1.判断行点是否在禁飞区接口优化。 2.增加禁飞区DTO实体类。 3.上传禁飞区实体类增加。 4.原生实体类文件归类整理。

Xiajijian

2025-11-17 104bbc3c956ba741b61df4d11f76acfecea7622d

1.判断行点是否在禁飞区接口优化。
2.增加禁飞区DTO实体类。
3.上传禁飞区实体类增加。
4.原生实体类文件归类整理。

 ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInfoController.java

@@ -5,6 +5,7 @@

import com.ard.common.utils.poi.ExcelUtil;
import com.ard.oss.model.MinioUploadResult;
import com.ard.route.domain.dto.ArdNoflyDto;
import com.ard.route.domain.route.ArdRouteInfo;
import com.ard.route.service.IArdRouteInfoService;
import io.swagger.annotations.Api;
@@ -123,10 +124,9 @@
     * 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 ardRouteInfoService.selectRouteInfomationNoFly(longitude,latitude);
    @PostMapping("/noFly")
    public Boolean noFly(@RequestBody ArdNoflyDto ardNoflyDto) {
        return ardRouteInfoService.selectRouteInfomationNoFly(ardNoflyDto);
    }

    /**
@@ -134,7 +134,7 @@
     */
//    @ApiOperation("上传航线到边缘服务器")
//    @PostMapping
//    public AjaxResult uploadRouteInformation(@RequestBody ArdRouteInfor ArdRouteInfor) {
//    public AjaxResult uploadRouteInformation(@RequestBody ArdRouteInfo ArdRouteInfor) {
//        return success(ardRouteInfoService.selectArdRouteInforByName(ArdRouteInfor.getName()));
//    }


 ard-admin/src/main/java/com/ard/web/controller/route/UavRouteController.java

@@ -1,7 +1,7 @@
package com.ard.web.controller.route;

import com.ard.common.core.domain.AjaxResult;
import com.ard.route.domain.UavRouteReq;
import com.ard.route.domain.djuav.UavRouteReq;
import com.ard.route.service.UavRouteService;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
@@ -9,8 +9,6 @@
import org.springframework.web.bind.annotation.*;

import javax.annotation.Resource;

import java.io.IOException;

import static com.ard.common.core.domain.AjaxResult.success;


 ard-route/src/main/java/com/ard/route/domain/djuav/ActionGroupReq.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/ActionGroupReq.java
@@ -1,4 +1,4 @@
package com.ard.route.domain;
package com.ard.route.domain.djuav;

import lombok.Data;


 ard-route/src/main/java/com/ard/route/domain/djuav/CoordinatePointReq.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/CoordinatePointReq.java
@@ -1,4 +1,4 @@
package com.ard.route.domain;
package com.ard.route.domain.djuav;

import lombok.Data;


 ard-route/src/main/java/com/ard/route/domain/djuav/MappingTypeReq.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/MappingTypeReq.java
@@ -1,4 +1,4 @@
package com.ard.route.domain;
package com.ard.route.domain.djuav;

import lombok.Data;


 ard-route/src/main/java/com/ard/route/domain/djuav/PointActionReq.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/PointActionReq.java
@@ -1,4 +1,4 @@
package com.ard.route.domain;
package com.ard.route.domain.djuav;

import lombok.Data;


 ard-route/src/main/java/com/ard/route/domain/djuav/RoutePointReq.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/RoutePointReq.java
@@ -1,4 +1,4 @@
package com.ard.route.domain;
package com.ard.route.domain.djuav;

import lombok.Data;


 ard-route/src/main/java/com/ard/route/domain/djuav/UavRouteReq.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/UavRouteReq.java
@@ -1,4 +1,4 @@
package com.ard.route.domain;
package com.ard.route.domain.djuav;

import lombok.Data;


 ard-route/src/main/java/com/ard/route/domain/djuav/WaypointHeadingReq.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/WaypointHeadingReq.java
@@ -1,4 +1,4 @@
package com.ard.route.domain;
package com.ard.route.domain.djuav;

import lombok.Data;


 ard-route/src/main/java/com/ard/route/domain/djuav/WaypointTurnReq.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/WaypointTurnReq.java
@@ -1,4 +1,4 @@
package com.ard.route.domain;
package com.ard.route.domain.djuav;

import lombok.Data;


