forked from uav/ard-uav-server
ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java
@@ -3,7 +3,8 @@ import cn.hutool.core.collection.CollectionUtil; import cn.hutool.core.date.DateUtil; import cn.hutool.core.util.ObjectUtil; import com.ard.route.domain.*; import com.ard.route.domain.djuav.*; import com.ard.route.domain.djuav.kml.*; import com.ard.route.domain.kml.*; import com.ard.route.enums.kml.*; import com.ard.route.constant.FileTypeConstants; @@ -21,21 +22,12 @@ import java.util.zip.ZipEntry; import java.util.zip.ZipOutputStream; import static com.ard.route.util.ToolUtils.XML_HEADER; /** * 航线文件操作工具类 */ public class RouteFileUtils { /** * XML 头部 */ private static final String XML_HEADER = "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n"; /** * 生成的本地 kmz 文件存储路径 */ private static final String LOCAL_KMZ_FILE_PATH = "file" + File.separator + "kmz" + File.separator; /** * kml文件解析 @@ -57,33 +49,21 @@ /** * 生成航线 KMZ 文件 * * @param fileName 文件名 * @param kmlParams 参数对象 * @return 本地文件路径 */ public static String buildKmz(String fileName, KmlParams kmlParams) { KmlInfo kmlInfo = buildKml(kmlParams); KmlInfo wpmlInfo = buildWpml(kmlParams); return buildKmz(fileName, kmlInfo, wpmlInfo); } /** * 生成航线 KMZ 文件 * * @param fileName 文件名 * @param kmlInfo kml 文件信息 * @param wpmlInfo wpml 文件信息 * @return 本地文件路径 */ public static String buildKmz(String fileName, KmlInfo kmlInfo, KmlInfo wpmlInfo) { public static String buildKmzA(String fileName, KmlInfo kmlInfo, KmlInfo wpmlInfo, String kmzFilePath) { XStream xStream = new XStream(new DomDriver()); xStream.processAnnotations(KmlInfo.class); xStream.addImplicitCollection(KmlActionGroup.class, "action"); xStream.addImplicitCollection(KmlPlacemark.class, "actionGroup"); String kml = XML_HEADER + xStream.toXML(kmlInfo); String wpml = XML_HEADER + xStream.toXML(wpmlInfo); try (FileOutputStream fileOutputStream = new FileOutputStream(LOCAL_KMZ_FILE_PATH + fileName + ".kmz"); try (FileOutputStream fileOutputStream = new FileOutputStream(kmzFilePath + fileName + ".kmz"); ZipOutputStream zipOutputStream = new ZipOutputStream(fileOutputStream)) { zipOutputStream.setLevel(0); // 0 表示不压缩，存储方式 @@ -96,10 +76,10 @@ } catch (Exception e) { throw new RuntimeException(e); } return LOCAL_KMZ_FILE_PATH + fileName + ".kmz"; return kmzFilePath + fileName + ".kmz"; } private static void buildZipFile(String name, ZipOutputStream zipOutputStream, String content) throws IOException { public static void buildZipFile(String name, ZipOutputStream zipOutputStream, String content) throws IOException { ZipEntry kmlEntry = new ZipEntry(name); zipOutputStream.putNextEntry(kmlEntry); // 将内容写入 ZIP 条目 @@ -112,7 +92,6 @@ } zipOutputStream.closeEntry(); // 关闭条目 } public static KmlInfo buildKml(KmlParams kmlParams) { KmlInfo kmlInfo = new KmlInfo(); @@ -129,7 +108,7 @@ public static KmlDocument buildKmlDocument(String fileType, KmlParams kmlParams) { KmlDocument kmlDocument = new KmlDocument(); if (StringUtils.equals(fileType, FileTypeConstants.KML)) { kmlDocument.setAuthor("Cleaner"); kmlDocument.setAuthor("Ard-Creator"); kmlDocument.setCreateTime(String.valueOf(DateUtil.current())); kmlDocument.setUpdateTime(String.valueOf(DateUtil.current())); } @@ -140,7 +119,11 @@ public static KmlMissionConfig buildKmlMissionConfig(KmlParams kmlParams) { KmlMissionConfig kmlMissionConfig = new KmlMissionConfig(); kmlMissionConfig.setFlyToWayLineMode(FlyToWaylineModeEnums.SAFELY.getValue()); if (kmlParams.getFlyToWaylineMode() != null){ kmlMissionConfig.setFlyToWayLineMode(kmlParams.getFlyToWaylineMode()); }else { kmlMissionConfig.setFlyToWayLineMode(FlyToWaylineModeEnums.SAFELY.getValue()); } kmlMissionConfig.setFinishAction(kmlParams.getFinishAction()); if (StringUtils.isNotBlank(kmlParams.getExitOnRcLostAction())) { kmlMissionConfig.setExitOnRCLost(ExitOnRCLostEnums.EXECUTE_LOST_ACTION.getValue()); @@ -149,7 +132,11 @@ kmlMissionConfig.setExitOnRCLost(ExitOnRCLostEnums.GO_CONTINUE.getValue()); } kmlMissionConfig.setTakeOffSecurityHeight("20"); kmlMissionConfig.setGlobalTransitionalSpeed("15"); if (kmlParams.getGlobalTransitionalSpeed() != null){ kmlMissionConfig.setGlobalTransitionalSpeed(String.valueOf(kmlParams.getGlobalTransitionalSpeed())); }else { kmlMissionConfig.setGlobalTransitionalSpeed("15"); } kmlMissionConfig.setGlobalRTHHeight("100"); kmlMissionConfig.setTakeOffRefPoint(kmlParams.getTakeOffRefPoint()); kmlMissionConfig.setDroneInfo(buildKmlDroneInfo(kmlParams.getDroneType(), kmlParams.getSubDroneType())); @@ -173,9 +160,7 @@ kmlPayloadInfo.setPayloadEnumValue(String.valueOf(payloadType)); kmlPayloadInfo.setPayloadPositionIndex(String.valueOf(payloadPosition)); return kmlPayloadInfo; } public static KmlFolder buildKmlFolder(String fileType, KmlParams kmlParams) { KmlFolder kmlFolder = new KmlFolder(); @@ -183,13 +168,18 @@ kmlFolder.setAutoFlightSpeed(String.valueOf(kmlParams.getAutoFlightSpeed())); if (StringUtils.equals(fileType, FileTypeConstants.KML)) { kmlFolder.setTemplateType(kmlParams.getTemplateType()); kmlFolder.setWaylineCoordinateSysParam(buildKmlWayLineCoordinateSysParam(TemplateTypeEnums.WAYPOINT.getValue())); kmlFolder.setWaylineCoordinateSysParam(buildKmlWayLineCoordinateSysParam(kmlParams.getTemplateType(), HeightModeEnums.RELATIVE_TO_START_POINT.getValue(), String.valueOf(kmlParams.getGlobalHeight()))); kmlFolder.setPayloadParam(buildKmlPayloadParam(kmlParams)); } if (StringUtils.equals(fileType, FileTypeConstants.WPML)) { kmlFolder.setWaylineId("0"); kmlFolder.setExecuteHeightMode(ExecuteHeightModeEnums.RELATIVE_TO_START_POINT.getValue()); // TODO 航线初始动作 if (CollectionUtil.isNotEmpty(kmlParams.getStartActionList())) { KmlActionGroup kmlActionGroup = new KmlActionGroup(); kmlActionGroup.setAction(getKmlActionList(kmlParams.getStartActionList(), kmlParams)); kmlFolder.setStartActionGroup(kmlActionGroup); } } // 航点类型模板航线配置 if (StringUtils.equals(kmlFolder.getTemplateType(), TemplateTypeEnums.WAYPOINT.getValue())) { @@ -230,12 +220,6 @@ if (CollectionUtil.isNotEmpty(routePointList)) { List<KmlPlacemark> kmlPlacemarkList = new ArrayList<>(); for (RoutePointInfo routePointInfo : routePointList) { // ActionTriggerReq actionTriggerReq = new ActionTriggerReq(); // actionTriggerReq.setActionTriggerType(StringUtils.equals(kmlParams.getMappingTypeReq().getShootType(), ShootTypeEnums.TIME.getValue()) ? // ActionTriggerTypeEnums.MULTIPLE_TIMING.getValue() : // ActionTriggerTypeEnums.MULTIPLE_DISTANCE.getValue()); // actionTriggerReq.setActionTriggerParam(2.0); // RoutePointInfo.setActionTriggerReq(actionTriggerReq); kmlPlacemarkList.add(buildKmlPlacemark(routePointInfo, kmlParams, fileType)); } kmlFolder.setPlacemarkList(kmlPlacemarkList); @@ -245,18 +229,56 @@ return kmlFolder; } /** * 构建航点动作 * * @param actionList 航点动作列表 * @param kmlParams * @return */ private static List<KmlAction> getKmlActionList(List<PointActionReq> actionList, KmlParams kmlParams) { List<KmlAction> kmlActionList = new ArrayList<>(); for (PointActionReq pointActionReq : actionList) { if (ObjectUtil.isNotNull(pointActionReq.getHoverTime())) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.HOVER.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getAircraftHeading())) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.ROTATE_YAW.