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

zhaowenyu

2025-12-18 b3b96cfd900c3dee5dc84e53d5677fc6642f85e6

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

@@ -88,19 +88,10 @@

        // 主逻辑优化
        double altitudeOffset = getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(), "alt");
        boolean isM350RTK = M350_RTK.getValue().equals(ardRouteInfo.getUavRouteReq().getDroneType());

        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);
                    }
                }
            }
        }
        return ardRouteInfo;
    }
@@ -108,15 +99,6 @@
    // 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()));
            }
        }
    }

    /**
@@ -132,12 +114,6 @@
        }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);
    }

@@ -157,6 +133,18 @@
        }
        ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft()));
        KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(),ardRouteInfo.getName());
        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()));
                        }
                    }
                }
            }
        }
        ardRouteInfo.setPath(kmzResult.getPath());
        ardRouteInfo.setReadOnly("0");
        ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo));
@@ -266,17 +254,6 @@
                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);
@@ -369,6 +346,8 @@
        } catch (IOException | ClassNotFoundException e) {
            throw new RuntimeException(e);
        }
        // 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);