From 251a426253284826bdf2828c25042fec3923919d Mon Sep 17 00:00:00 2001
From: Xiajijian <1176061145@qq.com>
Date: Wed, 26 Nov 2025 14:36:17 +0800
Subject: [PATCH] 1.修改增加路径。
---
ard-route/src/main/java/com/ard/route/util/InitializationUtils.java | 198 +++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 198 insertions(+), 0 deletions(-)
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 187f75e..7a34b79 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
@@ -1,7 +1,12 @@
package com.ard.route.util;
import com.ard.route.domain.djuav.*;
+import com.ard.route.domain.sixhe.ArdRouteActions;
import com.ard.route.domain.sixhe.ArdRouteChange;
+import com.ard.route.domain.sixhe.ArdRoutePoints;
+
+import java.util.ArrayList;
+import java.util.List;
/**
* 初始化数据
@@ -63,7 +68,200 @@
return uavRouteReq;
}
+ /**
+ * 初始化数据
+ */
private void initializationSixHe(){
ArdRouteChange ardRouteChange = new ArdRouteChange();
+ ardRouteChange.setAutoSpeed(8);
+ ardRouteChange.setFinishedAction(1);
+ ardRouteChange.setHomeHeight(50);
+ //ardRouteChange.setInterests(0);
+ ardRouteChange.setIsSaveEnergyMode(0);
+ ardRouteChange.setLoseAction(0);
+ ardRouteChange.setMaxSpeed(15);
+ ardRouteChange.setSecurityHeight(50);
+ ardRouteChange.setTemplateId(0);
+
+ List<ArdRoutePoints> points = new ArrayList<>();
+ //-----------------------------------------------------
+ ArdRoutePoints ardRoutePoints00 = new ArdRoutePoints();
+ ardRoutePoints00.setDampingDistance(0);
+ ardRoutePoints00.setFlightPathMode(1);
+ ardRoutePoints00.setGroupIndex(0);
+ ardRoutePoints00.setHeading(0);
+ ardRoutePoints00.setHeadingMode(0);
+ ardRoutePoints00.setHeight(50);
+ ardRoutePoints00.setInterestIndex(-1);
+ ardRoutePoints00.setLat(31.11339916);
+ ardRoutePoints00.setLon(103.75851462);
+ ardRoutePoints00.setSafeGohomeFlag(0);
+ ardRoutePoints00.setSpeed(8);
+ List<ArdRouteActions> actions00 = new ArrayList<>();
+ ArdRouteActions ardRouteActions00 = new ArdRouteActions();
+ ardRouteActions00.setParam(10);
+ ardRouteActions00.setSpeakInfo("");
+ ardRouteActions00.setType(1);
+ ardRouteActions00.setWaitTime(2);
+ ArdRouteActions ardRouteActions01 = new ArdRouteActions();
+ ardRouteActions01.setParam(10);
+ ardRouteActions01.setSpeakInfo("");
+ ardRouteActions01.setType(1);
+ ardRouteActions01.setWaitTime(2);
+ ArdRouteActions ardRouteActions02 = new ArdRouteActions();
+ ardRouteActions02.setParam(10);
+ ardRouteActions02.setSpeakInfo("");
+ ardRouteActions02.setType(1);
+ ardRouteActions02.setWaitTime(2);
+ actions00.add(ardRouteActions00);
+ actions00.add(ardRouteActions01);
+ actions00.add(ardRouteActions02);
+ ardRoutePoints00.setActions(actions00);
+
+ //-----------------------------------------------------
+ ArdRoutePoints ardRoutePoints10 = new ArdRoutePoints();
+ ardRoutePoints10.setDampingDistance(0);
+ ardRoutePoints10.setFlightPathMode(1);
+ ardRoutePoints10.setGroupIndex(0);
+ ardRoutePoints10.setHeading(0);
+ ardRoutePoints10.setHeadingMode(0);
+ ardRoutePoints10.setHeight(50);
+ ardRoutePoints10.setInterestIndex(-1);
+ ardRoutePoints10.setLat(31.11339916);
+ ardRoutePoints10.setLon(103.75746538);
+ ardRoutePoints10.setSafeGohomeFlag(0);
+ ardRoutePoints10.setSpeed(8);
+ List<ArdRouteActions> actions10 = new ArrayList<>();
