Add image enhancement without clahe

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

@@ -5,6 +5,7 @@ import com.zhangy.skyeye.common.extend.anno.IgnoreAuth;
 import com.zhangy.skyeye.common.extend.enums.EnumUtil;
 import com.zhangy.skyeye.common.extend.exception.ServiceException;
 import com.zhangy.skyeye.common.extend.util.DateUtil;
+import com.zhangy.skyeye.common.extend.util.ObjectUtil;
 import com.zhangy.skyeye.common.pojo.result.Result;
 import com.zhangy.skyeye.jm.consts.JmJobModeEnum;
 import com.zhangy.skyeye.jm.dto.JmJobDTO;
@@ -77,6 +78,10 @@ public class JmJobController {
     @PostMapping("/save")
     public Object insert(@Valid @RequestBody JmJobDTO e) {
         JmJobModeEnum mode = EnumUtil.parseEx(JmJobModeEnum.class, e.getMode());
+        if (mode != JmJobModeEnum.CRUISE && ObjectUtil.isEmpty(e.getPointList())) {
+            throw ServiceException.noLog("任务点不能为空");
+        }
+
         clearId(e);
         // 默认执行一次性任务
         if (e.getType() == null) {

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

@@ -52,4 +52,14 @@ public class JmAirlineStatusDTO {
 
     // 前一张右上、右下
     private Double[] beforeRight;
+
+    /** 航线终点经度 */
+    private Double endLon;
+
+    /** 航线终点纬度 */
+    private Double endLat;
+
+    private Integer headingDiff;
+
+    private double[] values;
 }

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

@@ -1,6 +1,7 @@
 package com.zhangy.skyeye.jm.dto;
 
 import com.fasterxml.jackson.annotation.JsonIgnore;
+import com.zhangy.skyeye.jm.consts.JmJobModeEnum;
 import com.zhangy.skyeye.jm.dto.JmAirlineStatusDTO;
 import com.zhangy.skyeye.publics.consts.ExecStatusEnum;
 import lombok.Data;
@@ -62,6 +63,9 @@ public class JmUavStatusDTO {
     /** sar 图片亮度 */
     private volatile Integer sarImageLight;
 
+    /** 任务模式 */
+    private JmJobModeEnum jobMode;
+
     /**
      * 获取sar当前状态
      *

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

@@ -1,6 +1,7 @@
 package com.zhangy.skyeye.jm.entity;
 
 import com.fasterxml.jackson.annotation.JsonFormat;
+import com.fasterxml.jackson.annotation.JsonIgnore;
 import com.zhangy.skyeye.publics.dto.GeoTiffDTO;
 import com.zhangy.skyeye.py.dto.PyImageParamDTO;
 import lombok.Getter;
@@ -14,13 +15,16 @@ import java.util.List;
 @Getter
 @Setter
 public class JmImage extends GeoTiffDTO {
-    
+
     /** 主键 */
     private Long id;
-    
+
     /** 任务执行ID */
     private Long jobId;
 
+    /** 任务配置ID */
+    private Long jobConfId;
+
     /** 无人机 */
     private Long uavId;
 
@@ -39,19 +43,32 @@ public class JmImage extends GeoTiffDTO {
     /** 归一化前最大值 */
     private Float max;
 
-    /** 航线的图片序号 */
+    /** 层级 */
+    private Integer tailLevel;
+
+    /** 图片序号 */
     private Integer imageNo;
 
+    /** 起始帧 */
+    private Integer frameFrom;
+
+    /** 结束帧 */
+    private Integer frameTo;
+
+    /** 旋转角 */
+    private Double rotateAngle;
+
+
     /*
         非数据库字段
      */
 
     /** 文件名 */
     private String fileName;
-    
+
     /** 图像类型 */
     private Integer fileType;
-    
+
     /** 存储路径 */
     private String filePath;
 
@@ -69,7 +86,7 @@ public class JmImage extends GeoTiffDTO {
 
     /** 无人机名称 */
     private String uavName;
-    
+
     /**
      * 文件上传时间
      *  sar实时影像：航线的第一张图片在服务器生成的时间
@@ -85,7 +102,7 @@ public class JmImage extends GeoTiffDTO {
     /** 图像亮度 */
     private Integer brightness;
 
-    /** 图像识别结果 */
+    /** 识别结果 */
     private List<JmImageItem> itemList;
 
     /** 转图像识别算法参数 */

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

@@ -45,6 +45,15 @@ public interface JmImageMapper {
      */
     List<JmImage> selectByAirline(@Param("type") Integer fileType, @Param("array") Long... airlineExecId);
 
+    /**
+     * 查询航线最后一张图
+     *
+     * @param fileType 航线执行ID，必需
+     * @param airlineExecId 文件类型，非必需
+     * @return
+     */
+    JmImage selectLastByAirline(@Param("type") Integer fileType, @Param("array") Long... airlineExecId);
+
     /** 
      * 按主键查询
      */

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

@@ -41,6 +41,11 @@ public interface JmImageService {
      */
     List<JmImage> selectLowByAirline(Long airlineExecId);
 
+    /**
+     * 查询航线最后一张图
+     */
+    JmImage selectLastByAirline(FileTypeEnum fileType, Long airlineExecId);
+
     /**
      * 按主键查询详情
      */

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

@@ -119,6 +119,11 @@ public class JmImageServiceImpl implements JmImageService {
         return list;
     }
 
+    @Override
+    public JmImage selectLastByAirline(FileTypeEnum fileType, Long airlineExecId) {
+        return imageMapper.selectLastByAirline(fileType.getValue(), airlineExecId);
+    }
+
     @Override
     public List<JmImage> selectById(Long... id) {
         return imageMapper.selectById(id);

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/publics/dto/GeoTiffDTO.java

@@ -67,4 +67,16 @@ public class GeoTiffDTO implements Serializable {
         right2Lon = right1Lon;
         right2Lat = left2Lat;
     }
+
+    public void updateCoord(double left1Lon, double left1Lat, double left2Lon, double left2Lat,
+                            double right1Lon, double right1Lat, double right2Lon, double right2Lat) {
+        this.left1Lon = left1Lon;
+        this.left1Lat = left1Lat;
+        this.left2Lon = left2Lon;
+        this.left2Lat = left2Lat;
+        this.right1Lon = right1Lon;
+        this.right1Lat = right1Lat;
+        this.right2Lon = right2Lon;
+        this.right2Lat = right2Lat;
+    }
 }

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/publics/utils/ChecksumUtil.java

@@ -9,11 +9,11 @@ import java.nio.ByteOrder;
 public class ChecksumUtil {
 
     /**
-     * 计算校验和（表8、2），排除最后8个字节
+     * 表4，排除最后8个字节
      * @param data
      * @return
      */
-    public static int checksum8(byte[] data) {
+    public static int checksum32(byte[] data) {
         long checksum = 0;
         ByteBuffer checksumBuffer = ByteBuffer.wrap(data).order(ByteOrder.LITTLE_ENDIAN);
         int u32Count = data.length / 4;
@@ -23,6 +23,21 @@ public class ChecksumUtil {
         return (int) (checksum & 0xFFFFFFFFL);
     }
 
+    /**
+     * 表14，排除最后8个字节
+     * @param data
+     * @return
+     */
+    public static int checksum8(byte[] data) {
+        int checksum = 0;
+        ByteBuffer checksumBuffer = ByteBuffer.wrap(data).order(ByteOrder.LITTLE_ENDIAN);
+        int u32Count = data.length;
+        for (int i = 0; i < u32Count - 8; i++) {  // 不检查校验和、帧尾
+            checksum += (Byte.toUnsignedInt(checksumBuffer.get()));
+        }
+        return checksum;
+    }
+
     /**
      * 判断校验和（表9），排除第13字节
      * @param data 如果分包数据不足1472，有效长度后面的是前一个分包留下的数据，并非是0

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/publics/utils/ImageUtil.java

@@ -4,6 +4,7 @@ import com.zhangy.skyeye.common.extend.exception.ServiceException;
 import com.zhangy.skyeye.common.extend.util.FileUtil;
 import com.zhangy.skyeye.jm.dto.JmImageRotateDTO;
 import com.zhangy.skyeye.publics.dto.GeoTiffDTO;
+import com.zhangy.skyeye.sar.dto.SarBackImageFrameDTO;
 import lombok.extern.slf4j.Slf4j;
 import org.geotools.api.geometry.Bounds;
 import org.geotools.coverage.grid.GridCoverage2D;
@@ -38,15 +39,18 @@ public class ImageUtil {
     public static Mat afterCreate(Mat image, JmImageRotateDTO rotateDTO) {
         if (rotateDTO != null) {
             OpenCVUtil.flip(image, rotateDTO.getType());
-            Mat rgbaImage = OpenCVUtil.rotate(image, rotateDTO.getAngle() * -1);
-            image.release();
-            image = rgbaImage;
-        }
-        int lightRate = rotateDTO.getLightRate();
-        if (lightRate != 0) {
-            //OpenCVUtil.multiply(image, lightRate);
-            OpenCVUtil.enhanceContrast(image, lightRate, 0);
+            double angle = rotateDTO.getAngle();
+            if (angle != 0) {
+                Mat rgbaImage = OpenCVUtil.rotate(image, angle * -1);
+                image.release();
+                image = rgbaImage;
+            }
         }
+//        int lightRate = rotateDTO.getLightRate();
+//        if (lightRate != 0) {
+//            //OpenCVUtil.multiply(image, lightRate);
+//            OpenCVUtil.enhanceContrast(image, lightRate, 0);
+//        }
         return image;
     }
 
@@ -69,6 +73,39 @@ public class ImageUtil {
         return OpenCVUtil.write(outPath, image, true);
     }
 
