From 145e705946adf1e47512f2450e8bdd42662751e6 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Sat, 13 Dec 2025 09:38:26 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-work/src/main/java/com/ard/work/domain/dto/NoFlyDistanceDTO.java | 18 ++
ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInfo.java | 9 +
ard-work/src/main/java/com/ard/work/domain/enums/MessageType.java | 1
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java | 59 +++++++-
ard-system/src/main/java/com/ard/data/noflyzone/utils/NoFlyZoneUtils.java | 89 ++++++++++++
ard-system/src/main/resources/mapper/data/ArdTileMapper.xml | 30 ++--
ard-work/src/main/java/com/ard/work/component/websocket/handler/NoFlyDistanceManager.java | 100 ++++++++++++++
ard-route/src/main/java/com/ard/route/util/InitializationUtils.java | 22 ++
ard-work/src/main/java/com/ard/work/domain/message/NoFlyDistanceMessage.java | 30 ++++
ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java | 36 +++++
ard-route/src/main/java/com/ard/route/service/impl/UavRouteServiceImpl.java | 15 ++
ard-system/src/main/java/com/ard/data/tile/domain/ArdTile.java | 8
ard-route/src/main/java/com/ard/route/domain/vo/KmzResultVo.java | 3
13 files changed, 388 insertions(+), 32 deletions(-)
diff --git a/ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInfo.java b/ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInfo.java
index 8b32204..8339a2f 100644
--- a/ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInfo.java
+++ b/ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInfo.java
@@ -49,11 +49,16 @@
@Excel(name = "负载类型")
private String payload;
- /** 是否只读 是否只读0：否 1：是 */
+ /**
+ * 是否只读 是否只读
+ * 0：否
+ * 1：是
+ */
@Excel(name = "是否只读")
private String readOnly;
- /** 时间排序
+ /**
+ * 时间排序
* 0：正序
* 1：倒序
*/
diff --git a/ard-route/src/main/java/com/ard/route/domain/vo/KmzResultVo.java b/ard-route/src/main/java/com/ard/route/domain/vo/KmzResultVo.java
index 8ef3508..1df779f 100644
--- a/ard-route/src/main/java/com/ard/route/domain/vo/KmzResultVo.java
+++ b/ard-route/src/main/java/com/ard/route/domain/vo/KmzResultVo.java
@@ -8,6 +8,9 @@
/** 文件路径 */
private String path;
+ /** 文件路径 */
+ private String pathDock;
+
/** 返回数据 */
private String data;
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 905d321..522afd6 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
@@ -12,6 +12,7 @@
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.oss.model.MinioUploadResult;
import com.ard.oss.service.impl.OssServiceContext;
import com.ard.ossdock.service.impl.OssDockServiceContext;
@@ -29,12 +30,15 @@
import com.ard.work.domain.dto.state.PointData;
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.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.web.multipart.MultipartFile;
import javax.annotation.Resource;
+import static com.ard.route.util.InitializationUtils.divided_6;
import static com.ard.route.util.ToolUtils.*;
import static com.ard.route.util.UavRouteReqUtils.fileConversionEntity;
@@ -46,6 +50,8 @@
*/
@Service
public class ArdRouteInfoServiceImpl implements IArdRouteInfoService {
+
+ private static final Logger log = LoggerFactory.getLogger(TokenService.class);
@Autowired
private ArdRouteInfoMapper ardRouteInfoMapper;
