From 1e4bf72ccc19a9a1b58eecc22e078bc5c07e2e6f Mon Sep 17 00:00:00 2001
From: Xiajijian <1176061145@qq.com>
Date: Sun, 28 Dec 2025 14:34:03 +0800
Subject: [PATCH] 1. 优化航线代码业务逻辑。
---
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java | 117 +++++++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 83 insertions(+), 34 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 b8950f0..1bc4a7a 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;
@@ -37,8 +39,8 @@
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.InitializationUtils.divided_6;
import static com.ard.route.util.ToolUtils.*;
import static com.ard.route.util.UavRouteReqUtils.fileConversionEntity;
@@ -79,29 +81,37 @@
public ArdRouteInfo selectArdRouteInfoById(String id) {
ArdRouteInfo ardRouteInfo = ardRouteInfoMapper.selectArdRouteInfoById(id);
try {
- if (ardRouteInfo.getRouteData() != null){
- ardRouteInfo.setUavRouteReq((UavRouteReq) deserialize(ardRouteInfo.getRouteData()));
+ if (ardRouteInfo != null) {
+ if (ardRouteInfo.getRouteData() != null){
+ ardRouteInfo.setUavRouteReq((UavRouteReq) deserialize(ardRouteInfo.getRouteData()));
+ }
}
} catch (IOException | ClassNotFoundException e) {
throw new RuntimeException(e);
}
- 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_23(action.getZoom()));
- }
- }
+
+ // 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;
}
- // 变焦放大缩小
- public void zoom(){
-
+ private void adjustRoutePointHeight(RoutePointReq routePointReq, double altitudeOffset) {
+ routePointReq.setHeight(routePointReq.getHeight() + altitudeOffset);
}
/**
@@ -117,12 +127,6 @@
}else if ("0".equals(ardRouteInfo.getOrderByTime())) {
ardRouteInfo.setOrderByTime("ASC");
}
-// List<ArdRouteInfo> list = ardRouteInfoMapper.selectArdRouteInfoList(ardRouteInfo);
-// for (ArdRouteInfo routeInfo : list) {
-// for (RoutePointReq routePointReq : routeInfo.getUavRouteReq().getRoutePointList()) {
-// routePointReq.setHeight(routePointReq.getHeight() + getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(),"alt"));
-// }
-// }
return ardRouteInfoMapper.selectArdRouteInfoList(ardRouteInfo);
}
@@ -142,6 +146,7 @@
}
ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft()));
KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(),ardRouteInfo.getName());
+ zoomProcessing(ardRouteInfo);
ardRouteInfo.setPath(kmzResult.getPath());
ardRouteInfo.setReadOnly("0");
ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo));
@@ -165,6 +170,8 @@
// 先删除航线
delOssService(route);
// 再生成航线
+ ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft()));
+ zoomProcessing(ardRouteInfo);
kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(), ardRouteInfo.getName());
if ("更新航线kmz文件失败".equals(kmzResult.getData())) {
return 0;
@@ -172,6 +179,22 @@
ardRouteInfo.setPath(kmzResult.getPath());
}
return ardRouteInfoMapper.updateArdRouteInfo(dataProcessing(ardRouteInfo));
+ }
+
+ // 变倍加工方法
+ private void zoomProcessing(ArdRouteInfo ardRouteInfo) {
+ 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()));
+ }
+ }
+ }
+ }
+ }
}
// 新增信息加工
@@ -231,6 +254,9 @@
*/
@Override
public int deleteArdRouteInfoById(String id) {
+ // 删除航线(kmz)文件
+ ArdRouteInfo information = ardRouteInfoMapper.selectArdRouteInfoById(id);
+ delOssService(information);
return ardRouteInfoMapper.deleteArdRouteInfoById(id);
}
@@ -251,17 +277,6 @@
ardRouteInfo.setType(templateTypeData(uavRouteReq));
ardRouteInfo.setAircraft(droneTypeData(uavRouteReq));
}
-
- // 判断禁飞区
- 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);
ardRouteInfo.setName(file.getOriginalFilename());
ardRouteInfo.setPath(url);
@@ -340,7 +355,6 @@
/**
* 上传航线到边缘服务器
- *
* ardNoflyDto
* @return 结果
*/
@@ -354,6 +368,36 @@
} 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
// 2.将航线信息转换成对应实体类
WayLineUploadDTO wayLineUploadDTO = buildWayLineUploadDTO(route);
@@ -375,7 +419,12 @@
* @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 (null != route && "0".equals(route.getIsLoop())){
+ deleteArdRouteInfoById(id);
+ }
WayLineBeginDTO wayLineBeginDTO = new WayLineBeginDTO(boxSn);
tyService.wayLineBegin(wayLineBeginDTO);
return true;
--
Gitblit v1.9.3