forked from uav/ard-uav-server
ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
@@ -4,9 +4,12 @@ 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; @@ -34,11 +37,22 @@ if (uavRouteReq.getTakeOffRefPoint() == null){ uavRouteReq.setTakeOffRefPoint( uavRouteReq.getRoutePointList().get(0).getLatitude() + "," + uavRouteReq.getRoutePointList().get(0).getLongitude() + "," + "0"); 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"); @@ -56,7 +70,6 @@ } uavRouteReq.setWaypointTurnReq(waypointTurnReq); uavRouteReq.setGimbalPitchMode("usePointSetting"); uavRouteReq.setHeightMode("EGM96"); if (M350_RTK.getValue().equals(uavRouteReq.getDroneType())) { // 变焦数值加工 buildZoom(uavRouteReq); @@ -91,9 +104,11 @@ * 根据起飞点高度减去当前航点高度 */ public void buildHeight(UavRouteReq uavRouteReq){ double takeOffHeight = getDoublePoint(uavRouteReq.getTakeOffRefPoint(),"alt"); for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) { routePointReq.setHeight(routePointReq.getHeight() - takeOffHeight); if (!"EGM96".equals(uavRouteReq.getHeightMode())){ double takeOffHeight = getDoublePoint(uavRouteReq.getTakeOffRefPoint(),"alt"); for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) { routePointReq.setHeight(routePointReq.getHeight() - takeOffHeight); } } } @@ -120,153 +135,6 @@ public static Double divided23(Double zoom){ return zoom / CHANSI_H20T; } /** * 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); } }
