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

zhaowenyu

2025-11-25 aae8b5dc994fffdc211b1f0fc860840cb0d4687a

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

@@ -1,6 +1,7 @@
package com.ard.route.service.impl;

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

import com.ard.common.exception.ControlException;
@@ -13,12 +14,21 @@
import com.ard.data.noflyzone.utils.NoFlyZoneUtils;
import com.ard.oss.model.MinioUploadResult;
import com.ard.oss.service.impl.OssServiceContext;
import com.ard.route.domain.UavRouteReq;
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.ArdRouteInfo;
import com.ard.route.domain.sixhe.ArdRouteChange;
import com.ard.route.domain.vo.KmzInfoVo;
import com.ard.route.domain.vo.KmzResultVo;
import com.ard.route.mapper.ArdRouteInfoMapper;
import com.ard.route.service.IArdRouteInfoService;
import com.ard.route.service.UavRouteService;
import com.ard.work.domain.dto.state.PointData;
import com.ard.work.domain.dto.wayline.*;
import com.ard.work.service.ITyService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.web.multipart.MultipartFile;
@@ -48,6 +58,9 @@
    @Resource
    private IArdNoFlyZoneService ardNoFlyZoneService;

    @Resource
    private ITyService tyService;

    /**
     * 查询航线(kmz)
     * 
@@ -58,7 +71,9 @@
    public ArdRouteInfo selectArdRouteInfoById(String id) {
        ArdRouteInfo ardRouteInfo = ardRouteInfoMapper.selectArdRouteInfoById(id);
        try {
            ardRouteInfo.setUavRouteReq((UavRouteReq) deserialize(ardRouteInfo.getRouteData()));
            if (ardRouteInfo.getRouteData() != null){
                ardRouteInfo.setUavRouteReq((UavRouteReq) deserialize(ardRouteInfo.getRouteData()));
            }
        } catch (IOException | ClassNotFoundException e) {
            throw new RuntimeException(e);
        }
@@ -73,6 +88,11 @@
     */
    @Override
    public List<ArdRouteInfo> selectArdRouteInfoList(ArdRouteInfo ardRouteInfo) {
        if ("1".equals(ardRouteInfo.getOrderByTime())) {
            ardRouteInfo.setOrderByTime("DESC");
        }else if ("0".equals(ardRouteInfo.getOrderByTime())) {
            ardRouteInfo.setOrderByTime("ASC");
        }
        return ardRouteInfoMapper.selectArdRouteInfoList(ardRouteInfo);
    }

@@ -86,6 +106,7 @@
    public String insertArdRouteInfo(ArdRouteInfo 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");
        }
@@ -96,9 +117,12 @@
        } catch (IOException e) {
            throw new RuntimeException(e);
        }
        ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft()));
        ardRouteInfo.setRouteData(routeData);
        KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(), ardRouteInfo.getName());
        ardRouteInfo.setPath(kmzResult.getPath());
        ardRouteInfo.setReadOnly("0");
        ardRouteInfo.setPointCount(getPointCount(ardRouteInfo));
        ardRouteInfoMapper.insertArdRouteInfo(ardRouteInfo);
        return kmzResult.getPath();
    }
@@ -112,19 +136,30 @@
    @Override
    public int updateArdRouteInfo(ArdRouteInfo ardRouteInfo) {
        ardRouteInfo.setUpdateTime(DateUtils.getNowDate());
        KmzResultVo kmzResult = new KmzResultVo();
        // 获取源文件名字
        ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(ardRouteInfo.getId());
        if (route.getName().equals(ardRouteInfo.getName())) {
            kmzResult = routeService.updateKmz(ardRouteInfo.getUavRouteReq(), ardRouteInfo.getName());
        }else {
            kmzResult = routeService.updateKmzNew(ardRouteInfo.getUavRouteReq(), route.getName(), ardRouteInfo.getName());
        // 判断生成kmz文件实体类是否为空，为空就修改航信信息，不修改行点信息。
        if (ardRouteInfo.getUavRouteReq() != null) {
            KmzResultVo kmzResult;
            // 获取源文件名字
            ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(ardRouteInfo.getId());
            if (route.getName().equals(ardRouteInfo.getName())) {
                kmzResult = routeService.updateKmz(ardRouteInfo.getUavRouteReq(), ardRouteInfo.getName());
            }else {
                kmzResult = routeService.updateKmzNew(ardRouteInfo.getUavRouteReq(), route.getName(), ardRouteInfo.getName());
            }
            if ("更新航线kmz文件失败".equals(kmzResult.getData())) {
                return 0;
            }
            ardRouteInfo.setPath(kmzResult.getPath());
        }
        if ("更新航线kmz文件失败".equals(kmzResult.getData())) {
            return 0;
        }
        ardRouteInfo.setPath(kmzResult.getPath());
        ardRouteInfo.setPointCount(getPointCount(ardRouteInfo));
        return ardRouteInfoMapper.updateArdRouteInfo(ardRouteInfo);
    }

    private Integer getPointCount(ArdRouteInfo ardRouteInfo) {
        if (ardRouteInfo.getUavRouteReq().getRoutePointList() != null) {
            return ardRouteInfo.getUavRouteReq().getRoutePointList().size();
        }
        return 0;
    }

