forked from uav/ard-uav-server
ard-route/src/main/java/com/ard/route/util/UavRouteReqUtils.java
@@ -1,18 +1,21 @@ package com.ard.route.util; import com.ard.oss.service.impl.OssServiceContext; import com.ard.route.domain.djuav.ActionGroupReq; import com.ard.route.domain.djuav.PointActionReq; import com.ard.route.domain.djuav.RoutePointReq; import com.ard.route.domain.djuav.UavRouteReq; import com.ard.route.domain.djuav.kml.*; import com.ard.route.domain.route.ArdRouteInfo; import com.ard.route.domain.vo.KmzInfoVo; import com.ard.work.domain.dto.state.PointData; import com.ard.work.domain.dto.wayline.PlanLineData; import com.ard.work.domain.dto.wayline.PointAction; import com.ard.work.domain.dto.wayline.WayLineUploadDTO; import org.apache.commons.compress.archivers.ArchiveEntry; import org.apache.commons.compress.archivers.ArchiveInputStream; import org.apache.commons.compress.archivers.zip.ZipArchiveInputStream; import org.springframework.web.multipart.MultipartFile; import javax.annotation.Resource; import java.io.InputStream; import java.util.ArrayList; import java.util.List; @@ -22,11 +25,8 @@ public class UavRouteReqUtils { @Resource private OssServiceContext ossService; // 将文件转换成 UavRouteReq 实体 public static KmzInfoVo fileConversionEntity(MultipartFile file){ public static UavRouteReq fileConversionEntity(MultipartFile file){ KmzInfoVo kmzInfoVO = new KmzInfoVo(); try (InputStream inputStream = file.getInputStream(); ArchiveInputStream archiveInputStream = new ZipArchiveInputStream(inputStream)){ @@ -39,14 +39,14 @@ kmzInfoVO.setWpmlInfo(RouteFileUtils.parseKml(archiveInputStream)); } } return kmzInfoVO; return kmzInfoVoToUavRouteReq(kmzInfoVO); }catch (Exception e) { e.printStackTrace(); } return null; } public static UavRouteReq kmzInfoVOToUavRouteReq(KmzInfoVo vo) { public static UavRouteReq kmzInfoVoToUavRouteReq(KmzInfoVo vo) { UavRouteReq uavRouteReq = new UavRouteReq(); if (vo.getKmlInfo().getDocument().getFolder().getTemplateType() != null){ uavRouteReq.setTemplateType(vo.getKmlInfo().getDocument().getFolder().getTemplateType()); @@ -119,16 +119,161 @@ pointActionReq.setGimbalYawRotateAngle(Double.valueOf(kmlAction.getActionActuatorFuncParam().getGimbalYawRotateAngle())); } } if ("zoom".equals(kmlAction.getActionActuatorFunc())) { if ("zoom".equals(kmlAction.getActionActuatorFunc())) { // 变焦 pointActionReq.setZoom(Double.valueOf(kmlAction.getActionActuatorFuncParam().getFocalLength())); } if ("hover".equals(kmlAction.getActionActuatorFunc())) { if ("hover".equals(kmlAction.getActionActuatorFunc())) { // 悬停 pointActionReq.setHoverTime(Integer.valueOf(kmlAction.getActionActuatorFuncParam().getHoverTime())); } if ("rotateYaw".equals(kmlAction.getActionActuatorFunc())) { if ("rotateYaw".equals(kmlAction.getActionActuatorFunc())) { // 飞行器偏航 pointActionReq.setAircraftHeading(Double.valueOf(kmlAction.getActionActuatorFuncParam().getAircraftHeading())); } return pointActionReq; } /** * ArdRouteInfo实体转换，WayLineUploadDTO */ public static WayLineUploadDTO buildWayLineUploadDTO(ArdRouteInfo ardRouteInfo){ WayLineUploadDTO wayLineUploadDTO = new WayLineUploadDTO(); String finishAction = ardRouteInfo.getUavRouteReq().getFinishAction(); //1 Double autoFlightSpeed = ardRouteInfo.getUavRouteReq().getAutoFlightSpeed(); //15 Double globalTransitionalSpeed = ardRouteInfo.getUavRouteReq().getGlobalTransitionalSpeed(); //8 String exitOnRcLostAction = ardRouteInfo.getUavRouteReq().getExitOnRcLostAction(); //0 PlanLineData planLineData = new PlanLineData(); if (finishAction != null){ planLineData.setLoseAction(0); } if (autoFlightSpeed != null){ planLineData.setAutoSpeed(8); } planLineData.setMaxSpeed(15); // if (globalTransitionalSpeed != null){ // planLineData.setMaxSpeed(15); // } if (exitOnRcLostAction != null){ planLineData.setFinishedAction(1); } planLineData.setHomeHeight(50); planLineData.setInterests(new ArrayList<>()); planLineData.setIsSaveEnergyMode(0); planLineData.setPoints(buildPointDataList(ardRouteInfo.getUavRouteReq())); wayLineUploadDTO.setWayLineData(planLineData); return wayLineUploadDTO; } public static List<PointData> buildPointDataList(UavRouteReq uavRouteReq){ List<PointData> pointDataList = new ArrayList<>(); for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) { PointData pointData = new PointData(); Integer routePointIndex = routePointReq.getRoutePointIndex(); if (routePointIndex != null){ pointData.setGroupIndex(routePointIndex); } Double height = routePointReq.getHeight(); if (height != null){ pointData.setHeight(height.floatValue()); } Double longitude = routePointReq.getLongitude(); if (longitude != null){ pointData.setLng(longitude.floatValue()); } Double latitude = routePointReq.getLatitude(); if (latitude != null){ pointData.setLat(latitude.floatValue()); } Double speed = routePointReq.getSpeed(); if (speed != null){ pointData.setSpeed(speed.floatValue()); } pointData.setDampingDistance(0); pointData.setFlightPathMode(1); pointData.setHeading(0); pointData.setHeadingMode(0); pointData.setInterestIndex(-1); pointData.setSafeGohomeFlag(0); pointData.setActions(buildPointActionList(routePointReq.getActionGroupList())); pointDataList.add(pointData); } return pointDataList; } public static List<PointAction> buildPointActionList(List<ActionGroupReq> actionGroupList){ List<PointAction> pointActionList = new ArrayList<>(); for (ActionGroupReq actionGroupReq : actionGroupList) { for (PointActionReq action : actionGroupReq.getActions()) { PointAction pointAction = typeProcessing(action); pointActionList.add(pointAction); } } return pointActionList; } public static PointAction typeProcessing(PointActionReq pointActionReq){ PointAction pointAction = new PointAction(); if (pointActionReq.getZoom() != null){ pointAction.setType(1); pointAction.setParam(pointActionReq.getZoom().floatValue()); pointAction.setSpeakInfo(""); pointAction.setWaitTime(2); } if (pointActionReq.getTakePhotoType() != null){ pointAction.setType(2); pointAction.setParam(1); pointAction.setSpeakInfo(""); pointAction.setWaitTime(2); } if (pointActionReq.getStartRecord() != null){ pointAction.setType(3); pointAction.setParam(1); pointAction.setSpeakInfo(""); pointAction.setWaitTime(2); } if (pointActionReq.getStopRecord() != null){ pointAction.setType(4); pointAction.setParam(1); pointAction.setSpeakInfo(""); pointAction.setWaitTime(2); } if (pointActionReq.getAircraftHeading() != null){ pointAction.setType(5); pointAction.setParam(pointActionReq.getAircraftHeading().floatValue()); pointAction.setSpeakInfo(""); pointAction.setWaitTime(2); } if (pointActionReq.getGimbalPitchRotateAngle() != null){ pointAction.setType(6); pointAction.setParam(pointActionReq.getGimbalPitchRotateAngle().floatValue()); pointAction.setSpeakInfo(""); pointAction.setWaitTime(2); } if (pointActionReq.getGimbalYawRotateAngle() != null){ pointAction.setType(7); pointAction.setParam(pointActionReq.getGimbalYawRotateAngle().floatValue()); pointAction.setSpeakInfo(""); pointAction.setWaitTime(2); } if (pointActionReq.getHoverTime() != null){ pointAction.setType(9); pointAction.setParam(pointActionReq.getHoverTime().floatValue()); pointAction.setSpeakInfo(""); pointAction.setWaitTime(2); } return pointAction; } }
