package com.ard.tianyu.service.impl;
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import com.ard.tianyu.component.minio.config.MinioConfig;
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import com.ard.tianyu.component.minio.utils.MinioUtil;
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import com.ard.tianyu.config.WaylinePlaningConfig;
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import com.ard.tianyu.domain.dto.wayline.*;
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import com.ard.tianyu.domain.entity.UavWayline;
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import com.ard.tianyu.domain.enums.WaylineEnum;
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import com.ard.tianyu.mapper.UavWaylineMapper;
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import com.ard.tianyu.service.IGeoToolsService;
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import com.ard.tianyu.service.IKmzFileService;
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import com.ard.tianyu.util.Vertex;
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import lombok.extern.slf4j.Slf4j;
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import org.dom4j.*;
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import org.dom4j.io.OutputFormat;
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import org.dom4j.io.XMLWriter;
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import org.springframework.scheduling.annotation.Async;
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import org.springframework.stereotype.Service;
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import org.springframework.transaction.annotation.Transactional;
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import javax.annotation.Resource;
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import java.io.*;
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import java.time.LocalDateTime;
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import java.time.ZoneOffset;
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import java.util.List;
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import java.util.zip.ZipEntry;
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import java.util.zip.ZipOutputStream;
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/**
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* @author liusuyi
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* @version 3.0
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* @date 2025/06/27
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*/
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@Service
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@Slf4j
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@Transactional
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public class KmzFileServiceImpl implements IKmzFileService {
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@Resource
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private MinioConfig minioConfig;
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@Resource
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private IGeoToolsService geoToolsService;
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@Resource
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private WaylinePlaningConfig waylinePlaningConfig;
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@Resource
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private UavWaylineMapper uavWaylineMapper;
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private Document initWayline(Boolean isTemplate) {
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//创建Document对象
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Document document = DocumentHelper.createDocument();
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document.setXMLEncoding("UTF-8");
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// 定义命名空间
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String KML_NAMESPACE = "http://www.opengis.net/kml/2.2";
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String WPML_NAMESPACE = "http://www.dji.com/wpmz/1.0.6";
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//创建kml节点
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QName kmlQName = QName.get("kml", Namespace.get("", KML_NAMESPACE));
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Element kml = document.addElement(kmlQName);
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//添加命名空间
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kml.addNamespace("wpml", WPML_NAMESPACE);
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//生成Document节点
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Element wpml = kml.addElement("Document", KML_NAMESPACE);
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//是否为模板
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if (isTemplate) {
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// Step 1: Implement File Creation Information
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//wpml.addElement("wpml:author").addText(user);
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wpml.addElement("wpml:createTime").addText(
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String.valueOf(LocalDateTime.now().toInstant(ZoneOffset.of("+8")).toEpochMilli()));
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wpml.addElement("wpml:updateTime").addText(
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String.valueOf(LocalDateTime.now().toInstant(ZoneOffset.of("+8")).toEpochMilli()));
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}
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//返回
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return document;
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}
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//产生kmz总体过程
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private void gntTemplateKml(ArdWaylineDTO ardWaylineDTO, String savePath) {
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//初始化文件头
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Document reader = this.initWayline(true);
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//Document元素
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Element document = reader.getRootElement().element("Document");
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//添加missionConfig信息
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this.addMissionConfig(document, ardWaylineDTO);
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//添加folder信息
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Element folder = this.addFolder(document, ardWaylineDTO);
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//2设置航点参数
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List<ArdUavPositionDTO> uavPositions = ardWaylineDTO.getUavPositions();
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//循环添加placemark
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Integer actionGroupId = 0;