@@ -83,6 +89,14 @@
}
for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
routePointReq.setHeight(routePointReq.getHeight() + getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(),"alt"));
+ // 判断无人机类型
+ if (ardRouteInfo.getUavRouteReq().getDroneType().equals(89)){
+ for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
+ for (PointActionReq action : actionGroupReq.getActions()) {
+ action.setZoom(divided_6(action.getZoom()));
+ }
+ }
+ }
}
return ardRouteInfo;
}
@@ -154,7 +168,6 @@
}
ardRouteInfo.setPath(kmzResult.getPath());
}
- ardRouteInfo.setReadOnly("0");
return ardRouteInfoMapper.updateArdRouteInfo(dataProcessing(ardRouteInfo));
}
@@ -238,13 +251,17 @@
ardRouteInfo.setType(templateTypeData(uavRouteReq));
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);
-// }
+ try {
+ arrayWithinNoFlyZone(ardRouteInfo.getUavRouteReq().getRoutePointList());
+ } catch (ControlException e) {
+ // 返回包含禁飞区错误信息的特定结果
+ return MinioUploadResult.builder()
+ .originalFilename("禁飞区错误.航线航点在禁飞区！")
+ .build();
+ }
+
String url = ossService.upload("kmz",file);
String urlDock = ossDockService.upload("kmz",file);
ardRouteInfo.setName(file.getOriginalFilename());
@@ -259,11 +276,39 @@
.originalFilename(file.getOriginalFilename())
.build();
}catch (Exception e){
+ log.error("上传航线文件失败", e);
return null;
}
}
/**
+ * 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
diff --git a/ard-route/src/main/java/com/ard/route/service/impl/UavRouteServiceImpl.java b/ard-route/src/main/java/com/ard/route/service/impl/UavRouteServiceImpl.java
index 10f613c..648be05 100644
--- a/ard-route/src/main/java/com/ard/route/service/impl/UavRouteServiceImpl.java
+++ b/ard-route/src/main/java/com/ard/route/service/impl/UavRouteServiceImpl.java
@@ -3,6 +3,7 @@
import cn.hutool.core.bean.BeanUtil;
import cn.hutool.core.collection.CollectionUtil;
import com.ard.oss.service.impl.OssServiceContext;
+import com.ard.ossdock.service.impl.OssDockServiceContext;
import com.ard.route.constant.FileTypeConstants;
import com.ard.route.domain.djuav.RoutePointReq;
import com.ard.route.domain.djuav.UavRouteReq;
@@ -24,6 +25,7 @@
import org.apache.commons.compress.archivers.zip.ZipArchiveInputStream;
import org.apache.commons.lang3.StringUtils;
import org.springframework.beans.BeanUtils;
+import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.mock.web.MockMultipartFile;
import org.springframework.stereotype.Service;
import org.springframework.web.multipart.MultipartFile;
@@ -48,6 +50,9 @@
@Resource
private OssServiceContext ossService;
+
+ @Resource
+ private OssDockServiceContext ossDockService;
@Resource
private IArdRouteInfoService ardRouteInformationService;
@@ -87,6 +92,10 @@
}
}
// 删除文件
+ if ("100".equals(kmlInfo.getDocument().getKmlMissionConfig().getDroneInfo().getDroneEnumValue())
+ ||"91".equals(kmlInfo.getDocument().getKmlMissionConfig().getDroneInfo().getDroneEnumValue())){
+ ossDockService.deleteObject(kmzPath,minioUrlName);
+ }
ossService.deleteObject(kmzPath, minioUrlName);
return buildKmzMethod(routeInformation.getName(), kmlInfo, wpmlInfo);
} catch (Exception e) {
@@ -199,6 +208,12 @@
"application/vnd.google-earth.kmz",
new ByteArrayInputStream(baos.toByteArray())
