<template>
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<div>
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<el-dialog
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title="新建项目"
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:visible="dialogVisible"
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append-to-body
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fullscreen
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:before-close="handleClose">
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<el-row :gutter="6">
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<el-col :span=6>
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<el-card class="noScroll">
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<div class="chooseModel">
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<div class="fontJust">设备列表</div>
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<el-button @click="addDevice"> 新增</el-button>
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<el-button @click="lineSet"> 航线设置</el-button>
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<el-table
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:data="tableData"
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max-height = '180'
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:row-key="getRowKeys"
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style="width: 100%">
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<el-table-column
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prop="deviceName"
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label="设备名称"
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width="150">
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</el-table-column>
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<el-table-column
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prop="mode"
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label="模板"
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width="120">
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</el-table-column>
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<el-table-column
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fixed="right"
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label="操作"
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width="130">
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<template slot-scope="scope">
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<el-button type="text" size="small" @click="chooseModel(scope.row)">模板</el-button>
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<el-button type="text" size="small" @click="flyToLocal(scope.row)">定位</el-button>
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<el-button type="text" size="small" @click="deleteData(scope.row)">移除</el-button>
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</template>
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</el-table-column>
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</el-table>
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</div>
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</el-card>
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<el-card >
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<div class="chooseModelTree">
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<!-- <el-button type="primary" @click='chooseModel'>添加设备</el-button> -->
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<div class="fontJust">巡检点目录</div>
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<el-tree
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class="filter-tree"
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node-key="id"
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:data="treeData"
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:props="defaultProps"
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default-expand-all
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ref="tree">
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</el-tree>
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</div>
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</el-card>
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</el-col>
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<el-col :span=18>
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<CesiumMap ></CesiumMap>
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</el-col>
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</el-row>
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<span slot="footer" class="dialog-footer">
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<el-button @click="handleClose">取 消</el-button>
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<el-button type="primary" @click="submit()" >生成航线任务</el-button>
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</span>
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</el-dialog>
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<chooseDeviceDialog v-if="showDevice" @cancel ='cancel' @dealChooseArr="dealChooseArr" ></chooseDeviceDialog>
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<chooseModelDialog v-if="showModel" @cancelModel ='cancelModel' @receiveModel="receiveModel" :deviceId="deviceId"></chooseModelDialog>
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<el-drawer
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title="航线设置"
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:visible.sync="drawer"
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direction="rtl">
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<el-form :model="ruleForm" :rules="rules" ref="ruleForm" label-width="100px" class="demo-ruleForm">
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<el-form-item label="起飞爬升" prop="region">
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<el-select v-model="ruleForm.region" placeholder="请选择起飞爬升">
