forked from uav/ard-uav-server
ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java
@@ -3,8 +3,8 @@ import cn.hutool.core.collection.CollectionUtil; import cn.hutool.core.date.DateUtil; import cn.hutool.core.util.ObjectUtil; import com.ard.route.domain.*; import com.ard.route.domain.kml.*; import com.ard.route.domain.djuav.*; import com.ard.route.domain.djuav.kml.*; import com.ard.route.enums.kml.*; import com.ard.route.constant.FileTypeConstants; import com.thoughtworks.xstream.XStream; @@ -21,21 +21,12 @@ import java.util.zip.ZipEntry; import java.util.zip.ZipOutputStream; import static com.ard.route.util.ToolUtils.XML_HEADER; /** * 航线文件操作工具类 */ public class RouteFileUtils { /** * XML 头部 */ private static final String XML_HEADER = "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n"; /** * 生成的本地 kmz 文件存储路径 */ private static final String LOCAL_KMZ_FILE_PATH = "file" + File.separator + "kmz" + File.separator; /** * kml文件解析 @@ -45,12 +36,19 @@ */ public static KmlInfo parseKml(InputStream inputStream) { XStream xStream = new XStream(); xStream.allowTypes(new Class[]{KmlInfo.class, KmlAction.class, KmlWayLineCoordinateSysParam.class, KmlPoint.class}); xStream.allowTypes(new Class[]{ KmlInfo.class, KmlAction.class, KmlWayLineCoordinateSysParam.class, KmlPoint.class, KmlActionGroup.class }); xStream.alias("kml", KmlInfo.class); xStream.processAnnotations(KmlInfo.class); xStream.autodetectAnnotations(true); xStream.ignoreUnknownElements(); xStream.addImplicitCollection(KmlActionGroup.class, "action"); xStream.addImplicitCollection(KmlPlacemark.class, "actionGroup"); return (KmlInfo) xStream.fromXML(inputStream); } @@ -62,10 +60,11 @@ * @param wpmlInfo wpml 文件信息 * @return 本地文件路径 */ public static String buildKmz(String fileName, KmlInfo kmlInfo, KmlInfo wpmlInfo, String kmzFilePath) { public static String buildKmzA(String fileName, KmlInfo kmlInfo, KmlInfo wpmlInfo, String kmzFilePath) { XStream xStream = new XStream(new DomDriver()); xStream.processAnnotations(KmlInfo.class); xStream.addImplicitCollection(KmlActionGroup.class, "action"); xStream.addImplicitCollection(KmlPlacemark.class, "actionGroup"); String kml = XML_HEADER + xStream.toXML(kmlInfo); String wpml = XML_HEADER + xStream.toXML(wpmlInfo); @@ -144,7 +143,9 @@ }else { kmlMissionConfig.setGlobalTransitionalSpeed("15"); } kmlMissionConfig.setGlobalRTHHeight("100"); if (kmlParams.getHeightMode().equals(HeightModeEnums.RELATIVE_TO_START_POINT.getValue())){ kmlMissionConfig.setGlobalRTHHeight("100"); } kmlMissionConfig.setTakeOffRefPoint(kmlParams.getTakeOffRefPoint()); kmlMissionConfig.setDroneInfo(buildKmlDroneInfo(kmlParams.getDroneType(), kmlParams.getSubDroneType())); kmlMissionConfig.setPayloadInfo(buildKmlPayloadInfo(kmlParams.getPayloadType(), kmlParams.getPayloadPosition())); @@ -156,7 +157,8 @@ kmlDroneInfo.setDroneEnumValue(String.valueOf(droneType)); if (Objects.equals(droneType, DroneEnumValueEnums.M30_M30T.getValue()) || Objects.equals(droneType, DroneEnumValueEnums.M3D_M3TD.getValue()) || Objects.equals(droneType, DroneEnumValueEnums.M3E_M3T_M3M.getValue())) { Objects.equals(droneType, DroneEnumValueEnums.M3E_M3T_M3M.getValue())|| Objects.equals(droneType, DroneEnumValueEnums.MATRICE_4D.getValue())) { kmlDroneInfo.setDroneSubEnumValue(String.valueOf(subDroneType)); } return