+    /**
+     * 加载回传图像，先转置再转为Mat
+     *
+     * @param frameData 图像帧数据，包含参数信息和未转置的8位灰度图像数据
+     * @param imageFrame 图像帧对象
+     * @return 转置后的4通道图像Mat
+     */
+    public static Mat loadCurrImageMat(byte[] frameData, SarBackImageFrameDTO imageFrame) {
+        Mat currImage = null;
+        int offset = imageFrame.IMAGE_OFFSET;
+
+        switch (imageFrame.getImgType()) {
+            case 0: // tif
+                currImage = ImageUtil.createImage(frameData, offset, imageFrame.getWidth(),
+                        imageFrame.getHeight(), imageFrame.getImageBitDeep());
+                break;
+            case 1:  // jpg，先去掉参数信息，只保留图像数据
+            case 4: { // png
+                byte[] validData = new byte[frameData.length - offset];
+                System.arraycopy(frameData, offset, validData, 0, validData.length);
+                currImage = ImageUtil.createImageFromJpg(validData);
+                break;
+            }
+            default:
+                log.error("不支持的图片类型imgType=" + imageFrame.getImgType() + "，丢弃图片");
+        }
+        if (currImage != null && currImage.empty()) {
+            log.error("图片数据是空的，数据长度：" + frameData.length);
+            currImage.release();
+        }
+        return currImage;
+    }
+
     /**
      * 创建图像对象
      * @param rawData 原始像素数据
@@ -213,12 +250,11 @@ public class ImageUtil {
      * @param currGray 新接收的单通道灰度图（右部分），会被释放资源
      * @return 拼接后的4通道Mat矩阵
      */
-    public static Mat join(Mat baseMat, Integer baseNo, Mat currGray, int currNo) {
+    public static Mat join(Mat baseMat, Integer baseNo, Mat currGray, int currNo, boolean isFirst) {
         int width = currGray.cols();
-
         // 将当前灰度图转换为4通道（BGRA），支持16位
         Mat curr4 = convertToRGBA(currGray);
-        if (baseNo == null || baseMat == null) {
+        if (baseNo == null || baseMat == null || baseMat.empty()) {    // 首图无需拼接，直接返回
             return curr4;
         }
         // 统一数据类型：如果基准图是8位而当前是16位，需要转换
@@ -241,14 +277,13 @@ public class ImageUtil {
         Mat result = null;
         // 检查帧号是否连续
         int missingFrames = currNo - baseNo - 1;
-        if (missingFrames > 0) {
+        log.info("--------> 帧" + currNo +"开始拼接，填充" + missingFrames + "，基准图：" + baseMat.rows() + "," + baseMat.type() + "," + baseMat.dims() +
+                "；当前图：" + curr4.rows() + "," + curr4.type() + "," + curr4.dims());
+        if (!isFirst && missingFrames > 0) {
             // 创建缺失的透明图像（4通道）
             Mat transparent = new Mat(baseHeight, width, baseMat.type(), new Scalar(0, 0, 0, 0));
 
             // 准备要拼接的图像列表
-            log.info("当前帧" + currNo +"准备拼接图片，基准图：" + baseMat.rows() + "," + baseMat.type() + "," + baseMat.dims() +
-                    "；填充图：" + transparent.rows() + "," + transparent.type() + "," + transparent.dims() +
-                    "；当前图：" + curr4.rows() + "," + curr4.type() + "," + curr4.dims());
             List<Mat> imagesToConcat = new ArrayList<>();
             imagesToConcat.add(baseMat);
 
@@ -272,12 +307,10 @@ public class ImageUtil {
             imagesToConcat.add(curr4);
 
             result = new Mat();
-            log.info("当前帧" + currNo +"准备拼接图片，基准图：" + baseMat.rows() + "," + baseMat.type() + "," + baseMat.dims() +
-                    "；当前图：" + curr4.rows() + "," + curr4.type() + "," + curr4.dims());
             Core.hconcat(imagesToConcat, result);
             baseMat.release();
         }
-        log.info("当前帧" + currNo +"拼接完成");
+        log.info("<-------- 帧" + currNo +"拼接完成");
         // 释放资源，若missingFrames < 0 则说明当前图是前面的图迟到了，无法拼接，按丢图处理
         curr4.release();
 

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/dto/SarBackFramePackDTO.java

@@ -1,5 +1,6 @@
 package com.zhangy.skyeye.sar.dto;
 
+import com.zhangy.skyeye.publics.utils.ChecksumUtil;
 import lombok.Data;
 
 import java.nio.ByteBuffer;
@@ -26,8 +27,12 @@ public class SarBackFramePackDTO {
     /** 帧尾标志 0x7EFFDC02 */
     private int tailFlag;
 
+    public SarBackFramePackDTO() {
+
+    }
+
     public boolean check() {
-        return headFlag == 0x7EFFDC01;
+        return headFlag == 0x7EFFDC01 && tailFlag == 0x7EFFDC02;
     }
 
     /**
@@ -57,23 +62,31 @@ public class SarBackFramePackDTO {
      * @param data 实际接收的帧数据
      * @param hasLastPacket 是否包含尾包
      */
-    public SarBackFramePackDTO(byte[] data, boolean hasLastPacket) {
+    public static SarBackFramePackDTO parse(byte[] data, boolean hasLastPacket) {
+        SarBackFramePackDTO dto = new SarBackFramePackDTO();
         ByteBuffer buffer = ByteBuffer.wrap(data);
         buffer.order(ByteOrder.LITTLE_ENDIAN);
         // 首包包含的头校验信息
-        this.headFlag = buffer.getInt();
-        this.size = buffer.getInt();
+        dto.headFlag = buffer.getInt();
+        if (dto.headFlag != 0x7EFFDC01) {
+            return null;
+        }
+        dto.size = buffer.getInt();
 
         // 图像数据 = 帧数据 - 头尾校验数据
         int frameSize = data.length - 8 - (hasLastPacket ? 8 : 0);
-        this.frameData = new byte[frameSize];
-        buffer.get(this.frameData, 0, frameSize);
+        dto.frameData = new byte[frameSize];
+        buffer.get(dto.frameData, 0, frameSize);
 
         // 尾包包含的尾校验信息
         if (hasLastPacket) {
-            this.checksum = buffer.getInt();
-            this.tailFlag = buffer.getInt();
+            dto.checksum = (int) (buffer.getInt() & 0xFFFFFFFFL);
+            dto.tailFlag = buffer.getInt();
+            if (dto.tailFlag != 0x7EFFDC02 || ChecksumUtil.checksum8(data) != dto.checksum) {
+                return null;
+            }
         }
+        return dto;
     }
 
     @Override

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/dto/SarControlPackDTO.java

@@ -50,7 +50,7 @@ public class SarControlPackDTO {
         buffer.put(sarControl.toBytes());
         // 尾
         byte[] checkData = buffer.array();
-        this.checksum = ChecksumUtil.checksum8(checkData);
+        this.checksum = ChecksumUtil.checksum32(checkData);
         buffer.putInt(checksum);
         buffer.putInt(endFlag);
         return buffer.array();

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/dto/SarImagePacketDTO.java

@@ -15,32 +15,32 @@ import java.util.zip.CRC32;
 public class SarImagePacketDTO extends SarBackPacketDTO {
 
     /**
-     * 图像帧ID，随机不连续 uint32_t
+     * 图像帧ID，随机不连续
      */
     long sessionId;
 
     /**
-     * 帧序号，从0开始 uint32_t
+     * 帧序号，从0开始
      */
     int packetNo;
 
     /**
-     * 帧数据大小（字节） uint32_t
+     * 帧数据大小（字节）
      */
     int size;
 
     /**
-     * 是否为最后一个包 uint8_t
+     * 是否为最后一个包
      */
     boolean isLast;
 
     /**
-     * 校验值 uint32_t
+     * 校验值
      */
     long crc32;
 
     /**
-     * 包数据 std::vector<char>
+     * 包数据
      */
     byte[] data;
 
@@ -55,12 +55,11 @@ public class SarImagePacketDTO extends SarBackPacketDTO {
         bb.order(ByteOrder.BIG_ENDIAN); // 网络字节序
 
         // 解析数据包头部
-        pkt.sessionId = bb.getInt() & 0xFFFFFFFFL;    // uint32_t
-        pkt.packetNo = bb.getInt();                         // uint32_t
-        pkt.size = bb.getInt();                        // uint32_t
-        pkt.isLast = bb.get() != 0;               // uint8_t -> boolean
-        pkt.crc32 = bb.getInt() & 0xFFFFFFFFL;       // uint32_t
-
+        pkt.sessionId = bb.getInt() & 0xFFFFFFFFL;
+        pkt.packetNo = bb.getInt();
+        pkt.size = bb.getInt();
+        pkt.isLast = bb.get() != 0;
+        pkt.crc32 = bb.getInt() & 0xFFFFFFFFL;
         // 提取数据部分
         byte[] pktData = new byte[pkt.size];
         bb.get(pktData);
@@ -68,10 +67,9 @@ public class SarImagePacketDTO extends SarBackPacketDTO {
         // CRC校验
         long crcCalc = calculateCrc32(pktData);
         if (pkt.crc32 != crcCalc) {
-            log.warn("CRC不匹配，序号=" + pkt.packetNo + "，丢弃");
+            log.warn("CRC不匹配，序号=" + pkt.packetNo + "，丢弃包");
             return null;
         }
-
         // 创建Packet对象
         pkt.data = pktData;
         return pkt;

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/dto/SarImagePacketGroupDTO.java

@@ -31,6 +31,9 @@ public class SarImagePacketGroupDTO extends SarBackPacketGroupDTO<SarImagePacket
     /** 分包数据 */
     private Map<Integer, SarImagePacketDTO> packets = new HashMap<>();
 
+    /** 整包数据 */
+    private byte[] groupData;
+
     public SarImagePacketDTO getLastPacket() {
         if (packets.size() == 0) {
             return null;
@@ -68,7 +71,7 @@ public class SarImagePacketGroupDTO extends SarBackPacketGroupDTO<SarImagePacket
         SarImagePacketGroupDTO group = new SarImagePacketGroupDTO();
         group.setSourceIp(sourceIp);
         group.setSessionId(packet.getSessionId());
-      //  group.setPacketNum(packet.getPacketNum());
+        //  group.setPacketNum(packet.getPacketNum());
         group.setLastArrayTime(System.currentTimeMillis());
         group.put(packet);
         group.setMaxNo(packet.getPacketNo());

