From 341a180fde86a2cadefa79e8468b51bbb587aae5 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Mon, 10 Nov 2025 17:26:45 +0800
Subject: [PATCH] 判断打点是否在禁飞区内或者经过禁飞区
---
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 18 +++++++++++++++++-
1 files changed, 17 insertions(+), 1 deletions(-)
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 95bf621..311c6c8 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
@@ -4,6 +4,10 @@
import com.ard.common.core.redis.RedisCache;
import com.ard.common.exception.ServiceException;
import com.ard.common.utils.StringUtils;
+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.aspect.annotation.CheckControlRight;
import com.ard.work.aspect.annotation.CheckTakeoffAltitude;
import com.ard.work.component.forest.TyClient;
@@ -78,8 +82,10 @@
@Resource
private IArdDroneInfoService ardDroneService;
@Resource
+ private IArdNoFlyZoneService ardNoFlyZoneService;
+ @Resource
private TyClient tyClient;
- @Autowired
+ @Resource
private RedisCache redisCache;
/**
@@ -670,6 +676,16 @@
if (!isDroneOnline(boxSn)) {
throw new ServiceException("无人机离线，无法执行指令, boxSn: " + boxSn);
}
+ // 判断目标点是否经过禁飞区
+ List<ArdNoFlyZone> ardNoFlyZones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());
+ if (!ardNoFlyZones.isEmpty()) {
+ Vertex vertex = new Vertex(flyPointControlDTO.getLongitude(), flyPointControlDTO.getLatitude());
+ boolean inNoFlyZones = NoFlyZoneUtils.isInNoFlyZones(vertex, ardNoFlyZones);
+ if (inNoFlyZones) {
+ throw new ServiceException("目标点在禁飞区内，无法执行指令, boxSn: " + boxSn);
+ }
+ }
+
FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
this.sendMessage(ardDroneInfo.getServerId(), flyPointControlCmd);
return true;
--
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