forked from uav/ard-uav-server
ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteFolderController.java
@@ -43,7 +43,6 @@ * 查询分组列表 */ @ApiOperation("查询分组列表") //@PreAuthorize("@ss.hasPermi('route:folder:list')") @GetMapping("/list") public TableDataInfo list(ArdRouteFolder ardRouteFolder) { //startPage(); @@ -55,7 +54,6 @@ * 导出分组列表 */ @ApiOperation("导出分组列表") //@PreAuthorize("@ss.hasPermi('route:folder:export')") @Log(title = "分组", businessType = BusinessType.EXPORT) @PostMapping("/export") public void export(HttpServletResponse response, ArdRouteFolder ardRouteFolder) { @@ -68,7 +66,6 @@ * 获取分组详细信息 */ @ApiOperation("获取分组详细信息") //@PreAuthorize("@ss.hasPermi('route:folder:query')") @GetMapping(value = "/{id}") public AjaxResult getInfo(@PathVariable("id") String id) { return success(ardRouteFolderService.selectArdRouteFolderById(id)); @@ -78,7 +75,6 @@ * 新增分组 */ @ApiOperation("新增分组") //@PreAuthorize("@ss.hasPermi('route:folder:add')") @Log(title = "分组", businessType = BusinessType.INSERT) @PostMapping public AjaxResult add(@RequestBody ArdRouteFolder ardRouteFolder) { @@ -90,7 +86,6 @@ * 修改分组 */ @ApiOperation("修改分组") //@PreAuthorize("@ss.hasPermi('route:folder:edit')") @Log(title = "分组", businessType = BusinessType.UPDATE) @PutMapping public AjaxResult edit(@RequestBody ArdRouteFolder ardRouteFolder) { @@ -102,7 +97,6 @@ * 删除分组 */ @ApiOperation("删除分组") //@PreAuthorize("@ss.hasPermi('route:folder:remove')") @Log(title = "分组", businessType = BusinessType.DELETE) @DeleteMapping("/{ids}") public AjaxResult remove(@PathVariable String[] ids) { @@ -117,4 +111,5 @@ return AjaxResult.error(e.getMessage()); } } } ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInformationController.java
@@ -39,7 +39,6 @@ * 查询航线(kmz)列表 */ @ApiOperation("查询航线(kmz)列表") //@PreAuthorize("@ss.hasPermi('route:information:list')") @GetMapping("/list") public TableDataInfo list(ArdRouteInformation ardRouteInformation) { startPage(); @@ -51,7 +50,6 @@ * 导出航线(kmz)列表 */ @ApiOperation("导出航线(kmz)列表") //@PreAuthorize("@ss.hasPermi('route:information:export')") @Log(title = "航线(kmz)", businessType = BusinessType.EXPORT) @PostMapping("/export") public void export(HttpServletResponse response, ArdRouteInformation ardRouteInformation) { @@ -64,7 +62,6 @@ * 获取航线(kmz)详细信息 */ @ApiOperation("获取航线(kmz)详细信息") //@PreAuthorize("@ss.hasPermi('route:information:query')") @GetMapping(value = "/{id}") public AjaxResult getInfo(@PathVariable("id") String id) { return success(ardRouteInformationService.selectArdRouteInformationById(id)); @@ -74,7 +71,6 @@ * 新增航线(kmz) */ @ApiOperation("新增航线(kmz)") //@PreAuthorize("@ss.hasPermi('route:information:add')") @Log(title = "航线(kmz)", businessType = BusinessType.INSERT) @PostMapping public AjaxResult add(@RequestBody ArdRouteInformation ardRouteInformation) { @@ -86,7 +82,6 @@ * 修改航线(kmz) */ @ApiOperation("修改航线(kmz)") //@PreAuthorize("@ss.hasPermi('route:information:edit')") @Log(title = "航线(kmz)", businessType = BusinessType.UPDATE) @PutMapping public AjaxResult edit(@RequestBody ArdRouteInformation ardRouteInformation) { @@ -98,7 +93,6 @@ * 删除航线(kmz) */ @ApiOperation("删除航线(kmz)") //@PreAuthorize("@ss.hasPermi('route:information:remove')") @Log(title = "航线(kmz)", businessType = BusinessType.DELETE) @DeleteMapping("/{ids}") public AjaxResult remove(@PathVariable String[] ids) { @@ -109,11 +103,31 @@ * 导入航线(kmz)文件 */ @ApiOperation("导入航线(kmz)文件") //@PreAuthorize("@ss.hasPermi('route:information:upload')") @PostMapping("/upload") public AjaxResult upload(@RequestPart("file") MultipartFile file) { MinioUploadResult minioUploadResult = ardRouteInformationService.uploadArdRouteInformation(file); return success(minioUploadResult); } /** * 修改航线分组ID */ @ApiOperation("修改航线分组ID") @Log(title = "航线(kmz)", businessType = BusinessType.UPDATE) @PutMapping("/updateFolderId/{id}/{folderId}") public AjaxResult updateFolderId(@PathVariable("id") String id, @PathVariable("folderId") String folderId) { return toAjax(ardRouteInformationService.updateRouteInformationFolderId(id,folderId)); } /** * 判断行点是否在禁飞区 */ @ApiOperation("判断行点是否在禁飞区") @GetMapping("/noFly/{longitude}/{latitude}") public Boolean noFly(@PathVariable("longitude") Double longitude, @PathVariable("latitude") Double latitude) { return ardRouteInformationService.selectRouteInformationNoFly(longitude,latitude); } } ard-oss/src/main/java/com/ard/oss/service/IOssService.java
@@ -12,14 +12,14 @@ */ public interface IOssService { String getOssType(); public String getOssType(); /** * Get temporary credentials. * * @return */ CredentialsDTO getCredentials(); public CredentialsDTO getCredentials(); /** * Get the address of the object based on the bucket name and the object name. @@ -28,7 +28,7 @@ * @param objectKey object name * @return download link */ URL getObjectUrl(String bucket, String objectKey); public URL getObjectUrl(String bucket, String objectKey); /** * Deletes the object in the storage bucket. @@ -37,7 +37,7 @@ * @param objectKey * @return */ Boolean deleteObject(String bucket, String objectKey); public Boolean deleteObject(String bucket, String objectKey); /** * Get the contents of an object. @@ -46,12 +46,12 @@ * @param objectKey * @return */ InputStream getObject(String bucket, String objectKey); public InputStream getObject(String bucket, String objectKey); void putObject(String bucket, String objectKey, InputStream input); public void putObject(String bucket, String objectKey, InputStream input); void putObject(String bucket, String objectKey, InputStream input, String contentType); public void putObject(String bucket, String objectKey, InputStream input, String contentType); void createClient(); public void createClient(); } ard-oss/src/main/java/com/ard/oss/service/impl/MinIOServiceImpl.java