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<el-option label="垂直" value="垂直"></el-option>
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<el-option label="倾斜" value="倾斜"></el-option>
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</el-select>
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</el-form-item>
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<el-form-item label="全局航线速度" prop="region">
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<div class="speed-control">
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<el-input-number
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v-model="ruleForm.speed"
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:min="0"
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:max="50"
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:step="1"
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controls-position="both"
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@change="handleChange"
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/>
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<span class="unit">m/s</span>
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</div>
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</el-form-item>
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<el-form-item label="起飞速度" prop="fly">
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<div class="speed-control">
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<el-input-number
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v-model="ruleForm.flySpeed"
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:min="0"
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:max="50"
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:step="1"
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controls-position="both"
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@change="handleChange"
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/>
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<span class="unit">m/s</span>
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</div>
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</el-form-item>
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<el-form-item label="航点类型" prop="region1">
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<el-select v-model="ruleForm.region1" placeholder="请选择航点类型">
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<el-option label="协调转弯，不过点，提前转弯" value="协调转弯，不过点，提前转弯"></el-option>
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<el-option label="直线飞行，飞行器到点停" value="直线飞行，飞行器到点停"></el-option>
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<el-option label="平滑过点，提前转弯" value="平滑过点，提前转弯"></el-option>
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</el-select>
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</el-form-item>
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<el-form-item label="飞行器偏航角模式" prop="region2">
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<el-select v-model="ruleForm.region2" placeholder="请选择飞行器偏航角模式">
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<el-option label="沿航线方向" value="沿航线方向"></el-option>
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<el-option label="手动控制" value="手动控制"></el-option>
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<el-option label="锁定当前偏航角" value="锁定当前偏航角"></el-option>
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</el-select>
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</el-form-item>
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<el-form-item label="航点间云台俯仰角控制模式" prop="region3">
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<el-select v-model="ruleForm.region3" placeholder="请选择航点间云台俯仰角控制模式">
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<el-option label="手动控制" value="手动控制"></el-option>
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<el-option label="依照每个航点设置" value="依照每个航点设置"></el-option>
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</el-select>
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</el-form-item>
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<el-form-item label="完成动作" prop="region4">
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<el-select v-model="ruleForm.region4" placeholder="请选择完成动作">
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<el-option label="自动返航" value="自动返航"></el-option>
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<el-option label="返回航线起始点悬停" value="返回航线起始点悬停"></el-option>
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<el-option label="退出航线模式" value="退出航线模式"></el-option>
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<el-option label="原地降落" value="原地降落"></el-option>
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</el-select>
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</el-form-item>
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<el-form-item>
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<el-button type="primary" @click="submitForm('ruleForm')">保存</el-button>
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<el-button @click="resetForm('ruleForm')">取消</el-button>
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</el-form-item>
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</el-form>
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</el-drawer>
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</div>
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</template>
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<script>
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import CesiumMap from "../../../../utils/components/cesium-map.vue";
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import chooseDeviceDialog from './chooseDeviceDialog.vue';
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import chooseModelDialog from './chooseModelDialog.vue';
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import { obtainRealData ,buildKmz} from "@/api/system/template"
