package com.ard.route.util;
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import com.ard.route.domain.djuav.*;
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import com.ard.route.domain.sixhe.ArdRouteActions;
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import com.ard.route.domain.sixhe.ArdRouteChange;
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import com.ard.route.domain.sixhe.ArdRoutePoints;
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import com.ard.route.enums.kml.DroneEnumValueEnums;
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import com.ard.route.enums.kml.PayloadTypeEnums;
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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.enums.kml.DroneEnumValueEnums.M350_RTK;
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import static com.ard.route.util.ToolUtils.getDoublePoint;
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/**
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* 初始化数据
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* 测试数据
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*/
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public class InitializationUtils {
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// 禅思H20T 公倍数
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private static final Double CHANSI_H20T = 23.76237623;
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// 禅思H20T 焦距值
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private static final Double CHANSI_H20_FOCUS = 6.83;
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private static final String WAYPOINT_TURN_MODE_DEFAULT = "toPointAndStopWithDiscontinuityCurvature";
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/**
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* 初始化KMZ 默认数据
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*/
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public UavRouteReq initialization(UavRouteReq uavRouteReq){
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uavRouteReq.setTemplateType("waypoint");
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// 起始点默认航线第一个点
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if (uavRouteReq.getTakeOffRefPoint() == null){
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uavRouteReq.setTakeOffRefPoint(
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uavRouteReq.getRoutePointList().get(0).getLatitude() + "," +
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uavRouteReq.getRoutePointList().get(0).getLongitude() + "," +
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uavRouteReq.getRoutePointList().get(0).getHeight());
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}
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//uavRouteReq.setDroneType(89);
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// 机场1：M30/M30T 使用机身自带双光/三光相机，payloadEnumValue 分别为 52/53，
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// 不能沿用 H20T(43)。其余机型保持原有逻辑，机场2/3 的航线生成结果不变。
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if (Objects.equals(DroneEnumValueEnums.M30_M30T.getValue(), uavRouteReq.getDroneType())) {
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if (uavRouteReq.getSubDroneType() == null) {
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uavRouteReq.setSubDroneType(0);
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}
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uavRouteReq.setPayloadType(Objects.equals(1, uavRouteReq.getSubDroneType())
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? PayloadTypeEnums.M30T.getValue() : PayloadTypeEnums.M30.getValue());
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} else {
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uavRouteReq.setSubDroneType(0);
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uavRouteReq.setPayloadType(43);
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}
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uavRouteReq.setPayloadPosition(0);
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uavRouteReq.setImageFormat("wide");
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uavRouteReq.setFinishAction("goHome");
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uavRouteReq.setExitOnRcLostAction("goBack");
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//uavRouteReq.setGlobalHeight(100.0);
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//uavRouteReq.setAutoFlightSpeed(5.0);
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WaypointHeadingReq waypointHeadingReq = new WaypointHeadingReq();
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waypointHeadingReq.setWaypointHeadingMode("followWayline");
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uavRouteReq.setWaypointHeadingReq(waypointHeadingReq);
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WaypointTurnReq waypointTurnReq = new WaypointTurnReq();
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if (uavRouteReq.getGlobalWaypointTurnMode() != null){
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waypointTurnReq.setWaypointTurnMode(uavRouteReq.getGlobalWaypointTurnMode());
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}else {
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waypointTurnReq.setWaypointTurnMode(WAYPOINT_TURN_MODE_DEFAULT);
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}
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uavRouteReq.setWaypointTurnReq(waypointTurnReq);
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uavRouteReq.setGimbalPitchMode("usePointSetting");
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if (M350_RTK.getValue().equals(uavRouteReq.getDroneType())) {
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// 变焦数值加工
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buildZoom(uavRouteReq);
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}
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// 修改每个航点的高度
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buildHeight(uavRouteReq);
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// 动作组编号数据加工
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buildActionGroupReq(uavRouteReq);
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return uavRouteReq;
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}
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/**
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* 构建动作组编号
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*/
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public void buildActionGroupReq(UavRouteReq uavRouteReq){
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int pointActionCounter = 0;
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for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
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if (routePointReq.getActionGroupList() != null){
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for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
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actionGroupReq.setActionGroupId(pointActionCounter++);
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actionGroupReq.setActionGroupStartIndex(routePointReq.getRoutePointIndex());
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actionGroupReq.setActionGroupEndIndex(routePointReq.getRoutePointIndex());
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actionGroupReq.setActionTriggerType("reachPoint");
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}
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}
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}
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}
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/**
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* 修改每个航点的高度
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* 根据起飞点高度减去当前航点高度
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*/
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public void buildHeight(UavRouteReq uavRouteReq){
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if (!"EGM96".equals(uavRouteReq.getHeightMode())){
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double takeOffHeight = getDoublePoint(uavRouteReq.getTakeOffRefPoint(),"alt");
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for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
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routePointReq.setHeight(routePointReq.getHeight() - takeOffHeight);
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}
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}
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}
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/**
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* 变焦动作加工
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*/
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private void buildZoom(UavRouteReq uavRouteReq){
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for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
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if (!routePointReq.getActionGroupList().isEmpty()){
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for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
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for (PointActionReq action : actionGroupReq.getActions()) {
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if (action.getZoom() != null){
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action.setZoom(multiple23(action.getZoom()));
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}
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}
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}
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}
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}
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}
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public static Double multiple23(Double zoom){
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return zoom * CHANSI_H20T;
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}
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public static Double divided23(Double zoom){
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return zoom / CHANSI_H20T;
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}
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}
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