@@ -127,7 +127,10 @@ @Override public Boolean deleteObject(String bucket, String objectKey) { try { client.removeObject(RemoveObjectArgs.builder().bucket(bucket).object(objectKey).build()); client.removeObject(RemoveObjectArgs.builder() .bucket(bucket) .object(objectKey) .build()); } catch (MinioException | NoSuchAlgorithmException | IOException | InvalidKeyException e) { log.error("Failed to delete file."); e.printStackTrace(); @@ -139,7 +142,10 @@ @Override public InputStream getObject(String bucket, String objectKey) { try { GetObjectResponse object = client.getObject(GetObjectArgs.builder().bucket(bucket).object(objectKey).build()); GetObjectResponse object = client.getObject(GetObjectArgs.builder() .bucket(bucket) .object(objectKey) .build()); return new ByteArrayInputStream(object.readAllBytes()); } catch (ErrorResponseException | InsufficientDataException | InternalException | InvalidKeyException | InvalidResponseException | IOException | NoSuchAlgorithmException | ServerException | XmlParserException e) { e.printStackTrace(); @@ -150,7 +156,10 @@ @Override public void putObject(String bucket, String objectKey, InputStream input) { try { client.statObject(StatObjectArgs.builder().bucket(bucket).object(objectKey).build()); client.statObject(StatObjectArgs.builder() .bucket(bucket) .object(objectKey) .build()); throw new RuntimeException("The filename already exists."); } catch (MinioException | InvalidKeyException | IOException | NoSuchAlgorithmException e) { log.info("The file does not exist, start uploading."); @@ -158,7 +167,11 @@ // 设置 partSize 为 10MB long partSize = 10 * 1024 * 1024; ObjectWriteResponse response = client.putObject( PutObjectArgs.builder().bucket(bucket).object(objectKey).stream(input, -1, partSize).build()); PutObjectArgs.builder() .bucket(bucket) .object(objectKey) .stream(input, -1, partSize) .build()); log.info("Upload File: {}", response.etag()); } catch (MinioException | IOException | InvalidKeyException | NoSuchAlgorithmException ex) { log.error("Failed to upload File {}.", objectKey); @@ -170,7 +183,10 @@ public void putObject(String bucket, String objectKey, InputStream input, String contentType) { try { // 检查文件是否已经存在 client.statObject(StatObjectArgs.builder().bucket(bucket).object(objectKey).build()); client.statObject(StatObjectArgs.builder() .bucket(bucket) .object(objectKey) .build()); throw new RuntimeException("The file already exists: " + objectKey); } catch (ErrorResponseException e) { // 如果文件不存在，则继续上传 ard-route/pom.xml
@@ -51,6 +51,10 @@ <groupId>com.ard</groupId> <artifactId>ard-oss</artifactId> </dependency> <dependency> <groupId>com.ard</groupId> <artifactId>ard-system</artifactId> </dependency> </dependencies>
@@ -42,6 +42,9 @@ /** 分组ID */ private String folderId; /** 航线类型 */ private String routeType; /** 飞行器 */ private String aircraft; @@ -53,4 +56,7 @@ */ private UavRouteReq uavRouteReq; /** 航线数据 */ private byte[] routeData; } ard-route/src/main/java/com/ard/route/domain/vo/KmzResultVo.java
@@ -5,12 +5,19 @@ @Data public class KmzResultVo { /** 新文件名称 */ private String fileNameNew; /** Minio文件路径 */ private String minioUpPath; /** 文件路径 */ private String upPath; /** 文件大小 */ private Double upFileSize; /** 返回数据 */ private String data; } ard-route/src/main/java/com/ard/route/mapper/ArdRouteInformationMapper.java
@@ -1,6 +1,7 @@ package com.ard.route.mapper; import com.ard.route.domain.route.ArdRouteInformation; import org.apache.ibatis.annotations.Param; import java.util.List; @@ -76,4 +77,21 @@ */ public int deleteRouteInformationByFolderIds(String[] folderIds); /** * 查询航线(kmz)列表 * * @param folderId 所属文件夹ID * @return 航线(kmz)集合 */ public List<ArdRouteInformation> selectArdRouteInformationByFolderId(String folderId); /** * 修改航线分组ID * * @param id ID * @param folderId 分组ID * @return 结果 */ public int updateRouteInformationFolderId(@Param("id") String id, @Param("folderId")String folderId); } ard-route/src/main/java/com/ard/route/service/IArdRouteInformationService.java
@@ -78,4 +78,22 @@ */ public ArdRouteInformation selectArdRouteInformationByName(String name); /** * 修改航线分组ID * * @param id ID * @param folderId 分组ID * @return 结果 */ public int updateRouteInformationFolderId(String id,String folderId); /** * 判断行点是否在禁飞区 * * @param longitude 经度 * @param latitude 纬度 * @return 结果 */ public Boolean selectRouteInformationNoFly(Double longitude, Double latitude); } ard-route/src/main/java/com/ard/route/service/UavRouteService.java
@@ -12,7 +12,7 @@ /** * 编辑kmz文件 */ public String updateKmz(UavRouteReq uavRouteReq,String fileName); public KmzResultVo updateKmz(UavRouteReq uavRouteReq,String fileName); /** * 生成kmz文件(带航点) @@ -24,4 +24,10 @@ */ public KmzInfoVO parseKmz(String file); /** * 编辑kmz文件 * 定制：删除旧的文件名的文件，并添加新文件名的文件 */ public KmzResultVo updateKmzNew(UavRouteReq uavRouteReq, String oldFileName, String newFilePath) ; } ard-route/src/main/java/com/ard/route/service/impl/ArdRouteFolderServiceImpl.java
@@ -43,9 +43,7 @@ @Override public ArdRouteFolder selectArdRouteFolderById(String id) { ArdRouteFolder ardRouteFolder = ardRouteFolderMapper.selectArdRouteFolderById(id); ArdRouteInformation ardRouteInformation = new ArdRouteInformation(); ardRouteInformation.setFolderId(id); ardRouteFolder.setArdRouteInformationLs(ardRouteInformationMapper.selectArdRouteInformationList(ardRouteInformation)); ardRouteFolder.setArdRouteInformationLs(ardRouteInformationMapper.selectArdRouteInformationByFolderId(id)); return ardRouteFolder; } @@ -60,18 +58,9 @@ public List<ArdRouteFolder> selectArdRouteFolderList(ArdRouteFolder ardRouteFolder) { List<ArdRouteFolder> list = ardRouteFolderMapper.selectArdRouteFolderList(ardRouteFolder); for (ArdRouteFolder routeFolder : list) { routeFolder.setArdRouteInformationLs(getArdRouteInformation(routeFolder.getId())); routeFolder.setArdRouteInformationLs(ardRouteInformationMapper.selectArdRouteInformationByFolderId(routeFolder.getId())); } return list; } /** * 查询文件列表 */ private List<ArdRouteInformation> getArdRouteInformation(String folderId) { ArdRouteInformation ardRouteInformation = new ArdRouteInformation(); ardRouteInformation.setFolderId(folderId); return ardRouteInformationMapper.selectArdRouteInformationList(ardRouteInformation); } /** ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInformationServiceImpl.java
@@ -1,11 +1,19 @@ package com.ard.route.service.impl; import java.io.IOException; import java.util.List; import com.ard.common.exception.ControlException; import com.ard.common.utils.DateUtils; import com.ard.common.utils.file.FileUtils; import com.ard.common.utils.uuid.IdUtils; 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.oss.model.MinioUploadResult; import com.ard.oss.service.impl.OssServiceContext; import com.ard.route.domain.UavRouteReq; import com.ard.route.domain.route.ArdRouteInformation; import com.ard.route.domain.vo.KmzResultVo; import com.ard.route.service.UavRouteService; @@ -17,8 +25,7 @@ import javax.annotation.Resource; import static com.ard.route.util.ToolUtils.extractFilePath; import static com.ard.route.util.ToolUtils.getFileNameWithoutExtension; import static com.ard.route.util.ToolUtils.