From 8b14209e043b037f8e7a5a18138fdf2140885bdb Mon Sep 17 00:00:00 2001
From: aix <vip_xiaobin810@163.com>
Date: Tue, 23 Jul 2024 19:14:27 +0800
Subject: [PATCH] 航测功能
---
src/main/java/com/dji/sample/patches/xml/mode/XMLTemplateModel.java | 179 +++++++++++++--
src/main/java/com/dji/sample/patches/xml/mode/Folder.java | 4
src/main/java/com/dji/sample/patches/xml/mode/Overlap.java | 41 +++
src/main/java/com/dji/sample/wayline/plane/param/CreateWaylineParam.java | 35 +++
src/main/resources/template/waylines-polygon.xml | 118 ++++++++++
src/main/java/com/dji/sample/patches/xml/mode/PlacemarkByPolygon.java | 84 +++++++
src/main/java/com/dji/sample/patches/xml/utils/CreateWaylineFileUtils.java | 4
src/main/java/com/dji/sample/patches/xml/mode/WaylineCoordinateSysParam.java | 42 +++
src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/FolderUtils.java | 27 ++
src/main/resources/template/template-polygon.xml | 79 +++++++
src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/MissionConfigUtils.java | 19 +
11 files changed, 597 insertions(+), 35 deletions(-)
diff --git a/src/main/java/com/dji/sample/patches/xml/mode/Folder.java b/src/main/java/com/dji/sample/patches/xml/mode/Folder.java
index bee0519..69b52ec 100644
--- a/src/main/java/com/dji/sample/patches/xml/mode/Folder.java
+++ b/src/main/java/com/dji/sample/patches/xml/mode/Folder.java
@@ -31,7 +31,9 @@
private String globalWaypointTurnMode;
private Integer globalUseStraightLine;
- private List<Placemark> placemarkList = new ArrayList<>();
+ private List<Placemark> placemarkList = new ArrayList<>();//航点模板元素
+
+ private PlacemarkByPolygon placemarkByPolygon;//建图航拍模板元素
private PayloadParam payloadParam;
diff --git a/src/main/java/com/dji/sample/patches/xml/mode/Overlap.java b/src/main/java/com/dji/sample/patches/xml/mode/Overlap.java
new file mode 100644
index 0000000..ab1d1fe
--- /dev/null
+++ b/src/main/java/com/dji/sample/patches/xml/mode/Overlap.java
@@ -0,0 +1,41 @@
+package com.dji.sample.patches.xml.mode;
+
+import lombok.Builder;
+import lombok.Data;
+
+/**
+ * @Author AIX
+ * @Date 2024/7/20 11:51
+ * @Version 1.0
+ * 重叠率参数
+ */
+@Data
+public class Overlap {
+
+ /**
+ * 可见光航向重叠率
+ */
+ private Integer orthoCameraOverlapH = 80;
+ /**
+ * 可见光旁向重叠率
+ */
+ private Integer orthoCameraOverlapW = 80;
+ /**
+ * 可见光航向重叠率
+ */
+ private Integer inclinedCameraOverlapH = 80;
+ /**
+ * 可见光旁向重叠率
+ */
+ private Integer inclinedCameraOverlapW = 70;
+
+ public Overlap() {}
+
+ public Overlap(Integer orthoCameraOverlapH, Integer orthoCameraOverlapW, Integer inclinedCameraOverlapH, Integer inclinedCameraOverlapW) {
+ this.orthoCameraOverlapH = orthoCameraOverlapH;
+ this.orthoCameraOverlapW = orthoCameraOverlapW;
+ this.inclinedCameraOverlapH = inclinedCameraOverlapH;
+ this.inclinedCameraOverlapW = inclinedCameraOverlapW;
+ }
+
+}
diff --git a/src/main/java/com/dji/sample/patches/xml/mode/PlacemarkByPolygon.java b/src/main/java/com/dji/sample/patches/xml/mode/PlacemarkByPolygon.java
new file mode 100644
index 0000000..e4a7b39
--- /dev/null
+++ b/src/main/java/com/dji/sample/patches/xml/mode/PlacemarkByPolygon.java
@@ -0,0 +1,84 @@
+package com.dji.sample.patches.xml.mode;
+
+import lombok.Data;
+import org.locationtech.jts.geom.Coordinate;
+
+import java.util.List;
+
+/**
+ * @Author AIX
+ * @Date 2024/7/20 11:19
+ * @Version 1.0
+ */
+@Data
+public class PlacemarkByPolygon {
+
+ /**
+ * 是否开启标定飞行
+ * * 注：仅适用于M300 RTK与M350 RTK机型
+ * 0：不开启
+ * 1：开启，航线中自动进行惯导标定，保证模型精度。航线收尾会进行三次加减速飞行，航线拐弯处自动外扩进行加减速飞行。航线过长会均匀插入加减速飞行，每次标定后飞行时间不会超过100s。
+ */
+ private Integer caliFlightEnable = 0;
+
+ /**
+ * 是否开启高程优化
+ * 0：不开启
+ * 1：开启，飞行器会在航线执行完毕后，飞向测区中心采集一组倾斜照片，优化高程精度。
+ */
+ private Integer elevationOptimizeEnable = 1;
+
+ /**
+ * 是否开启智能摆拍
+ * 0：不开启
+ * 1：开启，飞行器在单次建图航拍任务过程中，可通过云台摆动完成正射与倾斜照片拍摄。
+ */
