From c3c3a7fb853279ca7462057600f32438a59222a3 Mon Sep 17 00:00:00 2001
From: Xiajijian <1176061145@qq.com>
Date: Tue, 16 Dec 2025 08:36:15 +0800
Subject: [PATCH] 1. 修改判断无人机类型为空BUG。
---
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java | 175 +++++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 143 insertions(+), 32 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 57f6522..8963f85 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
@@ -12,6 +12,7 @@
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.djuav.ActionGroupReq;
@@ -20,22 +21,26 @@
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.cache.UavWaylineCache;
import com.ard.work.domain.dto.state.PointData;
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
@@ -46,11 +51,14 @@
@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;
@@ -77,7 +85,38 @@
} catch (IOException | ClassNotFoundException e) {
throw new RuntimeException(e);
}
+
+ // 主逻辑优化
+ double altitudeOffset = getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(), "alt");
+ boolean isM350RTK = M350_RTK.getValue().equals(ardRouteInfo.getUavRouteReq().getDroneType());
+
+ for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
+ // 调整航点高度
+ adjustRoutePointHeight(routePointReq, altitudeOffset);
+ // 如果是M350_RTK无人机，处理变焦动作
+ if (isM350RTK && routePointReq.getActionGroupList() != null) {
+ for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
+ if (actionGroupReq != null && actionGroupReq.getActions() != null) {
+ processZoomActions(actionGroupReq);
+ }
+ }
+ }
+ }
return ardRouteInfo;
+ }
+
+ // 提取航点高度调整逻辑到方法中
+ private void adjustRoutePointHeight(RoutePointReq routePointReq, double altitudeOffset) {
+ routePointReq.setHeight(routePointReq.getHeight() + altitudeOffset);
+ }
+
+ // 提取变焦值处理逻辑到方法中
+ private void processZoomActions(ActionGroupReq actionGroupReq) {
+ for (PointActionReq action : actionGroupReq.getActions()) {
+ if (action != null && action.getZoom() != null) {
+ action.setZoom(divided_23(action.getZoom()));
+ }
+ }
}
/**
@@ -93,6 +132,12 @@
}else if ("0".equals(ardRouteInfo.getOrderByTime())) {
ardRouteInfo.setOrderByTime("ASC");
}
+// List<ArdRouteInfo> list = ardRouteInfoMapper.selectArdRouteInfoList(ardRouteInfo);
+// for (ArdRouteInfo routeInfo : list) {
+// for (RoutePointReq routePointReq : routeInfo.getUavRouteReq().getRoutePointList()) {
+// routePointReq.setHeight(routePointReq.getHeight() + getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(),"alt"));
+// }
+// }
return ardRouteInfoMapper.selectArdRouteInfoList(ardRouteInfo);
}
@@ -110,20 +155,11 @@
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());
ardRouteInfo.setPath(kmzResult.getPath());
ardRouteInfo.setReadOnly("0");
- ardRouteInfo.setPointCount(getPointCount(ardRouteInfo));
- ardRouteInfoMapper.insertArdRouteInfo(ardRouteInfo);
+ ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo));
return kmzResult.getPath();
}
@@ -141,23 +177,40 @@
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());
- }
+ // 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());
}
- ardRouteInfo.setPointCount(getPointCount(ardRouteInfo));
- return ardRouteInfoMapper.updateArdRouteInfo(ardRouteInfo);
+ 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.setRouteData(routeData);
+ ardRouteInfo.setPointCount(getPointCount(ardRouteInfo));
+ return ardRouteInfo;
+ }
+
+ // 获取行点总数
private Integer getPointCount(ArdRouteInfo ardRouteInfo) {
- if (ardRouteInfo.getUavRouteReq().getRoutePointList() != null) {
- return ardRouteInfo.getUavRouteReq().getRoutePointList().size();
+ if (ardRouteInfo.getUavRouteReq() != null){
+ if (ardRouteInfo.getUavRouteReq().getRoutePointList() != null) {
+ return ardRouteInfo.getUavRouteReq().getRoutePointList().size();
+ }
}
return 0;
}
@@ -173,9 +226,16 @@
// 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()));
+ }
}
/**
@@ -198,21 +258,66 @@
@Override
public MinioUploadResult uploadArdRouteInfo(MultipartFile file) {
try {
- 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
// 增加航线实体类信息
- insertRouteInfomation(information);
+ UavRouteReq uavRouteReq = fileConversionEntity(file);
+ ArdRouteInfo ardRouteInfo = new ArdRouteInfo();
+ if (uavRouteReq != null){
+ ardRouteInfo.setUavRouteReq(uavRouteReq);
+ ardRouteInfo.setType(templateTypeData(uavRouteReq));
+ ardRouteInfo.setAircraft(droneTypeData(uavRouteReq));
+ }
+
+ // 判断禁飞区
+ try {
+ arrayWithinNoFlyZone(ardRouteInfo.getUavRouteReq().getRoutePointList());
+ } catch (ControlException e) {
+ // 返回包含禁飞区错误信息的特定结果
+ return MinioUploadResult.builder()
+ .originalFilename("禁飞区错误.航线航点在禁飞区！")
+ .build();
+ }
+
+ String url = ossService.upload("kmz",file);
+ 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;
+ }
+ }
+
+ /**
+ * 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);
}
}
@@ -268,7 +373,12 @@
// 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
+ // 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;
}
@@ -476,7 +586,8 @@
private void insertRouteInfomation(ArdRouteInfo ardRouteInfo){
ardRouteInfo.setId(IdUtils.simpleUUID());
ardRouteInfo.setCreateTime(DateUtils.getNowDate());
- ardRouteInfoMapper.insertArdRouteInfo(ardRouteInfo);
+ ardRouteInfo.setUpdateTime(DateUtils.getNowDate());
+ ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo));
}
/**
--
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