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/component/websocket/handler/NoFlyDistanceManager.java | 100 ++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 100 insertions(+), 0 deletions(-)
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";
+ }
+
+
+
+}
--
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