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

README.md

@@ -93,7 +93,15 @@ redis-server.exe --service-uninstall
 # 启动前端
 ## 1. 在frontend目录中执行
 ```
-#npm install
+npm install
+
+npm install --save-dev cross-env
+
+npx update-browserslist-db@latest
+
+在 package.json
+    "serve": "cross-env NODE_OPTIONS=--openssl-legacy-provider vue-cli-service serve",
+
 ```
 ## 2. 拷贝resource目录中的dt-sdk到node-modules目录
 ## 3. 编译前端代码

backend/Skyeye-sys-dev/skyeye-service-manager/pom.xml

@@ -12,6 +12,11 @@
     <artifactId>skyeye-service-manager</artifactId>
 
     <dependencies>
+        <dependency>
+            <groupId>com.alibaba.fastjson2</groupId>
+            <artifactId>fastjson2</artifactId>
+            <version>2.0.60</version>
+        </dependency>
         <!-- 扩展工具包 -->
         <dependency>
             <groupId>com.zhangy</groupId>

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

@@ -1,6 +1,7 @@
 package com.zhangy.skyeye.jm.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.ObjectUtil;
 import com.zhangy.skyeye.device.consts.PayloadTypeEnum;
@@ -18,14 +19,17 @@ import com.zhangy.skyeye.py.service.IPyAirlineService;
 import com.zhangy.skyeye.sar.consts.SarImageModeEnum;
 import com.zhangy.skyeye.sar.dto.SarFlightPlanDTO;
 import com.zhangy.skyeye.sar.util.SpotlightPlanner;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 
 import java.util.*;
+import java.util.stream.Collectors;
 
 /**
  * 航线规划
  */
+@Slf4j
 @Service
 public class JmAirlinePlanServiceImpl implements JmAirlinePlanService {
 
