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

zhaowenyu

2026-01-23 f4278872babfaf2c60e71df144733d62ef192ddd

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

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

@@ -40,7 +40,7 @@
     * 查询航线任务列表
     */
    @ApiOperation("查询航线任务列表")
    @PreAuthorize("@ss.hasPermi('route:mission:list')")
    //@PreAuthorize("@ss.hasPermi('route:mission:list')")
    @GetMapping("/list")
    public TableDataInfo list(ArdRouteMission ardRouteMission) {
        startPage();
@@ -52,7 +52,7 @@
     * 获取航线任务详细信息
     */
    @ApiOperation("获取航线任务详细信息")
    @PreAuthorize("@ss.hasPermi('route:mission:query')")
    //@PreAuthorize("@ss.hasPermi('route:mission:query')")
    @GetMapping(value = "/{id}")
    public AjaxResult getInfo(@PathVariable("id") String id) {
        return success(ardRouteMissionService.selectArdRouteMissionById(id));
@@ -62,7 +62,7 @@
     * 新增航线任务
     */
    @ApiOperation("新增航线任务")
    @PreAuthorize("@ss.hasPermi('route:mission:add')")
    //@PreAuthorize("@ss.hasPermi('route:mission:add')")
    @Log(title = "航线任务", businessType = BusinessType.INSERT)
    @PostMapping
    public AjaxResult add(@RequestBody ArdRouteMission ardRouteMission) {
@@ -74,7 +74,7 @@
     * 修改航线任务
     */
    @ApiOperation("修改航线任务")
    @PreAuthorize("@ss.hasPermi('route:mission:edit')")
    //@PreAuthorize("@ss.hasPermi('route:mission:edit')")
    @Log(title = "航线任务", businessType = BusinessType.UPDATE)
    @PutMapping
    public AjaxResult edit(@RequestBody ArdRouteMission ardRouteMission) {
@@ -86,7 +86,7 @@
     * 删除航线任务
     */
    @ApiOperation("删除航线任务")
    @PreAuthorize("@ss.hasPermi('route:mission:remove')")
    //@PreAuthorize("@ss.hasPermi('route:mission:remove')")
    @Log(title = "航线任务", businessType = BusinessType.DELETE)
    @DeleteMapping("/{ids}")
    public AjaxResult remove(@PathVariable String[] ids) {
@@ -97,7 +97,7 @@
     * 修改航线任务状态
     */
    @ApiOperation("修改航线任务状态")
    @PreAuthorize("@ss.hasPermi('route:mission:edit')")
    //@PreAuthorize("@ss.hasPermi('route:mission:edit')")
    @Log(title = "航线任务", businessType = BusinessType.UPDATE)
    @PutMapping("updateStatus/{id}/{status}")
    public AjaxResult updateExecuteStatus(@PathVariable String id,

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

@@ -21,12 +21,12 @@
    private Integer routePointIndex;

    /** 经度 */
    private Long longitude;
    private Double longitude;

    /** 纬度 */
    private Long latitude;
    private Double latitude;

    /** 高度 */
    private Long height;
    private Double height;

}

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

@@ -140,5 +140,4 @@
     */
    public Boolean routeEnd(String boxSn);


}

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

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

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

import com.ard.common.exception.ControlException;
@@ -29,7 +28,6 @@
import com.ard.route.service.UavRouteService;
import com.ard.work.domain.cache.UavTelemetryDataCache;
import com.ard.work.domain.cache.UavWaylineCache;
import com.ard.work.domain.dto.state.PointData;
import com.ard.work.domain.dto.telemetry.TelemetryData;
import com.ard.work.domain.dto.wayline.*;
import com.ard.work.service.ITyService;
@@ -45,6 +43,7 @@
import static com.ard.route.enums.kml.DroneEnumValueEnums.M350_RTK;
import static com.ard.route.util.InitializationUtils.divided_23;
import static com.ard.route.util.ToolUtils.*;
import static com.ard.route.util.UavRouteReqUtils.buildWayLineUploadDTO;
import static com.ard.route.util.UavRouteReqUtils.fileConversionEntity;

/**
@@ -97,11 +96,8 @@

        // 如果参考起飞点不为空，将每个航点高度进行加工。
        if (ardRouteInfo.getUavRouteReq().getTakeOffRefPoint() != null){

            double altitudeOffset = getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(), "alt");

            for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
                // 调整每个航点高度
                adjustRoutePointHeight(routePointReq, altitudeOffset);
            }
        }else {
@@ -115,6 +111,7 @@
        return ardRouteInfo;
    }

