From 0ab71d4f9154dc2a0306ea57ec08659f4e28e449 Mon Sep 17 00:00:00 2001
From: Xiajijian <1176061145@qq.com>
Date: Mon, 16 Mar 2026 16:04:06 +0800
Subject: [PATCH] 1. 智云3.0业务优化，优化类型获取。
---
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java | 457 +++++++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 414 insertions(+), 43 deletions(-)
diff --git a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
index ab18141..0d79c69 100644
--- a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
+++ b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
@@ -1,32 +1,54 @@
package com.ard.route.service.impl;
import java.io.IOException;
+import java.util.ArrayList;
import java.util.List;
import com.ard.common.exception.ControlException;
import com.ard.common.utils.DateUtils;
+import com.ard.common.utils.SecurityUtils;
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.framework.web.service.TokenService;
+import com.ard.inspection.domain.ArdPointCloud;
+import com.ard.inspection.mapper.ArdPointCloudMapper;
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.ActionGroupReq;
+import com.ard.route.domain.djuav.PointActionReq;
+import com.ard.route.domain.djuav.RoutePointReq;
+import com.ard.route.domain.djuav.UavRouteReq;
+import com.ard.route.domain.dto.ArdNoflyDto;
+import com.ard.route.domain.route.ArdRouteCloud;
import com.ard.route.domain.route.ArdRouteInfo;
+import com.ard.route.domain.route.ArdRouteMission;
import com.ard.route.domain.vo.KmzResultVo;
+import com.ard.route.mapper.ArdRouteCloudMapper;
import com.ard.route.mapper.ArdRouteInfoMapper;
+import com.ard.route.mapper.ArdRouteMissionMapper;
import com.ard.route.service.IArdRouteInfoService;
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.telemetry.TelemetryData;
+import com.ard.work.domain.dto.wayline.*;
+import com.ard.work.service.ITyService;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.beans.BeanUtils;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.web.multipart.MultipartFile;
-
import javax.annotation.Resource;
-
+import static com.ard.route.enums.kml.DroneEnumValueEnums.M350_RTK;
+import static com.ard.route.util.InitializationUtils.divided23;
import static com.ard.route.util.ToolUtils.*;
+import static com.ard.route.util.UavRouteReqUtils.buildWayLineUploadDTO;
+import static com.ard.route.util.UavRouteReqUtils.fileConversionEntity;
/**
* 航线(kmz)Service业务层处理
@@ -37,6 +59,8 @@
@Service
public class ArdRouteInfoServiceImpl implements IArdRouteInfoService {
+ private static final Logger log = LoggerFactory.getLogger(TokenService.class);
+
@Autowired
private ArdRouteInfoMapper ardRouteInfoMapper;
@@ -46,8 +70,20 @@
@Autowired
private UavRouteService routeService;
+ @Autowired
+ private ArdRouteMissionMapper ardRouteMissionMapper;
+
+ @Autowired
+ private ArdPointCloudMapper ardPointCloudMapper;
+
+ @Autowired
+ private ArdRouteCloudMapper ardRouteCloudMapper;
+
@Resource
private IArdNoFlyZoneService ardNoFlyZoneService;
+
+ @Resource
+ private ITyService tyService;
/**
* 查询航线(kmz)
@@ -59,11 +95,46 @@
public ArdRouteInfo selectArdRouteInfoById(String id) {
ArdRouteInfo ardRouteInfo = ardRouteInfoMapper.selectArdRouteInfoById(id);
try {
- ardRouteInfo.setUavRouteReq((UavRouteReq) deserialize(ardRouteInfo.getRouteData()));
