From 1837824a37c1a9e6c77280862abed282e7ca61b9 Mon Sep 17 00:00:00 2001
From: Xiajijian <1176061145@qq.com>
Date: Wed, 24 Dec 2025 13:51:09 +0800
Subject: [PATCH] 1. 开始航线增肌航线id用于判断是否是单次执行航线业务。 2. 增加判断无人机，禁飞区逻辑。
---
ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInfo.java | 14 +++-
ard-route/src/main/resources/mapper/ArdRouteInfoMapper.xml | 15 ++--
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java | 56 ++++++++++++++++--
ard-work/src/main/java/com/ard/work/service/impl/ArdServerInfoServiceImpl.java | 29 +++++++++
ard-admin/src/main/java/com/ard/web/controller/work/ArdServerInfoController.java | 12 ++++
ard-route/src/main/java/com/ard/route/service/IArdRouteInfoService.java | 2
ard-work/src/main/java/com/ard/work/service/IArdServerInfoService.java | 2
ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInfoController.java | 7 +-
8 files changed, 111 insertions(+), 26 deletions(-)
diff --git a/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInfoController.java b/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInfoController.java
index 85d0068..2f4abf0 100644
--- a/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInfoController.java
+++ b/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteInfoController.java
@@ -143,9 +143,10 @@
* 开始航线
*/
@ApiOperation("开始航线")
- @PostMapping("/routeBegins/{boxSn}")
- public AjaxResult routeBegins(@PathVariable("boxSn") String boxSn) {
- ardRouteInfoService.routeBegins(boxSn);
+ @PostMapping("/routeBegins/{id}/{boxSn}")
+ public AjaxResult routeBegins(@PathVariable("id") String id,
+ @PathVariable("boxSn") String boxSn) {
+ ardRouteInfoService.routeBegins(id,boxSn);
return AjaxResult.success();
}
diff --git a/ard-admin/src/main/java/com/ard/web/controller/work/ArdServerInfoController.java b/ard-admin/src/main/java/com/ard/web/controller/work/ArdServerInfoController.java
index 8a531ba..7c14a8d 100644
--- a/ard-admin/src/main/java/com/ard/web/controller/work/ArdServerInfoController.java
+++ b/ard-admin/src/main/java/com/ard/web/controller/work/ArdServerInfoController.java
@@ -51,6 +51,18 @@
}
/**
+ * 查询服务器管理列表
+ */
+ @ApiOperation("查询服务器管理列表")
+ @PreAuthorize("@ss.hasPermi('work:server:listNo')")
+ @GetMapping("/listNo")
+ public TableDataInfo listNo(ArdServerInfo ardServerInfo) {
+ startPage();
+ List<ArdServerInfo> list = ardServerInfoService.selectArdServerInfoListNo(ardServerInfo);
+ return getDataTable(list);
+ }
+
+ /**
* 导出服务器管理列表
*/
@ApiOperation("导出服务器管理列表")
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 b2746ad..3835f2c 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
@@ -29,10 +29,6 @@
@Excel(name = "文件路径")
private String path;
-// /** 文件路径1 */
-// @Excel(name = "文件路径1")
-// private String path1;
-
/** 分组ID */
@Excel(name = "分组ID")
private String groupId;
@@ -50,7 +46,7 @@
private String payload;
/**
- * 是否只读 是否只读
+ * 是否只读
* 0：否
* 1：是
*/
@@ -66,6 +62,14 @@
private String orderByTime;
/**
+ * 是否循环 isLoop
+ * 0：否
+ * 1：是
+ */
+ @Excel(name = "是否循环")
+ private String isLoop;
+
+ /**
* 生成kmz文件实体类
*/
private UavRouteReq uavRouteReq;
diff --git a/ard-route/src/main/java/com/ard/route/service/IArdRouteInfoService.java b/ard-route/src/main/java/com/ard/route/service/IArdRouteInfoService.java
index 19e0e1e..65e911c 100644
--- a/ard-route/src/main/java/com/ard/route/service/IArdRouteInfoService.java
+++ b/ard-route/src/main/java/com/ard/route/service/IArdRouteInfoService.java
@@ -114,7 +114,7 @@
* @param boxSn 云盒SN编号
* @return 结果
*/
- public Boolean routeBegins(String boxSn);
+ public Boolean routeBegins(String id, String boxSn);
/**
* 暂停航线
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 97f5cd3..ded68b2 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
@@ -25,8 +25,10 @@
import com.ard.route.mapper.ArdRouteInfoMapper;
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.state.PointData;
+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;
@@ -86,17 +88,20 @@
throw new RuntimeException(e);
}
- // 主逻辑优化