+ private Integer smartObliqueEnable = 0;
+ /**
+ * 是否开启斜立面
+ * 0：不开启
+ * 1：开启
+ */
+ private Integer facadeWaylineEnable = 0;
+
+ private Integer isLookAtSceneSet = 0;
+ /**
+ * 拍照模式
+ * time：等时间拍照
+ * distance：等间隔拍照
+ * * 注：建议使用“time”等时间拍照。
+ * 在template.kml文件中定义“拍照模式”、“重叠率”和“飞行速度”，计算后得出间隔时间或间隔距离距离写入waylines.wpml中。
+ */
+ private String shootType = "time";
+ /**
+ * 航线方向
+ */
+ private Integer direction;
+ /**
+ * 测区外扩距离
+ */
+ private Integer margin = 0;
+
+ /**
+ * 重叠率参数
+ */
+ private Overlap overlap;
+
+ /**
+ * 测区多边形
+ */
+ private List<String> polygons;
+
+ /**
+ * 全局航线高度（椭球高）
+ * * 注：如果 wpml:height 选用相对起飞点高度，则 wpml:ellipsoidHeight 和 wpml:height 相同；
+ * 如果 wpml:height 选用 EGM96 海拔高度或 AGL 相对地面高度，则 wpml:wpml:ellipsoidHeight 由 wpml:height 做相应转换得到。
+ */
+ private double ellipsoidHeight;
+ /**
+ * 全局航线高度（EGM96海拔高/相对起飞点高度/AGL相对地面高度）
+ * * 注：该元素与 wpml:ellipsoidHeight 配合使用，二者是同一位置不同高程参考平面的表达。
+ */
+ private double height;
+
+}
diff --git a/src/main/java/com/dji/sample/patches/xml/mode/WaylineCoordinateSysParam.java b/src/main/java/com/dji/sample/patches/xml/mode/WaylineCoordinateSysParam.java
index 98aac8b..5643e30 100644
--- a/src/main/java/com/dji/sample/patches/xml/mode/WaylineCoordinateSysParam.java
+++ b/src/main/java/com/dji/sample/patches/xml/mode/WaylineCoordinateSysParam.java
@@ -1,5 +1,6 @@
package com.dji.sample.patches.xml.mode;
+import lombok.Builder;
import lombok.Data;
/**
@@ -11,7 +12,46 @@
@Data
public class WaylineCoordinateSysParam {
+ /**
+ * 经纬度坐标系WGS84：当前固定使用
+ * WGS84坐标系
+ */
private String coordinateMode = "WGS84";
- private String heightMode = "relativeToStartPoint";
+ /**
+ * 航点高程参考平面
+ * EGM96：使用海拔高编辑
+ * relativeToStartPoint：使用相对点的高度进行编辑
+ * aboveGroundLevel：使用地形数据，AGL下编辑(仅支持司空2平台)
+ * realTimeFollowSurface: 使用实时仿地模式（仅用于建图航拍模版），仅支持M3E/M3T/M3M机型
+ */
+ private String heightMode = "EGM96";
+
+ /**
+ * 飞行器离被摄面高度（相对地面高）
+ * * 注：仅适用于模板类型mapping2d，mapping3d，mappingStrip
+ */
+ private String globalShootHeight;//自定义
+
+ /**
+ * 是否开启仿地飞行 0：不开启1：开启
+ * * 注：仅适用于模板类型mapping2d，mapping3d，mappingStrip
+ */
+ private String surfaceFollowModeEnable = "1";
+
+ private String isRealtimeSurfaceFollow = "0";
+ /**
+ * 仿地飞行离地高度（相对地面高）
+ * * 注：仅适用于模板类型mapping2d，mapping3d，mappingStrip
+ */
+ private String surfaceRelativeHeight;
+
+
+ public WaylineCoordinateSysParam() {}
+
+ public WaylineCoordinateSysParam(String heightMode,String globalShootHeight,String surfaceRelativeHeight) {
+ this.heightMode = heightMode;
+ this.globalShootHeight = globalShootHeight;
+ this.surfaceRelativeHeight = surfaceRelativeHeight;
+ }
}
diff --git a/src/main/java/com/dji/sample/patches/xml/mode/XMLTemplateModel.java b/src/main/java/com/dji/sample/patches/xml/mode/XMLTemplateModel.java
index 56c6b0f..5ea5c10 100644
--- a/src/main/java/com/dji/sample/patches/xml/mode/XMLTemplateModel.java
+++ b/src/main/java/com/dji/sample/patches/xml/mode/XMLTemplateModel.java
@@ -3,11 +3,11 @@
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;
+import com.dji.sample.patches.xml.mode.share.*;
import com.dji.sample.patches.xml.mode.share.action.utils.*;
import com.dji.sample.patches.xml.utils.CreateWaylineFileUtils;
+import com.dji.sample.wayline.plane.PlaneCourseUtils;
+import com.dji.sample.wayline.plane.param.CreateWaylineParam;
import freemarker.template.Configuration;
import freemarker.template.Template;
import lombok.Builder;
@@ -43,6 +43,7 @@
/**
* 初始化模板对象
+ *
* @param coordinates
* @param lotInfos
* @return
@@ -53,16 +54,16 @@
List<Placemark> placemarkList = new ArrayList<>();
int i = 0;
- for (PointPO pointPO: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
ActionGroup actionGroup = new ActionGroup();
- actionGroup.setActionGroupId(i-1);//动作组id从0开始单调连续递增。
- actionGroup.setActionGroupStartIndex(i-1);//动作组开始生效的航点
- actionGroup.setActionGroupEndIndex(i-1);//动作组结束生效的航点
