1.导入航线优化、生成航线kmz优化

2.增加修改返航高度、预计飞行时间（航点航线）接口

admin/src/main/java/com/multictrl/common/task/FlightTaskUpdate.java

@@ -6,7 +6,7 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.google.common.collect.Maps;
 import com.multictrl.common.utils.DateUtils;
-import com.multictrl.common.utils.Spatial4jUtils;
+import com.multictrl.common.utils.map.Spatial4jUtils;
 import com.multictrl.modules.business.dao.FlightTaskDao;
 import com.multictrl.modules.business.entity.FlightTaskEntity;
 import com.multictrl.modules.business.entity.MediaFileEntity;

admin/src/main/java/com/multictrl/common/utils/Utils.java

@@ -252,4 +252,31 @@ public class Utils {
         double result = bytes / Math.pow(1024, exp);
         return format(result, 2) + " " + pre + "B";
     }
+
+    /**
+     * 将秒转换为分秒
+     */
+    public static String calculateSeconds(long totalSeconds) {
+        // 处理负数
+        if (totalSeconds < 0) {
+            return "-" + calculateSeconds(-totalSeconds);
+        }
+
+        long hours = totalSeconds / 3600;
+        long minutes = (totalSeconds % 3600) / 60;
+        long seconds = totalSeconds % 60;
+
+        StringBuilder sb = new StringBuilder();
+        if (hours > 0) {
+            sb.append(hours).append('h');
+        }
+        if (minutes > 0) {
+            sb.append(minutes).append('m');
+        }
+        // 当所有部分都为0时，至少显示 "0s"
+        if (seconds > 0 || sb.isEmpty()) {
+            sb.append(seconds).append('s');
+        }
+        return sb.toString();
+    }
 }

admin/src/main/java/com/multictrl/common/utils/kmz/TemplateUtils.java

@@ -68,11 +68,12 @@ public class TemplateUtils {
         folder.addElement("wpml:globalUseStraightLine").setText("1");
 
         List<RouteWaypointDTO> waypointList = route.getRouteWaypointList();
-        for (RouteWaypointDTO waypoint : waypointList) {
+        for (int i = 0; i < waypointList.size(); i++) {
+            RouteWaypointDTO waypoint = waypointList.get(i);
             Element placemark = folder.addElement("Placemark");
             Element point = placemark.addElement("Point");
             point.addElement("coordinates").setText(waypoint.getLongitude() + "," + waypoint.getLatitude());
-            placemark.addElement("wpml:index").setText(waypoint.getWaypointSort() + "");
+            placemark.addElement("wpml:index").setText(i + "");
             placemark.addElement("wpml:ellipsoidHeight").setText(waypoint.getFlightHeight() + "");
             placemark.addElement("wpml:height").setText(waypoint.getFlightHeight() + "");
             placemark.addElement("wpml:waypointSpeed").setText(waypoint.getFlightSpeed() + "");

admin/src/main/java/com/multictrl/common/utils/kmz/WaylinesUtils.java

@@ -59,11 +59,12 @@ public class WaylinesUtils {
 
         //航点信息
         List<RouteWaypointDTO> waypointList = route.getRouteWaypointList();
-        for (RouteWaypointDTO waypoint : waypointList) {
+        for (int i = 0; i < waypointList.size(); i++) {
+            RouteWaypointDTO waypoint = waypointList.get(i);
             Element placemark = folder.addElement("Placemark");
             Element point = placemark.addElement("Point");
             point.addElement("coordinates").setText(waypoint.getLongitude() + "," + waypoint.getLatitude());
-            placemark.addElement("wpml:index").setText(waypoint.getWaypointSort() + "");
+            placemark.addElement("wpml:index").setText(i + "");
             placemark.addElement("wpml:executeHeight").setText(waypoint.getFlightHeight() + "");
             placemark.addElement("wpml:waypointSpeed").setText(waypoint.getFlightSpeed() + "");
             //添加转弯模式/飞机偏航角模式

admin/src/main/java/com/multictrl/common/utils/map/GeoPoint.java

@@ -0,0 +1,36 @@
+package com.multictrl.common.utils.map;
+
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+import java.util.Arrays;
+import java.util.List;
+
+/**
+ * 经纬度
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/6/23
+ */
+
+@NoArgsConstructor
+@AllArgsConstructor
+@Data
+public class GeoPoint {
+
+    private double longitude;
+
+    private double latitude;
+
+    /**
+     * 构造方法
+     *
+     * @param location 经纬度x,y
+     */
+    public GeoPoint(String location) {
+        List<String> list = Arrays.asList(location.split(","));
+        this.longitude = Double.parseDouble(list.get(0));
+        this.latitude = Double.parseDouble(list.get(1));
+    }
+}

