From b8b5a3895e741d5348ecdd39ad2e5cbd443f8e89 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Wed, 01 Apr 2026 12:17:04 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java | 316 ++++++++++++++++++++++++----------------------------
1 files changed, 146 insertions(+), 170 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 5a0b49c..0d79c69 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
@@ -6,6 +6,7 @@
import com.ard.common.exception.ControlException;
import com.ard.common.utils.DateUtils;
+import com.ard.common.utils.SecurityUtils;
import com.ard.common.utils.file.FileUtils;
import com.ard.common.utils.uuid.IdUtils;
import com.ard.data.noflyzone.domain.ArdNoFlyZone;
@@ -13,6 +14,8 @@
import com.ard.data.noflyzone.service.IArdNoFlyZoneService;
import com.ard.data.noflyzone.utils.NoFlyZoneUtils;
import com.ard.framework.web.service.TokenService;
+import com.ard.inspection.domain.ArdPointCloud;
+import com.ard.inspection.mapper.ArdPointCloudMapper;
import com.ard.oss.model.MinioUploadResult;
import com.ard.oss.service.impl.OssServiceContext;
import com.ard.route.domain.djuav.ActionGroupReq;
@@ -20,28 +23,31 @@
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.ArdRouteCloud;
import com.ard.route.domain.route.ArdRouteInfo;
+import com.ard.route.domain.route.ArdRouteMission;
import com.ard.route.domain.vo.KmzResultVo;
+import com.ard.route.mapper.ArdRouteCloudMapper;
import com.ard.route.mapper.ArdRouteInfoMapper;
+import com.ard.route.mapper.ArdRouteMissionMapper;
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.BeanUtils;
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.InitializationUtils.divided23;
import static com.ard.route.util.ToolUtils.*;
+import static com.ard.route.util.UavRouteReqUtils.buildWayLineUploadDTO;
import static com.ard.route.util.UavRouteReqUtils.fileConversionEntity;
/**
@@ -61,9 +67,17 @@
@Autowired
private OssServiceContext ossService;
-
@Autowired
private UavRouteService routeService;
+
+ @Autowired
+ private ArdRouteMissionMapper ardRouteMissionMapper;
+
+ @Autowired
+ private ArdPointCloudMapper ardPointCloudMapper;
+
+ @Autowired
+ private ArdRouteCloudMapper ardRouteCloudMapper;
@Resource
private IArdNoFlyZoneService ardNoFlyZoneService;
@@ -81,8 +95,21 @@
public ArdRouteInfo selectArdRouteInfoById(String id) {
ArdRouteInfo ardRouteInfo = ardRouteInfoMapper.selectArdRouteInfoById(id);
try {
- if (ardRouteInfo.getRouteData() != null){
- ardRouteInfo.setUavRouteReq((UavRouteReq) deserialize(ardRouteInfo.getRouteData()));
+ if (ardRouteInfo != null) {
+ if ("3".equals(ardRouteInfo.getType())) {
+ if (ardRouteInfo.getRouteData() != null){
+ UavRouteReq uavRouteReq = new UavRouteReq();
+ BeanUtils.copyProperties(deserialize(ardRouteInfo.getRouteData()), uavRouteReq);
+ ardRouteInfo.setUavRouteReq(uavRouteReq);
+ }
+ } else {
+ if (ardRouteInfo.getRouteData() != null){
+ ardRouteInfo.setUavRouteReq((UavRouteReq) deserialize(ardRouteInfo.getRouteData()));
+ }
+ }
+ if (ardRouteInfo.getCloudData() != null){
+ ardRouteInfo.setArdPointCloudList(deserializeLs(ardRouteInfo.getCloudData()));
+ }
}
} catch (IOException | ClassNotFoundException e) {
throw new RuntimeException(e);
@@ -90,11 +117,8 @@
// 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 {
@@ -108,6 +132,7 @@
return ardRouteInfo;
}
+ // 调整每个航点高度
private void adjustRoutePointHeight(RoutePointReq routePointReq, double altitudeOffset) {
routePointReq.setHeight(routePointReq.getHeight() + altitudeOffset);
}
@@ -136,30 +161,97 @@
*/
@Override
public String insertArdRouteInfo(ArdRouteInfo ardRouteInfo) {
+ checkRouteMissionStatus(ardRouteInfo,"1");
+ checkRouteMissionStatus(ardRouteInfo,"2");
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");
}
+ if ("3".equals(ardRouteInfo.getType())){
+ ardRouteInfo.getUavRouteReq().setHeightMode("EGM96");
+ }else {
+ ardRouteInfo.getUavRouteReq().setHeightMode("relativeToStartPoint");
+ }
ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft()));
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()));
- }
- }
- }
- }
- }
+ zoomProcessing(ardRouteInfo);
ardRouteInfo.setPath(kmzResult.getPath());
ardRouteInfo.setReadOnly("0");
+ insertRoutePointCloud(ardRouteInfo);
ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo));
