package com.ard.route.util;
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import com.ard.oss.service.impl.OssServiceContext;
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import com.ard.route.domain.djuav.ActionGroupReq;
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import com.ard.route.domain.djuav.PointActionReq;
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import com.ard.route.domain.djuav.RoutePointReq;
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import com.ard.route.domain.djuav.UavRouteReq;
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import com.ard.route.domain.djuav.kml.*;
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import com.ard.route.domain.vo.KmzInfoVo;
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import org.apache.commons.compress.archivers.ArchiveEntry;
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import org.apache.commons.compress.archivers.ArchiveInputStream;
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import org.apache.commons.compress.archivers.zip.ZipArchiveInputStream;
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import org.springframework.web.multipart.MultipartFile;
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import javax.annotation.Resource;
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import java.io.InputStream;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.Objects;
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import static com.ard.route.util.ToolUtils.getDoublePoint;
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public class UavRouteReqUtils {
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// 将文件转换成 UavRouteReq 实体
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public static UavRouteReq fileConversionEntity(MultipartFile file){
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KmzInfoVo kmzInfoVO = new KmzInfoVo();
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try (InputStream inputStream = file.getInputStream();
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ArchiveInputStream archiveInputStream = new ZipArchiveInputStream(inputStream)){
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ArchiveEntry entry;
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while (!Objects.isNull(entry = archiveInputStream.getNextEntry())) {
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String name = entry.getName();
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if (name.toLowerCase().endsWith(".kml")) {
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kmzInfoVO.setKmlInfo(RouteFileUtils.parseKml(archiveInputStream));
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} else if (name.toLowerCase().endsWith(".wpml")) {
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kmzInfoVO.setWpmlInfo(RouteFileUtils.parseKml(archiveInputStream));
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}
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}
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return kmzInfoVoToUavRouteReq(kmzInfoVO);
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}catch (Exception e) {
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e.printStackTrace();
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}
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return null;
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}
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public static UavRouteReq kmzInfoVoToUavRouteReq(KmzInfoVo vo) {
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UavRouteReq uavRouteReq = new UavRouteReq();
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if (vo.getKmlInfo().getDocument().getFolder().getTemplateType() != null){
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uavRouteReq.setTemplateType(vo.getKmlInfo().getDocument().getFolder().getTemplateType());
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}
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uavRouteReq.setDroneType(Integer.valueOf(vo.getKmlInfo().getDocument().getKmlMissionConfig().getDroneInfo().getDroneEnumValue()));
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uavRouteReq.setImageFormat(vo.getKmlInfo().getDocument().getFolder().getPayloadParam().getImageFormat());
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uavRouteReq.setGlobalHeight(Double.valueOf(vo.getKmlInfo().getDocument().getFolder().getGlobalHeight()));
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uavRouteReq.setAutoFlightSpeed(Double.valueOf(vo.getKmlInfo().getDocument().getFolder().getAutoFlightSpeed()));
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uavRouteReq.setTakeOffRefPoint(vo.getKmlInfo().getDocument().getKmlMissionConfig().getTakeOffRefPoint());
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uavRouteReq.setRoutePointList(routePointList(vo.getKmlInfo().getDocument().getFolder().getPlacemarkList()));
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return uavRouteReq;
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}
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public static List<RoutePointReq> routePointList(List<KmlPlacemark> placemarkList) {
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List<RoutePointReq> routePointList = new ArrayList<>();
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for (KmlPlacemark kmlPlacemark : placemarkList) {
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RoutePointReq routePointReq = new RoutePointReq();
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routePointReq.setRoutePointIndex(Integer.valueOf(kmlPlacemark.getIndex()));
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routePointReq.setLongitude(getDoublePoint(kmlPlacemark.getKmlPoint().getCoordinates(),"lon"));
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routePointReq.setLatitude(getDoublePoint(kmlPlacemark.getKmlPoint().getCoordinates(),"lat"));
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routePointReq.setHeight(Double.valueOf(kmlPlacemark.getHeight()));
