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Merge branch 'main' of http://182.92.203.107:3000/libingkun/skyeyesystem

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This commit is contained in:
wxs 2026-01-30 14:57:10 +08:00
commit 418b81fa54
3 changed files with 145 additions and 103 deletions
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15
backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/controller/JmJobController.java
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@ -13,9 +13,8 @@ import com.zhangy.skyeye.jm.dto.JmJobQueryDTO;
import com.zhangy.skyeye.jm.dto.JmJobUpdDTO;
import com.zhangy.skyeye.jm.entity.JmJob;
import com.zhangy.skyeye.jm.service.JmJobService;
import com.zhangy.skyeye.jm.service.JmJobStatusService;
import com.zhangy.skyeye.publics.consts.ExecStatusEnum;
import com.zhangy.skyeye.sar.service.ISarControlService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.validation.annotation.Validated;
@ -28,17 +27,12 @@ import java.util.Collections;
@Validated
@RestController
@RequestMapping("/sar/job")
@Slf4j
public class JmJobController {
@Autowired
private JmJobService jobService;
@Autowired
private ISarControlService controlInfoService;
@Autowired
private JmJobStatusService sarJobStatusService;
/**
* 分页查询
*/
@ -93,7 +87,6 @@ public class JmJobController {
}
/**
* 修改
*/
@PostMapping("/update")
public Object update(@Valid @RequestBody JmJobUpdDTO param) {
@ -119,6 +112,7 @@ public class JmJobController {
/**
* 开始执行任务
*
* @return
*/
@GetMapping("/start")
@ -126,7 +120,7 @@ public class JmJobController {
// 查询执行任务的无人机
JmJobDTO job = jobService.selectDetail(id);
if (job == null) {
throw ServiceException.noLog("找不到任务，id=" + job.getId());
throw ServiceException.noLog("找不到任务，id=" + id);
} else if (EnumUtil.parseEx(ExecStatusEnum.class, job.getStatus()) != ExecStatusEnum.NOT) {
throw ServiceException.noLog("任务状态不是未执行，无法起飞");
}
@ -136,6 +130,7 @@ public class JmJobController {
/**
* 保存前清理ID，重新生成
*
* @param e
*/
private void clearId(JmJobDTO e) {

17
backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmAirlinePlanServiceImpl.java
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@ -14,7 +14,10 @@ import com.zhangy.skyeye.jm.entity.JmJobPayload;
import com.zhangy.skyeye.jm.entity.JmJobPoint;
import com.zhangy.skyeye.jm.entity.JmJobUav;
import com.zhangy.skyeye.jm.service.JmAirlinePlanService;
import com.zhangy.skyeye.py.dto.*;
import com.zhangy.skyeye.py.dto.PyAirlineParamDTO;
import com.zhangy.skyeye.py.dto.PyAirlinePayloadDTO;
import com.zhangy.skyeye.py.dto.PyAirlineTargetDTO;
import com.zhangy.skyeye.py.dto.PyAirlineUavDTO;
import com.zhangy.skyeye.py.service.IPyAirlineService;
import com.zhangy.skyeye.sar.consts.SarImageModeEnum;
import com.zhangy.skyeye.sar.dto.SarFlightPlanDTO;
@ -23,7 +26,10 @@ import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import java.util.*;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.stream.Collectors;
/**
@ -46,7 +52,6 @@ public class JmAirlinePlanServiceImpl implements JmAirlinePlanService {
JSON.toJSONString(uavList), JSON.toJSONString(pointList));
checkParam(jobMode, imageMode, targetType);