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/listen/SarAsynAbstractUdpProcessor.java

@@ -0,0 +1,152 @@
+package com.zhangy.skyeye.sar.listen;
+
+import com.zhangy.skyeye.jm.dto.JmAirlineStatusDTO;
+import com.zhangy.skyeye.jm.service.JmJobStatusService;
+
+import com.zhangy.skyeye.sar.dto.SarImagePacketDTO;
+import com.zhangy.skyeye.sar.dto.SarImagePacketGroupDTO;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.util.Map;
+import java.util.concurrent.BlockingQueue;
+import java.util.concurrent.LinkedBlockingQueue;
+import java.util.concurrent.TimeUnit;
+
+/**
+ * 接收udp和处理异步进行，可靠传输
+ */
+@Slf4j
+public abstract class SarAsynAbstractUdpProcessor extends SarAbstractUdpProcessor<SarImagePacketGroupDTO, SarImagePacketDTO> {
+
+    // 任务队列容量
+    private final int QUEUE_CAPACITY = 1000;
+
+    // 任务队列
+    private BlockingQueue<SarImagePacketGroupDTO> packetQueue = new LinkedBlockingQueue<>(QUEUE_CAPACITY);
+
+    // 异步线程
+    private Thread processThread = new Thread(this::startProcessing);
+
+    @Autowired
+    private JmJobStatusService jobStatusService;
+
+    /**
+     * 初始化
+     */
+    public SarAsynAbstractUdpProcessor() {
+        super();
+        running = true;
+        processThread.start();
+    }
+
+    /**
+     * 异步处理
+     * @param group
+     */
+    protected abstract void afterJoin(SarImagePacketGroupDTO group);
+
+    /**
+     * 启动处理线程从队列消费数据
+     */
+    private void startProcessing() {
+        while (running) {
+            try {
+                SarImagePacketGroupDTO group = packetQueue.poll(100, TimeUnit.MILLISECONDS);
+                if (group != null) {
+                    try {
+                        afterJoin(group);
+                    } catch (Exception ex) {
+                        log.error(getText() + "异步线程处理图像包错误：" + ex.getMessage(), ex);
+                    }
+                }
+            } catch (Throwable e) {
+                log.error(getText() + "异步线程处理异常", e);
+            }
+        }
+    }
+
+    /**
+     * 判断是否可以合并回图帧，首包不能丢
+     * @param group
+     * @return
+     */
+    public boolean canJoin(SarImagePacketGroupDTO group) {
+        Map<Integer, SarImagePacketDTO> packets = group.getPackets();
+        //log.info("定时判断合并udp：" + group.getSessionId() + "，" + packets.keySet());
+        // 首包包含图片格式信息，不能丢，否则图片无法打开
+        return packets.get(0) != null && group.getLastPacket().isLast();
+    }
+
+    @Override
+    protected void expireProcess(SarImagePacketGroupDTO group) {
+        // 定时判断：超过 PACKET_TIMEOUT 时间未收到新包且符合生成条件则合成图
+        if (canJoin(group)) {
+            log.info("[UDP] sesionid="+ group.getSessionId() + "超时合并！");
+            join(group);
+            this.packetQueue.offer(group);
+        } else {    // 超时且无法合并，丢弃
+            Map<Integer, SarImagePacketDTO> packets = group.getPackets();
+            if (packets.size() == 1 && packets.values().iterator().next().isLast()) {
+                // 雷达传图有bug，每帧的尾包会多发一个，丢弃且不打印日志
+            } else {
+                log.warn(getText() + "-移除超时帧: {}", group.getSessionId());
+            }
+        }
+    }
+
+    /**
+     * 将upd分包数据合并为完整帧（帧数据 + 头尾校验），因为无法确定分包大小，分包缺失无法补充0
+     * 合并后删除frameMap的分包数据
+     * 使用ByteBuffer替代ByteArrayOutputStream，以减少内存分配。ByteArrayOutputStream 的 toByteArray()底层用Arrays.copyOf实现，
+     * 有性能开销；ByteBuffer的array()无需拷贝数组
+     * @param group
+     * @return
+     */
+    private void join(SarImagePacketGroupDTO group) {
+        ByteBuffer buffer = ByteBuffer.allocate(group.getTotalSize());
+        buffer.order(ByteOrder.BIG_ENDIAN);
+
+        Map<Integer, SarImagePacketDTO> packets = group.getPackets();
+        for (int i = 0; i <= group.getLastPacket().getPacketNo(); i++) {
+            SarImagePacketDTO packet = packets.get(i);
+            if (packet != null) {
+                buffer.put(packet.getData(), 0, packet.getSize());
+            }
+        }
+        group.setGroupData(buffer.array());
+    }
+
+    @Override
+    public SarImagePacketGroupDTO putPacket(String sourceIp, SarImagePacketDTO packet) {
+        // 1.包放入缓冲区
+        long sessionId = packet.getSessionId();
+        SarImagePacketGroupDTO group;
+        if (contains(sourceIp, sessionId)) {
+            group = get(sourceIp, sessionId);
+            group.put(packet);
+        } else {
+            group = SarImagePacketGroupDTO.init(sourceIp, packet);
+            // 将帧与航线绑定，当航线2开机但航线1的图片未传完时，用航线ID判断生成的图片是属于哪条航线
+            JmAirlineStatusDTO currAirline = jobStatusService.getCurrAirline(sourceIp);
+            if (currAirline == null) {
+                return null; // 没有在执行的任务或航线
+            }
+            group.setAirlineExecId(currAirline.getExecId());
+            put(sourceIp, sessionId, group);
+        }
+        //System.out.println(packet);
+        // 2.判断是否全部包到达，是则合并
+        SarImagePacketDTO last = group.getLastPacket();
+        // 若所有包已收到则合并
+        if (last != null && last.isLast() && group.getPackets().size() == group.getMaxNo() + 1) {
+            log.info("[UDP] sesionid="+ packet.getSessionId() + "全部到达合并！");
+            join(group);
+            this.packetQueue.offer(group);
+            remove(sourceIp, sessionId);
+        }
+        return group;
+    }
+}

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/listen/SarImageUdpProcessor.java

@@ -2,6 +2,7 @@ package com.zhangy.skyeye.sar.listen;
 
 import com.zhangy.skyeye.common.extend.util.JsonUtil;
 import com.zhangy.skyeye.jm.dto.JmAirlineStatusDTO;
+import com.zhangy.skyeye.jm.dto.JmUavStatusDTO;
 import com.zhangy.skyeye.jm.entity.JmImage;
 import com.zhangy.skyeye.jm.service.JmJobStatusService;
 import com.zhangy.skyeye.sar.dto.SarBackFramePackDTO;
@@ -9,8 +10,10 @@ import com.zhangy.skyeye.sar.dto.SarBackImageFrameDTO;
 import com.zhangy.skyeye.sar.dto.SarImagePacketDTO;
 import com.zhangy.skyeye.sar.dto.SarImagePacketGroupDTO;
 import com.zhangy.skyeye.sar.service.ISarImageService;
+import lombok.Setter;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
 import org.springframework.context.annotation.Primary;
 import org.springframework.stereotype.Service;
 
@@ -24,7 +27,7 @@ import java.util.Map;
 @Primary
 @Slf4j
 @Service
-public class SarImageUdpProcessor extends SarAbstractUdpProcessor<SarImagePacketGroupDTO, SarImagePacketDTO> {
+public class SarImageUdpProcessor extends SarAsynAbstractUdpProcessor {
 
     @Autowired
     private ISarImageService sarImageService;
@@ -32,62 +35,52 @@ public class SarImageUdpProcessor extends SarAbstractUdpProcessor<SarImagePacket
     @Autowired
     private JmJobStatusService jobStatusService;
 
-    protected void afterJoin(byte[] framePacketData, SarImagePacketGroupDTO group) {
+    @Setter
+    @Value("${ld.sar.image.default-level:15}")
+    private Integer defaultTailLevel;
+
+    @Override
+    protected void afterJoin(SarImagePacketGroupDTO group) {
         boolean hasFirstPacket = group.getPackets().get(0) != null;// 如果有首包，则加头校验8字节
         boolean hasLastPacket = group.getLastPacket().isLast(); // 如果有尾包，则加尾校验8字节
-        SarBackFramePackDTO framePack = new SarBackFramePackDTO(framePacketData, hasLastPacket);
-        byte[] frameData = framePack.getFrameData();
-        SarBackImageFrameDTO imageFram = new SarBackImageFrameDTO(frameData);
-        if (!imageFram.check()) {
-            log.warn("图像帧 " + group.getSessionId() + " 已丢弃，因为图像信息不完整。数据：" + imageFram);
+        if (!hasLastPacket) {
+            log.warn("帧（sessionId=" + group.getSessionId() + "）缺失尾包，丢弃帧");
+        }
+
+        byte[] framePacketData = group.getGroupData();
+        SarBackFramePackDTO framePack = SarBackFramePackDTO.parse(framePacketData, hasLastPacket);
+        if (framePack == null) {
+            log.warn("图像帧 " + group.getSessionId() + " 已丢弃，帧数据校验失败");
             return;
         }
-        log.debug("图像帧数据：" + imageFram);
 
-        // 生成图片并更新数据库
-        JmImage imageInfo = sarImageService.parseImage(group.getSourceIp(), group.getAirlineExecId(), frameData, imageFram);
-        // 推送，仅当前有任务时，jobId 和 uavId 不能为空
-        if (imageInfo != null) {
-            log.info("推送图片：" + JsonUtil.toString(imageInfo));
-            sarBackWsService.sendImg(imageInfo);
+        byte[] frameData = framePack.getFrameData();
+        SarBackImageFrameDTO frameDTO = new SarBackImageFrameDTO(frameData);
+        if (!frameDTO.check()) {
+            log.warn("图像帧 " + group.getSessionId() + " 已丢弃，因为图像信息不完整。数据：" + frameDTO);
+            return;
         }
-    }
+        log.debug("图像帧数据：" + frameDTO);
 
