From 7a164e24123df74c3228324e4a398b79cb9c12b6 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Fri, 12 Dec 2025 14:37:17 +0800
Subject: [PATCH] 增加禁飞区距离计算
---
ard-work/src/main/java/com/ard/work/component/websocket/handler/NoFlyDistanceManager.java | 76 +++++++++++++++++++
ard-work/src/main/java/com/ard/work/domain/dto/NoFlyDistanceDTO.java | 18 ++++
ard-work/src/main/java/com/ard/work/domain/message/NoFlyDistanceMessage.java | 30 +++++++
ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java | 36 +++++++++
ard-work/src/main/java/com/ard/work/domain/enums/MessageType.java | 1
ard-system/src/main/java/com/ard/data/noflyzone/utils/NoFlyZoneUtils.java | 78 +++++++++++++++++++
6 files changed, 239 insertions(+), 0 deletions(-)
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 ea09a5a..e37cba3 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
@@ -15,6 +15,72 @@
public class NoFlyZoneUtils {
+
+ /**
+ * 计算点到多边形的最近距离
+ */
+ public static double pointToPolygonDistance(Vertex point, List<Vertex> polygon) {
+
+ // 如果在多边形内部，距离为 0
+ if (isPointInPolygon(point, polygon)) {
+ return 0;
+ }
+
+ double minDistance = Double.MAX_VALUE;
+ int n = polygon.size();
+
+ for (int i = 0; i < n; i++) {
+ Vertex a = polygon.get(i);
+ Vertex b = polygon.get((i + 1) % n); // 下一点，最后一条边连接第一个点
+
+ double dist = pointToSegmentDistance(point, a, b);
+ minDistance = Math.min(minDistance, dist);
+ }
+
+ return minDistance;
+ }
+
+ /**
+ * 计算点到线段的距离
+ */
+ public static double pointToSegmentDistance(Vertex p, Vertex a, Vertex b) {
+ double x = p.x, y = p.y;
+ double x1 = a.x, y1 = a.y;
+ double x2 = b.x, y2 = b.y;
+
+ double dx = x2 - x1;
+ double dy = y2 - y1;
+
+ if (dx == 0 && dy == 0) {
+ // A 和 B 是同一个点
+ dx = x - x1;
+ dy = y - y1;
+ return Math.sqrt(dx * dx + dy * dy);
+ }
+
+ // 投影参数 t（0-1之间表示在线段内部）
+ double t = ((x - x1) * dx + (y - y1) * dy) / (dx * dx + dy * dy);
+
+ if (t < 0) {
+ // 最近点是 A
+ dx = x - x1;
+ dy = y - y1;
+ } else if (t > 1) {
+ // 最近点是 B
+ dx = x - x2;
+ dy = y - y2;
+ } else {
+ // 最近点在线段中间
+ double projX = x1 + t * dx;
+ double projY = y1 + t * dy;
+ dx = x - projX;
+ dy = y - projY;
+ }
+
+ return Math.sqrt(dx * dx + dy * dy);
+ }
+
+
/**
* 判断点是否在多边形内（射线法）
*/
@@ -80,6 +146,18 @@
/**
+ * 判断点是否在矩形内
+ */
+ public static boolean isInsideBox(Vertex point, ArdNoFlyBox box) {
+ if (point == null || box == null) return false;
+ return point.x >= box.getMinx() &&
+ point.x <= box.getMaxx() &&
+ point.y >= box.getMiny() &&
+ point.y <= box.getMaxy();
+ }
+
+
+ /**
* 根据 GeoJSON（FeatureCollection）计算外接矩形
*/
@SuppressWarnings("unchecked")
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
new file mode 100644
index 0000000..52a3a6e
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/component/websocket/handler/NoFlyDistanceManager.java
@@ -0,0 +1,76 @@
+package com.ard.work.component.websocket.handler;
+
+import com.ard.data.noflyzone.domain.ArdNoFlyBox;
+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.domain.cache.UavTelemetryDataCache;
+import com.ard.work.domain.dto.NoFlyDistanceDTO;
+import com.ard.work.domain.dto.telemetry.TelemetryData;
+import org.springframework.stereotype.Component;
+import javax.annotation.Resource;
+import java.util.List;
+
+/**
+ * 禁飞区距离管理器
+ * @author liuyaping
+ * @date 2021/3/22
+ */
+@Component
+public class NoFlyDistanceManager extends BaseSubscriptionManager<NoFlyDistanceDTO> {
+
+ @Resource
+ private IArdNoFlyZoneService ardNoFlyZoneService;
+
+ @Override
+ protected NoFlyDistanceDTO getData(String boxSn) {
+ TelemetryData telemetryData = UavTelemetryDataCache.get(boxSn);
+ if (telemetryData == null) return null;
+
+ Vertex current = new Vertex(telemetryData.getLng(), telemetryData.getLat());
+
+ List<ArdNoFlyZone> zones = ardNoFlyZoneService.selectArdNoFlyZoneList(new ArdNoFlyZone());
+ if (zones.isEmpty()) return null;
+
+ double minDistance = Double.MAX_VALUE;
+ ArdNoFlyZone nearestZone = null;
+
+ for (ArdNoFlyZone zone : zones) {
+
+ 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()) {
+ continue;
+ }
+
+ List<Vertex> polygon = zone.getVertices();
