From 3f43e40ed1a1e9f66b3ad2862da9dbc4b710c712 Mon Sep 17 00:00:00 2001
From: nishiwei <13126973358@163.com>
Date: Fri, 23 Oct 2026 14:09:47 +0800
Subject: [PATCH] 智云3.0机场1适配内容提交
---
ard-route/src/main/java/com/ard/route/util/RouteFileUtils.java | 56 +++++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 43 insertions(+), 13 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 da95d7b..a364264 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
@@ -143,7 +143,9 @@
}else {
kmlMissionConfig.setGlobalTransitionalSpeed("15");
}
- kmlMissionConfig.setGlobalRTHHeight("100");
+ if (kmlParams.getHeightMode().equals(HeightModeEnums.RELATIVE_TO_START_POINT.getValue())){
+ kmlMissionConfig.setGlobalRTHHeight("100");
+ }
kmlMissionConfig.setTakeOffRefPoint(kmlParams.getTakeOffRefPoint());
kmlMissionConfig.setDroneInfo(buildKmlDroneInfo(kmlParams.getDroneType(), kmlParams.getSubDroneType()));
kmlMissionConfig.setPayloadInfo(buildKmlPayloadInfo(kmlParams.getPayloadType(), kmlParams.getPayloadPosition()));
@@ -155,7 +157,8 @@
kmlDroneInfo.setDroneEnumValue(String.valueOf(droneType));
if (Objects.equals(droneType, DroneEnumValueEnums.M30_M30T.getValue()) ||
Objects.equals(droneType, DroneEnumValueEnums.M3D_M3TD.getValue()) ||
- Objects.equals(droneType, DroneEnumValueEnums.M3E_M3T_M3M.getValue())) {
+ Objects.equals(droneType, DroneEnumValueEnums.M3E_M3T_M3M.getValue())||
+ Objects.equals(droneType, DroneEnumValueEnums.MATRICE_4D.getValue())) {
kmlDroneInfo.setDroneSubEnumValue(String.valueOf(subDroneType));
}
return kmlDroneInfo;
@@ -164,6 +167,12 @@
public static KmlPayloadInfo buildKmlPayloadInfo(Integer payloadType, Integer payloadPosition) {
KmlPayloadInfo kmlPayloadInfo = new KmlPayloadInfo();
kmlPayloadInfo.setPayloadEnumValue(String.valueOf(payloadType));
+ // 机场1：M30/M30T 的 WPML 需要 payloadSubEnumValue，否则机场侧校验可能不通过；
+ // 其余机型保持原有输出，不影响机场2/3。
+ if (Objects.equals(PayloadTypeEnums.M30.getValue(), payloadType)
+ || Objects.equals(PayloadTypeEnums.M30T.getValue(), payloadType)) {
+ kmlPayloadInfo.setPayloadSubEnumValue("0");
+ }
kmlPayloadInfo.setPayloadPositionIndex(String.valueOf(payloadPosition));
return kmlPayloadInfo;
}
@@ -174,13 +183,28 @@
kmlFolder.setAutoFlightSpeed(String.valueOf(kmlParams.getAutoFlightSpeed()));
if (StringUtils.equals(fileType, FileTypeConstants.KML)) {
kmlFolder.setTemplateType(kmlParams.getTemplateType());
- kmlFolder.setWaylineCoordinateSysParam(buildKmlWayLineCoordinateSysParam(kmlParams.getTemplateType(), HeightModeEnums.RELATIVE_TO_START_POINT.getValue(),
- String.valueOf(kmlParams.getGlobalHeight())));
+ if (kmlParams.getHeightMode().equals(HeightModeEnums.RELATIVE_TO_START_POINT.getValue())){
+ kmlFolder.setWaylineCoordinateSysParam(
+ buildKmlWayLineCoordinateSysParam(
+ kmlParams.getTemplateType(),
+ HeightModeEnums.RELATIVE_TO_START_POINT.getValue(),
+ String.valueOf(kmlParams.getGlobalHeight())));
+ }else if(kmlParams.getHeightMode().equals(HeightModeEnums.EGM96.getValue())){
+ kmlFolder.setWaylineCoordinateSysParam(
+ buildKmlWayLineCoordinateSysParam(
+ kmlParams.getTemplateType(),
+ HeightModeEnums.EGM96.getValue(),
+ String.valueOf(kmlParams.getGlobalHeight())));
+ }
kmlFolder.setPayloadParam(buildKmlPayloadParam(kmlParams));
}