+ if (ardRouteInfo != null) {
+ if ("3".equals(ardRouteInfo.getType())) {
+ if (ardRouteInfo.getRouteData() != null){
+ UavRouteReq uavRouteReq = new UavRouteReq();
+ BeanUtils.copyProperties(deserialize(ardRouteInfo.getRouteData()), uavRouteReq);
+ ardRouteInfo.setUavRouteReq(uavRouteReq);
+ }
+ } else {
+ if (ardRouteInfo.getRouteData() != null){
+ ardRouteInfo.setUavRouteReq((UavRouteReq) deserialize(ardRouteInfo.getRouteData()));
+ }
+ }
+ if (ardRouteInfo.getCloudData() != null){
+ ardRouteInfo.setArdPointCloudList(deserializeLs(ardRouteInfo.getCloudData()));
+ }
+ }
} catch (IOException | ClassNotFoundException e) {
throw new RuntimeException(e);
}
+
+ // 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()) {
+ adjustRoutePointHeight(routePointReq, altitudeOffset);
+ }
+ }else {
+ // 如果没有设置参考起飞点，将第一个航点设置为参考起飞点。
+ ardRouteInfo.getUavRouteReq().setTakeOffRefPoint(
+ ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getLatitude().toString() +"," +
+ ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getLongitude().toString()+","+
+ ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getHeight().toString());
+ }
+
return ardRouteInfo;
+ }
+
+ // 调整每个航点高度
+ private void adjustRoutePointHeight(RoutePointReq routePointReq, double altitudeOffset) {
+ routePointReq.setHeight(routePointReq.getHeight() + altitudeOffset);
}
/**
@@ -74,6 +145,11 @@
*/
@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);
}
@@ -85,25 +161,97 @@
*/
@Override
public String insertArdRouteInfo(ArdRouteInfo 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
if (ardRouteInfo.getGroupId() == null){
ardRouteInfo.setGroupId("0");
}
- // 航线数据
- byte[] routeData;
- try {
- routeData = serialize(ardRouteInfo.getUavRouteReq());
- } catch (IOException e) {
- throw new RuntimeException(e);
+ if ("3".equals(ardRouteInfo.getType())){
+ ardRouteInfo.getUavRouteReq().setHeightMode("EGM96");
+ }else {
+ ardRouteInfo.getUavRouteReq().setHeightMode("relativeToStartPoint");
}
ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft()));
- ardRouteInfo.setRouteData(routeData);
- KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(), ardRouteInfo.getName());
+ KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(),ardRouteInfo.getName());
+ zoomProcessing(ardRouteInfo);
ardRouteInfo.setPath(kmzResult.getPath());
ardRouteInfo.setReadOnly("0");
- ardRouteInfoMapper.insertArdRouteInfo(ardRouteInfo);
+ insertRoutePointCloud(ardRouteInfo);
+ ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo));
return kmzResult.getPath();
+ }
+
+ /**
+ * 新增航信信息时，修改点云数据
+ * 同时增加航线与点云关联关系表数据
+ */
+ private void insertRoutePointCloud(ArdRouteInfo ardRouteInfo) {
+ List<ArdRouteCloud> cloudList = new ArrayList<>();
+ if (ardRouteInfo.getArdPointCloudList() != null){
+ for (ArdPointCloud cloudId : ardRouteInfo.getArdPointCloudList()) {
+ ArdRouteCloud cloud = new ArdRouteCloud();
+ cloud.setRouteId(ardRouteInfo.getId());
+ cloud.setCloudId(cloudId.getId());
+ cloudId.setAssociatedState("1");
+ cloudList.add(cloud);
+ cloudId.setUpdateTime(DateUtils.getNowDate());
+ ardPointCloudMapper.updateArdPointCloud(cloudId);
+ }
+ ardRouteCloudMapper.batchRouteCloud(cloudList);
+ }
+ }
+
+ /**
+ * 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());
