From d4d2e680af835d19d770eed2c41b5c98d804ba61 Mon Sep 17 00:00:00 2001
From: Xiajijian <1176061145@qq.com>
Date: Wed, 17 Dec 2025 08:05:46 +0800
Subject: [PATCH] 1. 修改BUG。
---
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java | 111 ++++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 88 insertions(+), 23 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 905d321..d1b1d73 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
@@ -12,9 +12,9 @@
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.ossdock.service.impl.OssDockServiceContext;
import com.ard.route.domain.djuav.ActionGroupReq;
import com.ard.route.domain.djuav.PointActionReq;
import com.ard.route.domain.djuav.RoutePointReq;
@@ -29,12 +29,17 @@
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.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.ToolUtils.*;
import static com.ard.route.util.UavRouteReqUtils.fileConversionEntity;
@@ -47,14 +52,14 @@
@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 OssDockServiceContext ossDockService;
@Autowired
private UavRouteService routeService;
@@ -81,10 +86,38 @@
} 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()) {
- routePointReq.setHeight(routePointReq.getHeight() + getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(),"alt"));
+ // 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()));
+ }
+ }
}
/**
@@ -100,12 +133,6 @@
}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);
}
@@ -123,8 +150,20 @@
if (ardRouteInfo.getGroupId() == null){
ardRouteInfo.setGroupId("0");
}
+ UavRouteReq uavRouteReq = new UavRouteReq();
+ BeanUtils.copyProperties(ardRouteInfo.getUavRouteReq(), uavRouteReq);
ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft()));
- KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(),ardRouteInfo.getName());
+ KmzResultVo kmzResult = routeService.buildKmz(uavRouteReq,ardRouteInfo.getName());
+ if (M350_RTK.getValue().equals(uavRouteReq.getDroneType())) {
+ // 变焦数值加工
+ for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
+ for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
+ for (PointActionReq action : actionGroupReq.getActions()) {
+ action.setZoom(divided_23(action.getZoom()));
+ }
+ }
+ }
+ }
ardRouteInfo.setPath(kmzResult.getPath());
ardRouteInfo.setReadOnly("0");
ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo));
@@ -154,7 +193,6 @@
}
ardRouteInfo.setPath(kmzResult.getPath());
}
- ardRouteInfo.setReadOnly("0");
return ardRouteInfoMapper.updateArdRouteInfo(dataProcessing(ardRouteInfo));
}
@@ -205,9 +243,6 @@
if (information.getPath() != null){
ossService.deleteObject("kmz", subStringMinioUrlName(information.getPath()));
}
- if (information.getPath1() != null){
- ossDockService.deleteObject("kmz", subStringMinioUrlName(information.getPath1()));
- }
}
/**
@@ -238,18 +273,20 @@
ardRouteInfo.setType(templateTypeData(uavRouteReq));
ardRouteInfo.setAircraft(droneTypeData(uavRouteReq));
}
+
// 判断禁飞区
-// List<RoutePointReq> routePointList = ardRouteInfo.getUavRouteReq().getRoutePointList();
-// for (RoutePointReq routePointReq : routePointList) {
-// ArdNoflyDto ardNoflyDto = new ArdNoflyDto();
-// ardNoflyDto.setCurrent(new Vertex(routePointReq.getLongitude(), routePointReq.getLatitude()));
-// verifyNoFlyZone(ardNoflyDto);
-// }
+ 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);
- String urlDock = ossDockService.upload("kmz",file);
ardRouteInfo.setName(file.getOriginalFilename());
ardRouteInfo.setPath(url);
- ardRouteInfo.setPath1(urlDock);
ardRouteInfo.setGroupId("0"); // 默认分组
ardRouteInfo.setReadOnly("1"); // 默认只读
insertRouteInfomation(ardRouteInfo);
@@ -259,11 +296,39 @@
.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);
+ }
+ }
+
+ /**
* 根据名称查询航线信息
*
* @param name 文件名称
--
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