From cfcfd992f81417abcc94be76f724be11084a640d Mon Sep 17 00:00:00 2001 From: sdy Date: Mon, 25 May 2026 19:05:24 +0800 Subject: [PATCH] =?UTF-8?q?1.=E5=A2=9E=E5=8A=A0=E9=A3=9E=E8=A1=8C=E8=BD=A8?= =?UTF-8?q?=E8=BF=B9=202.=E6=9C=BA=E5=BA=93=E4=BD=8D=E7=BD=AE=E6=9B=B4?= =?UTF-8?q?=E6=96=B0=E6=9C=BA=E5=88=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../controller/FlightTaskController.java | 17 ++++- .../modules/business/handler/OsdHandler.java | 4 + .../modules/business/service/DockService.java | 4 + .../business/service/FlightTaskService.java | 7 ++ .../service/impl/DockServiceImpl.java | 22 ++++++ .../service/impl/FlightTaskServiceImpl.java | 74 ++++++++++++++++++- .../service/impl/InfluxdbServiceImpl.java | 2 +- 7 files changed, 122 insertions(+), 8 deletions(-) diff --git a/admin/src/main/java/com/multictrl/modules/business/controller/FlightTaskController.java b/admin/src/main/java/com/multictrl/modules/business/controller/FlightTaskController.java index b044b47..f70f4e0 100644 --- a/admin/src/main/java/com/multictrl/modules/business/controller/FlightTaskController.java +++ b/admin/src/main/java/com/multictrl/modules/business/controller/FlightTaskController.java @@ -1,5 +1,6 @@ package com.multictrl.modules.business.controller; +import cn.hutool.json.JSONObject; import com.multictrl.common.annotation.ApiOrder; import com.multictrl.common.annotation.LogOperation; import com.multictrl.common.constant.Constant; @@ -16,6 +17,7 @@ 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; /** @@ -38,7 +40,7 @@ public class FlightTaskController { @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") }) - @RequiresPermissions("business:task:page") + @RequiresPermissions("bus:task:page") public Result> page(@Parameter(hidden = true) @RequestParam Map params) { PageData page = flightTaskService.page(params); @@ -47,7 +49,7 @@ public class FlightTaskController { @GetMapping("{id}") @Operation(summary = "信息") - @RequiresPermissions("business:task:info") + @RequiresPermissions("bus:task:info") public Result get(@PathVariable("id") Long id) { FlightTaskDTO data = flightTaskService.get(id); @@ -57,7 +59,7 @@ public class FlightTaskController { @DeleteMapping @Operation(summary = "删除") @LogOperation("删除") - @RequiresPermissions("business:task:delete") + @RequiresPermissions("bus:task:delete") public Result delete(@RequestBody Long[] ids) { //效验数据 AssertUtils.isArrayEmpty(ids, "id"); @@ -65,4 +67,13 @@ public class FlightTaskController { return new Result<>(); } + + @GetMapping("/getFlightTrack/{taskId}") + @Operation(summary = "飞行轨迹") + @RequiresPermissions("bus:task:flightTrack") + public Result> getFlightTrack(@PathVariable("taskId") String taskId) { + List data = flightTaskService.getFlightTrack(taskId); + + return new Result>().ok(data); + } } diff --git a/admin/src/main/java/com/multictrl/modules/business/handler/OsdHandler.java b/admin/src/main/java/com/multictrl/modules/business/handler/OsdHandler.java index 84f740f..f982db8 100644 --- a/admin/src/main/java/com/multictrl/modules/business/handler/OsdHandler.java +++ b/admin/src/main/java/com/multictrl/modules/business/handler/OsdHandler.java @@ -8,6 +8,7 @@ import com.multictrl.common.constant.DockMode; import com.multictrl.common.utils.CacheUtils; import com.multictrl.common.utils.JsonUtils; import com.multictrl.modules.business.influxdb.UavReport; +import com.multictrl.modules.business.service.DockService; import com.multictrl.modules.business.service.FlightTaskService; import com.multictrl.modules.business.service.InfluxService; import lombok.RequiredArgsConstructor; @@ -31,6 +32,7 @@ public class OsdHandler implements MessageHandler { private static final String GPS_ZERO = "0.000000"; private final InfluxService influxService; private final FlightTaskService flightTaskService; + private final DockService dockService; @Override public void handleMessage(String topic, String payload, String gateway) { @@ -50,6 +52,8 @@ public class OsdHandler implements MessageHandler { if (CacheUtils.get(BusinessConstant.DOCK_IN_WORK + dockSn) == null) { flightTaskService.updateTaskStart(dockSn); log.debug("{}机库架次开始，更新架次表", dockSn); + //更新机库经纬度 + dockService.updateDockLocation(dockSn, data); } CacheUtils.set(BusinessConstant.DOCK_IN_WORK + dockSn, true); } diff --git a/admin/src/main/java/com/multictrl/modules/business/service/DockService.java b/admin/src/main/java/com/multictrl/modules/business/service/DockService.java index 353b4d9..046787b 100644 --- a/admin/src/main/java/com/multictrl/modules/business/service/DockService.java +++ b/admin/src/main/java/com/multictrl/modules/business/service/DockService.java @@ -1,5 +1,6 @@ package com.multictrl.modules.business.service; +import cn.hutool.json.JSONObject; import com.multictrl.common.service.CrudService; import com.multictrl.modules.business.dao.DockDao; import com.multictrl.modules.business.dto.DockDTO; @@ -13,6 +14,9 @@ import com.multictrl.modules.business.entity.DockEntity; */ public interface DockService extends CrudService { + //更新机库位置 + void updateDockLocation(String dockSn, JSONObject data); + //获取dao DockDao getDao(); } \ No newline at end of file diff --git a/admin/src/main/java/com/multictrl/modules/business/service/FlightTaskService.java b/admin/src/main/java/com/multictrl/modules/business/service/FlightTaskService.java index 8ef08da..841499b 100644 --- a/admin/src/main/java/com/multictrl/modules/business/service/FlightTaskService.java +++ b/admin/src/main/java/com/multictrl/modules/business/service/FlightTaskService.java @@ -1,8 +1,12 @@ package com.multictrl.modules.business.service; +import cn.hutool.json.JSONObject; import com.multictrl.common.service.CrudService; import com.multictrl.modules.business.dto.FlightTaskDTO; import com.multictrl.modules.business.entity.FlightTaskEntity; +import com.multictrl.modules.business.influxdb.UavReport; + +import java.util.List; /** * 飞行架次 @@ -22,4 +26,7 @@ public interface FlightTaskService extends CrudService getFlightTrack(String taskId); } \ No newline at end of file diff --git a/admin/src/main/java/com/multictrl/modules/business/service/impl/DockServiceImpl.java b/admin/src/main/java/com/multictrl/modules/business/service/impl/DockServiceImpl.java index 02a4f0d..407ebdc 100644 --- a/admin/src/main/java/com/multictrl/modules/business/service/impl/DockServiceImpl.java +++ b/admin/src/main/java/com/multictrl/modules/business/service/impl/DockServiceImpl.java @@ -1,5 +1,6 @@ package com.multictrl.modules.business.service.impl; +import cn.hutool.json.JSONObject; import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper; import cn.hutool.core.util.StrUtil; import com.multictrl.common.service.impl.CrudServiceImpl; @@ -34,6 +35,27 @@ public class DockServiceImpl extends CrudServiceImpl().eq("dock_sn", dockSn)); + if (dockEntity == null) { + return; + } + Double latitude = data.getDouble("latitude"); + Double longitude = data.getDouble("longitude"); + Double height = data.getDouble("height"); + dockEntity.setDockLatitude(latitude); + dockEntity.setDockLongitude(longitude); + dockEntity.setDockHeight(height); + JSONObject alternateLandPoint = data.getJSONObject("alternate_land_point"); + if (alternateLandPoint != null) { + dockEntity.setDeputyLatitude(alternateLandPoint.getDouble("latitude")); + dockEntity.setDeputyLongitude(alternateLandPoint.getDouble("longitude")); + dockEntity.setDeputyHeight(alternateLandPoint.getDouble("height")); + } + baseDao.updateById(dockEntity); + } + @Override public DockDao getDao() { diff --git a/admin/src/main/java/com/multictrl/modules/business/service/impl/FlightTaskServiceImpl.java b/admin/src/main/java/com/multictrl/modules/business/service/impl/FlightTaskServiceImpl.java index 1a04c9f..96aa82b 100644 --- a/admin/src/main/java/com/multictrl/modules/business/service/impl/FlightTaskServiceImpl.java +++ b/admin/src/main/java/com/multictrl/modules/business/service/impl/FlightTaskServiceImpl.java @@ -2,13 +2,17 @@ package com.multictrl.modules.business.service.impl; import cn.hutool.core.date.DateTime; import cn.hutool.core.date.DateUtil; +import cn.hutool.json.JSONObject; import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper; import com.google.common.collect.Maps; import com.multictrl.common.constant.BusinessConstant; import com.multictrl.common.constant.FlightTaskStatus; +import com.multictrl.common.exception.ErrorCode; +import com.multictrl.common.exception.RenException; import com.multictrl.common.service.impl.CrudServiceImpl; import cn.hutool.core.util.StrUtil; import com.multictrl.common.utils.CacheUtils; +import com.multictrl.common.utils.ConvertUtils; import com.multictrl.common.utils.DateUtils; import com.multictrl.common.utils.Spatial4jUtils; import com.multictrl.modules.business.dao.DockDeviceDao; @@ -25,10 +29,7 @@ import com.multictrl.modules.security.user.SecurityUser; import lombok.RequiredArgsConstructor; import org.springframework.stereotype.Service; -import java.util.Date; -import java.util.HashMap; -import java.util.List; -import java.util.Map; +import java.util.