From 1609b77ba4715a7f17030d61d20c8e526861ca1a Mon Sep 17 00:00:00 2001
From: Xiajijian <1176061145@qq.com>
Date: Fri, 23 Jan 2026 14:16:04 +0800
Subject: [PATCH] 1. 修改任务航线业务逻辑，优化写法。
---
ard-route/src/main/java/com/ard/route/domain/route/ArdRoutePoint.java | 6
ard-route/src/main/java/com/ard/route/util/InitializationUtils.java | 2
ard-route/src/main/java/com/ard/route/util/UavRouteReqUtils.java | 150 +++++++++++++++++++++
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java | 225 +++++++-------------------------
ard-route/src/main/java/com/ard/route/service/IArdRouteInfoService.java | 1
ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteMissionController.java | 12
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteMissionServiceImpl.java | 3
7 files changed, 211 insertions(+), 188 deletions(-)
diff --git a/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteMissionController.java b/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteMissionController.java
index 1b63da0..4a85722 100644
--- a/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteMissionController.java
+++ b/ard-admin/src/main/java/com/ard/web/controller/route/ArdRouteMissionController.java
@@ -40,7 +40,7 @@
* 查询航线任务列表
*/
@ApiOperation("查询航线任务列表")
- @PreAuthorize("@ss.hasPermi('route:mission:list')")
+ //@PreAuthorize("@ss.hasPermi('route:mission:list')")
@GetMapping("/list")
public TableDataInfo list(ArdRouteMission ardRouteMission) {
startPage();
@@ -52,7 +52,7 @@
* 获取航线任务详细信息
*/
@ApiOperation("获取航线任务详细信息")
- @PreAuthorize("@ss.hasPermi('route:mission:query')")
+ //@PreAuthorize("@ss.hasPermi('route:mission:query')")
@GetMapping(value = "/{id}")
public AjaxResult getInfo(@PathVariable("id") String id) {
return success(ardRouteMissionService.selectArdRouteMissionById(id));
@@ -62,7 +62,7 @@
* 新增航线任务
*/
@ApiOperation("新增航线任务")
- @PreAuthorize("@ss.hasPermi('route:mission:add')")
+ //@PreAuthorize("@ss.hasPermi('route:mission:add')")
@Log(title = "航线任务", businessType = BusinessType.INSERT)
@PostMapping
public AjaxResult add(@RequestBody ArdRouteMission ardRouteMission) {
@@ -74,7 +74,7 @@
* 修改航线任务
*/
@ApiOperation("修改航线任务")
- @PreAuthorize("@ss.hasPermi('route:mission:edit')")
+ //@PreAuthorize("@ss.hasPermi('route:mission:edit')")
@Log(title = "航线任务", businessType = BusinessType.UPDATE)
@PutMapping
public AjaxResult edit(@RequestBody ArdRouteMission ardRouteMission) {
@@ -86,7 +86,7 @@
* 删除航线任务
*/
@ApiOperation("删除航线任务")
- @PreAuthorize("@ss.hasPermi('route:mission:remove')")
+ //@PreAuthorize("@ss.hasPermi('route:mission:remove')")
@Log(title = "航线任务", businessType = BusinessType.DELETE)
@DeleteMapping("/{ids}")
public AjaxResult remove(@PathVariable String[] ids) {
@@ -97,7 +97,7 @@
* 修改航线任务状态
*/
@ApiOperation("修改航线任务状态")
- @PreAuthorize("@ss.hasPermi('route:mission:edit')")
+ //@PreAuthorize("@ss.hasPermi('route:mission:edit')")
@Log(title = "航线任务", businessType = BusinessType.UPDATE)
@PutMapping("updateStatus/{id}/{status}")
public AjaxResult updateExecuteStatus(@PathVariable String id,
diff --git a/ard-route/src/main/java/com/ard/route/domain/route/ArdRoutePoint.java b/ard-route/src/main/java/com/ard/route/domain/route/ArdRoutePoint.java
index 2d8020e..65f65a4 100644
--- a/ard-route/src/main/java/com/ard/route/domain/route/ArdRoutePoint.java
+++ b/ard-route/src/main/java/com/ard/route/domain/route/ArdRoutePoint.java
@@ -21,12 +21,12 @@
private Integer routePointIndex;
/** 经度 */
- private Long longitude;
+ private Double longitude;
/** 纬度 */
- private Long latitude;
+ private Double latitude;
