forked from uav/ard-uav-server
ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java
@@ -100,7 +100,6 @@ zipOutputStream.closeEntry(); // 关闭条目 } public static KmlInfo buildKml(KmlParams kmlParams) { KmlInfo kmlInfo = new KmlInfo(); kmlInfo.setDocument(buildKmlDocument(FileTypeConstants.KML, kmlParams)); @@ -116,7 +115,7 @@ public static KmlDocument buildKmlDocument(String fileType, KmlParams kmlParams) { KmlDocument kmlDocument = new KmlDocument(); if (StringUtils.equals(fileType, FileTypeConstants.KML)) { kmlDocument.setAuthor("Cleaner"); kmlDocument.setAuthor("Ard-Creator"); kmlDocument.setCreateTime(String.valueOf(DateUtil.current())); kmlDocument.setUpdateTime(String.valueOf(DateUtil.current())); } @@ -127,7 +126,11 @@ public static KmlMissionConfig buildKmlMissionConfig(KmlParams kmlParams) { KmlMissionConfig kmlMissionConfig = new KmlMissionConfig(); kmlMissionConfig.setFlyToWayLineMode(FlyToWaylineModeEnums.SAFELY.getValue()); if (kmlParams.getFlyToWaylineMode() != null){ kmlMissionConfig.setFlyToWayLineMode(kmlParams.getFlyToWaylineMode()); }else { kmlMissionConfig.setFlyToWayLineMode(FlyToWaylineModeEnums.SAFELY.getValue()); } kmlMissionConfig.setFinishAction(kmlParams.getFinishAction()); if (StringUtils.isNotBlank(kmlParams.getExitOnRcLostAction())) { kmlMissionConfig.setExitOnRCLost(ExitOnRCLostEnums.EXECUTE_LOST_ACTION.getValue()); @@ -136,7 +139,11 @@ kmlMissionConfig.setExitOnRCLost(ExitOnRCLostEnums.GO_CONTINUE.getValue()); } kmlMissionConfig.setTakeOffSecurityHeight("20"); kmlMissionConfig.setGlobalTransitionalSpeed("15"); if (kmlParams.getGlobalTransitionalSpeed() != null){ kmlMissionConfig.setGlobalTransitionalSpeed(String.valueOf(kmlParams.getGlobalTransitionalSpeed())); }else { kmlMissionConfig.setGlobalTransitionalSpeed("15"); } kmlMissionConfig.setGlobalRTHHeight("100"); kmlMissionConfig.setTakeOffRefPoint(kmlParams.getTakeOffRefPoint()); kmlMissionConfig.setDroneInfo(buildKmlDroneInfo(kmlParams.getDroneType(), kmlParams.getSubDroneType())); @@ -160,9 +167,7 @@ kmlPayloadInfo.setPayloadEnumValue(String.valueOf(payloadType)); kmlPayloadInfo.setPayloadPositionIndex(String.valueOf(payloadPosition)); return kmlPayloadInfo; } public static KmlFolder buildKmlFolder(String fileType, KmlParams kmlParams) { KmlFolder kmlFolder = new KmlFolder(); @@ -232,7 +237,6 @@ return kmlFolder; } public static KmlWayLineCoordinateSysParam buildKmlWayLineCoordinateSysParam(String templateType) { KmlWayLineCoordinateSysParam kmlWayLineCoordinateSysParam = new KmlWayLineCoordinateSysParam(); kmlWayLineCoordinateSysParam.setCoordinateMode("WGS84"); @@ -262,7 +266,6 @@ // 0: 不上色 1: 真彩上色 kmlPayloadParam.setModelColoringEnable("1"); kmlPayloadParam.setImageFormat(kmlParams.getImageFormat()); return kmlPayloadParam; } @@ -277,7 +280,6 @@ } kmlGlobalWaypointHeadingParam.setWaypointHeadingPathMode(WaypointHeadingPathModeEnums.FOLLOW_BAD_ARC.getValue()); return kmlGlobalWaypointHeadingParam; } public static KmlPlacemark buildKmlPlacemark(RoutePointInfo routePointInfo, KmlParams kmlParams, String fileType) { @@ -285,7 +287,6 @@ kmlPlacemark.setIsRisky("0"); kmlPlacemark.setKmlPoint(buildKmlPoint(String.valueOf(routePointInfo.getLongitude()), String.valueOf(routePointInfo.getLatitude()))); kmlPlacemark.setIndex(String.valueOf(routePointInfo.getRoutePointIndex())); handleHeight(routePointInfo, kmlParams, fileType, kmlPlacemark); handleSpeed(routePointInfo, kmlParams, fileType, kmlPlacemark); handleWaypointHeadingParam(routePointInfo, kmlParams, fileType, kmlPlacemark); @@ -343,7 +344,6 @@ private static KmlPolygon buildKmlPolygon(List<CoordinatePointReq> coordinatePointReqList) { KmlPolygon kmlPolygon = new KmlPolygon(); KmlLinearRing kmlLinearRing = new KmlLinearRing(); String coordinates = coordinatePointReqList.stream().map(point -> point.getLongitude() + "," + point.getLatitude() + "," + point.getHeight()) .collect(Collectors.joining(", ")); kmlLinearRing.setCoordinates(StringUtils.join(coordinates, " ")); @@ -392,9 +392,7 @@ kmlPlacemark.setWaypointHeadingParam(buildKmlWaypointHeadingParam(globalWaypointHeading.getWaypointHeadingMode(), globalWaypointHeading.getWaypointHeadingAngle(), globalWaypointHeading.getWaypointPoiPoint())); } } } private static void handleSpeed(RoutePointInfo routePointInfo, KmlParams kmlParams, String fileType, KmlPlacemark kmlPlacemark) { if (ObjectUtil.isNotEmpty(routePointInfo.getSpeed())) { @@ -471,7 +469,6 @@ kmlActionGroup.setActionGroupEndIndex(String.valueOf(ObjectUtil.isNotNull(routePointInfo.getEndIntervalRouteIndex()) ? routePointInfo.getEndIntervalRouteIndex() : routePointInfo.getRoutePointIndex())); kmlActionGroup.setActionGroupMode(ActionGroupModeEnums.SEQUENCE.getValue()); String actionTriggerType = ActionTriggerTypeEnums.REACH_POINT.getValue(); Double actionTriggerParam = 0.0; if (ObjectUtil.isNotNull(routePointInfo.getTimeInterval())) { @@ -481,7 +478,6 @@ actionTriggerType = ActionTriggerTypeEnums.MULTIPLE_DISTANCE.getValue(); actionTriggerParam = routePointInfo.getDistanceInterval(); } kmlActionGroup.setActionTrigger(buildKmlActionTrigger(actionTriggerType, actionTriggerParam)); List<KmlAction> kmlActionList = new ArrayList<>(); for (PointActionReq pointActionReq : routePointInfo.getActions()) { @@ -502,7 +498,6 @@ } else if (ObjectUtil.isNotNull(pointActionReq.getStopRecord()) && pointActionReq.getStopRecord()) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.STOP_RECORD.getValue(), pointActionReq, kmlParams)); } } kmlActionGroup.setAction(kmlActionList); return kmlActionGroup;