-    /**
-     * 判断是否可以合并回图帧，首包不能丢
-     *
-     * @param group
-     * @return
-     */
-    public boolean canJoin(SarImagePacketGroupDTO group) {
-        Map<Integer, SarImagePacketDTO> packets = group.getPackets();
-        //log.info("定时判断合并udp：" + group.getSessionId() + "，" + packets.keySet());
-        // 首包包含图片格式信息，不能丢，否则图片无法打开
-        return packets.get(0) != null;
-    }
-
-    /**
-     * 将upd分包数据合并为完整帧（帧数据 + 头尾校验），因为无法确定分包大小，分包缺失无法补充0
-     * 合并后删除frameMap的分包数据
-     * 使用ByteBuffer替代ByteArrayOutputStream，以减少内存分配。ByteArrayOutputStream 的 toByteArray()底层用Arrays.copyOf实现，
-     * 有性能开销；ByteBuffer的array()无需拷贝数组
-     *
-     * @param group
-     * @return
-     */
-    private byte[] join(SarImagePacketGroupDTO group) {
-        ByteBuffer buffer = ByteBuffer.allocate(group.getTotalSize());
-        buffer.order(ByteOrder.BIG_ENDIAN);
-
-        Map<Integer, SarImagePacketDTO> packets = group.getPackets();
-        // 使用ByteBuffer的批量操作，减少系统调用
-        for (int i = 0; i <= group.getLastPacket().getPacketNo(); i++) {
-            SarImagePacketDTO packet = packets.get(i);
-            if (packet != null) {
-                buffer.put(packet.getData(), 0, packet.getSize());
-            }
+        // 1.取航线
+        Long airlineExecId = group.getAirlineExecId();
+        if (airlineExecId == null) {
+            return;
+        }
+        JmUavStatusDTO uav = jobStatusService.getCurrUav(group.getSourceIp());
+        if (uav == null) {
+            return;
+        }
+        // 查询图像对应的航线，不能查当前航线，因为可能是前一航线没传完的图
+        JmAirlineStatusDTO currAirline = uav.getAirline(airlineExecId);
+        if (currAirline == null) {
+            return;
+        }
+        // 2.拼接图片
+        JmImage base = sarImageService.parseImage(uav, currAirline, airlineExecId, frameData, frameDTO);
+        if (base == null) {
+            return;
         }
-        return buffer.array();
     }
 
     @Override
@@ -95,58 +88,9 @@ public class SarImageUdpProcessor extends SarAbstractUdpProcessor<SarImagePacket
         return "雷达回图";
     }
 
-    @Override
-    public SarImagePacketGroupDTO putPacket(String sourceIp, SarImagePacketDTO packet) {
-        // 1.包放入缓冲区
-        long sessionId = packet.getSessionId();
-        SarImagePacketGroupDTO group;
-        if (contains(sourceIp, sessionId)) {
-            group = get(sourceIp, sessionId);
-            group.put(packet);
-        } else {
-            group = SarImagePacketGroupDTO.init(sourceIp, packet);
-            // 将帧与航线绑定，当航线2开机但航线1的图片未传完时，用航线ID判断生成的图片是属于哪条航线
-            JmAirlineStatusDTO currAirline = jobStatusService.getCurrAirline(sourceIp);
-            if (currAirline == null) {
-                return null; // 没有在执行的任务或航线
-            }
-            group.setAirlineExecId(currAirline.getExecId());
-            put(sourceIp, sessionId, group);
-        }
-        // 2.判断是否全部包到达，是则合并
-        SarImagePacketDTO last = group.getLastPacket();
-        // 若所有包已收到则合并
-        if (last != null && last.isLast() && group.getPackets().size() == group.getMaxNo() + 1) {
-            log.info("[UDP] sesionid=" + packet.getSessionId() + "全部到达合并！");
-            byte[] framePacketData = join(group);
-            afterJoin(framePacketData, group);
-            remove(sourceIp, sessionId);
-        }
-        return group;
-    }
-
-
     @Override
     protected String getProcessorName() {
         return "sarImageProcessor";
     }
 
-    @Override
-    protected void expireProcess(SarImagePacketGroupDTO group) {
-        // 定时判断：超过 PACKET_TIMEOUT 时间未收到新包且符合生成条件则合成图
-        if (canJoin(group)) {
-            log.info("[UDP] sesionid： {} 超时合并！", group.getSessionId());
-            byte[] framePacketData = join(group);
-            afterJoin(framePacketData, group);
-        } else {
-            // 超时且无法合并，丢弃
-            Map<Integer, SarImagePacketDTO> packets = group.getPackets();
-            if (packets.size() == 1 && packets.values().iterator().next().isLast()) {
-                // 雷达传图有bug，每帧的尾包会多发一个，丢弃且不打印日志
-            } else {
-                log.warn("{}-移除超时帧: {}", getText(), group.getSessionId());
-            }
-        }
-    }
-
 }

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/service/ISarImageService.java

@@ -1,5 +1,7 @@
 package com.zhangy.skyeye.sar.service;
 
+import com.zhangy.skyeye.jm.dto.JmAirlineStatusDTO;
+import com.zhangy.skyeye.jm.dto.JmUavStatusDTO;
 import com.zhangy.skyeye.jm.entity.JmImage;
 import com.zhangy.skyeye.sar.dto.SarBackImageFrameDTO;
 
@@ -15,5 +17,5 @@ public interface ISarImageService {
      * @param frameData 图像帧数据
      * @param imageFrame 图像帧
      */
-    JmImage parseImage(String sourceIp, Long airlineExecId, byte[] frameData, SarBackImageFrameDTO imageFrame);
+    JmImage parseImage(JmUavStatusDTO uav, JmAirlineStatusDTO currAirline, Long airlineExecId, byte[] frameData, SarBackImageFrameDTO imageFrame);
 }

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

@@ -48,6 +48,7 @@ public class SarBackWsServiceImpl implements ISarBackWsService {
 
     @Override
     public void sendImg(JmImage imageInfo) {
+        log.info("===send image back ======");
         simpMessageingTemplate.convertAndSend(WebSocketKey.SAR_BACK_IMAGE, imageInfo);
     }
 

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

@@ -1,6 +1,7 @@
 package com.zhangy.skyeye.sar.service.impl;
 
 import com.zhangy.skyeye.common.extend.util.MathUtil;
+import com.zhangy.skyeye.jm.consts.JmJobModeEnum;
 import com.zhangy.skyeye.jm.dto.JmAirlineStatusDTO;
 import com.zhangy.skyeye.common.extend.util.ObjectUtil;
 import com.zhangy.skyeye.redis.utils.RedisUtil;
@@ -14,6 +15,7 @@ import com.zhangy.skyeye.publics.service.SysFileTypeService;
 import com.zhangy.skyeye.publics.utils.ImageUtil;
 import com.zhangy.skyeye.publics.utils.OpenCVUtil;
 import com.zhangy.skyeye.sar.dto.SarBackImageFrameDTO;
+import com.zhangy.skyeye.sar.service.ISarBackWsService;
 import com.zhangy.skyeye.sar.service.ISarImageService;
 import com.zhangy.skyeye.sar.service.SarWsAsyncService;
 import com.zhangy.skyeye.sar.util.RadarDisplayOptions;
@@ -44,20 +46,15 @@ public class SarImageServiceImpl implements ISarImageService {
 
     @Autowired
     private SarWsAsyncService sarWsAsyncService;
+    @Autowired
+    protected ISarBackWsService sarBackWsService;
 
     @Autowired
     private RedisUtil redisUtil;
 
-    // 图片最大宽度，前端说和电脑有关，4096保险点，一般是4096  8192  16384
-    @Value("${skyeye.sar.image.max:4096}")
-    @Setter
-    private int IMG_MAX_WITH;
-    // 起始帧号
-    private final String CACHE_FIELD_START_FRAME_NO = "startFrameNo";
-    // 当前帧号
-    private final String CACHE_FIELD_CURR_FRAME_NO = "currFrameNo";
-    // 缓存超时（秒）
-    private final long CACHE_EXPIRE_SECOND = 24 * 3600;
+    // 拼图数量
+    @Value("${skyeye.sar.image.count:5}")
+    private long count;
 