/** 高度 */
- private Long height;
+ private Double height;
}
diff --git a/ard-route/src/main/java/com/ard/route/service/IArdRouteInfoService.java b/ard-route/src/main/java/com/ard/route/service/IArdRouteInfoService.java
index 65e911c..103ac9b 100644
--- a/ard-route/src/main/java/com/ard/route/service/IArdRouteInfoService.java
+++ b/ard-route/src/main/java/com/ard/route/service/IArdRouteInfoService.java
@@ -140,5 +140,4 @@
*/
public Boolean routeEnd(String boxSn);
-
}
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 77cff7d..a8b9e9f 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
@@ -1,7 +1,6 @@
package com.ard.route.service.impl;
import java.io.IOException;
-import java.util.ArrayList;
import java.util.List;
import com.ard.common.exception.ControlException;
@@ -29,7 +28,6 @@
import com.ard.route.service.UavRouteService;
import com.ard.work.domain.cache.UavTelemetryDataCache;
import com.ard.work.domain.cache.UavWaylineCache;
-import com.ard.work.domain.dto.state.PointData;
import com.ard.work.domain.dto.telemetry.TelemetryData;
import com.ard.work.domain.dto.wayline.*;
import com.ard.work.service.ITyService;
@@ -45,6 +43,7 @@
import static com.ard.route.enums.kml.DroneEnumValueEnums.M350_RTK;
import static com.ard.route.util.InitializationUtils.divided_23;
import static com.ard.route.util.ToolUtils.*;
+import static com.ard.route.util.UavRouteReqUtils.buildWayLineUploadDTO;
import static com.ard.route.util.UavRouteReqUtils.fileConversionEntity;
/**
@@ -97,11 +96,8 @@
// 如果参考起飞点不为空，将每个航点高度进行加工。
if (ardRouteInfo.getUavRouteReq().getTakeOffRefPoint() != null){
-
double altitudeOffset = getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(), "alt");
-
for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
- // 调整每个航点高度
adjustRoutePointHeight(routePointReq, altitudeOffset);
}
}else {
@@ -115,6 +111,7 @@
return ardRouteInfo;
}
+ // 调整每个航点高度
private void adjustRoutePointHeight(RoutePointReq routePointReq, double altitudeOffset) {
routePointReq.setHeight(routePointReq.getHeight() + altitudeOffset);
}
@@ -143,7 +140,8 @@
*/
@Override
public String insertArdRouteInfo(ArdRouteInfo ardRouteInfo) {
- processRouteMission(ardRouteInfo);
+ checkRouteMissionStatus(ardRouteInfo,"1");
+ checkRouteMissionStatus(ardRouteInfo,"2");
ardRouteInfo.setId(IdUtils.simpleUUID());
ardRouteInfo.setCreateTime(DateUtils.getNowDate());
ardRouteInfo.setUpdateTime(DateUtils.getNowDate()); // 修改时间，用于排序
@@ -159,16 +157,50 @@
return kmzResult.getPath();
}
- // 航线任务数据加工校验
- private void processRouteMission(ArdRouteInfo ardRouteInfo){
- if ("3".equals(ardRouteInfo.getType())) {
- ArdRouteMission ardRouteMission = ardRouteMissionMapper.selectArdRouteMissionById(ardRouteInfo.getMissionId());
- if ("0".equals(ardRouteMission.getRouteId())) {
- ardRouteMission.setRouteId(ardRouteInfo.getId());
- ardRouteMissionMapper.updateArdRouteMission(ardRouteMission);
- }else {
- throw new RuntimeException("航线任务下已绑定航线，不可创建新航线信息！！！");
- }
+ /**
+ * 航线任务数据加工校验
+ * 1.新建航线时，判断航线任务是否已完成
+ * 2.新建航线时，对航线任务数据进行加工
+ * 3.执行航线的时,修改航线任务表执行状态
+ */
+ private void checkRouteMissionStatus(ArdRouteInfo ardRouteInfo,String type){
+ ArdRouteMission mission = ardRouteMissionMapper.selectArdRouteMissionById(ardRouteInfo.getMissionId());
+ switch(type){
+ case "1":
+ validateForCreate(mission);
+ break;
+ case "2":
+ bindRoute(mission, ardRouteInfo);
+ break;
+ case "3":
+ executeMission(mission);
+ break;
+ default:
+ throw new RuntimeException("不支持的操作类型!!!");
+ }
+ }
+
+ private void validateForCreate(ArdRouteMission mission) {