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let rotationAngle = Cesium.Math.toRadians(0)
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let lastConnectPolyline
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export default{
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components: {
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CesiumMap,
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chooseDeviceDialog,
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chooseModelDialog
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},
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data(){
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return{
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dialogVisible :true,
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tableData: [],
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treeData:[],
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defaultProps: {
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children: 'children',
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label: 'label'
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},
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showDevice:false,
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multipleSelection: [],
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showModel:false,
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deviceId:null,
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drawer:false,
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ruleForm:{
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speed:14,
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flySpeed:15
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},
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}
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},
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methods:{
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handleClose(){
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this.dialogVisible = false
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this.$emit('close')
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},
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flyToLocal(row){
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const position = Cesium.Cartesian3.fromDegrees(row.longitude,row.latitude, row.deviceHeight);
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// rotationAngle = Cesium.Math.toRadians(row.face) || Cesium.Math.toRadians(0)
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rotationAngle = Cesium.Math.toRadians(row.face) || Cesium.Math.toRadians(0)
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// 设置模型方向（可选）
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const heading = Cesium.Math.toRadians(row.face); // 朝东南方向
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const pitch = 0;
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const roll = 0;
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const orientation = Cesium.Transforms.headingPitchRollQuaternion(
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position,
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new Cesium.HeadingPitchRoll(heading, pitch, roll)
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);
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// 加载 glTF 模型
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const entity = viewer.entities.add({
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name: row.id,
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position: position,
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orientation: orientation,
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model: {
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uri: row?.ardTowerModel.modelRoute, // 替换成你的模型路径
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scale: 1,
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},
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label: {
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show: true,
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verticalOrigin: Cesium.VerticalOrigin.BOTTOM,
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horizontalOrigin: Cesium.HorizontalOrigin.CENTER,
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font: '28px Helvetica',
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outlineColor: Cesium.Color.BLUE,
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outlineWidth: 3,
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fillColor: Cesium.Color.fromCssColorString('#FFFFFF'), //44c3cc
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text: row.deviceName,
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style: Cesium.LabelStyle.FILL_AND_OUTLINE,
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pixelOffset: new Cesium.Cartesian2(0.0, -56.0),
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scaleByDistance: new Cesium.NearFarScalar(1000, 0.6, 10000, 0.4),
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pixelOffsetScaleByDistance: new Cesium.NearFarScalar(1000, 0.4, 10000, 0.4),
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disableDepthTestDistance: 100000000
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}
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});
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console.log(entity)
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// 飞行到模型位置
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console.log(this.treeData)
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viewer.flyTo(entity)
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},
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addDevice(){
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this.showDevice = true
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},