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getTakePhotoType()) && ObjectUtil.equals(pointActionReq.getTakePhotoType(), 0)) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.TAKE_PHOTO.getValue(), pointActionReq, kmlParams)); } else if ((ObjectUtil.isNotNull(pointActionReq.getGimbalYawRotateAngle())) || (ObjectUtil.isNotNull(pointActionReq.getGimbalPitchRotateAngle()))) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.GIMBAL_ROTATE.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getZoom())) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.ZOOM.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getTakePhotoType()) && ObjectUtil.equals(pointActionReq.getTakePhotoType(), 1)) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.PANO_SHOT.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getStartRecord()) && pointActionReq.getStartRecord()) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.START_RECORD.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getStopRecord()) && pointActionReq.getStopRecord()) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.STOP_RECORD.getValue(), pointActionReq, kmlParams)); } } return kmlActionList; } public static KmlWayLineCoordinateSysParam buildKmlWayLineCoordinateSysParam(String templateType) { /** * 构造坐标系参数信息 * * @param templateType 航线模板类型 * @param heightMode 高度模式 * @param height 高度 * @return 坐标系参数信息 */ public static KmlWayLineCoordinateSysParam buildKmlWayLineCoordinateSysParam(String templateType, String heightMode, String height) { KmlWayLineCoordinateSysParam kmlWayLineCoordinateSysParam = new KmlWayLineCoordinateSysParam(); kmlWayLineCoordinateSysParam.setCoordinateMode("WGS84"); kmlWayLineCoordinateSysParam.setHeightMode(HeightModeEnums.RELATIVE_TO_START_POINT.getValue()); kmlWayLineCoordinateSysParam.setHeightMode(heightMode); kmlWayLineCoordinateSysParam.setPositioningType(PositioningTypeEnums.GPS.getValue()); if (StringUtils.equals(templateType, TemplateTypeEnums.MAPPING2D.getValue()) || StringUtils.equals(templateType, TemplateTypeEnums.MAPPING3D.getValue()) || StringUtils.equals(templateType, TemplateTypeEnums.MAPPING_STRIP.getValue())) { kmlWayLineCoordinateSysParam.setGlobalShootHeight("50"); kmlWayLineCoordinateSysParam.setGlobalShootHeight(height); kmlWayLineCoordinateSysParam.setSurfaceFollowModeEnable("1"); kmlWayLineCoordinateSysParam.setSurfaceRelativeHeight("100"); kmlWayLineCoordinateSysParam.setSurfaceRelativeHeight(height); } return kmlWayLineCoordinateSysParam; } @@ -275,7 +297,6 @@ // 0: 不上色 1: 真彩上色 kmlPayloadParam.setModelColoringEnable("1"); kmlPayloadParam.setImageFormat(kmlParams.getImageFormat()); return kmlPayloadParam; } @@ -290,7 +311,6 @@ } kmlGlobalWaypointHeadingParam.setWaypointHeadingPathMode(WaypointHeadingPathModeEnums.FOLLOW_BAD_ARC.getValue()); return kmlGlobalWaypointHeadingParam; } public static KmlPlacemark buildKmlPlacemark(RoutePointInfo routePointInfo, KmlParams kmlParams, String fileType) { @@ -308,8 +328,12 @@ kmlPlacemark.setGimbalPitchAngle(String.valueOf(routePointInfo.getGimbalPitchAngle())); } } if (CollectionUtil.isNotEmpty(routePointInfo.getActions())) { kmlPlacemark.setActionGroup(buildKmlActionGroup(routePointInfo, kmlParams)); if (CollectionUtil.isNotEmpty(routePointInfo.getActionGroupList())) { List<KmlActionGroup> kmlActionGroupList = new ArrayList<>(); for (ActionGroupReq actionGroupReq : routePointInfo.getActionGroupList()) { kmlActionGroupList.add(buildKmlActionGroup(actionGroupReq, kmlParams)); } kmlPlacemark.setActionGroup(kmlActionGroupList); } return kmlPlacemark; } @@ -333,22 +357,16 @@ private static KmlOverlap buildKmlOverlap(String collectionMethod, String