增加禁飞区
This commit is contained in:
sdy
parent
139e2eff46
commit
61ca367330
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@ -8,6 +8,9 @@ package com.multictrl.common.constant;
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*/
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public interface BusinessConstant {
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String WEB_EVENT_TOPIC = "thing/product/%s/web_event";
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String NOFLY_ZONE_METHOD = "nofly_zone";
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//********************************* minio *********************************//
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String ROUTE_IMG_BUCKET = "route-images";//航线图片桶
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String ROUTE_KMZ_BUCKET = "route-kmz";//航线桶
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@ -83,6 +86,10 @@ public interface BusinessConstant {
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String UAV_LIGHT_INDEX = "uav_light_index_";
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String UAV_MODE_CODE = "uav_mode_code_";
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//********************************* other cache key *********************************//
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String DOCK_NOFLY_ZONE = "dock_nofly_zone_";
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String DOCK_NOFLY_ZONE_TRIGGER_SIGN = "dock_nofly_zone_trigger_sign_";
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//********************************* other *********************************//
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String HTTP_PROTOCOL = "http://";
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String HTTPS_PROTOCOL = "https://";
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@ -0,0 +1,97 @@
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package com.multictrl.modules.business.controller;
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import com.multictrl.common.annotation.ApiOrder;
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import com.multictrl.common.annotation.LogOperation;
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import com.multictrl.common.constant.Constant;
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import com.multictrl.common.page.PageData;
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import com.multictrl.common.utils.Result;
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import com.multictrl.common.validator.AssertUtils;
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import com.multictrl.common.validator.ValidatorUtils;
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import com.multictrl.common.validator.group.AddGroup;
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import com.multictrl.common.validator.group.UpdateGroup;
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import com.multictrl.modules.business.dto.NoflyZoneDTO;
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import com.multictrl.modules.business.service.NoflyZoneService;
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import io.swagger.v3.oas.annotations.Operation;
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import io.swagger.v3.oas.annotations.tags.Tag;
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import lombok.RequiredArgsConstructor;
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import org.apache.shiro.authz.annotation.RequiresPermissions;
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import org.springframework.web.bind.annotation.*;
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import io.swagger.v3.oas.annotations.Parameter;
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import io.swagger.v3.oas.annotations.Parameters;
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import java.util.List;
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import java.util.Map;
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/**
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* 禁飞区
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*
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* @author Sdy
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* @since 1.0.0 2026-06-09
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*/
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@RestController
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@RequestMapping("business/noflyzone")
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@Tag(name = "禁飞区")
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@ApiOrder(22)
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@RequiredArgsConstructor
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public class NoflyZoneController {
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private final NoflyZoneService noflyZoneService;
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@GetMapping("page")
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@Operation(summary = "分页")
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@Parameters({
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@Parameter(name = Constant.PAGE, description = "当前页码，从1开始"),
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@Parameter(name = Constant.LIMIT, description = "每页显示记录数"),
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@Parameter(name = "name", description = "名称")
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})
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@RequiresPermissions("bus:noflyzone:page")
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public Result<PageData<NoflyZoneDTO>> page(@Parameter(hidden = true) @RequestParam Map<String, Object> params) {
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PageData<NoflyZoneDTO> page = noflyZoneService.pageList(params);
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return new Result<PageData<NoflyZoneDTO>>().ok(page);
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}
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@PostMapping
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@Operation(summary = "保存")
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@LogOperation("保存")
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@RequiresPermissions("bus:noflyzone:save")
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public Result<Object> save(@RequestBody NoflyZoneDTO dto) {
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//效验数据
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ValidatorUtils.validateEntity(dto, AddGroup.class);
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noflyZoneService.saveNoFlying(dto);
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return new Result<>();
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}
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@PutMapping
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@Operation(summary = "修改")
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@LogOperation("修改")
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@RequiresPermissions("bus:noflyzone:update")
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public Result<Object> update(@RequestBody NoflyZoneDTO dto) {
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//效验数据
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ValidatorUtils.validateEntity(dto, UpdateGroup.class);
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noflyZoneService.update(dto);
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return new Result<>();
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}
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@DeleteMapping
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@Operation(summary = "删除")
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@LogOperation("删除")
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@RequiresPermissions("bus:noflyzone:delete")
