package com.ard.route.util;
|
|
import com.ard.route.domain.djuav.*;
|
import com.ard.route.domain.sixhe.ArdRouteActions;
|
import com.ard.route.domain.sixhe.ArdRouteChange;
|
import com.ard.route.domain.sixhe.ArdRoutePoints;
|
|
import java.util.ArrayList;
|
import java.util.List;
|
|
import static com.ard.route.util.ToolUtils.getDoublePoint;
|
|
/**
|
* 初始化数据
|
* 测试数据
|
*/
|
public class InitializationUtils {
|
|
// 禅思H20T 公倍数
|
private static final Double CHANSI_H20T = 23.76237623;
|
|
// 禅思H20T 焦距值
|
private static final Double CHANSI_H20_FOCUS = 6.83;
|
|
private static final String WAYPOINT_TURN_MODE_DEFAULT = "toPointAndStopWithDiscontinuityCurvature";
|
|
/**
|
* 初始化KMZ 默认数据
|
*/
|
public UavRouteReq initialization(UavRouteReq uavRouteReq){
|
uavRouteReq.setTemplateType("waypoint");
|
// 起始点默认航线第一个点
|
if (uavRouteReq.getTakeOffRefPoint().isEmpty()){
|
uavRouteReq.setTakeOffRefPoint(
|
uavRouteReq.getRoutePointList().get(0).getLatitude() + "," +
|
uavRouteReq.getRoutePointList().get(0).getLongitude() + "," + "0");
|
}
|
//uavRouteReq.setDroneType(89);
|
uavRouteReq.setSubDroneType(0);
|
uavRouteReq.setPayloadType(43);
|
uavRouteReq.setPayloadPosition(0);
|
uavRouteReq.setImageFormat("wide");
|
uavRouteReq.setFinishAction("goHome");
|
uavRouteReq.setExitOnRcLostAction("goBack");
|
//uavRouteReq.setGlobalHeight(100.0);
|
//uavRouteReq.setAutoFlightSpeed(5.0);
|
WaypointHeadingReq waypointHeadingReq = new WaypointHeadingReq();
|
waypointHeadingReq.setWaypointHeadingMode("followWayline");
|
uavRouteReq.setWaypointHeadingReq(waypointHeadingReq);
|
WaypointTurnReq waypointTurnReq = new WaypointTurnReq();
|
if (uavRouteReq.getGlobalWaypointTurnMode() != null){
|
waypointTurnReq.setWaypointTurnMode(uavRouteReq.getGlobalWaypointTurnMode());
|
}else {
|
waypointTurnReq.setWaypointTurnMode(WAYPOINT_TURN_MODE_DEFAULT);
|
}
|
uavRouteReq.setWaypointTurnReq(waypointTurnReq);
|
uavRouteReq.setGimbalPitchMode("usePointSetting");
|
// 变焦数值加工
|
buildZoom(uavRouteReq);
|
// 修改每个航点的高度
|
buildHeight(uavRouteReq);
|
// 动作组编号数据加工
|
buildActionGroupReq(uavRouteReq);
|
return uavRouteReq;
|
}
|
|
/**
|
* 构建动作组编号
|
*/
|
public void buildActionGroupReq(UavRouteReq uavRouteReq){
|
int pointActionCounter = 0;
|
for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
|
if (routePointReq.getActionGroupList() != null){
|
for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
|
actionGroupReq.setActionGroupId(pointActionCounter++);
|
actionGroupReq.setActionGroupStartIndex(routePointReq.getRoutePointIndex());
|
actionGroupReq.setActionGroupEndIndex(routePointReq.getRoutePointIndex());
|
actionGroupReq.setActionTriggerType("reachPoint");
|
}
|
|
}
|
}
|
}
|
|
/**
|
* 修改每个航点的高度
|
* 根据起飞点高度减去当前航点高度
|
*/
|
public void buildHeight(UavRouteReq uavRouteReq){
|
double takeOffHeight = getDoublePoint(uavRouteReq.getTakeOffRefPoint(),"alt");
|
for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
|
routePointReq.setHeight(routePointReq.getHeight() - takeOffHeight);
|
}
|
}
|
|
/**
|
* 变焦动作加工
|
*/
|
private void buildZoom(UavRouteReq uavRouteReq){
|
for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
|
if (!routePointReq.getActionGroupList().isEmpty()){
|
for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
|
for (PointActionReq action : actionGroupReq.getActions()) {
|
if (action.getZoom() != null){
|
action.setZoom(multiple_23(action.getZoom()));
|
//action.setZoom(multiple_6(action.getZoom()));
|
}
|
}
|
}
|
}
|
}
|
}
|
|
public static Double multiple_23(Double zoom){
|
return zoom * CHANSI_H20T;
