package com.ard.route.util;
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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.route.ArdRouteInfo;
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import com.ard.route.domain.vo.KmzInfoVo;
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import com.ard.work.domain.dto.state.PointData;
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import com.ard.work.domain.dto.wayline.PlanLineData;
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import com.ard.work.domain.dto.wayline.PointAction;
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import com.ard.work.domain.dto.wayline.WayLineUploadDTO;
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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 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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KmlDroneInfo droneInfo = vo.getKmlInfo().getDocument().getKmlMissionConfig().getDroneInfo();
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uavRouteReq.setDroneType(Integer.valueOf(droneInfo.getDroneEnumValue()));
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// 机场1：M30/M30T 依赖 droneSubEnumValue 区分（0-67-0 / 0-67-1），导入 KMZ 时需一并保留
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if (droneInfo.getDroneSubEnumValue() != null && !droneInfo.getDroneSubEnumValue().isEmpty()) {
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uavRouteReq.setSubDroneType(Integer.valueOf(droneInfo.getDroneSubEnumValue()));
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}
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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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* ArdRouteInfo实体转换，WayLineUploadDTO
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*/
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public static WayLineUploadDTO buildWayLineUploadDTO(ArdRouteInfo ardRouteInfo){
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WayLineUploadDTO wayLineUploadDTO = new WayLineUploadDTO();
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String finishAction = ardRouteInfo.getUavRouteReq().getFinishAction(); //1
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Double autoFlightSpeed = ardRouteInfo.getUavRouteReq().getAutoFlightSpeed(); //15
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Double globalTransitionalSpeed = ardRouteInfo.getUavRouteReq().getGlobalTransitionalSpeed(); //8
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String exitOnRcLostAction = ardRouteInfo.getUavRouteReq().getExitOnRcLostAction(); //0
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PlanLineData planLineData = new PlanLineData();
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if (finishAction != null){
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planLineData.setLoseAction(0);
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}
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if (autoFlightSpeed != null){
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planLineData.setAutoSpeed(8);
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}
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planLineData.setMaxSpeed(15);
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// if (globalTransitionalSpeed != null){
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// planLineData.setMaxSpeed(15);
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// }
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if (exitOnRcLostAction != null){
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planLineData.setFinishedAction(1);
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}
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planLineData.setHomeHeight(50);
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planLineData.setInterests(new ArrayList<>());
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planLineData.setIsSaveEnergyMode(0);
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planLineData.setPoints(buildPointDataList(ardRouteInfo.getUavRouteReq()));
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wayLineUploadDTO.setWayLineData(planLineData);
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return wayLineUploadDTO;
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}
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public static List<PointData> buildPointDataList(UavRouteReq uavRouteReq){
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List<PointData> pointDataList = new ArrayList<>();
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for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
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PointData pointData = new PointData();
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Integer routePointIndex = routePointReq.getRoutePointIndex();
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if (routePointIndex != null){
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pointData.setGroupIndex(routePointIndex);
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}
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Double height = routePointReq.getHeight();
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if (height != null){
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pointData.setHeight(height.floatValue());
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}
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Double longitude = routePointReq.getLongitude();
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if (longitude != null){
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pointData.setLng(longitude.floatValue());
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}
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Double latitude = routePointReq.getLatitude();
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if (latitude != null){
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pointData.setLat(latitude.floatValue());
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}
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Double speed = routePointReq.getSpeed();
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if (speed != null){
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pointData.setSpeed(speed.floatValue());
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}
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pointData.setDampingDistance(0);
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pointData.setFlightPathMode(1);
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pointData.setHeading(0);
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pointData.setHeadingMode(0);
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pointData.setInterestIndex(-1);
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pointData.setSafeGohomeFlag(0);
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pointData.setActions(buildPointActionList(routePointReq.getActionGroupList()));
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pointDataList.add(pointData);
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}
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return pointDataList;
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}
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public static List<PointAction> buildPointActionList(List<ActionGroupReq> actionGroupList){
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List<PointAction> pointActionList = new ArrayList<>();
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for (ActionGroupReq actionGroupReq : actionGroupList) {
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for (PointActionReq action : actionGroupReq.getActions()) {
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PointAction pointAction = typeProcessing(action);
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pointActionList.add(pointAction);
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}
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}
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return pointActionList;
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}
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public static PointAction typeProcessing(PointActionReq pointActionReq){
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PointAction pointAction = new PointAction();
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if (pointActionReq.getZoom() != null){
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pointAction.setType(1);
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pointAction.setParam(pointActionReq.getZoom().floatValue());
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pointAction.setSpeakInfo("");
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pointAction.setWaitTime(2);
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}
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if (pointActionReq.getTakePhotoType() != null){
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pointAction.setType(2);
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pointAction.setParam(1);
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pointAction.setSpeakInfo("");
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pointAction.setWaitTime(2);
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}
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if (pointActionReq.getStartRecord() != null){
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pointAction.setType(3);
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pointAction.setParam(1);
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pointAction.setSpeakInfo("");
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pointAction.setWaitTime(2);
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}
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if (pointActionReq.getStopRecord() != null){
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pointAction.setType(4);
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pointAction.setParam(1);
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pointAction.setSpeakInfo("");
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pointAction.setWaitTime(2);
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}
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if (pointActionReq.getAircraftHeading() != null){
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pointAction.setType(5);
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pointAction.setParam(pointActionReq.getAircraftHeading().floatValue());
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pointAction.setSpeakInfo("");
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pointAction.setWaitTime(2);
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}
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if (pointActionReq.getGimbalPitchRotateAngle() != null){
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pointAction.setType(6);
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pointAction.setParam(pointActionReq.getGimbalPitchRotateAngle().floatValue());
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pointAction.setSpeakInfo("");
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pointAction.setWaitTime(2);
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}
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if (pointActionReq.getGimbalYawRotateAngle() != null){
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pointAction.setType(7);
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pointAction.setParam(pointActionReq.getGimbalYawRotateAngle().floatValue());
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pointAction.setSpeakInfo("");
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pointAction.setWaitTime(2);
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}
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if (pointActionReq.getHoverTime() != null){
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pointAction.setType(9);
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pointAction.setParam(pointActionReq.getHoverTime().floatValue());
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pointAction.setSpeakInfo("");
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pointAction.setWaitTime(2);
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}
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return pointAction;
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}
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}
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