admin/src/main/java/com/multictrl/common/utils/map/GeoUtils.java

@@ -0,0 +1,245 @@
+package com.multictrl.common.utils.map;
+
+import cn.hutool.http.HttpUtil;
+import cn.hutool.json.JSONObject;
+import cn.hutool.json.JSONUtil;
+import com.multictrl.common.exception.RenException;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 地图数据工具
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/6/23
+ */
+public class GeoUtils {
+
+    private static final int EARTH_RADIUS_IN_METERS = 6371000; // 地球半径，单位：米
+
+    /**
+     * 创建wkt点
+     *
+     * @param longitude 精度
+     * @param latitude  维度
+     * @return 返回WKT格式的点，例如 "POINT(120.123456789 30.987654789)"
+     */
+    public static String createPointWkt(Double longitude, Double latitude) {
+        if (longitude == null || latitude == null) {
+            return null;
+        }
+        // 判断是否是合法的数字
+        if (Double.isNaN(longitude) || Double.isNaN(latitude) ||
+                Double.isInfinite(longitude) || Double.isInfinite(latitude)) {
+            return null;
+        }
+        return String.format("POINT(%.9f %.9f)", longitude, latitude);
+    }
+
+    /**
+     * 解析 WKT 格式的 POINT 字符串，并根据指定的精度返回经度和纬度
+     *
+     * @param pointWkt WKT 格式的 POINT 字符串，例如 "POINT(120.123456789 30.987654789)"
+     * @return 包含经度和纬度的 GeoPoint 对象
+     */
+    public static GeoPoint parsePointWkt(String pointWkt) {
+        if (pointWkt == null || !pointWkt.startsWith("POINT(") || !pointWkt.endsWith(")")) {
+            throw new RenException("经纬度解析错误");
+        }
+
+        // 去掉 "POINT(" 和 ")"，然后按空格分割
+        String content = pointWkt.substring(6, pointWkt.length() - 1);
+        String[] parts = content.split("\\s+");
+
+        if (parts.length != 2) {
+            throw new RenException("经纬度解析错误");
+        }
+
+        try {
+            double longitude = Double.parseDouble(parts[0]);
+            double latitude = Double.parseDouble(parts[1]);
+
+            // 根据精度进行四舍五入
+            longitude = roundToPrecision(longitude, 9);
+            latitude = roundToPrecision(latitude, 9);
+
+            return new GeoPoint(longitude, latitude);
+        } catch (Exception e) {
+            throw new RenException("经纬度解析错误", e);
+        }
+    }
+
+    /**
+     * 四舍五入到指定的小数位数
+     *
+     * @param value     要四舍五入的值
+     * @param precision 小数点后保留的位数
+     * @return 四舍五入后的结果
+     */
+    private static double roundToPrecision(double value, int precision) {
+        double scale = Math.pow(10, precision);
+        return Math.round(value * scale) / scale;
+    }
+
+    /**
+     * 使用 Haversine 公式计算两个经纬度之间的距离（单位：米）
+     *
+     * @param lat1 第一个点的纬度
+     * @param lon1 第一个点的经度
+     * @param lat2 第二个点的纬度
+     * @param lon2 第二个点的经度
+     * @return 距离（米）
+     */
+    public static double calculateDistance(double lat1, double lon1, double lat2, double lon2) {
+        double lat1Rad = Math.toRadians(lat1);
+        double lon1Rad = Math.toRadians(lon1);
+        double lat2Rad = Math.toRadians(lat2);
+        double lon2Rad = Math.toRadians(lon2);
+
+        double a = Math.pow(Math.sin((lat2Rad - lat1Rad) / 2), 2) +
+                Math.cos(lat1Rad) * Math.cos(lat2Rad) *
+                        Math.pow(Math.sin((lon2Rad - lon1Rad) / 2), 2);
+
+        double c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1 - a));
+        return EARTH_RADIUS_IN_METERS * c;
+    }
+
+    /**
+     * 判断两点之间的距离是否在指定范围内（单位：米）
+     *
+     * @param lat1        第一个点的纬度
+     * @param lon1        第一个点的经度
+     * @param lat2        第二个点的纬度
+     * @param lon2        第二个点的经度
+     * @param minDistance 最小距离（单位：米）
+     * @param maxDistance 最大距离（单位：米）
+     * @return 是否在范围内
+     */
+    public static boolean isDistanceInRange(double lat1, double lon1, double lat2, double lon2,
+                                            double minDistance, double maxDistance) {
+        double distance = calculateDistance(lat1, lon1, lat2, lon2);
+        return distance >= minDistance && distance <= maxDistance;
+    }
+
+    /**
+     * 将 "经度,纬度;经度,纬度" 格式的字符串转换为闭合的坐标数组（用于 GeoJSON Polygon）
+     *
+     * @param mapping 输入的坐标字符串
