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.SecurityUtils;
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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.framework.web.service.TokenService;
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import com.ard.inspection.domain.ArdPointCloud;
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import com.ard.inspection.mapper.ArdPointCloudMapper;
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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.ArdRouteCloud;
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import com.ard.route.domain.route.ArdRouteInfo;
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import com.ard.route.domain.route.ArdRouteMission;
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import com.ard.route.domain.vo.KmzResultVo;
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import com.ard.route.mapper.ArdRouteCloudMapper;
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import com.ard.route.mapper.ArdRouteInfoMapper;
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import com.ard.route.mapper.ArdRouteMissionMapper;
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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.cache.UavTelemetryDataCache;
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import com.ard.work.domain.cache.UavWaylineCache;
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import com.ard.work.domain.dto.telemetry.TelemetryData;
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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.slf4j.Logger;
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import org.slf4j.LoggerFactory;
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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.enums.kml.DroneEnumValueEnums.M350_RTK;
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import static com.ard.route.util.InitializationUtils.divided_23;
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import static com.ard.route.util.ToolUtils.*;
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import static com.ard.route.util.UavRouteReqUtils.buildWayLineUploadDTO;
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import static com.ard.route.util.UavRouteReqUtils.fileConversionEntity;
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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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private static final Logger log = LoggerFactory.getLogger(TokenService.class);
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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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@Autowired
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private ArdRouteMissionMapper ardRouteMissionMapper;
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@Autowired
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private ArdPointCloudMapper ardPointCloudMapper;
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@Autowired
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private ArdRouteCloudMapper ardRouteCloudMapper;
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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 != null) {
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if (ardRouteInfo.getRouteData() != null){
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ardRouteInfo.setUavRouteReq((UavRouteReq) deserialize(ardRouteInfo.getRouteData()));
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if (ardRouteInfo.getCloudData() != null){
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ardRouteInfo.setArdPointCloudList(deserializeLs(ardRouteInfo.getCloudData()));
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}
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}
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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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// 如果参考起飞点不为空，将每个航点高度进行加工。
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if (ardRouteInfo.getUavRouteReq().getTakeOffRefPoint() != null){
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double altitudeOffset = getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(), "alt");
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for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
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adjustRoutePointHeight(routePointReq, altitudeOffset);
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}
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}else {
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// 如果没有设置参考起飞点，将第一个航点设置为参考起飞点。
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ardRouteInfo.getUavRouteReq().setTakeOffRefPoint(
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ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getLatitude().toString() +"," +
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ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getLongitude().toString()+","+
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ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getHeight().toString());
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}
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return ardRouteInfo;
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}
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// 调整每个航点高度
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private void adjustRoutePointHeight(RoutePointReq routePointReq, double altitudeOffset) {
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routePointReq.setHeight(routePointReq.getHeight() + altitudeOffset);
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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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checkRouteMissionStatus(ardRouteInfo,"1");
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checkRouteMissionStatus(ardRouteInfo,"2");
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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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ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft()));
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KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(),ardRouteInfo.getName());
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zoomProcessing(ardRouteInfo);
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ardRouteInfo.setPath(kmzResult.getPath());
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ardRouteInfo.setReadOnly("0");
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insertRoutePointCloud(ardRouteInfo);
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ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo));
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return kmzResult.getPath();
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}
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/**
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* 新增航信信息时，修改点云数据
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* 同时增加航线与点云关联关系表数据
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*/
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private void insertRoutePointCloud(ArdRouteInfo ardRouteInfo) {
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List<ArdRouteCloud> cloudList = new ArrayList<>();
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if (ardRouteInfo.getArdPointCloudList() != null){
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for (ArdPointCloud cloudId : ardRouteInfo.getArdPointCloudList()) {
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ArdRouteCloud cloud = new ArdRouteCloud();
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cloud.setRouteId(ardRouteInfo.getId());
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cloud.setCloudId(cloudId.getId());
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cloudId.setAssociatedState("1");
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cloudList.add(cloud);
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cloudId.setUpdateTime(DateUtils.getNowDate());
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ardPointCloudMapper.updateArdPointCloud(cloudId);
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}
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ardRouteCloudMapper.batchRouteCloud(cloudList);
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}
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}
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/**
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* 航线任务数据加工校验
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* 1.新建航线时，判断航线任务是否已完成
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* 2.新建航线时，对航线任务数据进行加工
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* 3.执行航线的时,修改航线任务表执行状态
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*/