);
+ // 通过无人机类型，判断上传文件
+ if ("100".equals(kmlInfo.getDocument().getKmlMissionConfig().getDroneInfo().getDroneEnumValue())
+ ||"91".equals(kmlInfo.getDocument().getKmlMissionConfig().getDroneInfo().getDroneEnumValue())){
+ String kmzFilePathDock = ossDockService.upload(kmzPath,multipartFile);
+ result.setPathDock(kmzFilePathDock);
+ }
String kmzFilePath = ossService.upload(kmzPath,multipartFile);
result.setPath(kmzFilePath);
return result;
diff --git a/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java b/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
index 747af86..8ef4f90 100644
--- a/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
+++ b/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
@@ -17,7 +17,7 @@
public class InitializationUtils {
// 禅思H20T 公倍数
- private static final Double CHANSI_H20 = 23.76237623;
+ private static final Double CHANSI_H20T = 23.76237623;
// 禅思H20T 焦距值
private static final Double CHANSI_H20_FOCUS = 6.83;
@@ -101,14 +101,30 @@
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_FOCUS);
+ action.setZoom(multiple_23(action.getZoom()));
+ //action.setZoom(multiple_6(action.getZoom()));
}
}
}
}
}
+ public static Double multiple_23(Double zoom){
+ return zoom * CHANSI_H20T;
+ }
+
+ public static Double multiple_6(Double zoom){
+ return zoom * CHANSI_H20_FOCUS;
+ }
+
+ public static Double divided_23(Double zoom){
+ return zoom / CHANSI_H20T;
+ }
+
+ public static Double divided_6(Double zoom){
+ return zoom / CHANSI_H20_FOCUS;
+ }
+
/**
* 初始化数据
*/
diff --git a/ard-system/src/main/java/com/ard/data/noflyzone/utils/NoFlyZoneUtils.java b/ard-system/src/main/java/com/ard/data/noflyzone/utils/NoFlyZoneUtils.java
index ea09a5a..26fc38f 100644
--- a/ard-system/src/main/java/com/ard/data/noflyzone/utils/NoFlyZoneUtils.java
+++ b/ard-system/src/main/java/com/ard/data/noflyzone/utils/NoFlyZoneUtils.java
@@ -15,6 +15,78 @@
public class NoFlyZoneUtils {
+
+ /**
+ * 计算点到多边形的最近距离（米）
+ */
+ public static double pointToPolygonDistance(Vertex point, List<Vertex> polygon) {
+
+ // 如果在多边形内部，距离为 0
+ if (isPointInPolygon(point, polygon)) {
+ return 0;
+ }
+
+ double minDistance = Double.MAX_VALUE;
+ int n = polygon.size();
+
+ for (int i = 0; i < n; i++) {
+ Vertex a = polygon.get(i);
+ Vertex b = polygon.get((i + 1) % n); // 下一点，最后一条边连接第一个点
+
+ double dist = pointToSegmentDistanceHaversine(point, a, b);
+ minDistance = Math.min(minDistance, dist);
+ }
+
+ return minDistance;
+ }
+
+ /**
+ * 计算点到线段的距离（米）使用Haversine公式
+ */
+ public static double pointToSegmentDistanceHaversine(Vertex p, Vertex a, Vertex b) {
+ // 将经纬度换算成以 p 点为参考的局部平面米坐标
+ double[] pa = latLonToXY(a, p.y, p.x);
+ double[] pb = latLonToXY(b, p.y, p.x);
+ double[] pp = latLonToXY(p, p.y, p.x);
+
+ double dx = pb[0] - pa[0];
+ double dy = pb[1] - pa[1];
+
+ double t = ((pp[0] - pa[0]) * dx + (pp[1] - pa[1]) * dy) / (dx * dx + dy * dy);
+
+ double nearestX, nearestY;
+ if (t < 0) {
+ nearestX = pa[0];
+ nearestY = pa[1];
+ } else if (t > 1) {
+ nearestX = pb[0];
+ nearestY = pb[1];
+ } else {
+ nearestX = pa[0] + t * dx;
+ nearestY = pa[1] + t * dy;
+ }
+
+ double distX = pp[0] - nearestX;
+ double distY = pp[1] - nearestY;
+
+ return Math.sqrt(distX * distX + distY * distY);
