From c49aebafe55bca031c0c4f5c5fd45dad9ff46f32 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Thu, 20 Nov 2025 09:59:50 +0800
Subject: [PATCH] 优化
---
ard-route/src/main/java/com/ard/route/util/InitializationUtils.java | 198 ++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 194 insertions(+), 4 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 090cc8f..f630224 100644
--- a/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
+++ b/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
@@ -1,6 +1,12 @@
package com.ard.route.util;
-import com.ard.route.domain.*;
+import com.ard.route.domain.djuav.*;
+import com.ard.route.domain.sixhe.ArdRouteActions;
+import com.ard.route.domain.sixhe.ArdRouteChange;
+import com.ard.route.domain.sixhe.ArdRoutePoints;
+
+import java.util.ArrayList;
+import java.util.List;
/**
* 初始化数据
@@ -17,9 +23,11 @@
public UavRouteReq initialization(UavRouteReq uavRouteReq){
uavRouteReq.setTemplateType("waypoint");
// 起始点默认航线第一个点
- uavRouteReq.setTakeOffRefPoint(
- uavRouteReq.getRoutePointList().get(0).getLatitude() + "," +
- uavRouteReq.getRoutePointList().get(0).getLongitude() + "," + "0");
+ if (uavRouteReq.getTakeOffRefPoint().isEmpty()){
+ uavRouteReq.setTakeOffRefPoint(
+ uavRouteReq.getRoutePointList().get(0).getLatitude() + "," +
+ uavRouteReq.getRoutePointList().get(0).getLongitude() + "," + "0");
+ }
//uavRouteReq.setDroneType(89);
uavRouteReq.setSubDroneType(0);
uavRouteReq.setPayloadType(43);
@@ -59,4 +67,186 @@
}
return uavRouteReq;
}
+
+ /**
+ * 初始化数据
+ */
+ private void initializationSixHe(){
+ ArdRouteChange ardRouteChange = new ArdRouteChange();
+ ardRouteChange.setAutoSpeed(8);
+ ardRouteChange.setFinishedAction(1);
+ ardRouteChange.setHomeHeight(50);
+ //ardRouteChange.setInterests(0);
+ ardRouteChange.setIsSaveEnergyMode(0);
+ ardRouteChange.setLoseAction(0);
+ ardRouteChange.setMaxSpeed(15);
+ ardRouteChange.setSecurityHeight(50);
+ ardRouteChange.setTemplateId(0);
+
+ List<ArdRoutePoints> points = new ArrayList<>();
+ //-----------------------------------------------------
+ ArdRoutePoints ardRoutePoints00 = new ArdRoutePoints();
+ ardRoutePoints00.setDampingDistance(0);
+ ardRoutePoints00.setFlightPathMode(1);
+ ardRoutePoints00.setGroupIndex(0);
+ ardRoutePoints00.setHeading(0);
+ ardRoutePoints00.setHeadingMode(0);
+ ardRoutePoints00.setHeight(50);
+ ardRoutePoints00.setInterestIndex(-1);
+ ardRoutePoints00.setLat(31.11339916);
+ ardRoutePoints00.setLon(103.75851462);
+ ardRoutePoints00.setSafeGohomeFlag(0);
+ ardRoutePoints00.setSpeed(8);
+ List<ArdRouteActions> actions00 = new ArrayList<>();
+ ArdRouteActions ardRouteActions00 = new ArdRouteActions();
+ ardRouteActions00.setParam(10);
+ ardRouteActions00.setSpeakInfo("");
+ ardRouteActions00.setType(1);
+ ardRouteActions00.setWaitTime(2);
+ ArdRouteActions ardRouteActions01 = new ArdRouteActions();
+ ardRouteActions01.setParam(10);
+ ardRouteActions01.setSpeakInfo("");
+ ardRouteActions01.setType(1);
+ ardRouteActions01.setWaitTime(2);
+ ArdRouteActions ardRouteActions02 = new ArdRouteActions();
+ ardRouteActions02.setParam(10);
+ ardRouteActions02.setSpeakInfo("");
+ ardRouteActions02.setType(1);
+ ardRouteActions02.setWaitTime(2);
+ actions00.add(ardRouteActions00);
+ actions00.add(ardRouteActions01);
+ actions00.add(ardRouteActions02);
+ ardRoutePoints00.setActions(actions00);
+
+ //-----------------------------------------------------
+ ArdRoutePoints ardRoutePoints10 = new ArdRoutePoints();
+ ardRoutePoints10.setDampingDistance(0);
+ ardRoutePoints10.setFlightPathMode(1);
+ ardRoutePoints10.setGroupIndex(0);
+ ardRoutePoints10.setHeading(0);
+ ardRoutePoints10.setHeadingMode(0);
+ ardRoutePoints10.setHeight(50);
+ ardRoutePoints10.setInterestIndex(-1);
+ ardRoutePoints10.setLat(31.11339916);
+ ardRoutePoints10.setLon(103.75746538);
+ ardRoutePoints10.setSafeGohomeFlag(0);
+ ardRoutePoints10.setSpeed(8);
+ List<ArdRouteActions> actions10 = new ArrayList<>();
+ ArdRouteActions ardRouteActions10 = new ArdRouteActions();
+ ardRouteActions10.setParam(20);
+ ardRouteActions10.setSpeakInfo("");
+ ardRouteActions10.setType(9);
+ ardRouteActions10.setWaitTime(2);