- double altitudeOffset = getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(), "alt");
+ // 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){
- for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
- // 调整航点高度
- adjustRoutePointHeight(routePointReq, altitudeOffset);
+ double altitudeOffset = getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(), "alt");
+
+ for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
+ // 调整每个航点高度
+ adjustRoutePointHeight(routePointReq, altitudeOffset);
+ }
}
+
return ardRouteInfo;
}
- // 提取航点高度调整逻辑到方法中
private void adjustRoutePointHeight(RoutePointReq routePointReq, double altitudeOffset) {
routePointReq.setHeight(routePointReq.getHeight() + altitudeOffset);
}
@@ -234,6 +239,9 @@
*/
@Override
public int deleteArdRouteInfoById(String id) {
+ // 删除航线(kmz)文件
+ ArdRouteInfo information = ardRouteInfoMapper.selectArdRouteInfoById(id);
+ delOssService(information);
return ardRouteInfoMapper.deleteArdRouteInfoById(id);
}
@@ -332,7 +340,6 @@
/**
* 上传航线到边缘服务器
- *
* ardNoflyDto
* @return 结果
*/
@@ -346,6 +353,34 @@
} catch (IOException | ClassNotFoundException e) {
throw new RuntimeException(e);
}
+
+ // 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();
+
+ // 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
@@ -369,7 +404,12 @@
* @return 结果
*/
@Override
- public Boolean routeBegins(String boxSn) {
+ public Boolean routeBegins(String id,String boxSn) {
+ ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(id);
+ // 判断是否循环航线
+ if ("1".equals(route.getIsLoop())) {
+ deleteArdRouteInfoById(id);
+ }
WayLineBeginDTO wayLineBeginDTO = new WayLineBeginDTO(boxSn);
tyService.wayLineBegin(wayLineBeginDTO);
return true;
diff --git a/ard-route/src/main/resources/mapper/ArdRouteInfoMapper.xml b/ard-route/src/main/resources/mapper/ArdRouteInfoMapper.xml
index 94af829..658cfeb 100644
--- a/ard-route/src/main/resources/mapper/ArdRouteInfoMapper.xml
+++ b/ard-route/src/main/resources/mapper/ArdRouteInfoMapper.xml
@@ -8,7 +8,6 @@
<result property="id" column="id" />
<result property="name" column="name" />
<result property="path" column="path" />
-<!-- <result property="path1" column="path1" />-->
<result property="groupId" column="group_id" />
<result property="type" column="type" />
<result property="aircraft" column="aircraft" />
@@ -20,13 +19,13 @@
<result property="updateBy" column="update_by" />
<result property="updateTime" column="update_time" />
<result property="pointCount" column="point_count" />
+ <result property="isLoop" column="is_loop" />
</resultMap>
<sql id="selectArdRouteInfoVo">
select id,
name,
path,
-<!-- path1,-->
group_id,
type,
aircraft,
@@ -37,7 +36,8 @@
create_time,
update_by,
update_time,
- point_count
+ point_count,
+ is_loop
from ard_route_info
</sql>
@@ -50,6 +50,7 @@
<if test="type != null and type != ''"> and type = #{type}</if>
<if test="path != null and path != ''"> and path = #{path}</if>
<if test="groupId != null"> and group_id = #{groupId}</if>
+ <if test="isLoop != null"> and is_loop = #{isLoop}</if>
</where>
<if test="orderByTime == null and orderByTime == ''">
ORDER BY update_time DESC
@@ -71,7 +72,6 @@
<if test="id != null">id,</if>
<if test="name != null">name,</if>
<if test="path != null">path,</if>
-<!-- <if test="path1 != null">path1,</if>-->
<if test="groupId != null">group_id,</if>
<if test="type != null">type,</if>
<if test="aircraft != null">aircraft,</if>
@@ -83,12 +83,12 @@
<if test="updateBy != null">update_by,</if>
<if test="updateTime != null">update_time,</if>
<if test="pointCount != null">point_count,</if>
+ <if test="isLoop != null">is_loop,</if>
</trim>
<trim prefix="values (" suffix=")" suffixOverrides=",">
<if test="id != null">#{id},</if>
<if test="name != null">#{name},</if>
<if test="path != null">#{path},</if>
-<!-- <if test="path1 != null">#{path1},</if>-->
<if test="groupId != null">#{groupId},</if>
<if test="type != null">#{type},</if>
<if test="aircraft != null">#{aircraft},</if>
@@ -100,6 +100,7 @@
<if test="updateBy != null">#{updateBy},</if>