+     * @return 格式化后的 List<List<Double>>，每个内层 List 为 [经度, 纬度]
+     */
+    public static List<List<Double>> parseCoordinates(String mapping) {
+        if (mapping == null || mapping.trim().isEmpty()) {
+            throw new RenException("面状范围不能为空");
+        }
+
+        String[] points = mapping.split(";");
+        List<List<Double>> coordinates = new ArrayList<>();
+
+        List<Double> firstPoint = null;
+
+        for (int i = 0; i < points.length; i++) {
+            String[] latLon = points[i].split(",");
+            if (latLon.length != 2) {
+                throw new RenException("无效坐标对: " + points[i]);
+            }
+
+            double lon = Double.parseDouble(latLon[0].trim());
+            double lat = Double.parseDouble(latLon[1].trim());
+
+            List<Double> point = List.of(lon, lat);
+            coordinates.add(point);
+
+            // 记录第一个点用于闭合
+            /*if (i == 0) {
+                firstPoint = point;
+            }*/
+        }
+
+        // 闭合多边形：最后一个点必须等于第一个点
+        /*if (firstPoint != null && !coordinates.get(coordinates.size() - 1).equals(firstPoint)) {
+            coordinates.add(firstPoint);
+        }*/
+
+        return coordinates;
+    }
+
+    /**
+     * 根据经纬度获取高程（单位：米）
+     *
+     * @param latitude  纬度（如 40.714728）
+     * @param longitude 经度（如 -73.998672）
+     * @return 海拔高度（米）
+     * @throws Exception 如果API请求失败或数据异常
+     */
+    public static double getElevation(double latitude, double longitude) {
+        // 构建API请求URL（使用aster30m数据集）
+        String url = "https://api.opentopodata.org/v1/aster30m?locations=" + latitude + "," + longitude;
+
+        //发送HTTP请求
+        String response = HttpUtil.get(url);
+
+        // 解析JSON
+        JSONObject json = JSONUtil.parseObj(response);
+        if (!json.containsKey("results") || json.getJSONArray("results").isEmpty()) {
+            return 0;
+        }
+
+        // 返回第一个结果的高程值
+        return json.getJSONArray("results").getJSONObject(0).getDouble("elevation");
+    }
+
+    /**
+     * 计算点数集合总时长
+     * 包含了上升时间
+     */
+    public static long calculateFlightTime(List<JSONObject> waypoints) {
+        if (waypoints == null || waypoints.size() < 2) {
+            return 0;
+        }
+
+        double totalSeconds = 0.0;
+        final double EARTH_RADIUS = 6371000.0; // 地球半径（米）
+        final double VERTICAL_SPEED = 2.0;      // 垂直调整速度（m/s，大疆典型值）
+
+        for (int i = 1; i < waypoints.size(); i++) {
+            JSONObject prev = waypoints.get(i - 1);
+            JSONObject curr = waypoints.get(i);
+
+            // 获取位置和速度
+            double lat1 = prev.getDouble("latitude");
+            double lon1 = prev.getDouble("longitude");
+            double alt1 = prev.getDouble("altitude");
+            double lat2 = curr.getDouble("latitude");
+            double lon2 = curr.getDouble("longitude");
+            double alt2 = curr.getDouble("altitude");
+            double horizontalSpeed = prev.getDouble("speed"); // 水平速度（m/s）
+
+            // 1. 计算水平距离（地面投影，单位：米）
+            double lat1Rad = Math.toRadians(lat1);
+            double lon1Rad = Math.toRadians(lon1);
+            double lat2Rad = Math.toRadians(lat2);
+            double lon2Rad = Math.toRadians(lon2);
+
+            double deltaLat = lat2Rad - lat1Rad;
+            double deltaLon = lon2Rad - lon1Rad;
+
+            double a = Math.sin(deltaLat / 2) * Math.sin(deltaLat / 2) +
+                    Math.cos(lat1Rad) * Math.cos(lat2Rad) *
+                            Math.sin(deltaLon / 2) * Math.sin(deltaLon / 2);
+            double c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1 - a));
+            double groundDistance = EARTH_RADIUS * c;
+
+            // 2. 计算垂直高度差（绝对值）
+            double heightDiff = Math.abs(alt2 - alt1);
+
+            // 3. 计算两段飞行时间
+            double timeVertical = heightDiff / VERTICAL_SPEED;    // 垂直调整时间
+            double timeHorizontal = groundDistance / horizontalSpeed; // 水平飞行时间
+
+            totalSeconds += timeVertical + timeHorizontal;
+        }
+
+        return Math.round(totalSeconds); // 四舍五入为整数秒
+    }
+}

