From c3c3a7fb853279ca7462057600f32438a59222a3 Mon Sep 17 00:00:00 2001
From: Xiajijian <1176061145@qq.com>
Date: Tue, 16 Dec 2025 08:36:15 +0800
Subject: [PATCH] 1. 修改判断无人机类型为空BUG。
---
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java | 31 +++++++++++++++++++++++--------
1 files changed, 23 insertions(+), 8 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 b8950f0..8963f85 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
@@ -37,8 +37,8 @@
import javax.annotation.Resource;
+import static com.ard.route.enums.kml.DroneEnumValueEnums.M350_RTK;
import static com.ard.route.util.InitializationUtils.divided_23;
-import static com.ard.route.util.InitializationUtils.divided_6;
import static com.ard.route.util.ToolUtils.*;
import static com.ard.route.util.UavRouteReqUtils.fileConversionEntity;
@@ -85,13 +85,19 @@
} catch (IOException | ClassNotFoundException e) {
throw new RuntimeException(e);
}
+
+ // 主逻辑优化
+ double altitudeOffset = getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(), "alt");
+ boolean isM350RTK = M350_RTK.getValue().equals(ardRouteInfo.getUavRouteReq().getDroneType());
+
for (RoutePointReq routePointReq : ardRouteInfo.getUavRouteReq().getRoutePointList()) {
- routePointReq.setHeight(routePointReq.getHeight() + getDoublePoint(ardRouteInfo.getUavRouteReq().getTakeOffRefPoint(),"alt"));
- // 判断无人机类型
- if (ardRouteInfo.getUavRouteReq().getDroneType().equals(89)){
+ // 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()) {
- for (PointActionReq action : actionGroupReq.getActions()) {
- action.setZoom(divided_23(action.getZoom()));
+ if (actionGroupReq != null && actionGroupReq.getActions() != null) {
+ processZoomActions(actionGroupReq);
}
}
}
@@ -99,9 +105,18 @@
return ardRouteInfo;
}
- // 变焦放大缩小
- public void zoom(){
+ // 提取航点高度调整逻辑到方法中
+ private void adjustRoutePointHeight(RoutePointReq routePointReq, double altitudeOffset) {
+ routePointReq.setHeight(routePointReq.getHeight() + altitudeOffset);
+ }
+ // 提取变焦值处理逻辑到方法中
+ private void processZoomActions(ActionGroupReq actionGroupReq) {
+ for (PointActionReq action : actionGroupReq.getActions()) {
+ if (action != null && action.getZoom() != null) {
+ action.setZoom(divided_23(action.getZoom()));
+ }
+ }
}
/**
--
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