package com.dji.sample.patches.xml.mode;
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import com.dji.sample.patches.model.entity.LotInfo;
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import com.dji.sample.patches.utils.DistanceCalculator;
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import com.dji.sample.patches.utils.GeoToolsUtil;
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import com.dji.sample.patches.utils.PointPO;
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import com.dji.sample.patches.xml.mode.share.*;
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import com.dji.sample.patches.xml.mode.share.action.utils.*;
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import com.dji.sample.patches.xml.utils.CreateWaylineFileUtils;
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import com.dji.sample.wayline.plane.PlaneCourseUtils;
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import com.dji.sample.wayline.plane.param.CreateWaylineParam;
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import freemarker.template.Configuration;
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import freemarker.template.Template;
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import lombok.Builder;
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import lombok.Data;
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import lombok.extern.slf4j.Slf4j;
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import org.locationtech.jts.geom.Coordinate;
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import java.io.*;
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import java.nio.charset.StandardCharsets;
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import java.util.ArrayList;
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import java.util.List;
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/**
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* @PROJECT_NAME: drone
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* @DESCRIPTION:
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* @USER: aix
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* @DATE: 2024/3/27 11:11
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*/
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@Data
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@Builder
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@Slf4j
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public class XMLTemplateModel {
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private String author = "aix";
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private String createTime;
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private String updateTime;
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private MissionConfig missionConfig;
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private Folder folder;
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/**
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* 初始化模板对象
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*
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* @param coordinates
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* @param lotInfos
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* @return
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*/
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public static XMLTemplateModel init(List<PointPO> coordinates, List<LotInfo> lotInfos) {
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Folder folder = FolderUtils.setFloder();
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List<Placemark> placemarkList = new ArrayList<>();
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int i = 0;
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for (PointPO pointPO : coordinates) {
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if (i != 0) {//去除第一个航点
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Coordinate c = pointPO.getCoordinate();
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Placemark placemark = PlacemarkUtils.setPlacemark(c.x + "," + c.y);
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// 增加事件组
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ActionGroup actionGroup = new ActionGroup();
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actionGroup.setActionGroupId(i - 1);//动作组id从0开始单调连续递增。
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actionGroup.setActionGroupStartIndex(i - 1);//动作组开始生效的航点
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actionGroup.setActionGroupEndIndex(i - 1);//动作组结束生效的航点
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actionGroup.setActionGroupMode("sequence");
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ActionTrigger at = new ActionTrigger();
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at.setActionTriggerType("reachPoint");
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actionGroup.setActionTrigger(at);
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// 开始增加事件
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List<ActionMode> list = new ArrayList<>();
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//拍照事件
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ActionMode actionMode = new ActionMode();
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actionMode.setActionId(2);
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actionMode.setActionActuatorFunc(CameraActionEnum.TAKE_PHOTO.getDescription());//拍照事件
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// actionMode.setActionActuatorFuncParam(ActionUtils.setTakePhoto(lotInfos.get(quotient-1).getDkbh()));
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// 设置媒体文件名称后缀
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actionMode.setActionActuatorFuncParam(ActionUtils.setTakePhoto(lotInfos.get(pointPO.getIndex()).getDkbh() + "~" + lotInfos.get(pointPO.getIndex()).getTaskId()));
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// actionMode.setActionActuatorFuncParam(ActionUtils.setTakePhoto("测试"));
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//云台旋转事件
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ActionMode actionMode2 = new ActionMode();
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actionMode2.setActionId(1);
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actionMode2.setActionActuatorFunc(CameraActionEnum.GIMBAL_ROTATE.getDescription());//旋转云台
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//设置转动角度
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double bearing = GeoToolsUtil.bearing(pointPO.getCoordinate().y, pointPO.getCoordinate().x, pointPO.getCentro().y, pointPO.getCentro().x);
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// System.out.println("角度：" + bearing);
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actionMode2.setActionActuatorFuncParam(ActionUtils.setGimbalRotate(bearing));
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// 飞行器偏航事件
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ActionMode actionModeFxqph = new ActionMode();
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actionModeFxqph.setActionId(0);
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actionModeFxqph.setActionActuatorFunc(CameraActionEnum.ROTATE_YAW.getDescription());//飞行器偏航
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actionModeFxqph.setActionActuatorFuncParam(ActionUtils.setRotateYaw(bearing));
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list.add(actionModeFxqph);//添加飞行器偏航
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list.add(actionMode2);//添加云台旋转
