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Dock-MultiCtrl
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1.增加飞行轨迹 

2.机库位置更新机制
This commit is contained in:
sdy 2026-05-25 19:05:24 +08:00
parent 161c089635
commit cfcfd992f8
7 changed files with 122 additions and 8 deletions
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17
admin/src/main/java/com/multictrl/modules/business/controller/FlightTaskController.java
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@ -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);
}
}

4
admin/src/main/java/com/multictrl/modules/business/handler/OsdHandler.java
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@ -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);
}

4
admin/src/main/java/com/multictrl/modules/business/service/DockService.java
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@ -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();
}

7
admin/src/main/java/com/multictrl/modules/business/service/FlightTaskService.java
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@ -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);
}

22
admin/src/main/java/com/multictrl/modules/business/service/impl/DockServiceImpl.java
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@ -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() {

74
admin/src/main/java/com/multictrl/modules/business/service/impl/FlightTaskServiceImpl.java
View File

@ -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<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);