lensType, Integer overlapH, Integer overlapW) { KmlOverlap overlap = new KmlOverlap(); if (StringUtils.equals(collectionMethod, CollectionMethodEnums.ORTHO.getValue())) { if (StringUtils.equals(lensType, LensTypeEnums.LIDAR.getValue())) { overlap.setOrthoLidarOverlapH(String.valueOf(overlapH)); overlap.setOrthoLidarOverlapW(String.valueOf(overlapW)); } else { overlap.setOrthoCameraOverlapH(String.valueOf(overlapH)); overlap.setOrthoCameraOverlapW(String.valueOf(overlapW)); } if (StringUtils.equals(collectionMethod, LensTypeEnums.CAMERA.getValue())) { overlap.setOrthoCameraOverlapH(String.valueOf(overlapH)); overlap.setOrthoCameraOverlapW(String.valueOf(overlapW)); overlap.setInclinedCameraOverlapW(String.valueOf(overlapW)); overlap.setInclinedCameraOverlapH(String.valueOf(overlapH)); } else { if (StringUtils.equals(lensType, LensTypeEnums.LIDAR.getValue())) { overlap.setInclinedLidarOverlapH(String.valueOf(overlapH)); overlap.setInclinedCameraOverlapW(String.valueOf(overlapW)); } else { overlap.setInclinedCameraOverlapH(String.valueOf(overlapH)); overlap.setInclinedCameraOverlapW(String.valueOf(overlapW)); } overlap.setOrthoLidarOverlapH(String.valueOf(overlapH)); overlap.setOrthoLidarOverlapW(String.valueOf(overlapW)); overlap.setInclinedLidarOverlapH(String.valueOf(overlapH)); overlap.setInclinedLidarOverlapW(String.valueOf(overlapW)); } return overlap; } @@ -356,7 +374,6 @@ private static KmlPolygon buildKmlPolygon(List<CoordinatePointReq> coordinatePointReqList) { KmlPolygon kmlPolygon = new KmlPolygon(); KmlLinearRing kmlLinearRing = new KmlLinearRing(); String coordinates = coordinatePointReqList.stream().map(point -> point.getLongitude() + "," + point.getLatitude() + "," + point.getHeight()) .collect(Collectors.joining(", ")); kmlLinearRing.setCoordinates(StringUtils.join(coordinates, " ")); @@ -405,9 +422,7 @@ kmlPlacemark.setWaypointHeadingParam(buildKmlWaypointHeadingParam(globalWaypointHeading.getWaypointHeadingMode(), globalWaypointHeading.getWaypointHeadingAngle(), globalWaypointHeading.getWaypointPoiPoint())); } } } private static void handleSpeed(RoutePointInfo routePointInfo, KmlParams kmlParams, String fileType, KmlPlacemark kmlPlacemark) { if (ObjectUtil.isNotEmpty(routePointInfo.getSpeed())) { @@ -477,47 +492,15 @@ return kmlWaypointTurnParam; } public static KmlActionGroup buildKmlActionGroup(RoutePointInfo routePointInfo, KmlParams kmlParams) { public static KmlActionGroup buildKmlActionGroup(ActionGroupReq actionGroupReq, KmlParams kmlParams) { KmlActionGroup kmlActionGroup = new KmlActionGroup(); kmlActionGroup.setActionGroupId(String.valueOf(routePointInfo.getRoutePointIndex())); kmlActionGroup.setActionGroupStartIndex(String.valueOf(routePointInfo.getRoutePointIndex())); kmlActionGroup.setActionGroupEndIndex(String.valueOf(ObjectUtil.isNotNull(routePointInfo.getEndIntervalRouteIndex()) ? routePointInfo.getEndIntervalRouteIndex() : routePointInfo.getRoutePointIndex())); kmlActionGroup.setActionGroupId(String.valueOf(actionGroupReq.getActionGroupId())); kmlActionGroup.setActionGroupStartIndex(String.valueOf(actionGroupReq.getActionGroupStartIndex())); kmlActionGroup.setActionGroupEndIndex(String.valueOf(actionGroupReq.getActionGroupEndIndex())); kmlActionGroup.setActionGroupMode(ActionGroupModeEnums.SEQUENCE.getValue()); String actionTriggerType = ActionTriggerTypeEnums.REACH_POINT.getValue(); Double actionTriggerParam = 0.0; if (ObjectUtil.isNotNull(routePointInfo.getTimeInterval())) { actionTriggerType = ActionTriggerTypeEnums.MULTIPLE_TIMING.getValue(); actionTriggerParam = routePointInfo.getTimeInterval(); } else if (ObjectUtil.isNotNull(routePointInfo.getDistanceInterval())) { actionTriggerType = ActionTriggerTypeEnums.MULTIPLE_DISTANCE.getValue(); actionTriggerParam = routePointInfo.getDistanceInterval(); } kmlActionGroup.setActionTrigger(buildKmlActionTrigger(actionTriggerType, actionTriggerParam)); List<KmlAction> kmlActionList = new ArrayList<>(); for (PointActionReq pointActionReq : routePointInfo.getActions()) { if (ObjectUtil.isNotNull(pointActionReq.getHoverTime())) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.HOVER.