From 3c8d6b8e60f02b9a40fc5acd4dc6c34a6b594eb6 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Mon, 19 Jan 2026 11:23:32 +0800
Subject: [PATCH] 增加用户优先级和所属平台 调整无人机控制逻辑增加优先级判断
---
ard-work/src/main/java/com/ard/work/component/websocket/handler/NoFlyDistanceManager.java | 32 ++++++++++++++++++++++++++++----
1 files changed, 28 insertions(+), 4 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/work/component/websocket/handler/NoFlyDistanceManager.java b/ard-work/src/main/java/com/ard/work/component/websocket/handler/NoFlyDistanceManager.java
index 52a3a6e..6e89232 100644
--- a/ard-work/src/main/java/com/ard/work/component/websocket/handler/NoFlyDistanceManager.java
+++ b/ard-work/src/main/java/com/ard/work/component/websocket/handler/NoFlyDistanceManager.java
@@ -41,12 +41,16 @@
ArdNoFlyBox box = zone.getArdNoFlyBox();
if (box == null) continue;
- // 包围盒快速排除
- if (current.x < box.getMinx() || current.x > box.getMaxx() ||
- current.y < box.getMiny() || current.y > box.getMaxy()) {
+ // ⭐ 外扩 50 米
+ ArdNoFlyBox expanded = expandBoxByMeter(box, 50);
+
+ // ⭐ 包围盒快速排除必须使用 expanded，而不是 box
+ if (current.x < expanded.getMinx() || current.x > expanded.getMaxx() ||
+ current.y < expanded.getMiny() || current.y > expanded.getMaxy()) {
continue;
}
+ // 计算 polygon 距离
List<Vertex> polygon = zone.getVertices();
if (polygon == null || polygon.size() < 3) continue;
@@ -63,9 +67,26 @@
return NoFlyDistanceDTO.builder()
.boxSn(boxSn)
.zoneName(nearestZone.getName())
- .distance(minDistance)
+ .distance(minDistance) // 米
.inNoFlyZone(minDistance == 0)
.build();
+ }
+
+ // 外扩包围盒多少米
+ private ArdNoFlyBox expandBoxByMeter(ArdNoFlyBox box, double meter) {
+
+ // 计算经纬度偏移
+ double latShift = meter / 111320.0; // 纬度方向
+ double lngShift = meter / (111320.0 * Math.cos(Math.toRadians(
+ (box.getMiny() + box.getMaxy()) / 2
+ ))); // 经度方向与纬度相关
+
+ return new ArdNoFlyBox(
+ box.getMinx() - lngShift,
+ box.getMiny() - latShift,
+ box.getMaxx() + lngShift,
+ box.getMaxy() + latShift
+ );
}
@@ -73,4 +94,7 @@
protected String getMessageType() {
return "noFlyZoneDistance";
}
+
+
+
}
--
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