From 52039daeb631bc47cfd953f05c8a5c76aa199ede Mon Sep 17 00:00:00 2001
From: Xiajijian <1176061145@qq.com>
Date: Mon, 29 Sep 2025 14:46:22 +0800
Subject: [PATCH] 1.将生成kmz的文件的功能合并智云3.0.
---
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlPlacemark.java | 131 ++
ard-route/src/main/java/com/ard/route/kmz/enums/kml/FocusModeEnums.java | 34
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlInfo.java | 22
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlParams.java | 95 +
ard-route/src/main/java/com/ard/route/kmz/enums/kml/ActionGroupModeEnums.java | 34
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlPolygon.java | 12
ard-route/src/main/java/com/ard/route/kmz/domain/WaypointHeadingReq.java | 28
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlLineString.java | 13
ard-route/src/main/java/com/ard/route/kmz/enums/kml/ExecuteHeightModeEnums.java | 36
ard-route/src/main/java/com/ard/route/kmz/enums/kml/ReturnModeEnums.java | 35
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlPayloadParam.java | 41
ard-route/src/main/java/com/ard/route/kmz/enums/kml/PayloadPositionIndexEnums.java | 35
ard-route/src/main/java/com/ard/route/kmz/domain/ActionTriggerReq.java | 24
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlOuterBoundaryIs.java | 12
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlFolder.java | 56 +
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlPoint.java | 13
ard-route/src/main/java/com/ard/route/kmz/enums/kml/MeteringModeEnums.java | 34
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlActionActuatorFuncParam.java | 161 ++
ard-route/src/main/java/com/ard/route/kmz/enums/kml/ActionTriggerTypeEnums.java | 36
ard-route/src/main/java/com/ard/route/kmz/domain/WaypointTurnReq.java | 30
ard-route/src/main/java/com/ard/route/kmz/enums/kml/ScanningModeEnums.java | 34
ard-route/src/main/java/com/ard/route/kmz/enums/kml/WaypointHeadingPathModeEnums.java | 35
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlPayloadInfo.java | 16
ard-route/src/main/java/com/ard/route/kmz/enums/kml/DroneEnumValueEnums.java | 37
ard-route/src/main/java/com/ard/route/kmz/enums/kml/GlobalWaypointTurnModeEnums.java | 36
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlWaypointGimbalHeadingParam.java | 17
ard-route/src/main/java/com/ard/route/kmz/enums/kml/ActionActuatorFuncEnums.java | 45
ard-route/src/main/java/com/ard/route/kmz/enums/kml/ExecuteRCLostActionEnums.java | 36
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlWayLineCoordinateSysParam.java | 31
ard-route/src/main/java/com/ard/route/kmz/enums/kml/HeightModeEnums.java | 36
ard-route/src/main/java/com/ard/route/kmz/enums/kml/AircraftPathModeEnums.java | 34
ard-route/src/main/java/com/ard/route/kmz/service/UavRouteService.java | 17
ard-route/src/main/java/com/ard/route/kmz/domain/MappingTypeReq.java | 61 +
ard-route/src/main/java/com/ard/route/kmz/enums/kml/ExitOnRCLostEnums.java | 34
ard-route/src/main/java/com/ard/route/kmz/enums/kml/PayloadTypeEnums.java | 45
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlLinearRing.java | 13
ard-route/src/main/java/com/ard/route/kmz/service/impl/UavRouteServiceImpl.java | 108 +
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlWaypointHeadingParam.java | 23
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlActionTrigger.java | 17
ard-route/src/main/java/com/ard/route/kmz/enums/kml/ShootTypeEnums.java | 35
ard-route/src/main/java/com/ard/route/kmz/enums/kml/FinishActionEnums.java | 37
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlMissionConfig.java | 43
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlAction.java | 19
ard-route/src/main/java/com/ard/route/kmz/enums/kml/ImageFormatEnums.java | 37
ard-route/src/main/java/com/ard/route/kmz/util/Gps.java | 19
ard-route/src/main/java/com/ard/route/kmz/enums/kml/LensTypeEnums.java | 35
ard-route/src/main/java/com/ard/route/kmz/enums/kml/GimbalPitchModeEnums.java | 34
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlOverlap.java | 34
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlDroneInfo.java | 16
ard-route/src/main/java/com/ard/route/kmz/enums/kml/PositioningTypeEnums.java | 36
ard-route/src/main/java/com/ard/route/kmz/constant/FileTypeConstants.java | 24
ard-route/src/main/java/com/ard/route/kmz/enums/kml/CollectionMethodEnums.java | 35
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlActionGroup.java | 34
ard-route/src/main/java/com/ard/route/kmz/enums/kml/WaypointHeadingModeEnums.java | 37
file/kmz/航线kmz文件.kmz | 0
ard-route/src/main/java/com/ard/route/kmz/controller/UavRouteController.java | 33
ard-route/src/main/java/com/ard/route/kmz/domain/PointActionReq.java | 68 +
ard-route/src/main/java/com/ard/route/kmz/enums/kml/TemplateTypeEnums.java | 36
ard-route/src/main/java/com/ard/route/kmz/domain/CoordinatePointReq.java | 29
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlWaypointTurnParam.java | 16
ard-route/src/main/java/com/ard/route/kmz/domain/RoutePointReq.java | 78 +
ard-route/src/main/java/com/ard/route/kmz/domain/kml/RoutePointInfo.java | 79 +
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlGlobalWaypointHeadingParam.java | 23
ard-route/pom.xml | 10
file/kmz/更新航线kmz文件.kmz | 0
ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlDocument.java | 26
ard-route/src/main/java/com/ard/route/kmz/enums/kml/FlyToWaylineModeEnums.java | 34
ard-route/src/main/java/com/ard/route/kmz/domain/UavRouteReq.java | 95 +
ard-route/src/main/java/com/ard/route/kmz/util/PositionUtils.java | 153 ++
ard-route/src/main/java/com/ard/route/kmz/util/RouteFileUtils.java | 598 ++++++++++
70 files changed, 3,310 insertions(+), 0 deletions(-)
diff --git a/ard-route/pom.xml b/ard-route/pom.xml
index c02da71..25e8efc 100644
--- a/ard-route/pom.xml
+++ b/ard-route/pom.xml
@@ -27,6 +27,16 @@
<artifactId>lombok</artifactId>
<scope>provided</scope>
</dependency>
+ <dependency>
+ <groupId>cn.hutool</groupId>
+ <artifactId>hutool-all</artifactId>
+ <version>5.8.20</version>
+ </dependency>
+ <dependency>
+ <groupId>com.thoughtworks.xstream</groupId>
+ <artifactId>xstream</artifactId>
+ <version>1.4.20</version>
+ </dependency>
</dependencies>
diff --git a/ard-route/src/main/java/com/ard/route/kmz/constant/FileTypeConstants.java b/ard-route/src/main/java/com/ard/route/kmz/constant/FileTypeConstants.java
new file mode 100644
index 0000000..9340708
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/constant/FileTypeConstants.java
@@ -0,0 +1,24 @@
+package com.ard.route.kmz.constant;
+
+public interface FileTypeConstants {
+
+ /**
+ * kmz 文件本质上是zip文件
+ */
+ String KMZ = "zip";
+
+ /**
+ * kml 文件
+ */
+ String KML = "kml";
+
+ /**
+ * wpml 文件
+ */
+ String WPML = "wpml";
+
+ /**
+ * 航线导入支持的文件类型
+ */
+ String ROUTE_SUPPORT_TYPE = "kml,zip";
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/controller/UavRouteController.java b/ard-route/src/main/java/com/ard/route/kmz/controller/UavRouteController.java
new file mode 100644
index 0000000..c2e1c9e
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/controller/UavRouteController.java
@@ -0,0 +1,33 @@
+package com.ard.route.kmz.controller;
+
+import com.ard.route.kmz.domain.UavRouteReq;
+import com.ard.route.kmz.service.UavRouteService;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RestController;
+
+import javax.annotation.Resource;
+
+@RestController
+public class UavRouteController {
+
+ @Resource
+ private UavRouteService routeService;
+
+ /**
+ * 编辑kmz文件
+ */
+ @PostMapping("/updateKmz")
+ public void updateKmz(@RequestBody UavRouteReq uavRouteReq) {
+ routeService.updateKmz(uavRouteReq);
+ }
+
+ /**
+ * 生成kmz文件
+ */
+ @PostMapping("/buildKmz")
+ public void buildKmz(@RequestBody UavRouteReq uavRouteReq){
+ routeService.buildKmz(uavRouteReq);
+ }
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/ActionTriggerReq.java b/ard-route/src/main/java/com/ard/route/kmz/domain/ActionTriggerReq.java
new file mode 100644
index 0000000..fe793ea
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/ActionTriggerReq.java
@@ -0,0 +1,24 @@
+package com.ard.route.kmz.domain;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * Author:songjian
+ * Date: 2024/12/22 10:46
+ **/
+@Data
+public class ActionTriggerReq implements Serializable {
+
+ /**
+ * 动作触发器类型
+ */
+ private String actionTriggerType;
+
+ /**
+ * 动作触发器参数
+ */
+ private Double actionTriggerParam;
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/CoordinatePointReq.java b/ard-route/src/main/java/com/ard/route/kmz/domain/CoordinatePointReq.java
new file mode 100644
index 0000000..b692a1f
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/CoordinatePointReq.java
@@ -0,0 +1,29 @@
+package com.ard.route.kmz.domain;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * Author:songjian
+ * Date: 2024/12/22 10:46
+ **/
+@Data
+public class CoordinatePointReq implements Serializable {
+
+ /**
+ * 经度
+ */
+ private Double longitude;
+
+ /**
+ * 纬度
+ */
+ private Double latitude;
+
+ /**
+ * 高度
+ */
+ private Double height;
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/MappingTypeReq.java b/ard-route/src/main/java/com/ard/route/kmz/domain/MappingTypeReq.java
new file mode 100644
index 0000000..d88690b
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/MappingTypeReq.java
@@ -0,0 +1,61 @@
+package com.ard.route.kmz.domain;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.util.List;
+
+/**
+ * Author:songjian
+ * Date: 2024/12/22 10:46
+ **/
+@Data
+public class MappingTypeReq implements Serializable {
+
+ /**
+ * 采集方式
+ */
+ private String collectionMethod;
+
+ /**
+ * 镜头类型
+ */
+ private String lensType;
+
+ /**
+ * 航向重叠率
+ */
+ private Integer overlapH;
+
+ /**
+ * 旁向重叠率
+ */
+ private Integer overlapW;
+
+ /**
+ * 是否开启高程优化
+ */
+ private Integer elevationOptimizeEnable;
+
+ /**
+ * 拍照模式
+ */
+ private String shootType;
+
+ /**
+ * 航线方向
+ */
+ private String direction;
+
+ /**
+ * 测区外扩距离
+ */
+ private String margin;
+
+ /**
+ * 测区多边形坐标 经度,纬度,高度
+ */
+ private List<CoordinatePointReq> coordinates;
+
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/PointActionReq.java b/ard-route/src/main/java/com/ard/route/kmz/domain/PointActionReq.java
new file mode 100644
index 0000000..ac0870e
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/PointActionReq.java
@@ -0,0 +1,68 @@
+package com.ard.route.kmz.domain;
+
+import lombok.Data;
+
+//import java.io.Serial;
+import java.io.Serializable;
+
+@Data
+public class PointActionReq implements Serializable {
+
+// @Serial
+// private static final long serialVersionUID = -1234025611387201652L;
+ /**
+ * 动作编号
+ */
+ private Integer actionIndex;
+
+ /**
+ * 飞行器悬停等待时间
+ */
+ private Integer hoverTime;
+
+ /**
+ * 飞行器目标偏航角
+ */
+ private Double aircraftHeading;
+
+ /**
+ * 是否使用全局拍照模式 0：不使用 1：使用
+ */
+ private Integer useGlobalImageFormat;
+
+ /**
+ * 拍照模式（字典）
+ */
+ private String imageFormat;
+
+ /**
+ * 普通拍照0 全景拍照1
+ */
+ private Integer takePhotoType;
+
+ /**
+ * 云台偏航角
+ */
+ private Double gimbalYawRotateAngle;
+
+ /**
+ * 云台俯仰角
+ */
+ private Double gimbalPitchRotateAngle;
+
+ /**
+ * 变焦焦距
+ */
+ private Double zoom;
+
+ /**
+ * 开始录像
+ */
+ private Boolean startRecord;
+
+ /**
+ * 停止录像
+ */
+ private Boolean stopRecord;
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/RoutePointReq.java b/ard-route/src/main/java/com/ard/route/kmz/domain/RoutePointReq.java
new file mode 100644
index 0000000..ba528eb
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/RoutePointReq.java
@@ -0,0 +1,78 @@
+package com.ard.route.kmz.domain;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.util.List;
+
+@Data
+public class RoutePointReq implements Serializable {
+
+ /**
+ * 航点编号
+ */
+ private Integer routePointIndex;
+
+ /**
+ * 经度
+ */
+ private Double longitude;
+
+ /**
+ * 纬度
+ */
+ private Double latitude;
+
+ /**
+ * 高度
+ */
+ private Double height;
+
+ /**
+ * 飞行速度
+ */
+ private Double speed;
+
+ /**
+ * 航点偏航角
+ */
+ private WaypointHeadingReq waypointHeadingReq;
+
+ /**
+ * 航点转弯模式
+ */
+ private WaypointTurnReq waypointTurnReq;
+
+ /**
+ * 航点云台俯仰角
+ */
+ private Double gimbalPitchAngle;
+
+ /**
+ * 航点动作列表
+ */
+ private List<PointActionReq> actions;
+
+
+ /**
+ * 航点动作触发
+ */
+ private ActionTriggerReq actionTriggerReq;
+
+
+ /**
+ * 等时拍照间隔时间 单位s
+ */
+ private Double timeInterval;
+
+ /**
+ * 等距拍照间隔距离 单位m
+ */
+ private Double distanceInterval;
+
+ /**
+ * 停止间隔拍照航点编号
+ */
+ private Integer endIntervalRouteIndex;
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/UavRouteReq.java b/ard-route/src/main/java/com/ard/route/kmz/domain/UavRouteReq.java
new file mode 100644
index 0000000..64d1917
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/UavRouteReq.java
@@ -0,0 +1,95 @@
+package com.ard.route.kmz.domain;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.util.List;