+ if (polygon == null || polygon.size() < 3) continue;
+
+ double distance = NoFlyZoneUtils.pointToPolygonDistance(current, polygon);
+
+ if (distance < minDistance) {
+ minDistance = distance;
+ nearestZone = zone;
+ }
+ }
+
+ if (nearestZone == null) return null;
+
+ return NoFlyDistanceDTO.builder()
+ .boxSn(boxSn)
+ .zoneName(nearestZone.getName())
+ .distance(minDistance)
+ .inNoFlyZone(minDistance == 0)
+ .build();
+ }
+
+
+ @Override
+ protected String getMessageType() {
+ return "noFlyZoneDistance";
+ }
+}
diff --git a/ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java b/ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java
index 2d376d4..c8873a4 100644
--- a/ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java
+++ b/ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java
@@ -42,6 +42,8 @@
@Resource
private UavAllManager uavAllManager;
@Resource
+ private NoFlyDistanceManager noFlyDistanceManager;
+ @Resource
private TokenService tokenService;
private final Map<Long, Long> lastDisconnectTime = new ConcurrentHashMap<>();
@@ -73,6 +75,9 @@
break;
case CONTROLLER:
handleControlMessage(payload, userId);
+ break;
+ case NO_FLY_DISTANCE:
+ handleNoFlyDistanceMessage(payload, userId);
break;
case ALL:
handleAllMessage(payload, userId);
@@ -272,6 +277,37 @@
}
}
+ /**
+ * 处理禁飞区距离
+ *
+ * @param payload 消息负载，包含订阅信息
+ * @param userId 用户ID，用于标识用户
+ */
+ private void handleNoFlyDistanceMessage(String payload, Long userId) {
+ // 解析接收到的JSON消息，将其转换为BaseMessage对象
+ BaseMessage<NoFlyDistanceMessage> baseMessage = JSON.parseObject(payload,
+ new TypeReference<BaseMessage<NoFlyDistanceMessage>>() {
+ });
+ // 获取消息的有效载荷部分
+ NoFlyDistanceMessage noFlyDistanceMessage = baseMessage.getPayload();
+
+ // 检查有效载荷是否存在
+ if (noFlyDistanceMessage != null) {
+ // 获取无人机盒子的序列号
+ String boxSn = noFlyDistanceMessage.getBoxSn();
+ // 根据消息中的订阅标志，决定是订阅还是退订无人机状态
+ Boolean subscribe = noFlyDistanceMessage.getSubscribe();
+ if (subscribe) {
+ // 执行订阅操作
+ noFlyDistanceManager.subscribe(boxSn, userId, 1);
+ } else {
+ // 执行退订操作
+ noFlyDistanceManager.unsubscribe(boxSn, userId);
+ }
+ }
+ }
+
+
@Override
public void afterConnectionEstablished(WebSocketSession session) {
String userIdStr = (String) session.getAttributes().get("userId");
diff --git a/ard-work/src/main/java/com/ard/work/domain/dto/NoFlyDistanceDTO.java b/ard-work/src/main/java/com/ard/work/domain/dto/NoFlyDistanceDTO.java
new file mode 100644
index 0000000..5a54310
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/domain/dto/NoFlyDistanceDTO.java
@@ -0,0 +1,18 @@
+package com.ard.work.domain.dto;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+@Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class NoFlyDistanceDTO {
+ private String boxSn;
+ private String zoneName;
+ private double distance; // 米
+ private boolean inNoFlyZone;
+ // getters/setters
+}
diff --git a/ard-work/src/main/java/com/ard/work/domain/enums/MessageType.java b/ard-work/src/main/java/com/ard/work/domain/enums/MessageType.java
index 1c5f5a1..d4a751a 100644
--- a/ard-work/src/main/java/com/ard/work/domain/enums/MessageType.java
+++ b/ard-work/src/main/java/com/ard/work/domain/enums/MessageType.java
@@ -7,6 +7,7 @@
TELEMETRY("telemetry"),
SIGNAL("signal"),
CONTROLLER("controller"),
+ NO_FLY_DISTANCE("noFlyDistance"),
ALL("all");
private final String type;
diff --git a/ard-work/src/main/java/com/ard/work/domain/message/NoFlyDistanceMessage.java b/ard-work/src/main/java/com/ard/work/domain/message/NoFlyDistanceMessage.java
new file mode 100644
index 0000000..b7e8b20
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/domain/message/NoFlyDistanceMessage.java
@@ -0,0 +1,30 @@
+package com.ard.work.domain.message;
+
+import com.ard.work.domain.dto.signal.SignalInfo;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * Description: 禁飞距离消息
+ * Author: liusuyi
+ * Date: 2025年03月10日11:49
+ **/
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class NoFlyDistanceMessage {
+
+ /**
+ * 盒子编号
+ */
+ private String boxSn;
+
+ /**
+ * 是否订阅
+ */
+ private Boolean subscribe;
+
+}
--
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