forked from uav/ard-uav-server
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
@@ -6,6 +6,7 @@ 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; @@ -13,33 +14,41 @@ 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.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; 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; 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; import javax.annotation.Resource; import static com.ard.route.util.InitializationUtils.divided_6; import static com.ard.route.enums.kml.DroneEnumValueEnums.M30_M30T; import static com.ard.route.enums.kml.DroneEnumValueEnums.M350_RTK; import static com.ard.route.util.InitializationUtils.divided23; import static com.ard.route.util.ToolUtils.*; import static com.ard.route.util.UavRouteReqUtils.buildWayLineUploadDTO; import static com.ard.route.util.UavRouteReqUtils.fileConversionEntity; /** @@ -60,10 +69,16 @@ private OssServiceContext ossService; @Autowired private OssDockServiceContext ossDockService; private UavRouteService routeService; @Autowired private UavRouteService routeService; private ArdRouteMissionMapper ardRouteMissionMapper; @Autowired private ArdPointCloudMapper ardPointCloudMapper; @Autowired private ArdRouteCloudMapper ardRouteCloudMapper; @Resource private IArdNoFlyZoneService ardNoFlyZoneService; @@ -81,24 +96,46 @@ 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 ("3".equals(ardRouteInfo.getType())) { if (ardRouteInfo.getRouteData() != null){ UavRouteReq uavRouteReq = new UavRouteReq(); BeanUtils.copyProperties(deserialize(ardRouteInfo.getRouteData()), uavRouteReq); ardRouteInfo.setUavRouteReq(uavRouteReq); } } else { if (ardRouteInfo.getRouteData() != null){ ardRouteInfo.setUavRouteReq((UavRouteReq) deserialize(ardRouteInfo.getRouteData())); } } if (ardRouteInfo.getCloudData() != null){ ardRouteInfo.setArdPointCloudList(deserializeLs(ardRouteInfo.getCloudData())); } } } catch (IOException | ClassNotFoundException e) { throw new RuntimeException(e); } for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) { routePointReq.setHeight(routePointReq.getHeight() + getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(),"alt")); // 判断无人机类型 if (ardRouteInfo.getUavRouteReq().getDroneType().equals(89)){ for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) { for (PointActionReq action : actionGroupReq.getActions()) { action.setZoom(divided_6(action.getZoom())); } } // 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()) { 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; } // 调整每个航点高度 private void adjustRoutePointHeight(RoutePointReq routePointReq, double altitudeOffset) { routePointReq.setHeight(routePointReq.getHeight() + altitudeOffset); } /** @@ -114,12 +151,6 @@ }else if ("0".equals(ardRouteInfo.getOrderByTime())) { ardRouteInfo.setOrderByTime("ASC"); } // List<ArdRouteInfo> list = ardRouteInfoMapper.selectArdRouteInfoList(ardRouteInfo); // for (ArdRouteInfo routeInfo : list) { // for (RoutePointReq routePointReq : routeInfo.getUavRouteReq().getRoutePointList()) { // routePointReq.setHeight(routePointReq.getHeight() + getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(),"alt")); // } // } return ardRouteInfoMapper.selectArdRouteInfoList(ardRouteInfo); } @@ -131,18 +162,103 @@ */ @Override public String insertArdRouteInfo(ArdRouteInfo ardRouteInfo) { 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 if (ardRouteInfo.getGroupId() == null){ ardRouteInfo.setGroupId("0"); } ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft())); KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(),ardRouteInfo.getName()); if ("3".equals(ardRouteInfo.getType())){ ardRouteInfo.getUavRouteReq().setHeightMode("EGM96"); }else { ardRouteInfo.getUavRouteReq().setHeightMode("relativeToStartPoint"); } UavRouteReq uavRouteReq = ardRouteInfo.getUavRouteReq(); uavRouteReq.setDroneType(subStringDroneType(ardRouteInfo.getAircraft())); // 机场1：M30/M30T 需保留 aircraft 中的子类型（0-67-0 / 0-67-1）， // 否则 M30T 会按 M30 生成 KMZ（payload 52 而非 53） if (M30_M30T.getValue().equals(uavRouteReq.getDroneType())) { uavRouteReq.setSubDroneType(subStringSubDroneType(ardRouteInfo.getAircraft())); } KmzResultVo kmzResult = routeService.buildKmz(uavRouteReq,ardRouteInfo.getName()); 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); } } /** * 航线任务数据加工校验 * 1.