From f4278872babfaf2c60e71df144733d62ef192ddd Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Fri, 23 Jan 2026 18:03:35 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java | 225 ++++++++++++--------------------------------------------
1 files changed, 49 insertions(+), 176 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 77cff7d..a8b9e9f 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
@@ -1,7 +1,6 @@
package com.ard.route.service.impl;
import java.io.IOException;
-import java.util.ArrayList;
import java.util.List;
import com.ard.common.exception.ControlException;
@@ -29,7 +28,6 @@
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;
@@ -45,6 +43,7 @@
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.buildWayLineUploadDTO;
import static com.ard.route.util.UavRouteReqUtils.fileConversionEntity;
/**
@@ -97,11 +96,8 @@
// 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 {
@@ -115,6 +111,7 @@
return ardRouteInfo;
}
+ // 调整每个航点高度
private void adjustRoutePointHeight(RoutePointReq routePointReq, double altitudeOffset) {
routePointReq.setHeight(routePointReq.getHeight() + altitudeOffset);
}
@@ -143,7 +140,8 @@
*/
@Override
public String insertArdRouteInfo(ArdRouteInfo ardRouteInfo) {
- processRouteMission(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
@@ -159,16 +157,50 @@
return kmzResult.getPath();
}
- // 航线任务数据加工校验
- private void processRouteMission(ArdRouteInfo ardRouteInfo){
- if ("3".equals(ardRouteInfo.getType())) {
- ArdRouteMission ardRouteMission = ardRouteMissionMapper.selectArdRouteMissionById(ardRouteInfo.getMissionId());
- if ("0".equals(ardRouteMission.getRouteId())) {
- ardRouteMission.setRouteId(ardRouteInfo.getId());
- ardRouteMissionMapper.updateArdRouteMission(ardRouteMission);
- }else {
- throw new RuntimeException("航线任务下已绑定航线，不可创建新航线信息！！！");
- }
+ /**
+ * 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());
+ switch(type){
+ case "1":
+ validateForCreate(mission);
+ break;
+ case "2":
+ bindRoute(mission, ardRouteInfo);
+ break;
+ case "3":
+ executeMission(mission);
+ 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 (!"0".equals(mission.getRouteId())) {
+ 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) {
+ if ("0".equals(mission.getExecuteStatus())) {
+ mission.setExecuteStatus("1");
+ mission.setExecuteBy(getUsername());
+ mission.setExecuteTime(DateUtils.getNowDate());
+ mission.setUpdateTime(DateUtils.getNowDate());
+ ardRouteMissionMapper.updateArdRouteMission(mission);
}
}
@@ -443,25 +475,11 @@
// 判断是否循环航线
if (null != route && "0".equals(route.getIsLoop())){
deleteArdRouteInfoById(id);
- updateMissionStatus(route);
+ checkRouteMissionStatus(route,"3");
}
WayLineBeginDTO wayLineBeginDTO = new WayLineBeginDTO(boxSn);
tyService.wayLineBegin(wayLineBeginDTO);
return true;
- }
-
- // 执行航线的时候修改航线任务表执行状态
- private void updateMissionStatus(ArdRouteInfo route){
- if ("3".equals(route.getType())) {
- ArdRouteMission ardRouteMission = ardRouteMissionMapper.selectArdRouteMissionById(route.getMissionId());
- if ("0".equals(ardRouteMission.getExecuteStatus())) {
- ardRouteMission.setExecuteStatus("1");
- ardRouteMission.setExecuteBy(getUsername());
- ardRouteMission.setExecuteTime(DateUtils.getNowDate());
- ardRouteMission.setUpdateTime(DateUtils.getNowDate());
- ardRouteMissionMapper.updateArdRouteMission(ardRouteMission);
- }
- }
}
/**
@@ -501,151 +519,6 @@
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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