    // 调整每个航点高度
    private void adjustRoutePointHeight(RoutePointReq routePointReq, double altitudeOffset) {
        routePointReq.setHeight(routePointReq.getHeight() + altitudeOffset);
    }
@@ -143,7 +140,8 @@
     */
    @Override
    public String insertArdRouteInfo(ArdRouteInfo ardRouteInfo) {
        processRouteMission(ardRouteInfo);
        checkRouteMissionStatus(ardRouteInfo,"1");
        checkRouteMissionStatus(ardRouteInfo,"2");
        ardRouteInfo.setId(IdUtils.simpleUUID());
        ardRouteInfo.setCreateTime(DateUtils.getNowDate());
        ardRouteInfo.setUpdateTime(DateUtils.getNowDate()); // 修改时间，用于排序
@@ -159,16 +157,50 @@
        return kmzResult.getPath();
    }

    // 航线任务数据加工校验
    private void processRouteMission(ArdRouteInfo ardRouteInfo){
        if ("3".equals(ardRouteInfo.getType())) {
            ArdRouteMission ardRouteMission = ardRouteMissionMapper.selectArdRouteMissionById(ardRouteInfo.getMissionId());
            if ("0".equals(ardRouteMission.getRouteId())) {
                ardRouteMission.setRouteId(ardRouteInfo.getId());
                ardRouteMissionMapper.updateArdRouteMission(ardRouteMission);
            }else {
                throw new RuntimeException("航线任务下已绑定航线，不可创建新航线信息！！！");
            }
    /**
     * 航线任务数据加工校验
     * 1.新建航线时，判断航线任务是否已完成
     * 2.新建航线时，对航线任务数据进行加工
     * 3.执行航线的时,修改航线任务表执行状态
     */
    private void checkRouteMissionStatus(ArdRouteInfo ardRouteInfo,String type){
        ArdRouteMission mission = ardRouteMissionMapper.selectArdRouteMissionById(ardRouteInfo.getMissionId());
        switch(type){
            case "1":
                validateForCreate(mission);
                break;
            case "2":
                bindRoute(mission, ardRouteInfo);
                break;
            case "3":
                executeMission(mission);
                break;
            default:
                throw new RuntimeException("不支持的操作类型!!!");
        }
    }

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

    private void bindRoute(ArdRouteMission mission, ArdRouteInfo routeInfo) {
        if (!"0".equals(mission.getRouteId())) {
            throw new RuntimeException("航线任务下已绑定航线，不可创建新航线信息！！！");
        }
        mission.setRouteId(routeInfo.getId());
        ardRouteMissionMapper.updateArdRouteMission(mission);
    }

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

@@ -443,25 +475,11 @@
        // 判断是否循环航线
        if (null != route && "0".equals(route.getIsLoop())){
            deleteArdRouteInfoById(id);
            updateMissionStatus(route);
            checkRouteMissionStatus(route,"3");
        }
        WayLineBeginDTO wayLineBeginDTO = new WayLineBeginDTO(boxSn);
        tyService.wayLineBegin(wayLineBeginDTO);
        return true;
    }

    // 执行航线的时候修改航线任务表执行状态
    private void updateMissionStatus(ArdRouteInfo route){
        if ("3".equals(route.getType())) {
            ArdRouteMission ardRouteMission = ardRouteMissionMapper.selectArdRouteMissionById(route.getMissionId());
            if ("0".equals(ardRouteMission.getExecuteStatus())) {
                ardRouteMission.setExecuteStatus("1");
                ardRouteMission.setExecuteBy(getUsername());
                ardRouteMission.setExecuteTime(DateUtils.getNowDate());
                ardRouteMission.setUpdateTime(DateUtils.getNowDate());
                ardRouteMissionMapper.updateArdRouteMission(ardRouteMission);
            }
        }
    }

    /**
@@ -501,151 +519,6 @@
        WayLineEndDTO wayLineEndDTO = new WayLineEndDTO(boxSn);
        tyService.wayLineEnd(wayLineEndDTO);
        return true;
    }

    /**
     * ArdRouteInfo实体转换，WayLineUploadDTO
     */
    private WayLineUploadDTO buildWayLineUploadDTO(ArdRouteInfo ardRouteInfo){
        WayLineUploadDTO wayLineUploadDTO = new WayLineUploadDTO();
        String finishAction = ardRouteInfo.getUavRouteReq().getFinishAction(); //1
        Double autoFlightSpeed = ardRouteInfo.getUavRouteReq().getAutoFlightSpeed(); //15
        Double globalTransitionalSpeed = ardRouteInfo.getUavRouteReq().getGlobalTransitionalSpeed(); //8
        String exitOnRcLostAction = ardRouteInfo.getUavRouteReq().getExitOnRcLostAction();  //0