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cancel(){
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this.showDevice = false
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},
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hasSameId(array1, array2) {
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const ids1 = new Set(array1.map(item => item.id));
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const ids2 = new Set(array2.map(item => item.id));
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return ids1.size !== [...ids1].filter(id => ids2.has(id)).length;
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},
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dealChooseArr(arr){
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if(this.tableData?.length == 0 ){
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this.tableData = arr
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}else {
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const hasSameId = arr.filter(obj1 =>
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this.tableData.some(obj2 => obj1.id === obj2.id)
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);
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if(hasSameId?.length != 0){
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return this.$message({
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message: '选择设备数据和已有数据重复',
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type: 'warning'
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})
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}
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this.tableData = this.treeData.concat(arr)
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}
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const dealTreeData =this.dealTee()
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this.treeData = dealTreeData
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},
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dealTee(){
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console.log(this.tableData)
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return this.tableData.map(item => ({
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...item,
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label: item.deviceName,
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}));
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},
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deleteData(row){
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console.log(row)
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// 找到 id 为 "1" 的元素索引
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const index = this.tableData.findIndex(item => item.id === row.id);
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// 如果找到了，删除该元素
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if (index !== -1) {
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this.tableData.splice(index, 1);
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}
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const indexTree = this.treeData.findIndex(item => item.id === row.id);
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// 如果找到了，删除该元素
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if (index !== -1) {
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this.treeData.splice(indexTree, 1);
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}
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if(this.treeData?.length >=2 && this.treeData[0]?.children?.length > 0 && this.treeData[1]?.children?.length > 0 ) {
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this.dealAddHeight()
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} else if(this.treeData?.length ==1) {
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this.treeData.map((device,index) => {
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// 确保设备有children数组
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if(index == 0) {
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//第一个数据
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if (device.children && Array.isArray(device.children) && device.children.length > 0) {
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// 获取最后一个空中点
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const lastChild = device.children[device.children.length - 1];
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const firstChild = device.children[0];
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// 深拷贝最后一个元素（包括嵌套的children）
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const newChildJson = JSON.parse(JSON.stringify(lastChild));
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// 深拷贝最一一个元素（包括嵌套的children）
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const firstChildJson = JSON.parse(JSON.stringify(firstChild));
|
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if(newChildJson && newChildJson.label.includes('加高')){
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device.children?.pop(newChild);
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}else if(firstChildJson && firstChildJson.label.includes('加高')) {
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device.children?.shift(firstChildJson);
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}
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// 添加到children数组末尾
|
}
|
}
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})
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}
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const entitiesToRemove = [];
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viewer.entities.values.forEach(entity => {
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if (entity.id && entity.id.includes(row.id)) {
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entitiesToRemove.push(entity.id);
|
}
|
});
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entitiesToRemove.forEach(id => {
