From 1e2f717393e4053a3b8de11cbf67cd98a8c77ec1 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Sat, 15 Nov 2025 15:34:32 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-route/src/main/java/com/ard/route/service/UavRouteService.java | 6 -
ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteGroupController.java | 11 ++
ard-route/src/main/java/com/ard/route/util/ToolUtils.java | 9 ++
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 2
ard-route/src/main/resources/mapper/ArdRouteInfoMapper.xml | 7 +
ard-framework/src/main/java/com/ard/framework/web/service/TokenService.java | 8 ++
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 | 34 +++++--
ard-work/pom.xml | 6 +
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteGroupServiceImpl.java | 20 +++++
ard-route/src/main/java/com/ard/route/domain/vo/ArdRouteGroupVo.java | 23 +++++
ard-route/src/main/java/com/ard/route/service/IArdRouteGroupService.java | 10 ++
ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java | 40 +++++++++
ard-route/src/main/java/com/ard/route/service/impl/UavRouteServiceImpl.java | 6
ard-route/src/main/java/com/ard/route/domain/vo/KmzInfoVo.java | 2
ard-work/src/main/java/com/ard/work/component/websocket/WebSocketSessionManager.java | 5 +
16 files changed, 164 insertions(+), 26 deletions(-)
diff --git a/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteGroupController.java b/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteGroupController.java
index 346b808..03be3b1 100644
--- a/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteGroupController.java
+++ b/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteGroupController.java
@@ -11,6 +11,7 @@
import com.ard.common.enums.BusinessType;
import com.ard.common.utils.poi.ExcelUtil;
import com.ard.route.domain.route.ArdRouteGroup;
+import com.ard.route.domain.vo.ArdRouteGroupVo;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
import org.springframework.beans.factory.annotation.Autowired;
@@ -111,4 +112,14 @@
}
}
+ /**
+ * 分组列表
+ */
+ @ApiOperation("分组列表")
+ @GetMapping("/groupList")
+ public TableDataInfo groupList(ArdRouteGroup ardRouteGroup) {
+ List<ArdRouteGroupVo> list = ardRouteGroupService.selectGroupList(ardRouteGroup);
+ return getDataTable(list);
+ }
+
}
diff --git a/ard-framework/src/main/java/com/ard/framework/web/service/TokenService.java b/ard-framework/src/main/java/com/ard/framework/web/service/TokenService.java
index d44ee58..a49ca2d 100644
--- a/ard-framework/src/main/java/com/ard/framework/web/service/TokenService.java
+++ b/ard-framework/src/main/java/com/ard/framework/web/service/TokenService.java
@@ -248,4 +248,12 @@
{
return Constants.LOGIN_USERID_KEY + userId;
}
+
+ public LoginUser getLoginUserByUserId(Long userId) {
+ String userIdKey = getUserIdKey(userId);
+ String tokenKey = redisCache.getCacheObject(userIdKey);
+ if (tokenKey == null) return null;
+ return redisCache.getCacheObject(tokenKey);
+ }
+
}
diff --git a/ard-route/src/main/java/com/ard/route/domain/vo/ArdRouteGroupVo.java b/ard-route/src/main/java/com/ard/route/domain/vo/ArdRouteGroupVo.java
new file mode 100644
index 0000000..c1a7963
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/domain/vo/ArdRouteGroupVo.java
@@ -0,0 +1,23 @@
+package com.ard.route.domain.vo;
+
+import com.ard.common.annotation.Excel;
+import com.ard.common.core.domain.BaseEntity;
+import lombok.Data;
+
+@Data
+public class ArdRouteGroupVo extends BaseEntity {
+
+ private static final long serialVersionUID = 1L;
+
+ /** ID */
+ private String id;
+
+ /** 分组名称 */
+ @Excel(name = "分组名称")
+ private String groupName;
+
+ /** 序列号 */
+ @Excel(name = "序列号")
+ private Integer serialNumber;
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/domain/vo/KmzInfoVO.java b/ard-route/src/main/java/com/ard/route/domain/vo/KmzInfoVo.java
similarity index 86%
rename from ard-route/src/main/java/com/ard/route/domain/vo/KmzInfoVO.java
rename to ard-route/src/main/java/com/ard/route/domain/vo/KmzInfoVo.java
index c5fa375..dbc2fd8 100644
--- a/ard-route/src/main/java/com/ard/route/domain/vo/KmzInfoVO.java
+++ b/ard-route/src/main/java/com/ard/route/domain/vo/KmzInfoVo.java
