From 3756cf0e3841910b22998bc0edf8d209e8539556 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Thu, 13 Nov 2025 11:02:53 +0800
Subject: [PATCH] 增加禁飞区工具类
---
/dev/null | 171 ---------------------
ard-system/pom.xml | 7
ard-system/src/main/java/com/ard/data/noflyzone/domain/ArdNoFlyZone.java | 10
ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java | 66 +++++--
ard-system/src/main/java/com/ard/data/noflyzone/utils/NoFlyZoneUtils.java | 197 ++++++++++++++++--------
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInforServiceImpl.java | 8
6 files changed, 193 insertions(+), 266 deletions(-)
diff --git a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInforServiceImpl.java b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInforServiceImpl.java
index ea33a8b..da04076 100644
--- a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInforServiceImpl.java
+++ b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInforServiceImpl.java
@@ -217,10 +217,10 @@
List<ArdNoFlyZone> ardNoFlyZones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());
if (!ardNoFlyZones.isEmpty()) {
Vertex vertex = new Vertex(longitude, latitude);
- boolean inNoFlyZones = NoFlyZoneUtils.isInNoFlyZones(vertex, ardNoFlyZones);
- if (inNoFlyZones) {
- throw new ControlException("目标点在禁飞区内，无法执行操作！");
- }
+// boolean inNoFlyZones = NoFlyZoneUtils.isPointInPolygon(vertex, ardNoFlyZones);
+// if (inNoFlyZones) {
+// throw new ControlException("目标点在禁飞区内，无法执行操作！");
+// }
}
return true;
}
diff --git a/ard-system/pom.xml b/ard-system/pom.xml
index 798c287..76dd7ba 100644
--- a/ard-system/pom.xml
+++ b/ard-system/pom.xml
@@ -22,6 +22,13 @@
<groupId>com.ard</groupId>
<artifactId>ard-common</artifactId>
</dependency>
+
+ <dependency>
+ <groupId>org.locationtech.jts</groupId>
+ <artifactId>jts-core</artifactId>
+ <version>1.19.0</version>
+ </dependency>
+
<dependency>
<groupId>org.projectlombok</groupId>
<artifactId>lombok</artifactId>
diff --git a/ard-system/src/main/java/com/ard/data/noflyzone/domain/ArdNoFlyZone.java b/ard-system/src/main/java/com/ard/data/noflyzone/domain/ArdNoFlyZone.java
index 0b746f5..0ed974c 100644
--- a/ard-system/src/main/java/com/ard/data/noflyzone/domain/ArdNoFlyZone.java
+++ b/ard-system/src/main/java/com/ard/data/noflyzone/domain/ArdNoFlyZone.java
@@ -1,11 +1,11 @@
package com.ard.data.noflyzone.domain;
-import com.ard.data.noflyzone.utils.GeoUtils;
+import com.ard.common.annotation.Excel;
+import com.ard.common.core.domain.BaseEntity;
+import com.ard.data.noflyzone.utils.NoFlyZoneUtils;
import lombok.AllArgsConstructor;
import lombok.Data;
import lombok.NoArgsConstructor;
-import com.ard.common.annotation.Excel;
-import com.ard.common.core.domain.BaseEntity;
import java.util.List;
@@ -41,14 +41,14 @@
// 懒加载 / 动态计算
public ArdNoFlyBox getArdNoFlyBox() {
if (ardNoFlyBox == null && geojson != null) {
- ardNoFlyBox = GeoUtils.getArdNoFlyBox(geojson);
+ ardNoFlyBox = NoFlyZoneUtils.getArdNoFlyBox(geojson);
}
return ardNoFlyBox;
}
public List<Vertex> getVertices() {
if (vertices == null && geojson != null) {
- vertices = GeoUtils.toVertexes(geojson);
+ vertices = NoFlyZoneUtils.toVertexes(geojson);
}
return vertices;
}
diff --git a/ard-system/src/main/java/com/ard/data/noflyzone/utils/GeoUtils.java b/ard-system/src/main/java/com/ard/data/noflyzone/utils/GeoUtils.java
deleted file mode 100644
index 0c8e045..0000000
--- a/ard-system/src/main/java/com/ard/data/noflyzone/utils/GeoUtils.java
+++ /dev/null
@@ -1,171 +0,0 @@
-package com.ard.data.noflyzone.utils;
-
-import com.ard.data.noflyzone.domain.ArdNoFlyBox;
-import com.ard.data.noflyzone.domain.FeatureCollection;
-import com.ard.data.noflyzone.domain.Vertex;
-
-import java.util.ArrayList;
-import java.util.List;
-
-/**
- * 几何工具类
- */
-public class GeoUtils {
- /**
- * 根据 GeoJSON（FeatureCollection）计算外接矩形
- */
- @SuppressWarnings("unchecked")
- public static ArdNoFlyBox getArdNoFlyBox(FeatureCollection featureCollection) {
- if (featureCollection == null || featureCollection.getFeatures() == null) {
- return null;
- }
-
- double minx = Double.MAX_VALUE;
- double miny = Double.MAX_VALUE;
- double maxx = Double.MIN_VALUE;
- double maxy = Double.MIN_VALUE;
-
- for (FeatureCollection.Feature feature : featureCollection.getFeatures()) {
- FeatureCollection.Geometry geometry = feature.getGeometry();
- if (geometry == null || geometry.getCoordinates() == null) {
- continue;
- }
-
- String type = geometry.getType();
- Object coords = geometry.getCoordinates();
-
- if ("Polygon".equalsIgnoreCase(type)) {
- // Polygon: [[[lon, lat], [lon, lat], ...]]
