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

zhaowenyu

2026-02-04 fc7ee73b5f804116ada59048fdf6fb9265856a3f

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

@@ -1,11 +1,11 @@
package com.ard.route.service.impl;

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

import com.ard.common.exception.ControlException;
import com.ard.common.utils.DateUtils;
import com.ard.common.utils.SecurityUtils;
import com.ard.common.utils.file.FileUtils;
import com.ard.common.utils.uuid.IdUtils;
import com.ard.data.noflyzone.domain.ArdNoFlyZone;
@@ -21,12 +21,15 @@
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.route.ArdRouteMission;
import com.ard.route.domain.vo.KmzResultVo;
import com.ard.route.mapper.ArdRouteInfoMapper;
import com.ard.route.mapper.ArdRouteMissionMapper;
import com.ard.route.service.IArdRouteInfoService;
import com.ard.route.service.UavRouteService;
import com.ard.work.domain.cache.UavTelemetryDataCache;
import com.ard.work.domain.cache.UavWaylineCache;
import com.ard.work.domain.dto.state.PointData;
import com.ard.work.domain.dto.telemetry.TelemetryData;
import com.ard.work.domain.dto.wayline.*;
import com.ard.work.service.ITyService;
import org.slf4j.Logger;
@@ -34,13 +37,11 @@
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.InitializationUtils.divided_6;
import static com.ard.route.util.ToolUtils.*;
import static com.ard.route.util.UavRouteReqUtils.buildWayLineUploadDTO;
import static com.ard.route.util.UavRouteReqUtils.fileConversionEntity;

/**
@@ -60,9 +61,11 @@
    @Autowired
    private OssServiceContext ossService;


    @Autowired
    private UavRouteService routeService;

    @Autowired
    private ArdRouteMissionMapper ardRouteMissionMapper;

    @Resource
    private IArdNoFlyZoneService ardNoFlyZoneService;
@@ -80,26 +83,35 @@
    public ArdRouteInfo selectArdRouteInfoById(String id) {
        ArdRouteInfo ardRouteInfo = ardRouteInfoMapper.selectArdRouteInfoById(id);
        try {
            if (ardRouteInfo.getRouteData() != null){
                ardRouteInfo.setUavRouteReq((UavRouteReq) deserialize(ardRouteInfo.getRouteData()));
            if (ardRouteInfo != null) {
                if (ardRouteInfo.getRouteData() != null){
                    ardRouteInfo.setUavRouteReq((UavRouteReq) deserialize(ardRouteInfo.getRouteData()));
                }
            }
        } catch (IOException | ClassNotFoundException e) {
            throw new RuntimeException(e);
        }
        for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
            routePointReq.setHeight(routePointReq.getHeight() + getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(),"alt"));
            // 判断无人机类型
            if (ardRouteInfo.getUavRouteReq().getDroneType().equals(M350_RTK.getValue())){
                for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
                    for (PointActionReq action : actionGroupReq.getActions()) {
                        if (action.getZoom() != null || action.getZoom() != 0){
                            action.setZoom(divided_23(action.getZoom()));
                        }
                    }
                }

        // 如果参考起飞点不为空，将每个航点高度进行加工。
        if (ardRouteInfo.getUavRouteReq().getTakeOffRefPoint() != null){
            double altitudeOffset = getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(), "alt");
            for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
                adjustRoutePointHeight(routePointReq, altitudeOffset);
            }
        }else {
            // 如果没有设置参考起飞点，将第一个航点设置为参考起飞点。
            ardRouteInfo.getUavRouteReq().setTakeOffRefPoint(
                    ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getLatitude().toString() +"," +
                    ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getLongitude().toString()+","+
                    ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getHeight().toString());
        }

        return ardRouteInfo;
    }

    // 调整每个航点高度
    private void adjustRoutePointHeight(RoutePointReq routePointReq, double altitudeOffset) {
        routePointReq.setHeight(routePointReq.getHeight() + altitudeOffset);
    }

    /**
@@ -115,12 +127,6 @@
        }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);
    }

@@ -132,6 +138,8 @@
     */
    @Override
    public String insertArdRouteInfo(ArdRouteInfo ardRouteInfo) {
        checkRouteMissionStatus(ardRouteInfo,"1");
        checkRouteMissionStatus(ardRouteInfo,"2");
        ardRouteInfo.setId(IdUtils.simpleUUID());
        ardRouteInfo.setCreateTime(DateUtils.getNowDate());
        ardRouteInfo.setUpdateTime(DateUtils.getNowDate()); // 修改时间，用于排序
@@ -140,10 +148,61 @@
        }
        ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft()));
        KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(),ardRouteInfo.getName());
        zoomProcessing(ardRouteInfo);
        ardRouteInfo.setPath(kmzResult.getPath());
        ardRouteInfo.setReadOnly("0");
        ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo));
        return kmzResult.getPath();
    }