+ if ("1".equals(mission.getExecuteStatus())){
+ throw new RuntimeException("航线任务已完成，无法创建航线！！！");
+ }
+ }
+
+ private void bindRoute(ArdRouteMission mission, ArdRouteInfo routeInfo) {
+ if (!"0".equals(mission.getRouteId())) {
+ throw new RuntimeException("航线任务下已绑定航线，不可创建新航线信息！！！");
+ }
+ mission.setRouteId(routeInfo.getId());
+ ardRouteMissionMapper.updateArdRouteMission(mission);
+ }
+
+ private void executeMission(ArdRouteMission mission) {
+ if ("0".equals(mission.getExecuteStatus())) {
+ mission.setExecuteStatus("1");
+ mission.setExecuteBy(getUsername());
+ mission.setExecuteTime(DateUtils.getNowDate());
+ mission.setUpdateTime(DateUtils.getNowDate());
+ ardRouteMissionMapper.updateArdRouteMission(mission);
}
}
@@ -443,25 +475,11 @@
// 判断是否循环航线
if (null != route && "0".equals(route.getIsLoop())){
deleteArdRouteInfoById(id);
- updateMissionStatus(route);
+ checkRouteMissionStatus(route,"3");
}
WayLineBeginDTO wayLineBeginDTO = new WayLineBeginDTO(boxSn);
tyService.wayLineBegin(wayLineBeginDTO);
return true;
- }
-
- // 执行航线的时候修改航线任务表执行状态
- private void updateMissionStatus(ArdRouteInfo route){
- if ("3".equals(route.getType())) {
- ArdRouteMission ardRouteMission = ardRouteMissionMapper.selectArdRouteMissionById(route.getMissionId());
- if ("0".equals(ardRouteMission.getExecuteStatus())) {
- ardRouteMission.setExecuteStatus("1");
- ardRouteMission.setExecuteBy(getUsername());
- ardRouteMission.setExecuteTime(DateUtils.getNowDate());
- ardRouteMission.setUpdateTime(DateUtils.getNowDate());
- ardRouteMissionMapper.updateArdRouteMission(ardRouteMission);
- }
- }
}
/**
@@ -501,151 +519,6 @@
WayLineEndDTO wayLineEndDTO = new WayLineEndDTO(boxSn);
tyService.wayLineEnd(wayLineEndDTO);
return true;
- }
-
- /**
- * ArdRouteInfo实体转换，WayLineUploadDTO
- */
- private 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;
- }
-
- private 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;
- }
-
- private 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;
- }
-
- private 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;
-
}
/**
diff --git a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteMissionServiceImpl.java b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteMissionServiceImpl.java
index ea5facc..12cfac1 100644
--- a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteMissionServiceImpl.java
+++ b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteMissionServiceImpl.java
@@ -109,6 +109,8 @@
*/
@Override
public int deleteArdRouteMissionByIds(String[] ids) {
+ // 删除航线任务航点
+ ardRoutePointMapper.deleteArdRoutePointByMissionId(ids[0]);
return ardRouteMissionMapper.deleteArdRouteMissionByIds(ids);
}
@@ -120,6 +122,7 @@
*/
@Override
public int deleteArdRouteMissionById(String id) {
+ ardRoutePointMapper.deleteArdRoutePointByMissionId(id);
return ardRouteMissionMapper.deleteArdRouteMissionById(id);
}
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 e114575..f4edd7b 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
@@ -281,8 +281,6 @@
// ardRoutePoints1.setLon(103.75851462);
// ardRoutePoints1.setSafeGohomeFlag(0);
// ardRoutePoints1.setSpeed(8);
-//
-//
// }
// private ArdRouteActions buildArdRouteActions(){
diff --git a/ard-route/src/main/java/com/ard/route/util/UavRouteReqUtils.java b/ard-route/src/main/java/com/ard/route/util/UavRouteReqUtils.java
index 36bdc5c..b9d620e 100644
--- a/ard-route/src/main/java/com/ard/route/util/UavRouteReqUtils.java
+++ b/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;
+
+ }
+
}
--
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