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viewer.entities.removeById(id);
|
});
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this.drawConnectionsWithLabels(this.treeData)
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// console.log(this.tableData)
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console.log(this.treeData)
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// const dealTreeData = this.dealTee()
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// console.log(dealTreeData)
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// this.treeData = dealTreeData
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// this.drawConnectionsWithLabels(this.treeData)
|
},
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chooseModel(row){
|
this.deviceId = row.id
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this.showModel = true
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},
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cancelModel(){
|
this.showModel = false
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},
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receiveModel(obj){
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//deal逻辑
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let flightTemplateId =obj.modelObj.id
|
let deviceId = obj.deviceId
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this.dealTableTemplate(obj)
|
// let
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obtainRealData(flightTemplateId,deviceId).then(res=>{
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console.log(res)
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let treeDealData = this.transformFlightData(res.data?.coordinateSystemVoS || [])
|
console.log(treeDealData)
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this.dealTreeMerge(obj,treeDealData)
|
|
this.rotateAllPoints(this.treeData || [],res.data.longitude,res.data.latitude,res.data.height)
|
console.log(this.treeData)
|
if(this.treeData?.length >=2 && this.treeData[0]?.children?.length > 0 && this.treeData[1]?.children?.length > 0 ) {
|
this.dealAddHeight()
|
}
|
console.log(this.treeData)
|
this.drawConnectionsWithLabels(this.treeData)
|
})
|
// this.dealTreeMerge(obj)
|
},
|
dealAddHeight(){
|
let currentLength = this.treeData.filter(item=>item.children)?.length || 0
|
console.log(this.treeData)
|
console.log(currentLength)
|
this.treeData.map((device,index) => {
|
// 确保设备有children数组
|
if(index == 0) {
|
//第一个数据
|
if (device.children && Array.isArray(device.children) && device.children.length > 0) {
|
// 获取最后一个空中点
|
const lastChild = device.children[device.children.length - 1];
|
// 深拷贝最后一个元素（包括嵌套的children）
|
const newChild = JSON.parse(JSON.stringify(lastChild));
|
if(newChild.label.includes('加高')) {
|
|
}else {
|
newChild.label = newChild.label + '-加高'
|
// 高度增加20
|
// newChild.height += 20;
|
//塔高 - 高度 + 往上飞多少米
|
newChild.height += (device.ardTowerModel?.modelHeight - newChild.height + 20) ;
|
console.log('push11111111111111')
|
// 添加到children数组末尾
|
device.children.push(newChild);
|
}
|
}
|
}
|
else if(index == currentLength -1) {
|
if (device.children && Array.isArray(device.children) && device.children.length > 0) {
|
// 获取最后一个空中点
|
const lastChild = device.children[0];
|
// 深拷贝最一一个元素（包括嵌套的children）
|
const newChild = JSON.parse(JSON.stringify(lastChild));
|
if(newChild.label.includes('加高')) {
|
}else {
|
newChild.label = newChild.label + '-加高第一个点'
|
newChild.height += (device.ardTowerModel?.modelHeight - newChild.height + 20) ;
|
// 添加到children数组末尾
|
device.children.unshift(newChild);
|
}
|
|
}
|
} else {
|
if (device.children && Array.isArray(device.children) && device.children.length > 0) {
|
// 获取最后一个空中点
|
const firstChild = device.children[0];
|
const lastChild = device.children[device.children.length - 1];
|
// 深拷贝最一一个元素（包括嵌套的children）
|
const newFirstChild = JSON.parse(JSON.stringify(firstChild));
|
const newLastChildChild = JSON.parse(JSON.stringify(lastChild));
|
//高度增加20
|
if(newFirstChild.label.includes('加高')) {
|
}else {
|
newFirstChild.label = newFirstChild.label + '-加高'
|
newFirstChild.height += (device.ardTowerModel?.modelHeight - newFirstChild.height + 20) ;
|
device.children.unshift(firstChild);
|
}
|
if(newLastChildChild.label.includes('加高')) {
|
}else {
|
newLastChildChild.label = newLastChildChild.label + '-加高'
|
newLastChildChild.height += (device.ardTowerModel?.modelHeight - newLastChildChild.height + 20) ;
|
device.children.push(newLastChildChild);
|
}
|
}
|
}
|
})
|
},
|
//返回数据转换树结构
|
transformFlightData(data) {
|
console.log(data)
|
const result = [];
|
|
data.forEach(item => {
|
// 找到第一个 groundPoint，作为代表
|
const groundPoint = item.groundPointVo?.[0];
|
|
// 生成 children 节点
|
const children = groundPoint ? [{
|
id: groundPoint.id,
|
label: groundPoint.targetName,
|
longitude: groundPoint.longitude,
|
latitude: groundPoint.latitude,
|
height: groundPoint.height
|
}] : [];
|
|
// 生成空中点
|
result.push({
|
id: item.id,
|
label: item.targetName,
|
longitude: item.longitude,
|
latitude: item.latitude,
|
height: item.altitude,
|
children
|
});
|
});
|
|
return result;
|
},
|
dealTableTemplate(obj){
|
const targetTableData = this.tableData.find(item => item.id === obj.deviceId)
|
const targetTreeData = this.treeData.find(item => item.id === obj.deviceId)
|
if (targetTableData) {
|
this.$set(targetTableData, 'mode', obj.modelObj.templateName) // ✅ Vue2 需要使用 $set 以确保响应式
|
}
|
if (targetTreeData) {
|
this.$set(targetTreeData, 'mode', obj.modelObj.templateName) // ✅ Vue2 需要使用 $set 以确保响应式
|
}
|
},
|
dealTreeMerge(obj,data){
|
this.treeData.forEach(item => {
|
if(item.id == obj.deviceId) {
|
// 替换第一层每个节点的 children
|
this.$set(item, 'children', JSON.parse(JSON.stringify(data)));
|
}
|
});
|
},
|
generateId() {
|
return 'id_' + Math.random().toString(36).substring(2, 10);
|
},
|
drawConnectionsWithLabels(devices) {
|
if(lastConnectPolyline) {
|
viewer.entities.remove(lastConnectPolyline)
|