 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlAction.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlAction.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.thoughtworks.xstream.annotations.XStreamAlias;
import lombok.Data;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlActionActuatorFuncParam.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlActionActuatorFuncParam.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.thoughtworks.xstream.annotations.XStreamAlias;
import lombok.Data;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlActionGroup.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlActionGroup.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.thoughtworks.xstream.annotations.XStreamAlias;
import lombok.Data;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlActionTrigger.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlActionTrigger.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.thoughtworks.xstream.annotations.XStreamAlias;
import lombok.Data;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlDocument.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlDocument.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.thoughtworks.xstream.annotations.XStreamAlias;
import lombok.Data;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlDroneInfo.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlDroneInfo.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.thoughtworks.xstream.annotations.XStreamAlias;
import lombok.Data;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlFolder.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlFolder.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.thoughtworks.xstream.annotations.XStreamAlias;
import com.thoughtworks.xstream.annotations.XStreamImplicit;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlGlobalWaypointHeadingParam.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlGlobalWaypointHeadingParam.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.thoughtworks.xstream.annotations.XStreamAlias;
import lombok.Data;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlInfo.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlInfo.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.fasterxml.jackson.annotation.JsonInclude;
import com.thoughtworks.xstream.annotations.XStreamAlias;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlLineString.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlLineString.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.thoughtworks.xstream.annotations.XStreamAlias;
import lombok.Data;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlLinearRing.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlLinearRing.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.thoughtworks.xstream.annotations.XStreamAlias;
import lombok.Data;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlMappingHeadingParam.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlMappingHeadingParam.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.fasterxml.jackson.annotation.JsonInclude;
import com.thoughtworks.xstream.annotations.XStreamAlias;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlMissionConfig.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlMissionConfig.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.thoughtworks.xstream.annotations.XStreamAlias;
import lombok.Data;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlOuterBoundaryIs.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlOuterBoundaryIs.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.thoughtworks.xstream.annotations.XStreamAlias;
import lombok.Data;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlOverlap.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlOverlap.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.thoughtworks.xstream.annotations.XStreamAlias;
import lombok.Data;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlParams.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlParams.java
@@ -1,9 +1,9 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.ard.route.domain.MappingTypeReq;
import com.ard.route.domain.PointActionReq;
import com.ard.route.domain.WaypointHeadingReq;
import com.ard.route.domain.WaypointTurnReq;
import com.ard.route.domain.djuav.MappingTypeReq;
import com.ard.route.domain.djuav.PointActionReq;
import com.ard.route.domain.djuav.WaypointHeadingReq;
import com.ard.route.domain.djuav.WaypointTurnReq;
import lombok.Data;

import java.util.List;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlPayloadInfo.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlPayloadInfo.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.thoughtworks.xstream.annotations.XStreamAlias;
import lombok.Data;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlPayloadParam.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlPayloadParam.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.thoughtworks.xstream.annotations.XStreamAlias;
import lombok.Data;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlPlacemark.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlPlacemark.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.fasterxml.jackson.annotation.JsonInclude;
import com.thoughtworks.xstream.annotations.XStreamAlias;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlPoint.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlPoint.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.thoughtworks.xstream.annotations.XStreamAlias;
import lombok.Data;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlPolygon.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlPolygon.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.thoughtworks.xstream.annotations.XStreamAlias;
import lombok.Data;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlWayLineCoordinateSysParam.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlWayLineCoordinateSysParam.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.thoughtworks.xstream.annotations.XStreamAlias;
import lombok.Data;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlWaypointGimbalHeadingParam.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlWaypointGimbalHeadingParam.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.thoughtworks.xstream.annotations.XStreamAlias;
import lombok.Data;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlWaypointHeadingParam.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlWaypointHeadingParam.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.thoughtworks.xstream.annotations.XStreamAlias;
import lombok.Data;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/KmlWaypointTurnParam.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/KmlWaypointTurnParam.java
@@ -1,4 +1,4 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.thoughtworks.xstream.annotations.XStreamAlias;
import lombok.Data;