*; /** * 航线(kmz)Service业务层处理 @@ -38,6 +45,9 @@ @Autowired private UavRouteService routeService; @Resource private IArdNoFlyZoneService ardNoFlyZoneService; /** * 查询航线(kmz) * @@ -46,7 +56,13 @@ */ @Override public ArdRouteInformation selectArdRouteInformationById(String id) { return ardRouteInformationMapper.selectArdRouteInformationById(id); ArdRouteInformation ardRouteInformation = ardRouteInformationMapper.selectArdRouteInformationById(id); try { ardRouteInformation.setUavRouteReq((UavRouteReq) deserialize(ardRouteInformation.getRouteData())); } catch (IOException | ClassNotFoundException e) { throw new RuntimeException(e); } return ardRouteInformation; } /** @@ -73,13 +89,16 @@ if (ardRouteInformation.getFolderId() == null){ ardRouteInformation.setFolderId("0"); } // 航线数据 byte[] routeData; try { routeData = serialize(ardRouteInformation.getUavRouteReq()); } catch (IOException e) { throw new RuntimeException(e); } ardRouteInformation.setRouteData(routeData); KmzResultVo kmzResult = routeService.buildKmz(ardRouteInformation.getUavRouteReq(), ardRouteInformation.getFileName()); // 将KmzResult中的信息设置到ardRouteInformation中 ardRouteInformation.setFileNameNew(kmzResult.getFileNameNew()); ardRouteInformation.setMinioUpPath(kmzResult.getMinioUpPath()); ardRouteInformation.setUpPath(kmzResult.getUpPath()); ardRouteInformation.setUpFileSize(kmzResult.getUpFileSize()); ardRouteInformationMapper.insertArdRouteInformation(ardRouteInformation); ardRouteInformationMapper.insertArdRouteInformation(assembly(ardRouteInformation,kmzResult)); return kmzResult.getUpPath(); } @@ -92,7 +111,27 @@ @Override public int updateArdRouteInformation(ArdRouteInformation ardRouteInformation) { ardRouteInformation.setUpdateTime(DateUtils.getNowDate()); return ardRouteInformationMapper.updateArdRouteInformation(ardRouteInformation); KmzResultVo kmzResult = new KmzResultVo(); // 获取源文件名字 ArdRouteInformation route = ardRouteInformationMapper.selectArdRouteInformationById(ardRouteInformation.getId()); if (route.getFileName().equals(ardRouteInformation.getFileName())) { kmzResult = routeService.updateKmz(ardRouteInformation.getUavRouteReq(), ardRouteInformation.getFileName()); }else { kmzResult = routeService.updateKmzNew(ardRouteInformation.getUavRouteReq(), route.getFileName(),ardRouteInformation.getFileName()); } if ("更新航线kmz文件失败".equals(kmzResult.getData())) { return 0; } return ardRouteInformationMapper.updateArdRouteInformation(assembly(ardRouteInformation,kmzResult)); } //组装数据 private ArdRouteInformation assembly(ArdRouteInformation information,KmzResultVo kmzResult){ information.setFileNameNew(kmzResult.getFileNameNew()); information.setMinioUpPath(kmzResult.getMinioUpPath()); information.setUpPath(kmzResult.getUpPath()); information.setUpFileSize(kmzResult.getUpFileSize()); return information; } /** @@ -161,6 +200,41 @@ } /** * 修改航线分组ID * * @param id ID * @param folderId 分组ID * @return 结果 */ @Override public int updateRouteInformationFolderId(String id, String folderId) { return ardRouteInformationMapper.updateRouteInformationFolderId(id, folderId); } /** * 判断行点是否在禁飞区 * * @param longitude 经度 * @param latitude 纬度 * @return 结果 */ @Override public Boolean selectRouteInformationNoFly(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！"); } List<ArdNoFlyZone> ardNoFlyZones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone()); if (!ardNoFlyZones.isEmpty()) { Vertex vertex = new Vertex(longitude, latitude); boolean inNoFlyZones = NoFlyZoneUtils.isInNoFlyZones(vertex, ardNoFlyZones); if (inNoFlyZones) { throw new ControlException("目标点在禁飞区内，无法执行操作！"); } } return true; } /** * 数据新增航线信息 */ private void insertRouteInformation(ArdRouteInformation ardRouteInformation){ ard-route/src/main/java/com/ard/route/service/impl/UavRouteServiceImpl.java
@@ -61,12 +61,15 @@ * 编辑kmz文件 */ @Override public String updateKmz(UavRouteReq uavRouteReq,String fileName){ public KmzResultVo updateKmz(UavRouteReq uavRouteReq,String fileName){ KmzResultVo result = new KmzResultVo(); // 校验修改的文件是否存在 ArdRouteInformation routeInformation = ardRouteInformationService.selectArdRouteInformationByName(fileName); if ( routeInformation == null ){ return "修改航线文件失败，请检查文件是否存在"; result.setData("修改航线文件失败，请检查文件是否存在"); return result; } // 获取文件 String minioUrl = routeInformation.getMinioUpPath(); try (InputStream inputStream = ossService.getObject(kmzPath,minioUrl); @@ -86,13 +89,13 @@ this.handleRouteUpdate(wpmlInfo, uavRouteReq, FileTypeConstants.WPML, kmlParams); } } // 删除minio的文件 // 插入修改好的minio文件 return RouteFileUtils.buildKmz("更新航线kmz文件111111", kmlInfo, wpmlInfo, kmzPath); // 删除文件 ossService.deleteObject(kmzPath, minioUrl); return buildKmzMethod(routeInformation.getFileName(), kmlInfo, wpmlInfo); } catch (Exception e) { return "更新航线kmz文件失败"; e.printStackTrace(); result.setData("更新航线kmz文件失败"); return result; } } @@ -160,7 +163,7 @@ public KmzResultVo buildKmz(String fileName, KmlParams kmlParams) { KmlInfo kmlInfo = buildKml(kmlParams); KmlInfo wpmlInfo = buildWpml(kmlParams); return buildKmz(fileName, kmlInfo, wpmlInfo); return buildKmzMethod(fileName, kmlInfo, wpmlInfo); } /** @@ -171,7 +174,7 @@ * @param wpmlInfo wpml 文件信息 * @return 本地文件路径 */ public KmzResultVo buildKmz(String fileName, KmlInfo kmlInfo, KmlInfo wpmlInfo) { public KmzResultVo buildKmzMethod(String fileName, KmlInfo kmlInfo, KmlInfo wpmlInfo) { XStream xStream = new XStream(new DomDriver()); xStream.processAnnotations(KmlInfo.class); xStream.addImplicitCollection(KmlActionGroup.class, "action"); @@ -202,8 +205,10 @@ ZipOutputStream zipOutputStream = new ZipOutputStream(baos)) { zipOutputStream.setLevel(0); // 创建KMZ文件内容 // 创建 wpmz 目录中的 template.kml 文件条目 buildZipFile("wpmz/template.kml", zipOutputStream, kml); // 创建 wpmz 目录中的 waylines.wpml 文件条目 buildZipFile("wpmz/waylines.wpml", zipOutputStream, wpml); zipOutputStream.finish(); @@ -254,4 +259,43 @@ } return null; } @Override public KmzResultVo updateKmzNew(UavRouteReq uavRouteReq, String oldFile, String newFile) { KmzResultVo result = new KmzResultVo(); // 校验修改的文件是否存在 ArdRouteInformation routeInformation = ardRouteInformationService.selectArdRouteInformationByName(oldFile); if ( routeInformation == null ){ result.setData("修改航线文件失败，请检查文件是否存在"); return result; } // 获取文件 String minioUrl = routeInformation.getMinioUpPath(); try (InputStream inputStream = ossService.getObject(kmzPath,minioUrl); ArchiveInputStream archiveInputStream = new ZipArchiveInputStream(inputStream)){ ArchiveEntry entry; KmlInfo kmlInfo = new KmlInfo(); KmlInfo wpmlInfo = new KmlInfo(); KmlParams kmlParams = new KmlParams(); while (!Objects.isNull(entry = archiveInputStream.getNextEntry())) { String name = entry.getName(); if (name.toLowerCase().endsWith(".kml")) { kmlInfo = RouteFileUtils.parseKml(archiveInputStream); buildKmlParams(kmlParams, kmlInfo); this.handleRouteUpdate(kmlInfo, uavRouteReq, FileTypeConstants.KML, kmlParams); } else if (name.toLowerCase().endsWith(".wpml")) { wpmlInfo = RouteFileUtils.parseKml(archiveInputStream); this.handleRouteUpdate(wpmlInfo, uavRouteReq, FileTypeConstants.WPML, kmlParams); } } // 删除文件 ossService.deleteObject(kmzPath, minioUrl); return buildKmzMethod(newFile, kmlInfo, wpmlInfo); } catch (Exception e) { result.setData("更新航线kmz文件失败"); return result; } } } ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