+
+/**
+ * Author:songjian
+ * Date: 2024/12/22 10:46
+ **/
+@Data
+public class UavRouteReq implements Serializable {
+
+ /**
+ * 航线类型
+ */
+ private String templateType;
+
+ /**
+ * 无人机类型
+ */
+ private Integer droneType;
+
+ /**
+ * 无人机子类型
+ */
+ private Integer subDroneType;
+
+ /**
+ * 负载类型
+ */
+ private Integer payloadType;
+
+ /**
+ * 负载挂载位置
+ */
+ private Integer payloadPosition;
+
+ /**
+ * 负载图片存储类型
+ */
+ private String imageFormat;
+
+ /**
+ * 航线结束动作
+ */
+ private String finishAction;
+
+ /**
+ * 失控动作
+ */
+ private String exitOnRcLostAction;
+
+ /**
+ * 全局航线高度
+ */
+ private Double globalHeight;
+
+ /**
+ * 全局航线飞行速度
+ */
+ private Double autoFlightSpeed;
+
+ /**
+ * 全局偏航角模式
+ */
+ private WaypointHeadingReq waypointHeadingReq;
+
+ /**
+ * 全局航点转弯模式
+ */
+ private WaypointTurnReq waypointTurnReq;
+
+ /**
+ * 云台俯仰角控制模式
+ */
+ private String gimbalPitchMode;
+
+ /**
+ * 参考起飞点
+ */
+ private String takeOffRefPoint;
+
+ /**
+ * 航点列表
+ */
+ private List<RoutePointReq> routePointList;
+
+ /**
+ * 建图航拍、倾斜摄影、航带飞行模板参数
+ */
+ private MappingTypeReq mappingTypeReq;
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/WaypointHeadingReq.java b/ard-route/src/main/java/com/ard/route/kmz/domain/WaypointHeadingReq.java
new file mode 100644
index 0000000..080fc23
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/WaypointHeadingReq.java
@@ -0,0 +1,28 @@
+package com.ard.route.kmz.domain;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * Author:songjian
+ * Date: 2024/12/22 13:05
+ **/
+@Data
+public class WaypointHeadingReq implements Serializable {
+
+ /**
+ * 偏航角模式
+ */
+ private String waypointHeadingMode;
+
+ /**
+ * 偏航角度
+ */
+ private Double waypointHeadingAngle;
+
+ /**
+ * 兴趣点
+ */
+ private String waypointPoiPoint;
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/WaypointTurnReq.java b/ard-route/src/main/java/com/ard/route/kmz/domain/WaypointTurnReq.java
new file mode 100644
index 0000000..1cd4f6e
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/WaypointTurnReq.java
@@ -0,0 +1,30 @@
+package com.ard.route.kmz.domain;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * Author:songjian
+ * Date: 2024/12/22 13:05
+ **/
+@Data
+public class WaypointTurnReq implements Serializable {
+
+ /**
+ * 航点转弯模式
+ */
+ private String waypointTurnMode;
+
+ /**
+ * 航点转弯截距
+ */
+ private Double waypointTurnDampingDist;
+
+ /**
+ * 该航段是否贴合直线
+ */
+ private Integer useStraightLine;
+
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlAction.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlAction.java
new file mode 100644
index 0000000..653b2b4
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlAction.java
@@ -0,0 +1,19 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import lombok.Data;
+
+@Data
+@XStreamAlias("wpml:action")
+public class KmlAction {
+
+ @XStreamAlias("wpml:actionId")
+ private String actionId;
+
+ @XStreamAlias("wpml:actionActuatorFunc")
+ private String actionActuatorFunc;
+
+ @XStreamAlias("wpml:actionActuatorFuncParam")
+ private KmlActionActuatorFuncParam actionActuatorFuncParam;
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlActionActuatorFuncParam.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlActionActuatorFuncParam.java
new file mode 100644
index 0000000..fc40c11
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlActionActuatorFuncParam.java
@@ -0,0 +1,161 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import lombok.Data;
+
+@Data
+@XStreamAlias("wpml:actionActuatorFuncParam")
+public class KmlActionActuatorFuncParam {
+
+ // takePhoto & startRecord & stopRecord
+
+ @XStreamAlias("wpml:payloadPositionIndex")
+ private String payloadPositionIndex;
+
+ @XStreamAlias("wpml:fileSuffix")
+ private String fileSuffix;
+
+ @XStreamAlias("wpml:payloadLensIndex")
+ private String payloadLensIndex;
+
+ @XStreamAlias("wpml:useGlobalPayloadLensIndex")
+ private String useGlobalPayloadLensIndex;
+
+ // focus
+
+ @XStreamAlias("wpml:isPointFocus")
+ private String isPointFocus;
+
+ @XStreamAlias("wpml:focusX")
+ private String focusX;
+
+ @XStreamAlias("wpml:focusY")
+ private String focusY;
+
+ @XStreamAlias("wpml:focusRegionWidth")
+ private String focusRegionWidth;
+
+ @XStreamAlias("wpml:focusRegionHeight")
+ private String focusRegionHeight;
+
+ @XStreamAlias("wpml:isInfiniteFocus")
+ private String isInfiniteFocus;
+
+ // zoom
+
+ @XStreamAlias("wpml:focalLength")
+ private String focalLength;
+
+ // customDirName
+
+ @XStreamAlias("wpml:directoryName")
+ private String directoryName;
+
+ // gimbalRotate & gimbalEvenlyRotate
+
+ @XStreamAlias("wpml:gimbalHeadingYawBase")
+ private String gimbalHeadingYawBase;
+
+ @XStreamAlias("wpml:gimbalRotateMode")
+ private String gimbalRotateMode;
+
+ @XStreamAlias("wpml:gimbalPitchRotateEnable")
+ private String gimbalPitchRotateEnable;
+
+ @XStreamAlias("wpml:gimbalPitchRotateAngle")
+ private String gimbalPitchRotateAngle;
+
+ @XStreamAlias("wpml:gimbalRollRotateEnable")
+ private String gimbalRollRotateEnable;
+
+ @XStreamAlias("wpml:gimbalRollRotateAngle")
+ private String gimbalRollRotateAngle;
+
+ @XStreamAlias("wpml:gimbalYawRotateEnable")
+ private String gimbalYawRotateEnable;
+
+ @XStreamAlias("wpml:gimbalYawRotateAngle")
+ private String gimbalYawRotateAngle;
+
+ @XStreamAlias("wpml:gimbalRotateTimeEnable")
+ private String gimbalRotateTimeEnable;
+
+ @XStreamAlias("wpml:gimbalRotateTime")
+ private String gimbalRotateTime;
+
+ // rotateYaw
+
+ @XStreamAlias("wpml:aircraftHeading")
+ private String aircraftHeading;
+
+ @XStreamAlias("wpml:aircraftPathMode")
+ private String aircraftPathMode;
+
+ // hover
+
+ @XStreamAlias("wpml:hoverTime")
+ private String hoverTime;
+
+ // orientedShoot
+
+ @XStreamAlias("wpml:accurateFrameValid")
+ private String accurateFrameValid;
+
+ @XStreamAlias("wpml:targetAngle")
+ private String targetAngle;
+
+ @XStreamAlias("wpml:actionUUID")
+ private String actionUUID;
+
+ @XStreamAlias("wpml:imageWidth")
+ private String imageWidth;
+
+ @XStreamAlias("wpml:imageHeight")
+ private String imageHeight;
+
+ @XStreamAlias("wpml:AFPos")
+ private String AFPos;
+
+ @XStreamAlias("wpml:gimbalPort")
+ private String gimbalPort;
+
+ @XStreamAlias("wpml:orientedCameraType")
+ private String orientedCameraType;
+
+ @XStreamAlias("wpml:orientedFilePath")
+ private String orientedFilePath;
+
+ @XStreamAlias("wpml:orientedFileMD5")
+ private String orientedFileMD5;
+
+ @XStreamAlias("wpml:orientedFileSize")
+ private String orientedFileSize;
+
+ @XStreamAlias("wpml:orientedFileSuffix")
+ private String orientedFileSuffix;
+
+ @XStreamAlias("wpml:orientedCameraApertue")
+ private String orientedCameraApertue;
+
+ @XStreamAlias("wpml:orientedCameraLuminance")
+ private String orientedCameraLuminance;
+
+ @XStreamAlias("wpml:orientedCameraShutterTime")
+ private String orientedCameraShutterTime;
+
+ @XStreamAlias("wpml:orientedCameraISO")
+ private String orientedCameraISO;
+
+ @XStreamAlias("wpml:orientedPhotoMode")
+ private String orientedPhotoMode;
+
+ // panoShot
+
+ @XStreamAlias("wpml:panoShotSubMode")
+ private String panoShotSubMode;
+
+ // recordPointCloud
+
+ @XStreamAlias("wpml:recordPointCloudOperate")
+ private String recordPointCloudOperate;
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlActionGroup.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlActionGroup.java
new file mode 100644
index 0000000..595dd9f
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlActionGroup.java
@@ -0,0 +1,34 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+@XStreamAlias("wpml:actionGroup")
+public class KmlActionGroup {
+
+ @XStreamAlias("wpml:actionGroupId")
+ private String actionGroupId;
+
+ @XStreamAlias("wpml:actionGroupStartIndex")
+ private String actionGroupStartIndex;
+
+ @XStreamAlias("wpml:actionGroupEndIndex")
+ private String actionGroupEndIndex;
+
+ @XStreamAlias("wpml:actionGroupMode")
+ private String actionGroupMode;
+
+ @XStreamAlias("wpml:actionTrigger")
+ private KmlActionTrigger actionTrigger;
+
+ @XStreamAlias("wpml:action")
+ private List<KmlAction> action;
+
+
+
+
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlActionTrigger.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlActionTrigger.java
new file mode 100644
index 0000000..7c8f07b
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlActionTrigger.java
@@ -0,0 +1,17 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import lombok.Data;
+
+@Data
+@XStreamAlias("wpml:actionTrigger")
+public class KmlActionTrigger {
+
+ @XStreamAlias("wpml:actionTriggerType")
+ private String actionTriggerType;
+
+ @XStreamAlias("wpml:actionTriggerParam")
+ private String actionTriggerParam;
+
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlDocument.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlDocument.java
new file mode 100644
index 0000000..cbe125e
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlDocument.java
@@ -0,0 +1,26 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import lombok.Data;
+
+@Data
+@XStreamAlias("Document")
+public class KmlDocument {
+
+ @XStreamAlias("wpml:author")
+ private String author;
+
+ @XStreamAlias("wpml:createTime")
+ private String createTime;
+
+ @XStreamAlias("wpml:updateTime")
+ private String updateTime;
+
+ @XStreamAlias("wpml:missionConfig")
+ private KmlMissionConfig kmlMissionConfig;
+
+ @XStreamAlias("Folder")
+ private KmlFolder folder;
+
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlDroneInfo.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlDroneInfo.java
new file mode 100644
index 0000000..d7b8d73
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlDroneInfo.java
@@ -0,0 +1,16 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import lombok.Data;
+
+@Data
+@XStreamAlias("wpml:droneInfo")
+public class KmlDroneInfo {
+
+ @XStreamAlias("wpml:droneEnumValue")
+ private String droneEnumValue;
+
+ @XStreamAlias("wpml:droneSubEnumValue")
+ private String droneSubEnumValue;
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlFolder.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlFolder.java
new file mode 100644
index 0000000..884dd4f
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlFolder.java
@@ -0,0 +1,56 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import com.thoughtworks.xstream.annotations.XStreamImplicit;
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+@XStreamAlias("Folder")
+public class KmlFolder {
+ @XStreamAlias("wpml:templateType")
+ private String templateType;
+
+ @XStreamAlias("wpml:templateId")
+ private String templateId;
+
+ @XStreamAlias("wpml:autoFlightSpeed")
+ private String autoFlightSpeed;
+
+ @XStreamAlias("wpml:waylineCoordinateSysParam")
+ private KmlWayLineCoordinateSysParam waylineCoordinateSysParam;
+
+ @XStreamAlias("wpml:payloadParam")
+ private KmlPayloadParam payloadParam;
+
+ // 以下为航点飞行模板元素
+ @XStreamAlias("wpml:globalWaypointTurnMode")
+ private String globalWaypointTurnMode;
+
+ @XStreamAlias("wpml:globalUseStraightLine")
+ private String globalUseStraightLine;
+
+ @XStreamAlias("wpml:gimbalPitchMode")
+ private String gimbalPitchMode;
+
+ @XStreamAlias("wpml:globalHeight")
+ private String globalHeight;
+
+ @XStreamAlias("wpml:globalWaypointHeadingParam")
+ private KmlGlobalWaypointHeadingParam globalWaypointHeadingParam;
+
+ @XStreamImplicit(itemFieldName = "Placemark")
+ private List<KmlPlacemark> placemarkList;
+
+ // 以下为 wpml 文件使用
+ @XStreamAlias("wpml:executeHeightMode")
+ private String executeHeightMode;
+
+ @XStreamAlias("wpml:waylineId")
+ private String waylineId;
+
+ @XStreamAlias("wpml:startActionGroup")
+ private KmlActionGroup actionGroup;
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlGlobalWaypointHeadingParam.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlGlobalWaypointHeadingParam.java
new file mode 100644
index 0000000..c3867f4
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlGlobalWaypointHeadingParam.java
@@ -0,0 +1,23 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import lombok.Data;
+
+@Data
+@XStreamAlias("wpml:globalWaypointHeadingParam")
+public class KmlGlobalWaypointHeadingParam {
+
+ @XStreamAlias("wpml:waypointHeadingMode")
+ private String waypointHeadingMode;
+
+ @XStreamAlias("wpml:waypointHeadingAngle")
+ private String waypointHeadingAngle;
+
+ @XStreamAlias("wpml:waypointPoiPoint")
+ private String waypointPoiPoint;
+
+ @XStreamAlias("wpml:waypointHeadingPathMode")
+ private String waypointHeadingPathMode;
+
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlInfo.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlInfo.java
new file mode 100644
index 0000000..678be78
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlInfo.java
@@ -0,0 +1,22 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import com.thoughtworks.xstream.annotations.XStreamAsAttribute;
