From 0083a82a5c090e2d75c6cafa5a686632b381c586 Mon Sep 17 00:00:00 2001
From: Xiajijian <1176061145@qq.com>
Date: Fri, 12 Dec 2025 08:57:37 +0800
Subject: [PATCH] 1. 测试航线修改发现bug。
---
ard-route/src/main/java/com/ard/route/util/InitializationUtils.java | 65 +++++++++++++++++++++++---------
ard-route/src/main/java/com/ard/route/util/ToolUtils.java | 8 +++
ard-route/src/main/resources/mapper/ArdRouteInfoMapper.xml | 3 +
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java | 23 ++++++++---
4 files changed, 72 insertions(+), 27 deletions(-)
diff --git a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
index eb3795a..905d321 100644
--- a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
+++ b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
@@ -81,6 +81,9 @@
} catch (IOException | ClassNotFoundException e) {
throw new RuntimeException(e);
}
+ for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
+ routePointReq.setHeight(routePointReq.getHeight() + getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(),"alt"));
+ }
return ardRouteInfo;
}
@@ -97,6 +100,12 @@
}else if ("0".equals(ardRouteInfo.getOrderByTime())) {
ardRouteInfo.setOrderByTime("ASC");
}
+// List<ArdRouteInfo> list = ardRouteInfoMapper.selectArdRouteInfoList(ardRouteInfo);
+// for (ArdRouteInfo routeInfo : list) {
+// for (RoutePointReq routePointReq : routeInfo.getUavRouteReq().getRoutePointList()) {
+// routePointReq.setHeight(routePointReq.getHeight() + getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(),"alt"));
+// }
+// }
return ardRouteInfoMapper.selectArdRouteInfoList(ardRouteInfo);
}
@@ -115,7 +124,7 @@
ardRouteInfo.setGroupId("0");
}
ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft()));
- KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(), ardRouteInfo.getName());
+ KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(),ardRouteInfo.getName());
ardRouteInfo.setPath(kmzResult.getPath());
ardRouteInfo.setReadOnly("0");
ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo));
@@ -230,12 +239,12 @@
ardRouteInfo.setAircraft(droneTypeData(uavRouteReq));
}
// 判断禁飞区
- List<RoutePointReq> routePointList = ardRouteInfo.getUavRouteReq().getRoutePointList();
- for (RoutePointReq routePointReq : routePointList) {
- ArdNoflyDto ardNoflyDto = new ArdNoflyDto();
- ardNoflyDto.setCurrent(new Vertex(routePointReq.getLongitude(), routePointReq.getLatitude()));
- verifyNoFlyZone(ardNoflyDto);
- }
+// List<RoutePointReq> routePointList = ardRouteInfo.getUavRouteReq().getRoutePointList();
+// for (RoutePointReq routePointReq : routePointList) {
+// ArdNoflyDto ardNoflyDto = new ArdNoflyDto();
+// ardNoflyDto.setCurrent(new Vertex(routePointReq.getLongitude(), routePointReq.getLatitude()));
+// verifyNoFlyZone(ardNoflyDto);
+// }
String url = ossService.upload("kmz",file);
String urlDock = ossDockService.upload("kmz",file);
ardRouteInfo.setName(file.getOriginalFilename());
diff --git a/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java b/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
index 7a34b79..747af86 100644
--- a/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
+++ b/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
@@ -8,13 +8,20 @@
import java.util.ArrayList;
import java.util.List;
+import static com.ard.route.util.ToolUtils.getDoublePoint;
+
/**
* 初始化数据
* 测试数据
*/
public class InitializationUtils {