- List<List<List<Double>>> rings = (List<List<List<Double>>>) coords;
- for (List<List<Double>> ring : rings) {
- for (List<Double> point : ring) {
- if (point.size() < 2) {
- continue;
- }
- double x = point.get(0);
- double y = point.get(1);
- minx = Math.min(minx, x);
- miny = Math.min(miny, y);
- maxx = Math.max(maxx, x);
- maxy = Math.max(maxy, y);
- }
- }
- }
- else if ("MultiPolygon".equalsIgnoreCase(type)) {
- // MultiPolygon: [[[[lon, lat], ...]], ...]
- List<List<List<List<Double>>>> polygons = (List<List<List<List<Double>>>>) coords;
- for (List<List<List<Double>>> polygon : polygons) {
- for (List<List<Double>> ring : polygon) {
- for (List<Double> point : ring) {
- if (point.size() < 2) {
- continue;
- }
- double x = point.get(0);
- double y = point.get(1);
- minx = Math.min(minx, x);
- miny = Math.min(miny, y);
- maxx = Math.max(maxx, x);
- maxy = Math.max(maxy, y);
- }
- }
- }
- }
- }
-
- return new ArdNoFlyBox(minx, miny, maxx, maxy);
- }
- /**
- * 判断点是否在多边形内（包括边界）
- * 射线法：从该点向右发射水平射线，计算交点个数
- *
- * @param vertex 点对象
- * @param vertexes 多边形顶点列表（按顺序闭合）
- * @return true 表示点在多边形内或在边上
- */
- public static boolean isVertexInPoly(Vertex vertex, List<Vertex> vertexes) {
- if (vertex == null || vertexes == null || vertexes.size() < 3) {
- return false; // 无效输入
- }
-
- int count = 0;
- int n = vertexes.size();
-
- for (int i = 0; i < n; i++) {
- Vertex v1 = vertexes.get(i);
- Vertex v2 = vertexes.get((i + 1) % n);
-
- // 1. 点就是多边形的顶点
- if (v1.IsSame(vertex)) {
- return true;
- }
-
- // 2. 点在线段上
- double minX = Math.min(v1.x, v2.x);
- double maxX = Math.max(v1.x, v2.x);
- double minY = Math.min(v1.y, v2.y);
- double maxY = Math.max(v1.y, v2.y);
-
- // 水平线段
- if (minY == maxY) {
- if (vertex.y == minY && vertex.x >= minX && vertex.x <= maxX) {
- return true;
- } else {
- continue; // 不计入交点
- }
- }
-
- // 点在线段纵向范围外
- if (vertex.y < minY || vertex.y > maxY) {
- continue;
- }
-
- // 计算射线交点的 X 坐标
- double xIntersect = v1.x + (vertex.y - v1.y) * (v2.x - v1.x) / (v2.y - v1.y);
-
- // 交点在点左侧，不计入
- if (xIntersect < vertex.x) {
- continue;
- }
-
- // 交点就在点上，认为在边界
- if (xIntersect == vertex.x) {
- return true;
- }
-
- // 避免射线穿过线段下端点重复计数
- if (vertex.y == minY) {
- continue;
- }
-
- // 其它情况，交点计数
- count++;
- }
-
- // 奇数交点 → 点在多边形内
- return count % 2 != 0;
- }
-
- /**
- * 将 GeoJSON Polygon 的外环坐标转换成 Vertex 列表
- */
- public static List<Vertex> toVertexes(FeatureCollection featureCollection) {
- List<Vertex> vertexes = new ArrayList<>();
- if (featureCollection == null || featureCollection.getFeatures() == null || featureCollection.getFeatures().isEmpty()) {
- return vertexes;
- }
- FeatureCollection.Feature feature = featureCollection.getFeatures().get(0);
- if (feature.getGeometry() != null) {
- List<List<List<Double>>> coords = feature.getGeometry().getCoordinates();
- if (coords != null && !coords.isEmpty()) {
- List<List<Double>> outerRing = coords.get(0);
- for (List<Double> point : outerRing) {
