package com.ard.route.service.impl;
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import java.io.IOException;
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import java.util.ArrayList;
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import java.util.List;
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import com.ard.common.exception.ControlException;
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import com.ard.common.utils.DateUtils;
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import com.ard.common.utils.file.FileUtils;
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import com.ard.common.utils.uuid.IdUtils;
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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.oss.model.MinioUploadResult;
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import com.ard.oss.service.impl.OssServiceContext;
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import com.ard.route.domain.djuav.ActionGroupReq;
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import com.ard.route.domain.djuav.PointActionReq;
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import com.ard.route.domain.djuav.RoutePointReq;
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import com.ard.route.domain.djuav.UavRouteReq;
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import com.ard.route.domain.dto.ArdNoflyDto;
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import com.ard.route.domain.route.ArdRouteInfo;
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import com.ard.route.domain.sixhe.ArdRouteChange;
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import com.ard.route.domain.vo.KmzInfoVo;
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import com.ard.route.domain.vo.KmzResultVo;
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import com.ard.route.mapper.ArdRouteInfoMapper;
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import com.ard.route.service.IArdRouteInfoService;
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import com.ard.route.service.UavRouteService;
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import com.ard.work.domain.dto.state.PointData;
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import com.ard.work.domain.dto.wayline.*;
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import com.ard.work.service.ITyService;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Service;
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import org.springframework.web.multipart.MultipartFile;
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import javax.annotation.Resource;
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import static com.ard.route.util.ToolUtils.*;
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/**
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* 航线(kmz)Service业务层处理
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*
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* @author xia
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* @date 2025-10-23
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*/
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@Service
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public class ArdRouteInfoServiceImpl implements IArdRouteInfoService {
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@Autowired
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private ArdRouteInfoMapper ardRouteInfoMapper;
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@Autowired
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private OssServiceContext ossService;
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@Autowired
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private UavRouteService routeService;
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@Resource
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private IArdNoFlyZoneService ardNoFlyZoneService;
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@Resource
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private ITyService tyService;
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/**
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* 查询航线(kmz)
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*
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* @param id 航线(kmz)主键
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* @return 航线(kmz)
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*/
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@Override
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public ArdRouteInfo selectArdRouteInfoById(String id) {
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ArdRouteInfo ardRouteInfo = ardRouteInfoMapper.selectArdRouteInfoById(id);
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try {
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if (ardRouteInfo.getRouteData() != null){
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ardRouteInfo.setUavRouteReq((UavRouteReq) deserialize(ardRouteInfo.getRouteData()));
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}
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} catch (IOException | ClassNotFoundException e) {
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throw new RuntimeException(e);
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}
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return ardRouteInfo;
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}
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/**
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* 查询航线(kmz)列表
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*
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* @param ardRouteInfo 航线(kmz)
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* @return 航线(kmz)
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*/
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@Override
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public List<ArdRouteInfo> selectArdRouteInfoList(ArdRouteInfo ardRouteInfo) {
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if ("1".equals(ardRouteInfo.getOrderByTime())) {
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ardRouteInfo.setOrderByTime("DESC");
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}else if ("0".equals(ardRouteInfo.getOrderByTime())) {
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ardRouteInfo.setOrderByTime("ASC");
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}
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return ardRouteInfoMapper.selectArdRouteInfoList(ardRouteInfo);
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}
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/**
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* 新增航线(kmz)
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*
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* @param ardRouteInfo 航线(kmz)
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* @return 结果
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*/
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@Override
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public String insertArdRouteInfo(ArdRouteInfo ardRouteInfo) {
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ardRouteInfo.setId(IdUtils.simpleUUID());
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ardRouteInfo.setCreateTime(DateUtils.getNowDate());
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ardRouteInfo.setUpdateTime(DateUtils.getNowDate()); // 修改时间，用于排序
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if (ardRouteInfo.getGroupId() == null){
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ardRouteInfo.setGroupId("0");
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}
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// 航线数据
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byte[] routeData;
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try {
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routeData = serialize(ardRouteInfo.getUavRouteReq());
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} catch (IOException e) {
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throw new RuntimeException(e);
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}
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ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft()));
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ardRouteInfo.setRouteData(routeData);
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KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(), ardRouteInfo.getName());
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ardRouteInfo.setPath(kmzResult.getPath());
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ardRouteInfo.setReadOnly("0");
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ardRouteInfo.setPointCount(getPointCount(ardRouteInfo));
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ardRouteInfoMapper.insertArdRouteInfo(ardRouteInfo);