+import lombok.Data;
+
+@Data
+@XStreamAlias("kml")
+public class KmlInfo {
+
+ @XStreamAsAttribute
+ @XStreamAlias("xmlns")
+ private String xmlns = "http://www.opengis.net/kml/2.2";
+
+ @XStreamAsAttribute
+ @XStreamAlias("xmlns:wpml")
+ private String wpml = "http://www.dji.com/wpmz/1.0.6";
+
+ @XStreamAlias("Document")
+ private KmlDocument document;
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlLineString.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlLineString.java
new file mode 100644
index 0000000..50a86db
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlLineString.java
@@ -0,0 +1,13 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import lombok.Data;
+
+@Data
+@XStreamAlias("LineString")
+public class KmlLineString {
+
+ @XStreamAlias("coordinates")
+ private String coordinates;
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlLinearRing.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlLinearRing.java
new file mode 100644
index 0000000..e41f28f
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlLinearRing.java
@@ -0,0 +1,13 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import lombok.Data;
+
+@Data
+@XStreamAlias("LinearRing")
+public class KmlLinearRing {
+
+ @XStreamAlias("coordinates")
+ private String coordinates;
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlMissionConfig.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlMissionConfig.java
new file mode 100644
index 0000000..13a3999
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlMissionConfig.java
@@ -0,0 +1,43 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import lombok.Data;
+
+@Data
+@XStreamAlias("wpml:missionConfig")
+public class KmlMissionConfig {
+
+ @XStreamAlias("wpml:flyToWaylineMode")
+ private String flyToWayLineMode;
+
+ @XStreamAlias("wpml:finishAction")
+ private String finishAction;
+
+ @XStreamAlias("wpml:exitOnRCLost")
+ private String exitOnRCLost;
+
+ @XStreamAlias("wpml:executeRCLostAction")
+ private String executeRCLostAction;
+
+ @XStreamAlias("wpml:takeOffSecurityHeight")
+ private String takeOffSecurityHeight;
+
+ @XStreamAlias("wpml:globalTransitionalSpeed")
+ private String globalTransitionalSpeed;
+
+ @XStreamAlias("wpml:globalRTHHeight")
+ private String globalRTHHeight;
+
+ @XStreamAlias("wpml:takeOffRefPoint")
+ private String takeOffRefPoint;
+
+ @XStreamAlias("wpml:takeOffRefPointAGLHeight")
+ private String takeOffRefPointAGLHeight;
+
+ @XStreamAlias("wpml:droneInfo")
+ private KmlDroneInfo droneInfo;
+
+ @XStreamAlias("wpml:payloadInfo")
+ private KmlPayloadInfo payloadInfo;
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlOuterBoundaryIs.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlOuterBoundaryIs.java
new file mode 100644
index 0000000..c61b3ea
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlOuterBoundaryIs.java
@@ -0,0 +1,12 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import lombok.Data;
+
+@Data
+@XStreamAlias("outerBoundaryIs")
+public class KmlOuterBoundaryIs {
+
+ @XStreamAlias("LinearRing")
+ private KmlLinearRing linearRing;
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlOverlap.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlOverlap.java
new file mode 100644
index 0000000..49e31c1
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlOverlap.java
@@ -0,0 +1,34 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import lombok.Data;
+
+@Data
+@XStreamAlias("wpml:overlap")
+public class KmlOverlap {
+
+ @XStreamAlias("orthoLidarOverlapH")
+ private String orthoLidarOverlapH;
+
+ @XStreamAlias("orthoLidarOverlapW")
+ private String orthoLidarOverlapW;
+
+ @XStreamAlias("orthoCameraOverlapH")
+ private String orthoCameraOverlapH;
+
+ @XStreamAlias("orthoCameraOverlapW")
+ private String orthoCameraOverlapW;
+
+ @XStreamAlias("inclinedLidarOverlapH")
+ private String inclinedLidarOverlapH;
+
+ @XStreamAlias("inclinedLidarOverlapW")
+ private String inclinedLidarOverlapW;
+
+ @XStreamAlias("inclinedCameraOverlapH")
+ private String inclinedCameraOverlapH;
+
+ @XStreamAlias("inclinedCameraOverlapW")
+ private String inclinedCameraOverlapW;
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlParams.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlParams.java
new file mode 100644
index 0000000..4370f94
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlParams.java
@@ -0,0 +1,95 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.ard.route.kmz.domain.MappingTypeReq;
+import com.ard.route.kmz.domain.WaypointHeadingReq;
+import com.ard.route.kmz.domain.WaypointTurnReq;
+import lombok.Data;
+
+import java.util.List;
+
+/**
+ * 航线文件
+ */
+@Data
+public class KmlParams {
+
+ /**
+ * 航线类型
+ */
+ private String templateType;
+
+ /**
+ * 无人机类型
+ */
+ private Integer droneType;
+
+ /**
+ * 无人机子类型
+ */
+ private Integer subDroneType;
+
+ /**
+ * 负载类型
+ */
+ private Integer payloadType;
+
+ /**
+ * 负载挂载位置
+ */
+ private Integer payloadPosition;
+
+ /**
+ * 航线结束动作
+ */
+ private String finishAction;
+
+ /**
+ * 失控动作
+ */
+ private String exitOnRcLostAction;
+
+ /**
+ * 参考起飞点
+ */
+ private String takeOffRefPoint;
+
+ /**
+ * 全局航点转弯模式
+ */
+ private WaypointTurnReq waypointTurnReq;
+
+ /**
+ * 全局航线高度
+ */
+ private Double globalHeight;
+
+ /**
+ * 全局偏航角模式
+ */
+ private WaypointHeadingReq waypointHeadingReq;
+
+ /**
+ * 云台俯仰角控制模式
+ */
+ private String gimbalPitchMode;
+
+ /**
+ * 全局航线飞行速度
+ */
+ private Double autoFlightSpeed;
+
+ /**
+ * 负载图片存储类型
+ */
+ private String imageFormat;
+
+
+ /**
+ * 建图航拍、倾斜摄影、航带飞行模板参数
+ */
+ private MappingTypeReq mappingTypeReq;
+
+
+ private List<RoutePointInfo> routePointList;
+}
+
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlPayloadInfo.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlPayloadInfo.java
new file mode 100644
index 0000000..95f3eee
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlPayloadInfo.java
@@ -0,0 +1,16 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import lombok.Data;
+
+@Data
+@XStreamAlias("wpml:payloadInfo")
+public class KmlPayloadInfo {
+
+ @XStreamAlias("wpml:payloadEnumValue")
+ private String payloadEnumValue;
+
+ @XStreamAlias("wpml:payloadPositionIndex")
+ private String payloadPositionIndex;
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlPayloadParam.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlPayloadParam.java
new file mode 100644
index 0000000..c127131
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlPayloadParam.java
@@ -0,0 +1,41 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import lombok.Data;
+
+/**
+ * 负载设置
+ */
+@Data
+@XStreamAlias("wpml:payloadParam")
+public class KmlPayloadParam {
+
+ @XStreamAlias("wpml:payloadPositionIndex")
+ private String payloadPositionIndex;
+
+ @XStreamAlias("wpml:focusMode")
+ private String focusMode;
+
+ @XStreamAlias("wpml:meteringMode")
+ private String meteringMode;
+
+ @XStreamAlias("wpml:dewarpingEnable")
+ private String dewarpingEnable;
+
+ @XStreamAlias("wpml:returnMode")
+ private String returnMode;
+
+ @XStreamAlias("wpml:samplingRate")
+ private String samplingRate;
+
+ @XStreamAlias("wpml:scanningMode")
+ private String scanningMode;
+
+ @XStreamAlias("wpml:modelColoringEnable")
+ private String modelColoringEnable;
+
+ @XStreamAlias("wpml:imageFormat")
+ private String imageFormat;
+
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlPlacemark.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlPlacemark.java
new file mode 100644
index 0000000..f3d4bcd
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlPlacemark.java
@@ -0,0 +1,131 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import lombok.Data;
+
+@Data
+@XStreamAlias("Placemark")
+public class KmlPlacemark {
+
+ @XStreamAlias("wpml:isRisky")
+ private String isRisky;
+
+ @XStreamAlias("Point")
+ private KmlPoint kmlPoint;
+
+ @XStreamAlias("wpml:index")
+ private String index;
+
+ @XStreamAlias("wpml:useGlobalHeight")
+ private String useGlobalHeight;
+
+ @XStreamAlias("wpml:ellipsoidHeight")
+ private String ellipsoidHeight;
+
+ @XStreamAlias("wpml:height")
+ private String height;
+
+ @XStreamAlias("wpml:useGlobalSpeed")
+ private String useGlobalSpeed;
+
+ @XStreamAlias("wpml:waypointSpeed")
+ private String waypointSpeed;
+
+ @XStreamAlias("wpml:useGlobalHeadingParam")
+ private String useGlobalHeadingParam;
+
+ @XStreamAlias("wpml:waypointHeadingParam")
+ private KmlWaypointHeadingParam waypointHeadingParam;
+
+ @XStreamAlias("wpml:useGlobalTurnParam")
+ private String useGlobalTurnParam;
+
+ @XStreamAlias("wpml:waypointTurnParam")
+ private KmlWaypointTurnParam waypointTurnParam;
+
+ @XStreamAlias("wpml:useStraightLine")
+ private String useStraightLine;
+
+ @XStreamAlias("wpml:gimbalPitchAngle")
+ private String gimbalPitchAngle;
+
+ @XStreamAlias("wpml:actionGroup")
+ private KmlActionGroup actionGroup;
+
+ // 下面 wpml 文件使用
+ @XStreamAlias("wpml:executeHeight")
+ private String executeHeight;
+
+// @XStreamAlias("wpml:waypointGimbalHeadingParam")
+// private KmlWaypointGimbalHeadingParam waypointGimbalHeadingParam;
+
+ // 建图航拍模板元素
+ @XStreamAlias("wpml:caliFlightEnable")
+ private String caliFlightEnable;
+
+ @XStreamAlias("wpml:elevationOptimizeEnable")
+ private String elevationOptimizeEnable;
+
+ @XStreamAlias("wpml:smartObliqueEnable")
+ private String smartObliqueEnable;
+
+ @XStreamAlias("wpml:smartObliqueGimbalPitch")
+ private String smartObliqueGimbalPitch;
+
+ @XStreamAlias("wpml:shootType")
+ private String shootType;
+
+ @XStreamAlias("wpml:direction")
+ private String direction;
+
+ @XStreamAlias("wpml:margin")
+ private String margin;
+
+ @XStreamAlias("wpml:overlap")
+ private KmlOverlap overlap;
+
+ @XStreamAlias("wpml:ovefacadeWaylineEnablerlap")
+ private String facadeWaylineEnable;
+
+ @XStreamAlias("Polygon")
+ private KmlPolygon polygon;
+
+ @XStreamAlias("wpml:mappingHeadingParam")
+ private KmlActionGroup mappingHeadingParam;
+
+ @XStreamAlias("wpml:gimbalPitchMode")
+ private String gimbalPitchMode;
+
+ // 倾斜摄影模板元素
+ @XStreamAlias("wpml:inclinedGimbalPitch")
+ private String inclinedGimbalPitch;
+
+ @XStreamAlias("wpml:inclinedFlightSpeed")
+ private String inclinedFlightSpeed;
+
+ // 航带飞行模板元素
+ @XStreamAlias("wpml:singleLineEnable")
+ private String singleLineEnable;
+
+ @XStreamAlias("wpml:cuttingDistance")
+ private String cuttingDistance;
+
+ @XStreamAlias("wpml:boundaryOptimEnable")
+ private String boundaryOptimEnable;
+
+ @XStreamAlias("wpml:leftExtend")
+ private String leftExtend;
+
+ @XStreamAlias("wpml:rightExtend")
+ private String rightExtend;
+
+ @XStreamAlias("wpml:includeCenterEnable")
+ private String includeCenterEnable;
+
+ @XStreamAlias("wpml:stripUseTemplateAltitude")
+ private String stripUseTemplateAltitude;
+
+ @XStreamAlias("LineString")
+ private KmlLineString lineString;
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlPoint.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlPoint.java
new file mode 100644
index 0000000..13adf9f
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlPoint.java
@@ -0,0 +1,13 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import lombok.Data;
+
+@Data
+@XStreamAlias("Point")
+public class KmlPoint {
+
+ @XStreamAlias("coordinates")
+ private String coordinates;
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlPolygon.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlPolygon.java
new file mode 100644
index 0000000..7c6b29c
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlPolygon.java
@@ -0,0 +1,12 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import lombok.Data;
+
+@Data
+@XStreamAlias("Polygon")
+public class KmlPolygon {
+
+ @XStreamAlias("outerBoundaryIs")
+ private KmlOuterBoundaryIs outerBoundaryIs;
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlWayLineCoordinateSysParam.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlWayLineCoordinateSysParam.java
new file mode 100644
index 0000000..d55754c
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlWayLineCoordinateSysParam.java
@@ -0,0 +1,31 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import lombok.Data;
+
+/**
+ * 坐标系参数
+ */
+@Data
+@XStreamAlias("wpml:waylineCoordinateSysParam")
+public class KmlWayLineCoordinateSysParam {
+
+ @XStreamAlias("wpml:coordinateMode")
+ private String coordinateMode;
+
+ @XStreamAlias("wpml:heightMode")
+ private String heightMode;
+
+ @XStreamAlias("wpml:positioningType")
+ private String positioningType;
+
+ @XStreamAlias("wpml:globalShootHeight")
+ private String globalShootHeight;
+
+ @XStreamAlias("wpml:surfaceFollowModeEnable")
+ private String surfaceFollowModeEnable;
+
+ @XStreamAlias("wpml:surfaceRelativeHeight")
+ private String surfaceRelativeHeight;