- if (point.size() >= 2) {
- vertexes.add(new Vertex(point.get(0), point.get(1)));
- }
- }
- }
- }
- return vertexes;
- }
-
-}
diff --git a/ard-system/src/main/java/com/ard/data/noflyzone/utils/NoFlyZoneUtils.java b/ard-system/src/main/java/com/ard/data/noflyzone/utils/NoFlyZoneUtils.java
index 350b3d4..ea09a5a 100644
--- a/ard-system/src/main/java/com/ard/data/noflyzone/utils/NoFlyZoneUtils.java
+++ b/ard-system/src/main/java/com/ard/data/noflyzone/utils/NoFlyZoneUtils.java
@@ -2,104 +2,169 @@
import com.ard.data.noflyzone.domain.ArdNoFlyBox;
import com.ard.data.noflyzone.domain.ArdNoFlyZone;
+import com.ard.data.noflyzone.domain.FeatureCollection;
import com.ard.data.noflyzone.domain.Vertex;
+import org.locationtech.jts.geom.Coordinate;
+import org.locationtech.jts.geom.GeometryFactory;
+import org.locationtech.jts.geom.LineString;
+import org.locationtech.jts.geom.Polygon;
+import java.util.ArrayList;
+import java.util.Arrays;
import java.util.List;
public class NoFlyZoneUtils {
/**
- * 判断点是否在禁飞区集合中
- *
- * @param point 目标点
- * @param zones 禁飞区集合
- * @return true: 点在任意禁飞区内
+ * 判断点是否在多边形内（射线法）
*/
- public static boolean isInNoFlyZones(Vertex point, List<ArdNoFlyZone> zones) {
- if (point == null || zones == null || zones.isEmpty()) {
- return false;
+ public static boolean isPointInPolygon(Vertex point, List<Vertex> polygon) {
+ int n = polygon.size();
+ boolean inside = false;
+ for (int i = 0, j = n - 1; i < n; j = i++) {
+ Vertex vi = polygon.get(i);
+ Vertex vj = polygon.get(j);
+ boolean intersect = ((vi.y > point.y) != (vj.y > point.y)) &&
+ (point.x < (vj.x - vi.x) * (point.y - vi.y) / (vj.y - vi.y) + vi.x);
+ if (intersect) inside = !inside;
}
+ return inside;
+ }
- for (ArdNoFlyZone zone : zones) {
- // 1️⃣ 先快速判断外接矩形
- if (zone.getArdNoFlyBox() != null &&
- !isInBox(point, zone.getArdNoFlyBox())) {
- continue; // 点不在外接矩形内，跳过
- }
-
- // 2️⃣ 多边形判断
- List<Vertex> vertices = zone.getVertices();
- if (vertices != null && !vertices.isEmpty()) {
- if (isPointInPolygon(point, vertices)) {
- return true;
- }
+ /**
+ * 判断线段是否与多边形相交
+ */
+ public static boolean isLineIntersectPolygon(Vertex p1, Vertex p2, List<Vertex> polygon) {
+ int n = polygon.size();
+ for (int i = 0; i < n; i++) {
+ Vertex a = polygon.get(i);
+ Vertex b = polygon.get((i + 1) % n);
+ if (isSegmentsIntersect(p1, p2, a, b)) {
+ return true;
}
}
return false;
}
/**
- * 判断点是否在矩形框内
+ * 判断两条线段是否相交
*/
- private static boolean isInBox(Vertex point, ArdNoFlyBox box) {
- return point.x >= box.getMinx() && point.x <= box.getMaxx() &&
- point.y >= box.getMiny() && point.y <= box.getMaxy();
- }
+ private static boolean isSegmentsIntersect(Vertex p1, Vertex p2, Vertex p3, Vertex p4) {
+ double d1 = cross(p3, p4, p1);
+ double d2 = cross(p3, p4, p2);
+ double d3 = cross(p1, p2, p3);
+ double d4 = cross(p1, p2, p4);
- /**
- * 射线法判断点是否在多边形内
- */
- private static boolean isPointInPolygon(Vertex point, List<Vertex> vertices) {