+ if (mission != null){
+ switch(type){
+ case "1":
+ validateForCreate(mission);
+ break;
+ case "2":
+ bindRoute(mission,ardRouteInfo);
+ break;
+ case "3":
+ executeMission(mission,ardRouteInfo);
+ 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 (mission.getRouteId() != null) {
+ 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,ArdRouteInfo ardRouteInfo) {
+ if ("0".equals(mission.getExecuteStatus())) {
+ mission.setRouteId(ardRouteInfo.getId());
+ mission.setExecuteStatus("1");
+ mission.setExecuteName(SecurityUtils.getUsername());
+ mission.setExecuteTime(DateUtils.getNowDate());
+ mission.setUpdateTime(DateUtils.getNowDate());
+ ardRouteMissionMapper.updateArdRouteMission(mission);
+ }
}
/**
@@ -120,17 +268,65 @@
KmzResultVo kmzResult;
// 获取源文件名字
ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(ardRouteInfo.getId());
- if (route.getName().equals(ardRouteInfo.getName())) {
- kmzResult = routeService.updateKmz(ardRouteInfo.getUavRouteReq(), ardRouteInfo.getName());
- }else {
- kmzResult = routeService.updateKmzNew(ardRouteInfo.getUavRouteReq(), route.getName(), ardRouteInfo.getName());
- }
+ // 先删除航线
+ delOssService(route);
+ // 再生成航线
+ ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft()));
+ zoomProcessing(ardRouteInfo);
+ kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(), ardRouteInfo.getName());
if ("更新航线kmz文件失败".equals(kmzResult.getData())) {
return 0;
}
ardRouteInfo.setPath(kmzResult.getPath());
}
- return ardRouteInfoMapper.updateArdRouteInfo(ardRouteInfo);
+ return ardRouteInfoMapper.updateArdRouteInfo(dataProcessing(ardRouteInfo));
+ }
+
+ // 变倍加工方法
+ private void zoomProcessing(ArdRouteInfo ardRouteInfo) {
+ if (M350_RTK.getValue().equals(ardRouteInfo.getUavRouteReq().getDroneType())) {
+ // 变焦数值加工
+ for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
+ for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
+ for (PointActionReq action : actionGroupReq.getActions()) {
+ if (action.getZoom() != null){
+ action.setZoom(divided23(action.getZoom()));
+ }
+ }
+ }
+ }
+ }
+ }
+
+ // 新增信息加工
+ private ArdRouteInfo dataProcessing(ArdRouteInfo ardRouteInfo) {
+ // 航线数据
+ byte[] routeData = null;
+ byte[] cloudData = null;
+ try {
+ if (ardRouteInfo.getUavRouteReq() != null){
+ routeData = serialize(ardRouteInfo.getUavRouteReq());
+ }
+ if (ardRouteInfo.getArdPointCloudList() != null){
+ cloudData = serialize(ardRouteInfo.getArdPointCloudList());
+ }
+ } catch (IOException e) {
+ throw new RuntimeException(e);
+ }
+ ardRouteInfo.setRouteData(routeData);
+ ardRouteInfo.setCloudData(cloudData);
+ ardRouteInfo.setPointCount(getPointCount(ardRouteInfo));
+ return ardRouteInfo;
+ }
+
+ // 获取行点总数
+ private Integer getPointCount(ArdRouteInfo ardRouteInfo) {
+ if (ardRouteInfo.getUavRouteReq() != null){
+ if (ardRouteInfo.getUavRouteReq().getRoutePointList() != null) {
+ return ardRouteInfo.getUavRouteReq().getRoutePointList().size();
+ }
+ }
+ return 0;
}
/**
@@ -144,9 +340,16 @@
// 删除航线(kmz)文件
for (String id : ids) {
ArdRouteInfo information = ardRouteInfoMapper.selectArdRouteInfoById(id);
- ossService.deleteObject("kmz", subStringMinioUrlName(information.getPath()));
+ delOssService(information);
}
return ardRouteInfoMapper.deleteArdRouteInfoByIds(ids);
+ }
+
+ // 删除minio文件
