增加用户优先级和所属平台 调整无人机控制逻辑增加优先级判断

liusuyi

2026-01-19 3c8d6b8e60f02b9a40fc5acd4dc6c34a6b594eb6

 ard-work/src/main/java/com/ard/work/component/websocket/handler/NoFlyDistanceManager.java

@@ -41,12 +41,16 @@
            ArdNoFlyBox box = zone.getArdNoFlyBox();
            if (box == null) continue;

            // 包围盒快速排除
            if (current.x < box.getMinx() || current.x > box.getMaxx() ||
                    current.y < box.getMiny() || current.y > box.getMaxy()) {
            // ⭐ 外扩 50 米
            ArdNoFlyBox expanded = expandBoxByMeter(box, 50);

            // ⭐ 包围盒快速排除必须使用 expanded，而不是 box
            if (current.x < expanded.getMinx() || current.x > expanded.getMaxx() ||
                    current.y < expanded.getMiny() || current.y > expanded.getMaxy()) {
                continue;
            }

            // 计算 polygon 距离
            List<Vertex> polygon = zone.getVertices();
            if (polygon == null || polygon.size() < 3) continue;

@@ -63,9 +67,26 @@
        return NoFlyDistanceDTO.builder()
                .boxSn(boxSn)
                .zoneName(nearestZone.getName())
                .distance(minDistance)
                .distance(minDistance)              // 米
                .inNoFlyZone(minDistance == 0)
                .build();
    }

    // 外扩包围盒多少米
    private ArdNoFlyBox expandBoxByMeter(ArdNoFlyBox box, double meter) {

        // 计算经纬度偏移
        double latShift = meter / 111320.0;  // 纬度方向
        double lngShift = meter / (111320.0 * Math.cos(Math.toRadians(
                (box.getMiny() + box.getMaxy()) / 2
        ))); // 经度方向与纬度相关

        return new ArdNoFlyBox(
                box.getMinx() - lngShift,
                box.getMiny() - latShift,
                box.getMaxx() + lngShift,
                box.getMaxy() + latShift
        );
    }


@@ -73,4 +94,7 @@
    protected String getMessageType() {
        return "noFlyZoneDistance";
    }



}