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for (int i = 0; i < uavPositions.size(); i++) {
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ArdUavPositionDTO onePosition = uavPositions.get(i);
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this.addPlaceMark(folder, i, actionGroupId, onePosition);
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if (onePosition.getActionGroup().size() > 0) {
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actionGroupId += 1;
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}
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}
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//打印输出结果
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//log.info(reader.asXML());
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//输出
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String tmpKml = savePath + File.separator + "wpmz" + File.separator + "template.kml";
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this.outputXml(tmpKml, reader);
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}
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public void gntWaylineWpml(ArdWaylineDTO ardWaylineDTO, String savePath) {
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//初始化文件头
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Document reader = this.initWayline(false);
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//Document元素
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Element document = reader.getRootElement().element("Document");
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//添加missionConfig信息
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this.addMissionConfig(document, ardWaylineDTO);
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//添加folder信息
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Element folder = this.addFolderWayline(document, ardWaylineDTO);
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//2设置航点参数
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//循环添加placemark
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Integer actionGroupId = 0;
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for (int i = 0; i < ardWaylineDTO.getUavPositions().size(); i++) {
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ArdUavPositionDTO onePosition = ardWaylineDTO.getUavPositions().get(i);
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this.addPlaceMarkWayline(folder, i, actionGroupId, onePosition, ardWaylineDTO);
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if (onePosition.getActionGroup().size() > 0) {
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actionGroupId += 1;
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}
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}
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//打印输出结果
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//log.info(reader.asXML());
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//输出
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String waylineWpml = savePath + File.separator + "wpmz" + File.separator + "waylines.wpml";
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this.outputXml(waylineWpml, reader);
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}
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//missionConfig信息
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private void addMissionConfig(Element document, ArdWaylineDTO ardWaylineDTO) {
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//创建wpml:missionConfig元素
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Element missionConfig = document.addElement("wpml:missionConfig");
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//创建子元素
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missionConfig.addElement("wpml:flyToWaylineMode").addText("safely");
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missionConfig.addElement("wpml:finishAction").addText("goHome");
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missionConfig.addElement("wpml:exitOnRCLost").addText("goContinue");
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missionConfig.addElement("wpml:executeRCLostAction").addText("goBack");
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missionConfig.addElement("wpml:takeOffSecurityHeight").addText("30");
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//与第一个点重合
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ArdPositionDTO firstPoint = ardWaylineDTO.getUavPositions().get(0).getUavPosition();
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String refPoint = String.format("%s,%s,%s", firstPoint.getLatitude(), firstPoint.getLongitude()
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, firstPoint.getAltitude());
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missionConfig.addElement("wpml:takeOffRefPoint").addText(refPoint);
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missionConfig.addElement("wpml:globalTransitionalSpeed").addText(String.valueOf(ardWaylineDTO.getGlobalFlySpeed()));
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missionConfig.addElement("wpml:globalRTHHeight").addText(String.valueOf(ardWaylineDTO.getGlobalFlyHeight()));
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//添加droneInfo
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Element droneInfo = missionConfig.addElement("wpml:droneInfo");
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droneInfo.addElement("wpml:droneEnumValue").addText("89");
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droneInfo.addElement("wpml:droneSubEnumValue").addText("1");
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//添加payloadInfo
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Element payloadInfo = missionConfig.addElement("wpml:payloadInfo");
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payloadInfo.addElement("wpml:payloadEnumValue").addText("43");
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payloadInfo.addElement("wpml:payloadSubEnumValue").addText("0");
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payloadInfo.addElement("wpml:payloadPositionIndex").addText("0");
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}
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//folder信息
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private Element addFolder(Element document, ArdWaylineDTO ardWaylineDTO) {
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//全局信息
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Element folder = document.addElement("Folder");
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folder.addElement("wpml:templateType").addText("waypoint");
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folder.addElement("wpml:templateId").addText("0");
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//坐标系统
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Element waylineCoordinateSysParam = folder.addElement("wpml:waylineCoordinateSysParam");
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waylineCoordinateSysParam.addElement("wpml:coordinateMode").addText("WGS84");
