From 7545fd839a3171fe2f55f13b1083caf666d3cf05 Mon Sep 17 00:00:00 2001
From: Xiajijian <1176061145@qq.com>
Date: Sat, 27 Dec 2025 15:40:46 +0800
Subject: [PATCH] 1. 判断是否循环航线业务优化。
---
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java | 492 +++++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 445 insertions(+), 47 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 2d188dd..f40d867 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;
@@ -11,22 +12,37 @@
import com.ard.data.noflyzone.domain.Vertex;
import com.ard.data.noflyzone.service.IArdNoFlyZoneService;
import com.ard.data.noflyzone.utils.NoFlyZoneUtils;
+import com.ard.framework.web.service.TokenService;
import com.ard.oss.model.MinioUploadResult;
import com.ard.oss.service.impl.OssServiceContext;
-import com.ard.route.domain.CoordinatePointReq;
-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.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.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;
+import org.slf4j.LoggerFactory;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.web.multipart.MultipartFile;
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.ToolUtils.*;
+import static com.ard.route.util.UavRouteReqUtils.fileConversionEntity;
/**
* 航线(kmz)Service业务层处理
@@ -37,17 +53,23 @@
@Service
public class ArdRouteInfoServiceImpl implements IArdRouteInfoService {
+ private static final Logger log = LoggerFactory.getLogger(TokenService.class);
+
@Autowired
private ArdRouteInfoMapper ardRouteInfoMapper;
@Autowired
private OssServiceContext ossService;
+
@Autowired
private UavRouteService routeService;
@Resource
private IArdNoFlyZoneService ardNoFlyZoneService;
+
+ @Resource
+ private ITyService tyService;
/**
* 查询航线(kmz)
@@ -59,11 +81,35 @@
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);
}
+
+ // 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;
+ }
+
+ private void adjustRoutePointHeight(RoutePointReq routePointReq, double altitudeOffset) {
+ routePointReq.setHeight(routePointReq.getHeight() + altitudeOffset);
}
/**
@@ -74,6 +120,11 @@
*/
@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);
}
@@ -87,22 +138,27 @@
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");
}
- // 航线数据
- byte[] routeData;
- try {
- routeData = serialize(ardRouteInfo.getUavRouteReq());
- } catch (IOException e) {
- throw new RuntimeException(e);
- }
ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft()));
- ardRouteInfo.setRouteData(routeData);
- KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(), ardRouteInfo.getName());
+ KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(),ardRouteInfo.getName());
+ 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()));
+ }
+ }
+ }
+ }
+ }
ardRouteInfo.setPath(kmzResult.getPath());
ardRouteInfo.setReadOnly("0");
- ardRouteInfoMapper.insertArdRouteInfo(ardRouteInfo);
+ ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo));
return kmzResult.getPath();
}
@@ -115,19 +171,47 @@
@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());
+ // 先删除航线
+ delOssService(route);
+ // 再生成航线
+ kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(), 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;
+ return ardRouteInfoMapper.updateArdRouteInfo(dataProcessing(ardRouteInfo));
+ }
+
+ // 新增信息加工
+ private ArdRouteInfo dataProcessing(ArdRouteInfo ardRouteInfo) {
+ // 航线数据
+ byte[] routeData = null;
+ try {
+ if (ardRouteInfo.getUavRouteReq() != null){
+ routeData = serialize(ardRouteInfo.getUavRouteReq());
+ }
+ } catch (IOException e) {
+ throw new RuntimeException(e);
}
- ardRouteInfo.setPath(kmzResult.getPath());
- return ardRouteInfoMapper.updateArdRouteInfo(ardRouteInfo);
+ ardRouteInfo.setRouteData(routeData);
+ ardRouteInfo.setPointCount(getPointCount(ardRouteInfo));
+ return ardRouteInfo;
+ }
+
+ // 获取行点总数
+ private Integer getPointCount(ArdRouteInfo ardRouteInfo) {
+ if (ardRouteInfo.getUavRouteReq() != null){
+ if (ardRouteInfo.getUavRouteReq().getRoutePointList() != null) {
+ return ardRouteInfo.getUavRouteReq().getRoutePointList().size();
