图斑飞行

guoshilong

2023-11-15 923a5e9fdfcfcc765606bce6fa7f99cb3717dcbe

图斑飞行

 pom.xml

@@ -153,6 +153,12 @@
        </dependency>

        <dependency>
            <groupId>com.fasterxml.jackson.core</groupId>
            <artifactId>jackson-databind</artifactId>
            <version>2.11.3</version>
        </dependency>

        <dependency>
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-starter-aop</artifactId>
        </dependency>

 src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java

@@ -1,5 +1,6 @@
package com.dji.sample.control.service.impl;

import com.alibaba.fastjson.JSONObject;
import com.dji.sample.common.error.CommonErrorEnum;
import com.dji.sample.common.model.ResponseResult;
import com.dji.sample.component.mqtt.model.*;
@@ -9,10 +10,12 @@
import com.dji.sample.component.websocket.model.BizCodeEnum;
import com.dji.sample.component.websocket.service.ISendMessageService;
import com.dji.sample.control.model.dto.FlyToProgressReceiver;
import com.dji.sample.control.model.dto.PointDTO;
import com.dji.sample.control.model.dto.ResultNotifyDTO;
import com.dji.sample.control.model.dto.TakeoffProgressReceiver;
import com.dji.sample.control.model.enums.DroneAuthorityEnum;
import com.dji.sample.control.model.enums.DroneControlMethodEnum;
import com.dji.sample.control.model.enums.FlyToStatusEnum;
import com.dji.sample.control.model.enums.RemoteDebugMethodEnum;
import com.dji.sample.control.model.param.*;
import com.dji.sample.control.service.IControlService;
@@ -24,6 +27,7 @@
import com.dji.sample.manage.service.IDeviceRedisService;
import com.dji.sample.manage.service.IDeviceService;
import com.dji.sample.wayline.model.enums.WaylineErrorCodeEnum;
import com.dji.sample.wayline.model.param.PointPOJO;
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import lombok.extern.slf4j.Slf4j;
@@ -32,9 +36,7 @@
import org.springframework.messaging.MessageHeaders;
import org.springframework.stereotype.Service;

import java.util.Objects;
import java.util.Optional;
import java.util.UUID;
import java.util.*;

/**
 * @author sean
@@ -105,6 +107,7 @@

    /**
     * Handles multi-state command progress information.
     *
     * @param receiver
     * @param headers
     * @return
@@ -118,7 +121,8 @@
        String sn = RedisOpsUtils.get(key).toString();

        EventsReceiver<EventsOutputProgressReceiver> eventsReceiver = mapper.convertValue(receiver.getData(),
                new TypeReference<EventsReceiver<EventsOutputProgressReceiver>>(){});
                new TypeReference<EventsReceiver<EventsOutputProgressReceiver>>() {
                });
        eventsReceiver.setBid(receiver.getBid());
        eventsReceiver.setSn(sn);

@@ -194,7 +198,8 @@
            return null;
        }

        FlyToProgressReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<FlyToProgressReceiver>(){});
        FlyToProgressReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<FlyToProgressReceiver>() {
        });
        webSocketMessageService.sendBatch(deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(),
                BizCodeEnum.FLY_TO_POINT_PROGRESS.getCode(),
                ResultNotifyDTO.builder().sn(dockSn)
@@ -202,8 +207,63 @@
                                eventsReceiver.getStatus().getMessage() : eventsReceiver.getResult().getErrorMsg())
                        .result(eventsReceiver.getResult().getErrorCode())
                        .build());

        if (eventsReceiver.getStatus().equals(FlyToStatusEnum.WAYLINE_OK)) {
            JSONObject jsonObject = (JSONObject) RedisOpsUtils.get("tuban:" + dockSn);
            if (jsonObject != null) {
                List<PointPOJO> targetList = (List<PointPOJO>) jsonObject.get("targetList");
                int curIndex = (Integer) jsonObject.get("curIndex");
                flyToNextPoint(targetList, curIndex, dockSn);
            }
        }
        return receiver;
    }

    private ResponseResult flyToNextPoint(List<PointPOJO> targetList, int curIndex, String sn) {
        curIndex = curIndex + 1;
        //当无人机状态为人工时再发布下一个命令
        while (true) {
            Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(sn);
            DeviceModeCodeEnum deviceMode = deviceService.getDeviceMode(dockOpt.get().getChildDeviceSn());

            if (DeviceModeCodeEnum.MANUAL == deviceMode) {
                if (curIndex == targetList.size()) {
                    //当前是最后一个点，返航
                    ResponseResult returnHome = controlDockDebug(sn, "return_home", null);

                    RedisOpsUtils.del("tuban:" + sn);

                    return returnHome;
                }
                else {
                    //当前不是最后一个点，飞行到下一个点
                    FlyToPointParam flyToPointParam = new FlyToPointParam();
                    flyToPointParam.setMaxSpeed(14);
                    List<PointDTO> pointDTOS = new ArrayList<>();