@@ -10,7 +10,7 @@
* Date: 2024/12/22 10:46
**/
@Data
-public class KmzInfoVO implements Serializable {
+public class KmzInfoVo implements Serializable {
/**
* 航线kml信息
diff --git a/ard-route/src/main/java/com/ard/route/service/IArdRouteGroupService.java b/ard-route/src/main/java/com/ard/route/service/IArdRouteGroupService.java
index 0b6678d..9415ba1 100644
--- a/ard-route/src/main/java/com/ard/route/service/IArdRouteGroupService.java
+++ b/ard-route/src/main/java/com/ard/route/service/IArdRouteGroupService.java
@@ -4,6 +4,7 @@
import java.util.Map;
import com.ard.route.domain.route.ArdRouteGroup;
+import com.ard.route.domain.vo.ArdRouteGroupVo;
/**
* 分组Service接口
@@ -60,4 +61,13 @@
* @return 结果
*/
public int deleteArdRouteGroupById(String id);
+
+ /**
+ * 分组列表
+ *
+ * @param ardRouteGroup 分组
+ * @return 分组集合
+ */
+ public List<ArdRouteGroupVo> selectGroupList(ArdRouteGroup ardRouteGroup);
+
}
diff --git a/ard-route/src/main/java/com/ard/route/service/UavRouteService.java b/ard-route/src/main/java/com/ard/route/service/UavRouteService.java
index dbc1984..eccc00f 100644
--- a/ard-route/src/main/java/com/ard/route/service/UavRouteService.java
+++ b/ard-route/src/main/java/com/ard/route/service/UavRouteService.java
@@ -1,10 +1,8 @@
package com.ard.route.service;
import com.ard.route.domain.UavRouteReq;
-import com.ard.route.domain.vo.KmzInfoVO;
+import com.ard.route.domain.vo.KmzInfoVo;
import com.ard.route.domain.vo.KmzResultVo;
-
-import java.io.IOException;
public interface UavRouteService {
@@ -22,7 +20,7 @@
/**
* 解析kmz文件
*/
- public KmzInfoVO parseKmz(String file);
+ public KmzInfoVo parseKmz(String file);
/**
* 编辑kmz文件
diff --git a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteGroupServiceImpl.java b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteGroupServiceImpl.java
index 4c852fa..61e1b6f 100644
--- a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteGroupServiceImpl.java
+++ b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteGroupServiceImpl.java
@@ -3,13 +3,16 @@
import java.util.HashMap;
import java.util.List;
import java.util.Map;
+import java.util.stream.Collectors;
import com.ard.common.annotation.DataScope;
import com.ard.common.utils.DateUtils;
import com.ard.common.utils.uuid.IdUtils;
import com.ard.route.domain.route.ArdRouteGroup;
+import com.ard.route.domain.vo.ArdRouteGroupVo;
import com.ard.route.mapper.ArdRouteGroupMapper;
import com.ard.route.mapper.ArdRouteInfoMapper;
+import org.springframework.beans.BeanUtils;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import com.ard.route.service.IArdRouteGroupService;
@@ -134,4 +137,21 @@
return ardRouteGroupMapper.deleteArdRouteGroupById(id);
}
+ /**
+ * 分组列表
+ *
+ * @param ardRouteGroup 分组
+ * @return 分组集合
+ */
+ @Override
+ public List<ArdRouteGroupVo> selectGroupList(ArdRouteGroup ardRouteGroup) {
+ return ardRouteGroupMapper.selectArdRouteGroupList(ardRouteGroup).stream()
+ .map(entity -> {
+ ArdRouteGroupVo vo = new ArdRouteGroupVo();
+ BeanUtils.copyProperties(entity, vo);
+ return vo;
+ })
+ .collect(Collectors.toList());
+ }
+
}
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 b58c31c..ab18141 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
@@ -13,6 +13,7 @@
import com.ard.data.noflyzone.utils.NoFlyZoneUtils;
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.route.ArdRouteInfo;
import com.ard.route.domain.vo.KmzResultVo;
@@ -96,6 +97,7 @@
} catch (IOException e) {
throw new RuntimeException(e);
}
+ ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft()));
ardRouteInfo.setRouteData(routeData);
KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(), ardRouteInfo.getName());
ardRouteInfo.setPath(kmzResult.getPath());
@@ -113,18 +115,21 @@
@Override
public int updateArdRouteInfo(ArdRouteInfo ardRouteInfo) {
ardRouteInfo.setUpdateTime(DateUtils.getNowDate());
- KmzResultVo kmzResult = new KmzResultVo();
- // 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());
+ // 判断生成kmz文件实体类是否为空，为空就修改航信信息，不修改行点信息。
+ if (ardRouteInfo.getUavRouteReq() != null) {
+ 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());
+ }
+ if ("更新航线kmz文件失败".equals(kmzResult.getData())) {