     /**
      * 获取基准图像信息
@@ -65,91 +62,40 @@ public class SarImageServiceImpl implements ISarImageService {
      * @param airlineId 航线执行ID
      * @param singleWidth 单条图片宽度
      * @param frameNo 当前帧号
-     * @return 返回非空的图像信息，其字段 imageNo 一定有值
+     * @return 返回非空的图像信息
      */
-    private JmImage getBaseImage(Long airlineId, int singleWidth, int frameNo) {IMG_MAX_WITH=1;
-        List<JmImage> imageList = imageService.selectLowByAirline(airlineId);
+    private JmImage getBaseImage(JmUavStatusDTO uav, Long airlineId, int singleWidth, int frameNo) {
+        JmImage last = imageService.selectLastByAirline(FileTypeEnum.SAR_IMAGE_LOW, airlineId);
+
+        // last = null;
+
         String cacheKey = "jmImgJoin-" + airlineId;
         JmImage base = null;
         // 情况1：航线第一张图
-        if (ObjectUtil.isEmpty(imageList)) {
+        if (last == null) {
             base = new JmImage();
             base.setImageNo(1);
-            redisUtil.hset(cacheKey, CACHE_FIELD_START_FRAME_NO, frameNo, CACHE_EXPIRE_SECOND);
+            base.setFrameFrom(frameNo);
+            return base;
+        } else if (uav.getJobMode() == JmJobModeEnum.CRUISE) {  // 手动模式不拼接
+            base = new JmImage();
+            base.setImageNo(last.getImageNo() + 1);
+            base.setFrameFrom(frameNo);
             return base;
         }
         // 情况2：如果最后一张还能拼图，则直接返回继续拼
-        JmImage last = imageList.get(imageList.size() - 1);
-        Integer startFrameNo = (Integer) redisUtil.hget(cacheKey, CACHE_FIELD_START_FRAME_NO);
-        int currWidth = startFrameNo == null ? 0 : singleWidth * (frameNo - startFrameNo + 1); // 图宽（当前图+基准图）
-        int surplusNum = (IMG_MAX_WITH - currWidth) / singleWidth;  // 还可以拼图片数
-        Integer baseNo = (Integer) redisUtil.hget("jmImgJoin-" + airlineId, CACHE_FIELD_CURR_FRAME_NO);
-        if (startFrameNo == null || currWidth < IMG_MAX_WITH ||
-                baseNo == null || (frameNo - baseNo + 1 <= surplusNum)) {   // 当前图+填充 不能超过允许拼接数
-            log.info("当前宽度：" + currWidth + " < " + IMG_MAX_WITH + " 可以继续拼接");
+        File lastFile = new File(last.getFilePath());
+        if (frameNo - last.getFrameFrom() < count) {   // 当前图+填充 不能超过允许拼接数
+            log.info("当前帧：" + last.getFrameFrom() + "," + frameNo + " 可以继续拼接");
             return last;
         }
         // 情况3：已经拼接到最大数量，或者当前图+填充数量超过允许拼接数量，创建新图像文件
-        log.info("当前宽度：" + currWidth + " > " + IMG_MAX_WITH + " 重新拼接，当前帧号" + frameNo + "作为首帧");
+        log.info("当前帧：" + last.getFrameFrom() + "," + frameNo + " 重新拼接，当前帧号" + frameNo + "作为首帧");
         base = new JmImage();
-        redisUtil.hset(cacheKey, CACHE_FIELD_START_FRAME_NO, frameNo, CACHE_EXPIRE_SECOND);
         base.setImageNo(last.getImageNo() + 1);
+        base.setFrameFrom(frameNo);
         return base;
     }
-
-    private void modCoord(SarBackImageFrameDTO imageFrame, boolean lostImage, JmAirlineStatusDTO currAirline) {
-        JmImageRotateDTO rotateDTO = JmImageRotateDTO.rotate(currAirline.getTargetHeading(), currAirline.getDirection());
-        Double[] before = currAirline.getBeforeRight();
-        boolean isFirst = before == null;
-        if (isFirst) {
-            before = new Double[4];
-            currAirline.setBeforeRight(before);
-        }
-        // 使用前一张图的右侧坐标作为后一张图的左侧，前提是没丢图
-        if (!isFirst && !lostImage) {
-            /*imageFrame.setLon1(before[0]);
-            imageFrame.setLat1(before[1]);
-            imageFrame.setLon4(before[2]);
-            imageFrame.setLat4(before[3]);*/
-        }
-        before[0] = imageFrame.getLon5();
-        before[1] = imageFrame.getLat5();
-        before[2] = imageFrame.getLon8();
-        before[3] = imageFrame.getLat8();
-        /*switch (rotateDTO.getType()) {
-            case 0:
-            case 1:
-                // 使用前一张图的右侧坐标作为后一张图的左侧，前提是没丢图
-                if (!isFirst && !lostImage) {
-                    imageFrame.setLon1(before[0]);
-                    imageFrame.setLat1(before[1]);
-                    imageFrame.setLon4(before[2]);
-                    imageFrame.setLat4(before[3]);
-                } else if (before == null) {
-                    before = new Double[4];
-                    currAirline.setBeforeRight(before);
-                }
-                before[0] = imageFrame.getLon5();
-                before[1] = imageFrame.getLat5();
-                before[2] = imageFrame.getLon8();
-                before[3] = imageFrame.getLat8();
-                break;
-            case 2:
-            case 3:
-                if (!isFirst && !lostImage) {
-                    imageFrame.setLon5(before[0]);
-                    imageFrame.setLat5(before[1]);
-                    imageFrame.setLon8(before[2]);
-                    imageFrame.setLat8(before[3]);
-                }
-                before[0] = imageFrame.getLon1();
-                before[1] = imageFrame.getLat1();
-                before[2] = imageFrame.getLon4();
-                before[3] = imageFrame.getLat4();
-                break;
-        } */
-    }
-
     /**
      * 将原始图像数据保存为dat文件，图像转png并将路径推送给前端
      *
@@ -159,107 +105,59 @@ public class SarImageServiceImpl implements ISarImageService {
      * @param imageFrame 图像帧
      */
     @Override
-    public JmImage parseImage(String sourceIp, Long airlineExecId, byte[] frameData, SarBackImageFrameDTO imageFrame) {
-        if (airlineExecId == null) {
-            return null;
-        }
+    public JmImage parseImage(JmUavStatusDTO uav, JmAirlineStatusDTO currAirline, Long airlineExecId, byte[] frameData, SarBackImageFrameDTO imageFrame) {
         int frameNo = imageFrame.getFrameNo();
-        JmUavStatusDTO uav = jobStatusService.getCurrUav(sourceIp);
-        // 若载荷任务结束，sar仍然回传图像则 uav为空。此场景仅限sardemo，实际sar不会发生
-        if (uav == null) {
-            return null;
-        }
-        // 查询图像对应的航线，不能查当前航线，因为可能是前一航线没传完的图
-        JmAirlineStatusDTO currAirline = uav.getAirline(airlineExecId);
-        if (currAirline == null) {
-            return null;
-        }
         Long jobExecId = uav.getJobExecId();
         //----------------------------------- 处理图像 --------------------------------------------------------
         long start = System.currentTimeMillis();
         // 1.保存dat（异步）
         sarWsAsyncService.saveImageDat(jobExecId, airlineExecId + "-" + frameNo + ".dat", frameData);
-
         // 2.生成当前图像矩阵
-        Mat currImage = loadCurrImageMat(frameData, imageFrame);
+        Mat currImage = ImageUtil.loadCurrImageMat(frameData, imageFrame);
         if (currImage == null) {
             return null;
         }
-
         // 3.保存图像png，用航线ID+序号命名
-        JmImage base = getBaseImage(airlineExecId, currImage.width(), imageFrame.getFrameNo());
-        String imageName = airlineExecId + "-" + base.getImageNo() +".png";
-        String[] imagePath = sysFileTypeService.getFilePath(FileTypeEnum.SAR_IMAGE_LOW, jobExecId, imageName);
-        String currPath = imagePath[0];
+        JmImage base = getBaseImage(uav, airlineExecId, currImage.width(), imageFrame.getFrameNo());
+        String baseName = airlineExecId + "-" + base.getImageNo() +"-base.png";
+        String[] basePath = sysFileTypeService.getFilePath(FileTypeEnum.SAR_IMAGE_LOW, jobExecId, baseName);
 
-        System.out.println("帧：" + frameNo);
+        // 4.保存基准图（同步），并拼接
+        Integer baseNo = base.getFrameTo();
 
-        // 4.保存基准图（同步），用于下次拼接
-        Integer baseNo = (Integer) redisUtil.hget("jmImgJoin-" + airlineExecId, CACHE_FIELD_CURR_FRAME_NO);
-        boolean lostImage = baseNo != null && (frameNo - baseNo > 1);   // 判断是否丢图
-        String basePath = sysFileTypeService.getAbsolutePath(FileTypeEnum.SAR_IMAGE_LOW, jobExecId,
-                airlineExecId + "-" + base.getImageNo() +"-base.png");
-        Mat baseMat = generateBaseMat(base, currImage, frameNo, imageFrame.getMax(), basePath, baseNo);
+        Mat baseMat = generateBaseMat(base, currImage, frameNo, imageFrame.getMax(), basePath[0], baseNo);
         if (baseMat == null) {  // 拼接失败 或 基准图生成失败则跳过，按丢图处理
             return null;
         }
-        if (lostImage) {
-            log.warn("丢图"+(frameNo - baseNo)+"张！当前帧" + frameNo + "，前帧" + baseNo);
-        }
 
-        //modCoord(imageFrame, lostImage, currAirline);
-        redisUtil.hset("jmImgJoin-" + airlineExecId, CACHE_FIELD_CURR_FRAME_NO, frameNo, CACHE_EXPIRE_SECOND);// 更新帧号
-        // ### 亮度调整，用于可靠udp版本图像，固定使用系数0.5
-        // 拆分多张图片，去掉自适应调整
-        if (IMG_MAX_WITH > 20000) {
+        // 更新坐标
+        boolean isFirst = base.getId() == null;
+        // ### 亮度调整，用于可靠udp版本图像，固定使用系数0.5   手动模式不调整
+        // enhance image
+        // if (uav.getJobMode() != JmJobModeEnum.CRUISE) {
             SarImageToneAdjuster.autoToneWithClipping(baseMat, 0.5f);
-//            RadarDisplayOptions options = new RadarDisplayOptions();
-//            SarImageToneAdjuster.processForDisplayMat(baseMat, options);
-//            SarImageToneAdjuster.applyPseudoColorMat(baseMat, options);
-        }
+        // }
 
         // 5.保存后处理图（异步），用于前端显示
-        generateAfterMat(currAirline, baseMat, currPath, uav.getSarImageLight());
+        String afterName = airlineExecId + "-" + base.getImageNo() + ".png";
+        String[] afterPath = sysFileTypeService.getFilePath(FileTypeEnum.SAR_IMAGE_LOW, jobExecId, afterName);
 