return kmzResult.getPath();
+ }
+
+ /**
+ * 新增航信信息时，修改点云数据
+ * 同时增加航线与点云关联关系表数据
+ */
+ private void insertRoutePointCloud(ArdRouteInfo ardRouteInfo) {
+ List<ArdRouteCloud> cloudList = new ArrayList<>();
+ if (ardRouteInfo.getArdPointCloudList() != null){
+ for (ArdPointCloud cloudId : ardRouteInfo.getArdPointCloudList()) {
+ ArdRouteCloud cloud = new ArdRouteCloud();
+ cloud.setRouteId(ardRouteInfo.getId());
+ cloud.setCloudId(cloudId.getId());
+ cloudId.setAssociatedState("1");
+ cloudList.add(cloud);
+ cloudId.setUpdateTime(DateUtils.getNowDate());
+ ardPointCloudMapper.updateArdPointCloud(cloudId);
+ }
+ ardRouteCloudMapper.batchRouteCloud(cloudList);
+ }
+ }
+
+ /**
+ * 航线任务数据加工校验
+ * 1.新建航线时，判断航线任务是否已完成
+ * 2.新建航线时，对航线任务数据进行加工
+ * 3.执行航线的时,修改航线任务表执行状态
+ */
+ private void checkRouteMissionStatus(ArdRouteInfo ardRouteInfo,String type){
+ ArdRouteMission mission = ardRouteMissionMapper.selectArdRouteMissionById(ardRouteInfo.getMissionId());
+ if (mission != null){
+ switch(type){
+ case "1":
+ validateForCreate(mission);
+ break;
+ case "2":
+ bindRoute(mission,ardRouteInfo);
+ break;
+ case "3":
+ executeMission(mission,ardRouteInfo);
+ break;
+ default:
+ throw new RuntimeException("不支持的操作类型!!!");
+ }
+ }
+ }
+
+ private void validateForCreate(ArdRouteMission mission) {
+ if ("1".equals(mission.getExecuteStatus())){
+ throw new RuntimeException("航线任务已完成，无法创建航线！！！");
+ }
+ }
+
+ private void bindRoute(ArdRouteMission mission, ArdRouteInfo routeInfo) {
+ if (mission.getRouteId() != null) {
+ throw new RuntimeException("航线任务下已绑定航线，不可创建新航线信息！！！");
+ }
+ mission.setRouteId(routeInfo.getId());
+ ardRouteMissionMapper.updateArdRouteMission(mission);
+ }
+
+ private void executeMission(ArdRouteMission mission,ArdRouteInfo ardRouteInfo) {
+ if ("0".equals(mission.getExecuteStatus())) {
+ mission.setRouteId(ardRouteInfo.getId());
+ mission.setExecuteStatus("1");
+ mission.setExecuteName(SecurityUtils.getUsername());
+ mission.setExecuteTime(DateUtils.getNowDate());
+ mission.setUpdateTime(DateUtils.getNowDate());
+ ardRouteMissionMapper.updateArdRouteMission(mission);
+ }
}
/**
@@ -179,6 +271,8 @@
// 先删除航线
delOssService(route);
// 再生成航线
+ ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft()));
+ zoomProcessing(ardRouteInfo);
kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(), ardRouteInfo.getName());
if ("更新航线kmz文件失败".equals(kmzResult.getData())) {
return 0;
@@ -188,18 +282,39 @@
return ardRouteInfoMapper.updateArdRouteInfo(dataProcessing(ardRouteInfo));
}
+ // 变倍加工方法
+ private void zoomProcessing(ArdRouteInfo ardRouteInfo) {
+ 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(divided23(action.getZoom()));
+ }
+ }
+ }
+ }
+ }
+ }
+
// 新增信息加工
private ArdRouteInfo dataProcessing(ArdRouteInfo ardRouteInfo) {
// 航线数据
byte[] routeData = null;
+ byte[] cloudData = null;
try {
if (ardRouteInfo.getUavRouteReq() != null){
routeData = serialize(ardRouteInfo.getUavRouteReq());
+ }
+ if (ardRouteInfo.getArdPointCloudList() != null){
+ cloudData = serialize(ardRouteInfo.getArdPointCloudList());
}
} catch (IOException e) {
throw new RuntimeException(e);
}
ardRouteInfo.setRouteData(routeData);
+ ardRouteInfo.setCloudData(cloudData);
ardRouteInfo.setPointCount(getPointCount(ardRouteInfo));
return ardRouteInfo;
}
@@ -356,6 +471,9 @@
ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(id);
try {
route.setUavRouteReq((UavRouteReq) deserialize(route.getRouteData()));
+ if (route.getCloudData() != null){
+ route.setArdPointCloudList(deserializeLs(route.getCloudData()));
+ }
} catch (IOException | ClassNotFoundException e) {
throw new RuntimeException(e);
}
@@ -412,9 +530,12 @@
@Override
public Boolean routeBegins(String id,String boxSn) {
ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(id);
- // 判断是否循环航线
- if ("1".equals(route.getIsLoop())) {
- deleteArdRouteInfoById(id);
+ if (null != route){
+ // 判断是否循环航线
+ if ("0".equals(route.getIsLoop())){
+ deleteArdRouteInfoById(id);
+ }
+ checkRouteMissionStatus(route,"3");
}
WayLineBeginDTO wayLineBeginDTO = new WayLineBeginDTO(boxSn);
tyService.wayLineBegin(wayLineBeginDTO);
@@ -458,151 +579,6 @@
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;
-
}
/**
--
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