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private void checkRouteMissionStatus(ArdRouteInfo ardRouteInfo,String type){
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ArdRouteMission mission = ardRouteMissionMapper.selectArdRouteMissionById(ardRouteInfo.getMissionId());
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if (mission != null){
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switch(type){
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case "1":
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validateForCreate(mission);
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break;
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case "2":
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bindRoute(mission,ardRouteInfo);
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break;
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case "3":
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executeMission(mission,ardRouteInfo);
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break;
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default:
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throw new RuntimeException("不支持的操作类型!!!");
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}
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}
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}
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private void validateForCreate(ArdRouteMission mission) {
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if ("1".equals(mission.getExecuteStatus())){
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throw new RuntimeException("航线任务已完成，无法创建航线！！！");
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}
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}
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private void bindRoute(ArdRouteMission mission, ArdRouteInfo routeInfo) {
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if (mission.getRouteId() != null) {
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throw new RuntimeException("航线任务下已绑定航线，不可创建新航线信息！！！");
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}
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mission.setRouteId(routeInfo.getId());
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ardRouteMissionMapper.updateArdRouteMission(mission);
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}
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private void executeMission(ArdRouteMission mission,ArdRouteInfo ardRouteInfo) {
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if ("0".equals(mission.getExecuteStatus())) {
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mission.setRouteId(ardRouteInfo.getId());
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mission.setExecuteStatus("1");
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mission.setExecuteName(SecurityUtils.getUsername());
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mission.setExecuteTime(DateUtils.getNowDate());
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mission.setUpdateTime(DateUtils.getNowDate());
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ardRouteMissionMapper.updateArdRouteMission(mission);
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}
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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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// 先删除航线
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delOssService(route);
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// 再生成航线
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ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft()));
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zoomProcessing(ardRouteInfo);
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kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(), ardRouteInfo.getName());
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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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return ardRouteInfoMapper.updateArdRouteInfo(dataProcessing(ardRouteInfo));
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}
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// 变倍加工方法
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private void zoomProcessing(ArdRouteInfo ardRouteInfo) {
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if (M350_RTK.getValue().equals(ardRouteInfo.getUavRouteReq().getDroneType())) {
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// 变焦数值加工
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for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
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for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
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for (PointActionReq action : actionGroupReq.getActions()) {
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if (action.getZoom() != null){
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action.setZoom(divided_23(action.getZoom()));
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}
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}
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}
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}
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}
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}
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// 新增信息加工
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private ArdRouteInfo dataProcessing(ArdRouteInfo ardRouteInfo) {
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// 航线数据
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byte[] routeData = null;
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byte[] cloudData = null;
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try {
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if (ardRouteInfo.getUavRouteReq() != null){
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routeData = serialize(ardRouteInfo.getUavRouteReq());
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}
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if (ardRouteInfo.getArdPointCloudList() != null){
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cloudData = serialize(ardRouteInfo.getArdPointCloudList());
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}
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} catch (IOException e) {
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throw new RuntimeException(e);
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}
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ardRouteInfo.setRouteData(routeData);
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ardRouteInfo.setCloudData(cloudData);
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ardRouteInfo.setPointCount(getPointCount(ardRouteInfo));
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return ardRouteInfo;
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}
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// 获取行点总数
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private Integer getPointCount(ArdRouteInfo ardRouteInfo) {
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if (ardRouteInfo.getUavRouteReq() != null){
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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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}
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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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delOssService(information);
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}
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return ardRouteInfoMapper.deleteArdRouteInfoByIds(ids);
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}
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// 删除minio文件
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private void delOssService(ArdRouteInfo information){
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if (information.getPath() != null){
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ossService.deleteObject("kmz", subStringMinioUrlName(information.getPath()));
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}
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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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// 删除航线(kmz)文件
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ArdRouteInfo information = ardRouteInfoMapper.selectArdRouteInfoById(id);
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delOssService(information);
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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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// 增加航线实体类信息
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UavRouteReq uavRouteReq = fileConversionEntity(file);
