Merge remote-tracking branch 'origin/dev' into dev

zhaowenyu

2026-01-23 f4278872babfaf2c60e71df144733d62ef192ddd

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

@@ -5,7 +5,12 @@
import com.ard.route.domain.djuav.RoutePointReq;
import com.ard.route.domain.djuav.UavRouteReq;
import com.ard.route.domain.djuav.kml.*;
import com.ard.route.domain.route.ArdRouteInfo;
import com.ard.route.domain.vo.KmzInfoVo;
import com.ard.work.domain.dto.state.PointData;
import com.ard.work.domain.dto.wayline.PlanLineData;
import com.ard.work.domain.dto.wayline.PointAction;
import com.ard.work.domain.dto.wayline.WayLineUploadDTO;
import org.apache.commons.compress.archivers.ArchiveEntry;
import org.apache.commons.compress.archivers.ArchiveInputStream;
import org.apache.commons.compress.archivers.zip.ZipArchiveInputStream;
@@ -126,4 +131,149 @@
        return pointActionReq;
    }

    /**
     * ArdRouteInfo实体转换，WayLineUploadDTO
     */
    public static WayLineUploadDTO buildWayLineUploadDTO(ArdRouteInfo ardRouteInfo){
        WayLineUploadDTO wayLineUploadDTO = new WayLineUploadDTO();
        String finishAction = ardRouteInfo.getUavRouteReq().getFinishAction(); //1
        Double autoFlightSpeed = ardRouteInfo.getUavRouteReq().getAutoFlightSpeed(); //15
        Double globalTransitionalSpeed = ardRouteInfo.getUavRouteReq().getGlobalTransitionalSpeed(); //8
        String exitOnRcLostAction = ardRouteInfo.getUavRouteReq().getExitOnRcLostAction();  //0

        PlanLineData planLineData = new PlanLineData();
        if (finishAction != null){
            planLineData.setLoseAction(0);
        }
        if (autoFlightSpeed != null){
            planLineData.setAutoSpeed(8);
        }
        planLineData.setMaxSpeed(15);
//        if (globalTransitionalSpeed != null){
//            planLineData.setMaxSpeed(15);
//        }
        if (exitOnRcLostAction != null){
            planLineData.setFinishedAction(1);
        }
        planLineData.setHomeHeight(50);
        planLineData.setInterests(new ArrayList<>());
        planLineData.setIsSaveEnergyMode(0);
        planLineData.setPoints(buildPointDataList(ardRouteInfo.getUavRouteReq()));

        wayLineUploadDTO.setWayLineData(planLineData);
        return wayLineUploadDTO;
    }

    public static List<PointData> buildPointDataList(UavRouteReq uavRouteReq){
        List<PointData> pointDataList = new ArrayList<>();
        for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
            PointData pointData = new PointData();

            Integer routePointIndex = routePointReq.getRoutePointIndex();
            if (routePointIndex != null){
                pointData.setGroupIndex(routePointIndex);
            }
            Double height = routePointReq.getHeight();
            if (height != null){
                pointData.setHeight(height.floatValue());
            }
            Double longitude = routePointReq.getLongitude();
            if (longitude != null){
                pointData.setLng(longitude.floatValue());
            }
            Double latitude = routePointReq.getLatitude();
            if (latitude != null){
                pointData.setLat(latitude.floatValue());
            }
            Double speed = routePointReq.getSpeed();
            if (speed != null){
                pointData.setSpeed(speed.floatValue());
            }
            pointData.setDampingDistance(0);
            pointData.setFlightPathMode(1);
            pointData.setHeading(0);
            pointData.setHeadingMode(0);
            pointData.setInterestIndex(-1);
            pointData.setSafeGohomeFlag(0);
            pointData.setActions(buildPointActionList(routePointReq.getActionGroupList()));
            pointDataList.add(pointData);

        }
        return pointDataList;
    }

    public static List<PointAction> buildPointActionList(List<ActionGroupReq> actionGroupList){
        List<PointAction> pointActionList = new ArrayList<>();
        for (ActionGroupReq actionGroupReq : actionGroupList) {
            for (PointActionReq action : actionGroupReq.getActions()) {
                PointAction pointAction = typeProcessing(action);
                pointActionList.add(pointAction);
            }
        }
        return pointActionList;
    }

    public static PointAction typeProcessing(PointActionReq pointActionReq){
        PointAction pointAction = new PointAction();

        if (pointActionReq.getZoom() != null){
            pointAction.setType(1);
            pointAction.setParam(pointActionReq.getZoom().floatValue());
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getTakePhotoType() != null){
            pointAction.setType(2);
            pointAction.setParam(1);
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getStartRecord() != null){
            pointAction.setType(3);
            pointAction.setParam(1);
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getStopRecord() != null){
            pointAction.setType(4);
            pointAction.setParam(1);
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getAircraftHeading() != null){
            pointAction.setType(5);
            pointAction.setParam(pointActionReq.getAircraftHeading().floatValue());
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getGimbalPitchRotateAngle() != null){
            pointAction.setType(6);
            pointAction.setParam(pointActionReq.getGimbalPitchRotateAngle().floatValue());
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getGimbalYawRotateAngle() != null){
            pointAction.setType(7);
            pointAction.setParam(pointActionReq.getGimbalYawRotateAngle().floatValue());
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        if (pointActionReq.getHoverTime() != null){
            pointAction.setType(9);
            pointAction.setParam(pointActionReq.getHoverTime().floatValue());
            pointAction.setSpeakInfo("");
            pointAction.setWaitTime(2);
        }

        return pointAction;

    }

}