@@ -38,6 +42,8 @@ public class JmAirlinePlanServiceImpl implements JmAirlinePlanService {
     @Override
     public Map<Long, List<JmAirline>> plan(JmJobModeEnum jobMode, SarImageModeEnum imageMode, Integer targetType,
                                            List<JmJobUav> uavList, List<List<JmJobPoint>> pointList) {
+        log.info("航线规划参数：{}||{}||{}||{}|{}", jobMode, imageMode, targetType,
+                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;
@@ -56,8 +62,6 @@ public class JmAirlinePlanServiceImpl implements JmAirlinePlanService {
      *
      * @param jobMode
      * @param imageMode
-     * @param uavList
-     * @param pointList
      */
     private void checkParam(JmJobModeEnum jobMode, SarImageModeEnum imageMode, Integer targetType) {
         if (imageMode == SarImageModeEnum.JS) {
@@ -73,7 +77,7 @@ public class JmAirlinePlanServiceImpl implements JmAirlinePlanService {
     /**
      * 聚束模式
      *
-     * @param uav 无人机
+     * @param uav    无人机
      * @param points 目标点
      * @return 航线
      */
@@ -90,7 +94,7 @@ public class JmAirlinePlanServiceImpl implements JmAirlinePlanService {
         uav.setStartLon(startLon);
         uav.setStartLat(startLat);
         JmJobPoint home = new JmJobPoint(startLon, startLat);
-        for (List<JmJobPoint> targets: points) {
+        for (List<JmJobPoint> targets : points) {
             JmJobPoint target = targets.get(0);
             if (target == null) {
                 continue;
@@ -107,9 +111,8 @@ public class JmAirlinePlanServiceImpl implements JmAirlinePlanService {
     /**
      * 聚束模式
      *
-     * @param uav 无人机
+     * @param uav   无人机
-     * @param home 起飞点
+     * @param home  起飞点
-     * @param point 目标点
      * @return 航线
      */
     public JmAirline planJs(JmJobUav uav, JmJobPoint home, JmJobPoint target) {
@@ -119,7 +122,7 @@ public class JmAirlinePlanServiceImpl implements JmAirlinePlanService {
                 home.getLongitude(), home.getLatitude(),
                 uav.getHeight(), sar.getTheta(), sar.getDirection());
         JmAirline airline = new JmAirline();
-        airline.setFlightType((byte)0);
+        airline.setFlightType((byte) 0);
         double height = plan.getHeight();
         airline.setFlightStartLon(plan.getPowerOnLon());
         airline.setFlightStartLat(plan.getPowerOnLat());
@@ -162,54 +165,79 @@ public class JmAirlinePlanServiceImpl implements JmAirlinePlanService {
      * 转为航线算法参数
      */
     private PyAirlineParamDTO toKtkxParam(List<List<JmJobPoint>> pointList, List<JmJobUav> uavList) {
-        List<PyAirlineTargetDTO> pyPointList = new ArrayList<>();
+        log.info("开始转换 PyAirlineParamDTO，pointList 大小: {}, uavList 大小: {}",
+                pointList.size(), uavList.size());
+        // 所有无人机共享相同的目标点集（扁平化所有区域的点）
+        List<JmJobPoint> allPoints = pointList.stream()
+                .flatMap(List::stream)
+                .collect(Collectors.toList());
+        // 转换为 Python 需要的 double[][] 坐标格式（经度在前，纬度在后）
+        double[][] coords = allPoints.stream()
+                .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++) {
-            JmJobUav u = uavList.get(i);
+            JmJobUav uav = uavList.get(i);
-            // 区域
+            // 1. 为当前无人机创建目标（共享坐标，但 target id 不同）
-            List<JmJobPoint> points = pointList.get(i);
+            pyTargets.add(new PyAirlineTargetDTO(i, coords));
-            double[][] coords = points.stream()
+            // 2. 获取 SAR 载荷（必须存在，否则抛异常）
-                    .map(point -> new double[] { point.getLongitude(), point.getLatitude() })
+            JmJobPayload sarPayload = findSarPayload(uav);
-                    .toArray(double[][]::new);
+            String sarIp = sarPayload.getIp(); // 已在 findSarPayload 中设置
-            pyPointList.add(new PyAirlineTargetDTO(i, coords));
+            // 3. 获取载荷最新状态（用于起始位置）
-
+            JmSarStatusDTO status = payloadService.getLastStatus(sarIp);
-            // 载荷
+            if (status == null) {
-            JmJobPayload sar = u.getPayloadList()
+                throw ServiceException.errorLog("无法获取 SAR载荷的最新状态");
-                    .stream()
-                    .filter(jp -> {
-                        Long payloadId = jp.getPayloadId();
-                        SkyeyePayload p = payloadService.getOne(payloadId);
-                        if (p != null && p.getType().equals(PayloadTypeEnum.SAR.getCode())) {
-                            jp.setIp(p.getIp());
-                            return true;
-                        }
-                        return false;
-                    })
-                    .findFirst()
-                    .orElseThrow( () ->  ServiceException.errorLog("存在无人机缺少sar类型载荷"));
-
-            PyAirlineUavDTO uav = BeanUtil.copyProperties(u, PyAirlineUavDTO.class);
-            JmSarStatusDTO statusDTO = payloadService.getLastStatus(sar.getIp());
-            double startLon = statusDTO.getLongitude();
-            double startLat = statusDTO.getLatitude();
-            if (u.getStartAltitude() == null) {
-                u.setStartAltitude((double) statusDTO.getAltitude());
             }
-            uav.setId(u.getUavId());
+            // 4. 如果起飞高度为空，则使用载荷当前高度
-            uav.setStartCoord(new double[] {startLon, startLat});
+            if (uav.getStartAltitude() == null) {
-            uav.setEndCoord(new double[] {startLon, startLat});
+                uav.setStartAltitude((double) status.getAltitude());
-            uav.setConstraint(u.getHeight());
+                log.info("无人机 {} 起飞高度为空，已使用载荷当前高度: {}", uav.getUavId(), uav.getStartAltitude());
-            PyAirlinePayloadDTO payload = BeanUtil.copyProperties(sar, PyAirlinePayloadDTO.class);
+            }
-            payload.setType(PayloadTypeEnum.SAR.getCode());
+            // 5. 构建 Python UAV DTO
-            uav.setPayload(payload);
+            PyAirlineUavDTO pyUav = BeanUtil.copyProperties(uav, PyAirlineUavDTO.class);
-            pyUavList.add(uav);
+            pyUav.setId(uav.getUavId());
+            pyUav.setStartCoord(new double[]{status.getLongitude(), status.getLatitude()});
+            pyUav.setEndCoord(new double[]{status.getLongitude(), status.getLatitude()}); // 目前起终点相同
+            pyUav.setConstraint(uav.getHeight());
+            // 6. 构建 Payload DTO
+            PyAirlinePayloadDTO payloadDto = BeanUtil.copyProperties(sarPayload, PyAirlinePayloadDTO.class);
+            payloadDto.setType(PayloadTypeEnum.SAR.getCode());
+            pyUav.setPayload(payloadDto);
+            pyUavList.add(pyUav);
         }
-        PyAirlineUavDTO[] uavs = pyUavList.toArray(new PyAirlineUavDTO[pyUavList.size()]);
+        // 转换为数组（Python 端需要数组格式）
-        PyAirlineTargetDTO[] targets = pyPointList.toArray(new PyAirlineTargetDTO[pyPointList.size()]);
+        PyAirlineTargetDTO[] targetListArray = pyTargets.toArray(new PyAirlineTargetDTO[0]);
-
+        PyAirlineUavDTO[] uavListArray = pyUavList.toArray(new PyAirlineUavDTO[0]);
         PyAirlineParamDTO param = new PyAirlineParamDTO();
-        param.setTargets(targets);
+        param.setTargets(targetListArray);
-        param.setUavs(uavs);
+        param.setUavs(uavListArray);
+        log.info("转换完成，生成 PyAirlineParamDTO：{} 个目标组，{} 架无人机",
+                targetListArray.length, uavListArray.length);
         return param;
     }
+
+    /**
+     * 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
+     */
+    private JmJobPayload findSarPayload(JmJobUav uav) {
+        return uav.getPayloadList().stream()
+                .filter(payload -> {
+                    Long payloadId = payload.getPayloadId();
+                    SkyeyePayload skyeyePayload = payloadService.getOne(payloadId);
+                    if (skyeyePayload != null && PayloadTypeEnum.SAR.getCode().equals(skyeyePayload.getType())) {
+                        payload.setIp(skyeyePayload.getIp());
+                        return true;
+                    }
+                    return false;
+                })
+                .findFirst()
+                .orElseThrow(() -> ServiceException.errorLog(
+                        "存在无人机缺少sar类型载荷"));
+    }
 }