admin/src/main/java/com/multictrl/common/utils/map/Spatial4jUtils.java

@@ -1,4 +1,4 @@
-package com.multictrl.common.utils;
+package com.multictrl.common.utils.map;
 
 import org.locationtech.spatial4j.context.SpatialContext;
 import org.locationtech.spatial4j.distance.DistanceUtils;

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

@@ -11,9 +11,11 @@ import com.multictrl.common.validator.group.AddGroup;
 import com.multictrl.common.validator.group.UpdateGroup;
 import com.multictrl.modules.business.dto.RouteAiDTO;
 import com.multictrl.modules.business.dto.RouteDTO;
+import com.multictrl.modules.business.dto.RouteEstimateTimeDTO;
 import com.multictrl.modules.business.dto.UploadRouteDTO;
 import com.multictrl.modules.business.service.RouteService;
 import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.media.Schema;
 import io.swagger.v3.oas.annotations.tags.Tag;
 import lombok.RequiredArgsConstructor;
 import org.apache.shiro.authz.annotation.RequiresPermissions;
@@ -125,13 +127,33 @@ public class RouteController {
             @Parameter(name = "dockSn", description = "机库SN"),
             @Parameter(name = "accurateImport", description = "是否精准导入"),
             @Parameter(name = "globalRthHeight", description = "返航高度"),
-            @Parameter(name = "file", description = "航线文件")
+            @Parameter(name = "file", description = "航线文件",
+                    schema = @Schema(type = "string", format = "binary"))
     })
     @RequiresPermissions("bus:route:upload")
-    public Result<Object> upload(UploadRouteDTO dto) {
+    public Result<Object> upload(@Parameter(hidden = true) UploadRouteDTO dto) {
         ValidatorUtils.validateEntity(dto);
         routeService.upload(dto);
 
         return new Result<>();
     }
+
+    @PostMapping("/getWaypointEstimateTime")
+    @Operation(summary = "航点航线预计飞行时间")
+    public Result<String> getWaypointEstimateTime(@RequestBody RouteEstimateTimeDTO dto) {
+        ValidatorUtils.validateEntity(dto);
+        String estimateTime = routeService.getWaypointEstimateTime(dto);
+
+        return new Result<String>().ok(estimateTime);
+    }
+
+    @PutMapping("/updateGlobalRthHeight")
+    @Operation(summary = "修改返航高度")
+    @LogOperation("修改返航高度")
+    public Result<Object> updateGlobalRthHeight(@RequestParam Long routeId,
+                                                @RequestParam Integer globalRthHeight) {
+        routeService.updateGlobalRthHeight(routeId, globalRthHeight);
+
+        return new Result<>();
+    }
 }

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

@@ -0,0 +1,34 @@
+package com.multictrl.modules.business.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import jakarta.validation.constraints.NotBlank;
+import jakarta.validation.constraints.NotNull;
+import lombok.Data;
+
+import java.util.List;
+
+/**
+ * 航线预计飞行时长参数
+ *
+ * @author Sdy
+ * @since 1.0.0 2026/6/23
+ */
+@Data
+@Schema(name = "航线预计飞行时长参数")
+public class RouteEstimateTimeDTO {
+
+    @NotBlank(message = "机库SN不能为空")
+    @Schema(description = "机库SN")
+    private String dockSn;
+
+    @Schema(description = "全局航线过渡速度")
+    @NotNull(message = "全局航线过渡速度不能为空")
+    private Double globalTransitionalSpeed;
+
+    @NotBlank(message = "高度模式不能为空")
+    @Schema(description = "高度模式")
+    private String heightModel;
+
+    @Schema(description = "航线航点信息")
+    private List<RouteWaypointDTO> waypointList;
+}