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public Result<Object> delete(@RequestBody Long[] ids) {
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//效验数据
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AssertUtils.isArrayEmpty(ids, "id");
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noflyZoneService.delete(ids);
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return new Result<>();
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}
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@GetMapping("/getNoFlying")
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@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")
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public Result<List<NoflyZoneDTO>> getNoFlying(@RequestParam String dockSn) {
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List<NoflyZoneDTO> list = noflyZoneService.getNoFlyZoneByDockSn(dockSn);
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return new Result<List<NoflyZoneDTO>>().ok(list);
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}
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}
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@ -0,0 +1,30 @@
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package com.multictrl.modules.business.dao;
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import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
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import com.baomidou.mybatisplus.core.metadata.IPage;
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import com.multictrl.common.dao.BaseDao;
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import com.multictrl.modules.business.dto.NoflyZoneDTO;
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import com.multictrl.modules.business.entity.NoflyZoneEntity;
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import org.apache.ibatis.annotations.Mapper;
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import org.apache.ibatis.annotations.Param;
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import java.util.List;
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/**
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* 禁飞区
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*
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* @author Sdy
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* @since 1.0.0 2026-06-09
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*/
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@Mapper
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public interface NoflyZoneDao extends BaseDao<NoflyZoneEntity> {
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//分页列表
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IPage<NoflyZoneDTO> pageList(IPage<NoflyZoneEntity> page, @Param("ew") QueryWrapper<NoflyZoneEntity> ew);
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//新增禁飞区
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void saveNoFlyZone(NoflyZoneEntity noflyZoneEntity);
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//查询禁飞区
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List<NoflyZoneDTO> getNoFlyZoneList(@Param("ew") QueryWrapper<NoflyZoneEntity> ew);
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}
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@ -0,0 +1,82 @@
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package com.multictrl.modules.business.dto;
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import com.fasterxml.jackson.annotation.JsonIgnore;
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import com.fasterxml.jackson.annotation.JsonProperty;
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import com.multictrl.common.validator.group.AddGroup;
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import com.multictrl.common.validator.group.UpdateGroup;
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import io.swagger.v3.oas.annotations.media.Schema;
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import jakarta.validation.Valid;
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import jakarta.validation.constraints.*;
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import jakarta.validation.groups.Default;
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import lombok.AllArgsConstructor;
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import lombok.Data;
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import lombok.NoArgsConstructor;
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import java.io.Serial;
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import java.io.Serializable;
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import java.util.Date;
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import java.util.List;
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/**
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* 禁飞区
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*
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* @author Sdy
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* @since 1.0.0 2026-06-09
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*/
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@Data
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@Schema(name = "禁飞区")
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public class NoflyZoneDTO implements Serializable {
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@Serial
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private static final long serialVersionUID = 1L;
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@Null(message = "标识必须为空", groups = {AddGroup.class})
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@NotNull(message = "标识不能为空", groups = {UpdateGroup.class})
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@Schema(description = "标识")
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private Long id;
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@Schema(description = "名称")
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@NotBlank(message = "名称不能为空", groups = {AddGroup.class, UpdateGroup.class})
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private String name;
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@NotBlank(message = "是否开启不能为空", groups = {AddGroup.class, UpdateGroup.class})
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@Schema(description = "是否开启 1开启 0未开启")
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private String status;
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@Schema(description = "范围")
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@NotEmpty(message = "范围不能为空", groups = {AddGroup.class})
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@Size(min = 2, max = 2, message = "范围数据错误", groups = {AddGroup.class})
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private List<List<@Valid point>> extent;
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@Schema(description = "时间")
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@JsonProperty(access = JsonProperty.Access.READ_ONLY)
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private Date createDate;
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@Schema(hidden = true)
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private String deptName;
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@Schema(hidden = true)
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private String userName;
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@Schema(hidden = true)
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@JsonIgnore
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private String extentWkt;
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@AllArgsConstructor
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@NoArgsConstructor
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@Data
