package com.ard.work.service.impl; import com.ard.common.config.OssConfiguration; import com.ard.common.utils.file.MinioUtil; import com.ard.work.config.WaylinePlaningConfig; import com.ard.work.domain.dto.wayline.*; import com.ard.work.domain.entity.UavWayline; import com.ard.work.domain.enums.WaylineEnum; import com.ard.work.mapper.UavWaylineMapper; import com.ard.work.service.IGeoToolsService; import com.ard.work.service.IKmzFileService; import com.ard.work.util.Vertex; import lombok.extern.slf4j.Slf4j; import org.dom4j.*; import org.dom4j.io.OutputFormat; import org.dom4j.io.XMLWriter; import org.springframework.scheduling.annotation.Async; import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Transactional; import javax.annotation.Resource; import java.io.*; import java.time.LocalDateTime; import java.time.ZoneOffset; import java.util.List; import java.util.zip.ZipEntry; import java.util.zip.ZipOutputStream; /** * @author liusuyi * @version 3.0 * @date 2025/06/27 */ @Service @Slf4j @Transactional public class KmzFileServiceImpl implements IKmzFileService { @Resource private IGeoToolsService geoToolsService; @Resource private WaylinePlaningConfig waylinePlaningConfig; @Resource private UavWaylineMapper uavWaylineMapper; private Document initWayline(Boolean isTemplate) { //创建Document对象 Document document = DocumentHelper.createDocument(); document.setXMLEncoding("UTF-8"); // 定义命名空间 String KML_NAMESPACE = "http://www.opengis.net/kml/2.2"; String WPML_NAMESPACE = "http://www.dji.com/wpmz/1.0.6"; //创建kml节点 QName kmlQName = QName.get("kml", Namespace.get("", KML_NAMESPACE)); Element kml = document.addElement(kmlQName); //添加命名空间 kml.addNamespace("wpml", WPML_NAMESPACE); //生成Document节点 Element wpml = kml.addElement("Document", KML_NAMESPACE); //是否为模板 if (isTemplate) { // Step 1: Implement File Creation Information //wpml.addElement("wpml:author").addText(user); wpml.addElement("wpml:createTime").addText( String.valueOf(LocalDateTime.now().toInstant(ZoneOffset.of("+8")).toEpochMilli())); wpml.addElement("wpml:updateTime").addText( String.valueOf(LocalDateTime.now().toInstant(ZoneOffset.of("+8")).toEpochMilli())); } //返回 return document; } //产生kmz总体过程 private void gntTemplateKml(ArdWaylineDTO ardWaylineDTO, String savePath) { //初始化文件头 Document reader = this.initWayline(true); //Document元素 Element document = reader.getRootElement().element("Document"); //添加missionConfig信息 this.addMissionConfig(document, ardWaylineDTO); //添加folder信息 Element folder = this.addFolder(document, ardWaylineDTO); //2设置航点参数 List uavPositions = ardWaylineDTO.getUavPositions(); //循环添加placemark Integer actionGroupId = 0; for (int i = 0; i < uavPositions.size(); i++) { ArdUavPositionDTO onePosition = uavPositions.get(i); this.addPlaceMark(folder, i, actionGroupId, onePosition); if (onePosition.getActionGroup().size() > 0) { actionGroupId += 1; } } //打印输出结果 //log.info(reader.asXML()); //输出 String tmpKml = savePath + File.separator + "wpmz" + File.separator + "template.kml"; this.outputXml(tmpKml, reader); } public void gntWaylineWpml(ArdWaylineDTO ardWaylineDTO, String savePath) { //初始化文件头 Document reader = this.initWayline(false); //Document元素 Element document = reader.getRootElement().element("Document"); //添加missionConfig信息 this.addMissionConfig(document, ardWaylineDTO); //添加folder信息 Element folder = this.addFolderWayline(document, ardWaylineDTO); //2设置航点参数 //循环添加placemark Integer actionGroupId = 0; for (int i = 0; i < ardWaylineDTO.getUavPositions().size(); i++) { ArdUavPositionDTO onePosition = ardWaylineDTO.getUavPositions().get(i); this.addPlaceMarkWayline(folder, i, actionGroupId, onePosition, ardWaylineDTO); if (onePosition.getActionGroup().size() > 0) { actionGroupId += 1; } } //打印输出结果 //log.info(reader.asXML()); //输出 String waylineWpml = savePath + File.separator + "wpmz" + File.separator + "waylines.wpml"; this.outputXml(waylineWpml, reader); } //missionConfig信息 private void addMissionConfig(Element document, ArdWaylineDTO ardWaylineDTO) { //创建wpml:missionConfig元素 Element missionConfig = document.addElement("wpml:missionConfig"); //创建子元素 missionConfig.addElement("wpml:flyToWaylineMode").addText("safely"); missionConfig.addElement("wpml:finishAction").addText("goHome"); missionConfig.addElement("wpml:exitOnRCLost").addText("goContinue"); missionConfig.addElement("wpml:executeRCLostAction").addText("goBack"); missionConfig.addElement("wpml:takeOffSecurityHeight").addText("30"); //与第一个点重合 ArdPositionDTO firstPoint = ardWaylineDTO.getUavPositions().get(0).getUavPosition(); String refPoint = String.format("%s,%s,%s", firstPoint.getLatitude(), firstPoint.getLongitude() , firstPoint.getAltitude()); missionConfig.addElement("wpml:takeOffRefPoint").addText(refPoint); missionConfig.addElement("wpml:globalTransitionalSpeed").addText(String.valueOf(ardWaylineDTO.getGlobalFlySpeed())); missionConfig.addElement("wpml:globalRTHHeight").addText(String.valueOf(ardWaylineDTO.getGlobalFlyHeight())); //添加droneInfo Element droneInfo = missionConfig.addElement("wpml:droneInfo"); droneInfo.addElement("wpml:droneEnumValue").addText("89"); droneInfo.addElement("wpml:droneSubEnumValue").addText("1"); //添加payloadInfo Element payloadInfo = missionConfig.addElement("wpml:payloadInfo"); payloadInfo.addElement("wpml:payloadEnumValue").addText("43"); payloadInfo.addElement("wpml:payloadSubEnumValue").addText("0"); payloadInfo.addElement("wpml:payloadPositionIndex").addText("0"); } //folder信息 private Element addFolder(Element document, ArdWaylineDTO ardWaylineDTO) { //全局信息 Element folder = document.addElement("Folder"); folder.addElement("wpml:templateType").addText("waypoint"); folder.addElement("wpml:templateId").addText("0"); //坐标系统 Element waylineCoordinateSysParam = folder.addElement("wpml:waylineCoordinateSysParam"); waylineCoordinateSysParam.addElement("wpml:coordinateMode").addText("WGS84"); waylineCoordinateSysParam.addElement("wpml:heightMode").addText("relativeToStartPoint"); // folder.addElement("wpml:autoFlightSpeed").addText(String.valueOf(ardWaylineDTO.getGlobalFlySpeed())); folder.addElement("wpml:globalWaypointTurnMode").addText("toPointAndStopWithDiscontinuityCurvature"); folder.addElement("wpml:globalUseStraightLine").addText("1"); //全局航向角模式 Element globalWaypointHeadingParam = folder.addElement("wpml:globalWaypointHeadingParam"); globalWaypointHeadingParam.addElement("wpml:waypointHeadingMode").addText("followWayline"); globalWaypointHeadingParam.addElement("wpml:waypointHeadingYawPathMode").addText("followBadArc"); // folder.addElement("wpml:gimbalPitchMode").addText("manual");//manual , usePointSetting folder.addElement("wpml:globalHeight").addText(String.valueOf(ardWaylineDTO.getGlobalFlyHeight())); // return folder; } private Element addFolderWayline(Element document, ArdWaylineDTO ardWaylineDTO) { //全局信息 Element folder = document.addElement("Folder"); folder.addElement("wpml:templateId").addText("0"); folder.addElement("wpml:executeHeightMode").addText("relativeToStartPoint"); folder.addElement("wpml:waylineId").addText("0"); folder.addElement("wpml:autoFlightSpeed").addText(String.valueOf(ardWaylineDTO.getGlobalFlySpeed())); return folder; } //placemark信息 private void addPlaceMark(Element folder, Integer index, Integer actionGroupId, ArdUavPositionDTO onePostion) { //添加placemark Element placemark = folder.addElement("Placemark"); //转换坐标 //航点坐标位置转换 Double tLng = 0.0; Double tLat = 0.0; //转换坐标，将目标坐标转化为高德坐标 if (onePostion.getUavPosition().getLongitude() != null && onePostion.getUavPosition().getLatitude() != null) { Vertex newVertex = geoToolsService.gcj02ToTargetCoordinate( new