- if (point == null || vertices == null || vertices.size() < 3) {
- return false;
+ if (((d1 > 0 && d2 < 0) || (d1 < 0 && d2 > 0)) &&
+ ((d3 > 0 && d4 < 0) || (d3 < 0 && d4 > 0))) {
+ return true;
}
- int count = 0;
- int n = vertices.size();
- double epsilon = 1e-9;
+ // 处理共线情况
+ if (d1 == 0 && onSegment(p3, p4, p1)) return true;
+ if (d2 == 0 && onSegment(p3, p4, p2)) return true;
+ if (d3 == 0 && onSegment(p1, p2, p3)) return true;
+ if (d4 == 0 && onSegment(p1, p2, p4)) return true;
- for (int i = 0; i < n; i++) {
- Vertex v1 = vertices.get(i);
- Vertex v2 = vertices.get((i + 1) % n);
+ return false;
+ }
- // 点就是顶点
- if (v1.IsSame(point)) {
- return true;
- }
+ private static double cross(Vertex p1, Vertex p2, Vertex p3) {
+ return (p2.x - p1.x) * (p3.y - p1.y) - (p3.x - p1.x) * (p2.y - p1.y);
+ }
- double minX = Math.min(v1.x, v2.x);
- double maxX = Math.max(v1.x, v2.x);
- double minY = Math.min(v1.y, v2.y);
- double maxY = Math.max(v1.y, v2.y);
+ private static boolean onSegment(Vertex p1, Vertex p2, Vertex q) {
+ return q.x <= Math.max(p1.x, p2.x) && q.x >= Math.min(p1.x, p2.x)
+ && q.y <= Math.max(p1.y, p2.y) && q.y >= Math.min(p1.y, p2.y);
+ }
- // 水平线段
- if (Math.abs(minY - maxY) < epsilon) {
- if (Math.abs(point.y - minY) < epsilon && point.x >= minX && point.x <= maxX) {
- return true;
- } else {
- continue;
- }
- }
- // 点不在纵向范围
- if (point.y < minY || point.y > maxY) {
+ /**
+ * 根据 GeoJSON（FeatureCollection）计算外接矩形
+ */
+ @SuppressWarnings("unchecked")
+ public static ArdNoFlyBox getArdNoFlyBox(FeatureCollection featureCollection) {
+ if (featureCollection == null || featureCollection.getFeatures() == null) {
+ return null;
+ }
+
+ double minx = Double.MAX_VALUE;
+ double miny = Double.MAX_VALUE;
+ double maxx = Double.MIN_VALUE;
+ double maxy = Double.MIN_VALUE;
+
+ for (FeatureCollection.Feature feature : featureCollection.getFeatures()) {
+ FeatureCollection.Geometry geometry = feature.getGeometry();
+ if (geometry == null || geometry.getCoordinates() == null) {
continue;
}
- double xIntersect = v1.x + (point.y - v1.y) * (v2.x - v1.x) / (v2.y - v1.y);
+ String type = geometry.getType();
+ Object coords = geometry.getCoordinates();
- if (Math.abs(xIntersect - point.x) < epsilon) {
- return true; // 点在边界
+ if ("Polygon".equalsIgnoreCase(type)) {
+ // Polygon: [[[lon, lat], [lon, lat], ...]]
+ List<List<List<Double>>> rings = (List<List<List<Double>>>) coords;
+ for (List<List<Double>> ring : rings) {
+ for (List<Double> point : ring) {
+ if (point.size() < 2) {
+ continue;
+ }
+ double x = point.get(0);
+ double y = point.get(1);
+ minx = Math.min(minx, x);
+ miny = Math.min(miny, y);
+ maxx = Math.max(maxx, x);
+ maxy = Math.max(maxy, y);
+ }
+ }
}
- if (xIntersect > point.x) {
- count++;
- }
-
- if (Math.abs(point.y - minY) < epsilon) {
- count--;
+ else if ("MultiPolygon".equalsIgnoreCase(type)) {
+ // MultiPolygon: [[[[lon, lat], ...]], ...]
