package com.ard.tianyu.service.impl;
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import com.ard.common.constant.UserConstants;
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import com.ard.common.core.domain.entity.SysUser;
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import com.ard.common.utils.DateUtils;
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import com.ard.common.utils.StringUtils;
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import com.ard.common.utils.uuid.IdUtils;
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import com.ard.tianyu.controller.wayline.terrain.TerrainFollowingPlanner;
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import com.ard.tianyu.domain.dto.wayline.ArdUavPositionDTO;
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import com.ard.tianyu.domain.dto.wayline.ArdWaylineDTO;
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import com.ard.tianyu.domain.entity.UavWayline;
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import com.ard.tianyu.mapper.UavWaylineMapper;
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import com.ard.tianyu.service.IUavWaylineService;
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import com.ard.tianyu.service.IKmzFileService;
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import com.ard.tianyu.util.GeoTools;
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import com.fasterxml.jackson.core.JsonProcessingException;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.stereotype.Service;
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import javax.annotation.Resource;
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import java.io.IOException;
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import java.util.List;
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import java.util.Optional;
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/**
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* 航线Service业务层处理
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*
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* @author ruoyi
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* @date 2025-06-27
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*/
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@Slf4j
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@Service
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public class UavWaylineServiceImpl implements IUavWaylineService {
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ObjectMapper mapper = new ObjectMapper();
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@Resource
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private UavWaylineMapper uavWaylineMapper;
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@Resource
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private IKmzFileService waylineFileService;
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@Resource
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private TerrainFollowingPlanner terrainFollowingPlanner;
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/**
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* 查询航线
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*
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* @param id 航线主键
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* @return 航线
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*/
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@Override
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public ArdWaylineDTO selectUavWaylineById(String id) {
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UavWayline uavWayline = uavWaylineMapper.selectUavWaylineById(id);
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return EntityConverterTowaylineDTO(uavWayline);
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}
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/**
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* 查询航线列表
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*
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* @param uavWayline 航线
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* @return 航线
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*/
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@Override
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public List<UavWayline> selectUavWaylineList(UavWayline uavWayline) {
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return uavWaylineMapper.selectUavWaylineList(uavWayline);
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}
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/**
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* 新增航线
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*
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* @param ardWaylineDTO 航线
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* @return 结果
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*/
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@Override
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public int insertUavWayline(ArdWaylineDTO ardWaylineDTO) {
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UavWayline uavWayline = waylineDTOConverterToEntity(ardWaylineDTO);
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uavWayline.setCreateTime(DateUtils.getNowDate());
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int row = uavWaylineMapper.insertUavWayline(uavWayline);
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if (row > 0) {
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waylineFileService.outputKmz(ardWaylineDTO);
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}
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return row;
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}
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/**
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* 修改航线
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*
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* @param ardWaylineDTO 航线
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* @return 结果
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*/
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@Override
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public int updateUavWayline(ArdWaylineDTO ardWaylineDTO) {
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UavWayline uavWayline = waylineDTOConverterToEntity(ardWaylineDTO);
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uavWayline.setUpdateTime(DateUtils.getNowDate());
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int row = uavWaylineMapper.updateUavWayline(uavWayline);
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if (row > 0) {
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waylineFileService.outputKmz(ardWaylineDTO);
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}
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return row;
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}
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/**
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* 批量删除航线
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*
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* @param ids 需要删除的航线主键
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* @return 结果
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*/
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@Override
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public int deleteUavWaylineByIds(String[] ids) {
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return uavWaylineMapper.deleteUavWaylineByIds(ids);
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}
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/**
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* 删除航线信息
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*
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* @param id 航线主键
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* @return 结果
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*/
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@Override
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public int deleteUavWaylineById(String id) {
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return uavWaylineMapper.deleteUavWaylineById(id);
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}
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/**
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* 校验航线是否唯一
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*
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* @param ardWaylineDTO 航线信息
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* @return 结果
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*/
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@Override
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public boolean checkWaylineNameUnique(ArdWaylineDTO ardWaylineDTO)
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{
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String waylineId = ardWaylineDTO.getWaylineId();
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UavWayline info = uavWaylineMapper.checkUavWaylineNameUnique(ardWaylineDTO.getWaylineName());
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if (StringUtils.isNotNull(info) && !info.getId().equals(waylineId))
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{
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return UserConstants.NOT_UNIQUE;
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}
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return UserConstants.UNIQUE;
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}
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// DTO转换为实体类
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private UavWayline waylineDTOConverterToEntity(ArdWaylineDTO ardWaylineDTO) {
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UavWayline uavWayline = UavWayline.builder()
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.id(Optional.ofNullable(ardWaylineDTO.getWaylineId()).orElse(IdUtils.simpleUUID()))
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.name(ardWaylineDTO.getWaylineName())
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.type(ardWaylineDTO.getWaylineType())
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.uavModel(ardWaylineDTO.getUavModel())