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

@@ -4,6 +4,7 @@ import com.multictrl.common.page.PageData;
 import com.multictrl.common.service.CrudService;
 import com.multictrl.modules.business.dto.RouteAiDTO;
 import com.multictrl.modules.business.dto.RouteDTO;
+import com.multictrl.modules.business.dto.RouteEstimateTimeDTO;
 import com.multictrl.modules.business.dto.UploadRouteDTO;
 import com.multictrl.modules.business.entity.RouteEntity;
 
@@ -40,4 +41,10 @@ public interface RouteService extends CrudService<RouteEntity, RouteDTO> {
 
     //上传航线
     void upload(UploadRouteDTO dto);
+
+    //获取航点航线预计飞行时间
+    String getWaypointEstimateTime(RouteEstimateTimeDTO dto);
+
+    //修改返航高度
+    void updateGlobalRthHeight(Long routeId, Integer globalRthHeight);
 }

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

@@ -17,6 +17,7 @@ import com.multictrl.common.page.PageData;
 import com.multictrl.common.service.impl.CrudServiceImpl;
 import cn.hutool.core.util.StrUtil;
 import com.multictrl.common.utils.*;
+import com.multictrl.common.utils.map.Spatial4jUtils;
 import com.multictrl.modules.business.dao.DockDeviceDao;
 import com.multictrl.modules.business.dao.FlightTaskDao;
 import com.multictrl.modules.business.dao.ZhimouCallbackDao;

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

@@ -2,8 +2,10 @@ package com.multictrl.modules.business.service.impl;
 
 import cn.hutool.core.collection.CollUtil;
 import cn.hutool.core.io.FileUtil;
+import cn.hutool.json.JSONObject;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.multictrl.common.constant.BusinessConstant;
 import com.multictrl.common.exception.ErrorCode;
 import com.multictrl.common.exception.ExceptionUtils;
@@ -12,6 +14,9 @@ import com.multictrl.common.page.PageData;
 import com.multictrl.common.service.impl.CrudServiceImpl;
 import com.multictrl.common.utils.ConvertUtils;
 import com.multictrl.common.utils.JsonUtils;
+import com.multictrl.common.utils.Utils;
+import com.multictrl.common.utils.map.GeoUtils;
+import com.multictrl.common.utils.map.Spatial4jUtils;
 import com.multictrl.common.utils.kmz.KmzUtils;
 import com.multictrl.common.utils.kmz.WpmlKmlParser;
 import com.multictrl.common.validator.AssertUtils;
@@ -25,6 +30,7 @@ import com.multictrl.modules.business.entity.RouteAiEntity;
 import com.multictrl.modules.business.entity.RouteEntity;
 import com.multictrl.modules.business.entity.RouteWaypointEntity;
 import com.multictrl.modules.business.entity.WaypointActionEntity;
+import com.multictrl.modules.business.service.DJIBaseService;
 import com.multictrl.modules.business.service.MinioService;
 import com.multictrl.modules.business.service.RouteService;
 import com.multictrl.modules.security.user.SecurityUser;
@@ -53,6 +59,7 @@ public class RouteServiceImpl extends CrudServiceImpl<RouteDao, RouteEntity, Rou
     private final WaypointActionDao waypointActionDao;
     private final MinioService minioService;
     private final RouteAiDao routeAiDao;
+    private final DJIBaseService djiBaseService;
 
     @Override
     public QueryWrapper<RouteEntity> getWrapper(Map<String, Object> params) {
@@ -236,7 +243,7 @@ public class RouteServiceImpl extends CrudServiceImpl<RouteDao, RouteEntity, Rou
             byte[] waylines = kmzInfo.get("waylines.wpml");
             WpmlKmlParser.parseWpmlFile(waylines, routeDTO, dto.getAccurateImport());
 
