From b8b5a3895e741d5348ecdd39ad2e5cbd443f8e89 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Wed, 01 Apr 2026 12:17:04 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-route/src/main/java/com/ard/route/util/InitializationUtils.java | 112 +++++++++++++++++++++++++++++++++----------------------
1 files changed, 67 insertions(+), 45 deletions(-)
diff --git a/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java b/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
index f630224..0742cc7 100644
--- a/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
+++ b/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
@@ -8,13 +8,21 @@
import java.util.ArrayList;
import java.util.List;
+import static com.ard.route.enums.kml.DroneEnumValueEnums.M350_RTK;
+import static com.ard.route.util.ToolUtils.getDoublePoint;
+
/**
* 初始化数据
* 测试数据
*/
public class InitializationUtils {
- private static final Double CHANSI_H20 = 23.76237623;
+ // 禅思H20T 公倍数
+ private static final Double CHANSI_H20T = 23.76237623;
+
+ // 禅思H20T 焦距值
+ private static final Double CHANSI_H20_FOCUS = 6.83;
+
private static final String WAYPOINT_TURN_MODE_DEFAULT = "toPointAndStopWithDiscontinuityCurvature";
/**
@@ -23,10 +31,11 @@
public UavRouteReq initialization(UavRouteReq uavRouteReq){
uavRouteReq.setTemplateType("waypoint");
// 起始点默认航线第一个点
- if (uavRouteReq.getTakeOffRefPoint().isEmpty()){
+ if (uavRouteReq.getTakeOffRefPoint() == null){
uavRouteReq.setTakeOffRefPoint(
uavRouteReq.getRoutePointList().get(0).getLatitude() + "," +
- uavRouteReq.getRoutePointList().get(0).getLongitude() + "," + "0");
+ uavRouteReq.getRoutePointList().get(0).getLongitude() + "," +
+ uavRouteReq.getRoutePointList().get(0).getHeight());
}
//uavRouteReq.setDroneType(89);
uavRouteReq.setSubDroneType(0);
@@ -44,28 +53,75 @@
if (uavRouteReq.getGlobalWaypointTurnMode() != null){
waypointTurnReq.setWaypointTurnMode(uavRouteReq.getGlobalWaypointTurnMode());
}else {
- waypointTurnReq.setWaypointTurnMode("toPointAndStopWithDiscontinuityCurvature");
+ waypointTurnReq.setWaypointTurnMode(WAYPOINT_TURN_MODE_DEFAULT);
}
uavRouteReq.setWaypointTurnReq(waypointTurnReq);
uavRouteReq.setGimbalPitchMode("usePointSetting");
- //buildZoom(uavRouteReq);
+ if (M350_RTK.getValue().equals(uavRouteReq.getDroneType())) {
+ // 变焦数值加工
+ buildZoom(uavRouteReq);
+ }
+ // 修改每个航点的高度
+ buildHeight(uavRouteReq);
+ // 动作组编号数据加工
+ buildActionGroupReq(uavRouteReq);
return uavRouteReq;
+ }
+
+ /**
+ * 构建动作组编号
+ */
+ public void buildActionGroupReq(UavRouteReq uavRouteReq){
+ int pointActionCounter = 0;
+ for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
+ if (routePointReq.getActionGroupList() != null){
+ for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
+ actionGroupReq.setActionGroupId(pointActionCounter++);
+ actionGroupReq.setActionGroupStartIndex(routePointReq.getRoutePointIndex());
+ actionGroupReq.setActionGroupEndIndex(routePointReq.getRoutePointIndex());
+ actionGroupReq.setActionTriggerType("reachPoint");
+ }
+
+ }
+ }
+ }
+
+ /**
+ * 修改每个航点的高度
+ * 根据起飞点高度减去当前航点高度
+ */
+ public void buildHeight(UavRouteReq uavRouteReq){
+ if (!"EGM96".equals(uavRouteReq.getHeightMode())){
+ double takeOffHeight = getDoublePoint(uavRouteReq.getTakeOffRefPoint(),"alt");
+ for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
+ routePointReq.setHeight(routePointReq.getHeight() - takeOffHeight);
+ }
+ }
}
/**
* 变焦动作加工
*/
- private UavRouteReq buildZoom(UavRouteReq uavRouteReq){
+ private void buildZoom(UavRouteReq uavRouteReq){
for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
- for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
- for (PointActionReq action : actionGroupReq.getActions()) {
- if (action.getZoom() != null){
- action.setZoom(action.getZoom() * CHANSI_H20);
+ if (!routePointReq.getActionGroupList().isEmpty()){
+ for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
+ for (PointActionReq action : actionGroupReq.getActions()) {
+ if (action.getZoom() != null){
+ action.setZoom(multiple23(action.getZoom()));
+ }
}
}
}
}
- return uavRouteReq;
+ }
+
+ public static Double multiple23(Double zoom){
+ return zoom * CHANSI_H20T;
+ }
+
+ public static Double divided23(Double zoom){
+ return zoom / CHANSI_H20T;
}
/**
@@ -215,38 +271,4 @@
ardRouteChange.setPoints(points);
}
-// private ArdRoutePoints buildArdRoutePoints(){
-// ArdRoutePoints ardRoutePoints1 = new ArdRoutePoints();
-// ardRoutePoints1.setDampingDistance(0);
-// ardRoutePoints1.setFlightPathMode(1);
-// ardRoutePoints1.setGroupIndex(0);
-// ardRoutePoints1.setHeading(0);
-// ardRoutePoints1.setHeadingMode(0);
-// ardRoutePoints1.setHeight(50);
-// ardRoutePoints1.setInterestIndex(0);
-// ardRoutePoints1.setLat(31.11339916);
-// ardRoutePoints1.setLon(103.75851462);
-// ardRoutePoints1.setSafeGohomeFlag(0);
-// ardRoutePoints1.setSpeed(8);
-//
-//
-// }
-
-// private ArdRouteActions buildArdRouteActions(){
-// ArdRouteActions ardRouteActions0 = new ArdRouteActions();
-// ardRouteActions0.setParam(10);
-// ardRouteActions0.setSpeakInfo("");
-// ardRouteActions0.setType(1);
-// ardRouteActions0.setWaitTime(2);
-// ArdRouteActions ardRouteActions1 = new ArdRouteActions();
-// ardRouteActions1.setParam(10);
-// ardRouteActions1.setSpeakInfo("");
-// ardRouteActions1.setType(1);
-// ardRouteActions1.setWaitTime(2);
-// ArdRouteActions ardRouteActions2 = new ArdRouteActions();
-// ardRouteActions2.setParam(10);
-// ardRouteActions2.setSpeakInfo("");
-// ardRouteActions2.setType(1);
-// ardRouteActions2.setWaitTime(2);
-// }
}
--
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