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 java.util.ArrayList;
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import java.util.List;
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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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private static final Double CHANSI_H20 = 23.76237623;
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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().isEmpty()){
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uavRouteReq.setTakeOffRefPoint(
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uavRouteReq.getRoutePointList().get(0).getLatitude() + "," +
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uavRouteReq.getRoutePointList().get(0).getLongitude() + "," + "0");
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}
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//uavRouteReq.setDroneType(89);
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uavRouteReq.setSubDroneType(0);
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uavRouteReq.setPayloadType(43);
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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("toPointAndStopWithDiscontinuityCurvature");
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}
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uavRouteReq.setWaypointTurnReq(waypointTurnReq);
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uavRouteReq.setGimbalPitchMode("usePointSetting");
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//buildZoom(uavRouteReq);
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return uavRouteReq;
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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 UavRouteReq buildZoom(UavRouteReq uavRouteReq){
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for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
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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(action.getZoom() * CHANSI_H20);
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}
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}
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}
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}
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return uavRouteReq;
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}
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/**
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* 初始化数据
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*/
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private void initializationSixHe(){
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ArdRouteChange ardRouteChange = new ArdRouteChange();
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ardRouteChange.setAutoSpeed(8);
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ardRouteChange.setFinishedAction(1);
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ardRouteChange.setHomeHeight(50);
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//ardRouteChange.setInterests(0);
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ardRouteChange.setIsSaveEnergyMode(0);
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ardRouteChange.setLoseAction(0);
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ardRouteChange.setMaxSpeed(15);
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ardRouteChange.setSecurityHeight(50);
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ardRouteChange.setTemplateId(0);
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List<ArdRoutePoints> points = new ArrayList<>();
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//-----------------------------------------------------
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ArdRoutePoints ardRoutePoints00 = new ArdRoutePoints();
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ardRoutePoints00.setDampingDistance(0);
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ardRoutePoints00.setFlightPathMode(1);
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ardRoutePoints00.setGroupIndex(0);
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ardRoutePoints00.setHeading(0);
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ardRoutePoints00.setHeadingMode(0);
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ardRoutePoints00.setHeight(50);
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ardRoutePoints00.setInterestIndex(-1);
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ardRoutePoints00.setLat(31.11339916);
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ardRoutePoints00.setLon(103.75851462);
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ardRoutePoints00.setSafeGohomeFlag(0);
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ardRoutePoints00.setSpeed(8);
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List<ArdRouteActions> actions00 = new ArrayList<>();
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ArdRouteActions ardRouteActions00 = new ArdRouteActions();
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ardRouteActions00.setParam(10);
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ardRouteActions00.setSpeakInfo("");
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ardRouteActions00.setType(1);
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ardRouteActions00.setWaitTime(2);
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ArdRouteActions ardRouteActions01 = new ArdRouteActions();
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ardRouteActions01.setParam(10);
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ardRouteActions01.setSpeakInfo("");
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ardRouteActions01.setType(1);
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ardRouteActions01.setWaitTime(2);
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ArdRouteActions ardRouteActions02 = new ArdRouteActions();
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ardRouteActions02.setParam(10);
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ardRouteActions02.setSpeakInfo("");
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ardRouteActions02.setType(1);
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ardRouteActions02.setWaitTime(2);
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actions00.add(ardRouteActions00);
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actions00.add(ardRouteActions01);
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actions00.add(ardRouteActions02);
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ardRoutePoints00.setActions(actions00);