 ard-route/src/main/java/com/ard/route/domain/djuav/kml/RoutePointInfo.java

File was renamed from ard-route/src/main/java/com/ard/route/domain/kml/RoutePointInfo.java
@@ -1,8 +1,8 @@
package com.ard.route.domain.kml;
package com.ard.route.domain.djuav.kml;

import com.ard.route.domain.ActionGroupReq;
import com.ard.route.domain.WaypointHeadingReq;
import com.ard.route.domain.WaypointTurnReq;
import com.ard.route.domain.djuav.ActionGroupReq;
import com.ard.route.domain.djuav.WaypointHeadingReq;
import com.ard.route.domain.djuav.WaypointTurnReq;
import lombok.Data;

import java.io.Serializable;

 ard-route/src/main/java/com/ard/route/domain/dto/ArdNoflyDto.java

New file
@@ -0,0 +1,18 @@
package com.ard.route.domain.dto;

import com.ard.data.noflyzone.domain.Vertex;
import lombok.Data;

/**
 * 禁飞区DTO实体类
 */
@Data
public class ArdNoflyDto {

    /** 原点  第一个节点 */
    private Vertex current;

    /** 目标点 第二个节点 */
    private Vertex target;

}

 ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInfo.java

@@ -2,7 +2,7 @@

import com.ard.common.annotation.Excel;
import com.ard.common.core.domain.BaseEntity;
import com.ard.route.domain.UavRouteReq;
import com.ard.route.domain.djuav.UavRouteReq;
import lombok.Data;

/**
@@ -47,6 +47,13 @@
    @Excel(name = "是否只读")
    private String readOnly;

    /** 时间排序
     * 0：正序
     * 1：倒序
     */
    @Excel(name = "时间排序")
    private String orderByTime;

    /**
     * 生成kmz文件实体类
     */

 ard-route/src/main/java/com/ard/route/domain/sixhe/ArdRouteActions.java

New file
@@ -0,0 +1,11 @@
package com.ard.route.domain.sixhe;

import lombok.Data;

@Data
public class ArdRouteActions {
    private Integer param;
    private String speakInfo;
    private Integer type;
    private Integer waitTime;
}

 ard-route/src/main/java/com/ard/route/domain/sixhe/ArdRouteChange.java

New file
@@ -0,0 +1,20 @@
package com.ard.route.domain.sixhe;

import lombok.Data;

import java.util.List;

/**
 * 飞行转换实体类
 **/
@Data
public class ArdRouteChange {
    private Integer autoSpeed;
    private Integer finishedAction;
    private Integer homeHeight;
    private List<Integer> interests;
    private Integer isSaveEnergyMode;
    private Integer loseAction;
    private Integer maxSpeed;
    private List<ArdRoutePoints> points;
}

 ard-route/src/main/java/com/ard/route/domain/sixhe/ArdRoutePoints.java

New file
@@ -0,0 +1,22 @@
package com.ard.route.domain.sixhe;

import lombok.Data;

import java.util.List;

@Data
public class ArdRoutePoints {
    private Integer dampingDistance;
    private Integer flightPathMode;
    private Integer groupIndex;
    private Integer heading;
    private Integer headingMode;
    private Integer height;
    private Integer interestIndex;
    private Double lat;
    private Double lon;
    private Integer safeGohomeFlag;
    private Integer speed;

    private List<ArdRouteActions> actions;
}

 ard-route/src/main/java/com/ard/route/domain/vo/KmzInfoVo.java

@@ -1,6 +1,6 @@
package com.ard.route.domain.vo;

import com.ard.route.domain.kml.KmlInfo;
import com.ard.route.domain.djuav.kml.KmlInfo;
import lombok.Data;

import java.io.Serializable;

 ard-route/src/main/java/com/ard/route/service/IArdRouteInfoService.java

@@ -1,6 +1,8 @@
package com.ard.route.service;

import com.ard.data.noflyzone.domain.Vertex;
import com.ard.oss.model.MinioUploadResult;
import com.ard.route.domain.dto.ArdNoflyDto;
import com.ard.route.domain.route.ArdRouteInfo;
import org.springframework.web.multipart.MultipartFile;