+ actionGroup.setActionGroupId(i - 1);//动作组id从0开始单调连续递增。
+ actionGroup.setActionGroupStartIndex(i - 1);//动作组开始生效的航点
+ actionGroup.setActionGroupEndIndex(i - 1);//动作组结束生效的航点
actionGroup.setActionGroupMode("sequence");
ActionTrigger at = new ActionTrigger();
at.setActionTriggerType("reachPoint");
@@ -85,7 +86,7 @@
actionMode2.setActionId(1);
actionMode2.setActionActuatorFunc(CameraActionEnum.GIMBAL_ROTATE.getDescription());//旋转云台
//设置转动角度
- double bearing = GeoToolsUtil.bearing(pointPO.getCoordinate().y,pointPO.getCoordinate().x,pointPO.getCentro().y,pointPO.getCentro().x);
+ double bearing = GeoToolsUtil.bearing(pointPO.getCoordinate().y, pointPO.getCoordinate().x, pointPO.getCentro().y, pointPO.getCentro().x);
// System.out.println("角度：" + bearing);
actionMode2.setActionActuatorFuncParam(ActionUtils.setGimbalRotate(bearing));
@@ -105,7 +106,7 @@
placemarkList.add(placemark);
}
- i = i+1;
+ i = i + 1;
}
folder.setPlacemarkList(placemarkList);
@@ -121,34 +122,148 @@
return xtm;
}
+ /**
+ * 面状航线
+ *
+ * @return
+ */
+ public static XMLTemplateModel initPolygon(CreateWaylineParam param) {
+
+ Folder folder = FolderUtils.setFloder(param.getTemplateType(), param.getAutoFlightSpeed());
+
+ //坐标系参数
+ WaylineCoordinateSysParam wcs = new WaylineCoordinateSysParam("EGM96", String.valueOf(param.getHeight()), String.valueOf(param.getHeight()));
+ folder.setWaylineCoordinateSysParam(wcs);
+
+ //建图航拍模板元素
+ PlacemarkByPolygon placemarkByPolygon = new PlacemarkByPolygon();
+ placemarkByPolygon.setDirection(param.getBearing());
+
+
+ // 重叠率参数
+ Overlap overlap = new Overlap((int) (param.getCourseRatio()* 100),
+ (int) (param.getSideRatio()* 100),
+ (int) (param.getCourseRatio()* 100),
+ (int) (param.getSideRatio()* 100));
+ placemarkByPolygon.setOverlap(overlap);
+
+ //测区多边形
+ String polygons = "";
+ List<String> polygonStrList = new ArrayList<>();
+ for (double [] polygon:param.getPolygon()){
+ polygons = polygon[0] + "," + polygon[1] + ",0";
+ polygonStrList.add(polygons);
+ }
+ placemarkByPolygon.setPolygons(polygonStrList);
+
+ //全局航线高度
+ placemarkByPolygon.setEllipsoidHeight(param.getHeight());
+ placemarkByPolygon.setHeight(param.getHeight());
+
+ folder.setPlacemarkByPolygon(placemarkByPolygon);
+
+ //航点
+ List<Coordinate> pointList = PlaneCourseUtils.createWaylinePoints(param);
+ List<Placemark> placemarkList = new ArrayList<>();
+ for (Coordinate c:pointList) {
+ Placemark placemark = new Placemark();
+ placemark.setCoordinates(c.x + "," + c.y);
+ placemark.setEllipsoidHeight(param.getHeight());
+ placemark.setHeight(param.getHeight());
+
+ placemark.setWaypointSpeed(param.getAutoFlightSpeed() + "");
+ placemark.setUseStraightLine(1);
+ //事件暂时不考虑添加
+
+ placemarkList.add(placemark);
+ }
+
+ folder.setPlacemarkList(placemarkList);
+
+ XMLTemplateModel xtm = XMLTemplateModel.builder()
+ .author("Aix")
+ .createTime(String.valueOf(System.currentTimeMillis()))
+ .updateTime(String.valueOf(System.currentTimeMillis()))
+ .missionConfig(MissionConfigUtils.setMissionConfigByPolygon(param.getCoordinate().y + "," + param.getCoordinate().x + ",0",
+ param.getAutoFlightSpeed(),
+ param.getDroneInfo(),
+ param.getPayloadInfo()))
+ .folder(folder)
+ .build();
+
+ return xtm;
+ }
+
+ //新建面状航线测试
public static void main(String[] args) {
-
- //测试
- List<LotInfo> list = new ArrayList<>();
- 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());
- 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());
- 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());
-// 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());
-// 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());
-// 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());
-// 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());