-            log.debug("解析结果：{}", JsonUtils.toJsonString(dto));
+            log.debug("解析结果：{}", JsonUtils.toJsonString(routeDTO));
         } catch (Exception e) {
             log.error("解析结果失败：{}", ExceptionUtils.getErrorStackTrace(e));
 //            throw new RenException(ErrorCode.FILE_PARSER_ERROR);
@@ -244,7 +251,9 @@ public class RouteServiceImpl extends CrudServiceImpl<RouteDao, RouteEntity, Rou
         }
 
         routeDTO.setRouteName(name);
-        routeDTO.setGlobalRthHeight(dto.getGlobalRthHeight());
+        if (dto.getAccurateImport()) {
+            routeDTO.setGlobalRthHeight(dto.getGlobalRthHeight());
+        }
         String path = dto.getDockSn() + "/" + originalFilename;
         try {
             minioService.uploadFile(file.getInputStream(), BusinessConstant.ROUTE_KMZ_BUCKET, path);
@@ -259,17 +268,69 @@ public class RouteServiceImpl extends CrudServiceImpl<RouteDao, RouteEntity, Rou
         //航点动作处理
         List<RouteWaypointDTO> routeWaypointList = routeDTO.getRouteWaypointList();
         handleWaypointAction(routeWaypointList);
+        //计算总距离
+        double total = 0;
+        for (int i = 0; i < routeWaypointList.size() - 1; i++) {
+            RouteWaypointDTO p1 = routeWaypointList.get(i);
+            RouteWaypointDTO p2 = routeWaypointList.get(i + 1);
+            total += Spatial4jUtils.distance(p1.getLatitude(), p1.getLongitude(), p2.getLatitude(), p2.getLongitude());
+        }
+        //计算预计飞行时长
+        RouteEstimateTimeDTO timeDTO = new RouteEstimateTimeDTO();
+        timeDTO.setDockSn(dto.getDockSn());
+        timeDTO.setGlobalTransitionalSpeed(routeDTO.getGlobalTransitionalSpeed());
+        timeDTO.setHeightModel(routeDTO.getHeightModel());
+        timeDTO.setWaypointList(routeWaypointList);
+        String estimateTime = getWaypointEstimateTime(timeDTO);
 
         //保存信息
         RouteEntity routeEntity = ConvertUtils.sourceToTarget(routeDTO, currentModelClass());
         routeEntity.setDeptId(SecurityUser.getDeptId());
         routeEntity.setWaypointNum(routeWaypointList.size());
+        routeEntity.setTotalDistance(total);
+        routeEntity.setExpectFlightTime(estimateTime);
         baseDao.insert(routeEntity);
 
         //保存航点信息
         saveWaypoint(routeEntity.getId(), routeWaypointList);
     }
 
+    @Override
+    public String getWaypointEstimateTime(RouteEstimateTimeDTO dto) {
+        String dockSn = dto.getDockSn();
+        LatLonDTO dockLocation = djiBaseService.getDockLocation(dockSn);
+        List<RouteWaypointDTO> waypointList = dto.getWaypointList();
+        List<JSONObject> waypoints = new ArrayList<>();
+        JSONObject jsonObject = null;
+        if (dockLocation != null) {
+            jsonObject = new JSONObject();
+            jsonObject.set("longitude", dockLocation.getLongitude());
+            jsonObject.set("latitude", dockLocation.getLatitude());
+            jsonObject.set("altitude", dockLocation.getHeight());
+            jsonObject.set("speed", dto.getGlobalTransitionalSpeed());
+            waypoints.add(jsonObject);
+        }
+        for (RouteWaypointDTO waypointDTO : waypointList) {
+            JSONObject object = new JSONObject();
+            object.set("longitude", waypointDTO.getLongitude());
+            object.set("latitude", waypointDTO.getLatitude());
+            object.set("altitude", "relativeToStartPoint".equals(dto.getHeightModel()) ?
+                    waypointDTO.getFlightHeight() + (dockLocation != null ? dockLocation.getHeight() : 0) : waypointDTO.getFlightHeight());
+            object.set("speed", waypointDTO.getFlightSpeed());
+            waypoints.add(object);
+        }
+
+        long totalTravelTime = GeoUtils.calculateFlightTime(waypoints);
+        return Utils.calculateSeconds(totalTravelTime);
+    }
+
+    @Override
+    public void updateGlobalRthHeight(Long routeId, Integer globalRthHeight) {
+        baseDao.update(new UpdateWrapper<RouteEntity>()
+                .set("global_rth_height", globalRthHeight)
+                .eq("id", routeId));
+    }
+
     //判断航线是否存在
     private void checkRouteExist(Long id, String routeName) {
         RouteEntity uavRouteEntity = baseDao.selectOne(new QueryWrapper<RouteEntity>()