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

@@ -2,6 +2,7 @@ package com.zhangy.skyeye.jm.service.impl;
 
 import cn.hutool.core.bean.BeanUtil;
 import cn.hutool.core.date.DateUtil;
+import com.alibaba.fastjson2.JSON;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.zhangy.skyeye.common.extend.enums.EnumUtil;
@@ -36,10 +37,6 @@ import com.zhangy.skyeye.sar.enums.SarIMUStatusEnum;
 import com.zhangy.skyeye.sar.service.ISarControlService;
 import com.zhangy.skyeye.sar.service.ISarMtiPointService;
 import com.zhangy.skyeye.sar.service.ISarMtiTrailService;
-//import com.zhangy.skyeye.smp.dto.SmpSubscriptResDTO;
-//import com.zhangy.skyeye.smp.dto.SmpWayPointDTO;
-//import com.zhangy.skyeye.smp.service.ISmpSubscriptService;
-//import com.zhangy.skyeye.smp.service.ISmpWayPointService;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
@@ -69,33 +66,20 @@ public class JmJobServiceImpl implements JmJobService {
     private JmJobStatusService jobStatusService;
     @Autowired
     private JmJobExecService jmJobExecService;
-
-//    @Autowired
-//    private ISmpWayPointService smpWayPointService;
-//    @Autowired
-//    private ISmpSubscriptService smpSubscriptService;
-
     @Autowired
     private ISarControlService sarControlService;
     @Autowired
     private ISarMtiPointService sarMtiPointService;
     @Autowired
     private ISarMtiTrailService sarMtiTrailService;
-
     @Autowired
     private IPayloadService payloadService;
     @Autowired
     private IUavService uavService;
-
     @Autowired
     private SysFileTypeService fileTypeService;
-
-    @Autowired
-    private IPyAirlineService ktkxService;
-
     @Autowired
     private QuartzService quartzService;
-
     @Autowired
     private JmAirlinePlanService jmAirlinePlanService;
 
@@ -114,8 +98,7 @@ public class JmJobServiceImpl implements JmJobService {
     }
 
