增加禁飞区

admin/src/main/java/com/multictrl/common/constant/BusinessConstant.java

@@ -8,6 +8,9 @@ package com.multictrl.common.constant;
  */
 public interface BusinessConstant {
 
+    String WEB_EVENT_TOPIC = "thing/product/%s/web_event";
+    String NOFLY_ZONE_METHOD = "nofly_zone";
+
     //********************************* minio *********************************//
     String ROUTE_IMG_BUCKET = "route-images";//航线图片桶
     String ROUTE_KMZ_BUCKET = "route-kmz";//航线桶
@@ -83,6 +86,10 @@ public interface BusinessConstant {
     String UAV_LIGHT_INDEX = "uav_light_index_";
     String UAV_MODE_CODE = "uav_mode_code_";
 
+    //********************************* other cache key *********************************//
+    String DOCK_NOFLY_ZONE = "dock_nofly_zone_";
+    String DOCK_NOFLY_ZONE_TRIGGER_SIGN = "dock_nofly_zone_trigger_sign_";
+
     //********************************* other *********************************//
     String HTTP_PROTOCOL = "http://";
     String HTTPS_PROTOCOL = "https://";

admin/src/main/java/com/multictrl/modules/business/controller/NoflyZoneController.java

@@ -0,0 +1,97 @@
+package com.multictrl.modules.business.controller;
+
+import com.multictrl.common.annotation.ApiOrder;
+import com.multictrl.common.annotation.LogOperation;
+import com.multictrl.common.constant.Constant;
+import com.multictrl.common.page.PageData;
+import com.multictrl.common.utils.Result;
+import com.multictrl.common.validator.AssertUtils;
+import com.multictrl.common.validator.ValidatorUtils;
+import com.multictrl.common.validator.group.AddGroup;
+import com.multictrl.common.validator.group.UpdateGroup;
+import com.multictrl.modules.business.dto.NoflyZoneDTO;
+import com.multictrl.modules.business.service.NoflyZoneService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import org.apache.shiro.authz.annotation.RequiresPermissions;
+import org.springframework.web.bind.annotation.*;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.Parameters;
+
+import java.util.List;
+import java.util.Map;
+
+
+/**
+ * 禁飞区
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-06-09
+ */
+@RestController
+@RequestMapping("business/noflyzone")
+@Tag(name = "禁飞区")
+@ApiOrder(22)
+@RequiredArgsConstructor
+public class NoflyZoneController {
+    private final NoflyZoneService noflyZoneService;
+
+    @GetMapping("page")
+    @Operation(summary = "分页")
+    @Parameters({
+            @Parameter(name = Constant.PAGE, description = "当前页码，从1开始"),
+            @Parameter(name = Constant.LIMIT, description = "每页显示记录数"),
+            @Parameter(name = "name", description = "名称")
+    })
+    @RequiresPermissions("bus:noflyzone:page")
+    public Result<PageData<NoflyZoneDTO>> page(@Parameter(hidden = true) @RequestParam Map<String, Object> params) {
+        PageData<NoflyZoneDTO> page = noflyZoneService.pageList(params);
+
+        return new Result<PageData<NoflyZoneDTO>>().ok(page);
+    }
+
+    @PostMapping
+    @Operation(summary = "保存")
+    @LogOperation("保存")
+    @RequiresPermissions("bus:noflyzone:save")
+    public Result<Object> save(@RequestBody NoflyZoneDTO dto) {
+        //效验数据
+        ValidatorUtils.validateEntity(dto, AddGroup.class);
+        noflyZoneService.saveNoFlying(dto);
+
+        return new Result<>();
+    }
+
+    @PutMapping
+    @Operation(summary = "修改")
+    @LogOperation("修改")
+    @RequiresPermissions("bus:noflyzone:update")
+    public Result<Object> update(@RequestBody NoflyZoneDTO dto) {
+        //效验数据
+        ValidatorUtils.validateEntity(dto, UpdateGroup.class);
+        noflyZoneService.update(dto);
+
+        return new Result<>();
+    }
+
+    @DeleteMapping
+    @Operation(summary = "删除")
+    @LogOperation("删除")
+    @RequiresPermissions("bus:noflyzone:delete")
+    public Result<Object> delete(@RequestBody Long[] ids) {
+        //效验数据
+        AssertUtils.isArrayEmpty(ids, "id");
+        noflyZoneService.delete(ids);
+
+        return new Result<>();
+    }
+
+    @GetMapping("/getNoFlying")
+    @Operation(summary = "获取机库禁飞区", description = "返回机库所属组织以及上级组织设置的禁飞区")
+    public Result<List<NoflyZoneDTO>> getNoFlying(@RequestParam String dockSn) {
+        List<NoflyZoneDTO> list = noflyZoneService.getNoFlyZoneByDockSn(dockSn);
+
+        return new Result<List<NoflyZoneDTO>>().ok(list);
+    }
+}