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waylineCoordinateSysParam.addElement("wpml:heightMode").addText("relativeToStartPoint");
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//
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folder.addElement("wpml:autoFlightSpeed").addText(String.valueOf(ardWaylineDTO.getGlobalFlySpeed()));
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folder.addElement("wpml:globalWaypointTurnMode").addText("toPointAndStopWithDiscontinuityCurvature");
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folder.addElement("wpml:globalUseStraightLine").addText("1");
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//全局航向角模式
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Element globalWaypointHeadingParam = folder.addElement("wpml:globalWaypointHeadingParam");
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globalWaypointHeadingParam.addElement("wpml:waypointHeadingMode").addText("followWayline");
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globalWaypointHeadingParam.addElement("wpml:waypointHeadingYawPathMode").addText("followBadArc");
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//
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folder.addElement("wpml:gimbalPitchMode").addText("manual");//manual , usePointSetting
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folder.addElement("wpml:globalHeight").addText(String.valueOf(ardWaylineDTO.getGlobalFlyHeight()));
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//
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return folder;
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}
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private Element addFolderWayline(Element document, ArdWaylineDTO ardWaylineDTO) {
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//全局信息
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Element folder = document.addElement("Folder");
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folder.addElement("wpml:templateId").addText("0");
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folder.addElement("wpml:executeHeightMode").addText("relativeToStartPoint");
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folder.addElement("wpml:waylineId").addText("0");
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folder.addElement("wpml:autoFlightSpeed").addText(String.valueOf(ardWaylineDTO.getGlobalFlySpeed()));
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return folder;
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}
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//placemark信息
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private void addPlaceMark(Element folder, Integer index, Integer actionGroupId, ArdUavPositionDTO onePostion) {
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//添加placemark
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Element placemark = folder.addElement("Placemark");
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//转换坐标
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//航点坐标位置转换
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Double tLng = 0.0;
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Double tLat = 0.0;
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//转换坐标，将目标坐标转化为高德坐标
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if (onePostion.getUavPosition().getLongitude() != null &&
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onePostion.getUavPosition().getLatitude() != null) {
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Vertex newVertex = geoToolsService.gcj02ToTargetCoordinate(
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new Vertex(onePostion.getUavPosition().getLongitude(),
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onePostion.getUavPosition().getLatitude()));
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tLng = newVertex.x;
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tLat = newVertex.y;
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}
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Element point = placemark.addElement("Point");
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point.addElement("coordinates").addText(tLng + "," + tLat);
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//添加一般元素
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placemark.addElement("wpml:index").addText(String.valueOf(index));
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placemark.addElement("wpml:ellipsoidHeight").addText(String.valueOf(onePostion.getUavPosition().getAltitude()));
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placemark.addElement("wpml:height").addText(String.valueOf(onePostion.getUavPosition().getAltitude()));
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//全局信息
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placemark.addElement("wpml:useGlobalHeight").addText("1");
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placemark.addElement("wpml:useGlobalSpeed").addText("1");
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placemark.addElement("wpml:useGlobalHeadingParam").addText("1");
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placemark.addElement("wpml:useGlobalTurnParam").addText("1");
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placemark.addElement("wpml:useStraightLine").addText("1");
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//添加actionGroup
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if (onePostion.getActionGroup().size() > 0) {
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Element actionGroup = placemark.addElement("wpml:actionGroup");
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//添加动作组基础信息
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actionGroup.addElement("wpml:actionGroupId").addText(String.valueOf(actionGroupId));
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actionGroup.addElement("wpml:actionGroupStartIndex").addText(String.valueOf(index));
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actionGroup.addElement("wpml:actionGroupEndIndex").addText(String.valueOf(index));
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actionGroup.addElement("wpml:actionGroupMode").addText("sequence");
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Element actionTrigger = actionGroup.addElement("wpml:actionTrigger");
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actionTrigger.addElement("wpml:actionTriggerType").addText("reachPoint");
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//定义action
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Integer actionId = 0;
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for (int j = 0; j < onePostion.getActionGroup().size(); j++) {
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//逐个添加action
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Integer actionCount = this.addAction(actionGroup, actionId, onePostion.getActionGroup().get(j));