-// 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());
-// 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());
-// 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());
-
- // 机场经纬度
- 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
- List<PointPO> coordinates = GeoToolsUtil.getRoutePointOrder(list, airportLat, airportLon);
+ // 初始化模板对象
+ CreateWaylineParam param = new CreateWaylineParam();
+ param.setBearing(90);
+ param.setCoordinate(new Coordinate(116.020940643,25.8917266));
+ param.setHeight(372.3);
+ param.setCourseRatio(0.8);
+ param.setSideRatio(0.8);
+ param.setFocal(10*6.9999943);
+ param.setFrame(100);
+ List<double[]> polygon = new ArrayList<>();
+ double[] a = {116.028037250229,25.8948290570725};
+ double[] a2 = {116.031565260299,25.8950672687002};
+ double[] a3 = {116.032112214864,25.8901339309971};
+ double[] a4 = {116.028726270654,25.8895106128711};
+ polygon.add(a);
+ polygon.add(a2);
+ polygon.add(a3);
+ polygon.add(a4);
+ param.setPolygon(polygon);
+ param.setTemplateType("mapping2d");
+ param.setAutoFlightSpeed(15);
+ DroneInfo info = new DroneInfo();
+ info.setDroneEnumValue("91");
+ info.setDroneSubEnumValue("0");
+ param.setDroneInfo(info);
+ PayloadInfo payloadInfo = new PayloadInfo();
+ payloadInfo.setPayloadEnumValue("80");
+ payloadInfo.setPayloadPositionIndex("0");
+ payloadInfo.setPayloadSubEnumValue("0");
+ param.setPayloadInfo(payloadInfo);
// 初始化模板对象
- XMLTemplateModel xmlModel = XMLTemplateModel.init(coordinates, list);
+ XMLTemplateModel xmlModel = XMLTemplateModel.initPolygon(param);
//生成航线文件
- CreateWaylineFileUtils.createWaylineFile(xmlModel,"src\\main\\resources\\template\\template.xml","src\\main\\resources\\template\\wpmz\\template.xml","src\\main\\resources\\template\\waylines.xml","src\\main\\resources\\template\\wpmz\\waylines.xml");
-
-
+ CreateWaylineFileUtils.createWaylineFileByPolygon(xmlModel, "src\\main\\resources\\template\\template-polygon.xml", "src\\main\\resources\\template\\wpmz2\\template.xml");
+ CreateWaylineFileUtils.createWaylineFileByPolygon(xmlModel, "src\\main\\resources\\template\\waylines-polygon.xml", "src\\main\\resources\\template\\wpmz2\\waylines.xml");
}
+ //新建点航线测试
+// public static void main(String[] args) {
+//
+// //测试
+// List<LotInfo> list = new ArrayList<>();
+// 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());
+// 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());
+// 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());
+//// 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());
+//// 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());
+//// 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());
+//// 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());
+//// 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());
+//// 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());
+//// 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());
+//
+// // 机场经纬度
+// 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
+// List<PointPO> coordinates = GeoToolsUtil.getRoutePointOrder(list, airportLat, airportLon);
+//
+// // 初始化模板对象
+// XMLTemplateModel xmlModel = XMLTemplateModel.init(coordinates, list);
+//
+// //生成航线文件
+// CreateWaylineFileUtils.createWaylineFile(xmlModel, "src\\main\\resources\\template\\template.xml", "src\\main\\resources\\template\\wpmz\\template.xml", "src\\main\\resources\\template\\waylines.xml", "src\\main\\resources\\template\\wpmz\\waylines.xml");
+//
+//
+// }
+
}
diff --git a/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/FolderUtils.java b/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/FolderUtils.java
index 9a6d58a..a56b09f 100644
--- a/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/FolderUtils.java
+++ b/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/FolderUtils.java