admin/src/main/java/com/multictrl/modules/business/dao/NoflyZoneDao.java

@@ -0,0 +1,30 @@
+package com.multictrl.modules.business.dao;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.metadata.IPage;
+import com.multictrl.common.dao.BaseDao;
+import com.multictrl.modules.business.dto.NoflyZoneDTO;
+import com.multictrl.modules.business.entity.NoflyZoneEntity;
+import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * 禁飞区
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-06-09
+ */
+@Mapper
+public interface NoflyZoneDao extends BaseDao<NoflyZoneEntity> {
+
+    //分页列表
+    IPage<NoflyZoneDTO> pageList(IPage<NoflyZoneEntity> page, @Param("ew") QueryWrapper<NoflyZoneEntity> ew);
+
+    //新增禁飞区
+    void saveNoFlyZone(NoflyZoneEntity noflyZoneEntity);
+
+    //查询禁飞区
+    List<NoflyZoneDTO> getNoFlyZoneList(@Param("ew") QueryWrapper<NoflyZoneEntity> ew);
+}

admin/src/main/java/com/multictrl/modules/business/dto/NoflyZoneDTO.java

@@ -0,0 +1,82 @@
+package com.multictrl.modules.business.dto;
+
+import com.fasterxml.jackson.annotation.JsonIgnore;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import com.multictrl.common.validator.group.AddGroup;
+import com.multictrl.common.validator.group.UpdateGroup;
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.Valid;
+import jakarta.validation.constraints.*;
+import jakarta.validation.groups.Default;
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+import java.io.Serial;
+import java.io.Serializable;
+import java.util.Date;
+import java.util.List;
+
+
+/**
+ * 禁飞区
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-06-09
+ */
+@Data
+@Schema(name = "禁飞区")
+public class NoflyZoneDTO implements Serializable {
+    @Serial
+    private static final long serialVersionUID = 1L;
+
+    @Null(message = "标识必须为空", groups = {AddGroup.class})
+    @NotNull(message = "标识不能为空", groups = {UpdateGroup.class})
+    @Schema(description = "标识")
+    private Long id;
+
+    @Schema(description = "名称")
+    @NotBlank(message = "名称不能为空", groups = {AddGroup.class, UpdateGroup.class})
+    private String name;
+
+    @NotBlank(message = "是否开启不能为空", groups = {AddGroup.class, UpdateGroup.class})
+    @Schema(description = "是否开启 1开启 0未开启")
+    private String status;
+
+    @Schema(description = "范围")
+    @NotEmpty(message = "范围不能为空", groups = {AddGroup.class})
+    @Size(min = 2, max = 2, message = "范围数据错误", groups = {AddGroup.class})
+    private List<List<@Valid point>> extent;
+
+    @Schema(description = "时间")
+    @JsonProperty(access = JsonProperty.Access.READ_ONLY)
+    private Date createDate;
+
+    @Schema(hidden = true)
+    private String deptName;
+
+    @Schema(hidden = true)
+    private String userName;
+
+    @Schema(hidden = true)
+    @JsonIgnore
+    private String extentWkt;
+
+    @AllArgsConstructor
+    @NoArgsConstructor
+    @Data
+    public static class point {
+
+        @NotNull(message = "经度不能为空", groups = {AddGroup.class})
+        @Schema(description = "经度")
+        private Double lng;
+
+        @NotNull(message = "纬度不能为空", groups = {AddGroup.class})
+        @Schema(description = "纬度")
+        private Double lat;
+
+        @NotNull(message = "海拔高度不能为空", groups = {AddGroup.class})
+        @Schema(description = "海拔高度")
+        private Double height;
+    }
+}

admin/src/main/java/com/multictrl/modules/business/entity/NoflyZoneEntity.java

@@ -0,0 +1,39 @@
+package com.multictrl.modules.business.entity;
+
+import com.baomidou.mybatisplus.annotation.FieldFill;
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.multictrl.common.entity.BaseEntity;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+import java.util.Date;
+
+/**
+ * 禁飞区
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-06-09
+ */
+@EqualsAndHashCode(callSuper = true)
+@Data
+@TableName("bus_nofly_zone")
+public class NoflyZoneEntity extends BaseEntity {
+    /**
+     * 名称
+     */
+    private String name;
+    /**
+     * 是否开启 1开启 0未开启
+     */
+    private String status;
+    /**
+     * 范围
+     */
+    private String extent;
+    /**
+     * 部门标识
+     */
+    @TableField(fill = FieldFill.INSERT)
+    private Long deptId;
+}

admin/src/main/java/com/multictrl/modules/business/handler/OsdHandler.java

@@ -7,10 +7,10 @@ import com.multictrl.common.constant.BusinessConstant;
 import com.multictrl.common.constant.DockMode;
 import com.multictrl.common.utils.CacheUtils;
 import com.multictrl.common.utils.JsonUtils;
+import com.multictrl.modules.business.dto.NoflyZoneDTO;
+import com.multictrl.modules.business.influxdb.FlightLog;
 import com.multictrl.modules.business.influxdb.UavReport;
-import com.multictrl.modules.business.service.DockService;
+import com.multictrl.modules.business.service.*;
-import com.multictrl.modules.business.service.FlightTaskService;
-import com.multictrl.modules.business.service.InfluxService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -18,6 +18,9 @@ import org.springframework.stereotype.Component;
 import java.util.Collections;
 import java.util.List;
 import java.util.Optional;
+import java.util.Set;
+import java.util.concurrent.*;
+import java.util.concurrent.atomic.AtomicInteger;
 