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


                    ResponseResult flyToRes = flyToPoint(sn, flyToPointParam);
                    if (flyToRes.getCode() == ResponseResult.CODE_SUCCESS) {
                        JSONObject jsonObject = new JSONObject();
                        jsonObject.put("targetList", targetList);
                        jsonObject.put("curIndex", curIndex);
                        RedisOpsUtils.set("tuban:" + sn, jsonObject);
                    }
                    return flyToRes;


                }
            }
        }
    }


    private void checkTakeoffCondition(String dockSn) {
        Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
@@ -238,7 +298,8 @@
            log.error("机场离线");
            return null;
        }
        TakeoffProgressReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<TakeoffProgressReceiver>(){});
        TakeoffProgressReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<TakeoffProgressReceiver>() {
        });

        webSocketMessageService.sendBatch(deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(),
                BizCodeEnum.TAKE_OFF_TO_POINT_PROGRESS.getCode(),

 src/main/java/com/dji/sample/geo/entity/Crs.java

New file
@@ -0,0 +1,10 @@
package com.dji.sample.geo.entity;

import lombok.Data;

@Data
public class Crs {
    private String type;

    private Property properties;
}

 src/main/java/com/dji/sample/geo/entity/Feature.java

New file
@@ -0,0 +1,16 @@
package com.dji.sample.geo.entity;

import lombok.Data;

@Data
public class Feature {

    private String type;

    private Integer id;

    private Geometry geometry;

    private Property properties;

}

 src/main/java/com/dji/sample/geo/entity/GeoJson.java

New file
@@ -0,0 +1,16 @@
package com.dji.sample.geo.entity;

import lombok.Data;

import java.util.List;

@Data
public class GeoJson {

    private String type;

    private Crs crs;

    private List<Feature> features;

}

 src/main/java/com/dji/sample/geo/entity/Geometry.java

New file
@@ -0,0 +1,38 @@
package com.dji.sample.geo.entity;

import lombok.Data;

import java.util.List;

@Data
public class Geometry {
    private String type;

    /**
     * [
     *           [
     *             [
     *               115.81799999999998,
     *               28.652296152000076
     *             ],
     *             [
     *               115.81961010540385,
     *               28.650053326558464
     *             ],
     *             [
     *               115.82417867053516,
     *               28.650434040319453
     *             ],
     *             [
     *               115.82265581549132,
     *               28.652908679765517
     *             ],
     *             [
     *               115.81799999999998,
     *               28.652296152000076
     *             ]
     *           ]
     * ]
     */
    private List<List<List<Double>>> coordinates;
}

 src/main/java/com/dji/sample/geo/entity/Property.java

New file
@@ -0,0 +1,12 @@
package com.dji.sample.geo.entity;

import lombok.Data;

@Data
public class Property {
    private String name;

    private String FID;

    private String Id;
}

 src/main/java/com/dji/sample/geo/utils/GeoUtils.java

New file
@@ -0,0 +1,182 @@
package com.dji.sample.geo.utils;

import com.dji.sample.geo.entity.Feature;
import com.dji.sample.geo.entity.GeoJson;
import com.dji.sample.wayline.model.param.FlyAreaParam;
import com.dji.sample.wayline.model.param.PointPOJO;
import com.fasterxml.jackson.databind.DeserializationFeature;
import com.fasterxml.jackson.databind.ObjectMapper;

import java.io.File;
import java.io.IOException;
import java.util.ArrayList;
import java.util.Comparator;
import java.util.List;

/**
 * 空间计算工具类
 */
public class GeoUtils {
    /**
     * 默认地球半径
     */
    private static double EARTH_RADIUS = 6371000;//赤道半径(单位m)

    /**
     * 转化为弧度(rad)
     */
    private static double rad(double d) {
        return d * Math.PI / 180.0;
    }


    /**
     * 计算中心经纬度与目标经纬度的距离（米）
     *
     * @param centerLon 中心精度
     * @param centerLat 中心纬度
     * @param targetLon 需要计算的精度
     * @param targetLat 需要计算的纬度
     * @return 米
     */
    public static double distance(double centerLon, double centerLat, double targetLon, double targetLat) {

        double jl_jd = 102834.74258026089786013677476285;// 每经度单位米;
        double jl_wd = 111712.69150641055729984301412873;// 每纬度单位米;
        double b = Math.abs((centerLat - targetLat) * jl_jd);
        double a = Math.abs((centerLon - targetLon) * jl_wd);
        return Math.sqrt((a * a + b * b));
    }

    /**
     * 根据多个点计算中心点
     * @param list
     * @return
     */
    public static PointPOJO getCenterPoint(List<PointPOJO> list) {

        int total = list.size();
        double X = 0, Y = 0, Z = 0;

        for (int i = 0; i < list.size(); i++) {
            PointPOJO point = list.get(i);
            double lat, lon, x, y, z;
            lon = point.getLon() * Math.PI / 180;
            lat = point.getLat() * Math.PI / 180;
            x = Math.cos(lat) * Math.cos(lon);
            y = Math.cos(lat) * Math.sin(lon);
            z = Math.sin(lat);
            X += x;
            Y += y;
            Z += z;
        }