        PlanLineData planLineData = new PlanLineData();
        if (finishAction != null){
            planLineData.setLoseAction(0);
        }
        if (autoFlightSpeed != null){
            planLineData.setAutoSpeed(8);
        }
        planLineData.setMaxSpeed(15);
//        if (globalTransitionalSpeed != null){
//            planLineData.setMaxSpeed(15);
//        }
        if (exitOnRcLostAction != null){
            planLineData.setFinishedAction(1);
        }
        planLineData.setHomeHeight(50);
        planLineData.setInterests(new ArrayList<>());
        planLineData.setIsSaveEnergyMode(0);
        planLineData.setPoints(buildPointDataList(ardRouteInfo.getUavRouteReq()));

        wayLineUploadDTO.setWayLineData(planLineData);
        return wayLineUploadDTO;
    }

    private List<PointData> buildPointDataList(UavRouteReq uavRouteReq){
        List<PointData> pointDataList = new ArrayList<>();
        for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
            PointData pointData = new PointData();

            Integer routePointIndex = routePointReq.getRoutePointIndex();
            if (routePointIndex != null){
                pointData.setGroupIndex(routePointIndex);
            }
            Double height = routePointReq.getHeight();
            if (height != null){
                pointData.setHeight(height.floatValue());
            }
            Double longitude = routePointReq.getLongitude();
            if (longitude != null){
                pointData.setLng(longitude.floatValue());
            }
            Double latitude = routePointReq.getLatitude();
            if (latitude != null){
                pointData.setLat(latitude.floatValue());
            }
            Double speed = routePointReq.getSpeed();
            if (speed != null){
                pointData.setSpeed(speed.floatValue());
            }
            pointData.setDampingDistance(0);
            pointData.setFlightPathMode(1);
            pointData.setHeading(0);
            pointData.setHeadingMode(0);
            pointData.setInterestIndex(-1);
            pointData.setSafeGohomeFlag(0);
            pointData.setActions(buildPointActionList(routePointReq.getActionGroupList()));
            pointDataList.add(pointData);

        }
        return pointDataList;
    }

    private List<PointAction> buildPointActionList(List<ActionGroupReq> actionGroupList){
        List<PointAction> pointActionList = new ArrayList<>();
        for (ActionGroupReq actionGroupReq : actionGroupList) {
            for (PointActionReq action : actionGroupReq.getActions()) {
                PointAction pointAction = typeProcessing(action);
                pointActionList.add(pointAction);
            }
        }
        return pointActionList;
    }

    private PointAction typeProcessing(PointActionReq pointActionReq){
        PointAction pointAction = new PointAction();

        if (pointActionReq.getZoom() != null){
            pointAction.setType(1);
            pointAction.setParam(pointActionReq.getZoom().floatValue());
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getTakePhotoType() != null){
            pointAction.setType(2);
            pointAction.setParam(1);
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getStartRecord() != null){
            pointAction.setType(3);
            pointAction.setParam(1);
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getStopRecord() != null){
            pointAction.setType(4);
            pointAction.setParam(1);
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getAircraftHeading() != null){
            pointAction.setType(5);
            pointAction.setParam(pointActionReq.getAircraftHeading().floatValue());
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getGimbalPitchRotateAngle() != null){
            pointAction.setType(6);
            pointAction.setParam(pointActionReq.getGimbalPitchRotateAngle().floatValue());
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getGimbalYawRotateAngle() != null){
            pointAction.setType(7);
            pointAction.setParam(pointActionReq.getGimbalYawRotateAngle().floatValue());
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getHoverTime() != null){
            pointAction.setType(9);
            pointAction.setParam(pointActionReq.getHoverTime().floatValue());
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        return pointAction;

    }

    /**

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

@@ -109,6 +109,8 @@
     */
    @Override
    public int deleteArdRouteMissionByIds(String[] ids) {
        // 删除航线任务航点
        ardRoutePointMapper.deleteArdRoutePointByMissionId(ids[0]);
        return ardRouteMissionMapper.deleteArdRouteMissionByIds(ids);
    }

@@ -120,6 +122,7 @@
     */
    @Override
    public int deleteArdRouteMissionById(String id) {
        ardRoutePointMapper.deleteArdRoutePointByMissionId(id);
        return ardRouteMissionMapper.deleteArdRouteMissionById(id);
    }


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

@@ -281,8 +281,6 @@
//        ardRoutePoints1.setLon(103.75851462);
//        ardRoutePoints1.setSafeGohomeFlag(0);
//        ardRoutePoints1.setSpeed(8);
//
//
//    }

//    private ArdRouteActions buildArdRouteActions(){

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

@@ -5,7 +5,12 @@
import com.ard.route.domain.djuav.RoutePointReq;
import com.ard.route.domain.djuav.UavRouteReq;
import com.ard.route.domain.djuav.kml.*;
import com.ard.route.domain.route.ArdRouteInfo;
import com.ard.route.domain.vo.KmzInfoVo;
import com.ard.work.domain.dto.state.PointData;
import com.ard.work.domain.dto.wayline.PlanLineData;
import com.ard.work.domain.dto.wayline.PointAction;
import com.ard.work.domain.dto.wayline.WayLineUploadDTO;
import org.apache.commons.compress.archivers.ArchiveEntry;
import org.apache.commons.compress.archivers.ArchiveInputStream;
import org.apache.commons.compress.archivers.zip.ZipArchiveInputStream;
@@ -126,4 +131,149 @@
        return pointActionReq;
    }