 /**
  * osd设备属性定频上报0.5HZ
@@ -33,6 +36,9 @@ public class OsdHandler implements MessageHandler {
     private final InfluxService influxService;
     private final FlightTaskService flightTaskService;
     private final DockService dockService;
+    private final DJIBaseService djiBaseService;
+    private final MqttPushService mqttPushService;
+    private final NoflyZoneService noflyZoneService;
 
     @Override
     public void handleMessage(String topic, String payload, String gateway) {
@@ -59,13 +65,13 @@ public class OsdHandler implements MessageHandler {
                         }
                         //刚从“任务中”切到“空闲“，说明架次结束入库了
                         if (modeCode == DockMode.IDLE.getCode()
-                            && CacheUtils.get(BusinessConstant.DOCK_IN_WORK + dockSn) != null) {
+                                && CacheUtils.get(BusinessConstant.DOCK_IN_WORK + dockSn) != null) {
                             CacheUtils.delete(BusinessConstant.DOCK_IN_WORK + dockSn);
                             log.debug("{}机库架次飞行完成，取消DRC心跳", dockSn);
                             List<String> list = Optional.ofNullable(CacheUtils.get(BusinessConstant.DRC_HEART_BEAT_SN))
-                                .filter(obj -> obj instanceof List)
+                                    .filter(obj -> obj instanceof List)
-                                .map(obj -> (List<String>) obj)
+                                    .map(obj -> (List<String>) obj)
-                                .orElse(Collections.emptyList());
+                                    .orElse(Collections.emptyList());
                             if (CollUtil.isNotEmpty(list)) {
                                 list.remove(dockSn);
                             }
@@ -87,9 +93,9 @@ public class OsdHandler implements MessageHandler {
                 String latitude = data.getStr("latitude");
                 String longitude = data.getStr("longitude");
                 if (latitude != null && longitude != null && !GPS_ZERO.equals(latitude) && !GPS_ZERO.equals(
-                    longitude)) {
+                        longitude)) {
                     String payload_index = data.getJSONArray("cameras") != null ?
-                        data.getJSONArray("cameras").getJSONObject(0).getStr("payload_index") : null;
+                            data.getJSONArray("cameras").getJSONObject(0).getStr("payload_index") : null;
                     //获取电池电量，如果单电池则把 a赋值给b
                     int capacity_percent_a;
                     int capacity_percent_b;
@@ -102,53 +108,160 @@ public class OsdHandler implements MessageHandler {
                     }
 