@@ -17,9 +17,11 @@ public UavRouteReq initialization(UavRouteReq uavRouteReq){ uavRouteReq.setTemplateType("waypoint"); // 起始点默认航线第一个点 uavRouteReq.setTakeOffRefPoint( uavRouteReq.getRoutePointList().get(0).getLatitude() + "," + uavRouteReq.getRoutePointList().get(0).getLongitude() + "," + "0"); if (uavRouteReq.getTakeOffRefPoint().isEmpty()){ uavRouteReq.setTakeOffRefPoint( uavRouteReq.getRoutePointList().get(0).getLatitude() + "," + uavRouteReq.getRoutePointList().get(0).getLongitude() + "," + "0"); } //uavRouteReq.setDroneType(89); uavRouteReq.setSubDroneType(0); uavRouteReq.setPayloadType(43); ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java
@@ -53,10 +53,11 @@ * @param wpmlInfo wpml 文件信息 * @return 本地文件路径 */ public static String buildKmz(String fileName, KmlInfo kmlInfo, KmlInfo wpmlInfo, String kmzFilePath) { public static String buildKmzA(String fileName, KmlInfo kmlInfo, KmlInfo wpmlInfo, String kmzFilePath) { XStream xStream = new XStream(new DomDriver()); xStream.processAnnotations(KmlInfo.class); xStream.addImplicitCollection(KmlActionGroup.class, "action"); xStream.addImplicitCollection(KmlPlacemark.class, "actionGroup"); String kml = XML_HEADER + xStream.toXML(kmlInfo); String wpml = XML_HEADER + xStream.toXML(wpmlInfo); ard-route/src/main/java/com/ard/route/util/ToolUtils.java
@@ -1,5 +1,6 @@ package com.ard.route.util; import java.io.*; import java.time.LocalDateTime; import java.time.format.DateTimeFormatter; @@ -85,4 +86,21 @@ return ""; } // 对象序列化为字节数组 public static byte[] serialize(Object obj) throws IOException { try (ByteArrayOutputStream baos = new ByteArrayOutputStream(); ObjectOutputStream oos = new ObjectOutputStream(baos)) { oos.writeObject(obj); return baos.toByteArray(); } } // 字节数组反序列化为对象 public static Object deserialize(byte[] data) throws IOException, ClassNotFoundException { try (ByteArrayInputStream bais = new ByteArrayInputStream(data); ObjectInputStream ois = new ObjectInputStream(bais)) { return ois.readObject(); } } } ard-route/src/main/resources/mapper/ArdRouteFolderMapper.xml
@@ -12,18 +12,7 @@ <result property="createTime" column="create_time" /> <result property="updateBy" column="update_by" /> <result property="updateTime" column="update_time" /> <!-- 关联 ArdRouteFile 对象 --> <association property="ardRouteFile" javaType="com.ard.route.domain.route.ArdRouteFile" column="folder_id" autoMapping="true" select="selectArdRouteFile"> </association> </resultMap> <select id="selectArdRouteFile" resultType="com.ard.route.domain.route.ArdRouteFile"> select * from ard_route_file where id = #{folderId} </select> <sql id="selectArdRouteFolderVo"> select id, ard-route/src/main/resources/mapper/ArdRouteInformationMapper.xml
@@ -12,8 +12,10 @@ <result property="minioUpPath" column="minio_up_path" /> <result property="upFileSize" column="up_file_size" /> <result property="folderId" column="folder_id" /> <result property="routeType" column="route_type" /> <result property="aircraft" column="aircraft" /> <result property="aircraftModel" column="aircraft_model" /> <result property="routeData" column="route_data" /> <result property="createBy" column="create_by" /> <result property="createTime" column="create_time" /> <result property="updateBy" column="update_by" /> @@ -28,8 +30,10 @@ minio_up_path, up_file_size, folder_id, route_type, aircraft, aircraft_model, route_data, create_by, create_time, update_by, @@ -41,6 +45,9 @@ <include refid="selectArdRouteInformationVo"/> <where> <if test="fileName != null and fileName != ''"> and file_name like concat('%', #{fileName}, '%')</if> <if test="aircraft != null and aircraft != ''"> and aircraft = #{aircraft}</if> <if test="aircraftModel != null and aircraftModel != ''"> and aircraft_model = #{aircraftModel}</if> <if test="routeType != null and routeType != ''"> and route_type = #{routeType}</if> <if test="upPath != null and upPath != ''"> and up_path = #{upPath}</if> <if test="upFileSize != null "> and up_file_size = #{upFileSize}</if> </where> @@ -61,8 +68,10 @@ <if test="minioUpPath != null">minio_up_path,</if> <if test="upFileSize != null">up_file_size,</if> <if test="folderId != null">folder_id,</if> <if test="routeType != null">route_type,</if> <if test="aircraft != null">aircraft,</if> <if test="aircraftModel != null">aircraft_model,</if> <if test="routeData != null">route_data,</if> <if test="createBy != null">create_by,</if> <if test="createTime != null">create_time,</if> <if test="updateBy != null">update_by,</if> @@ -76,8 +85,10 @@ <if test="minioUpPath != null">#{minioUpPath},</if> <if test="upFileSize != null">#{upFileSize},</if> <if test="folderId != null">#{folderId},</if> <if test="routeType != null">#{routeType},</if> <if test="aircraft != null">#{aircraft},</if> <if test="aircraftModel != null">#{aircraftModel},</if> <if test="routeData != null">#{routeData},</if> <if test="createBy != null">#{createBy},</if> <if test="createTime != null">#{createTime},</if> <if test="updateBy != null">#{updateBy},</if> @@ -94,6 +105,7 @@ <if test="minioUpPath != null">minio_up_path = #{minioUpPath},</if> <if test="upFileSize != null">up_file_size = #{upFileSize},</if> <if test="folderId != null">folder_id = #{folderId},</if> <if test="routeType != null">route_type = #{routeType},</if> <if test="aircraft != null">aircraft = #{aircraft},</if> <if test="aircraftModel != null">aircraft_model = #{aircraftModel},</if> <if test="createBy != null">create_by = #{createBy},</if> @@ -127,4 +139,19 @@ </foreach> </delete> <select id="selectArdRouteInformationByFolderId" parameterType="String" resultMap="ArdRouteInformationResult"> <include refid="selectArdRouteInformationVo"/> <where> <if test="folderId != null "> and folder_id = #{folderId}</if> </where> </select> <update id="updateRouteInformationFolderId"> update ard_route_information <trim prefix="SET" suffixOverrides=","> <if test="folderId != null">folder_id = #{folderId},</if> </trim> where id = #{id} </update> </mapper> ard-system/src/main/java/com/ard/data/map/domain/ArdMap.java
@@ -5,7 +5,7 @@ import lombok.Data; /** * 地图管理对象 ard_map_management * 地图管理对象 ard_map * * @author xia * @date 2025-10-10 ard-system/src/main/java/com/ard/data/model/domain/ArdModel.java