+        JmImageRotateDTO rotateDTO = JmImageRotateDTO.rotate(currAirline.getTargetHeading(), currAirline.getDirection());
+        rotateDTO.setLightRate(uav.getSarImageLight());
+        base.setRotateAngle(rotateDTO.getAngle());
+        rotateDTO.setAngle(0);  // 不旋转
+        generateAfterMat(baseMat, afterPath[0], rotateDTO);
+        saveImage(uav, airlineExecId, base, afterPath, imageFrame, frameNo, currAirline);
         // 6.更新基准图坐标和帧号
-        JmImage imageInfo = saveImage(uav, airlineExecId, base, imagePath, imageFrame, frameNo, lostImage);
+        //updateCoord(airlineExecId, currAirline, imageFrame);
+
         long end = System.currentTimeMillis();
-        log.info("生成" + imageFrame.getImageBitDeep()+"位雷达回传图像：帧序号" + frameNo + "," +
-                imageInfo.getRelativePath() + "，耗时" + (end - start)/1000 + "秒");
-        return imageInfo;
-    }
-
-    /**
-     * 加载回传图像，先转置再转为Mat
-     *
-     * @param frameData 图像帧数据，包含参数信息和未转置的8位灰度图像数据
-     * @param imageFrame 图像帧对象
-     * @return 转置后的4通道图像Mat
-     */
-    private Mat loadCurrImageMat(byte[] frameData, SarBackImageFrameDTO imageFrame) {
-        Mat currImage = null;
-        int offset = imageFrame.IMAGE_OFFSET;
-
-        switch (imageFrame.getImgType()) {
-            case 0: // tif
-                currImage = ImageUtil.createImage(frameData, offset, imageFrame.getWidth(),
-                        imageFrame.getHeight(), imageFrame.getImageBitDeep());
-                break;
-            case 1:  // jpg，先去掉参数信息，只保留图像数据
-            case 4: { // png
-                byte[] validData = new byte[frameData.length - offset];
-                System.arraycopy(frameData, offset, validData, 0, validData.length);
-                currImage = ImageUtil.createImageFromJpg(validData);
-                break;
-            }
-            default:
-                log.error("不支持的图片类型imgType=" + imageFrame.getImgType() + "，丢弃图片");
-        }
-        if (currImage != null && currImage.empty()) {
-            log.error("图片数据是空的，数据长度：" + frameData.length);
-            currImage.release();
-        }
-        return currImage;
+        log.info("生成" + imageFrame.getImageBitDeep() + "位雷达回传图像：帧序号" + frameNo + "," +
+                base.getRelativePath() + "，耗时" + (end - start) / 1000 + "秒");
+        // 向前端推送
+        base.setJobId(base.getJobConfId());
+        sarBackWsService.sendImg(base);
+        return base;
     }
 
     /**
@@ -284,13 +182,52 @@ public class SarImageServiceImpl implements ISarImageService {
                 OpenCVUtil.multiply(currImage , currMax / baseMax);
             }
         }
-        Mat baseMat = ImageUtil.join(baseImage, baseNo, currImage, currNo);  // 会释放 currImage baseImage 资源
+        Mat baseMat = ImageUtil.join(baseImage, baseNo, currImage, currNo, base.getId() == null);  // 会释放 currImage baseImage 资源
         if (baseMat != null) {  // 若拼接成功则回写硬盘，拼接失败按丢图处理，不改动基准图
             OpenCVUtil.write(imagePath, baseMat, false);
         }
         return baseMat;
     }
 
+    private Mat generateBaseMat2(JmImage base, Mat currImage, int currNo, float currMax, String imagePath, Integer baseNo) {
+        Mat baseImage = OpenCVUtil.read(imagePath);
+
+        // ==============================
+        // 分位数匹配逻辑
+        // ==============================
+        if (base != null && base.getId() != null
+                && baseImage != null
+                && currImage != null) {
+
+            double baseP = SarImageToneAdjuster.computePercentile(baseImage, 0.99);
+            double currP = SarImageToneAdjuster.computePercentile(currImage, 0.99);
+
+            if (baseP > 0 && currP > 0) {
+
+                double scale = baseP / currP;
+
+                // 限制比例，防止跳变
+                double MIN_SCALE = 0.7;
+                double MAX_SCALE = 1.5;
+
+                scale = Math.max(MIN_SCALE, Math.min(MAX_SCALE, scale));
+
+                OpenCVUtil.multiply(currImage, scale);
+            }
+        }
+
+        // ==============================
+        // 原拼接逻辑不变
+        // ==============================
+        Mat baseMat = ImageUtil.join(baseImage, baseNo, currImage, currNo, base.getId() == null);
+
+        if (baseMat != null) {
+            OpenCVUtil.write(imagePath, baseMat, false);
+        }
+
+        return baseMat;
+    }
+
     /**
      * 生成后处理图，将拼接好的基准图转置并调整对比度
      *
@@ -299,12 +236,45 @@ public class SarImageServiceImpl implements ISarImageService {
      * @param imagePath 后处理图路径，每条航线对应一张图，每次生成会覆盖
      * @param imageLight 图像亮度倍数，0是不调整
      */
-    private void generateAfterMat(JmAirlineStatusDTO currAirline, Mat baseMat, String imagePath, int imageLight) {
+    private void generateAfterMat(Mat baseMat, String imagePath, JmImageRotateDTO rotateDTO) {
         // 后处理参数
-        JmImageRotateDTO rotateDTO = JmImageRotateDTO.rotate(currAirline.getTargetHeading(), currAirline.getDirection());
-        rotateDTO.setLightRate(imageLight);
         Mat afterMat = ImageUtil.afterCreate(baseMat, rotateDTO); // 会释放 baseMat 资源
-        sarWsAsyncService.write(imagePath, afterMat, true);
+        OpenCVUtil.write(imagePath, afterMat, true);
+    }
+
+    /**
+     * 加载图像坐标
+     * @param currAirline
+     * @param image
+     * @param imageFrame
+     * @param isFirst
+     */
+    private void loadCoord(JmJobModeEnum jobMode, JmAirlineStatusDTO currAirline, JmImage image, SarBackImageFrameDTO imageFrame, boolean isFirst) {
+        double[] values = currAirline.getValues();
+        if (isFirst) {
+            if (values == null) {
+                values = new double[9];
+                currAirline.setValues(values);
+            }
+            if (values[4] != image.getImageNo() && image.getImageNo() > 1 && jobMode != JmJobModeEnum.CRUISE) { // 1、4用前一张图5、8坐标
+                // System.out.println("mode:" + jobMode.getText());
+                values[0] = values[5];
+                values[1] = values[6];
+                values[2] = values[7];
+                values[3] = values[8];
+            } else {
+                values[0] = imageFrame.getLon1();
+                values[1] = imageFrame.getLat1();
+                values[2] = imageFrame.getLon4();
+                values[3] = imageFrame.getLat4();
+            }
+        }
+        values[4] = image.getImageNo();
+        values[5] = imageFrame.getLon5();
+        values[6] = imageFrame.getLat5();
+        values[7] = imageFrame.getLon8();
+        values[8] = imageFrame.getLat8();
+        image.updateCoord(values[0], values[1], values[2], values[3], values[5], values[6], values[7], values[8]);
     }
 
     /**
@@ -313,24 +283,16 @@ public class SarImageServiceImpl implements ISarImageService {
      * @param airlineId 航线执行ID
      */
     private JmImage saveImage(JmUavStatusDTO uav, Long airlineId, JmImage image, String[] imagePath,
-                              SarBackImageFrameDTO imageFrame, int frameNo, boolean lostImage) {
+                              SarBackImageFrameDTO imageFrame, int frameNo, JmAirlineStatusDTO currAirline) {
         boolean isFirst = image.getId() == null;
-
-        // 拼接后的图片的四角坐标
-        double minLon = isFirst ? MathUtil.min(imageFrame.getLon1(), imageFrame.getLon4(), imageFrame.getLon5(), imageFrame.getLon8())
-                : MathUtil.min(imageFrame.getLon1(), imageFrame.getLon4(), imageFrame.getLon5(), imageFrame.getLon8(), image.getLeft1Lon(), image.getRight1Lon());
-        double maxLon = isFirst ? MathUtil.max(imageFrame.getLon1(), imageFrame.getLon4(), imageFrame.getLon5(), imageFrame.getLon8())
-                : MathUtil.max(imageFrame.getLon1(), imageFrame.getLon4(), imageFrame.getLon5(), imageFrame.getLon8(), image.getLeft1Lon(), image.getRight1Lon());
-        double minLat = isFirst ? MathUtil.min(imageFrame.getLat1(), imageFrame.getLat4(), imageFrame.getLat5(), imageFrame.getLat8())
-                : MathUtil.min(imageFrame.getLat1(), imageFrame.getLat4(), imageFrame.getLat5(), imageFrame.getLat8(), image.getLeft1Lat(), image.getLeft2Lat());
-        double maxLat = isFirst ? MathUtil.max(imageFrame.getLat1(), imageFrame.getLat4(), imageFrame.getLat5(), imageFrame.getLat8())
-                : MathUtil.max(imageFrame.getLat1(), imageFrame.getLat4(), imageFrame.getLat5(), imageFrame.getLat8(), image.getLeft1Lat(), image.getLeft2Lat());
-        // 更新坐标和序号
-        image.updateCoord(minLon, maxLon, minLat, maxLat);
+        // loadCoord(uav.getJobMode(), currAirline, image, imageFrame, isFirst);
+        loadCoord(JmJobModeEnum.CREATE, currAirline, image, imageFrame, isFirst);
 
         Float currMax = !isFirst && image.getMax() > imageFrame.getMax() ? image.getMax() : imageFrame.getMax();
         image.setMax(currMax);
         image.setImageTime(imageFrame.getDate());
+        image.setFrameTo(frameNo);
+        image.setBrightness(uav.getSarImageLight());
 
         if (isFirst) {
             File file = new File(imagePath[0]);
@@ -348,11 +310,11 @@ public class SarImageServiceImpl implements ISarImageService {
             imageService.updateNotNull(image);
         }
         // 前端需要
-        image.setJobId(uav.getJobId()); // 前端通过任务配置ID关联任务
+        image.setJobConfId(uav.getJobId());
         image.setJobName(uav.getJobName());
         image.setUavName(uav.getUavName());
         image.setPayloadName(uav.getSarName());
-        image.setBrightness(uav.getSarImageLight());
+
         return image;
     }
 }

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/util/SarImageToneAdjuster.java

@@ -2,18 +2,24 @@ package com.zhangy.skyeye.sar.util;
 
 import org.opencv.core.*;
 import org.opencv.imgcodecs.Imgcodecs;
+import org.opencv.imgproc.CLAHE;
 import org.opencv.imgproc.Imgproc;
 
 import org.opencv.core.Core;
 import org.opencv.core.CvType;
 import org.opencv.core.Mat;
+import org.opencv.photo.Photo;
+import org.opencv.photo.Tonemap;
 
 import java.util.ArrayList;
 import java.util.List;
 