+ }
+
+ /**
+ * 将经纬度转换为局部平面坐标（米）
+ * originLat、originLon 是参考点，经纬度转换到以参考点为原点的平面坐标
+ */
+ public static double[] latLonToXY(Vertex point, double originLat, double originLon) {
+ double R = 6371000; // 地球半径，单位米
+ double dLat = Math.toRadians(point.y - originLat);
+ double dLon = Math.toRadians(point.x - originLon);
+ double x = R * dLon * Math.cos(Math.toRadians(originLat));
+ double y = R * dLat;
+ return new double[]{x, y};
+ }
+
+
+
/**
* 判断点是否在多边形内（射线法）
*/
@@ -76,6 +148,18 @@
private static boolean onSegment(Vertex p1, Vertex p2, Vertex q) {
return q.x <= Math.max(p1.x, p2.x) && q.x >= Math.min(p1.x, p2.x)
&& q.y <= Math.max(p1.y, p2.y) && q.y >= Math.min(p1.y, p2.y);
+ }
+
+
+ /**
+ * 判断点是否在矩形内
+ */
+ public static boolean isInsideBox(Vertex point, ArdNoFlyBox box) {
+ if (point == null || box == null) return false;
+ return point.x >= box.getMinx() &&
+ point.x <= box.getMaxx() &&
+ point.y >= box.getMiny() &&
+ point.y <= box.getMaxy();
}
@@ -166,5 +250,8 @@
return vertexes;
}
-
+ public static double degDistanceToMeter(double deg, double lat) {
+ // 1° ≈ 111320 米，但是经度和纬度不一样，这里用纬度做修正
+ return deg * 111320.0 * Math.cos(Math.toRadians(lat));
+ }
}
diff --git a/ard-system/src/main/java/com/ard/data/tile/domain/ArdTile.java b/ard-system/src/main/java/com/ard/data/tile/domain/ArdTile.java
index b3fae81..dca23b1 100644
--- a/ard-system/src/main/java/com/ard/data/tile/domain/ArdTile.java
+++ b/ard-system/src/main/java/com/ard/data/tile/domain/ArdTile.java
@@ -34,7 +34,7 @@
/** 屏幕空间误差 */
@Excel(name = "屏幕空间误差")
- private Double screenSpaceError;
+ private Double maximumScreenSpaceError;
/** 内存最大使用量 */
@Excel(name = "内存最大使用量")
@@ -42,11 +42,11 @@
/** 自动超清化模型 */
@Excel(name = "自动超清化模型")
- private Double automaticSuperCleaningModel;
+ private Double cullRequestsWhileMovingMultiplier;
/** 加载速度 */
- @Excel(name = "加载速度")
- private Double loadingSpeed;
+ @Excel(name = "模型加载速度")
+ private Double dynamicScreenSpaceErrorDensity;
/** 用户ID */
@Excel(name = "用户ID")
diff --git a/ard-system/src/main/resources/mapper/data/ArdTileMapper.xml b/ard-system/src/main/resources/mapper/data/ArdTileMapper.xml
index f0b9cb6..2ed3409 100644
--- a/ard-system/src/main/resources/mapper/data/ArdTileMapper.xml
+++ b/ard-system/src/main/resources/mapper/data/ArdTileMapper.xml
@@ -9,10 +9,10 @@
<result property="tilesName" column="tiles_name" />
<result property="tilesHeight" column="tiles_height" />
<result property="tileAddress" column="tile_address" />
- <result property="screenSpaceError" column="screen_space_error" />
+ <result property="maximumScreenSpaceError" column="maximum_screen_space_error" />
<result property="maximumMemoryUsage" column="maximum_memory_usage" />
- <result property="automaticSuperCleaningModel" column="automatic_super_cleaning_model" />
- <result property="loadingSpeed" column="loading_speed" />
+ <result property="cullRequestsWhileMovingMultiplier" column="cull_requests_while_moving_multiplier" />
+ <result property="dynamicScreenSpaceErrorDensity" column="dynamic_screen_space_error_density" />
<result property="userId" column="user_id" />
<result property="deptId" column="dept_id" />
<result property="defaultLoading" column="default_loading" />