if (StringUtils.equals(fileType, FileTypeConstants.WPML)) {
kmlFolder.setWaylineId("0");
- kmlFolder.setExecuteHeightMode(ExecuteHeightModeEnums.RELATIVE_TO_START_POINT.getValue());
+ if (kmlParams.getHeightMode().equals(HeightModeEnums.RELATIVE_TO_START_POINT.getValue())){
+ kmlFolder.setExecuteHeightMode(ExecuteHeightModeEnums.RELATIVE_TO_START_POINT.getValue());
+ } else if (kmlParams.getHeightMode().equals(HeightModeEnums.EGM96.getValue())) {
+ kmlFolder.setExecuteHeightMode(ExecuteHeightModeEnums.WGS84.getValue());
+ }
if (CollectionUtil.isNotEmpty(kmlParams.getStartActionList())) {
KmlActionGroup kmlActionGroup = new KmlActionGroup();
kmlActionGroup.setAction(getKmlActionList(kmlParams.getStartActionList(), kmlParams));
@@ -337,7 +361,9 @@
if (CollectionUtil.isNotEmpty(routePointInfo.getActionGroupList())) {
List<KmlActionGroup> kmlActionGroupList = new ArrayList<>();
for (ActionGroupReq actionGroupReq : routePointInfo.getActionGroupList()) {
- kmlActionGroupList.add(buildKmlActionGroup(actionGroupReq, kmlParams));
+ if (ObjectUtil.isNotEmpty(actionGroupReq.getActions())){
+ kmlActionGroupList.add(buildKmlActionGroup(actionGroupReq, kmlParams));
+ }
}
kmlPlacemark.setActionGroup(kmlActionGroupList);
}
@@ -500,13 +526,13 @@
public static KmlActionGroup buildKmlActionGroup(ActionGroupReq actionGroupReq, KmlParams kmlParams) {
KmlActionGroup kmlActionGroup = new KmlActionGroup();
- kmlActionGroup.setActionGroupId(String.valueOf(actionGroupReq.getActionGroupId()));
- kmlActionGroup.setActionGroupStartIndex(String.valueOf(actionGroupReq.getActionGroupStartIndex()));
- kmlActionGroup.setActionGroupEndIndex(String.valueOf(actionGroupReq.getActionGroupEndIndex()));
- kmlActionGroup.setActionGroupMode(ActionGroupModeEnums.SEQUENCE.getValue());
+ kmlActionGroup.setActionGroupId(String.valueOf(actionGroupReq.getActionGroupId()));
+ kmlActionGroup.setActionGroupStartIndex(String.valueOf(actionGroupReq.getActionGroupStartIndex()));
+ kmlActionGroup.setActionGroupEndIndex(String.valueOf(actionGroupReq.getActionGroupEndIndex()));
+ kmlActionGroup.setActionGroupMode(ActionGroupModeEnums.SEQUENCE.getValue());
- kmlActionGroup.setActionTrigger(buildKmlActionTrigger(actionGroupReq.getActionTriggerType(), actionGroupReq.getActionTriggerParam()));
- kmlActionGroup.setAction(getKmlActionList(actionGroupReq.getActions(), kmlParams));
+ kmlActionGroup.setActionTrigger(buildKmlActionTrigger(actionGroupReq.getActionTriggerType(), actionGroupReq.getActionTriggerParam()));
+ kmlActionGroup.setAction(getKmlActionList(actionGroupReq.getActions(), kmlParams));
return kmlActionGroup;
}
@@ -538,7 +564,11 @@
}else {
kmlActionActuatorFuncParam.setFileSuffix("panoramicPhoto_360");
}
- kmlActionActuatorFuncParam.setUseGlobalPayloadLensIndex(String.valueOf(pointActionReq.getUseGlobalImageFormat()));
+ if (pointActionReq.getUseGlobalImageFormat() != null) {
+ kmlActionActuatorFuncParam.setUseGlobalPayloadLensIndex(String.valueOf(pointActionReq.getUseGlobalImageFormat()));
+ }else {
+ kmlActionActuatorFuncParam.setUseGlobalPayloadLensIndex("0");
+ }
if (ObjectUtil.equals(pointActionReq.getUseGlobalImageFormat(), 0)) {
kmlActionActuatorFuncParam.setPayloadLensIndex(pointActionReq.getImageFormat());
} else {
--
Gitblit v1.9.3