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.payloadModel(ardWaylineDTO.getPayloadModel())
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.userWaypointCount(ardWaylineDTO.waylineUserPointCount)
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.globalSpeed(ardWaylineDTO.getGlobalFlySpeed())
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.globalHeight(ardWaylineDTO.getGlobalFlyHeight())
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.build();
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generateWaylineBytes(ardWaylineDTO, uavWayline);
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return uavWayline;
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}
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// 实体类转换DTO
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private ArdWaylineDTO EntityConverterTowaylineDTO(UavWayline uavWayline) {
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try {
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ArdWaylineDTO ardWaylineDTO = ArdWaylineDTO.builder()
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.waylineId(uavWayline.getId())
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.waylineName(uavWayline.getName())
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.waylineType(uavWayline.getType())
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.uavModel(uavWayline.getUavModel())
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.payloadModel(uavWayline.getPayloadModel())
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.waylineUserPointCount(uavWayline.getUserWaypointCount())
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.waylineAllPointCount(uavWayline.getPlanWaypointCount())
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.globalFlySpeed(uavWayline.getGlobalSpeed())
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.globalFlyHeight(uavWayline.getGlobalHeight())
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.build();
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byte[] planWaylineBytes = uavWayline.getPlanWaylineData();
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ardWaylineDTO = mapper.readValue(planWaylineBytes, ArdWaylineDTO.class);
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//计算长度
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double length = calculateWaylineLength(ardWaylineDTO);
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ardWaylineDTO.setWaylineLength(length);
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//计算飞行时间
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double flyTime = calculateFlyTime(ardWaylineDTO);
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ardWaylineDTO.setWaylineBaseFlyTime(flyTime);
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return ardWaylineDTO;
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} catch (IOException e) {
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throw new RuntimeException("恢复航线对象错误！" + e.getMessage());
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}
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}
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// 生成航线字节数组
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private void generateWaylineBytes(ArdWaylineDTO ardWaylineDTO, UavWayline uavWayline) {
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try {
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ardWaylineDTO.setWaylineId(uavWayline.getId());
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//二进制航线编码,保存原始航线数据
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byte[] waylineBytes = mapper.writeValueAsBytes(ardWaylineDTO);
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uavWayline.setSrcWaylineData(waylineBytes);
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if (ardWaylineDTO.getWaylineType() == 1) {
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log.info("面向逐点的航线规划！");
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byte[] newWaylineBytes = mapper.writeValueAsBytes(ardWaylineDTO);
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uavWayline.setPlanWaylineData(newWaylineBytes);
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uavWayline.setPlanWaypointCount(ardWaylineDTO.getWaylineUserPointCount());
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} else if (ardWaylineDTO.getWaylineType() == 3) {
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log.info("面向仿地的航线规划！");
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//仿地飞行算法
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ArdWaylineDTO newWayline = terrainFollowingWayline(ardWaylineDTO);
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byte[] newWaylineBytes = mapper.writeValueAsBytes(newWayline);
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uavWayline.setPlanWaylineData(newWaylineBytes);
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uavWayline.setPlanWaypointCount(newWayline.getWaylineUserPointCount());
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} else {
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log.error("航线设置错误：{}", ardWaylineDTO.getWaylineType());
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throw new RuntimeException("航线类型错误" + ardWaylineDTO.getWaylineType());
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}
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} catch (Exception e) {
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log.error("航线规划失败：{}", e.getMessage());
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throw new RuntimeException("航线规划失败！" + e.getMessage());
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}
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}
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//调用仿地航线算法
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private ArdWaylineDTO terrainFollowingWayline(ArdWaylineDTO ardWaylineDTO) throws Exception {
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ArdWaylineDTO newWaylineDTO = deepCopyWayline(ardWaylineDTO);
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//使用仿地飞行规划器
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List<ArdUavPositionDTO> ardUavPositionDTOS = terrainFollowingPlanner.interpolateWithTerrain(ardWaylineDTO);
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newWaylineDTO.setWaylineAllPointCount(ardUavPositionDTOS.size());//总航点数量
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long userPointCount = ardUavPositionDTOS.stream()
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.filter(p -> p.getType() == 0)
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.count();
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newWaylineDTO.setWaylineUserPointCount((int) userPointCount);//用户航点数量
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newWaylineDTO.setUavPositions(ardUavPositionDTOS);
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// 规划成功，返回结果
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return newWaylineDTO;
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}
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private ArdWaylineDTO deepCopyWayline(ArdWaylineDTO ardWaylineDTO) {
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ArdWaylineDTO newWaylineDTO = null;
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try {
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byte[] waylineBytes = mapper.writeValueAsBytes(ardWaylineDTO);
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newWaylineDTO = mapper.readValue(waylineBytes, ArdWaylineDTO.class);
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} catch (JsonProcessingException e) {
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e.printStackTrace();
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} catch (IOException e) {
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e.printStackTrace();
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}
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return newWaylineDTO;
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}
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//计算航线长度
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public double calculateWaylineLength( ArdWaylineDTO ardWaylineDTO) {
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List<ArdUavPositionDTO> uavPositions = ardWaylineDTO.getUavPositions();
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if (uavPositions == null || uavPositions.size() < 2) {
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return 0.0;
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}
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double totalLength = 0.0;
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for (int i = 1; i < uavPositions.size(); i++) {
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ArdUavPositionDTO prev = uavPositions.get(i - 1);
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ArdUavPositionDTO curr = uavPositions.get(i);
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totalLength += GeoTools.calculateDistance(
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prev.getUavPosition().getLatitude(), prev.getUavPosition().getLongitude(),
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curr.getUavPosition().getLatitude(), curr.getUavPosition().getLongitude()
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);
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}
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return totalLength;
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}
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//计算飞行时间
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public double calculateFlyTime(ArdWaylineDTO ardWaylineDTO) {
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double totalLength = calculateWaylineLength(ardWaylineDTO); // 单位：米
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Float globalSpeed = ardWaylineDTO.getGlobalFlySpeed(); // 单位：米/秒
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if (globalSpeed == null || globalSpeed <= 0) {
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throw new IllegalArgumentException("全局速度无效，必须大于0");
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}
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return totalLength / globalSpeed; // 返回时间，单位：秒
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}
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}
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