Vertex(onePostion.getUavPosition().getLongitude(), onePostion.getUavPosition().getLatitude())); tLng = newVertex.x; tLat = newVertex.y; } Element point = placemark.addElement("Point"); point.addElement("coordinates").addText(tLng + "," + tLat); //添加一般元素 placemark.addElement("wpml:index").addText(String.valueOf(index)); placemark.addElement("wpml:ellipsoidHeight").addText(String.valueOf(onePostion.getUavPosition().getAltitude())); placemark.addElement("wpml:height").addText(String.valueOf(onePostion.getUavPosition().getAltitude())); //全局信息 placemark.addElement("wpml:useGlobalHeight").addText("1"); placemark.addElement("wpml:useGlobalSpeed").addText("1"); placemark.addElement("wpml:useGlobalHeadingParam").addText("1"); placemark.addElement("wpml:useGlobalTurnParam").addText("1"); placemark.addElement("wpml:useStraightLine").addText("1"); //添加actionGroup if (onePostion.getActionGroup().size() > 0) { Element actionGroup = placemark.addElement("wpml:actionGroup"); //添加动作组基础信息 actionGroup.addElement("wpml:actionGroupId").addText(String.valueOf(actionGroupId)); actionGroup.addElement("wpml:actionGroupStartIndex").addText(String.valueOf(index)); actionGroup.addElement("wpml:actionGroupEndIndex").addText(String.valueOf(index)); actionGroup.addElement("wpml:actionGroupMode").addText("sequence"); Element actionTrigger = actionGroup.addElement("wpml:actionTrigger"); actionTrigger.addElement("wpml:actionTriggerType").addText("reachPoint"); //定义action Integer actionId = 0; for (int j = 0; j < onePostion.getActionGroup().size(); j++) { //逐个添加action Integer actionCount = this.addAction(actionGroup, actionId, onePostion.getActionGroup().get(j)); actionId += actionCount; } } } //placemark信息 private void addPlaceMarkWayline(Element folder, Integer index, Integer actionGroupId, ArdUavPositionDTO onePostion, ArdWaylineDTO ardWaylineDTO) { //添加placemark Element placemark = folder.addElement("Placemark"); //转换坐标 //航点坐标位置转换 Double tLng = 0.0; Double tLat = 0.0; //转换坐标，将目标坐标转化为高德坐标 if (onePostion.getUavPosition().getLongitude() != null && onePostion.getUavPosition().getLatitude() != null) { Vertex newVertex = geoToolsService.gcj02ToTargetCoordinate( new Vertex(onePostion.getUavPosition().getLongitude(), onePostion.getUavPosition().getLatitude())); tLng = newVertex.x; tLat = newVertex.y; } Element point = placemark.addElement("Point"); point.addElement("coordinates").addText(tLng + "," + tLat); //添加一般元素 placemark.addElement("wpml:index").addText(String.valueOf(index)); placemark.addElement("wpml:executeHeight").addText(String.valueOf(onePostion.getUavPosition().getAltitude())); placemark.addElement("wpml:waypointSpeed").addText(String.valueOf(ardWaylineDTO.getGlobalFlySpeed())); Element waypointHeadingParam = placemark.addElement("wpml:waypointHeadingParam"); waypointHeadingParam.addElement("wpml:waypointHeadingMode").addText("followWayline"); Element waypointTurnParam = placemark.addElement("wpml:waypointTurnParam"); waypointTurnParam.addElement("wpml:waypointTurnMode").addText(WaylineEnum.getDesc(onePostion.getFlightPathMode())); waypointTurnParam.addElement("wpml:waypointTurnDampingDist").addText("0"); //添加actionGroup if (onePostion.getActionGroup().size() > 0) { Element actionGroup = placemark.addElement("wpml:actionGroup"); //添加动作组基础信息 actionGroup.addElement("wpml:actionGroupId").addText(String.valueOf(actionGroupId)); actionGroup.addElement("wpml:actionGroupStartIndex").addText(String.valueOf(index)); actionGroup.addElement("wpml:actionGroupEndIndex").addText(String.valueOf(index)); actionGroup.addElement("wpml:actionGroupMode").addText("sequence"); Element actionTrigger = actionGroup.addElement("wpml:actionTrigger"); actionTrigger.addElement("wpml:actionTriggerType").addText("reachPoint"); //定义action Integer actionId = 0; for (int j = 0; j < onePostion.getActionGroup().size(); j++) { //逐个添加action Integer actionCount = this.addAction(actionGroup, actionId, onePostion.getActionGroup().get(j)); actionId += actionCount; } } } //action private Integer addAction(Element actionGroup, Integer index, ArdActionDTO actionDTO) { Integer actionCount = 2; //变焦动作 Element actionGimbal = actionGroup.addElement("wpml:action"); actionGimbal.addElement("wpml:actionId").addText(String.valueOf(index)); actionGimbal.addElement("wpml:actionActuatorFunc").addText("gimbalRotate"); Element param = actionGimbal.addElement("wpml:actionActuatorFuncParam"); param.addElement("wpml:payloadPositionIndex").addText(String.valueOf(0)); param.addElement("wpml:gimbalHeadingYawBase").addText("north"); param.addElement("wpml:gimbalRotateMode").addText("absoluteAngle"); param.addElement("wpml:gimbalPitchRotateEnable").addText(String.valueOf(1)); param.addElement("wpml:gimbalPitchRotateAngle").addText(String.valueOf(actionDTO.getActionGimbal().getPitch())); param.addElement("wpml:gimbalRollRotateEnable").addText(String.valueOf(0)); param.addElement("wpml:gimbalRollRotateAngle").addText(String.valueOf(0)); param.addElement("wpml:gimbalYawRotateEnable").addText(String.valueOf(1)); param.addElement("wpml:gimbalYawRotateAngle").addText(String.valueOf(actionDTO.getActionGimbal().getYaw())); param.addElement("wpml:gimbalRotateTimeEnable").addText(String.valueOf(0)); param.addElement("wpml:gimbalRotateTime").addText(String.valueOf(0)); //动作类型 switch (actionDTO.actionType) { case 0://拍照 Element action0 = actionGroup.addElement("wpml:action"); action0.addElement("wpml:actionId").addText(String.valueOf(index + 1)); action0.addElement("wpml:actionActuatorFunc").addText("takePhoto"); Element param0 = action0.addElement("wpml:actionActuatorFuncParam"); param0.addElement("wpml:fileSuffix").addText("point"); param0.addElement("wpml:payloadPositionIndex").addText(String.valueOf(0)); break; case 1://录像，拆解为3个动作 //添加开始录像动作 Element action11 = actionGroup.addElement("wpml:action"); action11.addElement("wpml:actionId").addText(String.valueOf(index + 1)); action11.addElement("wpml:actionActuatorFunc").addText("startRecord"); Element param11 = action11.addElement("wpml:actionActuatorFuncParam"); param11.addElement("wpml:fileSuffix").addText("point"); param11.addElement("wpml:payloadPositionIndex").addText(String.valueOf(0)); //添加新的悬停动作 Element action12 = actionGroup.addElement("wpml:action"); action12.addElement("wpml:actionId").addText(String.valueOf(index + 2)); action12.addElement("wpml:actionActuatorFunc").addText("hover"); Element param12 = action12.addElement("wpml:actionActuatorFuncParam"); param12.addElement("wpml:hoverTime").addText(String.valueOf(actionDTO.getActionParameter())); //添加结束动作 Element action13 = actionGroup.addElement("wpml:action"); action13.addElement("wpml:actionId").addText(String.valueOf(index + 3)); action13.addElement("wpml:actionActuatorFunc").addText("stopRecord"); Element param13 = action13.addElement("wpml:actionActuatorFuncParam"); param13.addElement("wpml:payloadPositionIndex").addText(String.valueOf(0)); actionCount = 5; break; case 2://悬停 ，协议是3，前端发送为2 Element action2 = actionGroup.addElement("wpml:action"); action2.addElement("wpml:actionId").addText(String.valueOf(index + 1)); action2.addElement("wpml:actionActuatorFunc").addText("hover"); Element param2 = action2.addElement("wpml:actionActuatorFuncParam"); param2.addElement("wpml:hoverTime").addText(String.valueOf(actionDTO.getWaitTime())); break; default: actionCount = 0; log.info("未知的动作类型{}！", actionDTO.actionType); break; } return actionCount; } //输出模板kml private void outputXml(String vpath, Document doc) { try { OutputFormat format = OutputFormat.createPrettyPrint(); format.setEncoding("UTF-8"); //FileWriter改为FileOutputStream解决乱码问题 XMLWriter xmlWriter = new