kmlDroneInfo; @@ -175,13 +177,33 @@ kmlFolder.setAutoFlightSpeed(String.valueOf(kmlParams.getAutoFlightSpeed())); if (StringUtils.equals(fileType, FileTypeConstants.KML)) { kmlFolder.setTemplateType(kmlParams.getTemplateType()); kmlFolder.setWaylineCoordinateSysParam(buildKmlWayLineCoordinateSysParam(TemplateTypeEnums.WAYPOINT.getValue())); if (kmlParams.getHeightMode().equals(HeightModeEnums.RELATIVE_TO_START_POINT.getValue())){ kmlFolder.setWaylineCoordinateSysParam( buildKmlWayLineCoordinateSysParam( kmlParams.getTemplateType(), HeightModeEnums.RELATIVE_TO_START_POINT.getValue(), String.valueOf(kmlParams.getGlobalHeight()))); }else if(kmlParams.getHeightMode().equals(HeightModeEnums.EGM96.getValue())){ kmlFolder.setWaylineCoordinateSysParam( buildKmlWayLineCoordinateSysParam( kmlParams.getTemplateType(), HeightModeEnums.EGM96.getValue(), String.valueOf(kmlParams.getGlobalHeight()))); } kmlFolder.setPayloadParam(buildKmlPayloadParam(kmlParams)); } if (StringUtils.equals(fileType, FileTypeConstants.WPML)) { kmlFolder.setWaylineId("0"); kmlFolder.setExecuteHeightMode(ExecuteHeightModeEnums.RELATIVE_TO_START_POINT.getValue()); // TODO 航线初始动作 if (kmlParams.getHeightMode().equals(HeightModeEnums.RELATIVE_TO_START_POINT.getValue())){ kmlFolder.setExecuteHeightMode(ExecuteHeightModeEnums.RELATIVE_TO_START_POINT.getValue()); } else if (kmlParams.getHeightMode().equals(HeightModeEnums.EGM96.getValue())) { kmlFolder.setExecuteHeightMode(ExecuteHeightModeEnums.WGS84.getValue()); } if (CollectionUtil.isNotEmpty(kmlParams.getStartActionList())) { KmlActionGroup kmlActionGroup = new KmlActionGroup(); kmlActionGroup.setAction(getKmlActionList(kmlParams.getStartActionList(), kmlParams)); kmlFolder.setStartActionGroup(kmlActionGroup); } } // 航点类型模板航线配置 if (StringUtils.equals(kmlFolder.getTemplateType(), TemplateTypeEnums.WAYPOINT.getValue())) { @@ -222,12 +244,6 @@ if (CollectionUtil.isNotEmpty(routePointList)) { List<KmlPlacemark> kmlPlacemarkList = new ArrayList<>(); for (RoutePointInfo routePointInfo : routePointList) { // ActionTriggerReq actionTriggerReq = new ActionTriggerReq(); // actionTriggerReq.setActionTriggerType(StringUtils.equals(kmlParams.getMappingTypeReq().getShootType(), ShootTypeEnums.TIME.getValue()) ? // ActionTriggerTypeEnums.MULTIPLE_TIMING.getValue() : // ActionTriggerTypeEnums.MULTIPLE_DISTANCE.getValue()); // actionTriggerReq.setActionTriggerParam(2.0); // RoutePointInfo.setActionTriggerReq(actionTriggerReq); kmlPlacemarkList.add(buildKmlPlacemark(routePointInfo, kmlParams, fileType)); } kmlFolder.setPlacemarkList(kmlPlacemarkList); @@ -237,17 +253,56 @@ return kmlFolder; } public static KmlWayLineCoordinateSysParam buildKmlWayLineCoordinateSysParam(String templateType) { /** * 构建航点动作 * * @param actionList 航点动作列表 * @param kmlParams * @return */ private static List<KmlAction> getKmlActionList(List<PointActionReq> actionList, KmlParams kmlParams) { List<KmlAction> kmlActionList = new ArrayList<>(); for (PointActionReq pointActionReq : actionList) { if (ObjectUtil.isNotNull(pointActionReq.getHoverTime())) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.HOVER.