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public static class point {
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@NotNull(message = "经度不能为空", groups = {AddGroup.class})
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@Schema(description = "经度")
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private Double lng;
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@NotNull(message = "纬度不能为空", groups = {AddGroup.class})
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@Schema(description = "纬度")
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private Double lat;
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@NotNull(message = "海拔高度不能为空", groups = {AddGroup.class})
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@Schema(description = "海拔高度")
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private Double height;
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}
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}
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@ -0,0 +1,39 @@
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package com.multictrl.modules.business.entity;
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import com.baomidou.mybatisplus.annotation.FieldFill;
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import com.baomidou.mybatisplus.annotation.TableField;
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import com.baomidou.mybatisplus.annotation.TableName;
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import com.multictrl.common.entity.BaseEntity;
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import lombok.Data;
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import lombok.EqualsAndHashCode;
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import java.util.Date;
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/**
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* 禁飞区
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*
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* @author Sdy
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* @since 1.0.0 2026-06-09
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*/
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@EqualsAndHashCode(callSuper = true)
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@Data
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@TableName("bus_nofly_zone")
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public class NoflyZoneEntity extends BaseEntity {
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/**
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* 名称
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*/
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private String name;
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/**
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* 是否开启 1开启 0未开启
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*/
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private String status;
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/**
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* 范围
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*/
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private String extent;
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/**
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* 部门标识
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*/
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@TableField(fill = FieldFill.INSERT)
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private Long deptId;
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}
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@ -7,10 +7,10 @@ import com.multictrl.common.constant.BusinessConstant;
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import com.multictrl.common.constant.DockMode;
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import com.multictrl.common.utils.CacheUtils;
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import com.multictrl.common.utils.JsonUtils;
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import com.multictrl.modules.business.dto.NoflyZoneDTO;
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import com.multictrl.modules.business.influxdb.FlightLog;
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import com.multictrl.modules.business.influxdb.UavReport;
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import com.multictrl.modules.business.service.DockService;
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import com.multictrl.modules.business.service.FlightTaskService;
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import com.multictrl.modules.business.service.InfluxService;
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import com.multictrl.modules.business.service.*;
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import lombok.RequiredArgsConstructor;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.stereotype.Component;
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@ -18,6 +18,9 @@ import org.springframework.stereotype.Component;
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import java.util.Collections;
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import java.util.List;
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import java.util.Optional;
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import java.util.Set;
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import java.util.concurrent.*;
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import java.util.concurrent.atomic.AtomicInteger;
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/**
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* osd设备属性定频上报0.5HZ
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@ -33,6 +36,9 @@ public class OsdHandler implements MessageHandler {
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private final InfluxService influxService;
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private final FlightTaskService flightTaskService;
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private final DockService dockService;
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private final DJIBaseService djiBaseService;
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private final MqttPushService mqttPushService;
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private final NoflyZoneService noflyZoneService;
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@Override
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public void handleMessage(String topic, String payload, String gateway) {
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@ -145,10 +151,117 @@ public class OsdHandler implements MessageHandler {
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.horizontal_speed(data.getDouble("horizontal_speed"))
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.build();
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influxService.addRecord(uavReport);
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//禁飞区校验
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Double height = data.getDouble("height");
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NoflyZoneDTO.point point = new NoflyZoneDTO.point(uavReport.getLongitude(), uavReport.getLatitude(), height);
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judgingNoFlyZone(dockSn, point, mode);
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}
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}
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} else {
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log.debug("osd --> payload解析失败，解析后为null");
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}
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}
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//禁飞区限制
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// 允许触发返航的飞行模式集合
