From 6acafd37b699df268f7973228a6183db16309b75 Mon Sep 17 00:00:00 2001
From: Xiajijian <1176061145@qq.com>
Date: Mon, 24 Nov 2025 16:03:41 +0800
Subject: [PATCH] 1.修改BUG，longitude与latitude参数相反问题。
---
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java | 324 ++++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 293 insertions(+), 31 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 8885c7f..15fa9a9 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
@@ -1,6 +1,7 @@
package com.ard.route.service.impl;
import java.io.IOException;
+import java.util.ArrayList;
import java.util.List;
import com.ard.common.exception.ControlException;
@@ -13,12 +14,21 @@
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.UavRouteReq;
+import com.ard.route.domain.djuav.ActionGroupReq;
+import com.ard.route.domain.djuav.PointActionReq;
+import com.ard.route.domain.djuav.RoutePointReq;
+import com.ard.route.domain.djuav.UavRouteReq;
+import com.ard.route.domain.dto.ArdNoflyDto;
import com.ard.route.domain.route.ArdRouteInfo;
+import com.ard.route.domain.sixhe.ArdRouteChange;
+import com.ard.route.domain.vo.KmzInfoVo;
import com.ard.route.domain.vo.KmzResultVo;
import com.ard.route.mapper.ArdRouteInfoMapper;
import com.ard.route.service.IArdRouteInfoService;
import com.ard.route.service.UavRouteService;
+import com.ard.work.domain.dto.state.PointData;
+import com.ard.work.domain.dto.wayline.*;
+import com.ard.work.service.ITyService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.web.multipart.MultipartFile;
@@ -48,6 +58,9 @@
@Resource
private IArdNoFlyZoneService ardNoFlyZoneService;
+ @Resource
+ private ITyService tyService;
+
/**
* 查询航线(kmz)
*
@@ -58,7 +71,9 @@
public ArdRouteInfo selectArdRouteInfoById(String id) {
ArdRouteInfo ardRouteInfo = ardRouteInfoMapper.selectArdRouteInfoById(id);
try {
- ardRouteInfo.setUavRouteReq((UavRouteReq) deserialize(ardRouteInfo.getRouteData()));
+ if (ardRouteInfo.getRouteData() != null){
+ ardRouteInfo.setUavRouteReq((UavRouteReq) deserialize(ardRouteInfo.getRouteData()));
+ }
} catch (IOException | ClassNotFoundException e) {
throw new RuntimeException(e);
}
@@ -73,6 +88,11 @@
*/
@Override
public List<ArdRouteInfo> selectArdRouteInfoList(ArdRouteInfo ardRouteInfo) {
+ if ("1".equals(ardRouteInfo.getOrderByTime())) {
+ ardRouteInfo.setOrderByTime("DESC");
+ }else if ("0".equals(ardRouteInfo.getOrderByTime())) {
+ ardRouteInfo.setOrderByTime("ASC");
+ }
return ardRouteInfoMapper.selectArdRouteInfoList(ardRouteInfo);
}
@@ -86,6 +106,7 @@
public String insertArdRouteInfo(ArdRouteInfo ardRouteInfo) {
ardRouteInfo.setId(IdUtils.simpleUUID());
ardRouteInfo.setCreateTime(DateUtils.getNowDate());
+ ardRouteInfo.setUpdateTime(DateUtils.getNowDate()); // 修改时间，用于排序
if (ardRouteInfo.getGroupId() == null){
ardRouteInfo.setGroupId("0");
}
@@ -96,6 +117,7 @@
} 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 +135,21 @@
@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);
}
@@ -170,6 +195,7 @@
information.setPath(url);
information.setGroupId("0"); // 默认分组
information.setReadOnly("1"); // 默认只读
+ // 增加航线实体类信息
insertRouteInfomation(information);
return MinioUploadResult.builder()
.url(url)
@@ -182,7 +208,7 @@
}
/**
- * 根据文件名称查询航线信息
+ * 根据名称查询航线信息
*
* @param name 文件名称
* @return 结果
@@ -196,35 +222,243 @@
* 修改航线分组ID
*
* @param id ID
- * @param GroupId 分组ID
+ * @param groupId 分组ID
* @return 结果
*/
@Override
- public int updateRouteInfomationGroupId(String id, String GroupId) {
- return ardRouteInfoMapper.updateRouteInforGroupId(id, GroupId);
+ public int updateRouteInfomationGroupId(String id, String groupId) {
+ return ardRouteInfoMapper.updateRouteInforGroupId(id, groupId);
}
/**
* 判断行点是否在禁飞区
- *
- * @param longitude 经度