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getAircraftHeading())) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.ROTATE_YAW.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getTakePhotoType()) && ObjectUtil.equals(pointActionReq.getTakePhotoType(), 0)) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.TAKE_PHOTO.getValue(), pointActionReq, kmlParams)); } else if ((ObjectUtil.isNotNull(pointActionReq.getGimbalYawRotateAngle())) || (ObjectUtil.isNotNull(pointActionReq.getGimbalPitchRotateAngle()))) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.GIMBAL_ROTATE.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getZoom())) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.ZOOM.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getTakePhotoType()) && ObjectUtil.equals(pointActionReq.getTakePhotoType(), 1)) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.PANO_SHOT.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getStartRecord()) && pointActionReq.getStartRecord()) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.START_RECORD.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getStopRecord()) && pointActionReq.getStopRecord()) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.STOP_RECORD.getValue(), pointActionReq, kmlParams)); } } return kmlActionList; } /** * 构造坐标系参数信息 * * @param templateType 航线模板类型 * @param heightMode 高度模式 * @param height 高度 * @return 坐标系参数信息 */ public static KmlWayLineCoordinateSysParam buildKmlWayLineCoordinateSysParam(String templateType, String heightMode, String height) { KmlWayLineCoordinateSysParam kmlWayLineCoordinateSysParam = new KmlWayLineCoordinateSysParam(); kmlWayLineCoordinateSysParam.setCoordinateMode("WGS84"); kmlWayLineCoordinateSysParam.setHeightMode(HeightModeEnums.RELATIVE_TO_START_POINT.getValue()); kmlWayLineCoordinateSysParam.setHeightMode(heightMode); kmlWayLineCoordinateSysParam.setPositioningType(PositioningTypeEnums.GPS.getValue()); if (StringUtils.equals(templateType, TemplateTypeEnums.MAPPING2D.getValue()) || StringUtils.equals(templateType, TemplateTypeEnums.MAPPING3D.getValue()) || StringUtils.equals(templateType, TemplateTypeEnums.MAPPING_STRIP.getValue())) { kmlWayLineCoordinateSysParam.setGlobalShootHeight("50"); kmlWayLineCoordinateSysParam.setGlobalShootHeight(height); kmlWayLineCoordinateSysParam.setSurfaceFollowModeEnable("1"); kmlWayLineCoordinateSysParam.setSurfaceRelativeHeight("100"); kmlWayLineCoordinateSysParam.setSurfaceRelativeHeight(height); } return kmlWayLineCoordinateSysParam; } @@ -287,6 +342,7 @@ 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); @@ -296,8 +352,14 @@ kmlPlacemark.setGimbalPitchAngle(String.valueOf(routePointInfo.getGimbalPitchAngle())); } } if (CollectionUtil.isNotEmpty(routePointInfo.getActions())) { kmlPlacemark.setActionGroup(buildKmlActionGroup(routePointInfo, kmlParams)); if (CollectionUtil.isNotEmpty(routePointInfo.getActionGroupList())) { List<KmlActionGroup> kmlActionGroupList = new ArrayList<>(); for (ActionGroupReq actionGroupReq : routePointInfo.getActionGroupList()) { if (ObjectUtil.isNotEmpty(actionGroupReq.getActions())){ kmlActionGroupList.add(buildKmlActionGroup(actionGroupReq, kmlParams)); } } kmlPlacemark.setActionGroup(kmlActionGroupList); } return kmlPlacemark; } @@ -321,22 +383,16 @@ private static