forked from uav/ard-uav-server
ard-admin/src/main/java/com/ard/web/controller/vtdu/MediaMTXController.java
@@ -11,6 +11,7 @@ import io.swagger.annotations.ApiOperation; import org.springframework.util.StringUtils; import org.springframework.web.bind.annotation.*; import javax.annotation.Resource; import java.util.Arrays; @@ -128,7 +129,8 @@ @GetMapping("/pushList") @ApiOperation("获取推流列表") @ApiOperationSupport(order = 6) public TableDataInfo getPushStreamList(Integer pageNum, Integer pageSize) { public TableDataInfo getPushStreamList(@RequestParam(value = "pageNum", required = false) Integer pageNum, @RequestParam(value = "pageSize", required = false) Integer pageSize) { TableDataInfo tableDataInfo = mediaService.getPushStreamList(pageNum, pageSize); return tableDataInfo; } @@ -140,7 +142,8 @@ @GetMapping("/getPullWebrtcStreamList") @ApiOperation("获取WebRtc拉流列表") @ApiOperationSupport(order = 7) public TableDataInfo getPullWebrtcStreamList(Integer pageNum, Integer pageSize) { public TableDataInfo getPullWebrtcStreamList(@RequestParam(value = "pageNum", required = false) Integer pageNum, @RequestParam(value = "pageSize", required = false) Integer pageSize) { return mediaService.getPullWebrtcStreamList(pageNum, pageSize); } @@ -151,7 +154,8 @@ @GetMapping("/getPullRtspStreamList") @ApiOperation("获取rtsp拉流列表") @ApiOperationSupport(order = 8) public TableDataInfo getPullRtspStreamList(Integer pageNum, Integer pageSize) { public TableDataInfo getPullRtspStreamList(@RequestParam(value = "pageNum", required = false) Integer pageNum, @RequestParam(value = "pageSize", required = false) Integer pageSize) { return mediaService.getPullRtspStreamList(pageNum, pageSize); } @@ -162,7 +166,8 @@ @GetMapping("/getPullRtmpStreamList") @ApiOperation("获取rtmp拉流列表") @ApiOperationSupport(order = 9) public TableDataInfo getPullRtmpStreamList(Integer pageNum, Integer pageSize) { public TableDataInfo getPullRtmpStreamList(@RequestParam(value = "pageNum", required = false) Integer pageNum, @RequestParam(value = "pageSize", required = false) Integer pageSize) { return mediaService.getPullRtmpStreamList(pageNum, pageSize); }
@@ -81,6 +81,9 @@ } catch (IOException | ClassNotFoundException e) { throw new RuntimeException(e); } for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) { routePointReq.setHeight(routePointReq.getHeight() + getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(),"alt")); } return ardRouteInfo; } @@ -97,6 +100,12 @@ }else if ("0".equals(ardRouteInfo.getOrderByTime())) { ardRouteInfo.setOrderByTime("ASC"); } // List<ArdRouteInfo> list = ardRouteInfoMapper.selectArdRouteInfoList(ardRouteInfo); // for (ArdRouteInfo routeInfo : list) { // for (RoutePointReq routePointReq : routeInfo.getUavRouteReq().getRoutePointList()) { // routePointReq.setHeight(routePointReq.getHeight() + getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(),"alt")); // } // } return ardRouteInfoMapper.selectArdRouteInfoList(ardRouteInfo); } @@ -115,7 +124,7 @@ ardRouteInfo.setGroupId("0"); } ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft())); KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(), ardRouteInfo.getName()); KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(),ardRouteInfo.getName()); ardRouteInfo.setPath(kmzResult.getPath()); ardRouteInfo.setReadOnly("0"); ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo)); @@ -230,12 +239,12 @@ ardRouteInfo.setAircraft(droneTypeData(uavRouteReq)); } // 判断禁飞区 List<RoutePointReq> routePointList = ardRouteInfo.getUavRouteReq().getRoutePointList(); for (RoutePointReq routePointReq : routePointList) { ArdNoflyDto ardNoflyDto = new ArdNoflyDto(); ardNoflyDto.setCurrent(new Vertex(routePointReq.getLongitude(), routePointReq.getLatitude())); verifyNoFlyZone(ardNoflyDto); } // List<RoutePointReq> routePointList = ardRouteInfo.getUavRouteReq().getRoutePointList(); // for (RoutePointReq routePointReq : routePointList) { // ArdNoflyDto ardNoflyDto = new ArdNoflyDto(); // ardNoflyDto.setCurrent(new Vertex(routePointReq.getLongitude(), routePointReq.getLatitude())); // verifyNoFlyZone(ardNoflyDto); // } String url = ossService.upload("kmz",file); String urlDock = ossDockService.upload("kmz",file); ardRouteInfo.setName(file.getOriginalFilename()); ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