// 非航线模式需要调算法生成航线，需要从缓存取sar坐标
Map<Long, List<JmAirline>> airlineGroup = null;
// 1）聚束
if (imageMode == SarImageModeEnum.JS) {
return planJs(uavList.get(0), pointList);
@ -111,8 +116,8 @@ public class JmAirlinePlanServiceImpl implements JmAirlinePlanService {
/**
* 聚束模式
*
* @param uav 无人机
* @param home 起飞点
* @param uav 无人机
* @param home 起飞点
* @return 航线
*/
public JmAirline planJs(JmJobUav uav, JmJobPoint home, JmJobPoint target) {
@ -176,7 +181,6 @@ public class JmAirlinePlanServiceImpl implements JmAirlinePlanService {
.map(p -> new double[]{p.getLongitude(), p.getLatitude()})
.toArray(double[][]::new);
log.info("提取到 {} 个目标点坐标", coords.length);
List<PyAirlineTargetDTO> pyTargets = new ArrayList<>();
List<PyAirlineUavDTO> pyUavList = new ArrayList<>();
for (int i = 0; i < uavList.size(); i++) {
@ -221,6 +225,7 @@ public class JmAirlinePlanServiceImpl implements JmAirlinePlanService {
/**
* 从无人机载荷列表中查找 SAR 类型载荷，并设置 IP
*
* @param uav 无人机对象
* @return SAR 载荷
* @throws ServiceException 如果没有找到 SAR 载荷

202
backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/py/service/impl/PyAirlineServiceImpl.java
View File

@ -1,6 +1,7 @@
package com.zhangy.skyeye.py.service.impl;
import cn.hutool.core.bean.BeanUtil;
import com.alibaba.fastjson2.JSON;
import com.zhangy.skyeye.common.extend.exception.ServiceException;
import com.zhangy.skyeye.common.extend.util.HttpUtil;
import com.zhangy.skyeye.common.extend.util.JsonUtil;
@ -13,16 +14,16 @@ import lombok.Setter;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import com.alibaba.fastjson2.*;
import java.io.IOException;
import java.net.ConnectException;
import java.net.http.HttpResponse;
import java.util.Arrays;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.function.Consumer;
import java.util.stream.Collectors;
import java.util.stream.Stream;
/**
* 航线规划
@ -76,91 +77,132 @@ public class PyAirlineServiceImpl implements IPyAirlineService {
@Override
public Map<Long, List<JmAirline>> getAirline(PyAirlineParamDTO param) {
log.info("请求航线规划算法服务参数：{}", JSON.toJSONString(param));
// HttpResponse<String> post;
// try {
// post = HttpUtil.post(javaUrl, null, param);
// } catch (IOException e) {
// throw new RuntimeException(e);
// }
// PyAirlineResponse pyAirlineResponse;
// pyAirlineResponse = JsonUtil.parse(post.body(), PyAirlineResponse.class);
// log.info("请求航线规划算法服务响应：{}",JSON.toJSONString(pyAirlineResponse));
HttpResponse<String> httpResponse;
try {
httpResponse = HttpUtil.post(url, null, param);
} catch (ConnectException ex) {
throw ServiceException.noLog("航线规划服务未启动！");
} catch (IOException ex) {
throw new ServiceException("Post请求错误：url=[" + url + "] " + ex.getMessage(), ex);
}
PyAirlineResponse response;
response = JsonUtil.parse(httpResponse.body(), PyAirlineResponse.class);
log.info("请求航线规划算法服务响应：{}", JSON.toJSONString(response));
int responseCode = httpResponse.statusCode();
if (responseCode >= 400) {
log.warn("调用航线规划算法错误[{}]：{}，参数：{}", responseCode, response.getMessage(), JsonUtil.toString(param));
throw ServiceException.noLog("调用航线规划算法错误[" + responseCode + "]：" + response.getMessage());
log.info("请求航线规划算法 | param: {}", JSON.toJSONString(param));