新建航线时，判断航线任务是否已完成 * 2.新建航线时，对航线任务数据进行加工 * 3.执行航线的时,修改航线任务表执行状态 */ private void checkRouteMissionStatus(ArdRouteInfo ardRouteInfo,String type){ ArdRouteMission mission = ardRouteMissionMapper.selectArdRouteMissionById(ardRouteInfo.getMissionId()); if (mission != null){ switch(type){ case "1": validateForCreate(mission); break; case "2": bindRoute(mission,ardRouteInfo); break; case "3": executeMission(mission,ardRouteInfo); break; default: throw new RuntimeException("不支持的操作类型!!!"); } } } private void validateForCreate(ArdRouteMission mission) { if ("1".equals(mission.getExecuteStatus())){ throw new RuntimeException("航线任务已完成，无法创建航线！！！"); } } private void bindRoute(ArdRouteMission mission, ArdRouteInfo routeInfo) { 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,ArdRouteInfo ardRouteInfo) { if ("0".equals(mission.getExecuteStatus())) { mission.setRouteId(ardRouteInfo.getId()); mission.setExecuteStatus("1"); mission.setExecuteName(SecurityUtils.getUsername()); mission.setExecuteTime(DateUtils.getNowDate()); mission.setUpdateTime(DateUtils.getNowDate()); ardRouteMissionMapper.updateArdRouteMission(mission); } } /** @@ -162,7 +278,14 @@ // 先删除航线 delOssService(route); // 再生成航线 kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(), ardRouteInfo.getName()); UavRouteReq uavRouteReq = ardRouteInfo.getUavRouteReq(); uavRouteReq.setDroneType(subStringDroneType(ardRouteInfo.getAircraft())); // 机场1：M30T(0-67-1) 需同步子类型，避免编辑后按 M30 重新生成 KMZ if (M30_M30T.getValue().equals(uavRouteReq.getDroneType())) { uavRouteReq.setSubDroneType(subStringSubDroneType(ardRouteInfo.getAircraft())); } zoomProcessing(ardRouteInfo); kmzResult = routeService.buildKmz(uavRouteReq, ardRouteInfo.getName()); if ("更新航线kmz文件失败".equals(kmzResult.getData())) { return 0; } @@ -171,18 +294,39 @@ 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(divided23(action.getZoom())); } } } } } } // 新增信息加工 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; } @@ -218,9 +362,6 @@ if (information.getPath() != null){ ossService.deleteObject("kmz", subStringMinioUrlName(information.getPath())); } if (information.getPath1() != null){ ossDockService.deleteObject("kmz", subStringMinioUrlName(information.getPath1())); } } /** @@ -231,6 +372,9 @@ */ @Override public int deleteArdRouteInfoById(String id) { // 删除航线(kmz)文件 ArdRouteInfo information = ardRouteInfoMapper.selectArdRouteInfoById(id); delOssService(information); return ardRouteInfoMapper.deleteArdRouteInfoById(id); } @@ -251,22 +395,9 @@ 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); 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); @@ -342,7 +473,6 @@ /** * 上传航线到边缘服务器 * * ardNoflyDto * @return 结果 */ @@ -353,9 +483,42 @@ 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); } // 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); @@ -364,6 +527,7 @@ WaylineInfo WaylineInfo = new WaylineInfo(); WaylineInfo.setBoxSn(boxSn); WaylineInfo.setWaylineId(route.getId()); WaylineInfo.setRouteName(route.getName()); UavWaylineCache.put(WaylineInfo); // 4.调用接口 tyService.wayLineUpload(wayLineUploadDTO); @@ -377,7 +541,15 @@ * @return 结果 */ @Override public Boolean routeBegins(String boxSn) { public Boolean routeBegins(String id,String boxSn) { ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(id); 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); return true; @@ -420,151 +592,6 @@ WayLineEndDTO wayLineEndDTO = new WayLineEndDTO(boxSn); tyService.wayLineEnd(wayLineEndDTO); return true; } /** * ArdRouteInfo实体转换，WayLineUploadDTO */ private WayLineUploadDTO buildWayLineUploadDTO(ArdRouteInfo ardRouteInfo){ WayLineUploadDTO wayLineUploadDTO = new WayLineUploadDTO(); String finishAction = ardRouteInfo.getUavRouteReq().getFinishAction(); //1 