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if (kmlPlacemark.getWaypointSpeed() != null) {
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routePointReq.setSpeed(Double.valueOf(kmlPlacemark.getWaypointSpeed()));
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}
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if (kmlPlacemark.getActionGroup() != null) {
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routePointReq.setActionGroupList(actionGroupList(kmlPlacemark.getActionGroup()));
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}
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routePointList.add(routePointReq);
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}
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return routePointList;
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}
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public static List<ActionGroupReq> actionGroupList(List<KmlActionGroup> actionGroup) {
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List<ActionGroupReq> actionGroupList = new ArrayList<>();
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for (KmlActionGroup kmlActionGroup : actionGroup) {
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ActionGroupReq actionGroupReq = new ActionGroupReq();
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List<PointActionReq> actions = new ArrayList<>();
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//for (KmlAction kmlAction : kmlActionGroup.getAction()) {
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for (int i=0 ; i < kmlActionGroup.getAction().size() ; i++) {
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PointActionReq pointActionReq = actions(kmlActionGroup.getAction().get(i),i);
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actions.add(pointActionReq);
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}
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actionGroupReq.setActions(actions);
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actionGroupList.add(actionGroupReq);
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}
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return actionGroupList;
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}
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public static PointActionReq actions(KmlAction kmlAction,Integer actionIndex){
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PointActionReq pointActionReq = new PointActionReq();
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pointActionReq.setActionIndex(actionIndex);
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if ("takePhoto".equals(kmlAction.getActionActuatorFunc())) { // 照相
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pointActionReq.setTakePhotoType(0);
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pointActionReq.setFileSuffix(kmlAction.getActionActuatorFuncParam().getFileSuffix());
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pointActionReq.setImageFormat("");
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pointActionReq.setUseGlobalImageFormat(Integer.valueOf(kmlAction.getActionActuatorFuncParam().getUseGlobalPayloadLensIndex()));
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}
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if ("startRecord".equals(kmlAction.getActionActuatorFunc())) { // 开始录像
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pointActionReq.setPanoShotSubMode(kmlAction.getActionActuatorFuncParam().getFileSuffix());
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pointActionReq.setStartRecord(true);
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}
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if ("stopRecord".equals(kmlAction.getActionActuatorFunc())) { // 停止录像
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pointActionReq.setStopRecord(true);
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}
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if ("gimbalRotate".equals(kmlAction.getActionActuatorFunc())) { // 云台偏航俯仰
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if ("1".equals(kmlAction.getActionActuatorFuncParam().getGimbalPitchRotateEnable())) { // 云台俯仰角
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pointActionReq.setGimbalPitchRotateAngle(Double.valueOf(kmlAction.getActionActuatorFuncParam().getGimbalPitchRotateAngle()));
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}
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if ("1".equals(kmlAction.getActionActuatorFuncParam().getGimbalYawRotateEnable())){ // 云台偏航角
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pointActionReq.setGimbalYawRotateAngle(Double.valueOf(kmlAction.getActionActuatorFuncParam().getGimbalYawRotateAngle()));
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}
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}
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if ("zoom".equals(kmlAction.getActionActuatorFunc())) { // 变焦
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pointActionReq.setZoom(Double.valueOf(kmlAction.getActionActuatorFuncParam().getFocalLength()));
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}
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if ("hover".equals(kmlAction.getActionActuatorFunc())) { // 悬停
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pointActionReq.setHoverTime(Integer.valueOf(kmlAction.getActionActuatorFuncParam().getHoverTime()));
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}
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if ("rotateYaw".equals(kmlAction.getActionActuatorFunc())) { // 飞行器偏航
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pointActionReq.setAircraftHeading(Double.valueOf(kmlAction.getActionActuatorFuncParam().getAircraftHeading()));
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}
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return pointActionReq;
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}
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}
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