+import lombok.extern.slf4j.Slf4j;
+
 /**
  * SAR图像亮度修正，在拼接图片后食用
  */
+@Slf4j
 public class SarImageToneAdjuster {
 
     // 示例
@@ -643,4 +649,261 @@ public class SarImageToneAdjuster {
 
         image.put(0, 0, data);
     }
+
+    /**
+     * Reinhard 局部色调映射
+     */
+    public static Mat reinhardToneMapping(Mat src,
+                                          float gamma,
+                                          float intensity,
+                                          float lightAdapt,
+                                          float colorAdapt) {
+
+        Mat srcFloat = new Mat();
+        src.convertTo(srcFloat, CvType.CV_32FC3, 1.0 / 255.0);
+
+        // 注意这里的类型
+        Tonemap tonemap = Photo.createTonemapReinhard(
+                gamma,
+                intensity,
+                lightAdapt,
+                colorAdapt
+        );
+
+        Mat dstFloat = new Mat();
+        tonemap.process(srcFloat, dstFloat);
+
+        Mat dst = new Mat();
+        dstFloat.convertTo(dst, CvType.CV_8UC3, 255.0);
+
+        return dst;
+    }
+
+    /**
+     * 对输入图像做 CLAHE (在 LAB 空间)
+     */
+    public static Mat applyCLAHEGray(Mat src,
+                                     double clipLimit,
+                                     Size tileGridSize) {
+
+        CLAHE clahe = Imgproc.createCLAHE();
+        clahe.setClipLimit(clipLimit);
+        clahe.setTilesGridSize(tileGridSize);
+
+        Mat dst = new Mat();
+        clahe.apply(src, dst);
+
+        return dst;
+    }
+
+    public static Mat enhanceSarAuto(Mat src) {
+
+        Mat gray = new Mat();
+
+        // =========================
+        // 转单通道
+        // =========================
+        if (src.channels() == 1) {
+            gray = src;
+        }
+        else if (src.channels() == 3) {
+            Imgproc.cvtColor(src, gray, Imgproc.COLOR_BGR2GRAY);
+        }
+        else if (src.channels() == 4) {
+            Imgproc.cvtColor(src, gray, Imgproc.COLOR_BGRA2GRAY);
+        }
+        else {
+            throw new IllegalArgumentException("Unsupported channel number");
+        }
+
+        // =========================
+        // 调用增强
+        // =========================
+        return enhanceSarImage(gray);
+    }
+
+    public static Mat enhanceSarImage(Mat src) {
+
+        if (src.channels() != 1) {
+            log.info("====channels: " + src.channels() + "======");
+            throw new IllegalArgumentException("Only single channel supported");
+        }
+
+        Mat floatMat = new Mat();
+
+        // 1️⃣ 转 float
+        if (src.type() == CvType.CV_16U)
+            src.convertTo(floatMat, CvType.CV_32F, 1.0 / 65535.0);
+        else if (src.type() == CvType.CV_8U)
+            src.convertTo(floatMat, CvType.CV_32F, 1.0 / 255.0);
+        else
+            throw new IllegalArgumentException("Unsupported type");
+
+        // 2️⃣ log
+        Core.add(floatMat, Scalar.all(1e-6), floatMat);
+        Core.log(floatMat, floatMat);
+
+        // 3️⃣ 百分位裁剪（稳定）
+        Mat flat = floatMat.reshape(1,1);
+        Mat sorted = flat.clone();
+        Core.sort(sorted, sorted, Core.SORT_ASCENDING);
+
+        int total = sorted.cols();
+        double low = sorted.get(0, (int)(total * 0.01))[0];
+        double high = sorted.get(0, (int)(total * 0.995))[0];
+
+        Core.min(floatMat, new Scalar(high), floatMat);
+        Core.max(floatMat, new Scalar(low), floatMat);
+
+        Core.subtract(floatMat, new Scalar(low), floatMat);
+        Core.divide(floatMat, new Scalar(high - low), floatMat);
+
+        // 4️⃣ 转 8bit
+        Mat img8 = new Mat();
+        floatMat.convertTo(img8, CvType.CV_8U, 255.0);
+
+        // 5️⃣ 去 speckle
+        Imgproc.medianBlur(img8, img8, 3);
+
+        // 6️⃣ 动态 tile 计算（关键）
+        int targetTileSize = 512; // 每块目标大小
+        int tilesX = Math.max(1, src.cols() / targetTileSize);
+        int tilesY = Math.max(1, src.rows() / targetTileSize);
+
+        CLAHE clahe = Imgproc.createCLAHE();
+
+        // 自适应 clip
+        MatOfDouble mean = new MatOfDouble();
+        MatOfDouble std = new MatOfDouble();
+        Core.meanStdDev(img8, mean, std);
+
+        double s = std.get(0,0)[0];
+        double clip;
+
+        if (s < 20)
+            clip = 3.0;
+        else if (s < 40)
+            clip = 2.5;
+        else
+            clip = 2.0;
+
+        clahe.setClipLimit(clip);
+        clahe.setTilesGridSize(new Size(tilesX, tilesY));
+
+        Mat claheOut = new Mat();
+        clahe.apply(img8, claheOut);
+
+        // 7️⃣ 轻锐化（减弱避免放大缝）
+        Mat blur = new Mat();
+        Imgproc.GaussianBlur(claheOut, blur, new Size(0,0), 1.0);
+
+        Mat sharpened = new Mat();
+        Core.addWeighted(claheOut, 1.1, blur, -0.1, 0, sharpened);
+
+        return sharpened;
+    }
+
+    public static Mat enhanceSarIndustrialNoClahe(Mat src) {
+
+        if (src.channels() != 1)
+            throw new IllegalArgumentException("Only single channel supported");
+
+        Mat floatMat = new Mat();
+
+        // 1️⃣ 转 float
+        if (src.type() == CvType.CV_16U)
+            src.convertTo(floatMat, CvType.CV_32F, 1.0 / 65535.0);
+        else if (src.type() == CvType.CV_8U)
+            src.convertTo(floatMat, CvType.CV_32F, 1.0 / 255.0);
+        else
+            throw new IllegalArgumentException("Unsupported type");
+
+        // 2️⃣ log 压缩
+        Core.add(floatMat, Scalar.all(1e-6), floatMat);
+        Core.log(floatMat, floatMat);
+
+        // 3️⃣ 百分位裁剪
+        Mat flat = floatMat.reshape(1,1);
+        Mat sorted = flat.clone();
+        Core.sort(sorted, sorted, Core.SORT_ASCENDING);
+
+        int total = sorted.cols();
+        double low = sorted.get(0, (int)(total * 0.01))[0];
+        double high = sorted.get(0, (int)(total * 0.995))[0];
+
+        Core.min(floatMat, new Scalar(high), floatMat);
+        Core.max(floatMat, new Scalar(low), floatMat);
+
+        Core.subtract(floatMat, new Scalar(low), floatMat);
+        Core.divide(floatMat, new Scalar(high - low), floatMat);
+
+        // ==============================
+        // 4️⃣ 局部自适应对比增强（替代 CLAHE）
+        // ==============================
+
+        Mat localMean = new Mat();
+        double sigma = src.cols() / 30.0;
+        Imgproc.GaussianBlur(floatMat, localMean, new Size(0,0), sigma);
+
+        Mat localContrast = new Mat();
+        Core.divide(floatMat, localMean, localContrast);
+
+        // 压缩避免过增强
+        Core.min(localContrast, new Scalar(3.0), localContrast);
+        Core.max(localContrast, new Scalar(0.3), localContrast);
+
+        // 再归一
+        Core.normalize(localContrast, localContrast, 0, 1, Core.NORM_MINMAX);
+
+        // ==============================
+        // 5️⃣ 软 gamma 提升
+        // ==============================
+
+        Core.pow(localContrast, 0.8, localContrast);
+
+        // ==============================
+        // 6️⃣ 转 8bit
+        // ==============================
+
+        Mat img8 = new Mat();
+        localContrast.convertTo(img8, CvType.CV_8U, 255.0);
+
+        // ==============================
+        // 7️⃣ 轻 speckle 抑制
+        // ==============================
+
+        Imgproc.medianBlur(img8, img8, 3);
+
+        // ==============================
+        // 8️⃣ 轻锐化
+        // ==============================
+
+        Mat blur = new Mat();
+        Imgproc.GaussianBlur(img8, blur, new Size(0,0), 1.0);
+
+        Mat sharpened = new Mat();
+        Core.addWeighted(img8, 1.15, blur, -0.15, 0, sharpened);
+
+        return sharpened;
+    }
+
+    static public double computePercentile(Mat mat, double percentile) {
+
+        if (mat.empty())
+            return 0;
+
+        Mat flat = mat.reshape(1, 1);  // 拉平成1行
+        Mat sorted = new Mat();
+
+        Core.sort(flat, sorted, Core.SORT_ASCENDING);
+
+        int total = sorted.cols();
+        int index = (int)(percentile * total);
+
+        index = Math.min(Math.max(index, 0), total - 1);
+
+        double[] value = sorted.get(0, index);
+
+        return value != null ? value[0] : 0;
+    }
 }