KmlOverlap buildKmlOverlap(String collectionMethod, String lensType, Integer overlapH, Integer overlapW) { KmlOverlap overlap = new KmlOverlap(); if (StringUtils.equals(collectionMethod, CollectionMethodEnums.ORTHO.getValue())) { if (StringUtils.equals(lensType, LensTypeEnums.LIDAR.getValue())) { overlap.setOrthoLidarOverlapH(String.valueOf(overlapH)); overlap.setOrthoLidarOverlapW(String.valueOf(overlapW)); } else { overlap.setOrthoCameraOverlapH(String.valueOf(overlapH)); overlap.setOrthoCameraOverlapW(String.valueOf(overlapW)); } if (StringUtils.equals(collectionMethod, LensTypeEnums.CAMERA.getValue())) { overlap.setOrthoCameraOverlapH(String.valueOf(overlapH)); overlap.setOrthoCameraOverlapW(String.valueOf(overlapW)); overlap.setInclinedCameraOverlapW(String.valueOf(overlapW)); overlap.setInclinedCameraOverlapH(String.valueOf(overlapH)); } else { if (StringUtils.equals(lensType, LensTypeEnums.LIDAR.getValue())) { overlap.setInclinedLidarOverlapH(String.valueOf(overlapH)); overlap.setInclinedCameraOverlapW(String.valueOf(overlapW)); } else { overlap.setInclinedCameraOverlapH(String.valueOf(overlapH)); overlap.setInclinedCameraOverlapW(String.valueOf(overlapW)); } overlap.setOrthoLidarOverlapH(String.valueOf(overlapH)); overlap.setOrthoLidarOverlapW(String.valueOf(overlapW)); overlap.setInclinedLidarOverlapH(String.valueOf(overlapH)); overlap.setInclinedLidarOverlapW(String.valueOf(overlapW)); } return overlap; } @@ -462,44 +518,15 @@ return kmlWaypointTurnParam; } public static KmlActionGroup buildKmlActionGroup(RoutePointInfo routePointInfo, KmlParams kmlParams) { public static KmlActionGroup buildKmlActionGroup(ActionGroupReq actionGroupReq, KmlParams kmlParams) { KmlActionGroup kmlActionGroup = new KmlActionGroup(); kmlActionGroup.setActionGroupId(String.valueOf(routePointInfo.getRoutePointIndex())); kmlActionGroup.setActionGroupStartIndex(String.valueOf(routePointInfo.getRoutePointIndex())); 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())) { actionTriggerType = ActionTriggerTypeEnums.MULTIPLE_TIMING.getValue(); actionTriggerParam = routePointInfo.getTimeInterval(); } else if (ObjectUtil.isNotNull(routePointInfo.getDistanceInterval())) { actionTriggerType = ActionTriggerTypeEnums.MULTIPLE_DISTANCE.getValue(); actionTriggerParam = routePointInfo.getDistanceInterval(); } kmlActionGroup.setActionTrigger(buildKmlActionTrigger(actionTriggerType, actionTriggerParam)); List<KmlAction> kmlActionList = new ArrayList<>(); for (PointActionReq pointActionReq : routePointInfo.getActions()) { if (ObjectUtil.isNotNull(pointActionReq.getHoverTime())) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.HOVER.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getAircraftHeading())) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.ROTATE_YAW.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getTakePhotoType()) && ObjectUtil.equals(pointActionReq.getTakePhotoType(), 0)) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.TAKE_PHOTO.getValue(), pointActionReq, kmlParams)); } else if ((ObjectUtil.isNotNull(pointActionReq.getGimbalYawRotateAngle())) || (ObjectUtil.isNotNull(pointActionReq.getGimbalPitchRotateAngle()))) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.GIMBAL_ROTATE.