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getAircraftHeading())) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.ROTATE_YAW.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getTakePhotoType()) && ObjectUtil.equals(pointActionReq.getTakePhotoType(), 0)) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.TAKE_PHOTO.getValue(), pointActionReq, kmlParams)); } else if ((ObjectUtil.isNotNull(pointActionReq.getGimbalYawRotateAngle())) || (ObjectUtil.isNotNull(pointActionReq.getGimbalPitchRotateAngle()))) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.GIMBAL_ROTATE.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getZoom())) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.ZOOM.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getTakePhotoType()) && ObjectUtil.equals(pointActionReq.getTakePhotoType(), 1)) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.PANO_SHOT.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getStartRecord()) && pointActionReq.getStartRecord()) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.START_RECORD.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getStopRecord()) && pointActionReq.getStopRecord()) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.STOP_RECORD.getValue(), pointActionReq, kmlParams)); } } kmlActionGroup.setAction(kmlActionList); kmlActionGroup.setActionTrigger(buildKmlActionTrigger(actionGroupReq.getActionTriggerType(), actionGroupReq.getActionTriggerParam())); kmlActionGroup.setAction(getKmlActionList(actionGroupReq.getActions(), kmlParams)); return kmlActionGroup; } @@ -544,7 +527,11 @@ if (StringUtils.equals(actionActuatorFunc, ActionActuatorFuncEnums.TAKE_PHOTO.getValue()) || StringUtils.equals(actionActuatorFunc, ActionActuatorFuncEnums.START_RECORD.getValue())) { kmlActionActuatorFuncParam.setPayloadPositionIndex(String.valueOf(kmlParams.getPayloadPosition())); kmlActionActuatorFuncParam.setFileSuffix(""); if (pointActionReq.getFileSuffix() != null){ kmlActionActuatorFuncParam.setFileSuffix(pointActionReq.getFileSuffix()); }else { kmlActionActuatorFuncParam.setFileSuffix("panoramicPhoto_360"); } kmlActionActuatorFuncParam.setUseGlobalPayloadLensIndex(String.valueOf(pointActionReq.getUseGlobalImageFormat())); if (ObjectUtil.equals(pointActionReq.getUseGlobalImageFormat(), 0)) { kmlActionActuatorFuncParam.setPayloadLensIndex(pointActionReq.getImageFormat()); @@ -586,7 +573,11 @@ } else if (StringUtils.equals(actionActuatorFunc, ActionActuatorFuncEnums.PANO_SHOT.getValue())) { kmlActionActuatorFuncParam.setPayloadPositionIndex(String.valueOf(kmlParams.getPayloadPosition())); kmlActionActuatorFuncParam.setUseGlobalPayloadLensIndex(String.valueOf(pointActionReq.getUseGlobalImageFormat())); kmlActionActuatorFuncParam.setPanoShotSubMode("panoShot_360"); if (pointActionReq.getFileSuffix()!=null){ kmlActionActuatorFuncParam.setPanoShotSubMode(pointActionReq.getPanoShotSubMode()); }else { kmlActionActuatorFuncParam.setPanoShotSubMode("panoShot_360"); } if (ObjectUtil.equals(pointActionReq.getUseGlobalImageFormat(), 0)) { kmlActionActuatorFuncParam.setPayloadLensIndex(pointActionReq.getImageFormat()); } else {
