-05
+ */
+@Mapper
+public interface GeoPhotoDao extends BaseDao<GeoPhotoEntity> {
+
+}

admin/src/main/java/com/multictrl/modules/business/dao/HmsDao.java

@@ -0,0 +1,16 @@
+package com.multictrl.modules.business.dao;
+
+import com.multictrl.common.dao.BaseDao;
+import com.multictrl.modules.business.entity.HmsEntity;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 健康告警
+ *
+ * @author Sdy 
+ * @since 1.0.0 2026-05-10
+ */
+@Mapper
+public interface HmsDao extends BaseDao<HmsEntity> {
+	
+}

admin/src/main/java/com/multictrl/modules/business/dao/MaintenanceDao.java

@@ -0,0 +1,21 @@
+package com.multictrl.modules.business.dao;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.metadata.IPage;
+import com.multictrl.common.dao.BaseDao;
+import com.multictrl.modules.business.entity.MaintenanceEntity;
+import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+
+/**
+ * 设备维护信息
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-06-12
+ */
+@Mapper
+public interface MaintenanceDao extends BaseDao<MaintenanceEntity> {
+
+    //分页列表查询
+    IPage<MaintenanceEntity> pageList(IPage<MaintenanceEntity> page, @Param("ew") QueryWrapper<MaintenanceEntity> wrapper);
+}

admin/src/main/java/com/multictrl/modules/business/dao/MaintenanceImgDao.java

@@ -0,0 +1,16 @@
+package com.multictrl.modules.business.dao;
+
+import com.multictrl.common.dao.BaseDao;
+import com.multictrl.modules.business.entity.MaintenanceImgEntity;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 维保图片
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-06-12
+ */
+@Mapper
+public interface MaintenanceImgDao extends BaseDao<MaintenanceImgEntity> {
+
+}

admin/src/main/java/com/multictrl/modules/business/dao/MediaFileDao.java

@@ -0,0 +1,29 @@
+package com.multictrl.modules.business.dao;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.metadata.IPage;
+import com.multictrl.common.dao.BaseDao;
+import com.multictrl.modules.business.entity.MediaFileEntity;
+import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * 媒体资源
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-04-29
+ */
+@Mapper
+public interface MediaFileDao extends BaseDao<MediaFileEntity> {
+
+    //分页列表
+    IPage<MediaFileEntity> pageList(IPage<MediaFileEntity> page, @Param("ew") QueryWrapper<MediaFileEntity> queryWrapper);
+
+    //获取相簿
+    IPage<MediaFileEntity> getAlbum(IPage<MediaFileEntity> page, @Param("deptId") Long deptId, @Param("dockSn") String dockSn);
+
+    //列表
+    List<MediaFileEntity> list(@Param("ew") QueryWrapper<MediaFileEntity> queryWrapper);
+}

admin/src/main/java/com/multictrl/modules/business/dao/MultiGroupDao.java

@@ -0,0 +1,16 @@
+package com.multictrl.modules.business.dao;
+
+import com.multictrl.common.dao.BaseDao;
+import com.multictrl.modules.business.entity.MultiGroupEntity;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 蛙跳组信息
+ *
+ * @author 张闯
+ * @since 2026-05-28
+ */
+@Mapper
+public interface MultiGroupDao extends BaseDao<MultiGroupEntity> {
+
+}

admin/src/main/java/com/multictrl/modules/business/dao/MultiGroupDeviceDao.java

@@ -0,0 +1,16 @@
+package com.multictrl.modules.business.dao;
+
+import com.multictrl.common.dao.BaseDao;
+import com.multictrl.modules.business.entity.MultiGroupDeviceEntity;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 蛙跳组绑定的设备信息
+ *
+ * @author 张闯
+ * @since 2026-05-28
+ */
+@Mapper
+public interface MultiGroupDeviceDao extends BaseDao<MultiGroupDeviceEntity> {
+
+}

admin/src/main/java/com/multictrl/modules/business/dao/NoflyZoneDao.java

@@ -0,0 +1,30 @@
+package com.multictrl.modules.business.dao;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.metadata.IPage;
+import com.multictrl.common.dao.BaseDao;
+import com.multictrl.modules.business.dto.NoflyZoneDTO;
+import com.multictrl.modules.business.entity.NoflyZoneEntity;
+import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * 禁飞区
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-06-09
+ */
+@Mapper
+public interface NoflyZoneDao extends BaseDao<NoflyZoneEntity> {
+
+    //分页列表
+    IPage<NoflyZoneDTO> pageList(IPage<NoflyZoneEntity> page, @Param("ew") QueryWrapper<NoflyZoneEntity> ew);
+
+    //新增禁飞区
+    void saveNoFlyZone(NoflyZoneEntity noflyZoneEntity);
+
+    //查询禁飞区
+    List<NoflyZoneDTO> getNoFlyZoneList(@Param("ew") QueryWrapper<NoflyZoneEntity> ew);
+}

admin/src/main/java/com/multictrl/modules/business/dao/RemoteLogDao.java

@@ -0,0 +1,16 @@
+package com.multictrl.modules.business.dao;
+
+import com.multictrl.common.dao.BaseDao;
+import com.multictrl.modules.business.entity.RemoteLogEntity;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 远程日志
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-05-10
+ */
+@Mapper
+public interface RemoteLogDao extends BaseDao<RemoteLogEntity> {
+
+}

admin/src/main/java/com/multictrl/modules/business/dao/RouteAiDao.java

@@ -0,0 +1,16 @@
+package com.multictrl.modules.business.dao;
+
+import com.multictrl.common.dao.BaseDao;
+import com.multictrl.modules.business.entity.RouteAiEntity;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 航线AI任务
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-06-18
+ */
+@Mapper
+public interface RouteAiDao extends BaseDao<RouteAiEntity> {
+
+}