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actionId += actionCount;
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}
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}
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}
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//placemark信息
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private void addPlaceMarkWayline(Element folder, Integer index, Integer actionGroupId,
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ArdUavPositionDTO onePostion, ArdWaylineDTO ardWaylineDTO) {
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//添加placemark
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Element placemark = folder.addElement("Placemark");
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//转换坐标
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//航点坐标位置转换
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Double tLng = 0.0;
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Double tLat = 0.0;
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//转换坐标，将目标坐标转化为高德坐标
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if (onePostion.getUavPosition().getLongitude() != null &&
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onePostion.getUavPosition().getLatitude() != null) {
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Vertex newVertex = geoToolsService.gcj02ToTargetCoordinate(
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new Vertex(onePostion.getUavPosition().getLongitude(),
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onePostion.getUavPosition().getLatitude()));
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tLng = newVertex.x;
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tLat = newVertex.y;
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}
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Element point = placemark.addElement("Point");
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point.addElement("coordinates").addText(tLng + "," + tLat);
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//添加一般元素
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placemark.addElement("wpml:index").addText(String.valueOf(index));
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placemark.addElement("wpml:executeHeight").addText(String.valueOf(onePostion.getUavPosition().getAltitude()));
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placemark.addElement("wpml:waypointSpeed").addText(String.valueOf(ardWaylineDTO.getGlobalFlySpeed()));
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Element waypointHeadingParam = placemark.addElement("wpml:waypointHeadingParam");
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waypointHeadingParam.addElement("wpml:waypointHeadingMode").addText("followWayline");
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Element waypointTurnParam = placemark.addElement("wpml:waypointTurnParam");
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waypointTurnParam.addElement("wpml:waypointTurnMode").addText(WaylineEnum.getDesc(onePostion.getFlightPathMode()));
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waypointTurnParam.addElement("wpml:waypointTurnDampingDist").addText("0");
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//添加actionGroup
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if (onePostion.getActionGroup().size() > 0) {
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Element actionGroup = placemark.addElement("wpml:actionGroup");
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//添加动作组基础信息
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actionGroup.addElement("wpml:actionGroupId").addText(String.valueOf(actionGroupId));
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actionGroup.addElement("wpml:actionGroupStartIndex").addText(String.valueOf(index));
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actionGroup.addElement("wpml:actionGroupEndIndex").addText(String.valueOf(index));
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actionGroup.addElement("wpml:actionGroupMode").addText("sequence");
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Element actionTrigger = actionGroup.addElement("wpml:actionTrigger");
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actionTrigger.addElement("wpml:actionTriggerType").addText("reachPoint");
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//定义action
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Integer actionId = 0;
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for (int j = 0; j < onePostion.getActionGroup().size(); j++) {
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//逐个添加action
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Integer actionCount = this.addAction(actionGroup, actionId, onePostion.getActionGroup().get(j));
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actionId += actionCount;
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}
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}
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}
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//action
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private Integer addAction(Element actionGroup, Integer index, ArdActionDTO actionDTO) {
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Integer actionCount = 2;
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//变焦动作
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Element actionGimbal = actionGroup.addElement("wpml:action");
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actionGimbal.addElement("wpml:actionId").addText(String.valueOf(index));
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actionGimbal.addElement("wpml:actionActuatorFunc").addText("gimbalRotate");
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Element param = actionGimbal.addElement("wpml:actionActuatorFuncParam");
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param.addElement("wpml:payloadPositionIndex").addText(String.valueOf(0));
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param.addElement("wpml:gimbalHeadingYawBase").addText("north");
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param.addElement("wpml:gimbalRotateMode").addText("absoluteAngle");
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param.addElement("wpml:gimbalPitchRotateEnable").addText(String.valueOf(1));
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param.addElement("wpml:gimbalPitchRotateAngle").addText(String.valueOf(actionDTO.getActionGimbal().getPitch()));
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param.addElement("wpml:gimbalRollRotateEnable").addText(String.valueOf(0));
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param.addElement("wpml:gimbalRollRotateAngle").addText(String.valueOf(0));
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param.addElement("wpml:gimbalYawRotateEnable").addText(String.valueOf(1));
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param.addElement("wpml:gimbalYawRotateAngle").addText(String.valueOf(actionDTO.getActionGimbal().getYaw()));