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list.add(actionMode);//添加拍照
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actionGroup.setActions(list);
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placemark.setActionGroup(actionGroup);
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placemarkList.add(placemark);
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}
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i = i + 1;
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}
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folder.setPlacemarkList(placemarkList);
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XMLTemplateModel xtm = XMLTemplateModel.builder()
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.author("Aix")
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.createTime(String.valueOf(System.currentTimeMillis()))
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.updateTime(String.valueOf(System.currentTimeMillis()))
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.missionConfig(MissionConfigUtils.setMissionConfig(coordinates.get(0).getCoordinate().y + "," + coordinates.get(0).getCoordinate().x + ",0"))
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.folder(folder)
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.build();
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return xtm;
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}
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/**
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* 面状航线
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*
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* @return
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*/
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public static XMLTemplateModel initPolygon(CreateWaylineParam param) {
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Folder folder = FolderUtils.setFloder(param.getTemplateType(), param.getAutoFlightSpeed());
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//坐标系参数
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WaylineCoordinateSysParam wcs = new WaylineCoordinateSysParam("EGM96", String.valueOf(param.getHeight()), String.valueOf(param.getHeight()));
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folder.setWaylineCoordinateSysParam(wcs);
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//建图航拍模板元素
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PlacemarkByPolygon placemarkByPolygon = new PlacemarkByPolygon();
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placemarkByPolygon.setDirection(param.getBearing());
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// 重叠率参数
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Overlap overlap = new Overlap((int) (param.getCourseRatio()* 100),
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(int) (param.getSideRatio()* 100),
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(int) (param.getCourseRatio()* 100),
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(int) (param.getSideRatio()* 100));
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placemarkByPolygon.setOverlap(overlap);
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//测区多边形
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String polygons = "";
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List<String> polygonStrList = new ArrayList<>();
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for (double [] polygon:param.getPolygon()){
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polygons = polygon[0] + "," + polygon[1] + ",0";
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polygonStrList.add(polygons);
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}
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placemarkByPolygon.setPolygons(polygonStrList);
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//全局航线高度
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placemarkByPolygon.setEllipsoidHeight(param.getHeight());
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placemarkByPolygon.setHeight(param.getHeight());
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folder.setPlacemarkByPolygon(placemarkByPolygon);
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//航点
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List<Coordinate> pointList = PlaneCourseUtils.createWaylinePoints(param);
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List<Placemark> placemarkList = new ArrayList<>();
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//计算距离
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Coordinate droneC = param.getCoordinate();//机场经纬度
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int pointListIndex = 0;
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double distanceOne = 0.0; //第一个点到机场得距离
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double distance = 0.0;
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Coordinate pointTmp = null;
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for (Coordinate c:pointList) {
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//计算距离
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if (pointListIndex == 0) {
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distanceOne = DistanceCalculator.calculateDistance(droneC.y,droneC.x,c.y,c.x) * 1000;
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distance += distanceOne;
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pointTmp = c;
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} else {
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double distanceTmp = DistanceCalculator.calculateDistance(pointTmp.y,pointTmp.x,c.y,c.x) * 1000;
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distance += distanceTmp;
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pointTmp = c;
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}
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pointListIndex += 1;
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Placemark placemark = new Placemark();
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placemark.setCoordinates(c.x + "," + c.y);
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placemark.setEllipsoidHeight(param.getHeight());
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placemark.setHeight(param.getHeight());
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placemark.setExecuteHeight(param.getHeight() + param.getDroneHeight()); //执行高度 = 机场高度 + 飞行高度
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placemark.setWaypointSpeed(param.getAutoFlightSpeed() + "");
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placemark.setUseStraightLine(1);
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//
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WaypointTurnParam waypointTurnParam = new WaypointTurnParam();
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waypointTurnParam.setWaypointTurnMode("coordinateTurn");
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waypointTurnParam.setWaypointTurnDampingDist("0.2");
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//添加事件 第一个和结尾需要添加事件
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if (pointListIndex == 1) { //第一个航点事件
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waypointTurnParam.setWaypointTurnMode("toPointAndStopWithDiscontinuityCurvature");
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waypointTurnParam.setWaypointTurnDampingDist("0");
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// 增加事件组
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ActionGroup actionGroup = new ActionGroup();
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actionGroup.setActionGroupId(0);
