优化

liusuyi

2026-04-01 a2bef1bc001cc196affb1b24d69eec4127cfa40a

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

@@ -8,13 +8,21 @@
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;

/**
 * 初始化数据
 * 测试数据
 */
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";

    /**
@@ -23,10 +31,11 @@
    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");
                            uavRouteReq.getRoutePointList().get(0).getLongitude() + "," +
                            uavRouteReq.getRoutePointList().get(0).getHeight());
        }
        //uavRouteReq.setDroneType(89);
        uavRouteReq.setSubDroneType(0);
@@ -44,28 +53,75 @@
        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;
    }

    /**
@@ -215,38 +271,4 @@
        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);
//    }
}