图斑飞行

guoshilong

2023-11-15 923a5e9fdfcfcc765606bce6fa7f99cb3717dcbe

 src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java

@@ -1,11 +1,10 @@
package com.dji.sample.wayline.service.impl;

import com.alibaba.druid.stat.TableStat;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
import com.baomidou.mybatisplus.core.toolkit.Wrappers;
import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapper;
import com.baomidou.mybatisplus.extension.conditions.update.LambdaUpdateChainWrapper;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.dji.sample.common.error.CommonErrorEnum;
@@ -23,6 +22,7 @@
import com.dji.sample.control.model.param.TakeoffToPointParam;
import com.dji.sample.control.service.IControlService;
import com.dji.sample.control.service.IDrcService;
import com.dji.sample.geo.entity.GeoJson;
import com.dji.sample.manage.model.dto.DeviceDTO;
import com.dji.sample.manage.model.enums.DeviceModeCodeEnum;
import com.dji.sample.manage.model.enums.DockModeCodeEnum;
@@ -35,7 +35,7 @@
import com.dji.sample.media.model.MediaFileCountDTO;
import com.dji.sample.media.model.MediaMethodEnum;
import com.dji.sample.media.service.IFileService;
import com.dji.sample.utils.GeoUtils;
import com.dji.sample.geo.utils.GeoUtils;
import com.dji.sample.wayline.dao.IWaylineJobMapper;
import com.dji.sample.wayline.model.dto.*;
import com.dji.sample.wayline.model.entity.WaylineJobEntity;
@@ -57,6 +57,7 @@
import org.springframework.util.CollectionUtils;
import org.springframework.util.StringUtils;

import java.io.File;
import java.net.URL;
import java.sql.SQLException;
import java.time.*;
@@ -700,39 +701,65 @@
    }

    @Override
    public ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam) {
    public ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam, String deviceSn) {

        List<List<PointPOJO>> areaList = flyAreaParam.getAreaList();
        //获取所有中心点
//        List<PointPOJO> targetList = GeoUtils.caculatePointList(flyAreaParam);
        PointPOJO dockPoint = flyAreaParam.getDockPoint();
        Double radius = flyAreaParam.getRadius();
        GeoJson geoJson = GeoUtils.readJsonFile(flyAreaParam.getJsonPath());
        List<PointPOJO> targetList = GeoUtils.caculatePointList(geoJson, dockPoint, flyAreaParam.getRadius());

        List<PointPOJO> centerPointList = new ArrayList<>();
        //一键起飞
        TakeoffToPointParam takeoffToPointParam = buildTakeoffToPointParam(dockPoint);

        //根据区域获取中心点
        areaList.forEach(area -> {
            PointPOJO centerPoint = GeoUtils.getCenterPoint(area);
            centerPointList.add(centerPoint);
        });
        ResponseResult takeoffToPointRes = controlService.takeoffToPoint(sn, takeoffToPointParam);

        //巡逻目标集合
        List<PointPOJO> targetList = new ArrayList<>();
        //获取所有中心点之后,
        centerPointList.forEach(centerPoint -> {
            //判断各个中心点和机场点的距离
            double distance = GeoUtils.distance(dockPoint.getLon(), dockPoint.getLat(), centerPoint.getLon(), centerPoint.getLat());
        //设置飞向第一个点
        while (takeoffToPointRes.getCode() == ResponseResult.CODE_SUCCESS) {
            //获取无人机状态
            DeviceModeCodeEnum deviceMode = deviceService.getDeviceMode(deviceSn);

            //当距离小于半径时,添加到目标集合中
            if (distance <= radius) {
                centerPoint.setDistance(distance);
                targetList.add(centerPoint);
            //当无人机状态为手动飞行
            if (deviceMode == DeviceModeCodeEnum.MANUAL) {
                //飞向目标点
                FlyToPointParam flyToPointParam = new FlyToPointParam();
                flyToPointParam.setMaxSpeed(14);
                List<PointDTO> pointDTOS = new ArrayList<>();

                PointDTO pointDTO = new PointDTO();
                pointDTO.setHeight(150.0);
                pointDTO.setLongitude(targetList.get(0).getLon());
                pointDTO.setLatitude(targetList.get(0).getLat());
                pointDTOS.add(pointDTO);
                flyToPointParam.setPoints(pointDTOS);


                ResponseResult flyToRes = controlService.flyToPoint(sn, flyToPointParam);

                if (flyToRes.getCode() == ResponseResult.CODE_SUCCESS) {
                    //第一个点指令飞行成功后，把数组存到redis中
                    /**
                     * {
                     *      targetList:[],
                     *      curIndex:
                     * }
                     */

                    JSONObject jsonObject = new JSONObject();
                    jsonObject.put("targetList",targetList);
                    jsonObject.put("curIndex",0);


                    RedisOpsUtils.set("tuban:"+sn,jsonObject);
            }
        });
                break;
            }
        }

        //按距离从近到远排序
        targetList.sort(Comparator.comparing(PointPOJO::getDistance));
        return ResponseResult.success();
    }

        //后续为无人机操作逻辑
        //先飞到空中
    public TakeoffToPointParam buildTakeoffToPointParam(PointPOJO dockPoint) {
        TakeoffToPointParam takeoffToPointParam = new TakeoffToPointParam();

        takeoffToPointParam.setTargetLatitude(dockPoint.getLat());
@@ -749,38 +776,7 @@
        takeoffToPointParam.setMaxSpeed(10.0);
        takeoffToPointParam.setExitWaylineWhenRcLost(WaylineRcLostActionEnum.EXECUTE_RC_LOST_ACTION);

        return ResponseResult.success();
//        //起飞
//        ResponseResult responseResult = controlService.takeoffToPoint(sn, takeoffToPointParam);
//
//        if (responseResult.getCode() != ResponseResult.CODE_SUCCESS) {
//            return responseResult;
//        }
//        //向目标点飞行
//
//        FlyToPointParam flyToPointParam = new FlyToPointParam();
//        flyToPointParam.setMaxSpeed(14);
//        List<PointDTO> pointDTOS = new ArrayList<>();
//        targetList.forEach(pointPOJO -> {
//            PointDTO pointDTO = new PointDTO();
//            pointDTO.setHeight(150.0);
//            pointDTO.setLongitude(pointPOJO.getLon());
//            pointDTO.setLatitude(pointPOJO.getLat());
//
//            pointDTOS.add(pointDTO);
//        });
//        flyToPointParam.setPoints(pointDTOS);
//        ResponseResult responseResult1 = controlService.flyToPoint(sn, flyToPointParam);
//
//        if (responseResult1.getCode() != ResponseResult.CODE_SUCCESS) {
//            return responseResult1;
//        }
//
//        //返航
//        //return_home
//
//
//        return ResponseResult.success();
        return takeoffToPointParam;
    }


@@ -901,8 +897,6 @@

        return ResponseResult.success();
    }




    @Override