+ List<List<List<List<Double>>>> polygons = (List<List<List<List<Double>>>>) coords;
+ for (List<List<List<Double>>> polygon : polygons) {
+ for (List<List<Double>> ring : polygon) {
+ for (List<Double> point : ring) {
+ if (point.size() < 2) {
+ continue;
+ }
+ double x = point.get(0);
+ double y = point.get(1);
+ minx = Math.min(minx, x);
+ miny = Math.min(miny, y);
+ maxx = Math.max(maxx, x);
+ maxy = Math.max(maxy, y);
+ }
+ }
+ }
}
}
- return count % 2 != 0;
+ return new ArdNoFlyBox(minx, miny, maxx, maxy);
}
+
+ /**
+ * 将 GeoJSON Polygon 的外环坐标转换成 Vertex 列表
+ */
+ public static List<Vertex> toVertexes(FeatureCollection featureCollection) {
+ List<Vertex> vertexes = new ArrayList<>();
+ if (featureCollection == null || featureCollection.getFeatures() == null || featureCollection.getFeatures().isEmpty()) {
+ return vertexes;
+ }
+ FeatureCollection.Feature feature = featureCollection.getFeatures().get(0);
+ if (feature.getGeometry() != null) {
+ List<List<List<Double>>> coords = feature.getGeometry().getCoordinates();
+ if (coords != null && !coords.isEmpty()) {
+ List<List<Double>> outerRing = coords.get(0);
+ for (List<Double> point : outerRing) {
+ if (point.size() >= 2) {
+ vertexes.add(new Vertex(point.get(0), point.get(1)));
+ }
+ }
+ }
+ }
+ return vertexes;
+ }
+
+
}
diff --git a/ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java b/ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java
index 0450d6a..5f1f2fb 100644
--- a/ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java
+++ b/ard-work/src/main/java/com/ard/work/aspect/UavControlAspect.java
@@ -23,7 +23,6 @@
import org.aspectj.lang.annotation.Aspect;
import org.aspectj.lang.annotation.Before;
import org.springframework.stereotype.Component;
-
import javax.annotation.Resource;
import java.util.List;
@@ -144,34 +143,61 @@
return;
}
- Double longitude = null;
- Double latitude = null;
+ // ① 提取 boxSn（无人机编号）和目标点坐标
+ String boxSn = null;
+ Double targetLon = null, targetLat = null;
for (Object arg : args) {
- if (arg == null) {
- continue;
+ if (arg == null) continue;
+
+ if (boxSn == null) {
+ String sn = ReflectUtils.getFieldValue(arg, "boxSn");
+ if (sn != null) boxSn = sn;
}
- Double lon = ReflectUtils.getFieldValue(arg, "longitude");
- Double lat = ReflectUtils.getFieldValue(arg, "latitude");
- if (lon != null && lat != null) {
- longitude = lon;
- latitude = lat;
- break;
+
+ if (targetLon == null || targetLat == null) {
+ Double lon = ReflectUtils.getFieldValue(arg, "longitude");
+ Double lat = ReflectUtils.getFieldValue(arg, "latitude");
+ if (lon != null && lat != null) {
+ targetLon = lon;
+ targetLat = lat;
+ }
}
}
- if (longitude == null || latitude == null) {
- 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！");
+ if (targetLon == null || targetLat == null) {
+ throw new ControlException("方法参数中未找到有效目标经纬度字段，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.isInNoFlyZones(vertex, ardNoFlyZones);
- if (inNoFlyZones) {
- throw new ControlException("目标点在禁飞区内，无法执行操作！");
+ // ② 获取无人机当前位置（从缓存）
+ Vertex current = null;
+ if (boxSn != null) {
+ TelemetryData telemetry = UavTelemetryDataCache.get(boxSn);
+ if (telemetry != null) {
+ current = new Vertex(telemetry.getLng(), telemetry.getLat());
+ //current = new Vertex(125.03, 46.58);
+ }
+ }
+
+ Vertex target = new Vertex(targetLon, targetLat);
+
+ // ③ 查询禁飞区
+ List<ArdNoFlyZone> zones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());
+ if (zones.isEmpty()) return;
+
+ for (ArdNoFlyZone zone : zones) {
+ List<Vertex> polygon = zone.getVertices();
+ if (polygon == null || polygon.size() < 3) continue;
+
+ // 检查目标点是否在禁飞区
+ if (NoFlyZoneUtils.isPointInPolygon(target, polygon)) {
+ throw new ControlException("目标点在禁飞区【" + zone.getName() + "】内，无法执行操作！");
+ }
+
+ // 检查路径是否穿越禁飞区
+ if (current != null && NoFlyZoneUtils.isLineIntersectPolygon(current, target, polygon)) {
+ throw new ControlException("路径穿越禁飞区【" + zone.getName() + "】，无法执行操作！");
}
}
}
-
}
--
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