Merge remote-tracking branch 'origin/dev' into dev

zhaowenyu

2025-12-24 19763ebd20ad16435f3c1ccfdc8abd1518712cc1

 ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java

@@ -12,9 +12,9 @@
import com.ard.data.noflyzone.domain.Vertex;
import com.ard.data.noflyzone.service.IArdNoFlyZoneService;
import com.ard.data.noflyzone.utils.NoFlyZoneUtils;
import com.ard.framework.web.service.TokenService;
import com.ard.oss.model.MinioUploadResult;
import com.ard.oss.service.impl.OssServiceContext;
import com.ard.ossdock.service.impl.OssDockServiceContext;
import com.ard.route.domain.djuav.ActionGroupReq;
import com.ard.route.domain.djuav.PointActionReq;
import com.ard.route.domain.djuav.RoutePointReq;
@@ -25,16 +25,22 @@
import com.ard.route.mapper.ArdRouteInfoMapper;
import com.ard.route.service.IArdRouteInfoService;
import com.ard.route.service.UavRouteService;
import com.ard.work.domain.cache.UavTelemetryDataCache;
import com.ard.work.domain.cache.UavWaylineCache;
import com.ard.work.domain.dto.state.PointData;
import com.ard.work.domain.dto.telemetry.TelemetryData;
import com.ard.work.domain.dto.wayline.*;
import com.ard.work.service.ITyService;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.web.multipart.MultipartFile;

import javax.annotation.Resource;

import static com.ard.route.enums.kml.DroneEnumValueEnums.M350_RTK;
import static com.ard.route.util.InitializationUtils.divided_23;
import static com.ard.route.util.ToolUtils.*;
import static com.ard.route.util.UavRouteReqUtils.fileConversionEntity;

@@ -47,14 +53,14 @@
@Service
public class ArdRouteInfoServiceImpl implements IArdRouteInfoService {

    private static final Logger log = LoggerFactory.getLogger(TokenService.class);

    @Autowired
    private ArdRouteInfoMapper ardRouteInfoMapper;

    @Autowired
    private OssServiceContext ossService;

    @Autowired
    private OssDockServiceContext ossDockService;

    @Autowired
    private UavRouteService routeService;
@@ -81,7 +87,29 @@
        } catch (IOException | ClassNotFoundException e) {
            throw new RuntimeException(e);
        }

        // 如果参考起飞点不为空，将每个航点高度进行加工。
        if (ardRouteInfo.getUavRouteReq().getTakeOffRefPoint() != null){

            double altitudeOffset = getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(), "alt");

            for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
                // 调整每个航点高度
                adjustRoutePointHeight(routePointReq, altitudeOffset);
            }
        }else {
            // 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。
            ardRouteInfo.getUavRouteReq().setTakeOffRefPoint(
                    ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getLatitude().toString() +"," +
                    ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getLongitude().toString()+","+
                    ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getHeight().toString());
        }

        return ardRouteInfo;
    }

    private void adjustRoutePointHeight(RoutePointReq routePointReq, double altitudeOffset) {
        routePointReq.setHeight(routePointReq.getHeight() + altitudeOffset);
    }

    /**
@@ -115,7 +143,19 @@
            ardRouteInfo.setGroupId("0");
        }
        ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft()));
        KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(), ardRouteInfo.getName());
        KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(),ardRouteInfo.getName());
        if (M350_RTK.getValue().equals(ardRouteInfo.getUavRouteReq().getDroneType())) {
            // 变焦数值加工
            for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
                for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
                    for (PointActionReq action : actionGroupReq.getActions()) {
                        if (action.getZoom() != null){
                            action.setZoom(divided_23(action.getZoom()));
                        }
                    }
                }
            }
        }
        ardRouteInfo.setPath(kmzResult.getPath());
        ardRouteInfo.setReadOnly("0");
        ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo));
@@ -145,7 +185,6 @@
            }
            ardRouteInfo.setPath(kmzResult.getPath());
        }
        ardRouteInfo.setReadOnly("0");
        return ardRouteInfoMapper.updateArdRouteInfo(dataProcessing(ardRouteInfo));
    }

@@ -196,9 +235,6 @@
        if (information.getPath() != null){
            ossService.deleteObject("kmz", subStringMinioUrlName(information.getPath()));
        }
        if (information.getPath1() != null){
            ossDockService.deleteObject("kmz", subStringMinioUrlName(information.getPath1()));
        }
    }

    /**
@@ -209,6 +245,9 @@
     */
    @Override
    public int deleteArdRouteInfoById(String id) {
        // 删除航线(kmz)文件
        ArdRouteInfo information = ardRouteInfoMapper.selectArdRouteInfoById(id);
        delOssService(information);
        return ardRouteInfoMapper.deleteArdRouteInfoById(id);
    }