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param.addElement("wpml:gimbalRotateTimeEnable").addText(String.valueOf(0));
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param.addElement("wpml:gimbalRotateTime").addText(String.valueOf(0));
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//动作类型
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switch (actionDTO.actionType) {
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case 0://拍照
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Element action0 = actionGroup.addElement("wpml:action");
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action0.addElement("wpml:actionId").addText(String.valueOf(index + 1));
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action0.addElement("wpml:actionActuatorFunc").addText("takePhoto");
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Element param0 = action0.addElement("wpml:actionActuatorFuncParam");
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param0.addElement("wpml:fileSuffix").addText("point");
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param0.addElement("wpml:payloadPositionIndex").addText(String.valueOf(0));
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break;
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case 1://录像，拆解为3个动作
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//添加开始录像动作
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Element action11 = actionGroup.addElement("wpml:action");
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action11.addElement("wpml:actionId").addText(String.valueOf(index + 1));
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action11.addElement("wpml:actionActuatorFunc").addText("startRecord");
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Element param11 = action11.addElement("wpml:actionActuatorFuncParam");
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param11.addElement("wpml:fileSuffix").addText("point");
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param11.addElement("wpml:payloadPositionIndex").addText(String.valueOf(0));
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//添加新的悬停动作
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Element action12 = actionGroup.addElement("wpml:action");
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action12.addElement("wpml:actionId").addText(String.valueOf(index + 2));
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action12.addElement("wpml:actionActuatorFunc").addText("hover");
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Element param12 = action12.addElement("wpml:actionActuatorFuncParam");
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param12.addElement("wpml:hoverTime").addText(String.valueOf(actionDTO.getActionParameter()));
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//添加结束动作
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Element action13 = actionGroup.addElement("wpml:action");
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action13.addElement("wpml:actionId").addText(String.valueOf(index + 3));
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action13.addElement("wpml:actionActuatorFunc").addText("stopRecord");
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Element param13 = action13.addElement("wpml:actionActuatorFuncParam");
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param13.addElement("wpml:payloadPositionIndex").addText(String.valueOf(0));
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actionCount = 5;
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break;
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case 2://悬停 ，协议是3，前端发送为2
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Element action2 = actionGroup.addElement("wpml:action");
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action2.addElement("wpml:actionId").addText(String.valueOf(index + 1));
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action2.addElement("wpml:actionActuatorFunc").addText("hover");
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Element param2 = action2.addElement("wpml:actionActuatorFuncParam");
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param2.addElement("wpml:hoverTime").addText(String.valueOf(actionDTO.getWaitTime()));
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break;
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default:
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actionCount = 0;
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log.info("未知的动作类型{}！", actionDTO.actionType);
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break;
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}
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return actionCount;
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}
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//输出模板kml
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private void outputXml(String vpath, Document doc) {
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try {
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OutputFormat format = OutputFormat.createPrettyPrint();
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format.setEncoding("UTF-8"); //FileWriter改为FileOutputStream解决乱码问题
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XMLWriter xmlWriter = new XMLWriter(new FileOutputStream(vpath), format);
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xmlWriter.write(doc);
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xmlWriter.close();
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} catch (Exception e) {
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log.error("输出航线文件失败：{}", vpath);
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e.printStackTrace();
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}
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}
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//创建路径
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private String createSavePath(String waylineName) {
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//创建航线名称路径
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String pathStr = waylinePlaningConfig.getWaylineSavePath() + File.separator + waylineName;
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File savePath = new File(pathStr);
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if (!savePath.exists()) {
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savePath.mkdirs();
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} else {
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deleteFile(savePath);
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savePath.mkdirs();
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}
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//创建wpmz
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File wpmz = new File(pathStr + File.separator + "wpmz");
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wpmz.mkdir();