                     UavReport uavReport = UavReport.builder()
-                        .dockSn(dockSn)
+                            .dockSn(dockSn)
-                        .obstacle_avoidance_horizon(data.getJSONObject("obstacle_avoidance").getInt("horizon"))
+                            .obstacle_avoidance_horizon(data.getJSONObject("obstacle_avoidance").getInt("horizon"))
-                        .obstacle_avoidance_upside(data.getJSONObject("obstacle_avoidance").getInt("upside"))
+                            .obstacle_avoidance_upside(data.getJSONObject("obstacle_avoidance").getInt("upside"))
-                        .obstacle_avoidance_downside(data.getJSONObject("obstacle_avoidance").getInt("downside"))
+                            .obstacle_avoidance_downside(data.getJSONObject("obstacle_avoidance").getInt("downside"))
-                        .is_near_area_limit(data.getInt("is_near_area_limit"))
+                            .is_near_area_limit(data.getInt("is_near_area_limit"))
-                        .is_near_height_limit(data.getInt("is_near_height_limit"))
+                            .is_near_height_limit(data.getInt("is_near_height_limit"))
-                        .payload_index(payload_index)
+                            .payload_index(payload_index)
-                        .gimbal_pitch(
+                            .gimbal_pitch(
-                            payload_index != null ? data.getJSONObject(payload_index).getDouble("gimbal_pitch") : null)
+                                    payload_index != null ? data.getJSONObject(payload_index).getDouble("gimbal_pitch") : null)
-                        .gimbal_roll(
+                            .gimbal_roll(
-                            payload_index != null ? data.getJSONObject(payload_index).getDouble("gimbal_roll") : null)
+                                    payload_index != null ? data.getJSONObject(payload_index).getDouble("gimbal_roll") : null)
-                        .gimbal_yaw(
+                            .gimbal_yaw(
-                            payload_index != null ? data.getJSONObject(payload_index).getDouble("gimbal_yaw") : null)
+                                    payload_index != null ? data.getJSONObject(payload_index).getDouble("gimbal_yaw") : null)
-                        .zoom_factor(
+                            .zoom_factor(
-                            payload_index != null ? data.getJSONObject(payload_index).getDouble("zoom_factor") : null)
+                                    payload_index != null ? data.getJSONObject(payload_index).getDouble("zoom_factor") : null)
-                        .track_id(data.getStr("track_id"))
+                            .track_id(data.getStr("track_id"))
-                        .position_state_is_fixed(data.getJSONObject("position_state").getInt("is_fixed"))
+                            .position_state_is_fixed(data.getJSONObject("position_state").getInt("is_fixed"))
-                        .position_state_is_quality(data.getJSONObject("position_state").getInt("quality"))
+                            .position_state_is_quality(data.getJSONObject("position_state").getInt("quality"))
-                        .position_state_is_gps_number(data.getJSONObject("position_state").getInt("gps_number"))
+                            .position_state_is_gps_number(data.getJSONObject("position_state").getInt("gps_number"))
-                        .position_state_is_rtk_number(data.getJSONObject("position_state").getInt("rtk_number"))
+                            .position_state_is_rtk_number(data.getJSONObject("position_state").getInt("rtk_number"))
-                        .battery_capacity_percent(data.getJSONObject("battery").getInt("capacity_percent"))
+                            .battery_capacity_percent(data.getJSONObject("battery").getInt("capacity_percent"))
-                        .battery_remain_flight_time(data.getJSONObject("battery").getInt("remain_flight_time"))
+                            .battery_remain_flight_time(data.getJSONObject("battery").getInt("remain_flight_time"))
-                        .battery_return_home_power(data.getJSONObject("battery").getInt("return_home_power"))
+                            .battery_return_home_power(data.getJSONObject("battery").getInt("return_home_power"))
-                        .battery_landing_power(data.getJSONObject("battery").getInt("landing_power"))
+                            .battery_landing_power(data.getJSONObject("battery").getInt("landing_power"))
-                        .battery_capacity_percent_a(capacity_percent_a)
+                            .battery_capacity_percent_a(capacity_percent_a)
-                        .battery_capacity_percent_b(capacity_percent_b)
+                            .battery_capacity_percent_b(capacity_percent_b)
-                        .wind_direction(data.getInt("wind_direction"))
+                            .wind_direction(data.getInt("wind_direction"))
-                        .wind_speed(data.getDouble("wind_speed"))
+                            .wind_speed(data.getDouble("wind_speed"))
-                        .home_distance(data.getDouble("home_distance"))
+                            .home_distance(data.getDouble("home_distance"))
-                        //state上报
+                            //state上报
 //                                .home_latitude(data.getDouble("home_latitude"))
 //                                .home_longitude(data.getDouble("home_longitude"))
-                        .attitude_head(data.getInt("attitude_head"))