+ private void delOssService(ArdRouteInfo information){
+ if (information.getPath() != null){
+ ossService.deleteObject("kmz", subStringMinioUrlName(information.getPath()));
+ }
}
/**
@@ -157,6 +360,9 @@
*/
@Override
public int deleteArdRouteInfoById(String id) {
+ // 删除航线(kmz)文件
+ ArdRouteInfo information = ardRouteInfoMapper.selectArdRouteInfoById(id);
+ delOssService(information);
return ardRouteInfoMapper.deleteArdRouteInfoById(id);
}
@@ -169,25 +375,60 @@
@Override
public MinioUploadResult uploadArdRouteInfo(MultipartFile file) {
try {
+ // 增加航线实体类信息
+ UavRouteReq uavRouteReq = fileConversionEntity(file);
+ ArdRouteInfo ardRouteInfo = new ArdRouteInfo();
+ if (uavRouteReq != null){
+ ardRouteInfo.setUavRouteReq(uavRouteReq);
+ ardRouteInfo.setType(templateTypeData(uavRouteReq));
+ ardRouteInfo.setAircraft(droneTypeData(uavRouteReq));
+ }
String url = ossService.upload("kmz",file);
- ArdRouteInfo information = new ArdRouteInfo();
- information.setName(file.getOriginalFilename());
- information.setPath(url);
- information.setGroupId("0"); // 默认分组
- information.setReadOnly("1"); // 默认只读
- insertRouteInfomation(information);
+ ardRouteInfo.setName(file.getOriginalFilename());
+ ardRouteInfo.setPath(url);
+ ardRouteInfo.setGroupId("0"); // 默认分组
+ ardRouteInfo.setReadOnly("1"); // 默认只读
+ insertRouteInfomation(ardRouteInfo);
return MinioUploadResult.builder()
.url(url)
.newFileName(FileUtils.getName(url))
.originalFilename(file.getOriginalFilename())
.build();
}catch (Exception e){
+ log.error("上传航线文件失败", e);
return null;
}
}
/**
- * 根据文件名称查询航线信息
+ * 判断一组数组，是否包含禁飞区
+ */
+ private void arrayWithinNoFlyZone(List<RoutePointReq> routePointList) {
+ if (routePointList == null || routePointList.isEmpty()) {
+ return;
+ }
+ // 检查第一个航点
+ ArdNoflyDto firstDto = new ArdNoflyDto();
+ firstDto.setTarget(new Vertex(
+ routePointList.get(0).getLongitude(),
+ routePointList.get(0).getLatitude()));
+ verifyNoFlyZone(firstDto);
+
+ // 检查后续航点及与前一个航点的线段
+ for (int i = 1; i < routePointList.size(); i++) {
+ ArdNoflyDto dto = new ArdNoflyDto();
+ dto.setCurrent(new Vertex(
+ routePointList.get(i - 1).getLongitude(),
+ routePointList.get(i - 1).getLatitude()));
+ dto.setTarget(new Vertex(
+ routePointList.get(i).getLongitude(),
+ routePointList.get(i).getLatitude()));
+ verifyNoFlyZone(dto);
+ }
+ }
+
+ /**
+ * 根据名称查询航线信息
*
* @param name 文件名称
* @return 结果
@@ -211,27 +452,132 @@
/**
* 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！");
+ public Boolean selectRouteInfomationNoFly(ArdNoflyDto ardNoflyDto) {
+ return verifyNoFlyZone(ardNoflyDto);
+ }
+
+ /**
+ * 上传航线到边缘服务器
+ * ardNoflyDto
+ * @return 结果
+ */
+ @Override
+ public Boolean uploadRouteToSixHe(String id,String boxSn) {
+ // 1.获取航线信息
+ // 1.1通过航线数据，转换。
+ ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(id);
+ try {
+ route.setUavRouteReq((UavRouteReq) deserialize(route.getRouteData()));
+ if (route.getCloudData() != null){
+ route.setArdPointCloudList(deserializeLs(route.getCloudData()));
+ }
+ } catch (IOException | ClassNotFoundException e) {
+ throw new RuntimeException(e);
}
- List<ArdNoFlyZone> ardNoFlyZones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());
+ // 获取第一个点
+ double firstPointLng = route.getUavRouteReq().getRoutePointList().get(0).getLongitude();