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlWaypointGimbalHeadingParam.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlWaypointGimbalHeadingParam.java
new file mode 100644
index 0000000..0c96471
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlWaypointGimbalHeadingParam.java
@@ -0,0 +1,17 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import lombok.Data;
+
+@Data
+@XStreamAlias("wpml:waypointGimbalHeadingParam")
+public class KmlWaypointGimbalHeadingParam {
+
+ @XStreamAlias("wpml:waypointGimbalPitchAngle")
+ private String waypointGimbalPitchAngle;
+
+ @XStreamAlias("wpml:waypointGimbalYawAngle")
+ private String waypointGimbalYawAngle;
+
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlWaypointHeadingParam.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlWaypointHeadingParam.java
new file mode 100644
index 0000000..e484361
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlWaypointHeadingParam.java
@@ -0,0 +1,23 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import lombok.Data;
+
+@Data
+@XStreamAlias("wpml:waypointHeadingParam")
+public class KmlWaypointHeadingParam {
+
+ @XStreamAlias("wpml:waypointHeadingMode")
+ private String waypointHeadingMode;
+
+ @XStreamAlias("wpml:waypointHeadingAngle")
+ private String waypointHeadingAngle;
+
+ @XStreamAlias("wpml:waypointPoiPoint")
+ private String waypointPoiPoint;
+
+ @XStreamAlias("wpml:waypointHeadingPathMode")
+ private String waypointHeadingPathMode;
+
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlWaypointTurnParam.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlWaypointTurnParam.java
new file mode 100644
index 0000000..a8e98e0
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/KmlWaypointTurnParam.java
@@ -0,0 +1,16 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+import lombok.Data;
+
+@Data
+@XStreamAlias("wpml:waypointTurnParam")
+public class KmlWaypointTurnParam {
+
+ @XStreamAlias("wpml:waypointTurnMode")
+ private String waypointTurnMode;
+
+ @XStreamAlias("wpml:waypointTurnDampingDist")
+ private String waypointTurnDampingDist;
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/domain/kml/RoutePointInfo.java b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/RoutePointInfo.java
new file mode 100644
index 0000000..a8c7251
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/domain/kml/RoutePointInfo.java
@@ -0,0 +1,79 @@
+package com.ard.route.kmz.domain.kml;
+
+import com.ard.route.kmz.domain.PointActionReq;
+import com.ard.route.kmz.domain.WaypointHeadingReq;
+import com.ard.route.kmz.domain.WaypointTurnReq;
+import lombok.Data;
+
+import java.io.Serializable;
+import java.util.List;
+
+@Data
+public class RoutePointInfo implements Serializable {
+
+ /**
+ * 航点编号
+ */
+ private Integer routePointIndex;
+
+ /**
+ * 经度
+ */
+ private Double longitude;
+
+ /**
+ * 纬度
+ */
+ private Double latitude;
+
+ /**
+ * 高度
+ */
+ private Double height;
+
+ /**
+ * 飞行速度
+ */
+ private Double speed;
+
+ /**
+ * 航点偏航角
+ */
+ private WaypointHeadingReq waypointHeadingReq;
+
+ /**
+ * 航点转弯模式
+ */
+ private WaypointTurnReq waypointTurnReq;
+
+ /**
+ * 航点云台俯仰角
+ */
+ private Double gimbalPitchAngle;
+
+ /**
+ * 航点动作列表
+ */
+ private List<PointActionReq> actions;
+
+ /**
+ * 是否首尾航点（首尾航点不能是协调转弯类型）
+ */
+ private Boolean isStartAndEndPoint = false;
+
+ /**
+ * 等时拍照间隔时间 单位s
+ */
+ private Double timeInterval;
+
+ /**
+ * 等距拍照间隔距离 单位m
+ */
+ private Double distanceInterval;
+
+ /**
+ * 停止间隔拍照航点编号
+ */
+ private Integer endIntervalRouteIndex;
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ActionActuatorFuncEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ActionActuatorFuncEnums.java
new file mode 100644
index 0000000..b617e99
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ActionActuatorFuncEnums.java
@@ -0,0 +1,45 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:actionActuatorFunc 动作类型
+ */
+public enum ActionActuatorFuncEnums {
+
+ TAKE_PHOTO("takePhoto", "单拍"),
+ START_RECORD("startRecord", "开始录像"),
+ STOP_RECORD("stopRecord", "结束录像"),
+ FOCUS("focus", "对焦"),
+ ZOOM("zoom", "变焦"),
+ CUSTOM_DIRNAME("customDirName", "创建新文件夹"),
+ GIMBAL_ROTATE("gimbalRotate", "旋转云台"),
+ ROTATE_YAW("rotateYaw", "飞行器偏航"),
+ HOVER("hover", "悬停等待"),
+ GIMBAL_EVENLY_ROTATE("gimbalEvenlyRotate", "航段间均匀转动云台pitch角"),
+ ORIENTED_SHOOT("orientedShoot", "精准复拍动作"),
+ PANO_SHOT("panoShot", "全景拍照动作"),
+ RECORD_POINT_CLOUD("recordPointCloud", "点云录制操作");
+
+ private String value;
+ private String description;
+
+ ActionActuatorFuncEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ActionGroupModeEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ActionGroupModeEnums.java
new file mode 100644
index 0000000..97cf29b
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ActionGroupModeEnums.java
@@ -0,0 +1,34 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:actionGroupMode 动作执行模式
+ */
+public enum ActionGroupModeEnums {
+
+// MANUAL("manual", "手动控制"),
+ SEQUENCE("sequence", "串行执行。即动作组内的动作依次按顺序执行");
+
+ private String value;
+ private String description;
+
+ ActionGroupModeEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ActionTriggerTypeEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ActionTriggerTypeEnums.java
new file mode 100644
index 0000000..07256fb
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ActionTriggerTypeEnums.java
@@ -0,0 +1,36 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:actionTriggerType 动作触发器类型
+ */
+public enum ActionTriggerTypeEnums {
+
+ REACH_POINT("reachPoint", "到达航点时执行"),
+ BETWEEN_ADJACENT_POINTS("betweenAdjacentPoints", "航段触发，均匀转云台"),
+ MULTIPLE_TIMING("multipleTiming", "等时触发"),
+ MULTIPLE_DISTANCE("multipleDistance", "等距触发");
+
+ private String value;
+ private String description;
+
+ ActionTriggerTypeEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/AircraftPathModeEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/AircraftPathModeEnums.java
new file mode 100644
index 0000000..be1fa1a
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/AircraftPathModeEnums.java
@@ -0,0 +1,34 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:aircraftPathMode 飞行器偏航角转动模式
+ */
+public enum AircraftPathModeEnums {
+
+ CLOCKWISE("clockwise", "顺时针旋转"),
+ COUNTER_CLOCKWISE("counterClockwise", "逆时针旋转");
+
+ private String value;
+ private String description;
+
+ AircraftPathModeEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/CollectionMethodEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/CollectionMethodEnums.java
new file mode 100644
index 0000000..54d6792
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/CollectionMethodEnums.java
@@ -0,0 +1,35 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:overlap 采集类型
+ */
+public enum CollectionMethodEnums {
+
+ ORTHO("ortho", "正射采集"),
+ INCLINED("inclined", "倾斜采集")
+ ;
+
+ private String value;
+ private String description;
+
+ CollectionMethodEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/DroneEnumValueEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/DroneEnumValueEnums.java
new file mode 100644
index 0000000..03beb27
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/DroneEnumValueEnums.java
@@ -0,0 +1,37 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:droneEnumValue 飞行器机型主类型
+ */
+public enum DroneEnumValueEnums {
+
+ M350_RTK(89, "M350 RTK"),
+ M300_RTK(60, "M300 RTK"),
+ M30_M30T(67, "M30/M30T"),
+ M3E_M3T_M3M(77, "M3E/M3T/M3M"),
+ M3D_M3TD(91, "M3D/M3TD");
+
+ private Integer value;
+ private String description;
+
+ DroneEnumValueEnums(Integer value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public Integer getValue() {
+ return value;
+ }
+
+ public void setValue(Integer value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ExecuteHeightModeEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ExecuteHeightModeEnums.java
new file mode 100644
index 0000000..c2b9ee3
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ExecuteHeightModeEnums.java
@@ -0,0 +1,36 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:executeHeightMode 执行高度模式
+ * 该元素仅在waylines.wpml中使用。
+ */
+public enum ExecuteHeightModeEnums {
+
+ WGS84("WGS84", "椭球高模式"),
+ RELATIVE_TO_START_POINT("relativeToStartPoint", "相对起飞点高度模式"),
+ REALTIME_FOLLOW_SURFACE("realTimeFollowSurface", "使用实时仿地模式，仅支持M3E/M3T/M3M");
+
+ private String value;
+ private String description;
+
+ ExecuteHeightModeEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ExecuteRCLostActionEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ExecuteRCLostActionEnums.java
new file mode 100644
index 0000000..073c262
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ExecuteRCLostActionEnums.java
@@ -0,0 +1,36 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:executeRCLostAction 失控动作类型
+ * 当 wpml:exitOnRCLost为 executeLostAction 时为必需元素
+ */
+public enum ExecuteRCLostActionEnums {
+
+ GO_BACK("goBack", "返航"),
+ LANDING("landing", "降落"),
+ HOVER("hover", "悬停");
+
+ private String value;
+ private String description;
+
+ ExecuteRCLostActionEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ExitOnRCLostEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ExitOnRCLostEnums.java
new file mode 100644
index 0000000..b55af40
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ExitOnRCLostEnums.java
@@ -0,0 +1,34 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:exitOnRCLost 失控是否继续执行航线
+ */
+public enum ExitOnRCLostEnums {
+
+ GO_CONTINUE("goContinue", "继续执行航线"),
+ EXECUTE_LOST_ACTION("executeLostAction", "退出航线，执行失控动作");
+
+ private String value;
+ private String description;
+
+ ExitOnRCLostEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/FinishActionEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/FinishActionEnums.java
new file mode 100644
index 0000000..8cc370d
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/FinishActionEnums.java
@@ -0,0 +1,37 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:finishAction 航线结束动作
+ * 注：动作执行过程，若飞行器退出了航线模式且进入失控状态，则会优先执行失控动作。
+ */
+public enum FinishActionEnums {
+
+ GO_HOME("goHome", "飞行器完成航线任务后，退出航线模式并返航"),
+ NO_ACTION("noAction", "飞行器完成航线任务后，退出航线模式"),
+ AUTO_LAND("autoLand", "飞行器完成航线任务后，退出航线模式并原地降落"),
+ GOTO_FIRST_WAYPOINT("gotoFirstWaypoint", "飞行器完成航线任务后，立即飞向航线起始点，到达后退出航线模式");
+
+ private String value;
+ private String description;
+
+ FinishActionEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/FlyToWaylineModeEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/FlyToWaylineModeEnums.java
new file mode 100644
index 0000000..1c02254
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/FlyToWaylineModeEnums.java
@@ -0,0 +1,34 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:flyToWaylineMode 飞向首航点模式
+ */
+public enum FlyToWaylineModeEnums {
+
+ SAFELY("safely", "安全模式"),
+ POINT_TO_POINT("pointToPoint", "倾斜飞行模式");
+
+ private String value;
+ private String description;
+
+ FlyToWaylineModeEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/FocusModeEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/FocusModeEnums.java
new file mode 100644
index 0000000..681c72f
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/FocusModeEnums.java
@@ -0,0 +1,34 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:focusMode 负载对焦模式
+ */
+public enum FocusModeEnums {
+
+ FIRST_POINT("firstPoint", "首个航点自动对焦"),
+ CUSTOM("custom", "标定对焦值对焦");
+
+ private String value;
+ private String description;
+
+ FocusModeEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/GimbalPitchModeEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/GimbalPitchModeEnums.java
new file mode 100644
index 0000000..a9e1ac3
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/GimbalPitchModeEnums.java
@@ -0,0 +1,34 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:gimbalPitchMode 云台俯仰角控制模式
+ */
+public enum GimbalPitchModeEnums {
+
+ MANUAL("manual", "手动控制"),
+ USE_POINT_SETTING("usePointSetting", "依照每个航点设置");
+
+ private String value;
+ private String description;
+
+ GimbalPitchModeEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/GlobalWaypointTurnModeEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/GlobalWaypointTurnModeEnums.java
new file mode 100644
index 0000000..1f567d8
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/GlobalWaypointTurnModeEnums.java
@@ -0,0 +1,36 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:globalWaypointTurnMode 全局航点类型（全局航点转弯模式）
+ */
+public enum GlobalWaypointTurnModeEnums {
+
+ COORDINATE_TURN("coordinateTurn", "协调转弯，不过点，提前转弯"),
+ TO_POINT_AND_STOP_WITH_DISCONTINUITY_CURVATURE("toPointAndStopWithDiscontinuityCurvature", "直线飞行，飞行器到点停"),
+ TO_POINT_AND_STOP_WITH_CONTINUITY_CURVATURE("toPointAndStopWithContinuityCurvature", "曲线飞行，飞行器到点停"),
+ TO_POINT_AND_PASS_WITH_CONTINUITY_CURVATURE("toPointAndPassWithContinuityCurvature", "曲线飞行，飞行器过点不停");
+
+ private String value;
+ private String description;