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//-----------------------------------------------------
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ArdRoutePoints ardRoutePoints10 = new ArdRoutePoints();
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ardRoutePoints10.setDampingDistance(0);
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ardRoutePoints10.setFlightPathMode(1);
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ardRoutePoints10.setGroupIndex(0);
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ardRoutePoints10.setHeading(0);
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ardRoutePoints10.setHeadingMode(0);
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ardRoutePoints10.setHeight(50);
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ardRoutePoints10.setInterestIndex(-1);
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ardRoutePoints10.setLat(31.11339916);
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ardRoutePoints10.setLon(103.75746538);
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ardRoutePoints10.setSafeGohomeFlag(0);
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ardRoutePoints10.setSpeed(8);
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List<ArdRouteActions> actions10 = new ArrayList<>();
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ArdRouteActions ardRouteActions10 = new ArdRouteActions();
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ardRouteActions10.setParam(20);
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ardRouteActions10.setSpeakInfo("");
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ardRouteActions10.setType(9);
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ardRouteActions10.setWaitTime(2);
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ArdRouteActions ardRouteActions11 = new ArdRouteActions();
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ardRouteActions11.setParam(40);
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ardRouteActions11.setSpeakInfo("");
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ardRouteActions11.setType(6);
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ardRouteActions11.setWaitTime(2);
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ArdRouteActions ardRouteActions12 = new ArdRouteActions();
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ardRouteActions12.setParam(40);
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ardRouteActions12.setSpeakInfo("");
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ardRouteActions12.setType(7);
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ardRouteActions12.setWaitTime(2);
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ArdRouteActions ardRouteActions13 = new ArdRouteActions();
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ardRouteActions13.setParam(40);
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ardRouteActions13.setSpeakInfo("");
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ardRouteActions13.setType(8);
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ardRouteActions13.setWaitTime(2);
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actions10.add(ardRouteActions10);
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actions10.add(ardRouteActions11);
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actions10.add(ardRouteActions12);
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ardRoutePoints10.setActions(actions10);
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//-----------------------------------------------------
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ArdRoutePoints ardRoutePoints20 = new ArdRoutePoints();
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ardRoutePoints20.setDampingDistance(0);
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ardRoutePoints20.setFlightPathMode(1);
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ardRoutePoints20.setGroupIndex(0);
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ardRoutePoints20.setHeading(0);
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ardRoutePoints20.setHeadingMode(0);
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ardRoutePoints20.setHeight(50);
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ardRoutePoints20.setInterestIndex(-1);
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ardRoutePoints20.setLat(31.11250084);
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ardRoutePoints20.setLon(103.75746538);
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ardRoutePoints20.setSafeGohomeFlag(0);
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ardRoutePoints20.setSpeed(8);
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List<ArdRouteActions> actions20 = new ArrayList<>();
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ArdRouteActions ardRouteActions20 = new ArdRouteActions();
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ardRouteActions20.setParam(15);
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ardRouteActions20.setSpeakInfo("");
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ardRouteActions20.setType(9);
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ardRouteActions20.setWaitTime(2);
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ArdRouteActions ardRouteActions21 = new ArdRouteActions();
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ardRouteActions21.setParam(3);
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ardRouteActions21.setSpeakInfo("");
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ardRouteActions21.setType(10);
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ardRouteActions21.setWaitTime(2);
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actions20.add(ardRouteActions20);
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actions20.add(ardRouteActions21);
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ardRoutePoints20.setActions(actions20);
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//-----------------------------------------------------
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ArdRoutePoints ardRoutePoints30 = new ArdRoutePoints();
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ardRoutePoints30.setDampingDistance(0);
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ardRoutePoints30.setFlightPathMode(1);
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ardRoutePoints30.setGroupIndex(0);
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ardRoutePoints30.setHeading(0);
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ardRoutePoints30.setHeadingMode(0);
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ardRoutePoints30.setHeight(60);
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ardRoutePoints30.setInterestIndex(-1);