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getZoom())) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.ZOOM.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getTakePhotoType()) && ObjectUtil.equals(pointActionReq.getTakePhotoType(), 1)) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.PANO_SHOT.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getStartRecord()) && pointActionReq.getStartRecord()) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.START_RECORD.getValue(), pointActionReq, kmlParams)); } else if (ObjectUtil.isNotNull(pointActionReq.getStopRecord()) && pointActionReq.getStopRecord()) { kmlActionList.add(buildKmlAction(String.valueOf(pointActionReq.getActionIndex()), ActionActuatorFuncEnums.STOP_RECORD.getValue(), pointActionReq, kmlParams)); } } kmlActionGroup.setAction(kmlActionList); kmlActionGroup.setActionGroupId(String.valueOf(actionGroupReq.getActionGroupId())); kmlActionGroup.setActionGroupStartIndex(String.valueOf(actionGroupReq.getActionGroupStartIndex())); kmlActionGroup.setActionGroupEndIndex(String.valueOf(actionGroupReq.getActionGroupEndIndex())); kmlActionGroup.setActionGroupMode(ActionGroupModeEnums.SEQUENCE.getValue()); kmlActionGroup.setActionTrigger(buildKmlActionTrigger(actionGroupReq.getActionTriggerType(), actionGroupReq.getActionTriggerParam())); kmlActionGroup.setAction(getKmlActionList(actionGroupReq.getActions(), kmlParams)); return kmlActionGroup; } @@ -526,8 +553,16 @@ if (StringUtils.equals(actionActuatorFunc, ActionActuatorFuncEnums.TAKE_PHOTO.getValue()) || StringUtils.equals(actionActuatorFunc, ActionActuatorFuncEnums.START_RECORD.getValue())) { kmlActionActuatorFuncParam.setPayloadPositionIndex(String.valueOf(kmlParams.getPayloadPosition())); kmlActionActuatorFuncParam.setFileSuffix(""); kmlActionActuatorFuncParam.setUseGlobalPayloadLensIndex(String.valueOf(pointActionReq.getUseGlobalImageFormat())); if (pointActionReq.getFileSuffix() != null){ kmlActionActuatorFuncParam.setFileSuffix(pointActionReq.getFileSuffix()); }else { kmlActionActuatorFuncParam.setFileSuffix("panoramicPhoto_360"); } if (pointActionReq.getUseGlobalImageFormat() != null) { kmlActionActuatorFuncParam.setUseGlobalPayloadLensIndex(String.valueOf(pointActionReq.getUseGlobalImageFormat())); }else { kmlActionActuatorFuncParam.setUseGlobalPayloadLensIndex("0"); } if (ObjectUtil.equals(pointActionReq.getUseGlobalImageFormat(), 0)) { kmlActionActuatorFuncParam.setPayloadLensIndex(pointActionReq.getImageFormat()); } else { @@ -568,7 +603,11 @@ } else if (StringUtils.equals(actionActuatorFunc, ActionActuatorFuncEnums.PANO_SHOT.getValue())) { kmlActionActuatorFuncParam.setPayloadPositionIndex(String.valueOf(kmlParams.getPayloadPosition())); kmlActionActuatorFuncParam.setUseGlobalPayloadLensIndex(String.valueOf(pointActionReq.getUseGlobalImageFormat())); kmlActionActuatorFuncParam.setPanoShotSubMode("panoShot_360"); if (pointActionReq.getFileSuffix()!=null){ kmlActionActuatorFuncParam.setPanoShotSubMode(pointActionReq.getPanoShotSubMode()); }else { kmlActionActuatorFuncParam.setPanoShotSubMode("panoShot_360"); } if (ObjectUtil.equals(pointActionReq.getUseGlobalImageFormat(), 0)) { kmlActionActuatorFuncParam.setPayloadLensIndex(pointActionReq.getImageFormat()); } else {