+
+ GlobalWaypointTurnModeEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/HeightModeEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/HeightModeEnums.java
new file mode 100644
index 0000000..6b29695
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/HeightModeEnums.java
@@ -0,0 +1,36 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:heightMode 航点高程参考平面
+ */
+public enum HeightModeEnums {
+
+ EGM96("EGM96", "使用海拔高编辑"),
+ RELATIVE_TO_START_POINT("relativeToStartPoint", "使用相对点的高度进行编辑"),
+ ABOVE_GROUND_LEVEL("aboveGroundLevel", "使用地形数据，AGL下编辑(仅支持司空2平台)"),
+ REALTIME_FOLLOW_SURFACE("realTimeFollowSurface", "使用实时仿地模式（仅用于建图航拍模版），仅支持M3E/M3T/M3M机型");
+
+ private String value;
+ private String description;
+
+ HeightModeEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ImageFormatEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ImageFormatEnums.java
new file mode 100644
index 0000000..9a60d2c
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ImageFormatEnums.java
@@ -0,0 +1,37 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:imageFormat 图片格式列表
+ */
+public enum ImageFormatEnums {
+
+ WIDE("wide", "存储广角镜头照片"),
+ ZOOM("zoom", "存储变焦镜头照片"),
+ IR("ir", "存储红外镜头照片"),
+ NARROW_BAND("narrow_band", "存储窄带镜头拍摄照片"),
+ VISABLE("visable", "可见光照片");
+
+ private String value;
+ private String description;
+
+ ImageFormatEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/LensTypeEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/LensTypeEnums.java
new file mode 100644
index 0000000..0f84d97
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/LensTypeEnums.java
@@ -0,0 +1,35 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:overlap 采集类型
+ */
+public enum LensTypeEnums {
+
+ LIDAR("lidar", "激光"),
+ CAMERA("camera", "可见光")
+ ;
+
+ private String value;
+ private String description;
+
+ LensTypeEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/MeteringModeEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/MeteringModeEnums.java
new file mode 100644
index 0000000..3b08baa
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/MeteringModeEnums.java
@@ -0,0 +1,34 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:meteringMode 负载测光模式
+ */
+public enum MeteringModeEnums {
+
+ AVERAGE("average", "全局测光"),
+ SPOT("spot", "点测光");
+
+ private String value;
+ private String description;
+
+ MeteringModeEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/PayloadPositionIndexEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/PayloadPositionIndexEnums.java
new file mode 100644
index 0000000..9b799f7
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/PayloadPositionIndexEnums.java
@@ -0,0 +1,35 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:payloadPositionIndex 负载挂载位置
+ */
+public enum PayloadPositionIndexEnums {
+
+ ZERO(0, "飞行器1号挂载位置。M300 RTK，M350 RTK机型，对应机身左前方。其它机型，对应主云台"),
+ ONE(1, "飞行器2号挂载位置。M300 RTK，M350 RTK机型，对应机身右前方"),
+ TWO(2, "飞行器3号挂载位置。M300 RTK，M350 RTK机型，对应机身上方");
+
+ private Integer value;
+ private String description;
+
+ PayloadPositionIndexEnums(Integer value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public Integer getValue() {
+ return value;
+ }
+
+ public void setValue(Integer value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/PayloadTypeEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/PayloadTypeEnums.java
new file mode 100644
index 0000000..6305eca
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/PayloadTypeEnums.java
@@ -0,0 +1,45 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:payloadEnumValue 负载机型主类型
+ */
+public enum PayloadTypeEnums {
+
+ H20(42, "H20"),
+ H20T(43, "H20T"),
+ M30(52, "M30双光相机"),
+ M30T(53, "M30T三光相机"),
+ H20N(61, "H20N"),
+ MAVIC_3E(66, "Mavic 3E 相机"),
+ MAVIC_3T(67, "Mavic 3T 相机"),
+ MAVIC_3M(68, "Mavic 3M 相机"),
+ MATRICE_3D(80, "Matrice 3D 相机"),
+ MATRICE_3TD(81, "Matrice 3TD 相机"),
+ PSDK(65534, "PSDK 负载"),
+ H30(82, "H30"),
+ H30T(83, "H30T");
+
+ private Integer value;
+ private String description;
+
+ PayloadTypeEnums(Integer value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public Integer getValue() {
+ return value;
+ }
+
+ public void setValue(Integer value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/PositioningTypeEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/PositioningTypeEnums.java
new file mode 100644
index 0000000..290b232
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/PositioningTypeEnums.java
@@ -0,0 +1,36 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:positioningType 经纬度与高度数据源
+ */
+public enum PositioningTypeEnums {
+
+ GPS("GPS", "位置数据采集来源为GPS/BDS/GLONASS/GALILEO等"),
+ RTK_BASE_STATION("RTKBaseStation", "采集位置数据时，使用RTK基站进行差分定位"),
+ QIAN_XUN("QianXun", "采集位置数据时，使用千寻网络RTK进行差分定位"),
+ CUSTOM("Custom", "采集位置数据时，使用自定义网络RTK进行差分定位");
+
+ private String value;
+ private String description;
+
+ PositioningTypeEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ReturnModeEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ReturnModeEnums.java
new file mode 100644
index 0000000..457615b
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ReturnModeEnums.java
@@ -0,0 +1,35 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:returnMode 激光雷达回波模式
+ */
+public enum ReturnModeEnums {
+
+ SINGLE_RETURN_STRONGEST("singleReturnStrongest", "单回波"),
+ DUAL_RETURN("dualReturn", "双回波"),
+ TRIPLE_RETURN("tripleReturn", "三回波");
+
+ private String value;
+ private String description;
+
+ ReturnModeEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ScanningModeEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ScanningModeEnums.java
new file mode 100644
index 0000000..4941a30
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ScanningModeEnums.java
@@ -0,0 +1,34 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:scanningMode 负载扫描模式
+ */
+public enum ScanningModeEnums {
+
+ REPETITIVE("repetitive", "重复扫描"),
+ NON_REPETITIVE("nonRepetitive", "非重复扫描");
+
+ private String value;
+ private String description;
+
+ ScanningModeEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ShootTypeEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ShootTypeEnums.java
new file mode 100644
index 0000000..6f4fb9b
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/ShootTypeEnums.java
@@ -0,0 +1,35 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:shootType 拍照模式（定时或定距）
+ */
+public enum ShootTypeEnums {
+
+ TIME("time", "等时间拍照"),
+ DISTANCE("distance", "等间隔拍照")
+ ;
+
+ private String value;
+ private String description;
+
+ ShootTypeEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/TemplateTypeEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/TemplateTypeEnums.java
new file mode 100644
index 0000000..26fdb05
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/TemplateTypeEnums.java
@@ -0,0 +1,36 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:templateType 预定义模板类型
+ */
+public enum TemplateTypeEnums {
+
+ WAYPOINT("waypoint", "航点飞行"),
+ MAPPING2D("mapping2d", "建图航拍"),
+ MAPPING3D("mapping3d", "倾斜摄影"),
+ MAPPING_STRIP("mappingStrip", "航带飞行");
+
+ private String value;
+ private String description;
+
+ TemplateTypeEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/WaypointHeadingModeEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/WaypointHeadingModeEnums.java
new file mode 100644
index 0000000..93dd3e2
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/WaypointHeadingModeEnums.java
@@ -0,0 +1,37 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:waypointHeadingMode 飞行器偏航角模式
+ */
+public enum WaypointHeadingModeEnums {
+
+ FOLLOW_WAYLINE("followWayline", "沿航线方向。飞行器机头沿着航线方向飞至下一航点"),
+ MANUALLY("manually", "手动控制。飞行器在飞至下一航点的过程中，用户可以手动控制飞行器机头朝向"),
+ FIXED("fixed", "锁定当前偏航角。飞行器机头保持执行完航点动作后的飞行器偏航角飞至下一航点"),
+ SMOOTH_TRANSITION("smoothTransition", "自定义。通过“wpml:waypointHeadingAngle”给定某航点的目标偏航角，并在航段飞行过程中均匀过渡至下一航点的目标偏航角。"),
+ TOWARD_POI("towardPOI", "朝向兴趣点");
+
+ private String value;
+ private String description;
+
+ WaypointHeadingModeEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/enums/kml/WaypointHeadingPathModeEnums.java b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/WaypointHeadingPathModeEnums.java
new file mode 100644
index 0000000..ad1afdd
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/enums/kml/WaypointHeadingPathModeEnums.java
@@ -0,0 +1,35 @@
+package com.ard.route.kmz.enums.kml;
+
+/**
+ * wpml:waypointHeadingPathMode 飞行器偏航角转动方向
+ */
+public enum WaypointHeadingPathModeEnums {
+
+ CLOCKWISE("clockwise", "顺时针旋转飞行器偏航角"),
+ COUNTER_CLOCKWISE("counterClockwise", "逆时针旋转飞行器偏航角"),
+ FOLLOW_BAD_ARC("followBadArc", "沿最短路径旋转飞行器偏航角");
+
+ private String value;
+ private String description;
+
+ WaypointHeadingPathModeEnums(String value, String description) {
+ this.value = value;
+ this.description = description;
+ }
+
+ public String getValue() {
+ return value;
+ }
+
+ public void setValue(String value) {
+ this.value = value;
+ }
+
+ public String getDescription() {
+ return description;
+ }
+
+ public void setDescription(String description) {
+ this.description = description;
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/service/UavRouteService.java b/ard-route/src/main/java/com/ard/route/kmz/service/UavRouteService.java
new file mode 100644
index 0000000..30434cf
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/service/UavRouteService.java
@@ -0,0 +1,17 @@
+package com.ard.route.kmz.service;
+
+import com.ard.route.kmz.domain.UavRouteReq;
+
+public interface UavRouteService {
+
+ /**
+ * 编辑kmz文件
+ */
+ void updateKmz(UavRouteReq uavRouteReq);
+
+ /**
+ * 生成kmz文件(带航点)
+ */
+ void buildKmz(UavRouteReq uavRouteReq);
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/service/impl/UavRouteServiceImpl.java b/ard-route/src/main/java/com/ard/route/kmz/service/impl/UavRouteServiceImpl.java
new file mode 100644
index 0000000..cee3911
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/service/impl/UavRouteServiceImpl.java
@@ -0,0 +1,108 @@
+package com.ard.route.kmz.service.impl;
+
+import cn.hutool.core.bean.BeanUtil;
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.io.FileUtil;
+import com.ard.route.kmz.domain.kml.*;
+import com.ard.route.kmz.util.RouteFileUtils;
+import com.ard.route.kmz.constant.FileTypeConstants;
+import com.ard.route.kmz.domain.RoutePointReq;
+import com.ard.route.kmz.domain.UavRouteReq;
+import com.ard.route.kmz.domain.WaypointHeadingReq;
+import com.ard.route.kmz.domain.WaypointTurnReq;
+import com.ard.route.kmz.enums.kml.ExitOnRCLostEnums;
+import com.ard.route.kmz.service.UavRouteService;
+import org.apache.commons.compress.archivers.ArchiveEntry;
+import org.apache.commons.compress.archivers.ArchiveInputStream;
+import org.apache.commons.compress.archivers.zip.ZipArchiveInputStream;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.beans.BeanUtils;
+import org.springframework.stereotype.Service;
+
+import java.io.File;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Objects;
+
+/**
+ * Author:songjian
+ * Date: 2024/12/22 10:36
+ **/
+@Service
+public class UavRouteServiceImpl implements UavRouteService {
+
+ @Override
+ public void updateKmz(UavRouteReq uavRouteReq) {
+ // TODO 替换本地文件路径！！！
+ File file = FileUtil.file("/Users/songjian/Project/IdeaProjects/dj-uav/file/kmz/航线kmz文件.kmz");
+ try (ArchiveInputStream archiveInputStream = new ZipArchiveInputStream(FileUtil.getInputStream(file))) {
+ ArchiveEntry entry;
+ KmlInfo kmlInfo = new KmlInfo();
+ KmlInfo wpmlInfo = new KmlInfo();
+ KmlParams kmlParams = new KmlParams();
+ while (!Objects.isNull(entry = archiveInputStream.getNextEntry())) {
+ String name = entry.getName();
+ if (name.toLowerCase().endsWith(".kml")) {
+ kmlInfo = RouteFileUtils.parseKml(archiveInputStream);
+ buildKmlParams(kmlParams, kmlInfo);
+ this.handleRouteUpdate(kmlInfo, uavRouteReq, FileTypeConstants.KML, kmlParams);
+ } else if (name.toLowerCase().endsWith(".wpml")) {
+ wpmlInfo = RouteFileUtils.parseKml(archiveInputStream);
+ this.handleRouteUpdate(wpmlInfo, uavRouteReq, FileTypeConstants.WPML, kmlParams);
+ }
+ }
+ RouteFileUtils.buildKmz("更新航线kmz文件", kmlInfo, wpmlInfo);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+
+ private static void buildKmlParams(KmlParams kmlParams, KmlInfo kmlInfo) {
+ KmlFolder folder = kmlInfo.getDocument().getFolder();
+ kmlParams.setGlobalHeight(Double.valueOf(kmlInfo.getDocument().getKmlMissionConfig().getGlobalRTHHeight()));
+ kmlParams.setAutoFlightSpeed(Double.valueOf(folder.getAutoFlightSpeed()));
+
+ WaypointHeadingReq waypointHeadingReq = new WaypointHeadingReq();
+ waypointHeadingReq.setWaypointHeadingMode(folder.getGlobalWaypointHeadingParam().getWaypointHeadingMode());
+ waypointHeadingReq.setWaypointHeadingAngle(StringUtils.isNotBlank(folder.getGlobalWaypointHeadingParam().getWaypointHeadingAngle()) ?
