From 073239cedaab68465e109b1957144f5fca17958d Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Thu, 18 Dec 2025 12:22:18 +0800
Subject: [PATCH] 增加航线状态机
---
ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java | 86 ++++++++++++++++++++++++++++---------------
1 files changed, 56 insertions(+), 30 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java b/ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java
index 06ee04a..98e44e8 100644
--- a/ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java
+++ b/ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java
@@ -10,21 +10,19 @@
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.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.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 com.ard.work.domain.receiver.BoxInfoReceiver;
+import com.ard.work.service.control.UavControlService;
import org.aspectj.lang.JoinPoint;
import org.aspectj.lang.annotation.Aspect;
import org.aspectj.lang.annotation.Before;
import org.springframework.stereotype.Component;
-
import javax.annotation.Resource;
import java.util.List;
@@ -77,8 +75,8 @@
}
// 3️⃣ 检查在线状态
- Boolean online = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn);
- if (online == null || !online) {
+ BoxInfoReceiver obj = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn);
+ if (obj == null || !obj.getOnLine().equals(1)) {
throw new ControlException("无人机离线，无法执行操作！boxSn: " + boxSn);
}
@@ -89,7 +87,7 @@
* 高度检查
*/
@Before("@annotation(checkTakeoffAltitude)")
- public void takeoffAltitudeCheck(JoinPoint joinPoint, CheckTakeoffAltitude checkTakeoffAltitude) {
+ public void takeoffAltitudeCheck(JoinPoint joinPoint, CheckTakeoffAltitude checkTakeoffAltitude){
// 获取最小高度
double minAltitude = checkTakeoffAltitude.minAltitude();
// 获取方法参数
@@ -104,7 +102,7 @@
throw new ControlException("遥测数据异常，无法执行！");
}
// 检查高度
- if (uavTelemetryData.getAltitude() < minAltitude) {
+ if (uavTelemetryData.getUltrasonic() < minAltitude) {
throw new ControlException("高度太低，无法执行！最低高度: " + minAltitude);
}
}
@@ -127,8 +125,9 @@
}
// 检查在线状态
if (checkDroneStatus.checkOnline()) {
- Boolean online = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn);
- if (online == null || !online) {
+ // 3️⃣ 检查在线状态
+ BoxInfoReceiver obj = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn);
+ if (obj == null || !obj.getOnLine().equals(1)) {
throw new ControlException("无人机离线，无法执行操作！boxSn: " + boxSn);
}
}
@@ -145,34 +144,61 @@
return;
}
- Double longitude = null;
- Double latitude = null;
+ // ① 提取 boxSn（无人机编号）和目标点坐标
+ String boxSn = null;
+ Double targetLon = null, targetLat = null;
for (Object arg : args) {
- if (arg == null) {
- continue;
+ if (arg == null) continue;
+
+ if (boxSn == null) {
+ String sn = ReflectUtils.getFieldValue(arg, "boxSn");
+ if (sn != null) boxSn = sn;
}
- Double lon = ReflectUtils.getFieldValue(arg, "longitude");
- Double lat = ReflectUtils.getFieldValue(arg, "latitude");
- if (lon != null && lat != null) {
- longitude = lon;
- latitude = lat;
- break;
+
+ if (targetLon == null || targetLat == null) {
+ Double lon = ReflectUtils.getFieldValue(arg, "longitude");
+ Double lat = ReflectUtils.getFieldValue(arg, "latitude");
+ if (lon != null && lat != null) {
+ targetLon = lon;
+ targetLat = lat;
+ }
}
}
- 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！");
+ if (targetLon == null || targetLat == null) {
+ throw new ControlException("方法参数中未找到有效目标经纬度字段，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！");
+ // ② 获取无人机当前位置（从缓存）
+ Vertex current = null;
+ if (boxSn != null) {
+ TelemetryData telemetry = UavTelemetryDataCache.get(boxSn);
+ if (telemetry != null) {
+ current = new Vertex(telemetry.getLng(), telemetry.getLat());
+ //current = new Vertex(125.03, 46.58);
+ }
+ }
+
+ Vertex target = new Vertex(targetLon, targetLat);
+
+ // ③ 查询禁飞区
+ List<ArdNoFlyZone> zones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());
+ if (zones.isEmpty()) return;
+
+ 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(target, 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 (current != null && NoFlyZoneUtils.isLineIntersectPolygon(current, target, polygon)) {
+ throw new ControlException("路径穿越禁飞区【" + zone.getName() + "】，无法执行操作！");
}
}
}
-
}
--
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