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

zhaowenyu

2026-03-09 3339af3ec5d084083d27ac03f978687ad026b0a5

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

@@ -1,10 +1,12 @@
package com.ard.route.service.impl;

import java.io.IOException;
import java.util.ArrayList;
import java.util.List;

import com.ard.common.exception.ControlException;
import com.ard.common.utils.DateUtils;
import com.ard.common.utils.SecurityUtils;
import com.ard.common.utils.file.FileUtils;
import com.ard.common.utils.uuid.IdUtils;
import com.ard.data.noflyzone.domain.ArdNoFlyZone;
@@ -12,6 +14,8 @@
import com.ard.data.noflyzone.service.IArdNoFlyZoneService;
import com.ard.data.noflyzone.utils.NoFlyZoneUtils;
import com.ard.framework.web.service.TokenService;
import com.ard.inspection.domain.ArdPointCloud;
import com.ard.inspection.mapper.ArdPointCloudMapper;
import com.ard.oss.model.MinioUploadResult;
import com.ard.oss.service.impl.OssServiceContext;
import com.ard.route.domain.djuav.ActionGroupReq;
@@ -19,9 +23,11 @@
import com.ard.route.domain.djuav.RoutePointReq;
import com.ard.route.domain.djuav.UavRouteReq;
import com.ard.route.domain.dto.ArdNoflyDto;
import com.ard.route.domain.route.ArdRouteCloud;
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.ArdRouteCloudMapper;
import com.ard.route.mapper.ArdRouteInfoMapper;
import com.ard.route.mapper.ArdRouteMissionMapper;
import com.ard.route.service.IArdRouteInfoService;
@@ -36,10 +42,7 @@
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.common.utils.SecurityUtils.getUsername;
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.*;
@@ -69,6 +72,12 @@
    @Autowired
    private ArdRouteMissionMapper ardRouteMissionMapper;

    @Autowired
    private ArdPointCloudMapper ardPointCloudMapper;

    @Autowired
    private ArdRouteCloudMapper ardRouteCloudMapper;

    @Resource
    private IArdNoFlyZoneService ardNoFlyZoneService;

@@ -88,6 +97,9 @@
            if (ardRouteInfo != null) {
                if (ardRouteInfo.getRouteData() != null){
                    ardRouteInfo.setUavRouteReq((UavRouteReq) deserialize(ardRouteInfo.getRouteData()));
                    if (ardRouteInfo.getCloudData() != null){
                        ardRouteInfo.setArdPointCloudList(deserializeLs(ardRouteInfo.getCloudData()));
                    }
                }
            }
        } catch (IOException | ClassNotFoundException e) {
@@ -140,10 +152,8 @@
     */
    @Override
    public String insertArdRouteInfo(ArdRouteInfo ardRouteInfo) {
        if ("3".equals(ardRouteInfo.getType())) {
            checkRouteMissionStatus(ardRouteInfo,"1");
            checkRouteMissionStatus(ardRouteInfo,"2");
        }
        checkRouteMissionStatus(ardRouteInfo,"1");
        checkRouteMissionStatus(ardRouteInfo,"2");
        ardRouteInfo.setId(IdUtils.simpleUUID());
        ardRouteInfo.setCreateTime(DateUtils.getNowDate());
        ardRouteInfo.setUpdateTime(DateUtils.getNowDate()); // 修改时间，用于排序
@@ -155,8 +165,29 @@
        zoomProcessing(ardRouteInfo);
        ardRouteInfo.setPath(kmzResult.getPath());
        ardRouteInfo.setReadOnly("0");
        insertRoutePointCloud(ardRouteInfo);
        ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo));
        return kmzResult.getPath();
    }