+ Double.valueOf(folder.getGlobalWaypointHeadingParam().getWaypointHeadingAngle()) : null);
+ waypointHeadingReq.setWaypointPoiPoint(StringUtils.isNotBlank(folder.getGlobalWaypointHeadingParam().getWaypointPoiPoint()) ? folder.getGlobalWaypointHeadingParam().getWaypointPoiPoint() : null);
+ kmlParams.setWaypointHeadingReq(waypointHeadingReq);
+
+ WaypointTurnReq waypointTurnReq = new WaypointTurnReq();
+ waypointTurnReq.setWaypointTurnMode(folder.getGlobalWaypointTurnMode());
+ waypointTurnReq.setUseStraightLine(StringUtils.isNotBlank(folder.getGlobalUseStraightLine()) ? Integer.valueOf(folder.getGlobalUseStraightLine()) : null);
+
+ kmlParams.setWaypointTurnReq(waypointTurnReq);
+ kmlParams.setGimbalPitchMode(folder.getGimbalPitchMode());
+ kmlParams.setPayloadPosition(Integer.valueOf(kmlInfo.getDocument().getKmlMissionConfig().getPayloadInfo().getPayloadPositionIndex()));
+ kmlParams.setImageFormat(folder.getPayloadParam().getImageFormat());
+ }
+
+ private void handleRouteUpdate(KmlInfo kmlInfo, UavRouteReq uavRouteReq, String fileType, KmlParams kmlParams) {
+ if (StringUtils.isNotBlank(uavRouteReq.getFinishAction())) {
+ kmlInfo.getDocument().getKmlMissionConfig().setFinishAction(uavRouteReq.getFinishAction());
+ }
+ if (StringUtils.isNotBlank(uavRouteReq.getExitOnRcLostAction())) {
+ kmlInfo.getDocument().getKmlMissionConfig().setExitOnRCLost(ExitOnRCLostEnums.EXECUTE_LOST_ACTION.getValue());
+ kmlInfo.getDocument().getKmlMissionConfig().setExecuteRCLostAction(uavRouteReq.getExitOnRcLostAction());
+ }
+ if (CollectionUtil.isNotEmpty(uavRouteReq.getRoutePointList())) {
+ List<KmlPlacemark> placemarkList = new ArrayList<>();
+ for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
+ RoutePointInfo routePointInfo = BeanUtil.copyProperties(routePointReq, RoutePointInfo.class);
+ KmlPlacemark kmlPlacemark = RouteFileUtils.buildKmlPlacemark(routePointInfo, kmlParams, fileType);
+ placemarkList.add(kmlPlacemark);
+ }
+ kmlInfo.getDocument().getFolder().setPlacemarkList(placemarkList);
+ }
+ }
+
+ @Override
+ public void buildKmz(UavRouteReq uavRouteReq) {
+ KmlParams kmlParams = new KmlParams();
+ BeanUtils.copyProperties(uavRouteReq, kmlParams);
+ kmlParams.setRoutePointList(BeanUtil.copyToList(uavRouteReq.getRoutePointList(), RoutePointInfo.class));
+ RouteFileUtils.buildKmz("航线kmz文件AAAAAA", kmlParams);
+ }
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/util/Gps.java b/ard-route/src/main/java/com/ard/route/kmz/util/Gps.java
new file mode 100644
index 0000000..402459b
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/util/Gps.java
@@ -0,0 +1,19 @@
+package com.ard.route.kmz.util;
+
+import lombok.AllArgsConstructor;
+import lombok.Data;
+
+@Data
+@AllArgsConstructor
+public class Gps {
+
+ /**
+ * 经度
+ */
+ private double wgLon;
+
+ /**
+ * 纬度
+ */
+ private double wgLat;
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/util/PositionUtils.java b/ard-route/src/main/java/com/ard/route/kmz/util/PositionUtils.java
new file mode 100644
index 0000000..44df1ca
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/util/PositionUtils.java
@@ -0,0 +1,153 @@
+package com.ard.route.kmz.util;
+/**
+ * 各地图API坐标系统比较与转换;
+ *
+ * WGS84坐标系：即地球坐标系，国际上通用的坐标系。设备一般包含GPS芯片或者北斗芯片获取的经纬度为WGS84地理坐标系,
+ * 谷歌地图采用的是WGS84地理坐标系（中国范围除外）;
+ *
+ * GCJ02坐标系：即火星坐标系，是由中国国家测绘局制订的地理信息系统的坐标系统。由WGS84坐标系经加密后的坐标系。
+ * 高德地图、腾讯地图、谷歌中国地图和搜搜中国地图采用的是GCJ02地理坐标系;
+ *
+ * BD09坐标系：即百度坐标系，GCJ02坐标系经加密后的坐标系;
+ *
+ * 搜狗坐标系、图吧坐标系等，估计也是在GCJ02基础上加密而成的。
+ *
+ */
+public class PositionUtils {
+ private static double pi = 3.1415926535897932384626;
+ private static double a = 6378245.0;
+ private static double ee = 0.00669342162296594323;
+
+ /**
+ * 84 to 火星坐标系 (GCJ-02)
+ * <p>
+ * World Geodetic System ==> Mars Geodetic System
+ *
+ * @param lat
+ * @param lon
+ * @return
+ */
+ public static Gps gps84_To_Gcj02(double lat, double lon) {
+ if (outOfChina(lat, lon)) {
+ return null;
+ }
+ double dLat = transformLat(lon - 105.0, lat - 35.0);
+ double dLon = transformLon(lon - 105.0, lat - 35.0);
+ double radLat = lat / 180.0 * pi;
+ double magic = Math.sin(radLat);
+ magic = 1 - ee * magic * magic;
+ double sqrtMagic = Math.sqrt(magic);
+ dLat = (dLat * 180.0) / ((a * (1 - ee)) / (magic * sqrtMagic) * pi);
+ dLon = (dLon * 180.0) / (a / sqrtMagic * Math.cos(radLat) * pi);
+ double mgLat = lat + dLat;
+ double mgLon = lon + dLon;
+
+ return new Gps(mgLat, mgLon);
+ }
+
+ /**
+ * 火星坐标系 (GCJ-02) to 84
+ *
+ * @param lon
+ * @param lat
+ * @return
+ */
+ public static Gps gcj02_To_Gps84(double lat, double lon) {
+ Gps gps = transform(lat, lon);
+ double lontitude = lon * 2 - gps.getWgLon();
+ double latitude = lat * 2 - gps.getWgLat();
+ return new Gps(latitude, lontitude);
+
+ }
+
+ /**
+ * 火星坐标系 (GCJ-02) 与百度坐标系 (BD-09) 的转换算法
+ * <p>
+ * 将 GCJ-02 坐标转换成 BD-09 坐标
+ *
+ * @param gg_lat
+ * @param gg_lon
+ */
+ public static Gps gcj02_To_Bd09(double gg_lat, double gg_lon) {
+ double x = gg_lon, y = gg_lat;
+
+ double z = Math.sqrt(x * x + y * y) + 0.00002 * Math.sin(y * pi);
+
+ double theta = Math.atan2(y, x) + 0.000003 * Math.cos(x * pi);
+
+ double bd_lon = z * Math.cos(theta) + 0.0065;
+
+ double bd_lat = z * Math.sin(theta) + 0.006;
+
+ return new Gps(bd_lat, bd_lon);
+ }
+
+ /**
+ * 火星坐标系 (GCJ-02) 与百度坐标系 (BD-09) 的转换算法
+ * <p>
+ * 将 BD-09 坐标转换成GCJ-02 坐标
+ *
+ * @param bd_lat
+ * @param bd_lon
+ * @return
+ */
+ public static Gps bd09_To_Gcj02(double bd_lat, double bd_lon) {
+ double x = bd_lon - 0.0065, y = bd_lat - 0.006;
+
+ double z = Math.sqrt(x * x + y * y) - 0.00002 * Math.sin(y * pi);
+
+ double theta = Math.atan2(y, x) - 0.000003 * Math.cos(x * pi);
+
+ double gg_lon = z * Math.cos(theta);
+
+ double gg_lat = z * Math.sin(theta);
+
+ return new Gps(gg_lat, gg_lon);
+ }
+
+ private static boolean outOfChina(double lat, double lon) {
+ if (lon < 72.004 || lon > 137.8347)
+ return true;
+ if (lat < 0.8293 || lat > 55.8271)
+ return true;
+ return false;
+ }
+
+ private static Gps transform(double lat, double lon) {
+ if (outOfChina(lat, lon)) {
+ return new Gps(lat, lon);
+ }
+ double dLat = transformLat(lon - 105.0, lat - 35.0);
+ double dLon = transformLon(lon - 105.0, lat - 35.0);
+ double radLat = lat / 180.0 * pi;
+ double magic = Math.sin(radLat);
+ magic = 1 - ee * magic * magic;
+ double sqrtMagic = Math.sqrt(magic);
+ dLat = (dLat * 180.0) / ((a * (1 - ee)) / (magic * sqrtMagic) * pi);
+ dLon = (dLon * 180.0) / (a / sqrtMagic * Math.cos(radLat) * pi);
+ double mgLat = lat + dLat;
+ double mgLon = lon + dLon;
+
+ return new Gps(mgLat, mgLon);
+ }
+
+ private static double transformLat(double x, double y) {
+ double ret = -100.0 + 2.0 * x + 3.0 * y + 0.2 * y * y + 0.1 * x * y
+ + 0.2 * Math.sqrt(Math.abs(x));
+ ret += (20.0 * Math.sin(6.0 * x * pi) + 20.0 * Math.sin(2.0 * x * pi)) * 2.0 / 3.0;
+ ret += (20.0 * Math.sin(y * pi) + 40.0 * Math.sin(y / 3.0 * pi)) * 2.0 / 3.0;
+ ret += (160.0 * Math.sin(y / 12.0 * pi) + 320 * Math.sin(y * pi / 30.0)) * 2.0 / 3.0;
+ return ret;
+ }
+
+ private static double transformLon(double x, double y) {
+ double ret = 300.0 + x + 2.0 * y + 0.1 * x * x + 0.1 * x * y + 0.1
+ * Math.sqrt(Math.abs(x));
+ ret += (20.0 * Math.sin(6.0 * x * pi) + 20.0 * Math.sin(2.0 * x * pi)) * 2.0 / 3.0;
+ ret += (20.0 * Math.sin(x * pi) + 40.0 * Math.sin(x / 3.0 * pi)) * 2.0 / 3.0;
+ ret += (150.0 * Math.sin(x / 12.0 * pi) + 300.0 * Math.sin(x / 30.0
+ * pi)) * 2.0 / 3.0;
+ return ret;
+ }
+
+}
diff --git a/ard-route/src/main/java/com/ard/route/kmz/util/RouteFileUtils.java b/ard-route/src/main/java/com/ard/route/kmz/util/RouteFileUtils.java
new file mode 100644
index 0000000..c745a74
--- /dev/null
+++ b/ard-route/src/main/java/com/ard/route/kmz/util/RouteFileUtils.java
@@ -0,0 +1,598 @@
+package com.ard.route.kmz.util;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.util.ObjectUtil;
+import com.ard.route.kmz.domain.*;
+import com.ard.route.kmz.domain.kml.*;
+import com.ard.route.kmz.enums.kml.*;
+import com.ard.route.kmz.constant.FileTypeConstants;
+import com.thoughtworks.xstream.XStream;
+import com.thoughtworks.xstream.io.xml.DomDriver;
+import org.apache.commons.lang3.StringUtils;
+
+import java.io.*;
+import java.nio.charset.StandardCharsets;
+import java.util.ArrayList;
+import java.util.Comparator;
+import java.util.List;
+import java.util.Objects;
+import java.util.stream.Collectors;
+import java.util.zip.ZipEntry;
+import java.util.zip.ZipOutputStream;
+
+/**
+ * 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
+ *
+ * @param inputStream
+ * @return KmlInfo
+ */
+ public static KmlInfo parseKml(InputStream inputStream) {
+ XStream xStream = new XStream();
+ xStream.allowTypes(new Class[]{KmlInfo.class, KmlAction.class, KmlWayLineCoordinateSysParam.class, KmlPoint.class});
+ xStream.alias("kml", KmlInfo.class);
+ xStream.processAnnotations(KmlInfo.class);
+ xStream.autodetectAnnotations(true);
+ xStream.ignoreUnknownElements();
+ xStream.addImplicitCollection(KmlActionGroup.class, "action");
+ return (KmlInfo) xStream.fromXML(inputStream);
+ }
+
+ /**
+ * 生成航线 KMZ 文件
+ *
+ * @param fileName 文件名
+ * @param kmlParams 参数对象
+ * @return 本地文件路径
+ */
+ public static String buildKmz(String fileName, KmlParams kmlParams) {
+ KmlInfo kmlInfo = buildKml(kmlParams);
+ KmlInfo wpmlInfo = buildWpml(kmlParams);
+ return buildKmz(fileName, kmlInfo, wpmlInfo);
+ }
+
+ /**
+ * 生成航线 KMZ 文件
+ *
+ * @param fileName 文件名
+ * @param kmlInfo kml 文件信息
+ * @param wpmlInfo wpml 文件信息
+ * @return 本地文件路径
+ */
+ public static String buildKmz(String fileName, KmlInfo kmlInfo, KmlInfo wpmlInfo) {
+ XStream xStream = new XStream(new DomDriver());
+ xStream.processAnnotations(KmlInfo.class);
+ xStream.addImplicitCollection(KmlActionGroup.class, "action");
+
+ String kml = XML_HEADER + xStream.toXML(kmlInfo);
+ String wpml = XML_HEADER + xStream.toXML(wpmlInfo);
+
+ try (FileOutputStream fileOutputStream = new FileOutputStream(LOCAL_KMZ_FILE_PATH + fileName + ".kmz");
+ ZipOutputStream zipOutputStream = new ZipOutputStream(fileOutputStream)) {
+ zipOutputStream.setLevel(0); // 0 表示不压缩，存储方式
+
+ // 创建 wpmz 目录中的 template.kml 文件条目
+ buildZipFile("wpmz/template.kml", zipOutputStream, kml);
+
+ // 创建 wpmz 目录中的 waylines.wpml 文件条目
+ buildZipFile("wpmz/waylines.wpml", zipOutputStream, wpml);
+
+ } catch (Exception e) {
+ throw new RuntimeException(e);
+ }
+ return LOCAL_KMZ_FILE_PATH + fileName + ".kmz";
+ }
+
+ private static void buildZipFile(String name, ZipOutputStream zipOutputStream, String content) throws IOException {
+ ZipEntry kmlEntry = new ZipEntry(name);
+ zipOutputStream.putNextEntry(kmlEntry);
+ // 将内容写入 ZIP 条目
+ try (ByteArrayInputStream inputStream = new ByteArrayInputStream(content.getBytes(StandardCharsets.UTF_8))) {
+ byte[] buffer = new byte[1024];
