From d85eddf40bc7d5db0c8f4ec6cd74ade775ff2c57 Mon Sep 17 00:00:00 2001
From: Xiajijian <1176061145@qq.com>
Date: Wed, 26 Nov 2025 10:23:18 +0800
Subject: [PATCH] 1.增加缓存航线信息。
---
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java | 250 +++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 249 insertions(+), 1 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 5e9122f..1f84254 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;
@@ -13,6 +14,9 @@
import com.ard.data.noflyzone.utils.NoFlyZoneUtils;
import com.ard.oss.model.MinioUploadResult;
import com.ard.oss.service.impl.OssServiceContext;
+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;
@@ -20,6 +24,10 @@
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.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.web.multipart.MultipartFile;
@@ -48,6 +56,9 @@
@Resource
private IArdNoFlyZoneService ardNoFlyZoneService;
+
+ @Resource
+ private ITyService tyService;
/**
* 查询航线(kmz)
@@ -110,6 +121,7 @@
KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(), ardRouteInfo.getName());
ardRouteInfo.setPath(kmzResult.getPath());
ardRouteInfo.setReadOnly("0");
+ ardRouteInfo.setPointCount(getPointCount(ardRouteInfo));
ardRouteInfoMapper.insertArdRouteInfo(ardRouteInfo);
return kmzResult.getPath();
}
@@ -138,7 +150,15 @@
}
ardRouteInfo.setPath(kmzResult.getPath());
}
+ ardRouteInfo.setPointCount(getPointCount(ardRouteInfo));
return ardRouteInfoMapper.updateArdRouteInfo(ardRouteInfo);
+ }
+
+ private Integer getPointCount(ArdRouteInfo ardRouteInfo) {
+ if (ardRouteInfo.getUavRouteReq().getRoutePointList() != null) {
+ return ardRouteInfo.getUavRouteReq().getRoutePointList().size();
+ }
+ return 0;
}
/**
@@ -183,6 +203,7 @@
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);
return MinioUploadResult.builder()
.url(url)
@@ -195,7 +216,7 @@
}
/**
- * 根据文件名称查询航线信息
+ * 根据名称查询航线信息
*
* @param name 文件名称
* @return 结果
@@ -227,6 +248,233 @@
}
/**
+ * 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);
+ }
+ // 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 boxSn) {
+ 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;
+
+ }
+
+ /**
* 数据新增航线信息
*/
private void insertRouteInfomation(ArdRouteInfo ardRouteInfo){
--
Gitblit v1.9.3