+                            .attitude_head(data.getInt("attitude_head"))
-                        .attitude_roll(data.getDouble("attitude_roll"))
+                            .attitude_roll(data.getDouble("attitude_roll"))
-                        .attitude_pitch(data.getDouble("attitude_pitch"))
+                            .attitude_pitch(data.getDouble("attitude_pitch"))
-                        .elevation(data.getDouble("elevation"))
+                            .elevation(data.getDouble("elevation"))
-                        .height(data.getDouble("height"))
+                            .height(data.getDouble("height"))
-                        .latitude(data.getDouble("latitude"))
+                            .latitude(data.getDouble("latitude"))
-                        .longitude(data.getDouble("longitude"))
+                            .longitude(data.getDouble("longitude"))
-                        .vertical_speed(data.getDouble("vertical_speed"))
+                            .vertical_speed(data.getDouble("vertical_speed"))
-                        .horizontal_speed(data.getDouble("horizontal_speed"))
+                            .horizontal_speed(data.getDouble("horizontal_speed"))
-                        .build();
+                            .build();
                     influxService.addRecord(uavReport);
+
+                    //禁飞区校验
+                    Double height = data.getDouble("height");
+                    NoflyZoneDTO.point point = new NoflyZoneDTO.point(uavReport.getLongitude(), uavReport.getLatitude(), height);
+                    judgingNoFlyZone(dockSn, point, mode);
                 }
             }
         } else {
             log.debug("osd --> payload解析失败，解析后为null");
         }
     }
+
+    //禁飞区限制
+    // 允许触发返航的飞行模式集合
+    //"3":"手动飞行","4":"自动起飞","5":"航线飞行","16":"虚拟摇杆状态","17":"指令飞行"
+    private static final Set<Integer> ALLOWED_MODE_CODES = Set.of(3, 4, 5, 16, 17);
+    // 按设备隔离的计数器（线程安全）
+    private final ConcurrentHashMap<String, AtomicInteger> counterMap = new ConcurrentHashMap<>();
+    // 单线程执行器（若需提高并发，可调整线程数或使用同步）
+    private final ExecutorService executor = new ThreadPoolExecutor(1, 1, 0L,
+            TimeUnit.MILLISECONDS, new ArrayBlockingQueue<>(100));
+
+    private void judgingNoFlyZone(String dockSn, NoflyZoneDTO.point point, Integer modeCode) {
+        // 1. 模式过滤（快速失败）
+        if (!ALLOWED_MODE_CODES.contains(modeCode)) {
+            return;
+        }
+        // 2. 按设备自增计数器，判断是否需要校验（每3次上报校验一次）
+        AtomicInteger deviceCounter = counterMap.computeIfAbsent(dockSn, k -> new AtomicInteger(0));
+        int count = deviceCounter.incrementAndGet();
+        if (count % 3 != 1) {
+            return;
+        }
+        // 3. 获取禁飞区列表
+        Object obj = CacheUtils.get(BusinessConstant.DOCK_NOFLY_ZONE + dockSn);
+        if (!(obj instanceof List)) {
+            return;
+        }
+        List<NoflyZoneDTO> noFlyZoneList = (List<NoflyZoneDTO>) obj;
+        // 4. 遍历禁飞区，检查是否已触发返航
+        String triggerKey = BusinessConstant.DOCK_NOFLY_ZONE_TRIGGER_SIGN + dockSn;
+        for (NoflyZoneDTO dto : noFlyZoneList) {
+            // 先判断是否已在触发中（快速路径）
+            if (CacheUtils.get(triggerKey) != null) {
+                return;
+            }
+            // 执行点是否在禁飞区内
+            if (noflyZoneService.isInNoFlyZone(dto.getExtent(), point)) {
+                // 原子设置触发标记，防止并发重复触发
+                if (trySetTrigger(triggerKey)) {
+                    // 异步执行返航任务
+                    CompletableFuture.runAsync(() -> executeReturnHome(dockSn, dto), executor);
+                }
+                // 只要命中一个禁飞区就停止遍历
+                return;
+            }
+        }
+    }
+
+    /**
+     * 原子设置触发标记（使用缓存框架的 putIfAbsent 或本地锁）
+     * 返回 true 表示当前线程成功设置，false 表示已被其他线程设置
+     */
+    private boolean trySetTrigger(String key) {
+        synchronized (this) {
+            if (CacheUtils.get(key) == null) {
+                CacheUtils.set(key, true, 1000 * 60);
+                return true;
+            }
+            return false;
+        }
+    }
+
+    /**
+     * 执行返航并推送状态（抽离重复逻辑）
+     */
+    private void executeReturnHome(String dockSn, NoflyZoneDTO dto) {
+        String zoneName = dto.getName();
+        // 1. 发送进入禁飞区通知（type=0）
+        logAndPush(dockSn, zoneName, 0, "飞机进入禁飞区，强制返航");
+
+        try {
+            // 2. 执行返航指令
+            djiBaseService.executeAndReturnResult(dockSn, "return_home");
+            // 3. 发送成功通知（type=1）
+            logAndPush(dockSn, zoneName, 1, "飞机进入禁飞区，强制返航成功");
+        } catch (Exception e) {
+            // 记录异常堆栈，便于排查
+            log.error("返航失败，dockSn={}, zone={}", dockSn, zoneName, e);
+            // 4. 发送失败通知（type=2）
+            logAndPush(dockSn, zoneName, 2, "飞机进入禁飞区，强制返航失败，请手动返航");
+        }
+    }
+
+    /**
+     * 统一记录飞行日志并推送 MQTT 消息
+     */
+    private void logAndPush(String dockSn, String zoneName, int type, String msg) {
+        // 记录 InfluxDB 日志
+        FlightLog flightLog = new FlightLog();
+        flightLog.setDockSn(dockSn);
+        flightLog.setLevel(2);
+        flightLog.setMessage(msg);
+        influxService.addRecord(flightLog);
+
+        // 推送 MQTT 事件
+        JSONObject data = new JSONObject();
+        data.set("name", zoneName);
+        data.set("type", type);
+        data.set("msg", msg);
+        JSONObject payload = djiBaseService.getPayload(BusinessConstant.NOFLY_ZONE_METHOD, data);
+        mqttPushService.pushMessageByClient1(BusinessConstant.WEB_EVENT_TOPIC.formatted(dockSn), payload.toString());
+    }
 }

