forked from uav/ard-uav-server
ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java
@@ -1,24 +1,34 @@ package com.ard.work.aspect; import com.ard.common.constant.CacheConstants; import com.ard.common.core.redis.RedisCache; import com.ard.common.exception.ControlException; import com.ard.common.utils.SecurityUtils; import com.ard.work.aspect.annotation.CheckTakeoffAltitude; import com.ard.common.utils.StringUtils; import com.ard.common.utils.reflect.ReflectUtils; import com.ard.data.noflyzone.domain.ArdNoFlyZone; import com.ard.data.noflyzone.domain.Vertex; import com.ard.data.noflyzone.service.IArdNoFlyZoneService; import com.ard.data.noflyzone.utils.NoFlyZoneUtils; import com.ard.work.aspect.annotation.CheckControlRight; import com.ard.work.aspect.annotation.CheckDroneStatus; import com.ard.work.aspect.annotation.CheckNoFlyZone; import com.ard.work.aspect.annotation.CheckTakeoffAltitude; import com.ard.work.domain.cache.UavTelemetryDataCache; import com.ard.work.domain.dto.telemetry.TelemetryData; import com.ard.work.service.control.UavControlService; import com.ard.work.domain.message.UavControlType; import com.ard.work.domain.receiver.BoxInfoReceiver; import com.ard.work.service.control.UavControlService; import org.aspectj.lang.JoinPoint; import org.aspectj.lang.annotation.Aspect; import org.aspectj.lang.annotation.Before; import org.springframework.stereotype.Component; import javax.annotation.Resource; import java.lang.reflect.Field; import java.util.List; /** * AOP 切面：拦截 @RequireUavControl，检查用户是否拥有 UAV 控制权限 * * 无人机控制切面 * <p> * 注意切面顺序：同类方法注解按字母ABCD顺序，不同类注解按order(1)顺序 越小优先级越高 */ @Aspect @@ -27,9 +37,13 @@ @Resource private UavControlService uavControlService; @Resource private IArdNoFlyZoneService ardNoFlyZoneService; @Resource private RedisCache redisCache; /** * 前置通知：控制权检测 * 控制权检查 */ @Before("@annotation(checkControlRight)") public void checkUavControl(JoinPoint joinPoint, CheckControlRight checkControlRight) { @@ -42,25 +56,38 @@ // 获取方法参数 Object[] args = joinPoint.getArgs(); // 遍历参数，使用反射获取每个参数中的 boxSn for (Object arg : args) { String boxSn = getBoxSn(arg); // 调用之前实现的 getBoxSn 方法 if (boxSn != null) { // 检查当前用户是否拥有该设备的控制权限 Long currentController = uavControlService.getCurrentController(boxSn, controlType.name().toLowerCase()); if (currentController == null || !currentController.equals(userId)) { throw new ControlException("无权执行该操作，需要 " + controlType + " 控制权限"); } if (arg == null) { continue; } // 1️⃣ 获取 boxSn String boxSn = ReflectUtils.getFieldValue(arg, "boxSn"); if (StringUtils.isBlank(boxSn)) { continue; } // 2️⃣ 检查控制权 Long currentController = uavControlService.getCurrentController(boxSn, controlType.name().toLowerCase()); if (currentController == null || !currentController.equals(userId)) { throw new ControlException("无权执行该操作，需要 " + controlType + " 控制权限"); } // 3️⃣ 检查在线状态 BoxInfoReceiver obj = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn); if (obj == null || !obj.getOnLine().equals(1)) { throw new ControlException("无人机离线，无法执行操作！