    /**
@@ -168,6 +203,8 @@
            information.setName(file.getOriginalFilename());
            information.setPath(url);
            information.setGroupId("0");     // 默认分组
            information.setReadOnly("1");   // 默认只读
            // 增加航线实体类信息
            insertRouteInfomation(information);
            return MinioUploadResult.builder()
                    .url(url)
@@ -180,7 +217,7 @@
    }

    /**
     * 根据文件名称查询航线信息
     * 根据名称查询航线信息
     *
     * @param name 文件名称
     * @return 结果
@@ -194,35 +231,243 @@
     * 修改航线分组ID
     *
     * @param id ID
     * @param GroupId 分组ID
     * @param groupId 分组ID
     * @return 结果
     */
    @Override
    public int updateRouteInfomationGroupId(String id, String GroupId) {
        return ardRouteInfoMapper.updateRouteInforGroupId(id, GroupId);
    public int updateRouteInfomationGroupId(String id, String groupId) {
        return ardRouteInfoMapper.updateRouteInforGroupId(id, groupId);
    }

    /**
     * 判断行点是否在禁飞区
     *
     * @param longitude 经度
     * @param latitude 纬度
     * @return 结果
     */
    @Override
    public Boolean selectRouteInfomationNoFly(Double longitude, Double latitude) {
        if (longitude == null || latitude == null) {
            throw new ControlException("方法参数中未找到有效经纬度字段，无法判断禁飞区！");
    public Boolean selectRouteInfomationNoFly(ArdNoflyDto ardNoflyDto) {
        return verifyNoFlyZone(ardNoflyDto);
    }

    /**
     * 上传航线到边缘服务器
     *
     * ardNoflyDto
     * @return 结果
     */
    @Override
    public Boolean uploadRouteToSixHe(String id,String boxSn) {
        // 1.获取航线信息
        // 1.1通过航线数据，转换。
        ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(id);
        try {
            route.setUavRouteReq((UavRouteReq) deserialize(route.getRouteData()));
        } catch (IOException | ClassNotFoundException e) {
            throw new RuntimeException(e);
        }
        List<ArdNoFlyZone> ardNoFlyZones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());
        if (!ardNoFlyZones.isEmpty()) {
            Vertex vertex = new Vertex(longitude, latitude);
//            boolean inNoFlyZones = NoFlyZoneUtils.isPointInPolygon(vertex, ardNoFlyZones);
//            if (inNoFlyZones) {
//                throw new ControlException("目标点在禁飞区内，无法执行操作！");
//            }
        }
        // 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);
        wayLineUploadDTO.setBoxSn(boxSn);
        // 3.调用接口
        tyService.wayLineUpload(wayLineUploadDTO);
        return true;
    }

    /**
     * 开始航线
     *
     * @param boxSn 云盒SN编号
     * @return 结果
     */
    @Override
    public Boolean routeBegins(String boxSn) {
        WayLineBeginDTO wayLineBeginDTO = new WayLineBeginDTO(boxSn);
        tyService.wayLineBegin(wayLineBeginDTO);
        return true;
    }

    /**
     * 暂停航线
     *
     * @param boxSn 云盒SN编号
     * @return 结果
     */
    @Override
    public Boolean routeSuspension(String boxSn) {
        WayLinePauseDTO wayLinePauseDTO = new WayLinePauseDTO(boxSn);
        tyService.wayLinePause(wayLinePauseDTO);
        return true;
    }

    /**
     * 恢复航线
     *
     * @param boxSn 云盒SN编号
     * @return 结果
     */
    @Override
    public Boolean routeResumption(String boxSn) {
        WayLineResumeDTO wayLineResumeDTO = new WayLineResumeDTO(boxSn);
        tyService.wayLineResume(wayLineResumeDTO);
        return true;
    }

    /**
     * 结束航线
     *
     * @param boxSn 云盒SN编号
     * @return 结果
     */
    @Override
    public Boolean routeEnd(String boxSn) {
        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;

    }

    /**
@@ -234,4 +479,32 @@
        ardRouteInfoMapper.insertArdRouteInfo(ardRouteInfo);
    }

    /**
     * 判断行点是否在禁飞区
     * 原点 current 第一个节点
     * 目标点 target 第二个节点
     */
    private Boolean verifyNoFlyZone(ArdNoflyDto ardNoflyDto){
        // ③ 查询禁飞区
        List<ArdNoFlyZone> zones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());
        if (zones.isEmpty()) {
            return  true;
        }
        for (ArdNoFlyZone zone : zones) {
            List<Vertex> polygon = zone.getVertices();
            if (polygon == null || polygon.size() < 3) continue;

            // 检查目标点是否在禁飞区
            if (NoFlyZoneUtils.isPointInPolygon(ardNoflyDto.getTarget(), polygon)) {
                throw new ControlException("目标点在禁飞区【" + zone.getName() + "】内，无法执行操作！");
            }

            // 检查路径是否穿越禁飞区
            if (ardNoflyDto.getCurrent() != null && NoFlyZoneUtils.isLineIntersectPolygon(ardNoflyDto.getCurrent(), ardNoflyDto.getTarget(), polygon)) {
                throw new ControlException("路径穿越禁飞区【" + zone.getName() + "】，无法执行操作！");
            }
        }
        return true;
    }

}