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ardRoutePoints30.setLat(31.11250084);
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ardRoutePoints30.setLon(103.75851462);
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ardRoutePoints30.setSafeGohomeFlag(0);
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ardRoutePoints30.setSpeed(8);
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List<ArdRouteActions> actions30 = new ArrayList<>();
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ArdRouteActions ardRouteActions30 = new ArdRouteActions();
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ardRouteActions30.setParam(1);
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ardRouteActions30.setSpeakInfo("");
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ardRouteActions30.setType(2);
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ardRouteActions30.setWaitTime(2);
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actions30.add(ardRouteActions30);
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ardRoutePoints30.setActions(actions30);
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points.add(ardRoutePoints00);
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points.add(ardRoutePoints10);
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points.add(ardRoutePoints20);
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points.add(ardRoutePoints30);
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ardRouteChange.setPoints(points);
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}
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// private ArdRoutePoints buildArdRoutePoints(){
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// ArdRoutePoints ardRoutePoints1 = new ArdRoutePoints();
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// ardRoutePoints1.setDampingDistance(0);
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// ardRoutePoints1.setFlightPathMode(1);
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// ardRoutePoints1.setGroupIndex(0);
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// ardRoutePoints1.setHeading(0);
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// ardRoutePoints1.setHeadingMode(0);
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// ardRoutePoints1.setHeight(50);
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// ardRoutePoints1.setInterestIndex(0);
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// ardRoutePoints1.setLat(31.11339916);
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// ardRoutePoints1.setLon(103.75851462);
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// ardRoutePoints1.setSafeGohomeFlag(0);
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// ardRoutePoints1.setSpeed(8);
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//
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//
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// }
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// private ArdRouteActions buildArdRouteActions(){
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// ArdRouteActions ardRouteActions0 = new ArdRouteActions();
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// ardRouteActions0.setParam(10);
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// ardRouteActions0.setSpeakInfo("");
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// ardRouteActions0.setType(1);
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// ardRouteActions0.setWaitTime(2);
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// ArdRouteActions ardRouteActions1 = new ArdRouteActions();
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// ardRouteActions1.setParam(10);
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// ardRouteActions1.setSpeakInfo("");
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// ardRouteActions1.setType(1);
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// ardRouteActions1.setWaitTime(2);
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// ArdRouteActions ardRouteActions2 = new ArdRouteActions();
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// ardRouteActions2.setParam(10);
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// ardRouteActions2.setSpeakInfo("");
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// ardRouteActions2.setType(1);
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// ardRouteActions2.setWaitTime(2);
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// }
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public byte[] testParameters() {
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String data = "74 79 01 3C 44 42 4D 32 35 30 39 37 34 30 36 35 30 30 38 D1 00 10 08 01 15 00 00 70 41 1D 00 00 00 41 22 4A 09 06 9C E7 80 8B F0 59 40 11 08 98 33 BA 07 1D 3F 40 1D 00 00 F0 41 25 00 00 00 41 2A 09 08 01 15 00 00 20 41 18 02 2A 09 08 03 15 00 00 80 3F 18 02 2A 09 08 04 15 00 00 80 3F 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 22 55 09 F1 BC 12 50 7A F0 59 40 11 08 98 33 BA 07 1D 3F 40 1D 00 00 20 42 25 00 00 00 41 2A 09 08 09 15 00 00 A0 41 18 02 2A 09 08 06 15 00 00 20 42 18 02 2A 09 08 07 15 00 00 20 42 18 02 2A 09 08 08 15 00 00 20 42 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 22 3F 09 F1 BC 12 50 7A F0 59 40 11 91 92 E4 DA CC 1C 3F 40 1D 00 00 48 42 25 00 00 00 41 2A 09 08 09 15 00 00 70 41 18 02 2A 09 08 0A 15 00 00 40 40 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 22 34 09 06 9C E7 80 8B F0 59 40 11 91 92 E4 DA CC 1C 3F 40 1D 00 00 70 42 25 00 00 00 41 2A 09 08 02 15 00 00 80 3F 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 30 32 70 32";
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String[] hexStrings = data.split(" ");
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StringBuilder sb = new StringBuilder();
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sb.append("byte[] encodedBytes = {");
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for (int i = 0; i < hexStrings.length; i++) {
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sb.append("(byte) 0x").append(hexStrings[i]);
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if (i < hexStrings.length - 1) {
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sb.append(", ");
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}
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}
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sb.append("};");
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return sb.toString().getBytes();
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}
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}
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