     @Override
-    public List<JmJobDTO> selectExecJobs(JmJobQueryDTO param)
+    public List<JmJobDTO> selectExecJobs(JmJobQueryDTO param) {
-    {
         List<JmJobDTO> list = jobMapper.selectExecJobs(param);
         loadDetail(param.getUavId(), list);
         return list;
@@ -165,6 +148,7 @@ public class JmJobServiceImpl implements JmJobService {
     @Transactional
     @Override
     public JmJobDTO save(JmJobModeEnum jobMode, JmJobDTO e) {
+        log.info("保存任务参数:{}||{}", JSON.toJSONString(jobMode), JSON.toJSONString(e));
         SarImageModeEnum imageMode = EnumUtil.parseEx(SarImageModeEnum.class, e.getImageMode());
         // 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 = jmAirlinePlanService.plan(jobMode, imageMode, e.getTargetType(),
@@ -210,7 +194,7 @@ public class JmJobServiceImpl implements JmJobService {
      */
     private JmJobPayload checkAndSetPayload(List<JmJobPayload> payloadParamList) {
         JmJobPayload sar = null;
-        for(JmJobPayload p : payloadParamList) {
+        for (JmJobPayload p : payloadParamList) {
             Long payloadId = p.getPayloadId();
             SkyeyePayload payload = payloadService.getOne(payloadId);
             if (payload == null) {
@@ -347,7 +331,7 @@ public class JmJobServiceImpl implements JmJobService {
     @Transactional
     @Override
     public void start(JmJobDTO job) {
-       // SarBackImageFrameDTO.i = 1;
+        // SarBackImageFrameDTO.i = 1;
         // 校验无人机、载荷
         jobStatusService.checkDeviceForNewJob(job.getUavList());
         // 保存任务状态
@@ -375,6 +359,7 @@ public class JmJobServiceImpl implements JmJobService {
 
     /**
      * 起飞 kmz
+     *
      * @param job
      */
     private void startKmz(JmJobDTO job) {
@@ -447,7 +432,7 @@ public class JmJobServiceImpl implements JmJobService {
             controlParam.setIp(ip);
             sarControlService.sendUdp(controlParam);
             // 标记缓存状态，确保断连重新发送请求时不会重复执行
-          //  uav.setSarStatus(ExecStatusEnum.OVER);
+            //  uav.setSarStatus(ExecStatusEnum.OVER);
         });
         // 删除缓存任务信息
         jobStatusService.remove(id);

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

@@ -13,6 +13,7 @@ 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;
@@ -37,6 +38,9 @@ public class PyAirlineServiceImpl implements IPyAirlineService {
     @Value("${skyeye.py.ktkxUrl}")
     private String url;
 
+    @Value("${skyeye.java.ktkxUrl}")
+    private String javaUrl;
+
     // 判断是否为空，并剔除无需执行任务的无人机
     private boolean checkEmpty(Map<Long, PyAirlineDTO[]> uavMap) {
         if (uavMap == null || uavMap.size() == 0) {
@@ -72,7 +76,17 @@ public class PyAirlineServiceImpl implements IPyAirlineService {
 
     @Override
     public Map<Long, List<JmAirline>> getAirline(PyAirlineParamDTO param) {
-        HttpResponse<String> httpResponse = null;
+        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) {
@@ -82,18 +96,20 @@ public class PyAirlineServiceImpl implements IPyAirlineService {
         }
         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["+ responseCode + "]：" + response.getMessage() + "，参数：" + JsonUtil.toString(param));
+            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());
+            throw ServiceException.noLog("调用航线规划算法错误[" + responseCode + "]：" + response.getMessage());
         }
         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["+ responseCode + "]：" + response.getMessage() + "，参数：" + JsonUtil.toString(param));
+            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());
+            throw ServiceException.noLog("调用航线规划算法未返回数据[" + responseCode + "]：" + response.getMessage());
         }
 
         Map<Long, List<JmAirline>> map = new HashMap<>();

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/resources/application-dev.yml

@@ -84,6 +84,8 @@ skyeye:
   py:
     ktkxUrl: http://127.0.0.1:18090/ktkx/UavPlanning/SAR
     detectUrl: http://127.0.0.1:18091/ktkx/detect/cpu/SARCoord
+  java:
+    ktkxUrl: http://127.0.0.1:9117/ktkx/UavPlanning/SAR
   weather:
     cityCode: 101120201
 

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/resources/mapping/jm/JmJobMapping.xml

@@ -35,7 +35,7 @@
 
     <select id="selectList" resultType="com.zhangy.skyeye.jm.dto.JmJobDTO">
         <include refid="selectSql"/>
-        where 1 = 1
+        where j.status != 1
         <if test="type != null and type == 1">
             and j.status in ('1', '3')
         </if>