@@ -5,7 +5,7 @@ import lombok.Data; /** * 模型管理对象 ard_model_management * 模型管理对象 ard_model * * @author xia * @date 2025-10-10 ard-system/src/main/java/com/ard/data/noflyzone/service/impl/ArdNoFlyZoneServiceImpl.java
@@ -100,4 +100,6 @@ { return ardNoFlyZoneMapper.deleteArdNoFlyZoneById(id); } } ard-system/src/main/java/com/ard/data/noflyzone/utils/NoFlyZoneUtils.java
New file @@ -0,0 +1,105 @@ package com.ard.data.noflyzone.utils; import com.ard.data.noflyzone.domain.ArdNoFlyBox; import com.ard.data.noflyzone.domain.ArdNoFlyZone; import com.ard.data.noflyzone.domain.Vertex; import java.util.List; public class NoFlyZoneUtils { /** * 判断点是否在禁飞区集合中 * * @param point 目标点 * @param zones 禁飞区集合 * @return true: 点在任意禁飞区内 */ public static boolean isInNoFlyZones(Vertex point, List<ArdNoFlyZone> zones) { if (point == null || zones == null || zones.isEmpty()) { return false; } for (ArdNoFlyZone zone : zones) { // 1️⃣ 先快速判断外接矩形 if (zone.getArdNoFlyBox() != null && !isInBox(point, zone.getArdNoFlyBox())) { continue; // 点不在外接矩形内，跳过 } // 2️⃣ 多边形判断 List<Vertex> vertices = zone.getVertices(); if (vertices != null && !vertices.isEmpty()) { if (isPointInPolygon(point, vertices)) { return true; } } } return false; } /** * 判断点是否在矩形框内 */ private static boolean isInBox(Vertex point, ArdNoFlyBox box) { return point.x >= box.getMinx() && point.x <= box.getMaxx() && point.y >= box.getMiny() && point.y <= box.getMaxy(); } /** * 射线法判断点是否在多边形内 */ private static boolean isPointInPolygon(Vertex point, List<Vertex> vertices) { if (point == null || vertices == null || vertices.size() < 3) { return false; } int count = 0; int n = vertices.size(); double epsilon = 1e-9; for (int i = 0; i < n; i++) { Vertex v1 = vertices.get(i); Vertex v2 = vertices.get((i + 1) % n); // 点就是顶点 if (v1.IsSame(point)) { return true; } double minX = Math.min(v1.x, v2.x); double maxX = Math.max(v1.x, v2.x); double minY = Math.min(v1.y, v2.y); double maxY = Math.max(v1.y, v2.y); // 水平线段 if (Math.abs(minY - maxY) < epsilon) { if (Math.abs(point.y - minY) < epsilon && point.x >= minX && point.x <= maxX) { return true; } else { continue; } } // 点不在纵向范围 if (point.y < minY || point.y > maxY) { continue; } double xIntersect = v1.x + (point.y - v1.y) * (v2.x - v1.x) / (v2.y - v1.y); if (Math.abs(xIntersect - point.x) < epsilon) { return true; // 点在边界 } if (xIntersect > point.x) { count++; } if (Math.abs(point.y - minY) < epsilon) { count--; } } return count % 2 != 0; } } ard-system/src/main/java/com/ard/data/tile/domain/ArdTile.java
@@ -5,7 +5,7 @@ import lombok.Data; /** * tile管理对象 ard_tile_management * tile管理对象 ard_tile * * @author xia * @date 2025-10-10 ard-system/src/main/resources/mapper/data/ArdMapMapper.xml
@@ -22,7 +22,7 @@ release_status, default_loading, map_path from ard_map_management from ard_map </sql> <select id="selectArdMapList" parameterType="ArdMap" resultMap="ArdMapResult"> @@ -41,7 +41,7 @@ </select> <insert id="insertArdMap" parameterType="ArdMap"> insert into ard_map_management insert into ard_map <trim prefix="(" suffix=")" suffixOverrides=","> <if test="id != null">id,</if> <if test="mapName != null">map_name,</if> @@ -63,7 +63,7 @@ </insert> <update id="updateArdMap" parameterType="ArdMap"> update ard_map_management update ard_map <trim prefix="SET" suffixOverrides=","> <if test="mapName != null">map_name = #{mapName},</if> <if test="mapType != null">map_type = #{mapType},</if> @@ -76,11 +76,11 @@ </update> <delete id="deleteArdMapById" parameterType="String"> delete from ard_map_management where id = #{id} delete from ard_map where id = #{id} </delete> <delete id="deleteArdMapByIds" parameterType="String"> delete from ard_map_management where id in delete from ard_map where id in <foreach item="id" collection="array" open="(" separator="," close=")"> #{id} </foreach> ard-system/src/main/resources/mapper/data/ArdModelMapper.xml
@@ -22,7 +22,7 @@ height, proportion, model_url from ard_model_management from ard_model </sql> <select id="selectArdModelList" parameterType="ArdModel" resultMap="ArdModelResult"> @@ -43,7 +43,7 @@ </select> <insert id="insertArdModel" parameterType="ArdModel"> insert into ard_model_management insert into ard_model <trim prefix="(" suffix=")" suffixOverrides=","> <if test="id != null">id,</if> <if test="modelName != null">model_name,</if> @@ -65,7 +65,7 @@ </insert> <update id="updateArdModel" parameterType="ArdModel"> update ard_model_management update ard_model <trim prefix="SET" suffixOverrides=","> <if test="modelName != null">model_name = #{modelName},</if> <if test="longitude != null">longitude = #{longitude},</if> @@ -78,11 +78,11 @@ </update> <delete id="deleteArdModelById" parameterType="String"> delete from ard_model_management where id = #{id} delete from ard_model where id = #{id} </delete> <delete id="deleteArdModelByIds" parameterType="String"> delete from ard_model_management where id in delete from ard_model where id in <foreach item="id" collection="array" open="(" separator="," close=")"> #{id} </foreach> ard-system/src/main/resources/mapper/data/ArdTileMapper.xml
@@ -30,7 +30,7 @@ user_id, dept_id, default_loading from ard_tile_management from ard_tile </sql> <select id="selectArdTileList" parameterType="ArdTile" resultMap="ArdTileResult"> @@ -48,7 +48,7 @@ </select> <insert id="insertArdTile" parameterType="ArdTile"> insert into ard_tile_management insert into ard_tile <trim prefix="(" suffix=")" suffixOverrides=","> <if test="id != null">id,</if> <if test="tilesName != null">tiles_name,</if> @@ -78,7 +78,7 @@ </insert> <update id="updateArdTile" parameterType="ArdTile"> update ard_tile_management update ard_tile <trim prefix="SET" suffixOverrides=","> <if test="tilesName != null">tiles_name = #{tilesName},</if> <if test="tilesHeight != null">tiles_height = #{tilesHeight},</if> @@ -95,11 +95,11 @@ </update> <delete id="deleteArdTileById" parameterType="String"> delete from ard_tile_management where id = #{id} delete from ard_tile where id = #{id} </delete> <delete id="deleteArdTileByIds" parameterType="String"> delete from ard_tile_management where id in delete from ard_tile where id in <foreach item="id" collection="array" open="(" separator="," close=")"> #{id} </foreach> ard-vtdu/src/main/java/com/ard/vtdu/domain/StreamInfo.java
@@ -25,7 +25,7 @@ */ String name; /** * 源rtsp地址 * 源 */ String rtspSource; /** ard-vtdu/src/main/java/com/ard/vtdu/service/impl/ArdArdMediaServiceImpl.java
