From da8108e173ed349007f493e34c884f88dfeeebfb Mon Sep 17 00:00:00 2001
From: Xiajijian <1176061145@qq.com>
Date: Mon, 27 Oct 2025 14:14:42 +0800
Subject: [PATCH] 1.修改yml文件默认配置。 2.航线文件增加飞向首航点模式和全局航线速度。 3.代码格式整理。 4.修改生成kmz文件默认值。
---
ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java | 27 +++++++++++----------------
1 files changed, 11 insertions(+), 16 deletions(-)
diff --git a/ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java b/ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java
index 647c430..b888454 100644
--- a/ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java
+++ b/ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java
@@ -100,7 +100,6 @@
zipOutputStream.closeEntry(); // 关闭条目
}
-
public static KmlInfo buildKml(KmlParams kmlParams) {
KmlInfo kmlInfo = new KmlInfo();
kmlInfo.setDocument(buildKmlDocument(FileTypeConstants.KML, kmlParams));
@@ -116,7 +115,7 @@
public static KmlDocument buildKmlDocument(String fileType, KmlParams kmlParams) {
KmlDocument kmlDocument = new KmlDocument();
if (StringUtils.equals(fileType, FileTypeConstants.KML)) {
- kmlDocument.setAuthor("Cleaner");
+ kmlDocument.setAuthor("Ard-Creator");
kmlDocument.setCreateTime(String.valueOf(DateUtil.current()));
kmlDocument.setUpdateTime(String.valueOf(DateUtil.current()));
}
@@ -127,7 +126,11 @@
public static KmlMissionConfig buildKmlMissionConfig(KmlParams kmlParams) {
KmlMissionConfig kmlMissionConfig = new KmlMissionConfig();
- kmlMissionConfig.setFlyToWayLineMode(FlyToWaylineModeEnums.SAFELY.getValue());
+ if (kmlParams.getFlyToWaylineMode() != null){
+ kmlMissionConfig.setFlyToWayLineMode(kmlParams.getFlyToWaylineMode());
+ }else {
+ kmlMissionConfig.setFlyToWayLineMode(FlyToWaylineModeEnums.SAFELY.getValue());
+ }
kmlMissionConfig.setFinishAction(kmlParams.getFinishAction());
if (StringUtils.isNotBlank(kmlParams.getExitOnRcLostAction())) {
kmlMissionConfig.setExitOnRCLost(ExitOnRCLostEnums.EXECUTE_LOST_ACTION.getValue());
@@ -136,7 +139,11 @@
kmlMissionConfig.setExitOnRCLost(ExitOnRCLostEnums.GO_CONTINUE.getValue());
}
kmlMissionConfig.setTakeOffSecurityHeight("20");
- kmlMissionConfig.setGlobalTransitionalSpeed("15");
+ if (kmlParams.getGlobalTransitionalSpeed() != null){
+ kmlMissionConfig.setGlobalTransitionalSpeed(String.valueOf(kmlParams.getGlobalTransitionalSpeed()));
+ }else {
+ kmlMissionConfig.setGlobalTransitionalSpeed("15");
+ }
kmlMissionConfig.setGlobalRTHHeight("100");
kmlMissionConfig.setTakeOffRefPoint(kmlParams.getTakeOffRefPoint());
kmlMissionConfig.setDroneInfo(buildKmlDroneInfo(kmlParams.getDroneType(), kmlParams.getSubDroneType()));
@@ -160,9 +167,7 @@
kmlPayloadInfo.setPayloadEnumValue(String.valueOf(payloadType));
kmlPayloadInfo.setPayloadPositionIndex(String.valueOf(payloadPosition));
return kmlPayloadInfo;
-
}
-
public static KmlFolder buildKmlFolder(String fileType, KmlParams kmlParams) {
KmlFolder kmlFolder = new KmlFolder();
@@ -232,7 +237,6 @@
return kmlFolder;
}
-
public static KmlWayLineCoordinateSysParam buildKmlWayLineCoordinateSysParam(String templateType) {
KmlWayLineCoordinateSysParam kmlWayLineCoordinateSysParam = new KmlWayLineCoordinateSysParam();
kmlWayLineCoordinateSysParam.setCoordinateMode("WGS84");
@@ -262,7 +266,6 @@
// 0: 不上色 1: 真彩上色
kmlPayloadParam.setModelColoringEnable("1");
kmlPayloadParam.setImageFormat(kmlParams.getImageFormat());
-
return kmlPayloadParam;
}
@@ -277,7 +280,6 @@
}
kmlGlobalWaypointHeadingParam.setWaypointHeadingPathMode(WaypointHeadingPathModeEnums.FOLLOW_BAD_ARC.getValue());
return kmlGlobalWaypointHeadingParam;
-
}
public static KmlPlacemark buildKmlPlacemark(RoutePointInfo routePointInfo, KmlParams kmlParams, String fileType) {
@@ -285,7 +287,6 @@
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);
@@ -343,7 +344,6 @@
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, " "));
@@ -392,9 +392,7 @@
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())) {
@@ -471,7 +469,6 @@
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())) {
@@ -481,7 +478,6 @@
actionTriggerType = ActionTriggerTypeEnums.MULTIPLE_DISTANCE.getValue();
actionTriggerParam = routePointInfo.getDistanceInterval();
}
-
kmlActionGroup.setActionTrigger(buildKmlActionTrigger(actionTriggerType, actionTriggerParam));
List<KmlAction> kmlActionList = new ArrayList<>();
for (PointActionReq pointActionReq : routePointInfo.getActions()) {
@@ -502,7 +498,6 @@
} 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;
--
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