- * @param latitude 纬度
* @return 结果
*/
@Override
- public Boolean selectRouteInfomationNoFly(Double longitude, Double latitude) {
- 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！");
+ public Boolean selectRouteInfomationNoFly(ArdNoflyDto ardNoflyDto) {
+ return verifyNoFlyZone(ardNoflyDto);
+ }
+
+ /**
+ * 上传航线到边缘服务器
+ *
+ * ardNoflyDto
+ * @return 结果
+ */
+ @Override
+ public Boolean uploadRouteToSixHe(String id,String boxSn) {
+ // 1.获取航线信息
+ // 1.1通过航线数据，转换。
+ ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(id);
+ try {
+ route.setUavRouteReq((UavRouteReq) deserialize(route.getRouteData()));
+ } catch (IOException | ClassNotFoundException e) {
+ throw new RuntimeException(e);
}
- List<ArdNoFlyZone> ardNoFlyZones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());
- if (!ardNoFlyZones.isEmpty()) {
- Vertex vertex = new Vertex(longitude, latitude);
-// 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！");
-// }
- }
+ // 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);
+ wayLineUploadDTO.setBoxSn(boxSn);
+ // 3.调用接口
+ tyService.wayLineUpload(wayLineUploadDTO);
return true;
+ }
+
+ /**
+ * 开始航线
+ *
+ * @param boxSn 云盒SN编号
+ * @return 结果
+ */
+ @Override
+ public Boolean routeBegins(String boxSn) {
+ WayLineBeginDTO wayLineBeginDTO = new WayLineBeginDTO(boxSn);
+ tyService.wayLineBegin(wayLineBeginDTO);
+ return true;
+ }
+
+ /**
+ * 暂停航线
+ *
+ * @param boxSn 云盒SN编号
+ * @return 结果
+ */
+ @Override
+ public Boolean routeSuspension(String boxSn) {
+ WayLinePauseDTO wayLinePauseDTO = new WayLinePauseDTO(boxSn);
+ tyService.wayLinePause(wayLinePauseDTO);
+ return true;
+ }
+
+ /**
+ * 恢复航线
+ *
+ * @param boxSn 云盒SN编号
+ * @return 结果
+ */
+ @Override
+ public Boolean routeResumption(String boxSn) {
+ WayLineResumeDTO wayLineResumeDTO = new WayLineResumeDTO(boxSn);
+ tyService.wayLineResume(wayLineResumeDTO);
+ return true;
+ }
+
+ /**
+ * 结束航线
+ *
+ * @param boxSn 云盒SN编号
+ * @return 结果
+ */
+ @Override
+ public Boolean routeEnd(String boxSn) {
+ WayLineEndDTO wayLineEndDTO = new WayLineEndDTO(boxSn);
+ tyService.wayLineEnd(wayLineEndDTO);
+ return true;
+ }
+
+ /**
+ * ArdRouteInfo实体转换，WayLineUploadDTO
+ */
+ private WayLineUploadDTO buildWayLineUploadDTO(ArdRouteInfo ardRouteInfo){
+ WayLineUploadDTO wayLineUploadDTO = new WayLineUploadDTO();
+ String finishAction = ardRouteInfo.getUavRouteReq().getFinishAction(); //1
+ Double autoFlightSpeed = ardRouteInfo.getUavRouteReq().getAutoFlightSpeed(); //15
+ Double globalTransitionalSpeed = ardRouteInfo.getUavRouteReq().getGlobalTransitionalSpeed(); //8
+ String exitOnRcLostAction = ardRouteInfo.getUavRouteReq().getExitOnRcLostAction(); //0
+
+ PlanLineData planLineData = new PlanLineData();
+ if (finishAction != null){
+ planLineData.setLoseAction(0);
+ }
+ if (autoFlightSpeed != null){
+ planLineData.setAutoSpeed(8);
+ }
+ planLineData.setMaxSpeed(15);
+// if (globalTransitionalSpeed != null){
+// planLineData.setMaxSpeed(15);
+// }
+ if (exitOnRcLostAction != null){
+ planLineData.setFinishedAction(1);
+ }
+ planLineData.setHomeHeight(50);
+ planLineData.setInterests(new ArrayList<>());
+ planLineData.setIsSaveEnergyMode(0);
+ planLineData.setPoints(buildPointDataList(ardRouteInfo.getUavRouteReq()));
+
+ wayLineUploadDTO.setWayLineData(planLineData);
+ return wayLineUploadDTO;
+ }
+
+ private List<PointData> buildPointDataList(UavRouteReq uavRouteReq){
+ List<PointData> pointDataList = new ArrayList<>();
+ for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
+ PointData pointData = new PointData();
+
+ Integer routePointIndex = routePointReq.getRoutePointIndex();
+ if (routePointIndex != null){
+ pointData.setGroupIndex(routePointIndex);
+ }
+ Double height = routePointReq.getHeight();