admin/src/main/java/com/multictrl/modules/business/service/NoflyZoneService.java

@@ -0,0 +1,33 @@
+package com.multictrl.modules.business.service;
+
+import com.multictrl.common.page.PageData;
+import com.multictrl.common.service.CrudService;
+import com.multictrl.modules.business.dto.NoflyZoneDTO;
+import com.multictrl.modules.business.entity.NoflyZoneEntity;
+
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 禁飞区
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-06-09
+ */
+public interface NoflyZoneService extends CrudService<NoflyZoneEntity, NoflyZoneDTO> {
+
+    //分页列表
+    PageData<NoflyZoneDTO> pageList(Map<String, Object> params);
+
+    //新增禁飞区
+    void saveNoFlying(NoflyZoneDTO noflyZone);
+
+    //修改禁飞区
+    void updateNoFlying(NoflyZoneDTO noflyZone);
+
+    //获取机库禁飞区
+    List<NoflyZoneDTO> getNoFlyZoneByDockSn(String dockSn);
+
+    //判断是否在禁飞区内
+    Boolean isInNoFlyZone(List<List<NoflyZoneDTO.point>> noFlyZone, NoflyZoneDTO.point point);
+}

admin/src/main/java/com/multictrl/modules/business/service/impl/NoflyZoneServiceImpl.java