// 1. 调用Python算法服务
HttpResponse<String> httpResponse = callPythonAirlineService(param);
// 2. 解析响应
PyAirlineResponse response = parseResponse(httpResponse);
// 3. 检查HTTP状态码
int statusCode = httpResponse.statusCode();
if (statusCode >= 400) {
String errMsg = String.format("算法服务返回错误[%d]: %s", statusCode, response.getMessage());
log.warn("调用航线规划算法失败 | httpStatus={}, msg={}, param={}",
statusCode, response.getMessage(), JSON.toJSONString(param));
throw ServiceException.noLog(errMsg);
}
log.info("算法服务响应 | {}", JSON.toJSONString(response));
// 4. 获取核心数据
Map<Long, PyAirlineDTO[]> uavMap = response.getData();
log.info("航线规划算法结果：{}", JSON.toJSONString(uavMap));
if (checkEmpty(uavMap)) {
if ("success".endsWith(response.getMessage())) {
throw ServiceException.noLog("无法生成航线，可能飞行区域超过25平方公里");
}
log.warn("调用航线规划算法未返回数据[{}]：{}，参数：{}", responseCode, response.getMessage(), JsonUtil.toString(param));
throw ServiceException.noLog("调用航线规划算法未返回数据[" + responseCode + "]：" + response.getMessage());
// 5. 空结果的特殊处理
if (isEmpty(uavMap)) {
handleEmptyResult(statusCode, response.getMessage(), param);
}
log.info("算法返回航线数据 | uavCount={}, rawData={}",
uavMap.size(), JSON.toJSONString(uavMap));
// 6. 转换为业务对象
return convertToJmAirlineMap(uavMap);
}
Map<Long, List<JmAirline>> map = new HashMap<>();
/**
* 调用Python航线规划服务
*/
private HttpResponse<String> callPythonAirlineService(PyAirlineParamDTO param) {
try {
return HttpUtil.post(url, null, param);
} catch (ConnectException e) {
throw ServiceException.noLog("航线规划服务未启动");
} catch (IOException e) {
String err = String.format("Post请求失败 url=[%s] %s", url, e.getMessage());
throw new ServiceException(err, e);
}
}
/**
* 解析HTTP响应体为对象
*/
private PyAirlineResponse parseResponse(HttpResponse<String> httpResponse) {
try {
return JsonUtil.parse(httpResponse.body(), PyAirlineResponse.class);
} catch (Exception e) {
log.error("算法响应JSON解析失败 | body={}", httpResponse.body(), e);
throw new ServiceException("算法返回数据格式错误", e);
}
}
/**
* 处理算法返回空数据的情况（兼容历史特殊逻辑）
*/
private void handleEmptyResult(int statusCode, String message, PyAirlineParamDTO param) {
String paramJson = JSON.toJSONString(param);
if ("success".equals(message)) {
log.warn("算法返回空结果但message=success，可能区域过大 | param={}", paramJson);
throw ServiceException.noLog("无法生成航线，可能飞行区域超过25平方公里");
}
String errMsg = String.format("算法未返回有效数据[%d]: %s", statusCode, message);
log.warn("算法返回空数据 | httpStatus={}, msg={}, param={}", statusCode, message, paramJson);
throw ServiceException.noLog(errMsg);
}
/**
* 将算法返回的DTO数组转换为业务对象Map
* 注意：算法可能出现多架无人机只对应一条航线的情况（其他无人机返回空数组）
*/
private Map<Long, List<JmAirline>> convertToJmAirlineMap(Map<Long, PyAirlineDTO[]> uavMap) {
Map<Long, List<JmAirline>> result = new HashMap<>();
for (Map.Entry<Long, PyAirlineDTO[]> entry : uavMap.entrySet()) {
long uavId = entry.getKey();
PyAirlineDTO[] arr = entry.getValue();
// 当多架无人机对应一条航线，则只有一架无人机有航线数据，其余为空数组
if (arr == null || arr.length == 0) {
Long uavId = entry.getKey();
PyAirlineDTO[] airlines = entry.getValue();
// 跳过空数组的无人机（常见于多机共享一条航线的情况）
if (airlines == null || airlines.length == 0) {
continue;
}
map.put(uavId, Stream.of(arr)
.map(airlineDTO -> {
// 算法返回高度为相对高度，需要加起飞点高度为海拔高度
