package com.ard.work.aspect;
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import com.ard.common.constant.CacheConstants;
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import com.ard.common.core.redis.RedisCache;
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import com.ard.common.exception.ControlException;
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import com.ard.common.utils.SecurityUtils;
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import com.ard.common.utils.StringUtils;
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import com.ard.common.utils.reflect.ReflectUtils;
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import com.ard.data.noflyzone.domain.ArdNoFlyZone;
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import com.ard.data.noflyzone.domain.Vertex;
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import com.ard.data.noflyzone.service.IArdNoFlyZoneService;
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import com.ard.data.noflyzone.utils.NoFlyZoneUtils;
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import com.ard.work.aspect.annotation.CheckControlRight;
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import com.ard.work.aspect.annotation.CheckDroneStatus;
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import com.ard.work.aspect.annotation.CheckNoFlyZone;
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import com.ard.work.aspect.annotation.CheckTakeoffAltitude;
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import com.ard.work.domain.cache.UavTelemetryDataCache;
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import com.ard.work.domain.dto.telemetry.TelemetryData;
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import com.ard.work.domain.message.UavControlType;
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import com.ard.work.domain.receiver.BoxInfoReceiver;
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import com.ard.work.service.control.UavControlService;
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import org.aspectj.lang.JoinPoint;
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import org.aspectj.lang.annotation.Aspect;
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import org.aspectj.lang.annotation.Before;
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import org.springframework.stereotype.Component;
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import javax.annotation.Resource;
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import java.util.List;
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/**
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* 无人机控制切面
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* <p>
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* 注意切面顺序：同类方法注解按字母ABCD顺序，不同类注解按order(1)顺序 越小优先级越高
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*/
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@Aspect
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@Component
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public class UavControlAspect {
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@Resource
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private UavControlService uavControlService;
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@Resource
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private IArdNoFlyZoneService ardNoFlyZoneService;
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@Resource
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private RedisCache redisCache;
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/**
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* 控制权检查
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*/
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@Before("@annotation(checkControlRight)")
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public void checkUavControl(JoinPoint joinPoint, CheckControlRight checkControlRight) {
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// 获取当前用户 ID
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Long userId = SecurityUtils.getUserId();
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// 获取控制类型
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UavControlType controlType = checkControlRight.value();
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// 获取方法参数
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Object[] args = joinPoint.getArgs();
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for (Object arg : args) {
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if (arg == null) {
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continue;
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}
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// 1️⃣ 获取 boxSn
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String boxSn = ReflectUtils.getFieldValue(arg, "boxSn");
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if (StringUtils.isBlank(boxSn)) {
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continue;
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}
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// 2️⃣ 检查控制权
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Long currentController = uavControlService.getCurrentController(boxSn,
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controlType.name().toLowerCase());
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if (currentController == null || !currentController.equals(userId)) {
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throw new ControlException("无权执行该操作，需要 " + controlType + " 控制权限");
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}
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// 3️⃣ 检查在线状态
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BoxInfoReceiver obj = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn);
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if (obj == null || !obj.getOnLine().equals(1)) {
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throw new ControlException("无人机离线，无法执行操作！boxSn: " + boxSn);
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}
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}
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}
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/**
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* 高度检查
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*/
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@Before("@annotation(checkTakeoffAltitude)")
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public void takeoffAltitudeCheck(JoinPoint joinPoint, CheckTakeoffAltitude checkTakeoffAltitude){
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// 获取最小高度
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double minAltitude = checkTakeoffAltitude.minAltitude();
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// 获取方法参数
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Object[] args = joinPoint.getArgs();
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// 遍历参数，使用反射获取每个参数中的 boxSn
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for (Object arg : args) {
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String boxSn = ReflectUtils.getFieldValue(arg, "boxSn"); // 调用之前实现的 getBoxSn 方法
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if (boxSn != null) {
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TelemetryData uavTelemetryData = UavTelemetryDataCache.get(boxSn);
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if (uavTelemetryData == null) {
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throw new ControlException("遥测数据异常，无法执行！");
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}
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// 检查高度
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if (uavTelemetryData.getUltrasonic() < minAltitude) {
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throw new ControlException("高度太低，无法执行！最低高度: " + minAltitude);
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}
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}
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}
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}
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/**
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* 状态检查
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*/
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@Before("@annotation(checkDroneStatus)")
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public void checkDroneStatus(JoinPoint joinPoint, CheckDroneStatus checkDroneStatus) {
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for (Object arg : joinPoint.getArgs()) {
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if (arg == null) {
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continue;
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}
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String boxSn = ReflectUtils.getFieldValue(arg, "boxSn");
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if (boxSn == null) {
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continue;
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}
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// 检查在线状态
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if (checkDroneStatus.checkOnline()) {
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// 3️⃣ 检查在线状态
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BoxInfoReceiver obj = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn);
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if (obj == null || !obj.getOnLine().equals(1)) {
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throw new ControlException("无人机离线，无法执行操作！boxSn: " + boxSn);
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}
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}
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}
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}
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/**
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* 禁飞区检查
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*/
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@Before("@annotation(checkNoFlyZone)")
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public void checkNoFlyZone(JoinPoint joinPoint, CheckNoFlyZone checkNoFlyZone) {
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Object[] args = joinPoint.getArgs();
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if (args == null || args.length == 0) {
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return;
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}
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// ① 提取 boxSn（无人机编号）和目标点坐标
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String boxSn = null;
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Double targetLon = null, targetLat = null;
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for (Object arg : args) {
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if (arg == null) continue;
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if (boxSn == null) {
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String sn = ReflectUtils.getFieldValue(arg, "boxSn");
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if (sn != null) boxSn = sn;
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}
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if (targetLon == null || targetLat == null) {
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Double lon = ReflectUtils.getFieldValue(arg, "longitude");
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Double lat = ReflectUtils.getFieldValue(arg, "latitude");
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if (lon != null && lat != null) {
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targetLon = lon;
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targetLat = lat;
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}
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}
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}
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if (targetLon == null || targetLat == null) {
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throw new ControlException("方法参数中未找到有效目标经纬度字段，无法判断禁飞区！");
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}
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// ② 获取无人机当前位置（从缓存）
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Vertex current = null;
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if (boxSn != null) {
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TelemetryData telemetry = UavTelemetryDataCache.get(boxSn);
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if (telemetry != null) {
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current = new Vertex(telemetry.getLng(), telemetry.getLat());
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//current = new Vertex(125.03, 46.58);
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}
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}
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Vertex target = new Vertex(targetLon, targetLat);
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// ③ 查询禁飞区
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List<ArdNoFlyZone> zones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());
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if (zones.isEmpty()) return;
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for (ArdNoFlyZone zone : zones) {
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List<Vertex> polygon = zone.getVertices();
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if (polygon == null || polygon.size() < 3) continue;
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// 检查目标点是否在禁飞区
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if (NoFlyZoneUtils.isPointInPolygon(target, polygon)) {
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throw new ControlException("目标点在禁飞区【" + zone.getName() + "】内，无法执行操作！");
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}
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// 检查路径是否穿越禁飞区
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if (current != null && NoFlyZoneUtils.isLineIntersectPolygon(current, target, polygon)) {
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throw new ControlException("路径穿越禁飞区【" + zone.getName() + "】，无法执行操作！");
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}
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}
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}
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}
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