From c1888b473a2336a27f59fd94049e580132a438ce Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Wed, 17 Dec 2025 09:18:45 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-route/src/main/java/com/ard/route/util/InitializationUtils.java | 15 +++++----------
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java | 35 +++++++++++++++++++++--------------
2 files changed, 26 insertions(+), 24 deletions(-)
diff --git a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
index 8963f85..d1b1d73 100644
--- a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
+++ b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
@@ -31,6 +31,7 @@
import com.ard.work.service.ITyService;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
+import org.springframework.beans.BeanUtils;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.web.multipart.MultipartFile;
@@ -94,13 +95,13 @@
// 调整航点高度
adjustRoutePointHeight(routePointReq, altitudeOffset);
// 如果是M350_RTK无人机，处理变焦动作
- if (isM350RTK && routePointReq.getActionGroupList() != null) {
- for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
- if (actionGroupReq != null && actionGroupReq.getActions() != null) {
- processZoomActions(actionGroupReq);
- }
- }
- }
+// if (isM350RTK && routePointReq.getActionGroupList() != null) {
+// for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
+// if (actionGroupReq != null && actionGroupReq.getActions() != null) {
+// processZoomActions(actionGroupReq);
+// }
+// }
+// }
}
return ardRouteInfo;
}
@@ -132,12 +133,6 @@
}else if ("0".equals(ardRouteInfo.getOrderByTime())) {
ardRouteInfo.setOrderByTime("ASC");
}
-// List<ArdRouteInfo> list = ardRouteInfoMapper.selectArdRouteInfoList(ardRouteInfo);
-// for (ArdRouteInfo routeInfo : list) {
-// for (RoutePointReq routePointReq : routeInfo.getUavRouteReq().getRoutePointList()) {
-// routePointReq.setHeight(routePointReq.getHeight() + getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(),"alt"));
-// }
-// }
return ardRouteInfoMapper.selectArdRouteInfoList(ardRouteInfo);
}
@@ -155,8 +150,20 @@
if (ardRouteInfo.getGroupId() == null){
ardRouteInfo.setGroupId("0");
}
+ UavRouteReq uavRouteReq = new UavRouteReq();
+ BeanUtils.copyProperties(ardRouteInfo.getUavRouteReq(), uavRouteReq);
ardRouteInfo.getUavRouteReq().setDroneType(subStringDroneType(ardRouteInfo.getAircraft()));
- KmzResultVo kmzResult = routeService.buildKmz(ardRouteInfo.getUavRouteReq(),ardRouteInfo.getName());
+ KmzResultVo kmzResult = routeService.buildKmz(uavRouteReq,ardRouteInfo.getName());
+ if (M350_RTK.getValue().equals(uavRouteReq.getDroneType())) {
+ // 变焦数值加工
+ for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
+ for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
+ for (PointActionReq action : actionGroupReq.getActions()) {
+ action.setZoom(divided_23(action.getZoom()));
+ }
+ }
+ }
+ }
ardRouteInfo.setPath(kmzResult.getPath());
ardRouteInfo.setReadOnly("0");
ardRouteInfoMapper.insertArdRouteInfo(dataProcessing(ardRouteInfo));
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 c81d8a1..0298de1 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
@@ -8,6 +8,7 @@
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;
/**
@@ -55,8 +56,10 @@
}
uavRouteReq.setWaypointTurnReq(waypointTurnReq);
uavRouteReq.setGimbalPitchMode("usePointSetting");
- // 变焦数值加工
- 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
@@ -115,16 +118,8 @@
return zoom * CHANSI_H20T;
}
- public static Double multiple_6(Double zoom){
- return zoom * CHANSI_H20_FOCUS;
- }
-
public static Double divided_23(Double zoom){
return zoom / CHANSI_H20T;
- }
-
- public static Double divided_6(Double zoom){
- return zoom / CHANSI_H20_FOCUS;
}
/**
--
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