+ if (height != null){
+ pointData.setHeight(height.floatValue());
+ }
+ Double longitude = routePointReq.getLongitude();
+ if (longitude != null){
+ pointData.setLng(longitude.floatValue());
+ }
+ Double latitude = routePointReq.getLatitude();
+ if (latitude != null){
+ pointData.setLat(latitude.floatValue());
+ }
+ Double speed = routePointReq.getSpeed();
+ if (speed != null){
+ pointData.setSpeed(speed.floatValue());
+ }
+ pointData.setDampingDistance(0);
+ pointData.setFlightPathMode(1);
+ pointData.setHeading(0);
+ pointData.setHeadingMode(0);
+ pointData.setInterestIndex(-1);
+ pointData.setSafeGohomeFlag(0);
+ pointData.setActions(buildPointActionList(routePointReq.getActionGroupList()));
+ pointDataList.add(pointData);
+
+ }
+ return pointDataList;
+ }
+
+ private List<PointAction> buildPointActionList(List<ActionGroupReq> actionGroupList){
+ List<PointAction> pointActionList = new ArrayList<>();
+ for (ActionGroupReq actionGroupReq : actionGroupList) {
+ for (PointActionReq action : actionGroupReq.getActions()) {
+ PointAction pointAction = typeProcessing(action);
+ pointActionList.add(pointAction);
+ }
+ }
+ return pointActionList;
+ }
+
+ private PointAction typeProcessing(PointActionReq pointActionReq){
+ PointAction pointAction = new PointAction();
+
+ if (pointActionReq.getZoom() != null){
+ pointAction.setType(1);
+ pointAction.setParam(pointActionReq.getZoom().floatValue());
+ pointAction.setSpeakInfo("");
+ pointAction.setWaitTime(2);
+ }
+
+ if (pointActionReq.getTakePhotoType() != null){
+ pointAction.setType(2);
+ pointAction.setParam(1);
+ pointAction.setSpeakInfo("");
+ pointAction.setWaitTime(2);
+ }
+
+ if (pointActionReq.getStartRecord() != null){
+ pointAction.setType(3);
+ pointAction.setParam(1);
+ pointAction.setSpeakInfo("");
+ pointAction.setWaitTime(2);
+ }
+
+ if (pointActionReq.getStopRecord() != null){
+ pointAction.setType(4);
+ pointAction.setParam(1);
+ pointAction.setSpeakInfo("");
+ pointAction.setWaitTime(2);
+ }
+
+ if (pointActionReq.getAircraftHeading() != null){
+ pointAction.setType(5);
+ pointAction.setParam(pointActionReq.getAircraftHeading().floatValue());
+ pointAction.setSpeakInfo("");
+ pointAction.setWaitTime(2);
+ }
+
+ if (pointActionReq.getGimbalPitchRotateAngle() != null){
+ pointAction.setType(6);
+ pointAction.setParam(pointActionReq.getGimbalPitchRotateAngle().floatValue());
+ pointAction.setSpeakInfo("");
+ pointAction.setWaitTime(2);
+ }
+
+ if (pointActionReq.getGimbalYawRotateAngle() != null){
+ pointAction.setType(7);
+ pointAction.setParam(pointActionReq.getGimbalYawRotateAngle().floatValue());
+ pointAction.setSpeakInfo("");
+ pointAction.setWaitTime(2);
+ }
+
+ if (pointActionReq.getHoverTime() != null){
+ pointAction.setType(9);
+ pointAction.setParam(pointActionReq.getHoverTime().floatValue());
+ pointAction.setSpeakInfo("");
+ pointAction.setWaitTime(2);
+ }
+
+ return pointAction;
+
}
/**
@@ -236,4 +470,32 @@
ardRouteInfoMapper.insertArdRouteInfo(ardRouteInfo);
}
+ /**
+ * 判断行点是否在禁飞区
+ * 原点 current 第一个节点
+ * 目标点 target 第二个节点
+ */
+ private Boolean verifyNoFlyZone(ArdNoflyDto ardNoflyDto){
+ // ③ 查询禁飞区
+ List<ArdNoFlyZone> zones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());
+ if (zones.isEmpty()) {
+ return true;
+ }
+ 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(ardNoflyDto.getTarget(), 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 (ardNoflyDto.getCurrent() != null && NoFlyZoneUtils.isLineIntersectPolygon(ardNoflyDto.getCurrent(), ardNoflyDto.getTarget(), polygon)) {
+ throw new ControlException("路径穿越禁飞区【" + zone.getName() + "】，无法执行操作！");
+ }
+ }
+ return true;
+ }
+
}
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