boxSn: " + boxSn); } } } /** * 前置通知：高度检查 * 高度检查 */ @Before("@annotation(checkTakeoffAltitude)") public void takeoffAltitudeCheck(JoinPoint joinPoint, CheckTakeoffAltitude checkTakeoffAltitude) { public void takeoffAltitudeCheck(JoinPoint joinPoint, CheckTakeoffAltitude checkTakeoffAltitude){ // 获取最小高度 double minAltitude = checkTakeoffAltitude.minAltitude(); // 获取方法参数 @@ -68,9 +95,9 @@ // 遍历参数，使用反射获取每个参数中的 boxSn for (Object arg : args) { String boxSn = getBoxSn(arg); // 调用之前实现的 getBoxSn 方法 String boxSn = ReflectUtils.getFieldValue(arg, "boxSn"); // 调用之前实现的 getBoxSn 方法 if (boxSn != null) { TelemetryData uavTelemetryData = UavTelemetryDataCache.getUavTelemetryData(boxSn); TelemetryData uavTelemetryData = UavTelemetryDataCache.get(boxSn); if (uavTelemetryData == null) { throw new ControlException("遥测数据异常，无法执行！"); } @@ -83,41 +110,95 @@ } /** * 通过反射获取对象中的 boxSn 字段 * * @param dto 要反射的对象 * @return boxSn 字段的值，如果没有找到则返回 null * 状态检查 */ public static String getBoxSn(Object dto) { if (dto == null) { return null; // 如果对象为空，直接返回 null } @Before("@annotation(checkDroneStatus)") public void checkDroneStatus(JoinPoint joinPoint, CheckDroneStatus checkDroneStatus) { for (Object arg : joinPoint.getArgs()) { if (arg == null) { continue; } try { // 获取类的所有字段 Field[] fields = dto.getClass().getDeclaredFields(); for (Field field : fields) { // 设置字段可访问 field.setAccessible(true); // 判断是否是 boxSn 字段 if ("boxSn".equals(field.getName())) { // 检查字段类型是否是 String 类型 if (field.getType().equals(String.class)) { // 获取并返回 boxSn 字段的值 return (String) field.get(dto); } else { // 如果字段类型不是 String，返回 null return null; } String boxSn = ReflectUtils.getFieldValue(arg, "boxSn"); if (boxSn == null) { continue; } // 检查在线状态 if (checkDroneStatus.checkOnline()) { // 3️⃣ 检查在线状态 BoxInfoReceiver obj = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn); if (obj == null || !obj.getOnLine().equals(1)) { throw new ControlException("无人机离线，无法执行操作！boxSn: " + boxSn); } } } catch (IllegalAccessException e) { // 捕获异常并打印日志 System.err.println("反射访问失败: " + e.getMessage()); e.printStackTrace(); } } /** * 禁飞区检查 */ @Before("@annotation(checkNoFlyZone)") public void checkNoFlyZone(JoinPoint joinPoint, CheckNoFlyZone checkNoFlyZone) { Object[] args = joinPoint.getArgs(); if (args == null || args.length == 0) { return; } return null; // 如果没有找到 boxSn 字段，返回 null // ① 提取 boxSn（无人机编号）和目标点坐标 String boxSn = null; Double targetLon = null, targetLat = null; for (Object arg : args) { if (arg == null) continue; if (boxSn == null) { String sn = ReflectUtils.getFieldValue(arg, "boxSn"); if (sn != null) boxSn = sn; } if (targetLon == null || targetLat == null) { Double lon = ReflectUtils.getFieldValue(arg, "longitude"); Double lat = ReflectUtils.getFieldValue(arg, "latitude"); if (lon != null && lat != null) { targetLon = lon; targetLat = lat; } } } if (targetLon == null || targetLat == null) { throw new ControlException("方法参数中未找到有效目标经纬度字段，无法判断禁飞区！"); } // ② 获取无人机当前位置（从缓存） Vertex current = null; if (boxSn != null) { TelemetryData telemetry = UavTelemetryDataCache.get(boxSn); if (telemetry != null) { current = new Vertex(telemetry.getLng(), telemetry.getLat()); //current = new Vertex(125.03, 46.58); } } Vertex target = new Vertex(targetLon, targetLat); // ③ 查询禁飞区 List<ArdNoFlyZone> zones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone()); if (zones.isEmpty()) return; 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(target, 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 (current != null && NoFlyZoneUtils.isLineIntersectPolygon(current, target, polygon)) { throw new ControlException("路径穿越禁飞区【" + zone.getName() + "】，无法执行操作！"); } } } }