+ ArdRouteActions ardRouteActions11 = new ArdRouteActions();
+ ardRouteActions11.setParam(40);
+ ardRouteActions11.setSpeakInfo("");
+ ardRouteActions11.setType(6);
+ ardRouteActions11.setWaitTime(2);
+ ArdRouteActions ardRouteActions12 = new ArdRouteActions();
+ ardRouteActions12.setParam(40);
+ ardRouteActions12.setSpeakInfo("");
+ ardRouteActions12.setType(7);
+ ardRouteActions12.setWaitTime(2);
+ ArdRouteActions ardRouteActions13 = new ArdRouteActions();
+ ardRouteActions13.setParam(40);
+ ardRouteActions13.setSpeakInfo("");
+ ardRouteActions13.setType(8);
+ ardRouteActions13.setWaitTime(2);
+ actions10.add(ardRouteActions10);
+ actions10.add(ardRouteActions11);
+ actions10.add(ardRouteActions12);
+ ardRoutePoints10.setActions(actions10);
+
+ //-----------------------------------------------------
+ ArdRoutePoints ardRoutePoints20 = new ArdRoutePoints();
+ ardRoutePoints20.setDampingDistance(0);
+ ardRoutePoints20.setFlightPathMode(1);
+ ardRoutePoints20.setGroupIndex(0);
+ ardRoutePoints20.setHeading(0);
+ ardRoutePoints20.setHeadingMode(0);
+ ardRoutePoints20.setHeight(50);
+ ardRoutePoints20.setInterestIndex(-1);
+ ardRoutePoints20.setLat(31.11250084);
+ ardRoutePoints20.setLon(103.75746538);
+ ardRoutePoints20.setSafeGohomeFlag(0);
+ ardRoutePoints20.setSpeed(8);
+ List<ArdRouteActions> actions20 = new ArrayList<>();
+ ArdRouteActions ardRouteActions20 = new ArdRouteActions();
+ ardRouteActions20.setParam(15);
+ ardRouteActions20.setSpeakInfo("");
+ ardRouteActions20.setType(9);
+ ardRouteActions20.setWaitTime(2);
+ ArdRouteActions ardRouteActions21 = new ArdRouteActions();
+ ardRouteActions21.setParam(3);
+ ardRouteActions21.setSpeakInfo("");
+ ardRouteActions21.setType(10);
+ ardRouteActions21.setWaitTime(2);
+ actions20.add(ardRouteActions20);
+ actions20.add(ardRouteActions21);
+ ardRoutePoints20.setActions(actions20);
+
+ //-----------------------------------------------------
+ ArdRoutePoints ardRoutePoints30 = new ArdRoutePoints();
+ ardRoutePoints30.setDampingDistance(0);
+ ardRoutePoints30.setFlightPathMode(1);
+ ardRoutePoints30.setGroupIndex(0);
+ ardRoutePoints30.setHeading(0);
+ ardRoutePoints30.setHeadingMode(0);
+ ardRoutePoints30.setHeight(60);
+ ardRoutePoints30.setInterestIndex(-1);
+ ardRoutePoints30.setLat(31.11250084);
+ ardRoutePoints30.setLon(103.75851462);
+ ardRoutePoints30.setSafeGohomeFlag(0);
+ ardRoutePoints30.setSpeed(8);
+ List<ArdRouteActions> actions30 = new ArrayList<>();
+ ArdRouteActions ardRouteActions30 = new ArdRouteActions();
+ ardRouteActions30.setParam(1);
+ ardRouteActions30.setSpeakInfo("");
+ ardRouteActions30.setType(2);
+ ardRouteActions30.setWaitTime(2);
+ actions30.add(ardRouteActions30);
+ ardRoutePoints30.setActions(actions30);
+
+ points.add(ardRoutePoints00);
+ points.add(ardRoutePoints10);
+ points.add(ardRoutePoints20);
+ points.add(ardRoutePoints30);
+
+ ardRouteChange.setPoints(points);
+ }
+
+// private ArdRoutePoints buildArdRoutePoints(){
+// ArdRoutePoints ardRoutePoints1 = new ArdRoutePoints();
+// ardRoutePoints1.setDampingDistance(0);
+// ardRoutePoints1.setFlightPathMode(1);
+// ardRoutePoints1.setGroupIndex(0);
+// ardRoutePoints1.setHeading(0);
+// ardRoutePoints1.setHeadingMode(0);
+// ardRoutePoints1.setHeight(50);
+// ardRoutePoints1.setInterestIndex(0);
+// ardRoutePoints1.setLat(31.11339916);
+// ardRoutePoints1.setLon(103.75851462);
+// ardRoutePoints1.setSafeGohomeFlag(0);
+// ardRoutePoints1.setSpeed(8);
+//
+//
+// }
+
+// private ArdRouteActions buildArdRouteActions(){
+// ArdRouteActions ardRouteActions0 = new ArdRouteActions();
+// ardRouteActions0.setParam(10);
+// ardRouteActions0.setSpeakInfo("");
+// ardRouteActions0.setType(1);
+// ardRouteActions0.setWaitTime(2);
+// ArdRouteActions ardRouteActions1 = new ArdRouteActions();
+// ardRouteActions1.setParam(10);
+// ardRouteActions1.setSpeakInfo("");
+// ardRouteActions1.setType(1);
+// ardRouteActions1.setWaitTime(2);
+// ArdRouteActions ardRouteActions2 = new ArdRouteActions();
+// ardRouteActions2.setParam(10);
+// ardRouteActions2.setSpeakInfo("");
+// ardRouteActions2.setType(1);
+// ardRouteActions2.setWaitTime(2);
+// }
}
--
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