forked from uav/ard-uav-server
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
@@ -21,17 +21,20 @@ import com.ard.route.domain.djuav.UavRouteReq; import com.ard.route.domain.dto.ArdNoflyDto; import com.ard.route.domain.route.ArdRouteInfo; import com.ard.route.domain.route.ArdRouteMission; import com.ard.route.domain.vo.KmzResultVo; import com.ard.route.mapper.ArdRouteInfoMapper; import com.ard.route.mapper.ArdRouteMissionMapper; 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.BeanUtils; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; import org.springframework.web.multipart.MultipartFile; @@ -60,9 +63,11 @@ @Autowired private OssServiceContext ossService; @Autowired private UavRouteService routeService; @Autowired private ArdRouteMissionMapper ardRouteMissionMapper; @Resource private IArdNoFlyZoneService ardNoFlyZoneService; @@ -80,44 +85,37 @@ public ArdRouteInfo selectArdRouteInfoById(String id) { ArdRouteInfo ardRouteInfo = ardRouteInfoMapper.selectArdRouteInfoById(id); try { if (ardRouteInfo.getRouteData() != null){ ardRouteInfo.setUavRouteReq((UavRouteReq) deserialize(ardRouteInfo.getRouteData())); if (ardRouteInfo != null) { if (ardRouteInfo.getRouteData() != null){ ardRouteInfo.setUavRouteReq((UavRouteReq) deserialize(ardRouteInfo.getRouteData())); } } } catch (IOException | ClassNotFoundException e) { throw new RuntimeException(e); } // 主逻辑优化 double altitudeOffset = getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(), "alt"); boolean isM350RTK = M350_RTK.getValue().equals(ardRouteInfo.getUavRouteReq().getDroneType()); // 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){ for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) { // 调整航点高度 adjustRoutePointHeight(routePointReq, altitudeOffset); // 如果是M350_RTK无人机，处理变焦动作 // if (isM350RTK && routePointReq.getActionGroupList() != null) { // for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) { // if (actionGroupReq != null && actionGroupReq.getActions() != null) { // processZoomActions(actionGroupReq); // } // } // } 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; } // 提取航点高度调整逻辑到方法中 private void adjustRoutePointHeight(RoutePointReq routePointReq, double altitudeOffset) { routePointReq.setHeight(routePointReq.getHeight() + altitudeOffset); } // 提取变焦值处理逻辑到方法中 private void processZoomActions(ActionGroupReq actionGroupReq) { for (PointActionReq action : actionGroupReq.getActions()) { if (action != null && action.getZoom() != null) { action.setZoom(divided_23(action.getZoom())); } } } /** @@ -144,30 +142,33 @@ */ @Override public String insertArdRouteInfo(ArdRouteInfo ardRouteInfo) { processRouteMission(ardRouteInfo); ardRouteInfo.setId(IdUtils.simpleUUID()); ardRouteInfo.setCreateTime(DateUtils.getNowDate()); ardRouteInfo.setUpdateTime(DateUtils.getNowDate()); // 修改时间，用于排序 if (ardRouteInfo.getGroupId() == null){ ardRouteInfo.setGroupId("0"); } UavRouteReq uavRouteReq = new UavRouteReq(); BeanUtils.copyProperties(ardRouteInfo.getUavRouteReq(), uavRouteReq); ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft())); KmzResultVo kmzResult = routeService.buildKmz(uavRouteReq,ardRouteInfo.getName()); if (M350_RTK.getValue().equals(uavRouteReq.getDroneType())) { // 变焦数值加工 for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) { for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) { for (PointActionReq action : actionGroupReq.getActions()) { action.setZoom(divided_23(action.getZoom())); } } } } KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(),ardRouteInfo.getName()); zoomProcessing(ardRouteInfo); ardRouteInfo.setPath(kmzResult.getPath()); ardRouteInfo.setReadOnly("0"); ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo)); return kmzResult.getPath(); } // 航线任务数据加工校验 private void processRouteMission(ArdRouteInfo ardRouteInfo){ if ("3".equals(ardRouteInfo.getType())) { ArdRouteMission ardRouteMission = ardRouteMissionMapper.selectArdRouteMissionById(ardRouteInfo.getMissionId()); if ("0".equals(ardRouteMission.getRouteId())) { ardRouteMission.setRouteId(ardRouteInfo.getId()); ardRouteMissionMapper.updateArdRouteMission(ardRouteMission); }else { throw new RuntimeException("不能修改默认分组"); } } } /** @@ -187,6 +188,8 @@ // 先删除航线 delOssService(route); // 再生成航线 ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft())); zoomProcessing(ardRouteInfo); kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(), ardRouteInfo.getName()); if ("更新航线kmz文件失败".equals(kmzResult.getData())) { return 0; @@ -194,6 +197,22 @@ ardRouteInfo.setPath(kmzResult.getPath()); } return ardRouteInfoMapper.updateArdRouteInfo(dataProcessing(ardRouteInfo)); } // 变倍加工方法 private void zoomProcessing(ArdRouteInfo ardRouteInfo) { 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())); } } } } } } // 新增信息加工 @@ -253,6 +272,9 @@ */ @Override public int deleteArdRouteInfoById(String id) { // 删除航线(kmz)文件 ArdRouteInfo information = ardRouteInfoMapper.selectArdRouteInfoById(id); delOssService(information); return ardRouteInfoMapper.deleteArdRouteInfoById(id); } @@ -273,17 +295,6 @@ ardRouteInfo.setType(templateTypeData(uavRouteReq)); ardRouteInfo.setAircraft(droneTypeData(uavRouteReq)); } // 判断禁飞区 try { arrayWithinNoFlyZone(ardRouteInfo.getUavRouteReq().getRoutePointList()); } catch (ControlException e) { // 返回包含禁飞区错误信息的特定结果 return MinioUploadResult.builder() .originalFilename("禁飞区错误.航线航点在禁飞区！") .build(); } String url = ossService.upload("kmz",file); ardRouteInfo.setName(file.getOriginalFilename()); ardRouteInfo.setPath(url); @@ -362,7 +373,6 @@ /** * 上传航线到边缘服务器 * * ardNoflyDto * @return 结果 */ @@ -376,6 +386,36 @@ } 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); @@ -397,7 +437,12 @@ * @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 (null != route && "0".equals(route.getIsLoop())){ deleteArdRouteInfoById(id); } WayLineBeginDTO wayLineBeginDTO = new WayLineBeginDTO(boxSn); tyService.wayLineBegin(wayLineBeginDTO); return true;