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//"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"
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private static final Set<Integer> ALLOWED_MODE_CODES = Set.of(3, 4, 5, 16, 17);
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// 按设备隔离的计数器（线程安全）
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private final ConcurrentHashMap<String, AtomicInteger> counterMap = new ConcurrentHashMap<>();
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// 单线程执行器（若需提高并发，可调整线程数或使用同步）
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private final ExecutorService executor = new ThreadPoolExecutor(1, 1, 0L,
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TimeUnit.MILLISECONDS, new ArrayBlockingQueue<>(100));
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private void judgingNoFlyZone(String dockSn, NoflyZoneDTO.point point, Integer modeCode) {
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// 1. 模式过滤（快速失败）
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if (!ALLOWED_MODE_CODES.contains(modeCode)) {
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return;
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}
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// 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）
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AtomicInteger deviceCounter = counterMap.computeIfAbsent(dockSn, k -> new AtomicInteger(0));
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int count = deviceCounter.incrementAndGet();
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if (count % 3 != 1) {
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return;
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}
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// 3. 获取禁飞区列表
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Object obj = CacheUtils.get(BusinessConstant.DOCK_NOFLY_ZONE + dockSn);
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if (!(obj instanceof List)) {
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return;
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}
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List<NoflyZoneDTO> noFlyZoneList = (List<NoflyZoneDTO>) obj;
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// 4. 遍历禁飞区，检查是否已触发返航
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String triggerKey = BusinessConstant.DOCK_NOFLY_ZONE_TRIGGER_SIGN + dockSn;
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for (NoflyZoneDTO dto : noFlyZoneList) {
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// 先判断是否已在触发中（快速路径）
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if (CacheUtils.get(triggerKey) != null) {
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return;
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}
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// 执行点是否在禁飞区内
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if (noflyZoneService.isInNoFlyZone(dto.getExtent(), point)) {
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// 原子设置触发标记，防止并发重复触发
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if (trySetTrigger(triggerKey)) {
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// 异步执行返航任务
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CompletableFuture.runAsync(() -> executeReturnHome(dockSn, dto), executor);
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}
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// 只要命中一个禁飞区就停止遍历
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return;
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}
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}
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}
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/**
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* 原子设置触发标记（使用缓存框架的 putIfAbsent 或本地锁）
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* 返回 true 表示当前线程成功设置，false 表示已被其他线程设置
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*/
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private boolean trySetTrigger(String key) {
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synchronized (this) {
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if (CacheUtils.get(key) == null) {
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CacheUtils.set(key, true, 1000 * 60);
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return true;
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}
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return false;
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}
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}
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/**
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* 执行返航并推送状态（抽离重复逻辑）
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*/
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private void executeReturnHome(String dockSn, NoflyZoneDTO dto) {
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String zoneName = dto.getName();
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// 1. 发送进入禁飞区通知（type=0）
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logAndPush(dockSn, zoneName, 0, "飞机进入禁飞区，强制返航");
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try {
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// 2. 执行返航指令
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djiBaseService.executeAndReturnResult(dockSn, "return_home");
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// 3. 发送成功通知（type=1）
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logAndPush(dockSn, zoneName, 1, "飞机进入禁飞区，强制返航成功");
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} catch (Exception e) {
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// 记录异常堆栈，便于排查
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log.error("返航失败，dockSn={}, zone={}", dockSn, zoneName, e);
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// 4. 发送失败通知（type=2）
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logAndPush(dockSn, zoneName, 2, "飞机进入禁飞区，强制返航失败，请手动返航");
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}
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}
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/**
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* 统一记录飞行日志并推送 MQTT 消息
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*/
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private void logAndPush(String dockSn, String zoneName, int type, String msg) {
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// 记录 InfluxDB 日志
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FlightLog flightLog = new FlightLog();
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flightLog.setDockSn(dockSn);
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flightLog.setLevel(2);
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flightLog.setMessage(msg);
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influxService.addRecord(flightLog);
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// 推送 MQTT 事件
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JSONObject data = new JSONObject();
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data.set("name", zoneName);
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data.set("type", type);
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data.set("msg", msg);
|
||||
JSONObject payload = djiBaseService.getPayload(BusinessConstant.NOFLY_ZONE_METHOD, data);
|
||||
mqttPushService.pushMessageByClient1(BusinessConstant.WEB_EVENT_TOPIC.formatted(dockSn), payload.toString());
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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);
|
||||
}
|
||||
|
|
@ -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;
|
||||
}
|
||||
}
|
||||
|
|
@ -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>
|
||||
|
|
@ -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");
|
||||
Loading…
Reference in New Issue