lastConnectPolyline = null
|
}
|
// 直接操作EntityCollection（推荐）
|
const entitiesToRemove = [];
|
viewer.entities.values.forEach(entity => {
|
if (entity.id && entity.id.includes(this.deviceId)) {
|
entitiesToRemove.push(entity.id);
|
}
|
});
|
|
entitiesToRemove.forEach(id => {
|
viewer.entities.removeById(id);
|
});
|
const airPoints = [];
|
console.log(devices)
|
devices.forEach(device => {
|
if (!Array.isArray(device.children)) return;
|
device.children.forEach(airPoint => {
|
// 空中点位置
|
const airPos = Cesium.Cartesian3.fromDegrees(
|
airPoint.longitude,
|
airPoint.latitude,
|
airPoint.height
|
);
|
|
// ✅ 添加空中点实体和 label
|
viewer.entities.add({
|
position: airPos,
|
id:device.id +'airpoint' + this.generateId(),
|
point: {
|
pixelSize: 6,
|
color: Cesium.Color.YELLOW
|
},
|
label: {
|
text: airPoint.label || '',
|
font: '14px sans-serif',
|
fillColor: Cesium.Color.YELLOW,
|
style: Cesium.LabelStyle.FILL_AND_OUTLINE,
|
outlineColor: Cesium.Color.BLACK,
|
outlineWidth: 2,
|
verticalOrigin: Cesium.VerticalOrigin.BOTTOM,
|
pixelOffset: new Cesium.Cartesian2(0, -12)
|
}
|
});
|
|
airPoints.push(airPos);
|
|
// 遍历地面点（子项）
|
if (Array.isArray(airPoint.children)) {
|
airPoint.children.forEach(groundPoint => {
|
const groundPos = Cesium.Cartesian3.fromDegrees(
|
groundPoint.longitude,
|
groundPoint.latitude,
|
groundPoint.height
|
);
|
|
// ✅ 添加地面点实体和 label
|
viewer.entities.add({
|
id:device.id +'groundpoint' + this.generateId(),
|
position: groundPos,
|
point: {
|
pixelSize: 6,
|
color: Cesium.Color.BLUE
|
},
|
label: {
|
text: groundPoint.label || '',
|
font: '14px sans-serif',
|
fillColor: Cesium.Color.WHITE,
|
style: Cesium.LabelStyle.FILL_AND_OUTLINE,
|
outlineColor: Cesium.Color.BLACK,
|
outlineWidth: 2,
|
verticalOrigin: Cesium.VerticalOrigin.BOTTOM,
|
pixelOffset: new Cesium.Cartesian2(0, -12)
|
}
|
});
|
|
// ✅ 蓝色虚线连接：空中点 ➜ 地面点
|
viewer.entities.add({
|
id:device.id +'polyline' + this.generateId(),
|
polyline: {
|
positions: [airPos, groundPos],
|
width: 2,
|
material: new Cesium.PolylineDashMaterialProperty({
|
color: Cesium.Color.BLUE,
|
dashLength: 8
|
})
|
}
|
});
|
});
|
}
|
});
|
});
|
console.log(airPoints)
|
// ✅ 黄色实线连接所有空中点
|
if (airPoints.length > 1) {
|
lastConnectPolyline = viewer.entities.add({
|
polyline: {
|
positions: airPoints,
|
width: 3,
|
material: Cesium.Color.YELLOW
|
}
|
});
|
}
|
},
|
rotateAllPoints(dataList,towerLongitude,towerLatitude,towerhHight) {
|
return dataList.map(item => {
|
if(!item.isDeal) {
|
const towerPoint = Cesium.Cartesian3.fromDegrees(towerLongitude, towerLatitude, towerhHight);
|
const newGround = {
|
...item,
|
};
|
if(item.id == this.deviceId ){
|
item.isDeal = true
|
}
|
// 处理子空中点
|
newGround.children = item.children?.map(child => {
|
const airPoint = Cesium.Cartesian3.fromDegrees(child.longitude, child.latitude, child.height);
|
const rotatedAirPoint = this.rotateAroundPoint( airPoint,towerPoint, rotationAngle);
|
const rotatedAirCarto = Cesium.Cartographic.fromCartesian(rotatedAirPoint);
|
child.longitude = Cesium.Math.toDegrees(rotatedAirCarto.longitude)
|
child.latitude = Cesium.Math.toDegrees(rotatedAirCarto.latitude)
|
child.height = rotatedAirCarto.height
|
child.children = child.children?.map(sonChild => {
|
const groundPoint = Cesium.Cartesian3.fromDegrees(sonChild.longitude, sonChild.latitude, sonChild.height);
|
const newGroundPoint = this.rotateAroundPoint( groundPoint,towerPoint, rotationAngle);
|
const newGroundCarto = Cesium.Cartographic.fromCartesian(newGroundPoint);
|
return {
|
...sonChild,
|
longitude: Cesium.Math.toDegrees(newGroundCarto.longitude),
|
latitude: Cesium.Math.toDegrees(newGroundCarto.latitude),
|
height: newGroundCarto.height
|
};
|
});
|
});
|
console.log(newGround.children)
|
return newGround;
|
}
|
|
});
|
},
|
// 计算点A绕点B逆时针旋转指定角度后的新位置
|
// 空中点或者地面点笛卡尔坐标 塔的笛卡尔坐标 塔的朝向值
|
rotateAroundPoint(startPoint,pivotPoint,rotationAngle) {
|
console.log(rotationAngle)
|
// 创建一个从B点到本地坐标系的转换矩阵（东方向为X轴，北方向为Y轴，垂直方向为Z轴）
|
const transformationMatrix = Cesium.Transforms.eastNorthUpToFixedFrame(pivotPoint);
|
// 获取世界坐标系到本地坐标系的转换矩阵
|
const inverseTransformationMatrix = Cesium.Matrix4.inverse(transformationMatrix,new Cesium.Matrix4());
|
// 将A点转换到局部坐标系中
|
const localStartPoint = Cesium.Matrix4.multiplyByPoint(inverseTransformationMatrix, startPoint,new Cesium.Cartesian3());
|
// 计算A点在局部坐标系中逆时针旋转指定角度后的新位置
|
const rotatedX = localStartPoint.x * Math.cos(rotationAngle) + localStartPoint.y * Math.sin(rotationAngle);
|
const rotatedY = localStartPoint.y * Math.cos(rotationAngle) - localStartPoint.x * Math.sin(rotationAngle);
|
const rotatedZ = localStartPoint.z; // Z轴坐标保持不变
|
// 将旋转后的局部坐标转换回世界坐标系
|
return Cesium.Matrix4.multiplyByPoint(transformationMatrix, new Cesium.Cartesian3(rotatedX, rotatedY, rotatedZ), new Cesium.Cartesian3());
|
},
|
getRowKeys(row){
|
console.log(row)
|
return row.id +this.generateId()
|
},
|
submit(){
|
console.log(this.treeData)
|
|
const routePointList = [];
|
|
this.treeData.forEach(device => {
|
device.children.forEach((airPoint, index) => {
|
routePointList.push({
|
routePointIndex: routePointList.length,
|
longitude: airPoint.longitude,
|
latitude: airPoint.latitude,
|
height: airPoint.height,
|
isStartAndEndPoint: false,
|
coordinatePointReq: {
|
height: airPoint.children[0].height,
|
latitude:airPoint.children[0].latitude,
|
longitude: airPoint.children[0].longitude
|
}
|
});
|
});
|
});
|
|
// 标记首尾为 true
|
if (routePointList.length > 0) {
|
routePointList[0].isStartAndEndPoint = true;
|
routePointList[routePointList.length - 1].isStartAndEndPoint = true;
|
}
|
|
console.log(routePointList);
|
let params = {
|
routePointList:routePointList
|
}
|
console.log('生成航线')
|
buildKmz(params).then(res=>{
|
if(res.code == 200) {
|
this.$message({
|
message: '生成航线成功',
|
type: 'success'
|
})
|
}
|
})
|
},
|
lineSet(){
|
this.drawer =true
|
}
|
}
|
}
|
|
</script>
|
<style scoped>
|
.filter-tree{
|
height: 365px;
|
width: 100%;
|
overflow: auto;
|
}
|
.fontJust{
|
text-align: center;
|
}
|
.el-table {
|
height: 180px;
|
}
|
</style>
|