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//创建res
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File res = new File(pathStr + File.separator + "wpmz" + File.separator + "res");
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res.mkdir();
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return pathStr;
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}
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private void deleteFile(File filePath) {
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//判断路径是否存在
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if (filePath.exists()) {
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//判断是否是目录
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if (filePath.isDirectory()) {
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//将目录逐层拆分成数组元素
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File[] files = filePath.listFiles();
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for (File f : files) {
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//递归调用,由最底层往上逐层删除
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deleteFile(f);
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}
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}
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//如果是文件，直接删除
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filePath.delete();
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}
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}
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//输出MKZ过程
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@Override
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@Async
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public void outputKmz(ArdWaylineDTO ardWaylineDTO) {
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try {
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//创建目录
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String savePath = this.createSavePath(ardWaylineDTO.getWaylineName());
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//输出模板kml
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this.gntTemplateKml(ardWaylineDTO, savePath);
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//输出航线wpml
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this.gntWaylineWpml(ardWaylineDTO, savePath);
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//压缩输出成kmz
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String fileName = ardWaylineDTO.getWaylineName() + ".kmz";
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String kmzPath = waylinePlaningConfig.getWaylineSavePath() + File.separator + fileName;
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//输出kmz文件，是否成功
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Boolean isSuccess = this.toKmz(kmzPath, savePath + File.separator + "wpmz",
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true);
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if (isSuccess) {
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//上传kmz文件到对象数据库
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InputStream inputStream = new FileInputStream(kmzPath);
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//构建记录
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String objectKey = fileName;
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//若已经存在，则先删除，再添加
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if (MinioUtil.exists(minioConfig.getBucketName(), objectKey))
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MinioUtil.delete(minioConfig.getBucketName(), objectKey);
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String kmzUrl = MinioUtil.uploadInputStream(minioConfig.getBucketName(), objectKey, inputStream,
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inputStream.available(), "application/octet-stream");
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// 更新航线kmz地址
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UavWayline uavWayline = UavWayline.builder()
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.id(ardWaylineDTO.waylineId)
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.kmzUrl(kmzUrl)
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.build();
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uavWaylineMapper.updateUavWayline(uavWayline);
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}
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} catch (Exception e) {
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e.printStackTrace();
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log.info("生成kmz文件失败！");
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}
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}
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private Boolean toKmz(String zipFileName, String sourceFileName, boolean KeepDirStructure) {
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Boolean result = true;
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long start = System.currentTimeMillis();//开始
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ZipOutputStream zos = null;
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try {
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FileOutputStream fileOutputStream = new FileOutputStream(zipFileName);
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zos = new ZipOutputStream(fileOutputStream);
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File sourceFile = new File(sourceFileName);
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compress(sourceFile, zos, sourceFile.getName(), KeepDirStructure);
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long end = System.currentTimeMillis();//结束
|
System.out.println("压缩完成，耗时：" + (end - start) + " 毫秒");
|
} catch (Exception e) {
|
result = false;
|
e.printStackTrace();
|
} finally {
|
if (zos != null) {
|
try {
|
zos.close();
|
} catch (IOException e) {
|
e.getStackTrace();
|
}
|
}
|
}
|
return result;
|
}
|
|
private void compress(File sourceFile, ZipOutputStream zos, String name,
|
boolean KeepDirStructure) throws Exception {
|
byte[] buf = new byte[2 * 1024];
|
if (sourceFile.isFile()) {
|
// 向zip输出流中添加一个zip实体，构造器中name为zip实体的文件的名字
|
zos.putNextEntry(new ZipEntry(name));
|
// copy文件到zip输出流中
|
int len;
|
FileInputStream in = new FileInputStream(sourceFile);
|
while ((len = in.read(buf)) != -1) {
|
zos.write(buf, 0, len);
|
}
|
// Complete the entry
|
zos.closeEntry();
|
in.close();
|
} else {
|
File[] listFiles = sourceFile.listFiles();
|
if (listFiles == null || listFiles.length == 0) {
|
// 需要保留原来的文件结构时,需要对空文件夹进行处理
|
if (KeepDirStructure) {
|
// 空文件夹的处理
|
zos.putNextEntry(new ZipEntry(name + "/"));
|
// 没有文件，不需要文件的copy
|
zos.closeEntry();
|
}
|
} else {
|
for (File file : listFiles) {
|
// 判断是否需要保留原来的文件结构
|
if (KeepDirStructure) {
|
// 注意：file.getName()前面需要带上父文件夹的名字加一斜杠,
|
// 不然最后压缩包中就不能保留原来的文件结构,即：所有文件都跑到压缩包根目录下了
|
compress(file, zos, name + "/" + file.getName(), KeepDirStructure);
|
} else {
|
compress(file, zos, file.getName(), KeepDirStructure);
|
}
|
|
}
|
}
|
}
|
}
|
|
}
|