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

@@ -61,7 +61,7 @@ mybatis-plus:
       table-underline: true
   configuration:
     # 这个配置会将执行的sql打印出来，在开发或测试的时候可以用
-    #log-impl: org.apache.ibatis.logging.stdout.StdOutImpl
+    # log-impl: org.apache.ibatis.logging.stdout.StdOutImpl
     call-setters-on-nulls: true
 # Jasypt 配置
 jasypt:
@@ -76,7 +76,9 @@ skyeye:
   sar:
     image:
       type: 1
-      max: 409600000
+      default-level: 15
+      max-level: 18
+      count: 5
     udp:
       status:
         answer-timeout: 2

backend/Skyeye-sys-dev/skyeye-service-manager/src/main/resources/db.sql

@@ -98,13 +98,15 @@ CREATE TABLE `jm_image` (
                             `right1_lat` decimal(11,8) DEFAULT NULL COMMENT '右上纬度',
                             `right2_lon` decimal(11,8) DEFAULT NULL COMMENT '右下经度',
                             `right2_lat` decimal(11,8) DEFAULT NULL COMMENT '右下纬度',
-                            `frame_no` int DEFAULT NULL COMMENT '图像帧序号',
                             `max` decimal(20,6) DEFAULT NULL COMMENT '归一化前最大值',
                             `image_time` datetime DEFAULT NULL COMMENT '图像生成时间',
                             `create_time` datetime DEFAULT NULL COMMENT '文件上传时间',
+                            `tail_level` int DEFAULT NULL COMMENT '层级',
+                            `rotate_angle` decimal(11,8) DEFAULT NULL COMMENT '旋转角度',
                             `image_no` int DEFAULT '1' COMMENT '图像编号',
-                            `start_frame_no` int DEFAULT NULL,
-                            `end_frame_no` int DEFAULT NULL,
+                            `frame_from` int DEFAULT NULL COMMENT '起始帧',
+                            `frame_to` int DEFAULT NULL COMMENT '结束帧',
+                            `brightness` int DEFAULT NULL COMMENT '亮度',
                             PRIMARY KEY (`id`)
 ) ENGINE=InnoDB AUTO_INCREMENT=10542 DEFAULT CHARSET=utf8mb4 COLLATE=utf8mb4_unicode_ci COMMENT='sar图像';
 

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

@@ -3,33 +3,41 @@
 
 <mapper namespace="com.zhangy.skyeye.jm.mapper.JmImageMapper">
     <sql id="selectSql">
-        select
-            m.id,
-            m.name,
-            m.job_id, j.name as job_name,
-            m.uav_id,
-            m.payload_id,
-            m.airline_id,
-            m.file_id,
-            m.image_no,
-            m.max,
-            m.left1_lon,
-            m.left1_lat,
-            m.left2_lon,
-            m.left2_lat,
-            m.right1_lon,
-            m.right1_lat,
-            m.right2_lon,
-            m.right2_lat,
-            m.image_time,
-            m.create_time,
-            f.name as file_name,
-            f.type as file_type,
-            f.path as file_path,
-            f.relative_path as relative_path
+        select m.id,
+               m.name,
+               m.image_no,
+               m.frame_from,
+               m.frame_to,
+               m.job_id,
+               j.name          as job_name,
+               m.uav_id,
+               m.payload_id,
+               m.airline_id,
+               m.file_id,
+               m.max,
+               m.left1_lon,
+               m.left1_lat,
+               m.left2_lon,
+               m.left2_lat,
+               m.right1_lon,
+               m.right1_lat,
+               m.right2_lon,
+               m.right2_lat,
+               m.image_time,
+               m.create_time,
+               m.tail_level,
+               m.rotate_angle,
+               m.brightness,
+               f.name          as file_name,
+               f.type          as file_type,
+               f.path          as file_path,
+               f.relative_path as relative_path,
+               j.id            as job_conf_id,
+               j.name          as job_name
         from jm_image m
-             left join sys_file f on f.id = m.file_id
-             left join jm_job j on j.id = m.job_id
+                 left join sys_file f on f.id = m.file_id
+                 left join jm_job_exec je on je.id = m.job_id
+                 left join jm_job j on j.id = je.conf_id
     </sql>
 
     <select id="selectPage" resultType="com.zhangy.skyeye.jm.entity.JmImage">
@@ -47,11 +55,13 @@
         <if test="name != null and name != ''">
             and f.name like concat('%', #{name}, '%')
         </if>
+        order by j.create_time desc, m.create_time
     </select>
 
     <select id="selectByJob" resultType="com.zhangy.skyeye.jm.entity.JmImage">
         <include refid="selectSql"/>
-        where m.job_id in
+        where
+        m.job_id in
         <foreach item="item" collection="array" open="(" separator="," close=")">
             #{item}
         </foreach>
@@ -64,7 +74,7 @@
         <include refid="selectSql"/>
         where m.job_id = #{jobId}
         <if test="array != null and array.length > 0">
-         and m.uav_id in
+            and m.uav_id in
             <foreach item="item" collection="array" open="(" separator="," close=")">
                 #{item}
             </foreach>
@@ -86,6 +96,19 @@
         order by m.image_no
     </select>
 
+    <select id="selectLastByAirline" resultType="com.zhangy.skyeye.jm.entity.JmImage">
+        <include refid="selectSql"/>
+        where m.airline_id in
+        <foreach item="item" collection="array" open="(" separator="," close=")">
+            #{item}
+        </foreach>
+        <if test="type != null">
+            and f.type = #{type}
+        </if>
+        order by m.image_no desc
+        limit 0,1
+    </select>
+
     <select id="selectById" resultType="com.zhangy.skyeye.jm.entity.JmImage">
         <include refid="selectSql"/>
         where m.id in
@@ -98,7 +121,7 @@
         <include refid="selectSql"/>
         where f.type = #{type}
         <if test="array != null and array.length > 0">
-         and f.name in
+            and f.name in
             <foreach item="item" collection="array" open="(" separator="," close=")">
                 #{item}
             </foreach>
@@ -110,28 +133,33 @@
 
     <insert id="insert" useGeneratedKeys="true" keyProperty="id" keyColumn="id">
         insert into jm_image(
-            id,
-            name,
-            job_id,
-            uav_id,
-            payload_id,
-            airline_id,
-            file_id,
-            image_no,
-            max,
-            left1_lon,
-            left1_lat,
-            left2_lon,
-            left2_lat,
-            right1_lon,
-            right1_lat,
-            right2_lon,
-            right2_lat,
-            image_time,
-            create_time
+        id,
+        name,
+        job_id,
+        uav_id,
+        payload_id,
+        airline_id,
+        file_id,
+        rotate_angle,
+        max,
+        left1_lon,
+        left1_lat,
+        left2_lon,
+        left2_lat,
+        right1_lon,
+        right1_lat,
+        right2_lon,
+        right2_lat,
+        tail_level,
+        image_time,
+        create_time,
+        image_no,
+        frame_from,
+        frame_to,
+        brightness
         ) values
-		<foreach item="item" index="index" collection="array" separator=",">
-        (
+        <foreach item="item" index="index" collection="array" separator=",">
+            (
             #{item.id},
             #{item.name},
             #{item.jobId},
@@ -139,7 +167,7 @@
             #{item.payloadId},
             #{item.airlineId},
             #{item.fileId},
-            #{item.imageNo},
+            #{item.rotateAngle},
             #{item.max},
             #{item.left1Lon},
             #{item.left1Lat},
@@ -149,9 +177,14 @@
             #{item.right1Lat},
             #{item.right2Lon},
             #{item.right2Lat},
+            #{item.tailLevel},
             #{item.imageTime},
-            #{item.createTime}
-        )
+            #{item.createTime},
+            #{item.imageNo},
+            #{item.frameFrom},
+            #{item.frameTo},
+            #{item.brightness}
+            )
         </foreach>
     </insert>
 
@@ -165,6 +198,7 @@
             <if test="airlineId != null">airline_id = #{airlineId},</if>
             <if test="fileId != null">file_id = #{fileId},</if>
             <if test="max != null">max = #{max},</if>
+            <if test="rotateAngle != null">rotate_angle = #{rotateAngle},</if>
             <if test="left1Lon != null">left1_lon = #{left1Lon},</if>
             <if test="left1Lat != null">left1_lat = #{left1Lat},</if>
             <if test="left2Lon != null">left2_lon = #{left2Lon},</if>
@@ -175,6 +209,11 @@
             <if test="right2Lat != null">right2_lat = #{right2Lat},</if>
             <if test="imageTime != null">image_time = #{imageTime},</if>
             <if test="createTime != null">create_time = #{createTime},</if>
+            <if test="tailLevel != null">tail_level = #{tailLevel},</if>
+            <if test="imageNo != null">image_no = #{imageNo},</if>
+            <if test="frameFrom != null">frame_from = #{frameFrom},</if>
+            <if test="frameTo != null">frame_to = #{frameTo},</if>
+            <if test="brightness != null">brightness = #{brightness},</if>
         </trim>
         where id = #{id}
     </update>
@@ -189,6 +228,7 @@
             airline_id = #{airlineId},
             file_id = #{fileId},
             max = #{max},
+            rotate_angle = #{rotateAngle},
             left1_lon = #{left1Lon},
             left1_lat = #{left1Lat},
             left2_lon = #{left2Lon},
@@ -199,10 +239,12 @@
             right2_lat = #{right2Lat},
             image_time = #{imageTime},
             create_time = #{createTime},
+            tail_level = #{tailLevel},
+            brightness = #{brightness},
         </trim>
         where id = #{id}
     </update>
-    
+
     <delete id="delete">
         delete from jm_image where id in
         <foreach item="item" collection="array" open="(" separator="," close=")">
@@ -222,7 +264,7 @@
         from jm_image img
         where img.job_id = #{jobId}
         <if test="array != null and array.length > 0">
-          and img.uav_id in
+            and img.uav_id in
             <foreach item="item" collection="array" open="(" separator="," close=")">
                 #{item}
             </foreach>

frontend/Skyeye-sys-ui/public/config.js

@@ -1,9 +1,9 @@
 window.config = {
   env: 'offline', //online
   //api: 'http://127.0.0.1:9116/', // 外网服务器,
-  api: 'http://182.92.203.107:9116',
-  socket: 'http://182.92.203.107:9116', //外网服务器,
-  imagePath: 'http://182.92.203.107:8080/files',
+  api: 'http://127.0.0.1:9116',
+  socket: 'http://127.0.0.1:9116', //外网服务器,
+  imagePath: 'http://127.0.0.1:8080/files',
   arithmeticPath: 'http://127.0.0.1:18090/ktkx/UavPlanning/SAR',
   tokenKey: 'accessToken',
   refreshTokenKey: 'refreshToken',