forked from uav/ard-uav-server
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; @@ -13,6 +14,10 @@ import com.ard.data.noflyzone.utils.NoFlyZoneUtils; 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.ArdRouteInfo; @@ -20,6 +25,10 @@ import com.ard.route.mapper.ArdRouteInfoMapper; import com.ard.route.service.IArdRouteInfoService; import com.ard.route.service.UavRouteService; import com.ard.work.domain.cache.UavWaylineCache; 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; @@ -44,10 +53,16 @@ private OssServiceContext ossService; @Autowired private OssDockServiceContext ossDockService; @Autowired private UavRouteService routeService; @Resource private IArdNoFlyZoneService ardNoFlyZoneService; @Resource private ITyService tyService; /** * 查询航线(kmz) @@ -110,6 +125,7 @@ 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(); } @@ -137,8 +153,16 @@ 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; } /** @@ -152,7 +176,12 @@ // 删除航线(kmz)文件 for (String id : ids) { ArdRouteInfo information = ardRouteInfoMapper.selectArdRouteInfoById(id); ossService.deleteObject("kmz", subStringMinioUrlName(information.getPath())); if (information.getPath() != null){ ossService.deleteObject("kmz", subStringMinioUrlName(information.getPath())); } if (information.getPath1() != null){ ossDockService.deleteObject("kmz", subStringMinioUrlName(information.getPath1())); } } return ardRouteInfoMapper.deleteArdRouteInfoByIds(ids); } @@ -178,11 +207,16 @@ public MinioUploadResult uploadArdRouteInfo(MultipartFile file) { try { String url = ossService.upload("kmz",file); String urlDock = ossDockService.upload("kmz",file); ArdRouteInfo information = new ArdRouteInfo(); information.setName(file.getOriginalFilename()); information.setPath(url); information.setPath1(urlDock); information.setGroupId("0"); // 默认分组 information.setReadOnly("1"); // 默认只读 // 生成kmz文件实体类加工 // 增加航线实体类信息 insertRouteInfomation(information); return MinioUploadResult.builder() .url(url) @@ -195,7 +229,7 @@ } /** * 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 @@ -227,11 +261,239 @@ } /** * 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); } // 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.缓存航线信息 WaylineInfo WaylineInfo = new WaylineInfo(); WaylineInfo.setBoxSn(boxSn); WaylineInfo.setWaylineId(route.getId()); UavWaylineCache.put(WaylineInfo); // 4.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; } /** * 数据新增航线信息 */ private void insertRouteInfomation(ArdRouteInfo ardRouteInfo){ ardRouteInfo.setId(IdUtils.simpleUUID()); ardRouteInfo.setCreateTime(DateUtils.getNowDate()); ardRouteInfo.setUpdateTime(DateUtils.getNowDate()); ardRouteInfoMapper.insertArdRouteInfo(ardRouteInfo); }