@@ -44,4 +44,31 @@
return folder;
}
+ public static Folder setFloder(String templateType, double autoFlightSpeed) {
+ Folder folder = new Folder();
+ folder.setPayloadParam(PayloadParamUtils.setPayloadParam());
+ folder.setWaylineCoordinateSysParam(new WaylineCoordinateSysParam());
+ folder.setTemplateType(templateType);//航点模式
+ folder.setTemplateId("0");
+
+ folder.setAutoFlightSpeed(autoFlightSpeed);//全局航线飞行速度
+ folder.setGlobalHeight(100D); //全局航线高度（相对起飞点高度）
+ folder.setCaliFlightEnable(0);// 是否开启标定飞行
+ folder.setGimbalPitchMode("manual");//云台俯仰角控制模式manual：手动控制。飞行器从一个航点飞向下一个航点的过程中，支持用户手动控制云台的俯仰角度。若无用户控制，则保持飞离航点时的云台俯仰角度。 usePointSetting：依照每个航点设置。飞行器从一个航点飞向下一个航点的过程中，云台俯仰角均匀过渡至下一个航点的俯仰角。
+
+ //
+ GlobalWaypointHeadingParam gwhp = new GlobalWaypointHeadingParam();
+ gwhp.setWaypointHeadingMode("followWayline");
+ gwhp.setWaypointHeadingAngle(0);
+ gwhp.setWaypointPoiPoint("0.000000,0.000000,0.000000");
+ gwhp.setWaypointHeadingPathMode("followBadArc");
+ gwhp.setWaypointHeadingPoiIndex("0");
+
+ folder.setGlobalWaypointHeadingParam(gwhp);
+ folder.setGlobalWaypointTurnMode("coordinateTurn");
+ folder.setGlobalUseStraightLine(10);
+
+ return folder;
+ }
+
}
diff --git a/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/MissionConfigUtils.java b/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/MissionConfigUtils.java
index 114c9b6..0605313 100644
--- a/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/MissionConfigUtils.java
+++ b/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/MissionConfigUtils.java
@@ -30,4 +30,23 @@
return mc;
}
+ public static MissionConfig setMissionConfigByPolygon(String xyz,double speed,DroneInfo droneInfo,PayloadInfo payloadInfo) {
+
+ MissionConfig mc = MissionConfig.builder()
+ .flyToWaylineMode("safely")//安全模式
+ .finishAction("goHome")
+ .exitOnRCLost("goContinue")//继续执行航线
+ .executeRCLostAction("goBack")
+ .takeOffSecurityHeight(20D)//安全起飞高度
+ .globalTransitionalSpeed(speed)
+ .globalRTHHeight(100D)
+ .takeOffRefPoint(xyz)
+ .takeOffRefPointAGLHeight(0D)
+ .droneInfo(droneInfo)
+ .payloadInfo(payloadInfo)
+ .build();
+
+ return mc;
+ }
+
}
diff --git a/src/main/java/com/dji/sample/patches/xml/utils/CreateWaylineFileUtils.java b/src/main/java/com/dji/sample/patches/xml/utils/CreateWaylineFileUtils.java
index e213807..34c06ce 100644
--- a/src/main/java/com/dji/sample/patches/xml/utils/CreateWaylineFileUtils.java
+++ b/src/main/java/com/dji/sample/patches/xml/utils/CreateWaylineFileUtils.java
@@ -30,6 +30,10 @@
xml2XmlDoc(xmlModel, waylineFilePath, targetWaylineFilePath);
}
+ public static void createWaylineFileByPolygon(XMLTemplateModel xmlModel,String templeFilePath,String targetTempleFilePath) {
+ xml2XmlDoc(xmlModel, templeFilePath, targetTempleFilePath);
+ }
+
/**
* 将xml模板转换为newxml
*
diff --git a/src/main/java/com/dji/sample/wayline/plane/param/CreateWaylineParam.java b/src/main/java/com/dji/sample/wayline/plane/param/CreateWaylineParam.java
index ff6d30f..fb56509 100644
--- a/src/main/java/com/dji/sample/wayline/plane/param/CreateWaylineParam.java
+++ b/src/main/java/com/dji/sample/wayline/plane/param/CreateWaylineParam.java
@@ -1,6 +1,9 @@
package com.dji.sample.wayline.plane.param;
+import com.dji.sample.patches.xml.mode.share.DroneInfo;
+import com.dji.sample.patches.xml.mode.share.PayloadInfo;
import lombok.Data;
+import org.locationtech.jts.geom.Coordinate;
import javax.validation.constraints.NotNull;
import java.util.List;
@@ -26,6 +29,36 @@
@NotNull(message = "旁向重叠率不能为空")
private double sideRatio;//旁向重叠率
@NotNull(message = "航线角度不能为空")
- private double bearing;//航线角度
+ private int bearing;//航线角度
+
+ /**
+ * 全局航线飞行速度 1-15
+ */
+ @NotNull(message = "全局航线飞行速度不能为空")
+ private double autoFlightSpeed;
+ /**
+ * 模板类型
+ * waypoint：航点飞行
+ * mapping2d：建图航拍
+ * mapping3d：倾斜摄影
