航线生成云台旋转

aix

2024-07-08 25cfe4f5057917a9e6ec2accef7e72e40b2f9047

 src/main/java/com/dji/sample/patches/xml/mode/XMLTemplateModel.java

@@ -2,6 +2,7 @@

import com.dji.sample.patches.model.entity.LotInfo;
import com.dji.sample.patches.utils.GeoToolsUtil;
import com.dji.sample.patches.utils.PointPO;
import com.dji.sample.patches.xml.mode.share.ActionGroup;
import com.dji.sample.patches.xml.mode.share.ActionMode;
import com.dji.sample.patches.xml.mode.share.ActionTrigger;
@@ -46,14 +47,15 @@
     * @param lotInfos
     * @return
     */
    public static XMLTemplateModel init(Coordinate[] coordinates,List<LotInfo> lotInfos) {
    public static XMLTemplateModel init(List<PointPO> coordinates, List<LotInfo> lotInfos) {

        Folder folder = FolderUtils.setFloder();

        List<Placemark> placemarkList = new ArrayList<>();
        int i = 0;
        for (Coordinate c:coordinates) {
        for (PointPO pointPO:coordinates) {
            if (i != 0) {//去除第一个航点
                Coordinate c = pointPO.getCoordinate();
                Placemark placemark = PlacemarkUtils.setPlacemark(c.x + "," + c.y);

                // 增加事件组
@@ -68,24 +70,24 @@
                // 开始增加事件
                List<ActionMode> list = new ArrayList<>();
                ActionMode actionMode = new ActionMode();
                actionMode.setActionId(0);
                actionMode.setActionId(1);
                actionMode.setActionActuatorFunc(CameraActionEnum.TAKE_PHOTO.getDescription());//拍照事件
                // 计算获取图斑编号
                int quotient = i / 4;
                if (i % 4 != 0) { // 检查是否有余数
                    quotient++; // 如果有余数，商加1
                }

                if (quotient == 0) quotient = 1;

                actionMode.setActionActuatorFuncParam(ActionUtils.setTakePhoto(lotInfos.get(quotient-1).getDkbh()));
                list.add(actionMode);
//                actionMode.setActionActuatorFuncParam(ActionUtils.setTakePhoto(lotInfos.get(quotient-1).getDkbh()));
                // 设置媒体文件名称后缀
                actionMode.setActionActuatorFuncParam(ActionUtils.setTakePhoto(lotInfos.get(pointPO.getIndex()).getDkbh() + "~" + lotInfos.get(pointPO.getIndex()).getTaskId()));
//                actionMode.setActionActuatorFuncParam(ActionUtils.setTakePhoto("测试"));

                ActionMode actionMode2 = new ActionMode();
                actionMode2.setActionId(1);
                actionMode2.setActionActuatorFunc(CameraActionEnum.GIMBAL_ROTATE.getDescription());//拍照事件
                actionMode2.setActionActuatorFuncParam(ActionUtils.setGimbalRotate());
                list.add(actionMode2);
                actionMode2.setActionId(0);
                actionMode2.setActionActuatorFunc(CameraActionEnum.GIMBAL_ROTATE.getDescription());//旋转云台

                //设置转动角度
                double bearing = GeoToolsUtil.bearing(pointPO.getCoordinate().x,pointPO.getCoordinate().y,pointPO.getCentro().x,pointPO.getCentro().y);
                actionMode2.setActionActuatorFuncParam(ActionUtils.setGimbalRotate(bearing));

                list.add(actionMode2);//添加云台旋转
                list.add(actionMode);//添加拍照
                actionGroup.setActions(list);

                placemark.setActionGroup(actionGroup);
@@ -102,7 +104,7 @@
                .author("Aix")
                .createTime(String.valueOf(System.currentTimeMillis()))
                .updateTime(String.valueOf(System.currentTimeMillis()))
                .missionConfig(MissionConfigUtils.setMissionConfig(coordinates[0].y + "," + coordinates[0].x + ",0"))
                .missionConfig(MissionConfigUtils.setMissionConfig(coordinates.get(0).getCoordinate().y + "," + coordinates.get(0).getCoordinate().x + ",0"))
                .folder(folder)
                .build();

@@ -128,7 +130,7 @@
        double airportLat = 28.624514734; // 机场纬度
        double airportLon = 115.856725497; // 机场经度
        // 解析图斑生成航点，按顺序返回
        Coordinate[] coordinates = GeoToolsUtil.getRoutePointOrder(list, airportLat, airportLon);
        List<PointPO> coordinates = GeoToolsUtil.getRoutePointOrder(list, airportLat, airportLon);

        // 初始化模板对象
        XMLTemplateModel xmlModel = XMLTemplateModel.init(coordinates, list);