+ return 0;
+ }
+ ardRouteInfo.setPath(kmzResult.getPath());
}
- if ("更新航线kmz文件失败".equals(kmzResult.getData())) {
- return 0;
- }
- ardRouteInfo.setPath(kmzResult.getPath());
return ardRouteInfoMapper.updateArdRouteInfo(ardRouteInfo);
}
@@ -217,6 +222,9 @@
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！");
}
List<ArdNoFlyZone> ardNoFlyZones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());
+
+
+
if (!ardNoFlyZones.isEmpty()) {
Vertex vertex = new Vertex(longitude, latitude);
// boolean inNoFlyZones = NoFlyZoneUtils.isPointInPolygon(vertex, ardNoFlyZones);
@@ -236,4 +244,8 @@
ardRouteInfoMapper.insertArdRouteInfo(ardRouteInfo);
}
+ private void verifyNoFlyZone(CoordinatePointReq a,CoordinatePointReq b){
+
+ }
+
}
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 4981863..deab3a5 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
@@ -10,7 +10,7 @@
import com.ard.route.domain.WaypointTurnReq;
import com.ard.route.domain.kml.*;
import com.ard.route.domain.route.ArdRouteInfo;
-import com.ard.route.domain.vo.KmzInfoVO;
+import com.ard.route.domain.vo.KmzInfoVo;
import com.ard.route.domain.vo.KmzResultVo;
import com.ard.route.enums.kml.ExitOnRCLostEnums;
import com.ard.route.service.IArdRouteInfoService;
@@ -233,8 +233,8 @@
* 解析kmz文件
*/
@Override
- public KmzInfoVO parseKmz(String fileUrl){
- KmzInfoVO kmzInfoVO = new KmzInfoVO();
+ public KmzInfoVo parseKmz(String fileUrl){
+ KmzInfoVo kmzInfoVO = new KmzInfoVo();
try (InputStream inputStream = ossService.getObject(kmzPath,fileUrl);
ArchiveInputStream archiveInputStream = new ZipArchiveInputStream(inputStream)){
ArchiveEntry entry;
diff --git a/ard-route/src/main/java/com/ard/route/util/ToolUtils.java b/ard-route/src/main/java/com/ard/route/util/ToolUtils.java
index 6ce967f..2d34f6c 100644
--- a/ard-route/src/main/java/com/ard/route/util/ToolUtils.java
+++ b/ard-route/src/main/java/com/ard/route/util/ToolUtils.java
@@ -120,4 +120,13 @@
return url.substring(kmzIndex + 5); // +5 是为了跳过 "/kmz/"
}
+ /**
+ * 截取字符串
+ * 参数： "0-89-0"
+ */
+ public static Integer subStringDroneType(String str) {
+ String[] parts = str.split("-");
+ return Integer.valueOf(parts[1]);
+ }
+
}
diff --git a/ard-route/src/main/resources/mapper/ArdRouteInfoMapper.xml b/ard-route/src/main/resources/mapper/ArdRouteInfoMapper.xml
index a10104f..ed8a7c2 100644
--- a/ard-route/src/main/resources/mapper/ArdRouteInfoMapper.xml
+++ b/ard-route/src/main/resources/mapper/ArdRouteInfoMapper.xml
@@ -40,7 +40,7 @@
<select id="selectArdRouteInfoList" parameterType="ArdRouteInfo" resultMap="ArdRouteInfoResult">
<include refid="selectArdRouteInfoVo"/>
<where>
- <if test="name != null and kmzName != ''"> and name like concat('%', #{name}, '%')</if>
+ <if test="name != null and name != ''"> and name like concat('%', #{name}, '%')</if>
<if test="aircraft != null and aircraft != ''"> and aircraft = #{aircraft}</if>
<if test="payload != null and payload != ''"> and payload = #{payload}</if>
<if test="type != null and type != ''"> and type = #{type}</if>
@@ -59,7 +59,7 @@
<if test="id != null">id,</if>
<if test="name != null">name,</if>
<if test="path != null">path,</if>
- <if test="GroupId != null">group_id,</if>
+ <if test="groupId != null">group_id,</if>
<if test="type != null">type,</if>
<if test="aircraft != null">aircraft,</if>
<if test="payload != null">payload,</if>
@@ -74,7 +74,7 @@
<if test="id != null">#{id},</if>
<if test="name != null">#{name},</if>
<if test="path != null">#{path},</if>
- <if test="GroupId != null">#{GroupId},</if>
+ <if test="groupId != null">#{groupId},</if>
<if test="type != null">#{type},</if>
<if test="aircraft != null">#{aircraft},</if>
<if test="payload != null">#{payload},</if>
@@ -92,6 +92,7 @@
<trim prefix="SET" suffixOverrides=",">
<if test="name != null">name = #{name},</if>
<if test="path != null">path = #{path},</if>
+ <if test="groupId != null">group_id = #{groupId},</if>
<if test="type != null">type = #{type},</if>
<if test="aircraft != null">aircraft = #{aircraft},</if>
<if test="payload != null">payload = #{payload},</if>
diff --git a/ard-work/pom.xml b/ard-work/pom.xml
index 24d7824..ef3f0a4 100644