+ * mappingStrip：航带飞行
+ */
+ @NotNull(message = "模板类型不能为空")
+ private String templateType;
+
+ /**
+ * 机场位置
+ */
+ @NotNull(message = "机场位置不能为空")
+ private Coordinate coordinate;
+
+ /**
+ * 飞行器机型信息
+ */
+ private DroneInfo droneInfo;
+ /**
+ *负载机型信息
+ */
+ private PayloadInfo payloadInfo;
}
diff --git a/src/main/resources/template/template-polygon.xml b/src/main/resources/template/template-polygon.xml
new file mode 100644
index 0000000..2fd5b27
--- /dev/null
+++ b/src/main/resources/template/template-polygon.xml
@@ -0,0 +1,79 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.5">
+ <Document>
+ <wpml:author>${author!''}</wpml:author>
+ <wpml:createTime>${createTime!''}</wpml:createTime>
+ <wpml:updateTime>${updateTime!''}</wpml:updateTime>
+ <wpml:missionConfig>
+ <wpml:flyToWaylineMode>${missionConfig.flyToWaylineMode!''}</wpml:flyToWaylineMode>
+ <wpml:finishAction>${missionConfig.finishAction!''}</wpml:finishAction>
+ <wpml:exitOnRCLost>${missionConfig.exitOnRCLost!''}</wpml:exitOnRCLost>
+ <wpml:executeRCLostAction>${missionConfig.executeRCLostAction!''}</wpml:executeRCLostAction>
+ <wpml:takeOffSecurityHeight>${missionConfig.takeOffSecurityHeight!''}</wpml:takeOffSecurityHeight>
+ <wpml:takeOffRefPoint>${missionConfig.takeOffRefPoint!''}</wpml:takeOffRefPoint>
+ <wpml:takeOffRefPointAGLHeight>${missionConfig.takeOffRefPointAGLHeight!''}</wpml:takeOffRefPointAGLHeight>
+ <wpml:globalTransitionalSpeed>${missionConfig.globalTransitionalSpeed!''}</wpml:globalTransitionalSpeed>
+ <wpml:globalRTHHeight>${missionConfig.globalRTHHeight!''}</wpml:globalRTHHeight>
+ <wpml:droneInfo>
+ <wpml:droneEnumValue>${missionConfig.droneInfo.droneEnumValue!''}</wpml:droneEnumValue>
+ <wpml:droneSubEnumValue>${missionConfig.droneInfo.droneSubEnumValue!''}</wpml:droneSubEnumValue>
+ </wpml:droneInfo>
+ <wpml:payloadInfo>
+ <wpml:payloadEnumValue>${missionConfig.payloadInfo.payloadEnumValue!''}</wpml:payloadEnumValue>
+ <wpml:payloadSubEnumValue>${missionConfig.payloadInfo.payloadSubEnumValue!''}</wpml:payloadSubEnumValue>
+ <wpml:payloadPositionIndex>${missionConfig.payloadInfo.payloadPositionIndex!''}</wpml:payloadPositionIndex>
+ </wpml:payloadInfo>
+ </wpml:missionConfig>
+ <Folder>
+ <wpml:templateType>${folder.templateType!''}</wpml:templateType>
+ <wpml:templateId>${folder.templateId!''}</wpml:templateId>
+ <wpml:waylineCoordinateSysParam>
+ <wpml:coordinateMode>${folder.waylineCoordinateSysParam.coordinateMode!''}</wpml:coordinateMode>
+ <wpml:heightMode>${folder.waylineCoordinateSysParam.heightMode!''}</wpml:heightMode>
+ <wpml:globalShootHeight>${folder.waylineCoordinateSysParam.globalShootHeight!''}</wpml:globalShootHeight>
+ <wpml:surfaceFollowModeEnable>${folder.waylineCoordinateSysParam.surfaceFollowModeEnable!''}</wpml:surfaceFollowModeEnable>
+ <wpml:isRealtimeSurfaceFollow>${folder.waylineCoordinateSysParam.isRealtimeSurfaceFollow!''}</wpml:isRealtimeSurfaceFollow>
+ <wpml:surfaceRelativeHeight>${folder.waylineCoordinateSysParam.surfaceRelativeHeight!''}</wpml:surfaceRelativeHeight>
+ </wpml:waylineCoordinateSysParam>
+ <wpml:autoFlightSpeed>${folder.autoFlightSpeed!''}</wpml:autoFlightSpeed>
+ <Placemark>
+ <wpml:caliFlightEnable>${folder.placemarkByPolygon.caliFlightEnable!''}</wpml:caliFlightEnable>
+ <wpml:elevationOptimizeEnable>${folder.placemarkByPolygon.elevationOptimizeEnable!''}</wpml:elevationOptimizeEnable>
+ <wpml:smartObliqueEnable>${folder.placemarkByPolygon.smartObliqueEnable!''}</wpml:smartObliqueEnable>
+ <wpml:facadeWaylineEnable>${folder.placemarkByPolygon.facadeWaylineEnable!''}</wpml:facadeWaylineEnable>
+ <wpml:isLookAtSceneSet>${folder.placemarkByPolygon.isLookAtSceneSet!''}</wpml:isLookAtSceneSet>
+ <wpml:shootType>${folder.placemarkByPolygon.shootType!''}</wpml:shootType>