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ArdRouteInfo ardRouteInfo = new ArdRouteInfo();
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if (uavRouteReq != null){
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ardRouteInfo.setUavRouteReq(uavRouteReq);
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ardRouteInfo.setType(templateTypeData(uavRouteReq));
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ardRouteInfo.setAircraft(droneTypeData(uavRouteReq));
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}
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String url = ossService.upload("kmz",file);
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ardRouteInfo.setName(file.getOriginalFilename());
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ardRouteInfo.setPath(url);
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ardRouteInfo.setGroupId("0"); // 默认分组
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ardRouteInfo.setReadOnly("1"); // 默认只读
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insertRouteInfomation(ardRouteInfo);
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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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log.error("上传航线文件失败", e);
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return null;
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}
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}
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/**
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* 判断一组数组，是否包含禁飞区
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*/
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private void arrayWithinNoFlyZone(List<RoutePointReq> routePointList) {
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if (routePointList == null || routePointList.isEmpty()) {
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return;
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}
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// 检查第一个航点
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ArdNoflyDto firstDto = new ArdNoflyDto();
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firstDto.setTarget(new Vertex(
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routePointList.get(0).getLongitude(),
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routePointList.get(0).getLatitude()));
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verifyNoFlyZone(firstDto);
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// 检查后续航点及与前一个航点的线段
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for (int i = 1; i < routePointList.size(); i++) {
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ArdNoflyDto dto = new ArdNoflyDto();
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dto.setCurrent(new Vertex(
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routePointList.get(i - 1).getLongitude(),
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routePointList.get(i - 1).getLatitude()));
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dto.setTarget(new Vertex(
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routePointList.get(i).getLongitude(),
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routePointList.get(i).getLatitude()));
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verifyNoFlyZone(dto);
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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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* 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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if (route.getCloudData() != null){
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route.setArdPointCloudList(deserializeLs(route.getCloudData()));
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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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// 获取第一个点
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double firstPointLng = route.getUavRouteReq().getRoutePointList().get(0).getLongitude();
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double firstPointLat = route.getUavRouteReq().getRoutePointList().get(0).getLatitude();
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// 获取最后一个点
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double lastPointLng = route.getUavRouteReq().getRoutePointList().get(route.getUavRouteReq().getRoutePointList().size()-1).getLongitude();
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double lastPointLat = route.getUavRouteReq().getRoutePointList().get(route.getUavRouteReq().getRoutePointList().size()-1).getLatitude();
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// 无人机遥测数据,用于校验真实起飞点和第一个点是否在禁飞区
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TelemetryData telemetryData = UavTelemetryDataCache.get(boxSn);
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double telemetryDataLng = 0;
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double telemetryDataLat = 0;
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if (telemetryData != null){
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telemetryDataLng = telemetryData.getLng();
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telemetryDataLat = telemetryData.getLat();
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}
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ArdNoflyDto dto1 = new ArdNoflyDto();
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dto1.setCurrent(new Vertex(telemetryDataLng,telemetryDataLat));
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dto1.setTarget(new Vertex(firstPointLng,firstPointLat));
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verifyNoFlyZone(dto1);
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ArdNoflyDto dto2 = new ArdNoflyDto();
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dto2.setCurrent(new Vertex(lastPointLng,lastPointLat));
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dto2.setTarget(new Vertex(telemetryDataLng,telemetryDataLat));
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verifyNoFlyZone(dto2);
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// 判断禁飞区
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arrayWithinNoFlyZone(route.getUavRouteReq().getRoutePointList());
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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.缓存航线信息
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WaylineInfo WaylineInfo = new WaylineInfo();
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WaylineInfo.setBoxSn(boxSn);
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WaylineInfo.setWaylineId(route.getId());
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UavWaylineCache.put(WaylineInfo);
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// 4.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 id,String boxSn) {
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ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(id);
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if (null != route){
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// 判断是否循环航线
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if ("0".equals(route.getIsLoop())){
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deleteArdRouteInfoById(id);
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}
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checkRouteMissionStatus(route,"3");
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}
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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;
|
}
|
|
/**
|
* 结束航线
|
*
|
* @param boxSn 云盒SN编号
|
* @return 结果
|
*/
|
@Override
|
public Boolean routeEnd(String boxSn) {
|
WayLineEndDTO wayLineEndDTO = new WayLineEndDTO(boxSn);
|
tyService.wayLineEnd(wayLineEndDTO);
|
return true;
|
}
|
|
/**
|
* 数据新增航线信息
|
*/
|
private void insertRouteInfomation(ArdRouteInfo ardRouteInfo){
|
ardRouteInfo.setId(IdUtils.simpleUUID());
|
ardRouteInfo.setCreateTime(DateUtils.getNowDate());
|
ardRouteInfo.setUpdateTime(DateUtils.getNowDate());
|
ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo));
|
}
|
|
/**
|
* 判断行点是否在禁飞区
|
* 原点 current 第一个节点
|
* 目标点 target 第二个节点
|
*/
|
private Boolean verifyNoFlyZone(ArdNoflyDto ardNoflyDto){
|
// ③ 查询禁飞区
|
List<ArdNoFlyZone> zones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());
|
if (zones.isEmpty()) {
|
return true;
|
}
|
for (ArdNoFlyZone zone : zones) {
|
List<Vertex> polygon = zone.getVertices();
|
if (polygon == null || polygon.size() < 3) continue;
|
|
// 检查目标点是否在禁飞区
|
if (NoFlyZoneUtils.isPointInPolygon(ardNoflyDto.getTarget(), polygon)) {
|
throw new ControlException("目标点在禁飞区【" + zone.getName() + "】内，无法执行操作！");
|
}
|
|
// 检查路径是否穿越禁飞区
|
if (ardNoflyDto.getCurrent() != null && NoFlyZoneUtils.isLineIntersectPolygon(ardNoflyDto.getCurrent(), ardNoflyDto.getTarget(), polygon)) {
|
throw new ControlException("路径穿越禁飞区【" + zone.getName() + "】，无法执行操作！");
|
}
|
}
|
return true;
|
}
|
|
}
|