@@ -0,0 +1,253 @@
+package com.multictrl.modules.business.service.impl;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
+import com.baomidou.mybatisplus.core.metadata.IPage;
+import com.multictrl.common.constant.BusinessConstant;
+import com.multictrl.common.exception.RenException;
+import com.multictrl.common.page.PageData;
+import com.multictrl.common.service.impl.CrudServiceImpl;
+import com.multictrl.common.utils.CacheUtils;
+import com.multictrl.modules.business.dao.NoflyZoneDao;
+import com.multictrl.modules.business.dto.NoflyZoneDTO;
+import com.multictrl.modules.business.entity.DockEntity;
+import com.multictrl.modules.business.entity.NoflyZoneEntity;
+import cn.hutool.core.util.StrUtil;
+import com.multictrl.modules.business.service.DockService;
+import com.multictrl.modules.business.service.NoflyZoneService;
+import com.multictrl.modules.sys.entity.SysDeptEntity;
+import com.multictrl.modules.sys.service.SysDeptService;
+import lombok.RequiredArgsConstructor;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
+import java.util.Map;
+import java.util.regex.Matcher;
+import java.util.regex.Pattern;
+
+/**
+ * 禁飞区
+ *
+ * @author Sdy
+ * @since 1.0.0 2026-06-09
+ */
+@Service
+@RequiredArgsConstructor
+public class NoflyZoneServiceImpl extends CrudServiceImpl<NoflyZoneDao, NoflyZoneEntity, NoflyZoneDTO> implements NoflyZoneService {
+    private final DockService dockService;
+    private final SysDeptService deptService;
+
+    @Override
+    public QueryWrapper<NoflyZoneEntity> getWrapper(Map<String, Object> params) {
+        String name = (String) params.get("f.name");
+
+        QueryWrapper<NoflyZoneEntity> wrapper = new QueryWrapper<>();
+        wrapper.like(StrUtil.isNotBlank(name), "f.name", name);
+        wrapper.orderByDesc("f.create_date");
+
+        return wrapper;
+    }
+
+    @Override
+    public PageData<NoflyZoneDTO> pageList(Map<String, Object> params) {
+        IPage<NoflyZoneDTO> page = baseDao.pageList(getPage(params, null, false), getWrapper(params));
+        for (NoflyZoneDTO record : page.getRecords()) {
+            String extentWkt = record.getExtentWkt();
+            List<List<NoflyZoneDTO.point>> lists = parseMultipolygonZ(extentWkt);
+            record.setExtent(lists);
+        }
+        return getPageData(page, currentDtoClass());
+    }
+
+    @Override
+    public void saveNoFlying(NoflyZoneDTO noflyZone) {
+        NoflyZoneEntity entity = new NoflyZoneEntity();
+        entity.setName(noflyZone.getName());
+        entity.setStatus(noflyZone.getStatus());
+        StringBuilder extent = new StringBuilder("'MULTIPOLYGON Z (");
+        List<List<NoflyZoneDTO.point>> lists = noflyZone.getExtent();
+        for (List<NoflyZoneDTO.point> list : lists) {
+            if (list.size() < 3) {
+                throw new RenException("无效的面");
+            }
+            NoflyZoneDTO.point first = list.get(0);
+            StringBuilder sb = new StringBuilder("((");
+            for (NoflyZoneDTO.point point : list) {
+                sb.append(point.getLng()).append(" ").append(point.getLat()).append(" ").append(point.getHeight()).append(",");
+            }
+            sb.append(first.getLng()).append(" ").append(first.getLat()).append(" ").append(first.getHeight()).append("))");
+            extent.append(sb).append(",");
+        }
+        extent.deleteCharAt(extent.length() - 1);
+        extent.append(")'");
+        entity.setExtent(extent.toString());
+        baseDao.saveNoFlyZone(entity);
+    }
+
+    @Override
+    public void updateNoFlying(NoflyZoneDTO noflyZone) {
+        update(null, new UpdateWrapper<NoflyZoneEntity>()
+                .eq("id", noflyZone.getId())
+                .set(StringUtils.isNotBlank(noflyZone.getStatus()), "status", noflyZone.getStatus())
+                .set(StringUtils.isNotBlank(noflyZone.getName()), "name", noflyZone.getName()));
+    }
+
+    @Override
+    public List<NoflyZoneDTO> getNoFlyZoneByDockSn(String dockSn) {
+        DockEntity dockEntity = dockService.getDao().selectOne(new QueryWrapper<DockEntity>().eq("dock_sn", dockSn));
+        if (dockEntity == null) {
+            return List.of();
+        }
+
+        SysDeptEntity deptEntity = deptService.selectById(dockEntity.getDeptId());
+        List<Long> deptIds = new ArrayList<>();
+        deptIds.add(dockEntity.getDeptId());
+        if (StringUtils.isNotBlank(deptEntity.getPids())) {
+            Arrays.stream(deptEntity.getPids().split(","))
+                    .filter(StringUtils::isNotBlank)
+                    .map(Long::parseLong)
+                    .forEach(deptIds::add);
+        }
+
+        List<NoflyZoneDTO> list = baseDao.getNoFlyZoneList(new QueryWrapper<NoflyZoneEntity>()
+                .eq("f.status", "1").and(v ->
+                        v.in("f.dept_id", deptIds).or().isNull("f.dept_id")));
+
+        list.forEach(dto -> dto.setExtent(parseMultipolygonZ(dto.getExtentWkt())));
+
+        CacheUtils.set(BusinessConstant.DOCK_NOFLY_ZONE + dockSn, list);
+        return list;
+    }
+
+    @Override
+    public Boolean isInNoFlyZone(List<List<NoflyZoneDTO.point>> noFlyZone, NoflyZoneDTO.point point) {
+        if (noFlyZone.size() != 2 || noFlyZone.get(0).size() < 3 || noFlyZone.get(1).size() < 3) {
+            throw new IllegalArgumentException("立方体必须由两个多边形面构成，每个面至少3个点");
+        }
+
+        List<NoflyZoneDTO.point> bottomFace = noFlyZone.get(0);
+        List<NoflyZoneDTO.point> topFace = noFlyZone.get(1);
+
+        // 检查高度是否在立方体范围内
+        double minHeight = Math.min(bottomFace.get(0).getHeight(), topFace.get(0).getHeight());
+        double maxHeight = Math.max(bottomFace.get(0).getHeight(), topFace.get(0).getHeight());
+
+        if (point.getHeight() < minHeight || point.getHeight() > maxHeight) {
+            return false;
+        }
+
+        // 检查点是否在底面多边形内
+        boolean inBottomFace = isPointInPolygon(bottomFace, point);
+
+        // 检查点是否在顶面多边形内
+        boolean inTopFace = isPointInPolygon(topFace, point);
+
+        // 如果点在底面或顶面多边形内，则它在立方体内
+        return inBottomFace || inTopFace;
+    }
+
+    /**
+     * 解析MULTIPOLYGON Z字符串
+     *
+     * @param multipolygonZ MULTIPOLYGON Z格式的字符串
+     * @return 解析后的范围数据
+     */
+    private List<List<NoflyZoneDTO.point>> parseMultipolygonZ(String multipolygonZ) {
+        List<List<NoflyZoneDTO.point>> result = new ArrayList<>();
+
+        // 使用正则表达式匹配多边形数据
+        Pattern pattern = Pattern.compile("\\(\\(([^)]+)\\)\\)");
+        Matcher matcher = pattern.matcher(multipolygonZ);
+
+        while (matcher.find()) {
+            String polygonData = matcher.group(1);
+            List<NoflyZoneDTO.point> polygon = parsePolygon(polygonData);
+            result.add(polygon);
+        }
+
+        return result;
+    }
+
+    /**
+     * 解析单个多边形数据
+     *
+     * @param polygonData 多边形数据字符串
+     * @return 多边形点列表
+     */
+    private List<NoflyZoneDTO.point> parsePolygon(String polygonData) {
+        List<NoflyZoneDTO.point> points = new ArrayList<>();
+        String[] coordinates = polygonData.split(",");
+
+        for (String coord : coordinates) {
+            NoflyZoneDTO.point point = parseCoordinate(coord.trim());
+            if (point != null) {
+                points.add(point);
+            }
+        }
+        // 去除最后一个点（如果它与第一个点相同，WKT格式多边形首尾闭合）
+        if (points.size() > 1) {
+            NoflyZoneDTO.point first = points.get(0);
+            NoflyZoneDTO.point last = points.get(points.size() - 1);
+            if (first.getLng().equals(last.getLng())
+                    && first.getLat().equals(last.getLat())
+                    && first.getHeight().equals(last.getHeight())) {
+                points.remove(points.size() - 1);
+            }
+        }
+        return points;
+    }
+
+    /**
+     * 解析单个坐标点
+     *
+     * @param coordinate 坐标字符串
+     * @return 点对象，解析失败返回null
+     */
+    private NoflyZoneDTO.point parseCoordinate(String coordinate) {
+        // 使用正则表达式匹配三个浮点数
+        Pattern pattern = Pattern.compile("([\\d.]+)\\s+([\\d.]+)\\s+([\\d.]+)");
+        Matcher matcher = pattern.matcher(coordinate);
+        if (matcher.find()) {
+            return new NoflyZoneDTO.point(
+                    Double.parseDouble(matcher.group(1)),
+                    Double.parseDouble(matcher.group(2)),
+                    Double.parseDouble(matcher.group(3))
+            );
+        }
+        return null;
+    }
+
+    /**
+     * 判断点是否在多边形内（射线法 Ray Casting）
+     * <p>
+     * 将3D多边形投影到2D平面（经纬度），忽略高度，
+     * 使用射线法判断点是否落在多边形内部。
+     * </p>
+     *
+     * @param polygon 多边形顶点列表
+     * @param point   要检查的点
+     * @return 如果点在多边形内返回true，否则返回false
+     */
+    private boolean isPointInPolygon(List<NoflyZoneDTO.point> polygon, NoflyZoneDTO.point point) {
+        int n = polygon.size();
+        if (n < 3) return false;
+
+        double px = point.getLng();
+        double py = point.getLat();
+        boolean inside = false;
+
+        for (int i = 0, j = n - 1; i < n; j = i++) {
+            double xi = polygon.get(i).getLng(), yi = polygon.get(i).getLat();
+            double xj = polygon.get(j).getLng(), yj = polygon.get(j).getLat();
+
+            if (((yi > py) != (yj > py)) &&
+                    (px < (xj - xi) * (py - yi) / (yj - yi) + xi)) {
+                inside = !inside;
+            }
+        }
+        return inside;
+    }
+}