+ ArdRouteActions ardRouteActions10 = new ArdRouteActions();
+ ardRouteActions10.setParam(20);
+ ardRouteActions10.setSpeakInfo("");
+ ardRouteActions10.setType(9);
+ ardRouteActions10.setWaitTime(2);
+ ArdRouteActions ardRouteActions11 = new ArdRouteActions();
+ ardRouteActions11.setParam(40);
+ ardRouteActions11.setSpeakInfo("");
+ ardRouteActions11.setType(6);
+ ardRouteActions11.setWaitTime(2);
+ ArdRouteActions ardRouteActions12 = new ArdRouteActions();
+ ardRouteActions12.setParam(40);
+ ardRouteActions12.setSpeakInfo("");
+ ardRouteActions12.setType(7);
+ ardRouteActions12.setWaitTime(2);
+ ArdRouteActions ardRouteActions13 = new ArdRouteActions();
+ ardRouteActions13.setParam(40);
+ ardRouteActions13.setSpeakInfo("");
+ ardRouteActions13.setType(8);
+ ardRouteActions13.setWaitTime(2);
+ actions10.add(ardRouteActions10);
+ actions10.add(ardRouteActions11);
+ actions10.add(ardRouteActions12);
+ ardRoutePoints10.setActions(actions10);
+
+ //-----------------------------------------------------
+ ArdRoutePoints ardRoutePoints20 = new ArdRoutePoints();
+ ardRoutePoints20.setDampingDistance(0);
+ ardRoutePoints20.setFlightPathMode(1);
+ ardRoutePoints20.setGroupIndex(0);
+ ardRoutePoints20.setHeading(0);
+ ardRoutePoints20.setHeadingMode(0);
+ ardRoutePoints20.setHeight(50);
+ ardRoutePoints20.setInterestIndex(-1);
+ ardRoutePoints20.setLat(31.11250084);
+ ardRoutePoints20.setLon(103.75746538);
+ ardRoutePoints20.setSafeGohomeFlag(0);
+ ardRoutePoints20.setSpeed(8);
+ List<ArdRouteActions> actions20 = new ArrayList<>();
+ ArdRouteActions ardRouteActions20 = new ArdRouteActions();
+ ardRouteActions20.setParam(15);
+ ardRouteActions20.setSpeakInfo("");
+ ardRouteActions20.setType(9);
+ ardRouteActions20.setWaitTime(2);
+ ArdRouteActions ardRouteActions21 = new ArdRouteActions();
+ ardRouteActions21.setParam(3);
+ ardRouteActions21.setSpeakInfo("");
+ ardRouteActions21.setType(10);
+ ardRouteActions21.setWaitTime(2);
+ actions20.add(ardRouteActions20);
+ actions20.add(ardRouteActions21);
+ ardRoutePoints20.setActions(actions20);
+
+ //-----------------------------------------------------
+ ArdRoutePoints ardRoutePoints30 = new ArdRoutePoints();
+ ardRoutePoints30.setDampingDistance(0);
+ ardRoutePoints30.setFlightPathMode(1);
+ ardRoutePoints30.setGroupIndex(0);
+ ardRoutePoints30.setHeading(0);
+ ardRoutePoints30.setHeadingMode(0);
+ ardRoutePoints30.setHeight(60);
+ ardRoutePoints30.setInterestIndex(-1);
+ ardRoutePoints30.setLat(31.11250084);
+ ardRoutePoints30.setLon(103.75851462);
+ ardRoutePoints30.setSafeGohomeFlag(0);
+ ardRoutePoints30.setSpeed(8);
+ List<ArdRouteActions> actions30 = new ArrayList<>();
+ ArdRouteActions ardRouteActions30 = new ArdRouteActions();
+ ardRouteActions30.setParam(1);
+ ardRouteActions30.setSpeakInfo("");
+ ardRouteActions30.setType(2);
+ ardRouteActions30.setWaitTime(2);
+ actions30.add(ardRouteActions30);
+ ardRoutePoints30.setActions(actions30);
+
+ points.add(ardRoutePoints00);
+ points.add(ardRoutePoints10);
+ points.add(ardRoutePoints20);
+ points.add(ardRoutePoints30);
+
+ 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);
+// }
+
+ 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();
}
}
--
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