1. 修改生成kmz文件核心代码，海拔高度相关信息。

Xiajijian

2026-03-07 1f6fafd5c0d26ac863e7d48b40c802fa962b07cb

 ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java

@@ -3,8 +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.kml.*;
import com.ard.route.domain.djuav.*;
import com.ard.route.domain.djuav.kml.*;
import com.ard.route.enums.kml.*;
import com.ard.route.constant.FileTypeConstants;
import com.thoughtworks.xstream.XStream;
@@ -36,12 +36,19 @@
     */
    public static KmlInfo parseKml(InputStream inputStream) {
        XStream xStream = new XStream();
        xStream.allowTypes(new Class[]{KmlInfo.class, KmlAction.class, KmlWayLineCoordinateSysParam.class, KmlPoint.class});
        xStream.allowTypes(new Class[]{
                KmlInfo.class,
                KmlAction.class,
                KmlWayLineCoordinateSysParam.class,
                KmlPoint.class,
                KmlActionGroup.class
        });
        xStream.alias("kml", KmlInfo.class);
        xStream.processAnnotations(KmlInfo.class);
        xStream.autodetectAnnotations(true);
        xStream.ignoreUnknownElements();
        xStream.addImplicitCollection(KmlActionGroup.class, "action");
        xStream.addImplicitCollection(KmlPlacemark.class, "actionGroup");
        return (KmlInfo) xStream.fromXML(inputStream);
    }

@@ -136,7 +143,9 @@
        }else {
            kmlMissionConfig.setGlobalTransitionalSpeed("15");
        }
        kmlMissionConfig.setGlobalRTHHeight("100");
        if (kmlParams.getHeightMode().equals(HeightModeEnums.RELATIVE_TO_START_POINT.getValue())){
            kmlMissionConfig.setGlobalRTHHeight("100");
        }
        kmlMissionConfig.setTakeOffRefPoint(kmlParams.getTakeOffRefPoint());
        kmlMissionConfig.setDroneInfo(buildKmlDroneInfo(kmlParams.getDroneType(), kmlParams.getSubDroneType()));
        kmlMissionConfig.setPayloadInfo(buildKmlPayloadInfo(kmlParams.getPayloadType(), kmlParams.getPayloadPosition()));
@@ -148,7 +157,8 @@
        kmlDroneInfo.setDroneEnumValue(String.valueOf(droneType));
        if (Objects.equals(droneType, DroneEnumValueEnums.M30_M30T.getValue()) ||
                Objects.equals(droneType, DroneEnumValueEnums.M3D_M3TD.getValue()) ||
                Objects.equals(droneType, DroneEnumValueEnums.M3E_M3T_M3M.getValue())) {
                Objects.equals(droneType, DroneEnumValueEnums.M3E_M3T_M3M.getValue())||
                Objects.equals(droneType, DroneEnumValueEnums.MATRICE_4D.getValue())) {
            kmlDroneInfo.setDroneSubEnumValue(String.valueOf(subDroneType));
        }
        return kmlDroneInfo;
@@ -167,13 +177,28 @@
        kmlFolder.setAutoFlightSpeed(String.valueOf(kmlParams.getAutoFlightSpeed()));
        if (StringUtils.equals(fileType, FileTypeConstants.KML)) {
            kmlFolder.setTemplateType(kmlParams.getTemplateType());
            kmlFolder.setWaylineCoordinateSysParam(buildKmlWayLineCoordinateSysParam(kmlParams.getTemplateType(), HeightModeEnums.RELATIVE_TO_START_POINT.getValue(),
                    String.valueOf(kmlParams.getGlobalHeight())));
            if (kmlParams.getHeightMode().equals(HeightModeEnums.RELATIVE_TO_START_POINT.getValue())){
                kmlFolder.setWaylineCoordinateSysParam(
                        buildKmlWayLineCoordinateSysParam(
                                kmlParams.getTemplateType(),
                                HeightModeEnums.RELATIVE_TO_START_POINT.getValue(),
                                String.valueOf(kmlParams.getGlobalHeight())));
            }else if(kmlParams.getHeightMode().equals(HeightModeEnums.EGM96.getValue())){
                kmlFolder.setWaylineCoordinateSysParam(
                        buildKmlWayLineCoordinateSysParam(
                                kmlParams.getTemplateType(),
                                HeightModeEnums.EGM96.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());
            if (kmlParams.getHeightMode().equals(HeightModeEnums.RELATIVE_TO_START_POINT.getValue())){
                kmlFolder.setExecuteHeightMode(ExecuteHeightModeEnums.RELATIVE_TO_START_POINT.getValue());
            } else if (kmlParams.getHeightMode().equals(HeightModeEnums.EGM96.getValue())) {
                kmlFolder.setExecuteHeightMode(ExecuteHeightModeEnums.WGS84.getValue());
            }
            if (CollectionUtil.isNotEmpty(kmlParams.getStartActionList())) {
                KmlActionGroup kmlActionGroup = new KmlActionGroup();
                kmlActionGroup.setAction(getKmlActionList(kmlParams.getStartActionList(), kmlParams));
@@ -330,7 +355,9 @@
        if (CollectionUtil.isNotEmpty(routePointInfo.getActionGroupList())) {
            List<KmlActionGroup> kmlActionGroupList = new ArrayList<>();
            for (ActionGroupReq actionGroupReq : routePointInfo.getActionGroupList()) {
                kmlActionGroupList.add(buildKmlActionGroup(actionGroupReq, kmlParams));
                if (ObjectUtil.isNotEmpty(actionGroupReq.getActions())){
                    kmlActionGroupList.add(buildKmlActionGroup(actionGroupReq, kmlParams));
                }
            }
            kmlPlacemark.setActionGroup(kmlActionGroupList);
        }
@@ -493,13 +520,13 @@

