forked from uav/ard-uav-server
blame | history | patch | commit | commitdiff | ignore whitespace
Xiajijian
2025-11-26 251a426253284826bdf2828c25042fec3923919d 
 ard-route/src/main/java/com/ard/route/util/InitializationUtils.java


@@ -1,6 +1,12 @@


package com.ard.route.util;




import com.ard.route.domain.*;


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;




/**


 * 初始化数据


@@ -61,4 +67,201 @@


        }


        return uavRouteReq;


    }




    /**


     * 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);


//    }




    public byte[] testParameters() {


        String data = "74 79 01 3C 44 42 4D 32 35 30 39 37 34 30 36 35 30 30 38 D1 00 10 08 01 15 00 00 70 41 1D 00 00 00 41 22 4A 09 06 9C E7 80 8B F0 59 40 11 08 98 33 BA 07 1D 3F 40 1D 00 00 F0 41 25 00 00 00 41 2A 09 08 01 15 00 00 20 41 18 02 2A 09 08 03 15 00 00 80 3F 18 02 2A 09 08 04 15 00 00 80 3F 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 22 55 09 F1 BC 12 50 7A F0 59 40 11 08 98 33 BA 07 1D 3F 40 1D 00 00 20 42 25 00 00 00 41 2A 09 08 09 15 00 00 A0 41 18 02 2A 09 08 06 15 00 00 20 42 18 02 2A 09 08 07 15 00 00 20 42 18 02 2A 09 08 08 15 00 00 20 42 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 22 3F 09 F1 BC 12 50 7A F0 59 40 11 91 92 E4 DA CC 1C 3F 40 1D 00 00 48 42 25 00 00 00 41 2A 09 08 09 15 00 00 70 41 18 02 2A 09 08 0A 15 00 00 40 40 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 22 34 09 06 9C E7 80 8B F0 59 40 11 91 92 E4 DA CC 1C 3F 40 1D 00 00 70 42 25 00 00 00 41 2A 09 08 02 15 00 00 80 3F 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 30 32 70 32";


        String[] hexStrings = data.split(" ");


        StringBuilder sb = new StringBuilder();


        sb.append("byte[] encodedBytes = {");


        for (int i = 0; i < hexStrings.length; i++) {


            sb.append("(byte) 0x").append(hexStrings[i]);


            if (i < hexStrings.length - 1) {


                sb.append(", ");


            }


        }


        sb.append("};");


        return sb.toString().getBytes();


    }


}