        X = X / total;
        Y = Y / total;
        Z = Z / total;
        double Lon = Math.atan2(Y, X);
        double Hyp = Math.sqrt(X * X + Y * Y);
        double Lat = Math.atan2(Z, Hyp);

        PointPOJO centerPoint = new PointPOJO();
        centerPoint.setLon( Lon * 180 / Math.PI);
        centerPoint.setLat(Lat * 180 / Math.PI);
        return centerPoint;
    }

    /**
     * 获取点区域并按从近到远排序
     * @param flyAreaParam
     * @return
     */
    public static List<PointPOJO> caculatePointList(FlyAreaParam flyAreaParam){
        List<List<PointPOJO>> areaList = flyAreaParam.getAreaList();
        PointPOJO dockPoint = flyAreaParam.getDockPoint();
        Double radius = flyAreaParam.getRadius();

        List<PointPOJO> centerPointList = new ArrayList<>();

        //根据区域获取中心点
        areaList.forEach(area -> {
            PointPOJO centerPoint = GeoUtils.getCenterPoint(area);
            centerPointList.add(centerPoint);
        });

        //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());

            //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);
            }
        });

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

    /**
     * 根据geojson获取点区域并按从近到远排序
     * @param geoJson
     * @return
     */
    public static List<PointPOJO> caculatePointList(GeoJson geoJson,PointPOJO dockPoint,Double radius){
        List<Feature> features = geoJson.getFeatures();

        List<List<PointPOJO>> areaList = new ArrayList<>();

        features.forEach(feature -> {
            List<PointPOJO> list = new ArrayList<>();
            List<List<Double>> coordinates = feature.getGeometry().getCoordinates().get(0);

            coordinates.forEach(coordinate ->{
                PointPOJO pointPOJO = new PointPOJO();

                pointPOJO.setLon(coordinate.get(0));
                pointPOJO.setLat(coordinate.get(1));

                list.add(pointPOJO);
            });
            areaList.add(list);
        });

        FlyAreaParam flyAreaParam = new FlyAreaParam();

        flyAreaParam.setDockPoint(dockPoint);
        flyAreaParam.setRadius(radius);
        flyAreaParam.setAreaList(areaList);

        List<PointPOJO> pointPOJOS = caculatePointList(flyAreaParam);

        return pointPOJOS;
    }

    /**
     * 读取json文件
     * @param path
     * @return
     */
    public static GeoJson readJsonFile(String path){

        try {
            File file = new File(path);
            ObjectMapper objectMapper = new ObjectMapper();

            objectMapper.configure(DeserializationFeature.FAIL_ON_UNKNOWN_PROPERTIES, false);

            return objectMapper.readValue(file, GeoJson.class);
        } catch (IOException e) {
            e.printStackTrace();
            return null;
        }

    }

}

 src/main/java/com/dji/sample/manage/service/IDeviceService.java

@@ -212,6 +212,7 @@

    /**
     * Query the working status of the aircraft.
     * 查询飞行器的工作状态
     * @param deviceSn
     * @return
     */

 src/main/java/com/dji/sample/utils/GeoUtils.java

File was deleted

 src/main/java/com/dji/sample/wayline/controller/WaylineJobController.java

@@ -189,9 +189,9 @@
     *
     * @return
     */
    @PostMapping("/{sn}/jobs/flyByArea")
    @PostMapping("/{sn}/jobs/{device_sn}/flyByArea")
    @SysLogAnnotation(operModul = "根据区域飞行", operType = "根据区域飞行", operDesc = "根据区域飞行")
    public ResponseResult flyByArea(@PathVariable(name = "sn") String sn, @RequestBody FlyAreaParam flyAreaParam) {
        return waylineJobService.flyByArea(sn, flyAreaParam);
    public ResponseResult flyByArea(@PathVariable(name = "sn") String sn, @RequestBody FlyAreaParam flyAreaParam,@PathVariable(name = "device_sn")String deviceSn) {
        return waylineJobService.flyByArea(sn, flyAreaParam,deviceSn);
    }
}

 src/main/java/com/dji/sample/wayline/model/param/FlyAreaParam.java

@@ -16,4 +16,6 @@
    private List<List<PointPOJO>> areaList;
    //无人机巡逻半径 (m)
    private  Double radius;
    @JsonProperty(value = "jsonPath")
    private String jsonPath;
}

 src/main/java/com/dji/sample/wayline/service/IWaylineJobService.java

@@ -168,7 +168,7 @@

    void updateJobCollect(WaylineJobEntity waylineJob);

    ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam);
    ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam,String deviceSn);

    /**
     * 判断是否有下一次任务

 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

 src/main/resources/jkj(1).json

New file
@@ -0,0 +1,151 @@
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