@@ -23,10 +23,10 @@
tiles_name,
tiles_height,
tile_address,
- screen_space_error,
+ maximum_screen_space_error,
maximum_memory_usage,
- automatic_super_cleaning_model,
- loading_speed,
+ cull_requests_while_moving_multiplier,
+ dynamic_screen_space_error_density,
user_id,
dept_id,
default_loading
@@ -54,10 +54,10 @@
<if test="tilesName != null">tiles_name,</if>
<if test="tilesHeight != null">tiles_height,</if>
<if test="tileAddress != null">tile_address,</if>
- <if test="screenSpaceError != null">screen_space_error,</if>
+ <if test="maximumScreenSpaceError != null">maximum_screen_space_error,</if>
<if test="maximumMemoryUsage != null">maximum_memory_usage,</if>
- <if test="automaticSuperCleaningModel != null">automatic_super_cleaning_model,</if>
- <if test="loadingSpeed != null">loading_speed,</if>
+ <if test="cullRequestsWhileMovingMultiplier != null">cull_requests_while_moving_multiplier,</if>
+ <if test="dynamicScreenSpaceErrorDensity != null">dynamic_screen_space_error_density,</if>
<if test="userId != null">user_id,</if>
<if test="deptId != null">dept_id,</if>
<if test="defaultLoading != null">default_loading,</if>
@@ -67,10 +67,10 @@
<if test="tilesName != null">#{tilesName},</if>
<if test="tilesHeight != null">#{tilesHeight},</if>
<if test="tileAddress != null">#{tileAddress},</if>
- <if test="screenSpaceError != null">#{screenSpaceError},</if>
+ <if test="maximumScreenSpaceError != null">#{maximumScreenSpaceError},</if>
<if test="maximumMemoryUsage != null">#{maximumMemoryUsage},</if>
- <if test="automaticSuperCleaningModel != null">#{automaticSuperCleaningModel},</if>
- <if test="loadingSpeed != null">#{loadingSpeed},</if>
+ <if test="cullRequestsWhileMovingMultiplier != null">#{cullRequestsWhileMovingMultiplier},</if>
+ <if test="dynamicScreenSpaceErrorDensity != null">#{dynamicScreenSpaceErrorDensity},</if>
<if test="userId != null">#{userId},</if>
<if test="deptId != null">#{deptId},</if>
<if test="defaultLoading != null">#{defaultLoading},</if>
@@ -83,10 +83,10 @@
<if test="tilesName != null">tiles_name = #{tilesName},</if>
<if test="tilesHeight != null">tiles_height = #{tilesHeight},</if>
<if test="tileAddress != null">tile_address = #{tileAddress},</if>
- <if test="screenSpaceError != null">screen_space_error = #{screenSpaceError},</if>
+ <if test="maximumScreenSpaceError != null">maximum_screen_space_error = #{maximumScreenSpaceError},</if>
<if test="maximumMemoryUsage != null">maximum_memory_usage = #{maximumMemoryUsage},</if>
- <if test="automaticSuperCleaningModel != null">automatic_super_cleaning_model = #{automaticSuperCleaningModel},</if>
- <if test="loadingSpeed != null">loading_speed = #{loadingSpeed},</if>
+ <if test="cullRequestsWhileMovingMultiplier != null">cull_requests_while_moving_multiplier = #{cullRequestsWhileMovingMultiplier},</if>
+ <if test="dynamicScreenSpaceErrorDensity != null">dynamic_screen_space_error_density = #{dynamicScreenSpaceErrorDensity},</if>
<if test="userId != null">user_id = #{userId},</if>
<if test="deptId != null">dept_id = #{deptId},</if>
<if test="defaultLoading != null">default_loading = #{defaultLoading},</if>