--- a/ard-work/pom.xml
+++ b/ard-work/pom.xml
@@ -24,7 +24,11 @@
<groupId>com.ard</groupId>
<artifactId>ard-common</artifactId>
</dependency>
-
+ <!-- framework框架核心-->
+ <dependency>
+ <groupId>com.ard</groupId>
+ <artifactId>ard-framework</artifactId>
+ </dependency>
<!-- Forest -->
<dependency>
<groupId>com.dtflys.forest</groupId>
diff --git a/ard-work/src/main/java/com/ard/work/component/websocket/WebSocketSessionManager.java b/ard-work/src/main/java/com/ard/work/component/websocket/WebSocketSessionManager.java
index 0946889..0cb420e 100644
--- a/ard-work/src/main/java/com/ard/work/component/websocket/WebSocketSessionManager.java
+++ b/ard-work/src/main/java/com/ard/work/component/websocket/WebSocketSessionManager.java
@@ -28,4 +28,9 @@
public static int getOnlineUserCount() {
return ONLINE_USER_SESSIONS.size();
}
+
+ public static boolean containsUser(Long userId) {
+ return ONLINE_USER_SESSIONS.containsKey(userId);
+ }
+
}
\ No newline at end of file
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 b7e380a..a46cfb6 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
@@ -2,7 +2,10 @@
import com.alibaba.fastjson2.JSON;
import com.alibaba.fastjson2.TypeReference;
+import com.ard.common.core.domain.model.LoginUser;
+import com.ard.framework.web.service.TokenService;
import com.ard.work.component.websocket.WebSocketSessionManager;
+import com.ard.work.component.websocket.utils.WebSocketUtil;
import com.ard.work.domain.enums.MessageType;
import com.ard.work.domain.message.*;
import com.ard.work.service.control.UavControlService;
@@ -14,6 +17,7 @@
import org.springframework.web.socket.handler.TextWebSocketHandler;
import javax.annotation.Resource;
+import java.util.concurrent.CompletableFuture;
@Component
@@ -34,6 +38,8 @@
private UavControlManager uavControlManager;
@Resource
private UavAllManager uavAllManager;
+ @Resource
+ private TokenService tokenService;
@Override
public void handleTextMessage(WebSocketSession session, TextMessage message) {
@@ -46,6 +52,9 @@
BaseMessage<?> baseMessage = JSON.parseObject(payload, BaseMessage.class);
MessageType messageType = MessageType.fromString(baseMessage.getType());
switch (messageType) {
+ case HEARTBEAT:
+ handleHeartbeatMessage(payload, userId);
+ break;
case STREAM:
handleStreamMessage(payload, userId);
break;
@@ -68,6 +77,19 @@
} catch (Exception e) {
log.error("Error handling message: {}", message, e);
}
+ }
+
+ /**
+ * 处理心跳消息
+ * <p>
+ * 该方法解析给定的负载数据，以获取无人机流消息，并根据消息类型决定是否开始或停止流
+ *
+ * @param payload 消息的负载数据，通常为JSON字符串
+ * @param userId 接收消息的用户ID
+ */
+ private void handleHeartbeatMessage(String payload, Long userId) {
+
+ WebSocketUtil.sendMessage(userId, payload);
}
/**
@@ -276,7 +298,21 @@
uavTelemetryManager.removeSubscribe(userId);
uavSignalManager.removeSubscribe(userId);
uavControlManager.removeSubscribe(userId);
+
+ // 延迟10秒删除token（若期间没重连）
+ CompletableFuture.runAsync(() -> {
+ try {
+ Thread.sleep(10_000); // 延迟10秒
+ } catch (InterruptedException ignored) {
+ }
+
+ if (!WebSocketSessionManager.containsUser(userId)) {
+ LoginUser loginUser = tokenService.getLoginUserByUserId(userId);
+ if (loginUser != null) {
+ tokenService.delLoginUser(loginUser.getToken(), userId);
+ log.info("【cmd】用户 [{}] 超时未重连，已删除 token", userId);
+ }
+ }
+ });
}
-
-
}
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 59889c6..1c5f5a1 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
@@ -1,6 +1,7 @@
package com.ard.work.domain.enums;
public enum MessageType {
+ HEARTBEAT("heartbeat"),
STREAM("stream"),
STATE("state"),
TELEMETRY("telemetry"),
diff --git a/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java b/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
index bb840da..22b68f0 100644
--- a/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
+++ b/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
@@ -873,7 +873,7 @@
case 0x02:
// 处理注册消息
HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
- logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
+ //logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
break;
case 0x03:
// 处理订阅消息
--
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