package com.ard.work.component.websocket.handler;
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import com.ard.data.noflyzone.domain.ArdNoFlyBox;
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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.domain.cache.UavTelemetryDataCache;
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import com.ard.work.domain.dto.NoFlyDistanceDTO;
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import com.ard.work.domain.dto.telemetry.TelemetryData;
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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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* 禁飞区距离管理器
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* @author liuyaping
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* @date 2021/3/22
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*/
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@Component
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public class NoFlyDistanceManager extends BaseSubscriptionManager<NoFlyDistanceDTO> {
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@Resource
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private IArdNoFlyZoneService ardNoFlyZoneService;
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@Override
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protected NoFlyDistanceDTO getData(String boxSn) {
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TelemetryData telemetryData = UavTelemetryDataCache.get(boxSn);
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if (telemetryData == null) return null;
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Vertex current = new Vertex(telemetryData.getLng(), telemetryData.getLat());
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List<ArdNoFlyZone> zones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());
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if (zones.isEmpty()) return null;
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double minDistance = Double.MAX_VALUE;
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ArdNoFlyZone nearestZone = null;
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for (ArdNoFlyZone zone : zones) {
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ArdNoFlyBox box = zone.getArdNoFlyBox();
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if (box == null) continue;
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// ⭐ 外扩 50 米
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ArdNoFlyBox expanded = expandBoxByMeter(box, 50);
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// ⭐ 包围盒快速排除必须使用 expanded，而不是 box
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if (current.x < expanded.getMinx() || current.x > expanded.getMaxx() ||
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current.y < expanded.getMiny() || current.y > expanded.getMaxy()) {
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continue;
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}
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// 计算 polygon 距离
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List<Vertex> polygon = zone.getVertices();
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if (polygon == null || polygon.size() < 3) continue;
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double distance = NoFlyZoneUtils.pointToPolygonDistance(current, polygon);
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if (distance < minDistance) {
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minDistance = distance;
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nearestZone = zone;
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}
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}
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if (nearestZone == null) return null;
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return NoFlyDistanceDTO.builder()
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.boxSn(boxSn)
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.zoneName(nearestZone.getName())
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.distance(minDistance) // 米
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.inNoFlyZone(minDistance == 0)
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.build();
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}
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// 外扩包围盒多少米
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private ArdNoFlyBox expandBoxByMeter(ArdNoFlyBox box, double meter) {
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// 计算经纬度偏移
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double latShift = meter / 111320.0; // 纬度方向
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double lngShift = meter / (111320.0 * Math.cos(Math.toRadians(
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(box.getMiny() + box.getMaxy()) / 2
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))); // 经度方向与纬度相关
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return new ArdNoFlyBox(
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box.getMinx() - lngShift,
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box.getMiny() - latShift,
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box.getMaxx() + lngShift,
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box.getMaxy() + latShift
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);
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}
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@Override
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protected String getMessageType() {
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return "noFlyZoneDistance";
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}
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}
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