@@ -90,10 +92,9 @@
    /**
     * 判断行点是否在禁飞区
     *
     * @param longitude 经度
     * @param latitude 纬度
     * ardNoflyDto
     * @return 结果
     */
    public Boolean selectRouteInfomationNoFly(Double longitude, Double latitude);
    public Boolean selectRouteInfomationNoFly(ArdNoflyDto ardNoflyDto);

}

 ard-route/src/main/java/com/ard/route/service/UavRouteService.java

@@ -1,6 +1,6 @@
package com.ard.route.service;

import com.ard.route.domain.UavRouteReq;
import com.ard.route.domain.djuav.UavRouteReq;
import com.ard.route.domain.vo.KmzInfoVo;
import com.ard.route.domain.vo.KmzResultVo;


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

@@ -13,8 +13,8 @@
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.CoordinatePointReq;
import com.ard.route.domain.UavRouteReq;
import com.ard.route.domain.djuav.UavRouteReq;
import com.ard.route.domain.dto.ArdNoflyDto;
import com.ard.route.domain.route.ArdRouteInfo;
import com.ard.route.domain.vo.KmzResultVo;
import com.ard.route.mapper.ArdRouteInfoMapper;
@@ -74,6 +74,11 @@
     */
    @Override
    public List<ArdRouteInfo> selectArdRouteInfoList(ArdRouteInfo ardRouteInfo) {
        if ("1".equals(ardRouteInfo.getOrderByTime())) {
            ardRouteInfo.setOrderByTime("DESC");
        }else if ("0".equals(ardRouteInfo.getOrderByTime())) {
            ardRouteInfo.setOrderByTime("ASC");
        }
        return ardRouteInfoMapper.selectArdRouteInfoList(ardRouteInfo);
    }

@@ -87,6 +92,7 @@
    public String insertArdRouteInfo(ArdRouteInfo ardRouteInfo) {
        ardRouteInfo.setId(IdUtils.simpleUUID());
        ardRouteInfo.setCreateTime(DateUtils.getNowDate());
        ardRouteInfo.setUpdateTime(DateUtils.getNowDate()); // 修改时间，用于排序
        if (ardRouteInfo.getGroupId() == null){
            ardRouteInfo.setGroupId("0");
        }
@@ -211,28 +217,11 @@

    /**
     * 判断行点是否在禁飞区
     *
     * @param longitude 经度
     * @param latitude 纬度
     * @return 结果
     */
    @Override
    public Boolean selectRouteInfomationNoFly(Double longitude, Double latitude) {
        if (longitude == null || latitude == null) {
            throw new ControlException("方法参数中未找到有效经纬度字段，无法判断禁飞区！");
        }
        List<ArdNoFlyZone> ardNoFlyZones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());



        if (!ardNoFlyZones.isEmpty()) {
            Vertex vertex = new Vertex(longitude, latitude);
//            boolean inNoFlyZones = NoFlyZoneUtils.isPointInPolygon(vertex, ardNoFlyZones);
//            if (inNoFlyZones) {
//                throw new ControlException("目标点在禁飞区内，无法执行操作！");
//            }
        }
        return true;
    public Boolean selectRouteInfomationNoFly(ArdNoflyDto ardNoflyDto) {
        return verifyNoFlyZone(ardNoflyDto);
    }