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return kmzResult.getPath();
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}
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/**
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* 修改航线(kmz)
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*
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* @param ardRouteInfo 航线(kmz)
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* @return 结果
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*/
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@Override
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public int updateArdRouteInfo(ArdRouteInfo ardRouteInfo) {
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ardRouteInfo.setUpdateTime(DateUtils.getNowDate());
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// 判断生成kmz文件实体类是否为空，为空就修改航信信息，不修改行点信息。
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if (ardRouteInfo.getUavRouteReq() != null) {
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KmzResultVo kmzResult;
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// 获取源文件名字
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ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(ardRouteInfo.getId());
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if (route.getName().equals(ardRouteInfo.getName())) {
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kmzResult = routeService.updateKmz(ardRouteInfo.getUavRouteReq(), ardRouteInfo.getName());
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}else {
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kmzResult = routeService.updateKmzNew(ardRouteInfo.getUavRouteReq(), route.getName(), ardRouteInfo.getName());
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}
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if ("更新航线kmz文件失败".equals(kmzResult.getData())) {
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return 0;
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}
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ardRouteInfo.setPath(kmzResult.getPath());
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}
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ardRouteInfo.setPointCount(getPointCount(ardRouteInfo));
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return ardRouteInfoMapper.updateArdRouteInfo(ardRouteInfo);
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}
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private Integer getPointCount(ArdRouteInfo ardRouteInfo) {
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if (ardRouteInfo.getUavRouteReq().getRoutePointList() != null) {
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return ardRouteInfo.getUavRouteReq().getRoutePointList().size();
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}
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return 0;
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}
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/**
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* 批量删除航线(kmz)
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*
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* @param ids 需要删除的航线(kmz)主键
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* @return 结果
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*/
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@Override
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public int deleteArdRouteInfoByIds(String[] ids) {
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// 删除航线(kmz)文件
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for (String id : ids) {
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ArdRouteInfo information = ardRouteInfoMapper.selectArdRouteInfoById(id);
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ossService.deleteObject("kmz", subStringMinioUrlName(information.getPath()));
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}
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return ardRouteInfoMapper.deleteArdRouteInfoByIds(ids);
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}
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/**
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* 删除航线(kmz)信息
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*
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* @param id 航线(kmz)主键
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* @return 结果
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*/
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@Override
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public int deleteArdRouteInfoById(String id) {
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return ardRouteInfoMapper.deleteArdRouteInfoById(id);
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}
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/**
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* 导入航线(kmz)文件
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*
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* @param file 文件
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* @return 结果
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*/
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@Override
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public MinioUploadResult uploadArdRouteInfo(MultipartFile file) {
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try {
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String url = ossService.upload("kmz",file);
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ArdRouteInfo information = new ArdRouteInfo();
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information.setName(file.getOriginalFilename());
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information.setPath(url);
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information.setGroupId("0"); // 默认分组
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information.setReadOnly("1"); // 默认只读
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// 增加航线实体类信息
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insertRouteInfomation(information);
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return MinioUploadResult.builder()
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.url(url)
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.newFileName(FileUtils.getName(url))
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.originalFilename(file.getOriginalFilename())
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.build();
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}catch (Exception e){
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return null;
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}
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}
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/**
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* 根据名称查询航线信息
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*
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* @param name 文件名称
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* @return 结果
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*/
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@Override
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public ArdRouteInfo selectArdRouteInfoByName(String name) {
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return ardRouteInfoMapper.selectArdRouteInfoByName(name);
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}
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/**
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* 修改航线分组ID
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*
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* @param id ID
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* @param groupId 分组ID
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* @return 结果
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*/
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@Override
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public int updateRouteInfomationGroupId(String id, String groupId) {
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return ardRouteInfoMapper.updateRouteInforGroupId(id, groupId);
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}
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/**
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* 判断行点是否在禁飞区
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* @return 结果
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*/
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@Override
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public Boolean selectRouteInfomationNoFly(ArdNoflyDto ardNoflyDto) {
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return verifyNoFlyZone(ardNoflyDto);
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}
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/**
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* 上传航线到边缘服务器
