Merge remote-tracking branch 'origin/dev' into dev

zhaowenyu

2026-03-11 2acf49278129e5870d8b775519a2bc1461294fb8

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

@@ -8,6 +8,7 @@
import java.util.ArrayList;
import java.util.List;

import static com.ard.route.enums.kml.DroneEnumValueEnums.M350_RTK;
import static com.ard.route.util.ToolUtils.getDoublePoint;

/**
@@ -30,7 +31,7 @@
    public UavRouteReq initialization(UavRouteReq uavRouteReq){
        uavRouteReq.setTemplateType("waypoint");
        // 起始点默认航线第一个点
        if (uavRouteReq.getTakeOffRefPoint().isEmpty()){
        if (uavRouteReq.getTakeOffRefPoint() == null){
            uavRouteReq.setTakeOffRefPoint(
                    uavRouteReq.getRoutePointList().get(0).getLatitude() + "," +
                            uavRouteReq.getRoutePointList().get(0).getLongitude() + "," + "0");
@@ -55,8 +56,11 @@
        }
        uavRouteReq.setWaypointTurnReq(waypointTurnReq);
        uavRouteReq.setGimbalPitchMode("usePointSetting");
        // 变焦数值加工
        buildZoom(uavRouteReq);
        uavRouteReq.setHeightMode("EGM96");
        if (M350_RTK.getValue().equals(uavRouteReq.getDroneType())) {
            // 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
@@ -98,31 +102,24 @@
     */
    private void buildZoom(UavRouteReq uavRouteReq){
        for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
            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()));
            if (!routePointReq.getActionGroupList().isEmpty()){
                for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
                    for (PointActionReq action : actionGroupReq.getActions()) {
                        if (action.getZoom() != null){
                            action.setZoom(multiple23(action.getZoom()));
                        }
                    }
                }
            }
        }
    }

    public static Double multiple_23(Double zoom){
    public static Double multiple23(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){
    public static Double divided23(Double zoom){
        return zoom / CHANSI_H20T;
    }

    public static Double divided_6(Double zoom){
        return zoom / CHANSI_H20_FOCUS;
    }

    /**
@@ -271,40 +268,5 @@

        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);
//    }

}