    /**
     * 新增航信信息时，修改点云数据
     * 同时增加航线与点云关联关系表数据
     */
    private void insertRoutePointCloud(ArdRouteInfo ardRouteInfo) {
        List<ArdRouteCloud> cloudList = new ArrayList<>();
        if (ardRouteInfo.getArdPointCloudList() != null){
            for (ArdPointCloud cloudId : ardRouteInfo.getArdPointCloudList()) {
                ArdRouteCloud cloud = new ArdRouteCloud();
                cloud.setRouteId(ardRouteInfo.getId());
                cloud.setCloudId(cloudId.getId());
                cloudId.setAssociatedState("1");
                cloudList.add(cloud);
                cloudId.setUpdateTime(DateUtils.getNowDate());
                ardPointCloudMapper.updateArdPointCloud(cloudId);
            }
            ardRouteCloudMapper.batchRouteCloud(cloudList);
        }
    }

    /**
@@ -173,16 +204,14 @@
                    validateForCreate(mission);
                    break;
                case "2":
                    bindRoute(mission, ardRouteInfo);
                    bindRoute(mission,ardRouteInfo);
                    break;
                case "3":
                    executeMission(mission);
                    executeMission(mission,ardRouteInfo);
                    break;
                default:
                    throw new RuntimeException("不支持的操作类型!!!");
            }
        }else {
            throw new RuntimeException("航线任务不存在！！！");
        }
    }

@@ -193,17 +222,18 @@
    }

    private void bindRoute(ArdRouteMission mission, ArdRouteInfo routeInfo) {
        if (!"0".equals(mission.getRouteId())) {
        if (mission.getRouteId() != null) {
            throw new RuntimeException("航线任务下已绑定航线，不可创建新航线信息！！！");
        }
        mission.setRouteId(routeInfo.getId());
        ardRouteMissionMapper.updateArdRouteMission(mission);
    }

    private void executeMission(ArdRouteMission mission) {
    private void executeMission(ArdRouteMission mission,ArdRouteInfo ardRouteInfo) {
        if ("0".equals(mission.getExecuteStatus())) {
            mission.setRouteId(ardRouteInfo.getId());
            mission.setExecuteStatus("1");
            mission.setExecuteBy(getUsername());
            mission.setExecuteName(SecurityUtils.getUsername());
            mission.setExecuteTime(DateUtils.getNowDate());
            mission.setUpdateTime(DateUtils.getNowDate());
            ardRouteMissionMapper.updateArdRouteMission(mission);
@@ -258,14 +288,19 @@
    private ArdRouteInfo dataProcessing(ArdRouteInfo ardRouteInfo) {
        // 航线数据
        byte[] routeData = null;
        byte[] cloudData = null;
        try {
            if (ardRouteInfo.getUavRouteReq() != null){
                routeData = serialize(ardRouteInfo.getUavRouteReq());
            }
            if (ardRouteInfo.getArdPointCloudList() != null){
                cloudData = serialize(ardRouteInfo.getArdPointCloudList());
            }
        } catch (IOException e) {
            throw new RuntimeException(e);
        }
        ardRouteInfo.setRouteData(routeData);
        ardRouteInfo.setCloudData(cloudData);
        ardRouteInfo.setPointCount(getPointCount(ardRouteInfo));
        return ardRouteInfo;
    }
@@ -422,6 +457,9 @@
        ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(id);
        try {
            route.setUavRouteReq((UavRouteReq) deserialize(route.getRouteData()));
            if (route.getCloudData() != null){
                route.setArdPointCloudList(deserializeLs(route.getCloudData()));
            }
        } catch (IOException | ClassNotFoundException e) {
            throw new RuntimeException(e);
        }
@@ -478,12 +516,12 @@
    @Override
    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);
            if ("3".equals(route.getType())) {
                checkRouteMissionStatus(route,"3");
        if (null != route){
            // 判断是否循环航线
            if ("0".equals(route.getIsLoop())){
                deleteArdRouteInfoById(id);
            }
            checkRouteMissionStatus(route,"3");
        }
        WayLineBeginDTO wayLineBeginDTO = new WayLineBeginDTO(boxSn);
        tyService.wayLineBegin(wayLineBeginDTO);