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*
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* ardNoflyDto
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* @return 结果
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*/
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@Override
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public Boolean uploadRouteToSixHe(String id,String boxSn) {
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// 1.获取航线信息
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// 1.1通过航线数据，转换。
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ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(id);
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try {
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route.setUavRouteReq((UavRouteReq) deserialize(route.getRouteData()));
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} catch (IOException | ClassNotFoundException e) {
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throw new RuntimeException(e);
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}
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// 1.2通过minio获取航线信息
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// 2.将航线信息转换成对应实体类
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WayLineUploadDTO wayLineUploadDTO = buildWayLineUploadDTO(route);
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wayLineUploadDTO.setBoxSn(boxSn);
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// 3.调用接口
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tyService.wayLineUpload(wayLineUploadDTO);
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return true;
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}
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/**
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* 开始航线
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*
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* @param boxSn 云盒SN编号
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* @return 结果
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*/
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@Override
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public Boolean routeBegins(String boxSn) {
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WayLineBeginDTO wayLineBeginDTO = new WayLineBeginDTO(boxSn);
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tyService.wayLineBegin(wayLineBeginDTO);
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return true;
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}
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/**
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* 暂停航线
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*
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* @param boxSn 云盒SN编号
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* @return 结果
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*/
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@Override
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public Boolean routeSuspension(String boxSn) {
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WayLinePauseDTO wayLinePauseDTO = new WayLinePauseDTO(boxSn);
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tyService.wayLinePause(wayLinePauseDTO);
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return true;
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}
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/**
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* 恢复航线
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*
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* @param boxSn 云盒SN编号
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* @return 结果
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*/
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@Override
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public Boolean routeResumption(String boxSn) {
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WayLineResumeDTO wayLineResumeDTO = new WayLineResumeDTO(boxSn);
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tyService.wayLineResume(wayLineResumeDTO);
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return true;
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}
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/**
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* 结束航线
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*
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* @param boxSn 云盒SN编号
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* @return 结果
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*/
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@Override
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public Boolean routeEnd(String boxSn) {
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WayLineEndDTO wayLineEndDTO = new WayLineEndDTO(boxSn);
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tyService.wayLineEnd(wayLineEndDTO);
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return true;
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}
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/**
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* ArdRouteInfo实体转换，WayLineUploadDTO
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*/
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private WayLineUploadDTO buildWayLineUploadDTO(ArdRouteInfo ardRouteInfo){
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WayLineUploadDTO wayLineUploadDTO = new WayLineUploadDTO();
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String finishAction = ardRouteInfo.getUavRouteReq().getFinishAction(); //1
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Double autoFlightSpeed = ardRouteInfo.getUavRouteReq().getAutoFlightSpeed(); //15
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Double globalTransitionalSpeed = ardRouteInfo.getUavRouteReq().getGlobalTransitionalSpeed(); //8
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String exitOnRcLostAction = ardRouteInfo.getUavRouteReq().getExitOnRcLostAction(); //0
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PlanLineData planLineData = new PlanLineData();
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if (finishAction != null){
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planLineData.setLoseAction(0);
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}
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if (autoFlightSpeed != null){
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planLineData.setAutoSpeed(8);
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}
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planLineData.setMaxSpeed(15);
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// if (globalTransitionalSpeed != null){
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// planLineData.setMaxSpeed(15);
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// }
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if (exitOnRcLostAction != null){
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planLineData.setFinishedAction(1);
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}
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planLineData.setHomeHeight(50);
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planLineData.setInterests(new ArrayList<>());
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planLineData.setIsSaveEnergyMode(0);
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planLineData.setPoints(buildPointDataList(ardRouteInfo.getUavRouteReq()));
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wayLineUploadDTO.setWayLineData(planLineData);
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return wayLineUploadDTO;
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}
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private List<PointData> buildPointDataList(UavRouteReq uavRouteReq){
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List<PointData> pointDataList = new ArrayList<>();
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for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
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PointData pointData = new PointData();
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Integer routePointIndex = routePointReq.getRoutePointIndex();
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if (routePointIndex != null){
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pointData.setGroupIndex(routePointIndex);
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}
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Double height = routePointReq.getHeight();
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if (height != null){
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pointData.setHeight(height.floatValue());
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}