|
}
|
|
public static Double multiple_6(Double zoom){
|
return zoom * CHANSI_H20_FOCUS;
|
}
|
|
public static Double divided_23(Double zoom){
|
return zoom / CHANSI_H20T;
|
}
|
|
public static Double divided_6(Double zoom){
|
return zoom / CHANSI_H20_FOCUS;
|
}
|
|
/**
|
* 初始化数据
|
*/
|
private void initializationSixHe(){
|
ArdRouteChange ardRouteChange = new ArdRouteChange();
|
ardRouteChange.setAutoSpeed(8);
|
ardRouteChange.setFinishedAction(1);
|
ardRouteChange.setHomeHeight(50);
|
//ardRouteChange.setInterests(0);
|
ardRouteChange.setIsSaveEnergyMode(0);
|
ardRouteChange.setLoseAction(0);
|
ardRouteChange.setMaxSpeed(15);
|
ardRouteChange.setSecurityHeight(50);
|
ardRouteChange.setTemplateId(0);
|
|
List<ArdRoutePoints> points = new ArrayList<>();
|
//-----------------------------------------------------
|
ArdRoutePoints ardRoutePoints00 = new ArdRoutePoints();
|
ardRoutePoints00.setDampingDistance(0);
|
ardRoutePoints00.setFlightPathMode(1);
|
ardRoutePoints00.setGroupIndex(0);
|
ardRoutePoints00.setHeading(0);
|
ardRoutePoints00.setHeadingMode(0);
|
ardRoutePoints00.setHeight(50);
|
ardRoutePoints00.setInterestIndex(-1);
|
ardRoutePoints00.setLat(31.11339916);
|
ardRoutePoints00.setLon(103.75851462);
|
ardRoutePoints00.setSafeGohomeFlag(0);
|
ardRoutePoints00.setSpeed(8);
|
List<ArdRouteActions> actions00 = new ArrayList<>();
|
ArdRouteActions ardRouteActions00 = new ArdRouteActions();
|
ardRouteActions00.setParam(10);
|
ardRouteActions00.setSpeakInfo("");
|
ardRouteActions00.setType(1);
|
ardRouteActions00.setWaitTime(2);
|
ArdRouteActions ardRouteActions01 = new ArdRouteActions();
|
ardRouteActions01.setParam(10);
|
ardRouteActions01.setSpeakInfo("");
|
ardRouteActions01.setType(1);
|
ardRouteActions01.setWaitTime(2);
|
ArdRouteActions ardRouteActions02 = new ArdRouteActions();
|
ardRouteActions02.setParam(10);
|
ardRouteActions02.setSpeakInfo("");
|
ardRouteActions02.setType(1);
|
ardRouteActions02.setWaitTime(2);
|
actions00.add(ardRouteActions00);
|
actions00.add(ardRouteActions01);
|
actions00.add(ardRouteActions02);
|
ardRoutePoints00.setActions(actions00);
|
|
//-----------------------------------------------------
|
ArdRoutePoints ardRoutePoints10 = new ArdRoutePoints();
|
ardRoutePoints10.setDampingDistance(0);
|
ardRoutePoints10.setFlightPathMode(1);
|
ardRoutePoints10.setGroupIndex(0);
|
ardRoutePoints10.setHeading(0);
|
ardRoutePoints10.setHeadingMode(0);
|
ardRoutePoints10.setHeight(50);
|
ardRoutePoints10.setInterestIndex(-1);
|
ardRoutePoints10.setLat(31.11339916);
|
ardRoutePoints10.setLon(103.75746538);
|
ardRoutePoints10.setSafeGohomeFlag(0);
|
ardRoutePoints10.setSpeed(8);
|
List<ArdRouteActions> actions10 = new ArrayList<>();
|
ArdRouteActions ardRouteActions10 = new ArdRouteActions();
|
ardRouteActions10.setParam(20);
|
ardRouteActions10.setSpeakInfo("");
|
ardRouteActions10.setType(9);
|
ardRouteActions10.setWaitTime(2);
|
ArdRouteActions ardRouteActions11 = new ArdRouteActions();
|
ardRouteActions11.setParam(40);
|
ardRouteActions11.setSpeakInfo("");
|
ardRouteActions11.setType(6);
|
ardRouteActions11.setWaitTime(2);
|
ArdRouteActions ardRouteActions12 = new ArdRouteActions();
|
ardRouteActions12.setParam(40);
|
ardRouteActions12.setSpeakInfo("");
|
ardRouteActions12.setType(7);
|
ardRouteActions12.setWaitTime(2);
|
ArdRouteActions ardRouteActions13 = new ArdRouteActions();
|
ardRouteActions13.setParam(40);
|
ardRouteActions13.setSpeakInfo("");
|
ardRouteActions13.setType(8);
|
ardRouteActions13.setWaitTime(2);
|
actions10.add(ardRouteActions10);