JmAirline airline = BeanUtil.copyProperties(airlineDTO, JmAirline.class);
double[] flightStart = airlineDTO.getFlightStart();
airline.setFlightStartLon(flightStart[0]);
airline.setFlightStartLat(flightStart[1]);
airline.setFlightStartHeight(flightStart[2]); // 相对起飞点高度
double[] flightEnd = airlineDTO.getFlightEnd();
airline.setFlightEndLon(flightEnd[0]);
airline.setFlightEndLat(flightEnd[1]);
airline.setFlightEndHeight(flightEnd[2]); // 相对起飞点高度
double[] groundStart = airlineDTO.getGroundStart();
airline.setGroundStartLon(groundStart[0]);
airline.setGroundStartLat(groundStart[1]);
airline.setGroundStartHeight(groundStart[2]); // 相对起飞点高度
double[] targetCentroid = airlineDTO.getTargetCentroid();
airline.setTargetCentroidLon(targetCentroid[0]);
airline.setTargetCentroidLat(targetCentroid[1]);
airline.setTargetCentroidHeight(targetCentroid[2]); // 相对起飞点高度
airline.setTargetWidth(airlineDTO.getTargetWidth());
airline.setTargetLength(airlineDTO.getTargetLength());
airline.setTargetHeading(airlineDTO.getTargetHeading());
double[] start = airlineDTO.getStart();
airline.setStartLon(start[0]);
airline.setStartLat(start[1]);
airline.setStartHeight(start[2]); // 相对起飞点高度
double[] end = airlineDTO.getEnd();
airline.setEndLon(end[0]);
airline.setEndLat(end[1]);
airline.setEndHeight(end[2]); // 相对起飞点高度
return airline;
})
.collect(Collectors.toList()));
List<JmAirline> jmAirlines = Arrays.stream(airlines)
.map(this::convertPyAirlineToJmAirline)
.collect(Collectors.toList());
result.put(uavId, jmAirlines);
}
return map;
return result;
}
/**
* 单条航线DTO → 业务对象转换
* 核心点：算法返回的是相对高度，需要结合起飞点高度理解（但本方法不做高度修正，仅字段映射）
*/
private JmAirline convertPyAirlineToJmAirline(PyAirlineDTO dto) {
JmAirline airline = BeanUtil.copyProperties(dto, JmAirline.class);
// 起飞点（起点）
setCoordinate(airline::setFlightStartLon, airline::setFlightStartLat, airline::setFlightStartHeight,
dto.getFlightStart());
// 结束点
setCoordinate(airline::setFlightEndLon, airline::setFlightEndLat, airline::setFlightEndHeight,
dto.getFlightEnd());
// 离地起点（起飞段）
setCoordinate(airline::setGroundStartLon, airline::setGroundStartLat, airline::setGroundStartHeight,
dto.getGroundStart());
// 目标区域中心
setCoordinate(airline::setTargetCentroidLon, airline::setTargetCentroidLat, airline::setTargetCentroidHeight,
dto.getTargetCentroid());
// 目标区域尺寸 & 朝向
airline.setTargetWidth(dto.getTargetWidth());
airline.setTargetLength(dto.getTargetLength());
airline.setTargetHeading(dto.getTargetHeading());
// 航线规划起点/终点（通常是路径规划后的首末点）
setCoordinate(airline::setStartLon, airline::setStartLat, airline::setStartHeight, dto.getStart());
setCoordinate(airline::setEndLon, airline::setEndLat, airline::setEndHeight, dto.getEnd());
return airline;
}
private void setCoordinate(Consumer<Double> lonSetter, Consumer<Double> latSetter, Consumer<Double> heightSetter,
double[] coord) {
if (coord != null && coord.length == 3) {
lonSetter.accept(coord[0]);
latSetter.accept(coord[1]);
heightSetter.accept(coord[2]); // 算法返回的是相对高度
}
}
private boolean isEmpty(Map<Long, PyAirlineDTO[]> map) {
return map == null || map.isEmpty() ||
map.values().stream().allMatch(arr -> arr == null || arr.length == 0);
}
}