    /**
     * 航线任务数据加工校验
     * 1.新建航线时，判断航线任务是否已完成
     * 2.新建航线时，对航线任务数据进行加工
     * 3.执行航线的时,修改航线任务表执行状态
     */
    private void checkRouteMissionStatus(ArdRouteInfo ardRouteInfo,String type){
        ArdRouteMission mission = ardRouteMissionMapper.selectArdRouteMissionById(ardRouteInfo.getMissionId());
        if (mission != null){
            switch(type){
                case "1":
                    validateForCreate(mission);
                    break;
                case "2":
                    bindRoute(mission,ardRouteInfo);
                    break;
                case "3":
                    executeMission(mission,ardRouteInfo);
                    break;
                default:
                    throw new RuntimeException("不支持的操作类型!!!");
            }
        }
    }

    private void validateForCreate(ArdRouteMission mission) {
        if ("1".equals(mission.getExecuteStatus())){
            throw new RuntimeException("航线任务已完成，无法创建航线！！！");
        }
    }

    private void bindRoute(ArdRouteMission mission, ArdRouteInfo routeInfo) {
        if (mission.getRouteId() != null) {
            throw new RuntimeException("航线任务下已绑定航线，不可创建新航线信息！！！");
        }
        mission.setRouteId(routeInfo.getId());
        ardRouteMissionMapper.updateArdRouteMission(mission);
    }

    private void executeMission(ArdRouteMission mission,ArdRouteInfo ardRouteInfo) {
        if ("0".equals(mission.getExecuteStatus())) {
            mission.setRouteId(ardRouteInfo.getId());
            mission.setExecuteStatus("1");
            mission.setExecuteBy(SecurityUtils.getUsername());
            mission.setExecuteTime(DateUtils.getNowDate());
            mission.setUpdateTime(DateUtils.getNowDate());
            ardRouteMissionMapper.updateArdRouteMission(mission);
        }
    }

    /**
@@ -163,6 +222,8 @@
            // 先删除航线
            delOssService(route);
            // 再生成航线
            ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft()));
            zoomProcessing(ardRouteInfo);
            kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(), ardRouteInfo.getName());
            if ("更新航线kmz文件失败".equals(kmzResult.getData())) {
                return 0;
@@ -170,6 +231,22 @@
            ardRouteInfo.setPath(kmzResult.getPath());
        }
        return ardRouteInfoMapper.updateArdRouteInfo(dataProcessing(ardRouteInfo));
    }

    // 变倍加工方法
    private void zoomProcessing(ArdRouteInfo ardRouteInfo) {
        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()));
                        }
                    }
                }
            }
        }
    }

    // 新增信息加工
@@ -229,6 +306,9 @@
     */
    @Override
    public int deleteArdRouteInfoById(String id) {
        // 删除航线(kmz)文件
        ArdRouteInfo information = ardRouteInfoMapper.selectArdRouteInfoById(id);
        delOssService(information);
        return ardRouteInfoMapper.deleteArdRouteInfoById(id);
    }

@@ -249,17 +329,6 @@
                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);
@@ -338,7 +407,6 @@

    /**
     * 上传航线到边缘服务器
     *
     * ardNoflyDto
     * @return 结果
     */
@@ -352,6 +420,36 @@
        } catch (IOException | ClassNotFoundException e) {
            throw new RuntimeException(e);
        }

        // 获取第一个点
        double firstPointLng = route.getUavRouteReq().getRoutePointList().get(0).getLongitude();
        double firstPointLat = route.getUavRouteReq().getRoutePointList().get(0).getLatitude();

        // 获取最后一个点
        double lastPointLng = route.getUavRouteReq().getRoutePointList().get(route.getUavRouteReq().getRoutePointList().size()-1).getLongitude();
        double lastPointLat = route.getUavRouteReq().getRoutePointList().get(route.getUavRouteReq().getRoutePointList().size()-1).getLatitude();

        // 无人机遥测数据,用于校验真实起飞点和第一个点是否在禁飞区
        TelemetryData telemetryData = UavTelemetryDataCache.get(boxSn);
        double telemetryDataLng = 0;
        double telemetryDataLat = 0;
        if (telemetryData != null){
            telemetryDataLng = telemetryData.getLng();
            telemetryDataLat = telemetryData.getLat();
        }

        ArdNoflyDto dto1 = new ArdNoflyDto();
        dto1.setCurrent(new Vertex(telemetryDataLng,telemetryDataLat));
        dto1.setTarget(new Vertex(firstPointLng,firstPointLat));
        verifyNoFlyZone(dto1);

        ArdNoflyDto dto2 = new ArdNoflyDto();
        dto2.setCurrent(new Vertex(lastPointLng,lastPointLat));
        dto2.setTarget(new Vertex(telemetryDataLng,telemetryDataLat));
        verifyNoFlyZone(dto2);

        // 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);
@@ -373,7 +471,15 @@
     * @return 结果
     */
    @Override
    public Boolean routeBegins(String boxSn) {
    public Boolean routeBegins(String id,String boxSn) {
        ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(id);
        if (null != route){
            // 判断是否循环航线
            if ("0".equals(route.getIsLoop())){
                deleteArdRouteInfoById(id);
            }
            checkRouteMissionStatus(route,"3");
        }
        WayLineBeginDTO wayLineBeginDTO = new WayLineBeginDTO(boxSn);
        tyService.wayLineBegin(wayLineBeginDTO);
        return true;
@@ -416,151 +522,6 @@
        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;

    }

    /**