diff --git a/ard-work/src/main/java/com/ard/work/component/websocket/handler/NoFlyDistanceManager.java b/ard-work/src/main/java/com/ard/work/component/websocket/handler/NoFlyDistanceManager.java
new file mode 100644
index 0000000..6e89232
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/component/websocket/handler/NoFlyDistanceManager.java
@@ -0,0 +1,100 @@
+package com.ard.work.component.websocket.handler;
+
+import com.ard.data.noflyzone.domain.ArdNoFlyBox;
+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.work.domain.cache.UavTelemetryDataCache;
+import com.ard.work.domain.dto.NoFlyDistanceDTO;
+import com.ard.work.domain.dto.telemetry.TelemetryData;
+import org.springframework.stereotype.Component;
+import javax.annotation.Resource;
+import java.util.List;
+
+/**
+ * 禁飞区距离管理器
+ * @author liuyaping
+ * @date 2021/3/22
+ */
+@Component
+public class NoFlyDistanceManager extends BaseSubscriptionManager<NoFlyDistanceDTO> {
+
+ @Resource
+ private IArdNoFlyZoneService ardNoFlyZoneService;
+
+ @Override
+ protected NoFlyDistanceDTO getData(String boxSn) {
+ TelemetryData telemetryData = UavTelemetryDataCache.get(boxSn);
+ if (telemetryData == null) return null;
+
+ Vertex current = new Vertex(telemetryData.getLng(), telemetryData.getLat());
+
+ List<ArdNoFlyZone> zones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());
+ if (zones.isEmpty()) return null;
+
+ double minDistance = Double.MAX_VALUE;
+ ArdNoFlyZone nearestZone = null;
+
+ for (ArdNoFlyZone zone : zones) {
+
+ ArdNoFlyBox box = zone.getArdNoFlyBox();
+ if (box == null) continue;
+
+ // ⭐ 外扩 50 米
+ ArdNoFlyBox expanded = expandBoxByMeter(box, 50);
+
+ // ⭐ 包围盒快速排除必须使用 expanded，而不是 box
+ if (current.x < expanded.getMinx() || current.x > expanded.getMaxx() ||
+ current.y < expanded.getMiny() || current.y > expanded.getMaxy()) {
+ continue;
+ }
+
+ // 计算 polygon 距离
+ List<Vertex> polygon = zone.getVertices();
+ if (polygon == null || polygon.size() < 3) continue;
+
+ double distance = NoFlyZoneUtils.pointToPolygonDistance(current, polygon);
+
+ if (distance < minDistance) {
+ minDistance = distance;
+ nearestZone = zone;
+ }
+ }
+
+ if (nearestZone == null) return null;
+
+ return NoFlyDistanceDTO.builder()
+ .boxSn(boxSn)
+ .zoneName(nearestZone.getName())
+ .distance(minDistance) // 米
+ .inNoFlyZone(minDistance == 0)
+ .build();
+ }
+
+ // 外扩包围盒多少米
+ private ArdNoFlyBox expandBoxByMeter(ArdNoFlyBox box, double meter) {
+
+ // 计算经纬度偏移
+ double latShift = meter / 111320.0; // 纬度方向
+ double lngShift = meter / (111320.0 * Math.cos(Math.toRadians(
+ (box.getMiny() + box.getMaxy()) / 2
+ ))); // 经度方向与纬度相关
+
+ return new ArdNoFlyBox(
+ box.getMinx() - lngShift,
+ box.getMiny() - latShift,
+ box.getMaxx() + lngShift,
+ box.getMaxy() + latShift
+ );
+ }
+
+
+ @Override
+ protected String getMessageType() {
+ return "noFlyZoneDistance";
+ }
+
+
+
+}
diff --git a/ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java b/ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java
index 2d376d4..c8873a4 100644
--- a/ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java
+++ b/ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java
@@ -42,6 +42,8 @@
@Resource
private UavAllManager uavAllManager;
@Resource
+ private NoFlyDistanceManager noFlyDistanceManager;