+ int length;
+ while ((length = inputStream.read(buffer)) >= 0) {
+ zipOutputStream.write(buffer, 0, length);
+ }
+ }
+ zipOutputStream.closeEntry(); // 关闭条目
+ }
+
+
+ public static KmlInfo buildKml(KmlParams kmlParams) {
+ KmlInfo kmlInfo = new KmlInfo();
+ kmlInfo.setDocument(buildKmlDocument(FileTypeConstants.KML, kmlParams));
+ return kmlInfo;
+ }
+
+ public static KmlInfo buildWpml(KmlParams kmlParams) {
+ KmlInfo kmlInfo = new KmlInfo();
+ kmlInfo.setDocument(buildKmlDocument(FileTypeConstants.WPML, kmlParams));
+ return kmlInfo;
+ }
+
+ public static KmlDocument buildKmlDocument(String fileType, KmlParams kmlParams) {
+ KmlDocument kmlDocument = new KmlDocument();
+ if (StringUtils.equals(fileType, FileTypeConstants.KML)) {
+ kmlDocument.setAuthor("Cleaner");
+ kmlDocument.setCreateTime(String.valueOf(DateUtil.current()));
+ kmlDocument.setUpdateTime(String.valueOf(DateUtil.current()));
+ }
+ kmlDocument.setKmlMissionConfig(buildKmlMissionConfig(kmlParams));
+ kmlDocument.setFolder(buildKmlFolder(fileType, kmlParams));
+ return kmlDocument;
+ }
+
+ public static KmlMissionConfig buildKmlMissionConfig(KmlParams kmlParams) {
+ KmlMissionConfig kmlMissionConfig = new KmlMissionConfig();
+ kmlMissionConfig.setFlyToWayLineMode(FlyToWaylineModeEnums.SAFELY.getValue());
+ kmlMissionConfig.setFinishAction(kmlParams.getFinishAction());
+ if (StringUtils.isNotBlank(kmlParams.getExitOnRcLostAction())) {
+ kmlMissionConfig.setExitOnRCLost(ExitOnRCLostEnums.EXECUTE_LOST_ACTION.getValue());
+ kmlMissionConfig.setExecuteRCLostAction(kmlParams.getExitOnRcLostAction());
+ } else {
+ kmlMissionConfig.setExitOnRCLost(ExitOnRCLostEnums.GO_CONTINUE.getValue());
+ }
+ kmlMissionConfig.setTakeOffSecurityHeight("20");
+ kmlMissionConfig.setGlobalTransitionalSpeed("15");
+ kmlMissionConfig.setGlobalRTHHeight("100");
+ kmlMissionConfig.setTakeOffRefPoint(kmlParams.getTakeOffRefPoint());
+ kmlMissionConfig.setDroneInfo(buildKmlDroneInfo(kmlParams.getDroneType(), kmlParams.getSubDroneType()));
+ kmlMissionConfig.setPayloadInfo(buildKmlPayloadInfo(kmlParams.getPayloadType(), kmlParams.getPayloadPosition()));
+ return kmlMissionConfig;
+ }
+
+ public static KmlDroneInfo buildKmlDroneInfo(Integer droneType, Integer subDroneType) {
+ KmlDroneInfo kmlDroneInfo = new KmlDroneInfo();
+ 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())) {
+ kmlDroneInfo.setDroneSubEnumValue(String.valueOf(subDroneType));
+ }
+ return kmlDroneInfo;
+ }
+
+ public static KmlPayloadInfo buildKmlPayloadInfo(Integer payloadType, Integer payloadPosition) {
+ KmlPayloadInfo kmlPayloadInfo = new KmlPayloadInfo();
+ kmlPayloadInfo.setPayloadEnumValue(String.valueOf(payloadType));
+ kmlPayloadInfo.setPayloadPositionIndex(String.valueOf(payloadPosition));
+ return kmlPayloadInfo;
+
+ }
+
+
+ public static KmlFolder buildKmlFolder(String fileType, KmlParams kmlParams) {
+ KmlFolder kmlFolder = new KmlFolder();
+ kmlFolder.setTemplateId("0");
+ kmlFolder.setAutoFlightSpeed(String.valueOf(kmlParams.getAutoFlightSpeed()));
+ if (StringUtils.equals(fileType, FileTypeConstants.KML)) {
+ kmlFolder.setTemplateType(kmlParams.getTemplateType());
+ kmlFolder.setWaylineCoordinateSysParam(buildKmlWayLineCoordinateSysParam(TemplateTypeEnums.WAYPOINT.getValue()));
+ 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
+ }
+ // 航点类型模板航线配置
+ if (StringUtils.equals(kmlFolder.getTemplateType(), TemplateTypeEnums.WAYPOINT.getValue())) {
+ WaypointTurnReq waypointTurnReq = kmlParams.getWaypointTurnReq();
+ kmlFolder.setGlobalWaypointTurnMode(waypointTurnReq.getWaypointTurnMode());
+ if (StringUtils.equals(waypointTurnReq.getWaypointTurnMode(), GlobalWaypointTurnModeEnums.TO_POINT_AND_STOP_WITH_CONTINUITY_CURVATURE.getValue()) ||
+ StringUtils.equals(waypointTurnReq.getWaypointTurnMode(), GlobalWaypointTurnModeEnums.TO_POINT_AND_PASS_WITH_CONTINUITY_CURVATURE.getValue())) {
+ kmlFolder.setGlobalUseStraightLine("1");
+ }
+ kmlFolder.setGimbalPitchMode(kmlParams.getGimbalPitchMode());
+ kmlFolder.setGlobalHeight(String.valueOf(kmlParams.getGlobalHeight()));
+ WaypointHeadingReq waypointHeadingReq = kmlParams.getWaypointHeadingReq();
+ kmlFolder.setGlobalWaypointHeadingParam(buildKmlGlobalWaypointHeadingParam(waypointHeadingReq.getWaypointHeadingMode(), waypointHeadingReq.getWaypointHeadingAngle(), waypointHeadingReq.getWaypointPoiPoint()));
+ // 构建航点
+ List<RoutePointInfo> routePointList = kmlParams.getRoutePointList();
+ if (CollectionUtil.isNotEmpty(routePointList)) {
+ routePointList.stream()
+ .min(Comparator.comparing(RoutePointInfo::getRoutePointIndex))
+ .ifPresent(routePointInfo -> routePointInfo.setIsStartAndEndPoint(Boolean.TRUE));
+ routePointList.stream()
+ .max(Comparator.comparing(RoutePointInfo::getRoutePointIndex))
+ .ifPresent(routePointInfo -> routePointInfo.setIsStartAndEndPoint(Boolean.TRUE));
+ List<KmlPlacemark> kmlPlacemarkList = new ArrayList<>();
+
+ for (RoutePointInfo routePointInfo : routePointList) {
+ kmlPlacemarkList.add(buildKmlPlacemark(routePointInfo, kmlParams, fileType));
+ }
+ kmlFolder.setPlacemarkList(kmlPlacemarkList);
+ }
+ } else {
+ if (StringUtils.equals(fileType, FileTypeConstants.KML)) {
+ List<KmlPlacemark> kmlPlacemarkList = new ArrayList<>();
+ kmlPlacemarkList.add(buildMappingKmlPlacemark(kmlParams));
+ kmlFolder.setPlacemarkList(kmlPlacemarkList);
+ } else {
+ // 构建航点
+ List<RoutePointInfo> routePointList = kmlParams.getRoutePointList();
+ 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);
+ }
+ }
+ }
+ return kmlFolder;
+ }
+
+
+ public static KmlWayLineCoordinateSysParam buildKmlWayLineCoordinateSysParam(String templateType) {
+ KmlWayLineCoordinateSysParam kmlWayLineCoordinateSysParam = new KmlWayLineCoordinateSysParam();
+ kmlWayLineCoordinateSysParam.setCoordinateMode("WGS84");
+ kmlWayLineCoordinateSysParam.setHeightMode(HeightModeEnums.RELATIVE_TO_START_POINT.getValue());
+ 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.setSurfaceFollowModeEnable("1");
+ kmlWayLineCoordinateSysParam.setSurfaceRelativeHeight("100");
+ }
+ return kmlWayLineCoordinateSysParam;
+ }
+
+ public static KmlPayloadParam buildKmlPayloadParam(KmlParams kmlParams) {
+ KmlPayloadParam kmlPayloadParam = new KmlPayloadParam();
+ kmlPayloadParam.setPayloadPositionIndex(String.valueOf(kmlParams.getPayloadPosition()));
+ kmlPayloadParam.setFocusMode(FocusModeEnums.FIRST_POINT.getValue());
+ kmlPayloadParam.setMeteringMode(MeteringModeEnums.AVERAGE.getValue());
+ // 0：不开启 1：开启
+ kmlPayloadParam.setDewarpingEnable("1");
+ kmlPayloadParam.setReturnMode(ReturnModeEnums.SINGLE_RETURN_STRONGEST.getValue());
+ // 60000、80000、120000、160000、180000、240000
+ kmlPayloadParam.setSamplingRate("240000");
+ kmlPayloadParam.setScanningMode(ScanningModeEnums.REPETITIVE.getValue());
+ // 0: 不上色 1: 真彩上色
+ kmlPayloadParam.setModelColoringEnable("1");
+ kmlPayloadParam.setImageFormat(kmlParams.getImageFormat());
+
+ return kmlPayloadParam;
+ }
+
+ public static KmlGlobalWaypointHeadingParam buildKmlGlobalWaypointHeadingParam(String waypointHeadingMode, Double waypointHeadingAngle, String waypointPoiPoint) {
+ KmlGlobalWaypointHeadingParam kmlGlobalWaypointHeadingParam = new KmlGlobalWaypointHeadingParam();
+ kmlGlobalWaypointHeadingParam.setWaypointHeadingMode(waypointHeadingMode);
+ if (StringUtils.equals(waypointHeadingMode, WaypointHeadingModeEnums.SMOOTH_TRANSITION.getValue())) {
+ kmlGlobalWaypointHeadingParam.setWaypointHeadingAngle(String.valueOf(waypointHeadingAngle));
+ }
+ if (StringUtils.equals(waypointHeadingMode, WaypointHeadingModeEnums.TOWARD_POI.getValue())) {
+ kmlGlobalWaypointHeadingParam.setWaypointPoiPoint(waypointPoiPoint);
+ }
+ kmlGlobalWaypointHeadingParam.setWaypointHeadingPathMode(WaypointHeadingPathModeEnums.FOLLOW_BAD_ARC.getValue());
+ return kmlGlobalWaypointHeadingParam;
+
+ }
+
+ public static KmlPlacemark buildKmlPlacemark(RoutePointInfo routePointInfo, KmlParams kmlParams, String fileType) {
+ KmlPlacemark kmlPlacemark = new KmlPlacemark();
+ 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);
+ handleWaypointTurnParam(routePointInfo, kmlParams, fileType, kmlPlacemark);
+ if (StringUtils.equals(fileType, FileTypeConstants.KML)) {
+ if (ObjectUtil.isNotEmpty(routePointInfo.getGimbalPitchAngle()) && StringUtils.equals(kmlParams.getGimbalPitchMode(), GimbalPitchModeEnums.USE_POINT_SETTING.getValue())) {
+ kmlPlacemark.setGimbalPitchAngle(String.valueOf(routePointInfo.getGimbalPitchAngle()));
+ }
+ }
+ if (CollectionUtil.isNotEmpty(routePointInfo.getActions())) {
+ kmlPlacemark.setActionGroup(buildKmlActionGroup(routePointInfo, kmlParams));
+ }
+ return kmlPlacemark;
+ }
+
+ private static KmlPlacemark buildMappingKmlPlacemark(KmlParams kmlParams) {
+ KmlPlacemark kmlPlacemark = new KmlPlacemark();
+ MappingTypeReq mappingTypeReq = kmlParams.getMappingTypeReq();
+ kmlPlacemark.setCaliFlightEnable("0");
+ kmlPlacemark.setElevationOptimizeEnable(String.valueOf(mappingTypeReq.getElevationOptimizeEnable()));
+ kmlPlacemark.setSmartObliqueEnable("0");
+ kmlPlacemark.setShootType(mappingTypeReq.getShootType());
+ kmlPlacemark.setDirection(mappingTypeReq.getDirection());
+ kmlPlacemark.setMargin(mappingTypeReq.getMargin());
+ kmlPlacemark.setOverlap(buildKmlOverlap(mappingTypeReq.getCollectionMethod(), mappingTypeReq.getLensType(), mappingTypeReq.getOverlapH(), mappingTypeReq.getOverlapW()));
+ kmlPlacemark.setEllipsoidHeight(String.valueOf(kmlParams.getGlobalHeight()));
+ kmlPlacemark.setHeight(String.valueOf(kmlParams.getGlobalHeight()));
+ kmlPlacemark.setFacadeWaylineEnable("0");
+ kmlPlacemark.setPolygon(buildKmlPolygon(mappingTypeReq.getCoordinates()));
+ return kmlPlacemark;
+ }
+
+ 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));
+ }
+ } 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));
+ }
+ }
+ return overlap;
+ }
+
+ private static KmlPolygon buildKmlPolygon(List<CoordinatePointReq> coordinatePointReqList) {
+ KmlPolygon kmlPolygon = new KmlPolygon();
+ KmlLinearRing kmlLinearRing = new KmlLinearRing();
+
+ String coordinates = coordinatePointReqList.stream().map(point -> point.getLongitude() + "," + point.getLatitude() + "," + point.getHeight())
+ .collect(Collectors.joining(", "));
+ kmlLinearRing.setCoordinates(StringUtils.join(coordinates, " "));
+ KmlOuterBoundaryIs kmlOuterBoundaryIs = new KmlOuterBoundaryIs();
+ kmlOuterBoundaryIs.setLinearRing(kmlLinearRing);
+ kmlPolygon.setOuterBoundaryIs(kmlOuterBoundaryIs);
+ return kmlPolygon;
+ }
+
+ private static void handleWaypointTurnParam(RoutePointInfo routePointInfo, KmlParams kmlParams, String fileType, KmlPlacemark kmlPlacemark) {
+ WaypointTurnReq waypointTurnReq = routePointInfo.getWaypointTurnReq();
+ // 使用全局航点转弯模式