*; /** * 飞行架次 @@ -155,6 +156,71 @@ public class FlightTaskServiceImpl extends CrudServiceImpl getFlightTrack(String taskId) { + FlightTaskEntity entity = selectById(taskId); + if (entity == null) { + throw new RenException(ErrorCode.ROUTE_TASK_NOT_EXIST); + } + Date outboundDate = entity.getOutboundDate(); + Date inboundDate = entity.getInboundDate(); + String dockSn = entity.getDockSn(); + if (outboundDate == null || inboundDate == null || StrUtil.isBlank(dockSn)) { + return List.of(); + } + HashMap condition = Maps.newHashMap(); + condition.put("dockSn", dockSn); + List uavReportList = influxService.queryData(DateUtils.format(outboundDate, DateUtils.DATE_TIME_PATTERN), + DateUtils.format(inboundDate, DateUtils.DATE_TIME_PATTERN), "uav_osd", condition, JSONObject.class, + "dockSn", "_time", "obstacle_avoidance_horizon", "obstacle_avoidance_upside", "obstacle_avoidance_downside", "is_near_area_limit", + "is_near_height_limit", "gimbal_pitch", "gimbal_roll", "gimbal_yaw", "payload_index", "zoom_factor", + "track_id", "position_state_is_fixed", "position_state_is_quality", "position_state_is_gps_number", "position_state_is_rtk_number", + "battery_capacity_percent", "battery_remain_flight_time", "battery_return_home_power", + "battery_landing_power", "battery_capacity_percent_a", "battery_capacity_percent_b", "wind_direction", "wind_speed", "home_distance", + "attitude_head", "attitude_roll", "attitude_pitch", "elevation", "height", "latitude", "longitude", "vertical_speed", "horizontal_speed"); + //去重 + Set seenTimes = new LinkedHashSet<>(); + List deduplicated = new ArrayList<>(uavReportList.size()); + for (JSONObject obj : uavReportList) { + String time = obj.getStr("_time"); + if (seenTimes.add(time)) { + deduplicated.add(obj); + } + } + //补点 + List filledList = new ArrayList<>(); + for (int i = 0; i < deduplicated.size(); i++) { + JSONObject current = deduplicated.get(i); + String currentTime = current.getStr("time"); + filledList.add(current); + // 检查是否是最后一个点 + if (i == deduplicated.size() - 1) break; + // 获取下一个时间点 + JSONObject next = deduplicated.get(i + 1); + String nextTime = next.getStr("time"); + // 计算时间间隔（秒） + long timeDiff = DateUtils.calculateTimeDifference(currentTime, nextTime); + // 间隔 > 1 秒时，插入缺失的点 + if (timeDiff > 1) { + for (int j = 1; j < timeDiff; j++) { + String missingTime = DateUtils.addSeconds(currentTime, j); + JSONObject missingReport = new JSONObject(current.toString()); + missingReport.set("time", missingTime); + filledList.add(missingReport); + } + } + } + + //去点 + for (int i = filledList.size() - 1; i > 0; i--) { + if (i % 2 == 1) { + filledList.remove(i); + } + } + + return filledList; + } + //添加dock信息 private void addDockInfo(FlightTaskEntity entity, String dockSn) { entity.setDockSn(dockSn); diff --git a/admin/src/main/java/com/multictrl/modules/business/service/impl/InfluxdbServiceImpl.java b/admin/src/main/java/com/multictrl/modules/business/service/impl/InfluxdbServiceImpl.java index 5a0dfb6..b65b858 100644 --- a/admin/src/main/java/com/multictrl/modules/business/service/impl/InfluxdbServiceImpl.java +++ b/admin/src/main/java/com/multictrl/modules/business/service/impl/InfluxdbServiceImpl.java @@ -29,7 +29,7 @@ public class InfluxdbServiceImpl implements InfluxService { private final InfluxConfig influxConfig; private static final String FLIGHT_RECORD_QUERY = """ from(bucket: "flight_records") - |> range(start: %s, stop: %s) + |> range(start: %s, stop: %s) |> filter(fn: (r) => r["_measurement"] == "%s" %s) |> pivot(rowKey:["_time"],columnKey:["_field"],valueColumn:"_value")%s """;