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 | 330 ++++++++++++++++++++++--------------------------------
1 files changed, 137 insertions(+), 193 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 1c9f028..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;
@@ -15,19 +14,21 @@
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;
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.route.ArdRouteMission;
import com.ard.route.domain.vo.KmzResultVo;
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;
@@ -38,8 +39,11 @@
import javax.annotation.Resource;
-import static com.ard.route.util.InitializationUtils.divided_6;
+import static com.ard.common.utils.SecurityUtils.getUsername;
+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;
/**
@@ -60,10 +64,10 @@
private OssServiceContext ossService;
@Autowired
- private OssDockServiceContext ossDockService;
+ private UavRouteService routeService;
@Autowired
- private UavRouteService routeService;
+ private ArdRouteMissionMapper ardRouteMissionMapper;
@Resource
private IArdNoFlyZoneService ardNoFlyZoneService;
@@ -81,24 +85,35 @@
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 (ardRouteInfo.getRouteData() != null){
+ ardRouteInfo.setUavRouteReq((UavRouteReq) deserialize(ardRouteInfo.getRouteData()));
+ }
}
} catch (IOException | ClassNotFoundException e) {
throw new RuntimeException(e);
}
- for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
- routePointReq.setHeight(routePointReq.getHeight() + getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(),"alt"));
- // 判断无人机类型
- if (ardRouteInfo.getUavRouteReq().getDroneType().equals(89)){
- for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
- for (PointActionReq action : actionGroupReq.getActions()) {
- action.setZoom(divided_6(action.getZoom()));
- }
- }
+
+ // 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()) {
+ adjustRoutePointHeight(routePointReq, altitudeOffset);
}
+ }else {
+ // 如果没有设置参考起飞点，将第一个航点设置为参考起飞点。
+ ardRouteInfo.getUavRouteReq().setTakeOffRefPoint(
+ ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getLatitude().toString() +"," +
+ ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getLongitude().toString()+","+
+ ardRouteInfo.getUavRouteReq().getRoutePointList().get(0).getHeight().toString());
}
+
return ardRouteInfo;
+ }
+
+ // 调整每个航点高度
+ private void adjustRoutePointHeight(RoutePointReq routePointReq, double altitudeOffset) {
+ routePointReq.setHeight(routePointReq.getHeight() + altitudeOffset);
}
/**
@@ -114,12 +129,6 @@
}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);
}
@@ -131,6 +140,8 @@
*/
@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
@@ -139,10 +150,58 @@
}
ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft()));
KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(),ardRouteInfo.getName());
+ zoomProcessing(ardRouteInfo);
ardRouteInfo.setPath(kmzResult.getPath());
ardRouteInfo.setReadOnly("0");
ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo));
return kmzResult.getPath();
+ }
+
+ /**
+ * 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);
+ }
}
/**
@@ -162,6 +221,8 @@
// 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;
@@ -169,6 +230,22 @@
ardRouteInfo.setPath(kmzResult.getPath());
}
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(divided_23(action.getZoom()));
+ }
+ }
+ }
+ }
+ }
}
// 新增信息加工
@@ -218,9 +295,6 @@
if (information.getPath() != null){
ossService.deleteObject("kmz", subStringMinioUrlName(information.getPath()));
}
- if (information.getPath1() != null){
- ossDockService.deleteObject("kmz", subStringMinioUrlName(information.getPath1()));
- }
}
/**
@@ -231,6 +305,9 @@
*/
@Override
public int deleteArdRouteInfoById(String id) {
+ // 删除航线(kmz)文件
+ ArdRouteInfo information = ardRouteInfoMapper.selectArdRouteInfoById(id);
+ delOssService(information);
return ardRouteInfoMapper.deleteArdRouteInfoById(id);
}
@@ -251,22 +328,9 @@
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);
- 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);
@@ -342,7 +406,6 @@
/**
* 上传航线到边缘服务器
- *
* ardNoflyDto
* @return 结果
*/
@@ -357,15 +420,35 @@
throw new RuntimeException(e);
}
- // 判断禁飞区
- try {
- arrayWithinNoFlyZone(route.getUavRouteReq().getRoutePointList());
- } catch (ControlException e) {
- log.error("禁飞区错误.航线航点在禁飞区！", e);
- // 返回包含禁飞区错误信息的特定结果
- return false;
+ // 获取第一个点
+ double firstPointLng = route.getUavRouteReq().getRoutePointList().get(0).getLongitude();
+ double firstPointLat = route.getUavRouteReq().getRoutePointList().get(0).getLatitude();
+
+ // 获取最后一个点
+ double lastPointLng = route.getUavRouteReq().getRoutePointList().get(route.getUavRouteReq().getRoutePointList().size()-1).getLongitude();
+ double lastPointLat = route.getUavRouteReq().getRoutePointList().get(route.getUavRouteReq().getRoutePointList().size()-1).getLatitude();
+
+ // 无人机遥测数据,用于校验真实起飞点和第一个点是否在禁飞区
+ TelemetryData telemetryData = UavTelemetryDataCache.get(boxSn);
+ double telemetryDataLng = 0;
+ double telemetryDataLat = 0;
+ if (telemetryData != null){
+ telemetryDataLng = telemetryData.getLng();
+ telemetryDataLat = telemetryData.getLat();
}
+ ArdNoflyDto dto1 = new ArdNoflyDto();
+ dto1.setCurrent(new Vertex(telemetryDataLng,telemetryDataLat));
+ dto1.setTarget(new Vertex(firstPointLng,firstPointLat));
+ verifyNoFlyZone(dto1);
+
+ ArdNoflyDto dto2 = new ArdNoflyDto();
+ dto2.setCurrent(new Vertex(lastPointLng,lastPointLat));
+ dto2.setTarget(new Vertex(telemetryDataLng,telemetryDataLat));
+ verifyNoFlyZone(dto2);
+
+ // 判断禁飞区
+ arrayWithinNoFlyZone(route.getUavRouteReq().getRoutePointList());
// 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);
@@ -387,7 +470,13 @@
* @return 结果
*/
@Override
- public Boolean routeBegins(String boxSn) {
+ public Boolean routeBegins(String id,String boxSn) {
+ ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(id);
+ // 判断是否循环航线
+ if (null != route && "0".equals(route.getIsLoop())){
+ deleteArdRouteInfoById(id);
+ checkRouteMissionStatus(route,"3");
+ }
WayLineBeginDTO wayLineBeginDTO = new WayLineBeginDTO(boxSn);
tyService.wayLineBegin(wayLineBeginDTO);
return true;
@@ -430,151 +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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