@@ -196,6 +196,8 @@ String name = item.getName(); info.setName(name); Conf conf = mediaClient.getPathConfig(name); //源 info.setRtspSource(conf.getSource()); //RTMP播放地址 String rtmpUrl = "rtmp://" + mediamtxConfig.getPlayHost() + ":1935/" + name; info.setRtmpUrl(rtmpUrl); @@ -206,51 +208,21 @@ String protocol = mediamtxConfig.isHttps() ? "https://" : "http://"; String webrtcUrl = protocol + mediamtxConfig.getPlayHost() + ":8889/" + name; info.setWebrtcUrl(webrtcUrl); Source source = item.getSource(); if (source == null || source.getId().equals("")) { //会话ID info.setId("0"); //下行流量 long bytesReceived = item.getBytesReceived(); String formatReceivedSize = ArdTool.formatFileSize(bytesReceived); info.setDownTraffic(formatReceivedSize); //上行流量 long bytesSent = item.getBytesSent(); String formatSentdSize = ArdTool.formatFileSize(bytesSent); info.setUpTraffic(formatSentdSize); info.setBeginTime(item.getReadyTime()); } else { RtspSession rtspSession = getRtspSessionById(source.getId()); //会话ID info.setId(rtspSession.getId()); //开始推流时间 info.setBeginTime(rtspSession.getCreated()); //上行流量 long bytesReceived = rtspSession.getBytesReceived(); String formatReceivedSize = ArdTool.formatFileSize(bytesReceived); info.setUpTraffic(formatReceivedSize); //下行流量 long bytesSent = rtspSession.getBytesSent(); String formatSentSize = ArdTool.formatFileSize(bytesSent); info.setDownTraffic(formatSentSize); //推流服务器 info.setRemoteAddr(rtspSession.getRemoteAddr()); } //RTSP源地址 String runOn = ""; if (StringUtils.isNotEmpty(conf.getRunOnDemand())) { runOn = conf.getRunOnDemand(); } Matcher matcher = Pattern.compile("rtsp://[^\\s\"]+").matcher(runOn); if (matcher.find()) { info.setRtspSource(matcher.group()); } else { info.setRtspSource(conf.getSource()); } //上行流量 long bytesReceived = item.getBytesReceived(); String formatReceivedSize = ArdTool.formatFileSize(bytesReceived); info.setUpTraffic(formatReceivedSize); //下行流量 long bytesSent = item.getBytesSent(); String formatSentSize = ArdTool.formatFileSize(bytesSent); info.setDownTraffic(formatSentSize); //传输协议 info.setProtocol(conf.getSourceProtocol()); //拉流数量 List<Readers> readers = item.getReaders(); //开始时间 info.setBeginTime(item.getReadyTime()); info.setNum(readers.size()); PushStreamInfoList.add(info); ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java
@@ -1,11 +1,23 @@ 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.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.CheckDroneStatus; import com.ard.work.aspect.annotation.CheckNoFlyZone; import com.ard.work.aspect.annotation.CheckTakeoffAltitude; import com.ard.work.aspect.annotation.CheckControlRight; import com.ard.work.domain.cache.UavTelemetryDataCache; import com.ard.work.domain.dto.telemetry.TelemetryData; import com.ard.work.domain.entity.ArdDroneInfo; import com.ard.work.service.IArdDroneInfoService; import com.ard.work.service.control.UavControlService; import com.ard.work.domain.message.UavControlType; import org.aspectj.lang.JoinPoint; @@ -14,11 +26,11 @@ 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 +39,13 @@ @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) { @@ -42,22 +58,35 @@ // 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 Boolean online = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn); if (online == null || !online) { 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) { @@ -68,7 +97,7 @@ // 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.get(boxSn); if (uavTelemetryData == null) { @@ -83,41 +112,67 @@ } /** * 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()) { Boolean online = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn); if (online == null || !online) { 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 Double longitude = null; Double latitude = null; for (Object arg : args) { if (arg == null) { continue; } Double lon = ReflectUtils.getFieldValue(arg, "longitude"); Double lat = ReflectUtils.getFieldValue(arg, "latitude"); if (lon != null && lat != null) { longitude = lon; latitude = lat; break; } } 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！"); } List<ArdNoFlyZone> ardNoFlyZones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone()); if (!ardNoFlyZones.isEmpty()) { Vertex vertex = new Vertex(longitude, latitude); boolean inNoFlyZones = NoFlyZoneUtils.isInNoFlyZones(vertex, ardNoFlyZones); if (inNoFlyZones) { throw new ControlException("目标点在禁飞区内，无法执行操作！"); } } } } ard-work/src/main/java/com/ard/work/aspect/annotation/CheckControlRight.java
@@ -8,7 +8,8 @@ import java.lang.annotation.Target; /** * 自定义注解：用于方法拦截，检查 UAV 控制权限 * 控制权限检查 * 包含无人机在线检查 */ @Target(ElementType.METHOD) // 作用于方法 @Retention(RetentionPolicy.RUNTIME) // 运行时生效 ard-work/src/main/java/com/ard/work/aspect/annotation/CheckDroneStatus.java
New file @@ -0,0 +1,15 @@ package com.ard.work.aspect.annotation; import java.lang.annotation.*; /** * 检查飞行器状态 * */ @Target({ElementType.METHOD}) @Retention(RetentionPolicy.RUNTIME) @Documented public @interface CheckDroneStatus { boolean checkOnline() default true; } ard-work/src/main/java/com/ard/work/aspect/annotation/CheckNoFlyZone.java
New file @@ -0,0 +1,14 @@ package com.ard.work.aspect.annotation; import java.lang.annotation.*; /** * 检查禁飞区 */ @Target(ElementType.METHOD) @Retention(RetentionPolicy.RUNTIME) @Documented public @interface CheckNoFlyZone { // 简化，不需要字段 } ard-work/src/main/java/com/ard/work/aspect/annotation/CheckTakeoffAltitude.java
@@ -5,6 +5,9 @@ import java.lang.annotation.RetentionPolicy; import java.lang.annotation.Target; /** * 检查最低高度 */ @Target(ElementType.METHOD) @Retention(RetentionPolicy.RUNTIME) public @interface CheckTakeoffAltitude { ard-work/src/main/java/com/ard/work/domain/entity/ArdDroneInfo.java
@@ -10,7 +10,7 @@ import java.util.Objects; /** * 无人机盒子对象 ard_drone_info * 无人机盒子对象 ard_drone * * @author ard * @date 2025-03-04 ard-work/src/main/java/com/ard/work/domain/entity/ArdServerInfo.java
@@ -7,7 +7,7 @@ import lombok.Data; /** * 服务器管理对象 ard_server_info * 服务器管理对象 ard_server * * @author xia * @date 2025-10-10 ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