+ double firstPointLat = route.getUavRouteReq().getRoutePointList().get(0).getLatitude();
+ // 获取最后一个点
+ double lastPointLng = route.getUavRouteReq().getRoutePointList().get(route.getUavRouteReq().getRoutePointList().size()-1).getLongitude();
+ double lastPointLat = route.getUavRouteReq().getRoutePointList().get(route.getUavRouteReq().getRoutePointList().size()-1).getLatitude();
- 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！");
-// }
+ // 无人机遥测数据,用于校验真实起飞点和第一个点是否在禁飞区
+ TelemetryData telemetryData = UavTelemetryDataCache.get(boxSn);
+ double telemetryDataLng = 0;
+ double telemetryDataLat = 0;
+ if (telemetryData != null){
+ telemetryDataLng = telemetryData.getLng();
+ telemetryDataLat = telemetryData.getLat();
}
+
+ ArdNoflyDto dto1 = new ArdNoflyDto();
+ dto1.setCurrent(new Vertex(telemetryDataLng,telemetryDataLat));
+ dto1.setTarget(new Vertex(firstPointLng,firstPointLat));
+ verifyNoFlyZone(dto1);
+
+ ArdNoflyDto dto2 = new ArdNoflyDto();
+ dto2.setCurrent(new Vertex(lastPointLng,lastPointLat));
+ dto2.setTarget(new Vertex(telemetryDataLng,telemetryDataLat));
+ verifyNoFlyZone(dto2);
+
+ // 判断禁飞区
+ arrayWithinNoFlyZone(route.getUavRouteReq().getRoutePointList());
+ // 1.2通过minio获取航线信息
+ // 2.将航线信息转换成对应实体类
+ WayLineUploadDTO wayLineUploadDTO = buildWayLineUploadDTO(route);
+ wayLineUploadDTO.setBoxSn(boxSn);
+ // 3.缓存航线信息
+ WaylineInfo WaylineInfo = new WaylineInfo();
+ WaylineInfo.setBoxSn(boxSn);
+ WaylineInfo.setWaylineId(route.getId());
+ UavWaylineCache.put(WaylineInfo);
+ // 4.调用接口
+ tyService.wayLineUpload(wayLineUploadDTO);
+ return true;
+ }
+
+ /**
+ * 开始航线
+ *
+ * @param boxSn 云盒SN编号
+ * @return 结果
+ */
+ @Override
+ public Boolean routeBegins(String id,String boxSn) {
+ ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(id);
+ if (null != route){
+ // 判断是否循环航线
+ if ("0".equals(route.getIsLoop())){
+ deleteArdRouteInfoById(id);
+ }
+ checkRouteMissionStatus(route,"3");
+ }
+ WayLineBeginDTO wayLineBeginDTO = new WayLineBeginDTO(boxSn);
+ tyService.wayLineBegin(wayLineBeginDTO);
+ return true;
+ }
+
+ /**
+ * 暂停航线
+ *
+ * @param boxSn 云盒SN编号
+ * @return 结果
+ */
+ @Override
+ public Boolean routeSuspension(String boxSn) {
+ WayLinePauseDTO wayLinePauseDTO = new WayLinePauseDTO(boxSn);
+ tyService.wayLinePause(wayLinePauseDTO);
+ return true;
+ }
+
+ /**
+ * 恢复航线
+ *
+ * @param boxSn 云盒SN编号
+ * @return 结果
+ */
+ @Override
+ public Boolean routeResumption(String boxSn) {
+ WayLineResumeDTO wayLineResumeDTO = new WayLineResumeDTO(boxSn);
+ tyService.wayLineResume(wayLineResumeDTO);
+ return true;
+ }
+
+ /**
+ * 结束航线
+ *
+ * @param boxSn 云盒SN编号
+ * @return 结果
+ */
+ @Override
+ public Boolean routeEnd(String boxSn) {
+ WayLineEndDTO wayLineEndDTO = new WayLineEndDTO(boxSn);
+ tyService.wayLineEnd(wayLineEndDTO);
return true;
}
@@ -241,11 +587,36 @@
private void insertRouteInfomation(ArdRouteInfo ardRouteInfo){
ardRouteInfo.setId(IdUtils.simpleUUID());
ardRouteInfo.setCreateTime(DateUtils.getNowDate());
- ardRouteInfoMapper.insertArdRouteInfo(ardRouteInfo);
+ ardRouteInfo.setUpdateTime(DateUtils.getNowDate());
+ ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(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;
}
}
--
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