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actionGroup.setActionGroupStartIndex(pointListIndex - 1);//动作组开始生效的航点
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actionGroup.setActionGroupEndIndex(pointList.size() - 1);//动作组结束生效的航点
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actionGroup.setActionGroupMode("sequence");
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ActionTrigger at = new ActionTrigger();
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at.setActionTriggerType("betweenAdjacentPoints");
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actionGroup.setActionTrigger(at);
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// 开始增加事件
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List<ActionMode> list = new ArrayList<>();
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ActionMode actionMode = new ActionMode();
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actionMode.setActionId(0);
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actionMode.setActionActuatorFunc("gimbalAngleLock");
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ActionMode actionMode2 = new ActionMode();
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actionMode2.setActionId(1);
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actionMode2.setActionActuatorFunc(CameraActionEnum.GIMBAL_ROTATE.getDescription());//旋转云台
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actionMode2.setActionActuatorFuncParam(ActionUtils.setGimbalRotateByPlane());
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ActionMode actionMode3 = new ActionMode();
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actionMode3.setActionId(2);
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actionMode3.setActionActuatorFunc("startTimeLapse");
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actionMode3.setActionActuatorFuncParam(ActionUtils.setStartTimeLapseByPlane());
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list.add(actionMode);
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list.add(actionMode2);
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list.add(actionMode3);
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actionGroup.setActions(list);
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placemark.setActionGroup(actionGroup);
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} else if(pointListIndex == pointList.size()) { // 结尾需要添加事件
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waypointTurnParam.setWaypointTurnMode("toPointAndStopWithDiscontinuityCurvature");
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waypointTurnParam.setWaypointTurnDampingDist("0");
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// 增加事件组
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ActionGroup actionGroup = new ActionGroup();
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actionGroup.setActionGroupId(1);
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actionGroup.setActionGroupStartIndex(pointListIndex - 1);//动作组开始生效的航点
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actionGroup.setActionGroupEndIndex(pointList.size()-1);//动作组结束生效的航点
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actionGroup.setActionGroupMode("sequence");
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ActionTrigger at = new ActionTrigger();
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at.setActionTriggerType("reachPoint");
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actionGroup.setActionTrigger(at);
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// 开始增加事件
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List<ActionMode> list = new ArrayList<>();
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ActionMode actionMode = new ActionMode();
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actionMode.setActionId(0);
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actionMode.setActionActuatorFunc("stopTimeLapse");
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actionMode.setActionActuatorFuncParam(ActionUtils.setStopTimeLapseByPlane());
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ActionMode actionMode2 = new ActionMode();
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actionMode2.setActionId(1);
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actionMode2.setActionActuatorFunc("gimbalAngleUnlock");
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list.add(actionMode);
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list.add(actionMode2);
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actionGroup.setActions(list);
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placemark.setActionGroup(actionGroup);
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}
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placemark.setWaypointTurnParam(waypointTurnParam);
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placemarkList.add(placemark);
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}
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//距离和时间
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folder.setDistance((distance - distanceOne) + "");
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folder.setDuration((distance / param.getAutoFlightSpeed()) + "");//时间 = 长度 / 速度
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folder.setPlacemarkList(placemarkList);
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XMLTemplateModel xtm = XMLTemplateModel.builder()
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.author("Aix")
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.createTime(String.valueOf(System.currentTimeMillis()))
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.updateTime(String.valueOf(System.currentTimeMillis()))
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.missionConfig(MissionConfigUtils.setMissionConfigByPolygon(param.getCoordinate().y + "," + param.getCoordinate().x + ",0",
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param.getAutoFlightSpeed(),
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param.getDroneInfo(),
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param.getPayloadInfo()))
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.folder(folder)
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.build();
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return xtm;
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}
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//新建面状航线测试
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public static void main(String[] args) {
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// 初始化模板对象
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CreateWaylineParam param = new CreateWaylineParam();
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param.setBearing(90);
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param.setCoordinate(new Coordinate(116.020940643,25.8917266));
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param.setHeight(372.3);
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param.setCourseRatio(0.8);
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param.setSideRatio(0.8);
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param.setFocal(10*6.9999943);
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param.setFrame(100);
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param.setDroneHeight(14.731968792284789);
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List<double[]> polygon = new ArrayList<>();
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double[] a = {116.028037250229,25.8948290570725};