    /**
     * ArdRouteInfo实体转换，WayLineUploadDTO
     */
    public static WayLineUploadDTO buildWayLineUploadDTO(ArdRouteInfo ardRouteInfo){
        WayLineUploadDTO wayLineUploadDTO = new WayLineUploadDTO();
        String finishAction = ardRouteInfo.getUavRouteReq().getFinishAction(); //1
        Double autoFlightSpeed = ardRouteInfo.getUavRouteReq().getAutoFlightSpeed(); //15
        Double globalTransitionalSpeed = ardRouteInfo.getUavRouteReq().getGlobalTransitionalSpeed(); //8
        String exitOnRcLostAction = ardRouteInfo.getUavRouteReq().getExitOnRcLostAction();  //0

        PlanLineData planLineData = new PlanLineData();
        if (finishAction != null){
            planLineData.setLoseAction(0);
        }
        if (autoFlightSpeed != null){
            planLineData.setAutoSpeed(8);
        }
        planLineData.setMaxSpeed(15);
//        if (globalTransitionalSpeed != null){
//            planLineData.setMaxSpeed(15);
//        }
        if (exitOnRcLostAction != null){
            planLineData.setFinishedAction(1);
        }
        planLineData.setHomeHeight(50);
        planLineData.setInterests(new ArrayList<>());
        planLineData.setIsSaveEnergyMode(0);
        planLineData.setPoints(buildPointDataList(ardRouteInfo.getUavRouteReq()));

        wayLineUploadDTO.setWayLineData(planLineData);
        return wayLineUploadDTO;
    }

    public static List<PointData> buildPointDataList(UavRouteReq uavRouteReq){
        List<PointData> pointDataList = new ArrayList<>();
        for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
            PointData pointData = new PointData();

            Integer routePointIndex = routePointReq.getRoutePointIndex();
            if (routePointIndex != null){
                pointData.setGroupIndex(routePointIndex);
            }
            Double height = routePointReq.getHeight();
            if (height != null){
                pointData.setHeight(height.floatValue());
            }
            Double longitude = routePointReq.getLongitude();
            if (longitude != null){
                pointData.setLng(longitude.floatValue());
            }
            Double latitude = routePointReq.getLatitude();
            if (latitude != null){
                pointData.setLat(latitude.floatValue());
            }
            Double speed = routePointReq.getSpeed();
            if (speed != null){
                pointData.setSpeed(speed.floatValue());
            }
            pointData.setDampingDistance(0);
            pointData.setFlightPathMode(1);
            pointData.setHeading(0);
            pointData.setHeadingMode(0);
            pointData.setInterestIndex(-1);
            pointData.setSafeGohomeFlag(0);
            pointData.setActions(buildPointActionList(routePointReq.getActionGroupList()));
            pointDataList.add(pointData);

        }
        return pointDataList;
    }

    public static List<PointAction> buildPointActionList(List<ActionGroupReq> actionGroupList){
        List<PointAction> pointActionList = new ArrayList<>();
        for (ActionGroupReq actionGroupReq : actionGroupList) {
            for (PointActionReq action : actionGroupReq.getActions()) {
                PointAction pointAction = typeProcessing(action);
                pointActionList.add(pointAction);
            }
        }
        return pointActionList;
    }

    public static PointAction typeProcessing(PointActionReq pointActionReq){
        PointAction pointAction = new PointAction();

        if (pointActionReq.getZoom() != null){
            pointAction.setType(1);
            pointAction.setParam(pointActionReq.getZoom().floatValue());
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getTakePhotoType() != null){
            pointAction.setType(2);
            pointAction.setParam(1);
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getStartRecord() != null){
            pointAction.setType(3);
            pointAction.setParam(1);
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getStopRecord() != null){
            pointAction.setType(4);
            pointAction.setParam(1);
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getAircraftHeading() != null){
            pointAction.setType(5);
            pointAction.setParam(pointActionReq.getAircraftHeading().floatValue());
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getGimbalPitchRotateAngle() != null){
            pointAction.setType(6);
            pointAction.setParam(pointActionReq.getGimbalPitchRotateAngle().floatValue());
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getGimbalYawRotateAngle() != null){
            pointAction.setType(7);
            pointAction.setParam(pointActionReq.getGimbalYawRotateAngle().floatValue());
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getHoverTime() != null){
            pointAction.setType(9);
            pointAction.setParam(pointActionReq.getHoverTime().floatValue());
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        return pointAction;

    }

}