1.增加飞行轨迹

2.机库位置更新机制

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<PageData<FlightTaskDTO>> page(@Parameter(hidden = true) @RequestParam Map<String, Object> params) {
         PageData<FlightTaskDTO> 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<FlightTaskDTO> 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<Object> 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<List<JSONObject>> getFlightTrack(@PathVariable("taskId") String taskId) {
+        List<JSONObject> data = flightTaskService.getFlightTrack(taskId);
+
+        return new Result<List<JSONObject>>().ok(data);
+    }
 }

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);
                         }

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<DockEntity, DockDTO> {
 
+    //更新机库位置
+    void updateDockLocation(String dockSn, JSONObject data);
+
     //获取dao
     DockDao getDao();
 }

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<FlightTaskEntity, FlightT
 
     //更新架次开始信息
     void updateTaskStart(String dockSn);
+
+    //获取飞行轨迹
+    List<JSONObject> getFlightTrack(String taskId);
 }

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<DockDao, DockEntity, DockDT
         return wrapper;
     }
 
+    @Override
+    public void updateDockLocation(String dockSn, JSONObject data) {
+        DockEntity dockEntity = baseDao.selectOne(new QueryWrapper<DockEntity>().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() {
 

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.*;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
 
 /**
  * 飞行架次
@@ -155,6 +156,71 @@ public class FlightTaskServiceImpl extends CrudServiceImpl<FlightTaskDao, Flight
         updateById(entity);
     }
 
+    @Override
+    public List<JSONObject> 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<String, Object> condition = Maps.newHashMap();
+        condition.put("dockSn", dockSn);
+        List<JSONObject> 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<String> seenTimes = new LinkedHashSet<>();
+        List<JSONObject> deduplicated = new ArrayList<>(uavReportList.size());
+        for (JSONObject obj : uavReportList) {
+            String time = obj.getStr("_time");
+            if (seenTimes.add(time)) {
+                deduplicated.add(obj);
+            }
+        }
+        //补点
+        List<JSONObject> 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);