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Double longitude = routePointReq.getLongitude();
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if (longitude != null){
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pointData.setLng(longitude.floatValue());
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}
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Double latitude = routePointReq.getLatitude();
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if (latitude != null){
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pointData.setLat(latitude.floatValue());
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}
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Double speed = routePointReq.getSpeed();
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if (speed != null){
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pointData.setSpeed(speed.floatValue());
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}
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pointData.setDampingDistance(0);
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pointData.setFlightPathMode(1);
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pointData.setHeading(0);
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pointData.setHeadingMode(0);
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pointData.setInterestIndex(-1);
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pointData.setSafeGohomeFlag(0);
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pointData.setActions(buildPointActionList(routePointReq.getActionGroupList()));
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pointDataList.add(pointData);
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}
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return pointDataList;
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}
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private List<PointAction> buildPointActionList(List<ActionGroupReq> actionGroupList){
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List<PointAction> pointActionList = new ArrayList<>();
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for (ActionGroupReq actionGroupReq : actionGroupList) {
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for (PointActionReq action : actionGroupReq.getActions()) {
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PointAction pointAction = typeProcessing(action);
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pointActionList.add(pointAction);
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}
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}
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return pointActionList;
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}
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private PointAction typeProcessing(PointActionReq pointActionReq){
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PointAction pointAction = new PointAction();
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if (pointActionReq.getZoom() != null){
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pointAction.setType(1);
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pointAction.setParam(pointActionReq.getZoom().floatValue());
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pointAction.setSpeakInfo("");
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pointAction.setWaitTime(2);
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}
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if (pointActionReq.getTakePhotoType() != null){
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pointAction.setType(2);
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pointAction.setParam(1);
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pointAction.setSpeakInfo("");
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pointAction.setWaitTime(2);
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}
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if (pointActionReq.getStartRecord() != null){
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pointAction.setType(3);
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pointAction.setParam(1);
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pointAction.setSpeakInfo("");
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pointAction.setWaitTime(2);
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}
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if (pointActionReq.getStopRecord() != null){
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pointAction.setType(4);
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pointAction.setParam(1);
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pointAction.setSpeakInfo("");
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pointAction.setWaitTime(2);
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}
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if (pointActionReq.getAircraftHeading() != null){
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pointAction.setType(5);
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pointAction.setParam(pointActionReq.getAircraftHeading().floatValue());
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pointAction.setSpeakInfo("");
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pointAction.setWaitTime(2);
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}
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if (pointActionReq.getGimbalPitchRotateAngle() != null){
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pointAction.setType(6);
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pointAction.setParam(pointActionReq.getGimbalPitchRotateAngle().floatValue());
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pointAction.setSpeakInfo("");
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pointAction.setWaitTime(2);
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}
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if (pointActionReq.getGimbalYawRotateAngle() != null){
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pointAction.setType(7);
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pointAction.setParam(pointActionReq.getGimbalYawRotateAngle().floatValue());
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pointAction.setSpeakInfo("");
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pointAction.setWaitTime(2);
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}
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if (pointActionReq.getHoverTime() != null){
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pointAction.setType(9);
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pointAction.setParam(pointActionReq.getHoverTime().floatValue());
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pointAction.setSpeakInfo("");
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pointAction.setWaitTime(2);
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}
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return pointAction;
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}
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/**
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* 数据新增航线信息
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*/
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private void insertRouteInfomation(ArdRouteInfo ardRouteInfo){
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ardRouteInfo.setId(IdUtils.simpleUUID());
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ardRouteInfo.setCreateTime(DateUtils.getNowDate());
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ardRouteInfoMapper.insertArdRouteInfo(ardRouteInfo);
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}
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/**
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* 判断行点是否在禁飞区
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* 原点 current 第一个节点
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* 目标点 target 第二个节点
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*/
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private Boolean verifyNoFlyZone(ArdNoflyDto ardNoflyDto){
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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()) {
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return true;
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}
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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(ardNoflyDto.getTarget(), 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 (ardNoflyDto.getCurrent() != null && NoFlyZoneUtils.isLineIntersectPolygon(ardNoflyDto.getCurrent(), ardNoflyDto.getTarget(), 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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return true;
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}
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}
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