@@ -8,13 +8,20 @@ import java.util.ArrayList; import java.util.List; import static com.ard.route.util.ToolUtils.getDoublePoint; /** * 初始化数据 * 测试数据 */ public class InitializationUtils { // 禅思H20T 公倍数 private static final Double CHANSI_H20 = 23.76237623; // 禅思H20T 焦距值 private static final Double CHANSI_H20_FOCUS = 6.83; private static final String WAYPOINT_TURN_MODE_DEFAULT = "toPointAndStopWithDiscontinuityCurvature"; /** @@ -44,28 +51,62 @@ if (uavRouteReq.getGlobalWaypointTurnMode() != null){ waypointTurnReq.setWaypointTurnMode(uavRouteReq.getGlobalWaypointTurnMode()); }else { waypointTurnReq.setWaypointTurnMode("toPointAndStopWithDiscontinuityCurvature"); waypointTurnReq.setWaypointTurnMode(WAYPOINT_TURN_MODE_DEFAULT); } uavRouteReq.setWaypointTurnReq(waypointTurnReq); uavRouteReq.setGimbalPitchMode("usePointSetting"); //buildZoom(uavRouteReq); // 变焦数值加工 buildZoom(uavRouteReq); // 修改每个航点的高度 buildHeight(uavRouteReq); // 动作组编号数据加工 buildActionGroupReq(uavRouteReq); return uavRouteReq; } /** * 构建动作组编号 */ public void buildActionGroupReq(UavRouteReq uavRouteReq){ int pointActionCounter = 0; for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) { if (routePointReq.getActionGroupList() != null){ for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) { actionGroupReq.setActionGroupId(pointActionCounter++); actionGroupReq.setActionGroupStartIndex(routePointReq.getRoutePointIndex()); actionGroupReq.setActionGroupEndIndex(routePointReq.getRoutePointIndex()); actionGroupReq.setActionTriggerType("reachPoint"); } } } } /** * 修改每个航点的高度 * 根据起飞点高度减去当前航点高度 */ public void buildHeight(UavRouteReq uavRouteReq){ double takeOffHeight = getDoublePoint(uavRouteReq.getTakeOffRefPoint(),"alt"); for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) { routePointReq.setHeight(routePointReq.getHeight() - takeOffHeight); } } /** * 变焦动作加工 */ private UavRouteReq buildZoom(UavRouteReq uavRouteReq){ private void buildZoom(UavRouteReq uavRouteReq){ for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) { for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) { for (PointActionReq action : actionGroupReq.getActions()) { if (action.getZoom() != null){ action.setZoom(action.getZoom() * CHANSI_H20); //action.setZoom(action.getZoom() * CHANSI_H20); action.setZoom(action.getZoom() * CHANSI_H20_FOCUS); } } } } return uavRouteReq; } /** @@ -250,18 +291,4 @@ // ardRouteActions2.setWaitTime(2); // } public byte[] testParameters() { String data = "74 79 01 3C 44 42 4D 32 35 30 39 37 34 30 36 35 30 30 38 D1 00 10 08 01 15 00 00 70 41 1D 00 00 00 41 22 4A 09 06 9C E7 80 8B F0 59 40 11 08 98 33 BA 07 1D 3F 40 1D 00 00 F0 41 25 00 00 00 41 2A 09 08 01 15 00 00 20 41 18 02 2A 09 08 03 15 00 00 80 3F 18 02 2A 09 08 04 15 00 00 80 3F 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 22 55 09 F1 BC 12 50 7A F0 59 40 11 08 98 33 BA 07 1D 3F 40 1D 00 00 20 42 25 00 00 00 41 2A 09 08 09 15 00 00 A0 41 18 02 2A 09 08 06 15 00 00 20 42 18 02 2A 09 08 07 15 00 00 20 42 18 02 2A 09 08 08 15 00 00 20 42 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 22 3F 09 F1 BC 12 50 7A F0 59 40 11 91 92 E4 DA CC 1C 3F 40 1D 00 00 48 42 25 00 00 00 41 2A 09 08 09 15 00 00 70 41 18 02 2A 09 08 0A 15 00 00 40 40 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 22 34 09 06 9C E7 80 8B F0 59 40 11 91 92 E4 DA CC 1C 3F 40 1D 00 00 70 42 25 00 00 00 41 2A 09 08 02 15 00 00 80 3F 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 30 32 70 32"; String[] hexStrings = data.split(" "); StringBuilder sb = new StringBuilder(); sb.append("byte[] encodedBytes = {"); for (int i = 0; i < hexStrings.length; i++) { sb.append("(byte) 0x").append(hexStrings[i]); if (i < hexStrings.length - 1) { sb.append(", "); } } sb.append("};"); return sb.toString().getBytes(); } } ard-route/src/main/java/com/ard/route/util/ToolUtils.java
@@ -129,9 +129,12 @@ /** * 截取字符串 * 获取经纬度 * 获取经纬度高度 */ public static Double getDoublePoint(String str,String type) { if (str == null || str.isEmpty()) { return null; } String[] parts = str.split(","); if ("lon".equals(type)) { return Double.parseDouble(parts[0].trim()); @@ -139,6 +142,9 @@ if ("lat".equals(type)){ return Double.parseDouble(parts[1].trim()); } if ("alt".equals(type)){ return Double.parseDouble(parts[2].trim()); } return null; }
@@ -51,6 +51,9 @@ <if test="path != null and path != ''"> and path = #{path}</if> <if test="groupId != null"> and group_id = #{groupId}</if> </where> <if test="orderByTime == null and orderByTime == ''"> ORDER BY update_time DESC </if> <!-- 动态排序 --> <if test="orderByTime != null and orderByTime != ''"> ORDER BY update_time ${orderByTime}