@@ -229,18 +268,9 @@
                ardRouteInfo.setType(templateTypeData(uavRouteReq));
                ardRouteInfo.setAircraft(droneTypeData(uavRouteReq));
            }
            // 判断禁飞区
            List<RoutePointReq> routePointList = ardRouteInfo.getUavRouteReq().getRoutePointList();
            for (RoutePointReq routePointReq : routePointList) {
                ArdNoflyDto ardNoflyDto = new ArdNoflyDto();
                ardNoflyDto.setCurrent(new Vertex(routePointReq.getLongitude(), routePointReq.getLatitude()));
                verifyNoFlyZone(ardNoflyDto);
            }
            String url = ossService.upload("kmz",file);
            String urlDock = ossDockService.upload("kmz",file);
            ardRouteInfo.setName(file.getOriginalFilename());
            ardRouteInfo.setPath(url);
            ardRouteInfo.setPath1(urlDock);
            ardRouteInfo.setGroupId("0");     // 默认分组
            ardRouteInfo.setReadOnly("1");   // 默认只读
            insertRouteInfomation(ardRouteInfo);
@@ -250,7 +280,35 @@
                    .originalFilename(file.getOriginalFilename())
                    .build();
        }catch (Exception e){
            log.error("上传航线文件失败", e);
            return null;
        }
    }

    /**
     * 判断一组数组，是否包含禁飞区
     */
    private void arrayWithinNoFlyZone(List<RoutePointReq> routePointList) {
        if (routePointList == null || routePointList.isEmpty()) {
            return;
        }
        // 检查第一个航点
        ArdNoflyDto firstDto = new ArdNoflyDto();
        firstDto.setTarget(new Vertex(
                routePointList.get(0).getLongitude(),
                routePointList.get(0).getLatitude()));
        verifyNoFlyZone(firstDto);

        // 检查后续航点及与前一个航点的线段
        for (int i = 1; i < routePointList.size(); i++) {
            ArdNoflyDto dto = new ArdNoflyDto();
            dto.setCurrent(new Vertex(
                    routePointList.get(i - 1).getLongitude(),
                    routePointList.get(i - 1).getLatitude()));
            dto.setTarget(new Vertex(
                    routePointList.get(i).getLongitude(),
                    routePointList.get(i).getLatitude()));
            verifyNoFlyZone(dto);
        }
    }

@@ -288,7 +346,6 @@

    /**
     * 上传航线到边缘服务器
     *
     * ardNoflyDto
     * @return 结果
     */
@@ -302,6 +359,36 @@
        } catch (IOException | ClassNotFoundException e) {
            throw new RuntimeException(e);
        }

        // 获取第一个点
        double firstPointLng = route.getUavRouteReq().getRoutePointList().get(0).getLongitude();
        double firstPointLat = route.getUavRouteReq().getRoutePointList().get(0).getLatitude();

        // 获取最后一个点
        double lastPointLng = route.getUavRouteReq().getRoutePointList().get(route.getUavRouteReq().getRoutePointList().size()-1).getLongitude();
        double lastPointLat = route.getUavRouteReq().getRoutePointList().get(route.getUavRouteReq().getRoutePointList().size()-1).getLatitude();

        // 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
        TelemetryData telemetryData = UavTelemetryDataCache.get(boxSn);
        double telemetryDataLng = 0;
        double telemetryDataLat = 0;
        if (telemetryData != null){
            telemetryDataLng = telemetryData.getLng();
            telemetryDataLat = telemetryData.getLat();
        }

        ArdNoflyDto dto1 = new ArdNoflyDto();
        dto1.setCurrent(new Vertex(telemetryDataLng,telemetryDataLat));
        dto1.setTarget(new Vertex(firstPointLng,firstPointLat));
        verifyNoFlyZone(dto1);

        ArdNoflyDto dto2 = new ArdNoflyDto();
        dto2.setCurrent(new Vertex(lastPointLng,lastPointLat));
        dto2.setTarget(new Vertex(telemetryDataLng,telemetryDataLat));
        verifyNoFlyZone(dto2);

        // 判断禁飞区
        arrayWithinNoFlyZone(route.getUavRouteReq().getRoutePointList());
        // 1.2通过minio获取航线信息
        // 2.将航线信息转换成对应实体类
        WayLineUploadDTO wayLineUploadDTO = buildWayLineUploadDTO(route);
@@ -323,7 +410,12 @@
     * @return 结果
     */
    @Override
    public Boolean routeBegins(String boxSn) {
    public Boolean routeBegins(String id,String boxSn) {
        ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(id);
        // 判断是否循环航线
        if ("1".equals(route.getIsLoop())) {
            deleteArdRouteInfoById(id);
        }
        WayLineBeginDTO wayLineBeginDTO = new WayLineBeginDTO(boxSn);
        tyService.wayLineBegin(wayLineBeginDTO);
        return true;