XMLWriter(new FileOutputStream(vpath), format); xmlWriter.write(doc); xmlWriter.close(); } catch (Exception e) { log.error("输出航线文件失败：{}", vpath); e.printStackTrace(); } } //创建路径 private String createSavePath(String waylineName) { //创建航线名称路径 String pathStr = waylinePlaningConfig.getWaylineSavePath() + File.separator + waylineName; File savePath = new File(pathStr); if (!savePath.exists()) { savePath.mkdirs(); } else { deleteFile(savePath); savePath.mkdirs(); } //创建wpmz File wpmz = new File(pathStr + File.separator + "wpmz"); wpmz.mkdir(); //创建res File res = new File(pathStr + File.separator + "wpmz" + File.separator + "res"); res.mkdir(); return pathStr; } private void deleteFile(File filePath) { //判断路径是否存在 if (filePath.exists()) { //判断是否是目录 if (filePath.isDirectory()) { //将目录逐层拆分成数组元素 File[] files = filePath.listFiles(); for (File f : files) { //递归调用,由最底层往上逐层删除 deleteFile(f); } } //如果是文件，直接删除 filePath.delete(); } } //输出MKZ过程 @Override @Async public void outputKmz(ArdWaylineDTO ardWaylineDTO) { try { //创建目录 String savePath = this.createSavePath(ardWaylineDTO.getWaylineName()); //输出模板kml this.gntTemplateKml(ardWaylineDTO, savePath); //输出航线wpml this.gntWaylineWpml(ardWaylineDTO, savePath); //压缩输出成kmz String fileName = ardWaylineDTO.getWaylineName() + ".kmz"; String kmzPath = waylinePlaningConfig.getWaylineSavePath() + File.separator + fileName; //输出kmz文件，是否成功 Boolean isSuccess = this.toKmz(kmzPath, savePath + File.separator + "wpmz", true); if (isSuccess) { //上传kmz文件到对象数据库 InputStream inputStream = new FileInputStream(kmzPath); //构建记录 String objectKey = fileName; //若已经存在，则先删除，再添加 if (MinioUtil.exists(OssConfiguration.bucket, objectKey)) MinioUtil.delete(OssConfiguration.bucket, objectKey); String kmzUrl = MinioUtil.uploadInputStream(OssConfiguration.bucket, objectKey, inputStream, inputStream.available(), "application/octet-stream"); // 更新航线kmz地址 UavWayline uavWayline = UavWayline.builder() .id(ardWaylineDTO.waylineId) .kmzUrl(kmzUrl) .build(); uavWaylineMapper.updateUavWayline(uavWayline); } } catch (Exception e) { e.printStackTrace(); log.info("生成kmz文件失败！"); } } private Boolean toKmz(String zipFileName, String sourceFileName, boolean KeepDirStructure) { Boolean result = true; long start = System.currentTimeMillis();//开始 ZipOutputStream zos = null; try { FileOutputStream fileOutputStream = new FileOutputStream(zipFileName); zos = new ZipOutputStream(fileOutputStream); File sourceFile = new File(sourceFileName); compress(sourceFile, zos, sourceFile.getName(), KeepDirStructure); long end = System.currentTimeMillis();//结束 System.out.println("压缩完成，耗时：" + (end - start) + " 毫秒"); } catch (Exception e) { result = false; e.printStackTrace(); } finally { if (zos != null) { try { zos.close(); } catch (IOException e) { e.getStackTrace(); } } } return result; } private void compress(File sourceFile, ZipOutputStream zos, String name, boolean KeepDirStructure) throws Exception { byte[] buf = new byte[2 * 1024]; if (sourceFile.isFile()) { // 向zip输出流中添加一个zip实体，构造器中name为zip实体的文件的名字 zos.putNextEntry(new ZipEntry(name)); // copy文件到zip输出流中 int len; FileInputStream in = new FileInputStream(sourceFile); while ((len = in.read(buf)) != -1) { zos.write(buf, 0, len); } // Complete the entry zos.closeEntry(); in.close(); } else { File[] listFiles = sourceFile.listFiles(); if (listFiles == null || listFiles.length == 0) { // 需要保留原来的文件结构时,需要对空文件夹进行处理 if (KeepDirStructure) { // 空文件夹的处理 zos.putNextEntry(new ZipEntry(name + "/")); // 没有文件，不需要文件的copy zos.closeEntry(); } } else { for (File file : listFiles) { // 判断是否需要保留原来的文件结构 if (KeepDirStructure) { // 注意：file.getName()前面需要带上父文件夹的名字加一斜杠, // 不然最后压缩包中就不能保留原来的文件结构,即：所有文件都跑到压缩包根目录下了 compress(file, zos, name + "/" + file.getName(), KeepDirStructure); } else { compress(file, zos, file.getName(), KeepDirStructure); } } } } } }