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; @@ -11,21 +12,36 @@ import com.ard.data.noflyzone.domain.Vertex; import com.ard.data.noflyzone.service.IArdNoFlyZoneService; import com.ard.data.noflyzone.utils.NoFlyZoneUtils; import com.ard.framework.web.service.TokenService; 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.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.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.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.enums.kml.DroneEnumValueEnums.M350_RTK; import static com.ard.route.util.InitializationUtils.divided_23; import static com.ard.route.util.ToolUtils.*; import static com.ard.route.util.UavRouteReqUtils.fileConversionEntity; /** * 航线(kmz)Service业务层处理 @@ -36,17 +52,23 @@ @Service public class ArdRouteInfoServiceImpl implements IArdRouteInfoService { private static final Logger log = LoggerFactory.getLogger(TokenService.class); @Autowired private ArdRouteInfoMapper ardRouteInfoMapper; @Autowired private OssServiceContext ossService; @Autowired private UavRouteService routeService; @Resource private IArdNoFlyZoneService ardNoFlyZoneService; @Resource private ITyService tyService; /** * 查询航线(kmz) @@ -58,11 +80,44 @@ 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); } // 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; } // 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())); } } } /** @@ -73,6 +128,11 @@ */ @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); } @@ -86,20 +146,27 @@ 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"); } // 航线数据 byte[] routeData; try { routeData = serialize(ardRouteInfo.getUavRouteReq()); } catch (IOException e) { throw new RuntimeException(e); UavRouteReq uavRouteReq = new UavRouteReq(); BeanUtils.copyProperties(ardRouteInfo.getUavRouteReq(), uavRouteReq); ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft())); KmzResultVo kmzResult = routeService.buildKmz(uavRouteReq,ardRouteInfo.getName()); if (M350_RTK.getValue().equals(uavRouteReq.getDroneType())) { // 变焦数值加工 for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) { for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) { for (PointActionReq action : actionGroupReq.getActions()) { action.setZoom(divided_23(action.getZoom())); } } } } ardRouteInfo.setRouteData(routeData); KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(), ardRouteInfo.getName()); ardRouteInfo.setPath(kmzResult.getPath()); ardRouteInfoMapper.insertArdRouteInfo(ardRouteInfo); ardRouteInfo.setReadOnly("0"); ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo)); return kmzResult.getPath(); } @@ -112,19 +179,47 @@ @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()); // 先删除航线 delOssService(route); // 再生成航线 kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(), 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; return ardRouteInfoMapper.updateArdRouteInfo(dataProcessing(ardRouteInfo)); } // 新增信息加工 private ArdRouteInfo dataProcessing(ArdRouteInfo ardRouteInfo) { // 航线数据 byte[] routeData = null; try { if (ardRouteInfo.getUavRouteReq() != null){ routeData = serialize(ardRouteInfo.getUavRouteReq()); } } catch (IOException e) { throw new RuntimeException(e); } ardRouteInfo.setPath(kmzResult.getPath()); return ardRouteInfoMapper.updateArdRouteInfo(ardRouteInfo); ardRouteInfo.setRouteData(routeData); ardRouteInfo.setPointCount(getPointCount(ardRouteInfo)); return ardRouteInfo; } // 获取行点总数 private Integer getPointCount(ArdRouteInfo ardRouteInfo) { if (ardRouteInfo.getUavRouteReq() != null){ if (ardRouteInfo.getUavRouteReq().getRoutePointList() != null) { return ardRouteInfo.getUavRouteReq().getRoutePointList().size(); } } return 0; } /** @@ -138,9 +233,16 @@ // 删除航线(kmz)文件 for (String id : ids) { ArdRouteInfo information = ardRouteInfoMapper.selectArdRouteInfoById(id); ossService.deleteObject("kmz", subStringMinioUrlName(information.getPath())); delOssService(information); } return ardRouteInfoMapper.deleteArdRouteInfoByIds(ids); } // 删除minio文件 private void delOssService(ArdRouteInfo information){ if (information.getPath() != null){ ossService.deleteObject("kmz", subStringMinioUrlName(information.getPath())); } } /** @@ -163,24 +265,71 @@ @Override public MinioUploadResult uploadArdRouteInfo(MultipartFile file) { try { // 增加航线实体类信息 UavRouteReq uavRouteReq = fileConversionEntity(file); ArdRouteInfo ardRouteInfo = new ArdRouteInfo(); if (uavRouteReq != null){ ardRouteInfo.setUavRouteReq(uavRouteReq); 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 information = new ArdRouteInfo(); information.setName(file.getOriginalFilename()); information.setPath(url); information.setGroupId("0"); // 默认分组 insertRouteInfomation(information); ardRouteInfo.setName(file.getOriginalFilename()); ardRouteInfo.setPath(url); ardRouteInfo.setGroupId("0"); // 默认分组 ardRouteInfo.setReadOnly("1"); // 默认只读 insertRouteInfomation(ardRouteInfo); return MinioUploadResult.builder() .url(url) .newFileName(FileUtils.getName(url)) .originalFilename(file.getOriginalFilename()) .build(); }catch (Exception e){ log.error("上传航线文件失败", e); return null; } } /** * 根据文件名称查询航线信息 * 判断一组数组，是否包含禁飞区 */ private void arrayWithinNoFlyZone(List<RoutePointReq> routePointList) { if (routePointList == null || routePointList.isEmpty()) { return; } // 检查第一个航点 ArdNoflyDto firstDto = new ArdNoflyDto(); firstDto.setTarget(new Vertex( routePointList.get(0).getLongitude(), routePointList.get(0).getLatitude())); verifyNoFlyZone(firstDto); // 检查后续航点及与前一个航点的线段 for (int i = 1; i < routePointList.size(); i++) { ArdNoflyDto dto = new ArdNoflyDto(); dto.setCurrent(new Vertex( routePointList.get(i - 1).getLongitude(), routePointList.get(i - 1).getLatitude())); dto.setTarget(new Vertex( routePointList.get(i).getLongitude(), routePointList.get(i).getLatitude())); verifyNoFlyZone(dto); } } /** * 根据名称查询航线信息 * * @param name 文件名称 * @return 结果 @@ -194,35 +343,248 @@ * 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.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; } /** @@ -231,7 +593,36 @@ private void insertRouteInfomation(ArdRouteInfo ardRouteInfo){ ardRouteInfo.setId(IdUtils.simpleUUID()); ardRouteInfo.setCreateTime(DateUtils.getNowDate()); ardRouteInfoMapper.insertArdRouteInfo(ardRouteInfo); ardRouteInfo.setUpdateTime(DateUtils.getNowDate()); ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(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; } }