+ @Resource
private TokenService tokenService;
private final Map<Long, Long> lastDisconnectTime = new ConcurrentHashMap<>();
@@ -73,6 +75,9 @@
break;
case CONTROLLER:
handleControlMessage(payload, userId);
+ break;
+ case NO_FLY_DISTANCE:
+ handleNoFlyDistanceMessage(payload, userId);
break;
case ALL:
handleAllMessage(payload, userId);
@@ -272,6 +277,37 @@
}
}
+ /**
+ * 处理禁飞区距离
+ *
+ * @param payload 消息负载，包含订阅信息
+ * @param userId 用户ID，用于标识用户
+ */
+ private void handleNoFlyDistanceMessage(String payload, Long userId) {
+ // 解析接收到的JSON消息，将其转换为BaseMessage对象
+ BaseMessage<NoFlyDistanceMessage> baseMessage = JSON.parseObject(payload,
+ new TypeReference<BaseMessage<NoFlyDistanceMessage>>() {
+ });
+ // 获取消息的有效载荷部分
+ NoFlyDistanceMessage noFlyDistanceMessage = baseMessage.getPayload();
+
+ // 检查有效载荷是否存在
+ if (noFlyDistanceMessage != null) {
+ // 获取无人机盒子的序列号
+ String boxSn = noFlyDistanceMessage.getBoxSn();
+ // 根据消息中的订阅标志，决定是订阅还是退订无人机状态
+ Boolean subscribe = noFlyDistanceMessage.getSubscribe();
+ if (subscribe) {
+ // 执行订阅操作
+ noFlyDistanceManager.subscribe(boxSn, userId, 1);
+ } else {
+ // 执行退订操作
+ noFlyDistanceManager.unsubscribe(boxSn, userId);
+ }
+ }
+ }
+
+
@Override
public void afterConnectionEstablished(WebSocketSession session) {
String userIdStr = (String) session.getAttributes().get("userId");
diff --git a/ard-work/src/main/java/com/ard/work/domain/dto/NoFlyDistanceDTO.java b/ard-work/src/main/java/com/ard/work/domain/dto/NoFlyDistanceDTO.java
new file mode 100644
index 0000000..5a54310
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/domain/dto/NoFlyDistanceDTO.java
@@ -0,0 +1,18 @@
+package com.ard.work.domain.dto;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+@Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class NoFlyDistanceDTO {
+ private String boxSn;
+ private String zoneName;
+ private double distance; // 米
+ private boolean inNoFlyZone;
+ // getters/setters
+}
diff --git a/ard-work/src/main/java/com/ard/work/domain/enums/MessageType.java b/ard-work/src/main/java/com/ard/work/domain/enums/MessageType.java
index 1c5f5a1..d4a751a 100644
--- a/ard-work/src/main/java/com/ard/work/domain/enums/MessageType.java
+++ b/ard-work/src/main/java/com/ard/work/domain/enums/MessageType.java
@@ -7,6 +7,7 @@
TELEMETRY("telemetry"),
SIGNAL("signal"),
CONTROLLER("controller"),
+ NO_FLY_DISTANCE("noFlyDistance"),
ALL("all");
private final String type;
diff --git a/ard-work/src/main/java/com/ard/work/domain/message/NoFlyDistanceMessage.java b/ard-work/src/main/java/com/ard/work/domain/message/NoFlyDistanceMessage.java
new file mode 100644
index 0000000..b7e8b20
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/domain/message/NoFlyDistanceMessage.java
@@ -0,0 +1,30 @@
+package com.ard.work.domain.message;
+
+import com.ard.work.domain.dto.signal.SignalInfo;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * Description: 禁飞距离消息
+ * Author: liusuyi
+ * Date: 2025年03月10日11:49
+ **/
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class NoFlyDistanceMessage {
+
+ /**
+ * 盒子编号
+ */
+ private String boxSn;
+
+ /**
+ * 是否订阅
+ */
+ private Boolean subscribe;
+
+}
--
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