Double autoFlightSpeed = ardRouteInfo.getUavRouteReq().getAutoFlightSpeed(); //15 Double globalTransitionalSpeed = ardRouteInfo.getUavRouteReq().getGlobalTransitionalSpeed(); //8 String exitOnRcLostAction = ardRouteInfo.getUavRouteReq().getExitOnRcLostAction(); //0 PlanLineData planLineData = new PlanLineData(); if (finishAction != null){ planLineData.setLoseAction(0); } if (autoFlightSpeed != null){ planLineData.setAutoSpeed(8); } planLineData.setMaxSpeed(15); // if (globalTransitionalSpeed != null){ // planLineData.setMaxSpeed(15); // } if (exitOnRcLostAction != null){ planLineData.setFinishedAction(1); } planLineData.setHomeHeight(50); planLineData.setInterests(new ArrayList<>()); planLineData.setIsSaveEnergyMode(0); planLineData.setPoints(buildPointDataList(ardRouteInfo.getUavRouteReq())); wayLineUploadDTO.setWayLineData(planLineData); return wayLineUploadDTO; } private List<PointData> buildPointDataList(UavRouteReq uavRouteReq){ List<PointData> pointDataList = new ArrayList<>(); for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) { PointData pointData = new PointData(); Integer routePointIndex = routePointReq.getRoutePointIndex(); if (routePointIndex != null){ pointData.setGroupIndex(routePointIndex); } Double height = routePointReq.getHeight(); if (height != null){ pointData.setHeight(height.floatValue()); } Double longitude = routePointReq.getLongitude(); if (longitude != null){ pointData.setLng(longitude.floatValue()); } Double latitude = routePointReq.getLatitude(); if (latitude != null){ pointData.setLat(latitude.floatValue()); } Double speed = routePointReq.getSpeed(); if (speed != null){ pointData.setSpeed(speed.floatValue()); } pointData.setDampingDistance(0); pointData.setFlightPathMode(1); pointData.setHeading(0); pointData.setHeadingMode(0); pointData.setInterestIndex(-1); pointData.setSafeGohomeFlag(0); pointData.setActions(buildPointActionList(routePointReq.getActionGroupList())); pointDataList.add(pointData); } return pointDataList; } private List<PointAction> buildPointActionList(List<ActionGroupReq> actionGroupList){ List<PointAction> pointActionList = new ArrayList<>(); for (ActionGroupReq actionGroupReq : actionGroupList) { for (PointActionReq action : actionGroupReq.getActions()) { PointAction pointAction = typeProcessing(action); pointActionList.add(pointAction); } } return pointActionList; } private PointAction typeProcessing(PointActionReq pointActionReq){ PointAction pointAction = new PointAction(); if (pointActionReq.getZoom() != null){ pointAction.setType(1); pointAction.setParam(pointActionReq.getZoom().floatValue()); pointAction.setSpeakInfo(""); pointAction.setWaitTime(2); } if (pointActionReq.getTakePhotoType() != null){ pointAction.setType(2); pointAction.setParam(1); pointAction.setSpeakInfo(""); pointAction.setWaitTime(2); } if (pointActionReq.getStartRecord() != null){ pointAction.setType(3); pointAction.setParam(1); pointAction.setSpeakInfo(""); pointAction.setWaitTime(2); } if (pointActionReq.getStopRecord() != null){ pointAction.setType(4); pointAction.setParam(1); pointAction.setSpeakInfo(""); pointAction.setWaitTime(2); } if (pointActionReq.getAircraftHeading() != null){ pointAction.setType(5); pointAction.setParam(pointActionReq.getAircraftHeading().floatValue()); pointAction.setSpeakInfo(""); pointAction.setWaitTime(2); } if (pointActionReq.getGimbalPitchRotateAngle() != null){ pointAction.setType(6); pointAction.setParam(pointActionReq.getGimbalPitchRotateAngle().floatValue()); pointAction.setSpeakInfo(""); pointAction.setWaitTime(2); } if (pointActionReq.getGimbalYawRotateAngle() != null){ pointAction.setType(7); pointAction.setParam(pointActionReq.getGimbalYawRotateAngle().floatValue()); pointAction.setSpeakInfo(""); pointAction.setWaitTime(2); } if (pointActionReq.getHoverTime() != null){ pointAction.setType(9); pointAction.setParam(pointActionReq.getHoverTime().floatValue()); pointAction.setSpeakInfo(""); pointAction.setWaitTime(2); } return pointAction; } /**