    /**
@@ -244,8 +233,32 @@
        ardRouteInfoMapper.insertArdRouteInfo(ardRouteInfo);
    }

    private void verifyNoFlyZone(CoordinatePointReq a,CoordinatePointReq b){
    /**
     * 判断行点是否在禁飞区
     * 原点 current 第一个节点
     * 目标点 target 第二个节点
     */
    private Boolean verifyNoFlyZone(ArdNoflyDto ardNoflyDto){
        // ③ 查询禁飞区
        List<ArdNoFlyZone> zones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());
        if (zones.isEmpty()) {
            return  true;
        }
        for (ArdNoFlyZone zone : zones) {
            List<Vertex> polygon = zone.getVertices();
            if (polygon == null || polygon.size() < 3) continue;

            // 检查目标点是否在禁飞区
            if (NoFlyZoneUtils.isPointInPolygon(ardNoflyDto.getTarget(), polygon)) {
                throw new ControlException("目标点在禁飞区【" + zone.getName() + "】内，无法执行操作！");
            }

            // 检查路径是否穿越禁飞区
            if (ardNoflyDto.getCurrent() != null && NoFlyZoneUtils.isLineIntersectPolygon(ardNoflyDto.getCurrent(), ardNoflyDto.getTarget(), polygon)) {
                throw new ControlException("路径穿越禁飞区【" + zone.getName() + "】，无法执行操作！");
            }
        }
        return true;
    }

}

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

@@ -4,10 +4,11 @@
import cn.hutool.core.collection.CollectionUtil;
import com.ard.oss.service.impl.OssServiceContext;
import com.ard.route.constant.FileTypeConstants;
import com.ard.route.domain.RoutePointReq;
import com.ard.route.domain.UavRouteReq;
import com.ard.route.domain.WaypointHeadingReq;
import com.ard.route.domain.WaypointTurnReq;
import com.ard.route.domain.djuav.RoutePointReq;
import com.ard.route.domain.djuav.UavRouteReq;
import com.ard.route.domain.djuav.WaypointHeadingReq;
import com.ard.route.domain.djuav.WaypointTurnReq;
import com.ard.route.domain.djuav.kml.*;
import com.ard.route.domain.kml.*;
import com.ard.route.domain.route.ArdRouteInfo;
import com.ard.route.domain.vo.KmzInfoVo;

 ard-route/src/main/java/com/ard/route/util/InitializationUtils.java

@@ -1,6 +1,7 @@
package com.ard.route.util;

import com.ard.route.domain.*;
import com.ard.route.domain.djuav.*;
import com.ard.route.domain.sixhe.ArdRouteChange;

/**
 * 初始化数据
@@ -61,4 +62,8 @@
        }
        return uavRouteReq;
    }

    private void initializationSixHe(){
        ArdRouteChange ardRouteChange = new ArdRouteChange();
    }
}

 ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java

@@ -3,7 +3,8 @@
import cn.hutool.core.collection.CollectionUtil;
import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.ObjectUtil;
import com.ard.route.domain.*;
import com.ard.route.domain.djuav.*;
import com.ard.route.domain.djuav.kml.*;
import com.ard.route.domain.kml.*;
import com.ard.route.enums.kml.*;
import com.ard.route.constant.FileTypeConstants;

 ard-route/src/main/resources/mapper/ArdRouteInfoMapper.xml

@@ -45,7 +45,12 @@
            <if test="payload != null  and payload != ''"> and payload = #{payload}</if>
            <if test="type != null  and type != ''"> and type = #{type}</if>
            <if test="path != null  and path != ''"> and path = #{path}</if>
            <if test="groupId != null"> and group_id = #{groupId}</if>
        </where>
        <!-- 动态排序 -->
        <if test="orderByTime != null and orderByTime != ''">
            ORDER BY update_time ${orderByTime}
        </if>
    </select>
    
    <select id="selectArdRouteInfoById" parameterType="String" resultMap="ArdRouteInfoResult">

 ard-system/src/main/java/com/ard/data/noflyzone/domain/Vertex.java

@@ -1,7 +1,10 @@
package com.ard.data.noflyzone.domain;

public class Vertex {

    // 经度
    public double x;
    // 纬度
    public double y;

    public Vertex() {