    public static KmlActionGroup buildKmlActionGroup(ActionGroupReq actionGroupReq, KmlParams kmlParams) {
        KmlActionGroup kmlActionGroup = new KmlActionGroup();
        kmlActionGroup.setActionGroupId(String.valueOf(actionGroupReq.getActionGroupId()));
        kmlActionGroup.setActionGroupStartIndex(String.valueOf(actionGroupReq.getActionGroupStartIndex()));
        kmlActionGroup.setActionGroupEndIndex(String.valueOf(actionGroupReq.getActionGroupEndIndex()));
        kmlActionGroup.setActionGroupMode(ActionGroupModeEnums.SEQUENCE.getValue());
            kmlActionGroup.setActionGroupId(String.valueOf(actionGroupReq.getActionGroupId()));
            kmlActionGroup.setActionGroupStartIndex(String.valueOf(actionGroupReq.getActionGroupStartIndex()));
            kmlActionGroup.setActionGroupEndIndex(String.valueOf(actionGroupReq.getActionGroupEndIndex()));
            kmlActionGroup.setActionGroupMode(ActionGroupModeEnums.SEQUENCE.getValue());

        kmlActionGroup.setActionTrigger(buildKmlActionTrigger(actionGroupReq.getActionTriggerType(), actionGroupReq.getActionTriggerParam()));
        kmlActionGroup.setAction(getKmlActionList(actionGroupReq.getActions(), kmlParams));
            kmlActionGroup.setActionTrigger(buildKmlActionTrigger(actionGroupReq.getActionTriggerType(), actionGroupReq.getActionTriggerParam()));
            kmlActionGroup.setAction(getKmlActionList(actionGroupReq.getActions(), kmlParams));
        return kmlActionGroup;
    }

@@ -531,7 +558,11 @@
            }else {
                kmlActionActuatorFuncParam.setFileSuffix("panoramicPhoto_360");
            }
            kmlActionActuatorFuncParam.setUseGlobalPayloadLensIndex(String.valueOf(pointActionReq.getUseGlobalImageFormat()));
            if (pointActionReq.getUseGlobalImageFormat() != null) {
                kmlActionActuatorFuncParam.setUseGlobalPayloadLensIndex(String.valueOf(pointActionReq.getUseGlobalImageFormat()));
            }else {
                kmlActionActuatorFuncParam.setUseGlobalPayloadLensIndex("0");
            }
            if (ObjectUtil.equals(pointActionReq.getUseGlobalImageFormat(), 0)) {
                kmlActionActuatorFuncParam.setPayloadLensIndex(pointActionReq.getImageFormat());
            } else {