From 19763ebd20ad16435f3c1ccfdc8abd1518712cc1 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Wed, 24 Dec 2025 15:09:58 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java | 220 +++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 182 insertions(+), 38 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 8b02c8b..5a0b49c 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.route.domain.djuav.ActionGroupReq;
@@ -20,21 +21,28 @@
import com.ard.route.domain.djuav.UavRouteReq;
import com.ard.route.domain.dto.ArdNoflyDto;
import com.ard.route.domain.route.ArdRouteInfo;
-import com.ard.route.domain.sixhe.ArdRouteChange;
import com.ard.route.domain.vo.KmzResultVo;
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;
+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.enums.kml.DroneEnumValueEnums.M350_RTK;
+import static com.ard.route.util.InitializationUtils.divided_23;
import static com.ard.route.util.ToolUtils.*;
+import static com.ard.route.util.UavRouteReqUtils.fileConversionEntity;
/**
* 航线(kmz)Service业务层处理
@@ -45,11 +53,14 @@
@Service
public class ArdRouteInfoServiceImpl implements IArdRouteInfoService {
+ private static final Logger log = LoggerFactory.getLogger(TokenService.class);
+
@Autowired
private ArdRouteInfoMapper ardRouteInfoMapper;
@Autowired
private OssServiceContext ossService;
+
@Autowired
private UavRouteService routeService;
@@ -76,7 +87,29 @@
} 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()) {
+ // 调整每个航点高度
+ 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;
+ }
+
+ private void adjustRoutePointHeight(RoutePointReq routePointReq, double altitudeOffset) {
+ routePointReq.setHeight(routePointReq.getHeight() + altitudeOffset);
}
/**
@@ -109,19 +142,23 @@
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);
- }
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());
+ 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(divided_23(action.getZoom()));
+ }
+ }
+ }
+ }
+ }
ardRouteInfo.setPath(kmzResult.getPath());
ardRouteInfo.setReadOnly("0");
- ardRouteInfoMapper.insertArdRouteInfo(ardRouteInfo);
+ ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo));
return kmzResult.getPath();
}
@@ -139,17 +176,42 @@
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
+ 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));
+ }
+
+ // 新增信息加工
+ private ArdRouteInfo dataProcessing(ArdRouteInfo ardRouteInfo) {
+ // 航线数据
+ byte[] routeData = null;
+ try {
+ if (ardRouteInfo.getUavRouteReq() != null){
+ routeData = serialize(ardRouteInfo.getUavRouteReq());
+ }
+ } catch (IOException e) {
+ throw new RuntimeException(e);
+ }
+ ardRouteInfo.setRouteData(routeData);
+ 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;
}
/**
@@ -163,9 +225,16 @@
// 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()));
+ }
}
/**
@@ -176,6 +245,9 @@
*/
@Override
public int deleteArdRouteInfoById(String id) {
+ // 删除航线(kmz)文件
+ ArdRouteInfo information = ardRouteInfoMapper.selectArdRouteInfoById(id);
+ delOssService(information);
return ardRouteInfoMapper.deleteArdRouteInfoById(id);
}
@@ -188,25 +260,60 @@
@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
@@ -239,7 +346,6 @@
/**
* 上传航线到边缘服务器
- *
* ardNoflyDto
* @return 结果
*/
@@ -253,12 +359,46 @@
} catch (IOException | ClassNotFoundException e) {
throw new RuntimeException(e);
}
- // 1.2通过minio获取航线信息
+ // 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
// 2.将航线信息转换成对应实体类
WayLineUploadDTO wayLineUploadDTO = buildWayLineUploadDTO(route);
wayLineUploadDTO.setBoxSn(boxSn);
- // 3.调用接口
+ // 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;
}
@@ -270,7 +410,12 @@
* @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;
@@ -326,18 +471,16 @@
String exitOnRcLostAction = ardRouteInfo.getUavRouteReq().getExitOnRcLostAction(); //0
PlanLineData planLineData = new PlanLineData();
-
-
-
if (finishAction != null){
planLineData.setLoseAction(0);
}
if (autoFlightSpeed != null){
planLineData.setAutoSpeed(8);
}
- if (globalTransitionalSpeed != null){
- planLineData.setMaxSpeed(15);
- }
+ planLineData.setMaxSpeed(15);
+// if (globalTransitionalSpeed != null){
+// planLineData.setMaxSpeed(15);
+// }
if (exitOnRcLostAction != null){
planLineData.setFinishedAction(1);
}
@@ -363,11 +506,11 @@
if (height != null){
pointData.setHeight(height.floatValue());
}
- Double longitude = routePointReq.getLatitude();
+ Double longitude = routePointReq.getLongitude();
if (longitude != null){
pointData.setLng(longitude.floatValue());
}
- Double latitude = routePointReq.getLongitude();
+ Double latitude = routePointReq.getLatitude();
if (latitude != null){
pointData.setLat(latitude.floatValue());
}
@@ -468,7 +611,8 @@
private void insertRouteInfomation(ArdRouteInfo ardRouteInfo){
ardRouteInfo.setId(IdUtils.simpleUUID());
ardRouteInfo.setCreateTime(DateUtils.getNowDate());
- ardRouteInfoMapper.insertArdRouteInfo(ardRouteInfo);
+ ardRouteInfo.setUpdateTime(DateUtils.getNowDate());
+ ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo));
}
/**
--
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