@@ -1,10 +1,9 @@ package com.ard.work.service.impl; import com.ard.common.constant.CacheConstants; import com.ard.common.core.redis.RedisCache; import com.ard.common.exception.ServiceException; import com.ard.common.utils.StringUtils; import com.ard.common.exception.ControlException; 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.component.forest.TyClient; import com.ard.work.component.netty.TcpClientUtil; @@ -56,7 +55,6 @@ import com.ard.work.service.IArdServerInfoService; import com.ard.work.service.ITyService; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; import javax.annotation.Resource; @@ -79,8 +77,6 @@ private IArdDroneInfoService ardDroneService; @Resource private TyClient tyClient; @Autowired private RedisCache redisCache; /** * 获取边缘服务器token信息 @@ -125,12 +121,10 @@ public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) { ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); } TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(), boxSn); return boxLiveUrl == null ? null : boxLiveUrl.getContent(); @@ -146,11 +140,7 @@ String boxSn = boxHistoryDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行起飞指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(ardDroneInfo.getServerId(), boxHistoryDTO); @@ -167,11 +157,7 @@ String boxSn = boxPhotosDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行起飞指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(ardDroneInfo.getServerId(), boxPhotosDTO); @@ -186,11 +172,7 @@ String boxSn = boxSettingsDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(ardDroneInfo.getServerId(), boxSettingsDTO); return result.getState() == 1; @@ -204,11 +186,7 @@ String boxSn = returnHeightSettingDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } ReturnHeightSettingCmd returnHeightSettingCmd = new ReturnHeightSettingCmd(returnHeightSettingDTO); this.sendMessage(ardDroneInfo.getServerId(), returnHeightSettingCmd); @@ -223,11 +201,7 @@ String boxSn = returnPointSettingDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } ReturnPointSettingCmd returnPointSettingCmd = new ReturnPointSettingCmd(returnPointSettingDTO); this.sendMessage(ardDroneInfo.getServerId(), returnPointSettingCmd); @@ -242,11 +216,7 @@ String boxSn = videoStreamSettingDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } VideoStreamSettingCmd videoStreamSettingCmd = new VideoStreamSettingCmd(videoStreamSettingDTO); this.sendMessage(ardDroneInfo.getServerId(), videoStreamSettingCmd); @@ -278,11 +248,7 @@ String boxSn = angleControlDto.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto); this.sendMessage(ardDroneInfo.getServerId(), controlAngleCommand); @@ -298,11 +264,7 @@ String boxSn = absAngleControlDto.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto); this.sendMessage(ardDroneInfo.getServerId(), absAngleControlCommand); @@ -318,11 +280,7 @@ String boxSn = speedControlDto.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto); this.sendMessage(ardDroneInfo.getServerId(), speedControlCommand); @@ -332,16 +290,13 @@ /** * 设置相机模式 */ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean updateCameraMode(CameraModeDTO cameraModeDTO) { String boxSn = cameraModeDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO); this.sendMessage(ardDroneInfo.getServerId(), cameraModeCommand); @@ -351,16 +306,13 @@ /** * 拍照 */ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean capturePic(CapturePicDTO capturePicDto) { String boxSn = capturePicDto.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } //设置相机模式为拍照模式 updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build()); @@ -375,16 +327,13 @@ /** * 录像 */ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean record(RecordDTO recordDto) { String boxSn = recordDto.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } BaseCmd baseCmd; if (recordDto.getIsRecord()) { @@ -406,11 +355,7 @@ String boxSn = zoomDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } ZoomCmd zoomCommand = new ZoomCmd(zoomDTO); this.sendMessage(ardDroneInfo.getServerId(), zoomCommand); @@ -426,11 +371,7 @@ String boxSn = zoomToLevelDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO); this.sendMessage(ardDroneInfo.getServerId(), zoomToLevelCommand); @@ -440,16 +381,13 @@ /** * 切换摄像头 */ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean switchCamera(SwitchCameraDTO switchCameraDTO) { String boxSn = switchCameraDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO); this.sendMessage(ardDroneInfo.getServerId(), switchCameraCmd); @@ -459,16 +397,13 @@ /** * 切换视频源 */ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean switchSource(SwitchSourceDTO switchSourceDTO) { String boxSn = switchSourceDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO); this.sendMessage(ardDroneInfo.getServerId(), switchSourceCmd); @@ -478,16 +413,13 @@ /** * 打开或关闭照片回传 */ @CheckControlRight(UavControlType.PAYLOAD) @Override public Boolean photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) { String boxSn = photoReturnToggleDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO); this.sendMessage(ardDroneInfo.getServerId(), photoReturnToggleCmd); @@ -497,16 +429,13 @@ /** * 切换无人机控制权 */ @CheckDroneStatus @Override public Boolean switchUavControl(SwitchUavControlDTO switchUavControlDTO) { String boxSn = switchUavControlDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO); this.sendMessage(ardDroneInfo.getServerId(), switchUavControlCmd); @@ -522,11 +451,7 @@ String boxSn = takeOffDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO); this.sendMessage(ardDroneInfo.getServerId(), takeOffCmd); @@ -542,11 +467,7 @@ String boxSn = returnHomeDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO); this.sendMessage(ardDroneInfo.getServerId(), returnHomeCmd); @@ -562,11 +483,7 @@ String boxSn = returnHomeCancelDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO); this.sendMessage(ardDroneInfo.getServerId(), returnHomeCancelCmd); @@ -582,11 +499,7 @@ String boxSn = landDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } LandCmd landCmd = new LandCmd(landDTO); this.sendMessage(ardDroneInfo.getServerId(), landCmd); @@ -602,11 +515,7 @@ String boxSn = landCancelDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO); this.sendMessage(ardDroneInfo.getServerId(), landCancelCmd); @@ -622,11 +531,7 @@ String boxSn = landForcedDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO); this.sendMessage(ardDroneInfo.getServerId(), landForcedCmd); @@ -643,11 +548,7 @@ String boxSn = flyControlDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO); this.sendMessage(ardDroneInfo.getServerId(), flyControlCmd); @@ -659,16 +560,13 @@ */ @CheckControlRight(UavControlType.FLY) @CheckTakeoffAltitude(minAltitude = 30.0) @CheckNoFlyZone @Override public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) { String boxSn = flyPointControlDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO); this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd); @@ -684,12 +582,10 @@ String boxSn = flyPointControlCancelDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); } FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO); this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCancelCmd); return true; @@ -704,12 +600,10 @@ String boxSn = emeragencyBrakeDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); } EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO); this.sendMessage(ardDroneInfo.getServerId(), emergencyBrakeCmd); return true; @@ -747,11 +641,7 @@ String boxSn = speakModeSwitchDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } SpeakModeSwitchCmd speakModeSwitchCmd = new SpeakModeSwitchCmd(speakModeSwitchDTO); this.sendMessage(ardDroneInfo.getServerId(), speakModeSwitchCmd); @@ -766,11 +656,7 @@ String boxSn = textSpeakDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } TextSpeakCmd textSpeakCmd = new TextSpeakCmd(textSpeakDTO); this.sendMessage(ardDroneInfo.getServerId(), textSpeakCmd); @@ -785,11 +671,7 @@ String boxSn = realSpeakDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } RealSpeakCmd realSpeakCmd = new RealSpeakCmd(realSpeakDTO); this.sendMessage(ardDroneInfo.getServerId(), realSpeakCmd); @@ -804,11 +686,7 @@ String boxSn = recordSpeakDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO); this.sendMessage(ardDroneInfo.getServerId(), recordSpeakCmd); @@ -823,11 +701,7 @@ String boxSn = volumeSettingDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } VolumeSettingCmd volumeSettingCmd = new VolumeSettingCmd(volumeSettingDTO); this.sendMessage(ardDroneInfo.getServerId(), volumeSettingCmd); @@ -842,11 +716,7 @@ String boxSn = loopSettingDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } LoopSettingCmd loopSettingCmd = new LoopSettingCmd(loopSettingDTO); this.sendMessage(ardDroneInfo.getServerId(), loopSettingCmd); @@ -861,11 +731,7 @@ String boxSn = stopSpeakDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } StopSpeakCmd stopSpeakCmd = new StopSpeakCmd(stopSpeakDTO); this.sendMessage(ardDroneInfo.getServerId(), stopSpeakCmd); @@ -875,16 +741,13 @@ /** * 航线上传 */ @CheckControlRight(UavControlType.FLY) @Override public Boolean wayLineUpload(WayLineUploadDTO wayLineUploadDTO) { String boxSn = wayLineUploadDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } //wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据 WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO); @@ -935,11 +798,7 @@ String boxSn = wayLineBeginDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO); this.sendMessage(ardDroneInfo.getServerId(), wayLineBeginCmd); @@ -955,11 +814,7 @@ String boxSn = wayLinePauseDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO); this.sendMessage(ardDroneInfo.getServerId(), wayLinePauseCmd); @@ -975,11 +830,7 @@ String boxSn = wayLineResumeDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO); this.sendMessage(ardDroneInfo.getServerId(), wayLineResumeCmd); @@ -995,11 +846,7 @@ String boxSn = wayLineEndDTO.getBoxSn(); ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn); if (ardDroneInfo == null) { throw new ServiceException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } // ✅ 判断无人机是否在线 if (!isDroneOnline(boxSn)) { throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn); throw new ControlException("未找到对应的飞行器信息,boxSn:{}" + boxSn); } WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO); this.sendMessage(ardDroneInfo.getServerId(), wayLineEndCmd); @@ -1275,14 +1122,4 @@ private void sendMessage(String key, BaseCmd msg) { TcpClientUtil.sendMessage(key, msg); } // 判断无人机是否在线 private boolean isDroneOnline(String boxSn) { if (StringUtils.isBlank(boxSn)) { return false; } Object obj = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn); return obj != null; } } ard-work/src/main/resources/mapper/ArdDroneInfoMapper.xml
@@ -33,7 +33,7 @@ </resultMap> <select id="selectArdServerInfo" resultType="com.ard.work.domain.entity.ArdServerInfo"> select * from ard_server_info where id = #{serverId} select * from ard_server where id = #{serverId} </select> <sql id="selectArdDroneVo"> @@ -50,7 +50,7 @@ c.user_id, c.dept_id, c.box_alias_name from ard_drone_info c from ard_drone c left join sys_dept d on d.dept_id = c.dept_id left join sys_user u on u.user_id = c.user_id </sql> @@ -82,7 +82,7 @@ where box_sn = #{boxSn} </select> <insert id="insertArdDrone" parameterType="ArdDroneInfo"> insert into ard_drone_info insert into ard_drone <trim prefix="(" suffix=")" suffixOverrides=","> <if test="id != null">id,</if> <if test="boxSn != null">box_sn,</if> @@ -126,7 +126,7 @@ </insert> <update id="updateArdDrone" parameterType="ArdDroneInfo"> update ard_drone_info update ard_drone <trim prefix="SET" suffixOverrides=","> <if test="boxSn != null">box_sn = #{boxSn},</if> <if test="boxName != null">box_name = #{boxName},</if> @@ -150,18 +150,18 @@ </update> <delete id="deleteArdDroneById" parameterType="String"> delete from ard_drone_info where id = #{id} delete from ard_drone where id = #{id} </delete> <delete id="deleteArdDroneByIds" parameterType="String"> delete from ard_drone_info where id in delete from ard_drone where id in <foreach item="id" collection="array" open="(" separator="," close=")"> #{id} </foreach> </delete> <insert id="insertArdDroneLs" parameterType="java.util.List"> insert into ard_drone_info( insert into ard_drone( id, box_sn, box_name, @@ -204,7 +204,7 @@ </insert> <update id="updateDroneStatus"> update ard_drone_info update ard_drone <trim prefix="SET" suffixOverrides=","> <if test="onLine != null">on_line = #{onLine},</if> </trim> ard-work/src/main/resources/mapper/ArdServerInfoMapper.xml
@@ -34,7 +34,7 @@ user_id, dept_id, server_status from ard_server_info from ard_server </sql> <sql id="selectArdServerInfoVo"> @@ -51,7 +51,7 @@ c.user_id, c.dept_id, c.server_status from ard_server_info c from ard_server c left join sys_dept d on d.dept_id = c.dept_id left join sys_user u on u.user_id = c.user_id </sql> @@ -78,7 +78,7 @@ </select> <insert id="insertArdServerInfo" parameterType="ArdServerInfo"> insert into ard_server_info insert into ard_server <trim prefix="(" suffix=")" suffixOverrides=","> <if test="id != null">id,</if> <if test="serverName != null">server_name,</if> @@ -112,7 +112,7 @@ </insert> <update id="updateArdServerInfo" parameterType="ArdServerInfo"> update ard_server_info update ard_server <trim prefix="SET" suffixOverrides=","> <if test="serverName != null">server_name = #{serverName},</if> <if test="host != null">host = #{host},</if> @@ -131,7 +131,7 @@ </update> <update id="updateServerStatus"> update ard_server_info update ard_server <trim prefix="SET" suffixOverrides=","> <if test="status != null">server_status = #{status},</if> </trim> @@ -139,11 +139,11 @@ </update> <delete id="deleteArdServerInfoById" parameterType="String"> delete from ard_server_info where id = #{id} delete from ard_server where id = #{id} </delete> <delete id="deleteArdServerInfoByIds" parameterType="String"> delete from ard_server_info where id in delete from ard_server where id in <foreach item="id" collection="array" open="(" separator="," close=")"> #{id} </foreach>