+ <wpml:direction>${folder.placemarkByPolygon.direction!''}</wpml:direction>
+ <wpml:margin>${folder.placemarkByPolygon.margin!''}</wpml:margin>
+ <wpml:overlap>
+ <wpml:orthoCameraOverlapH>${folder.placemarkByPolygon.overlap.orthoCameraOverlapH!''}</wpml:orthoCameraOverlapH>
+ <wpml:orthoCameraOverlapW>${folder.placemarkByPolygon.overlap.orthoCameraOverlapW!''}</wpml:orthoCameraOverlapW>
+ <wpml:inclinedCameraOverlapH>${folder.placemarkByPolygon.overlap.inclinedCameraOverlapH!''}</wpml:inclinedCameraOverlapH>
+ <wpml:inclinedCameraOverlapW>${folder.placemarkByPolygon.overlap.inclinedCameraOverlapW!''}</wpml:inclinedCameraOverlapW>
+ </wpml:overlap>
+ <Polygon>
+ <outerBoundaryIs>
+ <LinearRing>
+ <coordinates>
+ <#list folder.placemarkByPolygon.polygons as polygon>
+ ${polygon}
+ </#list>
+ </coordinates>
+ </LinearRing>
+ </outerBoundaryIs>
+ </Polygon>
+ <wpml:ellipsoidHeight>${folder.placemarkByPolygon.ellipsoidHeight!''}</wpml:ellipsoidHeight>
+ <wpml:height>${folder.placemarkByPolygon.height!''}</wpml:height>
+ </Placemark>
+ <wpml:payloadParam>
+ <wpml:payloadPositionIndex>${folder.payloadParam.payloadPositionIndex!''}</wpml:payloadPositionIndex>
+ <wpml:focusMode>${folder.payloadParam.focusMode!''}</wpml:focusMode>
+ <wpml:meteringMode>${folder.payloadParam.meteringMode!''}</wpml:meteringMode>
+ <wpml:returnMode>${folder.payloadParam.returnMode!''}</wpml:returnMode>
+ <wpml:samplingRate>${folder.payloadParam.samplingRate!''}</wpml:samplingRate>
+ <wpml:scanningMode>${folder.payloadParam.scanningMode!''}</wpml:scanningMode>
+ <wpml:imageFormat>${folder.payloadParam.imageFormat!''}</wpml:imageFormat>
+ </wpml:payloadParam>
+ </Folder>
+ </Document>
+</kml>
diff --git a/src/main/resources/template/waylines-polygon.xml b/src/main/resources/template/waylines-polygon.xml
new file mode 100644
index 0000000..e08367d
--- /dev/null
+++ b/src/main/resources/template/waylines-polygon.xml
@@ -0,0 +1,118 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.5">
+ <Document>
+ <wpml:missionConfig>
+ <wpml:flyToWaylineMode>${missionConfig.flyToWaylineMode!''}</wpml:flyToWaylineMode>
+ <wpml:finishAction>${missionConfig.finishAction!''}</wpml:finishAction>
+ <wpml:exitOnRCLost>${missionConfig.exitOnRCLost!''}</wpml:exitOnRCLost>
+ <wpml:executeRCLostAction>${missionConfig.executeRCLostAction!''}</wpml:executeRCLostAction>
+ <wpml:takeOffSecurityHeight>${missionConfig.takeOffSecurityHeight!''}</wpml:takeOffSecurityHeight>
+ <wpml:globalTransitionalSpeed>${missionConfig.globalTransitionalSpeed!''}</wpml:globalTransitionalSpeed>
+ <wpml:globalRTHHeight>${missionConfig.globalRTHHeight!''}</wpml:globalRTHHeight>
+ <wpml:droneInfo>
+ <wpml:droneEnumValue>${missionConfig.droneInfo.droneEnumValue!''}</wpml:droneEnumValue>
+ <wpml:droneSubEnumValue>${missionConfig.droneInfo.droneSubEnumValue!''}</wpml:droneSubEnumValue>
+ </wpml:droneInfo>
+ <wpml:payloadInfo>
+ <wpml:payloadEnumValue>${missionConfig.payloadInfo.payloadEnumValue!''}</wpml:payloadEnumValue>
+ <wpml:payloadSubEnumValue>${missionConfig.payloadInfo.payloadSubEnumValue!''}</wpml:payloadSubEnumValue>
+ <wpml:payloadPositionIndex>${missionConfig.payloadInfo.payloadPositionIndex!''}</wpml:payloadPositionIndex>
+ </wpml:payloadInfo>
+ </wpml:missionConfig>
+ <Folder>
+ <wpml:templateId>${folder.templateId!''}</wpml:templateId>
+ <wpml:executeHeightMode>${folder.waylineCoordinateSysParam.heightMode!''}</wpml:executeHeightMode>
+ <wpml:waylineId>0</wpml:waylineId>
+ <wpml:autoFlightSpeed>${folder.autoFlightSpeed!''}</wpml:autoFlightSpeed>
+ <wpml:startActionGroup>
+ <wpml:action>
+ <wpml:actionId>0</wpml:actionId>
+ <wpml:actionActuatorFunc>gimbalRotate</wpml:actionActuatorFunc>
+ <wpml:actionActuatorFuncParam>
+ <wpml:gimbalHeadingYawBase>aircraft</wpml:gimbalHeadingYawBase>
+ <wpml:gimbalRotateMode>absoluteAngle</wpml:gimbalRotateMode>