+ if (ObjectUtil.isNotEmpty(waypointTurnReq)) {
+ if (StringUtils.equals(fileType, FileTypeConstants.KML)) {
+ kmlPlacemark.setUseGlobalTurnParam("0");
+ }
+ kmlPlacemark.setWaypointTurnParam(buildKmlWaypointTurnParam(waypointTurnReq.getWaypointTurnMode(),
+ waypointTurnReq.getWaypointTurnDampingDist(), waypointTurnReq.getUseStraightLine(), routePointInfo.getIsStartAndEndPoint()));
+ if (ObjectUtil.isNotEmpty(waypointTurnReq.getUseStraightLine())) {
+ kmlPlacemark.setUseStraightLine(String.valueOf(waypointTurnReq.getUseStraightLine()));
+ }
+ } else {
+ // 使用自定义航点转弯模式
+ if (StringUtils.equals(fileType, FileTypeConstants.KML)) {
+ kmlPlacemark.setUseGlobalTurnParam("1");
+ } else if (StringUtils.equals(fileType, FileTypeConstants.WPML)) {
+ WaypointTurnReq globalWaypoint = kmlParams.getWaypointTurnReq();
+ kmlPlacemark.setWaypointTurnParam(buildKmlWaypointTurnParam(globalWaypoint.getWaypointTurnMode(),
+ globalWaypoint.getWaypointTurnDampingDist(), globalWaypoint.getUseStraightLine(), routePointInfo.getIsStartAndEndPoint()));
+ }
+ }
+ }
+
+ private static void handleWaypointHeadingParam(RoutePointInfo routePointInfo, KmlParams kmlParams, String fileType, KmlPlacemark kmlPlacemark) {
+ WaypointHeadingReq waypointHeadingReq = routePointInfo.getWaypointHeadingReq();
+ if (ObjectUtil.isNotEmpty(waypointHeadingReq)) {
+ if (StringUtils.equals(fileType, FileTypeConstants.KML)) {
+ kmlPlacemark.setUseGlobalHeadingParam("0");
+ }
+ kmlPlacemark.setWaypointHeadingParam(buildKmlWaypointHeadingParam(waypointHeadingReq.getWaypointHeadingMode(), waypointHeadingReq.getWaypointHeadingAngle(), waypointHeadingReq.getWaypointPoiPoint()));
+ } else {
+ if (StringUtils.equals(fileType, FileTypeConstants.KML)) {
+ kmlPlacemark.setUseGlobalHeadingParam("1");
+ } else if (StringUtils.equals(fileType, FileTypeConstants.WPML)) {
+ WaypointHeadingReq globalWaypointHeading = kmlParams.getWaypointHeadingReq();
+ kmlPlacemark.setWaypointHeadingParam(buildKmlWaypointHeadingParam(globalWaypointHeading.getWaypointHeadingMode(), globalWaypointHeading.getWaypointHeadingAngle(), globalWaypointHeading.getWaypointPoiPoint()));
+ }
+ }
+
+ }
+
+
+ private static void handleSpeed(RoutePointInfo routePointInfo, KmlParams kmlParams, String fileType, KmlPlacemark kmlPlacemark) {
+ if (ObjectUtil.isNotEmpty(routePointInfo.getSpeed())) {
+ if (StringUtils.equals(fileType, FileTypeConstants.KML)) {
+ kmlPlacemark.setUseGlobalSpeed("0");
+ }
+ kmlPlacemark.setWaypointSpeed(String.valueOf(routePointInfo.getSpeed()));
+ } else {
+ if (StringUtils.equals(fileType, FileTypeConstants.KML)) {
+ kmlPlacemark.setUseGlobalSpeed("1");
+ } else if (StringUtils.equals(fileType, FileTypeConstants.WPML)) {
+ kmlPlacemark.setWaypointSpeed(String.valueOf(kmlParams.getAutoFlightSpeed()));
+ }
+ }
+ }
+
+ private static void handleHeight(RoutePointInfo routePointInfo, KmlParams kmlParams, String fileType, KmlPlacemark kmlPlacemark) {
+ if (ObjectUtil.isNotEmpty(routePointInfo.getHeight())) {
+ if (StringUtils.equals(fileType, FileTypeConstants.KML)) {
+ kmlPlacemark.setUseGlobalHeight("0");
+ kmlPlacemark.setEllipsoidHeight(String.valueOf(routePointInfo.getHeight()));
+ kmlPlacemark.setHeight(String.valueOf(routePointInfo.getHeight()));
+ } else if (StringUtils.equals(fileType, FileTypeConstants.WPML)) {
+ kmlPlacemark.setExecuteHeight(String.valueOf(routePointInfo.getHeight()));
+ }
+ } else {
+ if (StringUtils.equals(fileType, FileTypeConstants.KML)) {
+ kmlPlacemark.setUseGlobalHeight("1");
+ } else if (StringUtils.equals(fileType, FileTypeConstants.WPML)) {
+ kmlPlacemark.setExecuteHeight(String.valueOf(kmlParams.getGlobalHeight()));
+ }
+ }
+ }
+
+ public static KmlPoint buildKmlPoint(String longitude, String latitude) {
+ KmlPoint kmlPoint = new KmlPoint();
+ kmlPoint.setCoordinates(longitude + "," + latitude);
+ return kmlPoint;
+ }
+
+ public static KmlWaypointHeadingParam buildKmlWaypointHeadingParam(String waypointHeadingMode, Double waypointHeadingAngle, String waypointPoiPoint) {
+ KmlWaypointHeadingParam kmlWaypointHeadingParam = new KmlWaypointHeadingParam();
+ kmlWaypointHeadingParam.setWaypointHeadingMode(waypointHeadingMode);
+ if (StringUtils.equals(waypointHeadingMode, WaypointHeadingModeEnums.SMOOTH_TRANSITION.getValue())) {
+ kmlWaypointHeadingParam.setWaypointHeadingAngle(String.valueOf(waypointHeadingAngle));
+ }
+ if (StringUtils.equals(waypointHeadingMode, WaypointHeadingModeEnums.TOWARD_POI.getValue())) {
+ kmlWaypointHeadingParam.setWaypointPoiPoint(waypointPoiPoint);
+ }
+ kmlWaypointHeadingParam.setWaypointHeadingPathMode(WaypointHeadingPathModeEnums.FOLLOW_BAD_ARC.getValue());
+ return kmlWaypointHeadingParam;
+ }
+
+ public static KmlWaypointTurnParam buildKmlWaypointTurnParam(String waypointTurnMode, Double waypointTurnDampingDist, Integer useStraightLine, Boolean startAndEndPoint) {
+ KmlWaypointTurnParam kmlWaypointTurnParam = new KmlWaypointTurnParam();
+ // 首尾航点不能是协调转弯类型
+ if (startAndEndPoint && StringUtils.equals(waypointTurnMode, GlobalWaypointTurnModeEnums.COORDINATE_TURN.getValue())) {
+ kmlWaypointTurnParam.setWaypointTurnMode(GlobalWaypointTurnModeEnums.TO_POINT_AND_STOP_WITH_DISCONTINUITY_CURVATURE.getValue());
+ } else {
+ kmlWaypointTurnParam.setWaypointTurnMode(waypointTurnMode);
+ }
+ if ((StringUtils.equals(waypointTurnMode, GlobalWaypointTurnModeEnums.COORDINATE_TURN.getValue()) ||
+ StringUtils.equals(waypointTurnMode, GlobalWaypointTurnModeEnums.TO_POINT_AND_PASS_WITH_CONTINUITY_CURVATURE.getValue())) &&
+ ObjectUtil.equals(useStraightLine, 1)) {
+ kmlWaypointTurnParam.setWaypointTurnDampingDist(String.valueOf(waypointTurnDampingDist));
+ }
+ return kmlWaypointTurnParam;
+ }
+
+ public static KmlActionGroup buildKmlActionGroup(RoutePointInfo routePointInfo, 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);
+ return kmlActionGroup;
+ }
+
+ public static KmlActionTrigger buildKmlActionTrigger(String actionTriggerType, Double actionTriggerParam) {
+ KmlActionTrigger kmlActionTrigger = new KmlActionTrigger();
+ kmlActionTrigger.setActionTriggerType(actionTriggerType);
+ if (StringUtils.equals(actionTriggerType, ActionTriggerTypeEnums.MULTIPLE_TIMING.getValue()) ||
+ StringUtils.equals(actionTriggerType, ActionTriggerTypeEnums.MULTIPLE_DISTANCE.getValue())) {
+ kmlActionTrigger.setActionTriggerParam(String.valueOf(actionTriggerParam));
+ }
+ return kmlActionTrigger;
+ }
+
+ public static KmlAction buildKmlAction(String actionId, String actionActuatorFunc, PointActionReq pointActionReq, KmlParams kmlParams) {
+ KmlAction kmlAction = new KmlAction();
+ kmlAction.setActionId(actionId);
+ kmlAction.setActionActuatorFunc(actionActuatorFunc);
+ kmlAction.setActionActuatorFuncParam(buildKmlActionActuatorFuncParam(actionActuatorFunc, pointActionReq, kmlParams));
+ return kmlAction;
+ }
+
+ public static KmlActionActuatorFuncParam buildKmlActionActuatorFuncParam(String actionActuatorFunc, PointActionReq pointActionReq, KmlParams kmlParams) {
+ KmlActionActuatorFuncParam kmlActionActuatorFuncParam = new KmlActionActuatorFuncParam();
+ 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 (ObjectUtil.equals(pointActionReq.getUseGlobalImageFormat(), 0)) {
+ kmlActionActuatorFuncParam.setPayloadLensIndex(pointActionReq.getImageFormat());
+ } else {
+ kmlActionActuatorFuncParam.setPayloadLensIndex(kmlParams.getImageFormat());
+ }
+ } else if (StringUtils.equals(actionActuatorFunc, ActionActuatorFuncEnums.STOP_RECORD.getValue())) {
+ kmlActionActuatorFuncParam.setPayloadPositionIndex(String.valueOf(kmlParams.getPayloadPosition()));
+ } else if (StringUtils.equals(actionActuatorFunc, ActionActuatorFuncEnums.GIMBAL_ROTATE.getValue())) {
+ kmlActionActuatorFuncParam.setPayloadPositionIndex(String.valueOf(kmlParams.getPayloadPosition()));
+ kmlActionActuatorFuncParam.setGimbalHeadingYawBase("north");
+ kmlActionActuatorFuncParam.setGimbalRotateMode("absoluteAngle");
+ if (!Objects.isNull(pointActionReq.getGimbalPitchRotateAngle())) {
+ kmlActionActuatorFuncParam.setGimbalPitchRotateEnable("1");
+ kmlActionActuatorFuncParam.setGimbalPitchRotateAngle(String.valueOf(pointActionReq.getGimbalPitchRotateAngle()));
+ } else {
+ kmlActionActuatorFuncParam.setGimbalPitchRotateEnable("0");
+ kmlActionActuatorFuncParam.setGimbalPitchRotateAngle("0");
+ }
+ kmlActionActuatorFuncParam.setGimbalRollRotateEnable("0");
+ kmlActionActuatorFuncParam.setGimbalRollRotateAngle("0");
+ if (!Objects.isNull(pointActionReq.getGimbalYawRotateAngle())) {
+ kmlActionActuatorFuncParam.setGimbalYawRotateEnable("1");
+ kmlActionActuatorFuncParam.setGimbalYawRotateAngle(String.valueOf(pointActionReq.getGimbalYawRotateAngle()));
+ } else {
+ kmlActionActuatorFuncParam.setGimbalYawRotateEnable("0");
+ kmlActionActuatorFuncParam.setGimbalYawRotateAngle("0");
+ }
+ kmlActionActuatorFuncParam.setGimbalRotateTimeEnable("0");
+ kmlActionActuatorFuncParam.setGimbalRotateTime("0");
+ } else if (StringUtils.equals(actionActuatorFunc, ActionActuatorFuncEnums.ROTATE_YAW.getValue())) {
+ kmlActionActuatorFuncParam.setAircraftHeading(String.valueOf(pointActionReq.getAircraftHeading()));
+ kmlActionActuatorFuncParam.setAircraftPathMode(AircraftPathModeEnums.CLOCKWISE.getValue());
+ } else if (StringUtils.equals(actionActuatorFunc, ActionActuatorFuncEnums.HOVER.getValue())) {
+ kmlActionActuatorFuncParam.setHoverTime(String.valueOf(pointActionReq.getHoverTime()));
+ } else if (StringUtils.equals(actionActuatorFunc, ActionActuatorFuncEnums.ZOOM.getValue())) {
+ kmlActionActuatorFuncParam.setPayloadPositionIndex(String.valueOf(kmlParams.getPayloadPosition()));
+ kmlActionActuatorFuncParam.setFocalLength(String.valueOf(pointActionReq.getZoom()));
+ } 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 (ObjectUtil.equals(pointActionReq.getUseGlobalImageFormat(), 0)) {
+ kmlActionActuatorFuncParam.setPayloadLensIndex(pointActionReq.getImageFormat());
+ } else {
+ kmlActionActuatorFuncParam.setPayloadLensIndex(kmlParams.getImageFormat());
+ }
+ }
+ return kmlActionActuatorFuncParam;
+ }
+}
diff --git "a/file/kmz/\346\233\264\346\226\260\350\210\252\347\272\277kmz\346\226\207\344\273\266.kmz" "b/file/kmz/\346\233\264\346\226\260\350\210\252\347\272\277kmz\346\226\207\344\273\266.kmz"
new file mode 100644
index 0000000..18c3a39
--- /dev/null
+++ "b/file/kmz/\346\233\264\346\226\260\350\210\252\347\272\277kmz\346\226\207\344\273\266.kmz"
Binary files differ
diff --git "a/file/kmz/\350\210\252\347\272\277kmz\346\226\207\344\273\266.kmz" "b/file/kmz/\350\210\252\347\272\277kmz\346\226\207\344\273\266.kmz"
new file mode 100644
index 0000000..6f94087
--- /dev/null
+++ "b/file/kmz/\350\210\252\347\272\277kmz\346\226\207\344\273\266.kmz"
Binary files differ
--
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