|
actions10.add(ardRouteActions11);
|
actions10.add(ardRouteActions12);
|
ardRoutePoints10.setActions(actions10);
|
|
//-----------------------------------------------------
|
ArdRoutePoints ardRoutePoints20 = new ArdRoutePoints();
|
ardRoutePoints20.setDampingDistance(0);
|
ardRoutePoints20.setFlightPathMode(1);
|
ardRoutePoints20.setGroupIndex(0);
|
ardRoutePoints20.setHeading(0);
|
ardRoutePoints20.setHeadingMode(0);
|
ardRoutePoints20.setHeight(50);
|
ardRoutePoints20.setInterestIndex(-1);
|
ardRoutePoints20.setLat(31.11250084);
|
ardRoutePoints20.setLon(103.75746538);
|
ardRoutePoints20.setSafeGohomeFlag(0);
|
ardRoutePoints20.setSpeed(8);
|
List<ArdRouteActions> actions20 = new ArrayList<>();
|
ArdRouteActions ardRouteActions20 = new ArdRouteActions();
|
ardRouteActions20.setParam(15);
|
ardRouteActions20.setSpeakInfo("");
|
ardRouteActions20.setType(9);
|
ardRouteActions20.setWaitTime(2);
|
ArdRouteActions ardRouteActions21 = new ArdRouteActions();
|
ardRouteActions21.setParam(3);
|
ardRouteActions21.setSpeakInfo("");
|
ardRouteActions21.setType(10);
|
ardRouteActions21.setWaitTime(2);
|
actions20.add(ardRouteActions20);
|
actions20.add(ardRouteActions21);
|
ardRoutePoints20.setActions(actions20);
|
|
//-----------------------------------------------------
|
ArdRoutePoints ardRoutePoints30 = new ArdRoutePoints();
|
ardRoutePoints30.setDampingDistance(0);
|
ardRoutePoints30.setFlightPathMode(1);
|
ardRoutePoints30.setGroupIndex(0);
|
ardRoutePoints30.setHeading(0);
|
ardRoutePoints30.setHeadingMode(0);
|
ardRoutePoints30.setHeight(60);
|
ardRoutePoints30.setInterestIndex(-1);
|
ardRoutePoints30.setLat(31.11250084);
|
ardRoutePoints30.setLon(103.75851462);
|
ardRoutePoints30.setSafeGohomeFlag(0);
|
ardRoutePoints30.setSpeed(8);
|
List<ArdRouteActions> actions30 = new ArrayList<>();
|
ArdRouteActions ardRouteActions30 = new ArdRouteActions();
|
ardRouteActions30.setParam(1);
|
ardRouteActions30.setSpeakInfo("");
|
ardRouteActions30.setType(2);
|
ardRouteActions30.setWaitTime(2);
|
actions30.add(ardRouteActions30);
|
ardRoutePoints30.setActions(actions30);
|
|
points.add(ardRoutePoints00);
|
points.add(ardRoutePoints10);
|
points.add(ardRoutePoints20);
|
points.add(ardRoutePoints30);
|
|
ardRouteChange.setPoints(points);
|
}
|
|
// private ArdRoutePoints buildArdRoutePoints(){
|
// ArdRoutePoints ardRoutePoints1 = new ArdRoutePoints();
|
// ardRoutePoints1.setDampingDistance(0);
|
// ardRoutePoints1.setFlightPathMode(1);
|
// ardRoutePoints1.setGroupIndex(0);
|
// ardRoutePoints1.setHeading(0);
|
// ardRoutePoints1.setHeadingMode(0);
|
// ardRoutePoints1.setHeight(50);
|
// ardRoutePoints1.setInterestIndex(0);
|
// ardRoutePoints1.setLat(31.11339916);
|
// ardRoutePoints1.setLon(103.75851462);
|
// ardRoutePoints1.setSafeGohomeFlag(0);
|
// ardRoutePoints1.setSpeed(8);
|
//
|
//
|
// }
|
|
// private ArdRouteActions buildArdRouteActions(){
|
// ArdRouteActions ardRouteActions0 = new ArdRouteActions();
|
// ardRouteActions0.setParam(10);
|
// ardRouteActions0.setSpeakInfo("");
|
// ardRouteActions0.setType(1);
|
// ardRouteActions0.setWaitTime(2);
|
// ArdRouteActions ardRouteActions1 = new ArdRouteActions();
|
// ardRouteActions1.setParam(10);
|
// ardRouteActions1.setSpeakInfo("");
|
// ardRouteActions1.setType(1);
|
// ardRouteActions1.setWaitTime(2);
|
// ArdRouteActions ardRouteActions2 = new ArdRouteActions();
|
// ardRouteActions2.setParam(10);
|
// ardRouteActions2.setSpeakInfo("");
|
// ardRouteActions2.setType(1);
|
// ardRouteActions2.setWaitTime(2);
|
// }
|
|
}
|