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double[] a2 = {116.031565260299,25.8950672687002};
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double[] a3 = {116.032112214864,25.8901339309971};
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double[] a4 = {116.028726270654,25.8895106128711};
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polygon.add(a);
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polygon.add(a2);
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polygon.add(a3);
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polygon.add(a4);
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param.setPolygon(polygon);
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param.setTemplateType("mapping2d");
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param.setAutoFlightSpeed(15);
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DroneInfo info = new DroneInfo();
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info.setDroneEnumValue("91");
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info.setDroneSubEnumValue("0");
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param.setDroneInfo(info);
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PayloadInfo payloadInfo = new PayloadInfo();
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payloadInfo.setPayloadEnumValue("80");
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payloadInfo.setPayloadPositionIndex("0");
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payloadInfo.setPayloadSubEnumValue("0");
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param.setPayloadInfo(payloadInfo);
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// 初始化模板对象
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XMLTemplateModel xmlModel = XMLTemplateModel.initPolygon(param);
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//生成航线文件
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CreateWaylineFileUtils.createWaylineFileByPolygon(xmlModel, "src\\main\\resources\\template\\template-polygon.xml", "src\\main\\resources\\template\\wpmz\\template.kml");
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CreateWaylineFileUtils.createWaylineFileByPolygon(xmlModel, "src\\main\\resources\\template\\waylines-polygon.xml", "src\\main\\resources\\template\\wpmz\\waylines.wpml");
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}
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//新建点航线测试
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// public static void main(String[] args) {
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//
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// //测试
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// List<LotInfo> list = new ArrayList<>();
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// list.add(LotInfo.builder().dkbh("dkbh01").dkfw("POLYGON((115.866465564947 28.6344502965542, 115.86425430209 28.6357383285408, 115.864551734716 28.633120921433, 115.866977149064 28.6338435339976, 115.866465564947 28.6344502965542))").build());
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// list.add(LotInfo.builder().dkbh("dkbh02").dkfw("POLYGON((115.864006690605 28.6202713913694, 115.86002109342 28.6162025130492, 115.866374254306 28.6142037658042, 115.865912044006 28.6172001020759, 115.864006690605 28.6202713913694))").build());
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// list.add(LotInfo.builder().dkbh("dkbh03").dkfw("POLYGON((115.839366933455 28.6161999317332, 115.841288489469 28.6160843601496, 115.840931570318 28.6181544912247, 115.838147600941 28.618654178036, 115.839366933455 28.6161999317332))").build());
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//// list.add(LotInfo.builder().dkbh("dkbh04").dkfw("POLYGON((115.857499052697 28.6784702230642, 115.859109158101 28.6762273976226, 115.863677723232 28.6766081113836, 115.862154868188 28.6790827508297, 115.857499052697 28.6784702230642))").build());
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//// list.add(LotInfo.builder().dkbh("dkbh05").dkfw("POLYGON((115.834974056705 28.6659171428962, 115.833760531592 28.6634960413229, 115.832422084777 28.6624550271329, 115.829745191145 28.6631986086972, 115.831232354274 28.6608191476914, 115.833314382654 28.6603729987527, 115.835545127347 28.6618601618814, 115.837032290475 28.6639421902615, 115.834974056705 28.6659171428962))").build());
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//// list.add(LotInfo.builder().dkbh("dkbh06").dkfw("POLYGON((115.885622116006 28.5766308429787, 115.883936664461 28.5771582901683, 115.883365593819 28.5752547213636, 115.883555950699 28.5740174016407, 115.88365112914 28.5724945465969, 115.885364341064 28.5721138328361, 115.886696839227 28.5725897250371, 115.887458266749 28.5736366878797, 115.886792017668 28.5753498998039, 115.885622116006 28.5766308429787))").build());
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//// list.add(LotInfo.builder().dkbh("dkbh07").dkfw("POLYGON((115.857644341395 28.5750890964568, 115.857572957565 28.5729475815515, 115.858429563527 28.5728761977213, 115.859072017998 28.5738041875136, 115.859072017998 28.5748035611361, 115.857644341395 28.5750890964568))").build());
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//// list.add(LotInfo.builder().dkbh("dkbh08").dkfw("POLYGON((115.912181587649 28.6231542087745, 115.912181587649 28.6215123806805, 115.915893546818 28.6212268453598, 115.916036314478 28.6231542087745, 115.912181587649 28.6231542087745))").build());
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//// list.add(LotInfo.builder().dkbh("dkbh09").dkfw("POLYGON((115.842039042965 28.6314426646115, 115.840992080122 28.631252307731, 115.842324578286 28.6305860586493, 115.843181184248 28.6305860586493, 115.84403779021 28.6304908802091, 115.84394261177 28.6317281999322, 115.842039042965 28.6314426646115))").build());
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//// list.add(LotInfo.builder().dkbh("dkbh10").dkfw("POLYGON((115.807011889796 28.623935465138, 115.805869748513 28.6224126100944, 115.810247956764 28.6220318963334, 115.809581707682 28.623935465138, 115.807011889796 28.623935465138))").build());
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//
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// // 机场经纬度
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// double airportLat = 28.624514734; // 机场纬度
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// double airportLon = 115.856725497; // 机场经度
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// // 解析图斑生成航点，按顺序返回
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// List<PointPO> coordinates = GeoToolsUtil.getRoutePointOrder(list, airportLat, airportLon);
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//
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// // 初始化模板对象
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// XMLTemplateModel xmlModel = XMLTemplateModel.init(coordinates, list);
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//
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// //生成航线文件
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// CreateWaylineFileUtils.createWaylineFile(xmlModel, "src\\main\\resources\\template\\template.kml", "src\\main\\resources\\template\\wpmz\\template.kml", "src\\main\\resources\\template\\waylines.wpml", "src\\main\\resources\\template\\wpmz\\waylines.wpml");
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//
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//
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// }
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}
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