智云3.0机场1适配内容提交

nishiwei

5 days ago 3f43e40ed1a1e9f66b3ad2862da9dbc4b710c712

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

@@ -1,6 +1,18 @@
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 com.ard.route.enums.kml.DroneEnumValueEnums;
import com.ard.route.enums.kml.PayloadTypeEnums;

import java.util.ArrayList;
import java.util.List;
import java.util.Objects;

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

/**
 * 初始化数据
@@ -8,7 +20,12 @@
 */
public class InitializationUtils {

    private static final Double CHANSI_H20 = 23.76237623;
    // 禅思H20T 公倍数
    private static final Double CHANSI_H20T = 23.76237623;

    // 禅思H20T 焦距值
    private static final Double CHANSI_H20_FOCUS = 6.83;

    private static final String WAYPOINT_TURN_MODE_DEFAULT = "toPointAndStopWithDiscontinuityCurvature";

    /**
@@ -17,12 +34,25 @@
    public UavRouteReq initialization(UavRouteReq uavRouteReq){
        uavRouteReq.setTemplateType("waypoint");
        // 起始点默认航线第一个点
        uavRouteReq.setTakeOffRefPoint(
                uavRouteReq.getRoutePointList().get(0).getLatitude() + "," +
                        uavRouteReq.getRoutePointList().get(0).getLongitude() + "," + "0");
        if (uavRouteReq.getTakeOffRefPoint() == null){
            uavRouteReq.setTakeOffRefPoint(
                    uavRouteReq.getRoutePointList().get(0).getLatitude() + "," +
                            uavRouteReq.getRoutePointList().get(0).getLongitude() + "," +
                            uavRouteReq.getRoutePointList().get(0).getHeight());
        }
        //uavRouteReq.setDroneType(89);
        uavRouteReq.setSubDroneType(0);
        uavRouteReq.setPayloadType(43);
        // 机场1：M30/M30T 使用机身自带双光/三光相机，payloadEnumValue 分别为 52/53，
        // 不能沿用 H20T(43)。其余机型保持原有逻辑，机场2/3 的航线生成结果不变。
        if (Objects.equals(DroneEnumValueEnums.M30_M30T.getValue(), uavRouteReq.getDroneType())) {
            if (uavRouteReq.getSubDroneType() == null) {
                uavRouteReq.setSubDroneType(0);
            }
            uavRouteReq.setPayloadType(Objects.equals(1, uavRouteReq.getSubDroneType())
                    ? PayloadTypeEnums.M30T.getValue() : PayloadTypeEnums.M30.getValue());
        } else {
            uavRouteReq.setSubDroneType(0);
            uavRouteReq.setPayloadType(43);
        }
        uavRouteReq.setPayloadPosition(0);
        uavRouteReq.setImageFormat("wide");
        uavRouteReq.setFinishAction("goHome");
@@ -36,27 +66,75 @@
        if (uavRouteReq.getGlobalWaypointTurnMode() != null){
            waypointTurnReq.setWaypointTurnMode(uavRouteReq.getGlobalWaypointTurnMode());
        }else {
            waypointTurnReq.setWaypointTurnMode("toPointAndStopWithDiscontinuityCurvature");
            waypointTurnReq.setWaypointTurnMode(WAYPOINT_TURN_MODE_DEFAULT);
        }
        uavRouteReq.setWaypointTurnReq(waypointTurnReq);
        uavRouteReq.setGimbalPitchMode("usePointSetting");
        //buildZoom(uavRouteReq);
        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
        buildActionGroupReq(uavRouteReq);
        return uavRouteReq;
    }

    /**
     * 构建动作组编号
     */
    public void buildActionGroupReq(UavRouteReq uavRouteReq){
        int pointActionCounter = 0;
        for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
            if (routePointReq.getActionGroupList() != null){
                for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
                    actionGroupReq.setActionGroupId(pointActionCounter++);
                    actionGroupReq.setActionGroupStartIndex(routePointReq.getRoutePointIndex());
                    actionGroupReq.setActionGroupEndIndex(routePointReq.getRoutePointIndex());
                    actionGroupReq.setActionTriggerType("reachPoint");
                }

            }
        }
    }

    /**
     * 修改每个航点的高度
     * 根据起飞点高度减去当前航点高度
     */
    public void buildHeight(UavRouteReq uavRouteReq){
        if (!"EGM96".equals(uavRouteReq.getHeightMode())){
            double takeOffHeight = getDoublePoint(uavRouteReq.getTakeOffRefPoint(),"alt");
            for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
                routePointReq.setHeight(routePointReq.getHeight() - takeOffHeight);
            }
        }
    }

    /**
     * 变焦动作加工
     */
    private UavRouteReq buildZoom(UavRouteReq uavRouteReq){
    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(action.getZoom() * CHANSI_H20);
            if (!routePointReq.getActionGroupList().isEmpty()){
                for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
                    for (PointActionReq action : actionGroupReq.getActions()) {
                        if (action.getZoom() != null){
                            action.setZoom(multiple23(action.getZoom()));
                        }
                    }
                }
            }
        }
        return uavRouteReq;
    }

    public static Double multiple23(Double zoom){
        return zoom * CHANSI_H20T;
    }

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

}