Optimize route algorithm beforehand

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmAirlinePlanServiceImpl.java

@@ -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);
@@ -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

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

@@ -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));
+        log.info("请求航线规划算法 | param: {}", JSON.toJSONString(param));
-//        HttpResponse<String> post;
+        // 1. 调用Python算法服务
-//        try {
+        HttpResponse<String> httpResponse = callPythonAirlineService(param);
-//            post = HttpUtil.post(javaUrl, null, param);
+        // 2. 解析响应
-//        } catch (IOException e) {
+        PyAirlineResponse response = parseResponse(httpResponse);
-//            throw new RuntimeException(e);
+        // 3. 检查HTTP状态码
-//        }
+        int statusCode = httpResponse.statusCode();
-//        PyAirlineResponse pyAirlineResponse;
+        if (statusCode >= 400) {
-//        pyAirlineResponse = JsonUtil.parse(post.body(), PyAirlineResponse.class);
+            String errMsg = String.format("算法服务返回错误[%d]: %s", statusCode, response.getMessage());
-//        log.info("请求航线规划算法服务响应：{}",JSON.toJSONString(pyAirlineResponse));
+            log.warn("调用航线规划算法失败 | httpStatus={}, msg={}, param={}",
-        HttpResponse<String> httpResponse;
+                    statusCode, response.getMessage(), JSON.toJSONString(param));
-        try {
+            throw ServiceException.noLog(errMsg);
-            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("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));
+        // 5. 空结果的特殊处理
-        if (checkEmpty(uavMap)) {
+        if (isEmpty(uavMap)) {
-            if ("success".endsWith(response.getMessage())) {
+            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);
+    }
+
+    /**
+     * 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");
         }
-            log.warn("调用航线规划算法未返回数据[{}]：{}，参数：{}", responseCode, response.getMessage(), JsonUtil.toString(param));
+        String errMsg = String.format("算法未返回有效数据[%d]: %s", statusCode, message);
-            throw ServiceException.noLog("调用航线规划算法未返回数据[" + responseCode + "]：" + response.getMessage());
+        log.warn("算法返回空数据 | httpStatus={}, msg={}, param={}", statusCode, message, paramJson);
+        throw ServiceException.noLog(errMsg);
     }
 
-        Map<Long, List<JmAirline>> map = new HashMap<>();
+    /**
+     * 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();
+            Long uavId = entry.getKey();
-            PyAirlineDTO[] arr = entry.getValue();
+            PyAirlineDTO[] airlines = 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
+            // 跳过空数组的无人机（常见于多机共享一条航线的情况）
-            if (arr == null || arr.length == 0) {
+            if (airlines == null || airlines.length == 0) {
                 continue;
             }
-            map.put(uavId, Stream.of(arr)
+            List<JmAirline> jmAirlines = Arrays.stream(airlines)
-                    .map(airlineDTO -> {
+                    .map(this::convertPyAirlineToJmAirline)
-                        // 算法返回高度为相对高度，需要加起飞点高度为海拔高度
+                    .collect(Collectors.toList());
-                        JmAirline airline = BeanUtil.copyProperties(airlineDTO, JmAirline.class);
+            result.put(uavId, jmAirlines);
-                        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()));
         }
-        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);
     }
 }