+ // 禅思H20T 公倍数
private static final Double CHANSI_H20 = 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";
/**
@@ -44,28 +51,62 @@
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);
+ // 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){
+ 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);
+ //action.setZoom(action.getZoom() * CHANSI_H20);
+ action.setZoom(action.getZoom() * CHANSI_H20_FOCUS);
}
}
}
}
- return uavRouteReq;
}
/**
@@ -250,18 +291,4 @@
// ardRouteActions2.setWaitTime(2);
// }
- public byte[] testParameters() {
- String data = "74 79 01 3C 44 42 4D 32 35 30 39 37 34 30 36 35 30 30 38 D1 00 10 08 01 15 00 00 70 41 1D 00 00 00 41 22 4A 09 06 9C E7 80 8B F0 59 40 11 08 98 33 BA 07 1D 3F 40 1D 00 00 F0 41 25 00 00 00 41 2A 09 08 01 15 00 00 20 41 18 02 2A 09 08 03 15 00 00 80 3F 18 02 2A 09 08 04 15 00 00 80 3F 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 22 55 09 F1 BC 12 50 7A F0 59 40 11 08 98 33 BA 07 1D 3F 40 1D 00 00 20 42 25 00 00 00 41 2A 09 08 09 15 00 00 A0 41 18 02 2A 09 08 06 15 00 00 20 42 18 02 2A 09 08 07 15 00 00 20 42 18 02 2A 09 08 08 15 00 00 20 42 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 22 3F 09 F1 BC 12 50 7A F0 59 40 11 91 92 E4 DA CC 1C 3F 40 1D 00 00 48 42 25 00 00 00 41 2A 09 08 09 15 00 00 70 41 18 02 2A 09 08 0A 15 00 00 40 40 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 22 34 09 06 9C E7 80 8B F0 59 40 11 91 92 E4 DA CC 1C 3F 40 1D 00 00 70 42 25 00 00 00 41 2A 09 08 02 15 00 00 80 3F 18 02 30 01 58 FF FF FF FF FF FF FF FF FF 01 30 32 70 32";
- String[] hexStrings = data.split(" ");
- StringBuilder sb = new StringBuilder();
- sb.append("byte[] encodedBytes = {");
- for (int i = 0; i < hexStrings.length; i++) {
- sb.append("(byte) 0x").append(hexStrings[i]);
- if (i < hexStrings.length - 1) {
- sb.append(", ");
- }
- }
- sb.append("};");
- return sb.toString().getBytes();
- }
}
diff --git a/ard-route/src/main/java/com/ard/route/util/ToolUtils.java b/ard-route/src/main/java/com/ard/route/util/ToolUtils.java
index 51b2401..38bb620 100644
--- a/ard-route/src/main/java/com/ard/route/util/ToolUtils.java
+++ b/ard-route/src/main/java/com/ard/route/util/ToolUtils.java
@@ -129,9 +129,12 @@
/**
* 截取字符串
- * 获取经纬度
+ * 获取经纬度高度
*/
public static Double getDoublePoint(String str,String type) {
+ if (str == null || str.isEmpty()) {
+ return null;
+ }
String[] parts = str.split(",");
if ("lon".equals(type)) {
return Double.parseDouble(parts[0].trim());
@@ -139,6 +142,9 @@
if ("lat".equals(type)){
return Double.parseDouble(parts[1].trim());
}
+ if ("alt".equals(type)){
+ return Double.parseDouble(parts[2].trim());
+ }
return null;
}
diff --git a/ard-route/src/main/resources/mapper/ArdRouteInfoMapper.xml b/ard-route/src/main/resources/mapper/ArdRouteInfoMapper.xml
index e715a66..8d5f081 100644
--- a/ard-route/src/main/resources/mapper/ArdRouteInfoMapper.xml
+++ b/ard-route/src/main/resources/mapper/ArdRouteInfoMapper.xml
@@ -51,6 +51,9 @@
<if test="path != null and path != ''"> and path = #{path}</if>
<if test="groupId != null"> and group_id = #{groupId}</if>
</where>
+ <if test="orderByTime == null and orderByTime == ''">
+ ORDER BY update_time DESC
+ </if>
<!-- 动态排序 -->
<if test="orderByTime != null and orderByTime != ''">
ORDER BY update_time ${orderByTime}
--
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