admin/src/main/resources/mapper/business/NoflyZoneDao.xml

@@ -0,0 +1,48 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+
+<mapper namespace="com.multictrl.modules.business.dao.NoflyZoneDao">
+    <resultMap type="com.multictrl.modules.business.entity.NoflyZoneEntity" id="busNoflyZoneMap">
+        <result property="id" column="id"/>
+        <result property="name" column="name"/>
+        <result property="status" column="status"/>
+        <result property="extent" column="extent"/>
+        <result property="deptId" column="dept_id"/>
+        <result property="creator" column="creator"/>
+        <result property="createDate" column="create_date"/>
+    </resultMap>
+
+    <select id="pageList" resultType="com.multictrl.modules.business.dto.NoflyZoneDTO">
+        SELECT
+        f.id,
+               f."name",
+               ST_AsText(f.extent) AS extent_wkt,
+               f.create_date,
+               u.real_name            user_name,
+               d.name                 dept_name,
+               f.status
+        FROM bus_nofly_zone f
+                 left join sys_user u on f.creator = u.id
+                 left join sys_dept d on f.dept_id = d.id
+        ${ew.customSqlSegment}
+    </select>
+
+    <insert id="saveNoFlyZone">
+        INSERT INTO bus_nofly_zone (id, name, extent, dept_id, creator, create_date, status)
+        VALUES (#{id}, #{name}, ST_GeomFromText(${extent}, 4326), #{deptId}, #{creator}, #{createDate}, #{status})
+    </insert>
+
+    <select id="getNoFlyZoneList" resultType="com.multictrl.modules.business.dto.NoflyZoneDTO">
+        SELECT f.id,
+               f."name",
+               ST_AsText(f.extent) AS extent_wkt,
+               f.create_date,
+               u.real_name            user_name,
+               d.name                 dept_name,
+               f.status
+        FROM bus_nofly_zone f
+                 left join sys_user u on f.creator = u.id
+                 left join sys_dept d on f.dept_id = d.id
+            ${ew.customSqlSegment}
+    </select>
+</mapper>

prj-deploy/file/pgsql/init.sql

@@ -2264,3 +2264,34 @@ VALUES (2063906540177379330, 2063906301022359553, '妙算', 'MIAO_SUAN', '', 1,
         '2026-06-08 16:50:39.364', 1067246875800000001, '2026-06-08 16:52:08.349',
         'source-material/miao_suan.png');
 
+CREATE
+EXTENSION IF NOT EXISTS postgis;
+
+DROP TABLE IF EXISTS "public"."bus_nofly_zone";
+CREATE TABLE "public"."bus_nofly_zone"
+(
+    "id"          int8                                        NOT NULL,
+    "name"        varchar(255) COLLATE "pg_catalog"."default" NOT NULL,
+    "status"      char(1) COLLATE "pg_catalog"."default",
+    "extent"      "public"."geography"                        NOT NULL,
+    "dept_id"     int8,
+    "creator"     int8,
+    "create_date" timestamp(6)
+)
+;
+COMMENT
+ON COLUMN "public"."bus_nofly_zone"."extent" IS '范围';
+COMMENT
+ON COLUMN "public"."bus_nofly_zone"."dept_id" IS '部门标识';
+COMMENT
+ON COLUMN "public"."bus_nofly_zone"."name" IS '名称';
+COMMENT
+ON COLUMN "public"."bus_nofly_zone"."status" IS '是否开启 1开启 0未开启';
+COMMENT
+ON TABLE "public"."bus_nofly_zone" IS '禁飞区';
+
+-- ----------------------------
+-- Primary Key structure for table bus_nofly_zone
+-- ----------------------------
+ALTER TABLE "public"."bus_nofly_zone"
+    ADD CONSTRAINT "uav_no_flying_pkey" PRIMARY KEY ("id");