<if test="updateTime != null">#{updateTime},</if>
<if test="pointCount != null">#{pointCount},</if>
+ <if test="isLoop != null">#{isLoop},</if>
</trim>
</insert>
@@ -108,7 +109,6 @@
<trim prefix="SET" suffixOverrides=",">
<if test="name != null">name = #{name},</if>
<if test="path != null">path = #{path},</if>
-<!-- <if test="path1 != null">path1 = #{path1},</if>-->
<if test="groupId != null">group_id = #{groupId},</if>
<if test="type != null">type = #{type},</if>
<if test="aircraft != null">aircraft = #{aircraft},</if>
@@ -120,6 +120,7 @@
<if test="updateBy != null">update_by = #{updateBy},</if>
<if test="updateTime != null">update_time = #{updateTime},</if>
<if test="pointCount != null">point_count = #{pointCount},</if>
+ <if test="isLoop != null">is_loop = #{isLoop},</if>
</trim>
where id = #{id}
</update>
@@ -148,7 +149,7 @@
</delete>
<select id="selectArdRouteInfoByGroupId" parameterType="String" resultMap="ArdRouteInfoResult">
- select id,name,path,group_id,type,aircraft,payload,read_only,create_by,create_time,update_by,update_time,point_count from ard_route_info
+ select id,name,path,group_id,type,aircraft,payload,read_only,create_by,create_time,update_by,update_time,point_count,is_loop from ard_route_info
<where>
<if test="groupId != null "> and group_id = #{groupId}</if>
</where>
diff --git a/ard-work/src/main/java/com/ard/work/service/IArdServerInfoService.java b/ard-work/src/main/java/com/ard/work/service/IArdServerInfoService.java
index 78b1125..2e25e77 100644
--- a/ard-work/src/main/java/com/ard/work/service/IArdServerInfoService.java
+++ b/ard-work/src/main/java/com/ard/work/service/IArdServerInfoService.java
@@ -28,6 +28,8 @@
*/
public List<ArdServerInfo> selectArdServerInfoList(ArdServerInfo ardServerInfo);
+ public List<ArdServerInfo> selectArdServerInfoListNo(ArdServerInfo ardServerInfo);
+
/**
* 新增服务器管理
*
diff --git a/ard-work/src/main/java/com/ard/work/service/impl/ArdServerInfoServiceImpl.java b/ard-work/src/main/java/com/ard/work/service/impl/ArdServerInfoServiceImpl.java
index d4063de..ad2e534 100644
--- a/ard-work/src/main/java/com/ard/work/service/impl/ArdServerInfoServiceImpl.java
+++ b/ard-work/src/main/java/com/ard/work/service/impl/ArdServerInfoServiceImpl.java
@@ -5,9 +5,11 @@
import com.ard.work.component.forest.TyClient;
import com.ard.work.component.netty.TyTcpClientManager;
import com.ard.work.domain.dto.TokenDTO;
+import com.ard.work.domain.entity.ArdDroneInfo;
import com.ard.work.domain.entity.ArdServerInfo;
import com.ard.work.domain.receiver.AccessTokenReceiver;
import com.ard.work.domain.receiver.TyHttpCommonReceiver;
+import com.ard.work.mapper.ArdDroneInfoMapper;
import com.ard.work.mapper.ArdServerInfoMapper;
import com.ard.work.service.IArdServerInfoService;
import com.dtflys.forest.exceptions.ForestRuntimeException;
@@ -30,11 +32,16 @@
public class ArdServerInfoServiceImpl implements IArdServerInfoService {
@Resource
- private ArdServerInfoMapper ardServerInfoMapper;
- @Resource
private TyClient tyClient;
+
+ @Resource
+ private ArdServerInfoMapper ardServerInfoMapper;
+
@Resource
private TyTcpClientManager tyTcpClientManager;
+
+ @Resource
+ private ArdDroneInfoMapper ArdDroneInfoMapper;
/**
* 查询服务器管理
@@ -59,6 +66,24 @@
return ardServerInfoMapper.selectArdServerInfoList(ardServerInfo);
}
+ @Override
+ @DataScope(deptAlias = "d", userAlias = "u")
+ public List<ArdServerInfo> selectArdServerInfoListNo(ArdServerInfo ardServerInfo) {
+
+// List<ArdDroneInfo> ardDroneInfos = ArdDroneInfoMapper.selectArdDroneList(new ArdDroneInfo());
+// for (ArdDroneInfo ardDroneInfo : ardDroneInfos) {
+// ardDroneInfo.getBoxSn();
+// }
+// List<ArdServerInfo> servers = ardServerInfoMapper.selectArdServerInfoList(ardServerInfo);
+// for (ArdServerInfo server : servers) {
+// for (ArdDroneInfo ardDroneInfo : server.getArdDroneInfoList()) {
+// ardDroneInfo.getBoxSn();
+// }
+// }
+
+ return ardServerInfoMapper.selectArdServerInfoList(ardServerInfo);
+ }
+
/**
* 新增服务器管理
*
--
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