+ <wpml:gimbalPitchRotateEnable>1</wpml:gimbalPitchRotateEnable>
+ <wpml:gimbalPitchRotateAngle>-90</wpml:gimbalPitchRotateAngle>
+ <wpml:gimbalRollRotateEnable>0</wpml:gimbalRollRotateEnable>
+ <wpml:gimbalRollRotateAngle>0</wpml:gimbalRollRotateAngle>
+ <wpml:gimbalYawRotateEnable>1</wpml:gimbalYawRotateEnable>
+ <wpml:gimbalYawRotateAngle>0</wpml:gimbalYawRotateAngle>
+ <wpml:gimbalRotateTimeEnable>0</wpml:gimbalRotateTimeEnable>
+ <wpml:gimbalRotateTime>10</wpml:gimbalRotateTime>
+ <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
+ </wpml:actionActuatorFuncParam>
+ </wpml:action>
+ <wpml:action>
+ <wpml:actionId>1</wpml:actionId>
+ <wpml:actionActuatorFunc>hover</wpml:actionActuatorFunc>
+ <wpml:actionActuatorFuncParam>
+ <wpml:hoverTime>0.5</wpml:hoverTime>
+ </wpml:actionActuatorFuncParam>
+ </wpml:action>
+ <wpml:action>
+ <wpml:actionId>2</wpml:actionId>
+ <wpml:actionActuatorFunc>setFocusType</wpml:actionActuatorFunc>
+ <wpml:actionActuatorFuncParam>
+ <wpml:cameraFocusType>manual</wpml:cameraFocusType>
+ <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
+ </wpml:actionActuatorFuncParam>
+ </wpml:action>
+ <wpml:action>
+ <wpml:actionId>3</wpml:actionId>
+ <wpml:actionActuatorFunc>focus</wpml:actionActuatorFunc>
+ <wpml:actionActuatorFuncParam>
+ <wpml:focusX>0</wpml:focusX>
+ <wpml:focusY>0</wpml:focusY>
+ <wpml:focusRegionWidth>0</wpml:focusRegionWidth>
+ <wpml:focusRegionHeight>0</wpml:focusRegionHeight>
+ <wpml:isPointFocus>0</wpml:isPointFocus>
+ <wpml:isInfiniteFocus>1</wpml:isInfiniteFocus>
+ <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
+ </wpml:actionActuatorFuncParam>
+ </wpml:action>
+ <wpml:action>
+ <wpml:actionId>4</wpml:actionId>
+ <wpml:actionActuatorFunc>hover</wpml:actionActuatorFunc>
+ <wpml:actionActuatorFuncParam>
+ <wpml:hoverTime>1</wpml:hoverTime>
+ </wpml:actionActuatorFuncParam>
+ </wpml:action>
+ </wpml:startActionGroup>
+ <#if folder.placemarkList??>
+ <#assign placemarkIndex = 0>
+ <#list folder.placemarkList as placemark>
+ <Placemark>
+ <Point>
+ <coordinates>
+ ${placemark.coordinates!''}
+ </coordinates>
+ </Point>
+ <wpml:index>${placemarkIndex!''}</wpml:index>
+ <#assign placemarkIndex = placemarkIndex + 1>
+ <wpml:executeHeight>${placemark.height!''}</wpml:executeHeight>
+ <wpml:waypointSpeed>${placemark.waypointSpeed!''}</wpml:waypointSpeed>
+ <wpml:waypointHeadingParam>
+ <wpml:waypointHeadingMode>${folder.globalWaypointHeadingParam.waypointHeadingMode!''}</wpml:waypointHeadingMode>
+ <wpml:waypointHeadingAngle>${folder.globalWaypointHeadingParam.waypointHeadingAngle!''}</wpml:waypointHeadingAngle>
+ <wpml:waypointPoiPoint>${folder.globalWaypointHeadingParam.waypointPoiPoint!''}</wpml:waypointPoiPoint>
+ <wpml:waypointHeadingAngleEnable>1</wpml:waypointHeadingAngleEnable>
+ <wpml:waypointHeadingPathMode>${folder.globalWaypointHeadingParam.waypointHeadingPathMode!''}</wpml:waypointHeadingPathMode>
+ <wpml:waypointHeadingPoiIndex>${folder.globalWaypointHeadingParam.waypointHeadingPoiIndex!''}</wpml:waypointHeadingPoiIndex>
+ </wpml:waypointHeadingParam>
+ <wpml:waypointTurnParam>
+ <wpml:waypointTurnMode>${folder.globalWaypointTurnMode!''}</wpml:waypointTurnMode>
+ <wpml:waypointTurnDampingDist>0.2</wpml:waypointTurnDampingDist>
+ </wpml:waypointTurnParam>
+ <wpml:useStraightLine>${folder.globalUseStraightLine!''}</wpml:useStraightLine>
+ <wpml:waypointGimbalHeadingParam>
+ <wpml:waypointGimbalPitchAngle>0</wpml:waypointGimbalPitchAngle>
+ <wpml:waypointGimbalYawAngle>0</wpml:waypointGimbalYawAngle>
+ </wpml:waypointGimbalHeadingParam>
+ <wpml:isRisky>0</wpml:isRisky>
+ <wpml:waypointWorkType>0</wpml:waypointWorkType>
+ </Placemark>
+ </#list>
+ </#if>
+ </Folder>
+ </Document>
+</kml>
--
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