+ }
+ }
+ return 0;
}
/**
@@ -141,9 +225,16 @@
// 删除航线(kmz)文件
for (String id : ids) {
ArdRouteInfo information = ardRouteInfoMapper.selectArdRouteInfoById(id);
- ossService.deleteObject("kmz", subStringMinioUrlName(information.getPath()));
+ delOssService(information);
}
return ardRouteInfoMapper.deleteArdRouteInfoByIds(ids);
+ }
+
+ // 删除minio文件
+ private void delOssService(ArdRouteInfo information){
+ if (information.getPath() != null){
+ ossService.deleteObject("kmz", subStringMinioUrlName(information.getPath()));
+ }
}
/**
@@ -154,6 +245,9 @@
*/
@Override
public int deleteArdRouteInfoById(String id) {
+ // 删除航线(kmz)文件
+ ArdRouteInfo information = ardRouteInfoMapper.selectArdRouteInfoById(id);
+ delOssService(information);
return ardRouteInfoMapper.deleteArdRouteInfoById(id);
}
@@ -166,25 +260,60 @@
@Override
public MinioUploadResult uploadArdRouteInfo(MultipartFile file) {
try {
+ // 增加航线实体类信息
+ UavRouteReq uavRouteReq = fileConversionEntity(file);
+ ArdRouteInfo ardRouteInfo = new ArdRouteInfo();
+ if (uavRouteReq != null){
+ ardRouteInfo.setUavRouteReq(uavRouteReq);
+ ardRouteInfo.setType(templateTypeData(uavRouteReq));
+ ardRouteInfo.setAircraft(droneTypeData(uavRouteReq));
+ }
String url = ossService.upload("kmz",file);
- ArdRouteInfo information = new ArdRouteInfo();
- information.setName(file.getOriginalFilename());
- information.setPath(url);
- information.setGroupId("0"); // 默认分组
- information.setReadOnly("1"); // 默认只读
- insertRouteInfomation(information);
+ ardRouteInfo.setName(file.getOriginalFilename());
+ ardRouteInfo.setPath(url);
+ ardRouteInfo.setGroupId("0"); // 默认分组
+ ardRouteInfo.setReadOnly("1"); // 默认只读
+ insertRouteInfomation(ardRouteInfo);
return MinioUploadResult.builder()
.url(url)
.newFileName(FileUtils.getName(url))
.originalFilename(file.getOriginalFilename())
.build();
}catch (Exception e){
+ log.error("上传航线文件失败", e);
return null;
}
}
/**
- * 根据文件名称查询航线信息
+ * 判断一组数组，是否包含禁飞区
+ */
+ private void arrayWithinNoFlyZone(List<RoutePointReq> routePointList) {
+ if (routePointList == null || routePointList.isEmpty()) {
+ return;
+ }
+ // 检查第一个航点
+ ArdNoflyDto firstDto = new ArdNoflyDto();
+ firstDto.setTarget(new Vertex(
+ routePointList.get(0).getLongitude(),
+ routePointList.get(0).getLatitude()));
+ verifyNoFlyZone(firstDto);
+
+ // 检查后续航点及与前一个航点的线段
+ for (int i = 1; i < routePointList.size(); i++) {
+ ArdNoflyDto dto = new ArdNoflyDto();
+ dto.setCurrent(new Vertex(
+ routePointList.get(i - 1).getLongitude(),
+ routePointList.get(i - 1).getLatitude()));
+ dto.setTarget(new Vertex(
+ routePointList.get(i).getLongitude(),
+ routePointList.get(i).getLatitude()));
+ verifyNoFlyZone(dto);
+ }
+ }
+
+ /**
+ * 根据名称查询航线信息
*
* @param name 文件名称
* @return 结果
@@ -208,28 +337,272 @@
/**
* 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());
+ // 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();
- 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！");
-// }
+ // 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);
+ wayLineUploadDTO.setBoxSn(boxSn);
+ // 3.缓存航线信息
+ WaylineInfo WaylineInfo = new WaylineInfo();
+ WaylineInfo.setBoxSn(boxSn);
+ WaylineInfo.setWaylineId(route.getId());
+ UavWaylineCache.put(WaylineInfo);
+ // 4.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 id,String boxSn) {
+ ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(id);
+ // 判断是否循环航线
+ if ("0".equals(route.getIsLoop())) {
+ deleteArdRouteInfoById(id);
+ }
+ 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;
+
}
/**
@@ -238,11 +611,36 @@
private void insertRouteInfomation(ArdRouteInfo ardRouteInfo){
ardRouteInfo.setId(IdUtils.simpleUUID());
ardRouteInfo.setCreateTime(DateUtils.getNowDate());
- ardRouteInfoMapper.insertArdRouteInfo(ardRouteInfo);
+ ardRouteInfo.setUpdateTime(DateUtils.getNowDate());
+ ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo));
}
- private void verifyNoFlyZone(CoordinatePointReq a,CoordinatePointReq b){
+ /**
+ * 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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