From 2db1aa88e8ab53096a936163d686b90d8e056a99 Mon Sep 17 00:00:00 2001
From: rain <167982779@qq.com>
Date: Wed, 21 Aug 2024 23:18:33 +0800
Subject: [PATCH] 国土对接返回信息加密
---
src/main/java/com/dji/sample/patches/xml/mode/XMLTemplateModel.java | 306 ++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 269 insertions(+), 37 deletions(-)
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 c51d0d2..7270ca1 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
@@ -1,13 +1,14 @@
package com.dji.sample.patches.xml.mode;
import com.dji.sample.patches.model.entity.LotInfo;
+import com.dji.sample.patches.utils.DistanceCalculator;
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 +44,7 @@
/**
* 初始化模板对象
+ *
* @param coordinates
* @param lotInfos
* @return
@@ -53,37 +55,51 @@
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");
actionGroup.setActionTrigger(at);
// 开始增加事件
List<ActionMode> list = new ArrayList<>();
+
+ //拍照事件
ActionMode actionMode = new ActionMode();
- actionMode.setActionId(0);
+ actionMode.setActionId(2);
actionMode.setActionActuatorFunc(CameraActionEnum.TAKE_PHOTO.getDescription());//拍照事件
// 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(lotInfos.get(pointPO.getIndex()).getDkbh() + "~" + lotInfos.get(pointPO.getIndex()).getTaskId()));
// actionMode.setActionActuatorFuncParam(ActionUtils.setTakePhoto("测试"));
- list.add(actionMode);
+ //云台旋转事件
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.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);
+// System.out.println("角度：" + bearing);
+ actionMode2.setActionActuatorFuncParam(ActionUtils.setGimbalRotate(bearing));
+
+ // 飞行器偏航事件
+ ActionMode actionModeFxqph = new ActionMode();
+ actionModeFxqph.setActionId(0);
+ actionModeFxqph.setActionActuatorFunc(CameraActionEnum.ROTATE_YAW.getDescription());//飞行器偏航
+ actionModeFxqph.setActionActuatorFuncParam(ActionUtils.setRotateYaw(bearing));
+
+ list.add(actionModeFxqph);//添加飞行器偏航
+ list.add(actionMode2);//添加云台旋转
+ list.add(actionMode);//添加拍照
actionGroup.setActions(list);
placemark.setActionGroup(actionGroup);
@@ -91,7 +107,7 @@
placemarkList.add(placemark);
}
- i = i+1;
+ i = i + 1;
}
folder.setPlacemarkList(placemarkList);
@@ -107,34 +123,250 @@
return xtm;
}
+ /**
+ * 面状航线
+ *
+ * @return
+ */
+ public static XMLTemplateModel initPolygon(CreateWaylineParam param) {
+
+ Folder folder = FolderUtils.setFloder(param.getTemplateType(), param.getAutoFlightSpeed(),param.getExecuteHeightMode());
+
+ //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<>();
+ //计算距离
+ Coordinate droneC = param.getCoordinate();//机场经纬度
+ int pointListIndex = 0;
+ double distanceOne = 0.0; //第一个点到机场得距离
+ double distance = 0.0;
+ Coordinate pointTmp = null;
+ for (Coordinate c:pointList) {
+ //计算距离
+ if (pointListIndex == 0) {
+ distanceOne = DistanceCalculator.calculateDistance(droneC.y,droneC.x,c.y,c.x) * 1000;
+ distance += distanceOne;
+ pointTmp = c;
+ } else {
+ double distanceTmp = DistanceCalculator.calculateDistance(pointTmp.y,pointTmp.x,c.y,c.x) * 1000;
+ distance += distanceTmp;
+ pointTmp = c;
+ }
+ pointListIndex += 1;
+
+ Placemark placemark = new Placemark();
+ placemark.setCoordinates(c.x + "," + c.y);
+ placemark.setEllipsoidHeight(param.getHeight());
+ placemark.setHeight(param.getHeight());
+ placemark.setExecuteHeight(param.getHeight()); //执行高度 = 机场高度 + 飞行高度 *修改为前端直接传
+
+ placemark.setWaypointSpeed(param.getAutoFlightSpeed() + "");
+ placemark.setUseStraightLine(1);
+
+ //
+ WaypointTurnParam waypointTurnParam = new WaypointTurnParam();
+ waypointTurnParam.setWaypointTurnMode("coordinateTurn");
+ waypointTurnParam.setWaypointTurnDampingDist("0.2");
+ //添加事件 第一个和结尾需要添加事件
+ if (pointListIndex == 1) { //第一个航点事件
+
+ waypointTurnParam.setWaypointTurnMode("toPointAndStopWithDiscontinuityCurvature");
+ waypointTurnParam.setWaypointTurnDampingDist("0");
+
+ // 增加事件组
+ ActionGroup actionGroup = new ActionGroup();
+ actionGroup.setActionGroupId(0);
+ actionGroup.setActionGroupStartIndex(pointListIndex - 1);//动作组开始生效的航点
+ actionGroup.setActionGroupEndIndex(pointList.size() - 1);//动作组结束生效的航点
+ actionGroup.setActionGroupMode("sequence");
+ ActionTrigger at = new ActionTrigger();
+ at.setActionTriggerType("betweenAdjacentPoints");
+ actionGroup.setActionTrigger(at);
+ // 开始增加事件
+ List<ActionMode> list = new ArrayList<>();
+ ActionMode actionMode = new ActionMode();
+
+ actionMode.setActionId(0);
+ actionMode.setActionActuatorFunc("gimbalAngleLock");
+
+ ActionMode actionMode2 = new ActionMode();
+ actionMode2.setActionId(1);
+ actionMode2.setActionActuatorFunc(CameraActionEnum.GIMBAL_ROTATE.getDescription());//旋转云台
+ actionMode2.setActionActuatorFuncParam(ActionUtils.setGimbalRotateByPlane());
+
+ ActionMode actionMode3 = new ActionMode();
+ actionMode3.setActionId(2);
+ actionMode3.setActionActuatorFunc("startTimeLapse");
+ actionMode3.setActionActuatorFuncParam(ActionUtils.setStartTimeLapseByPlane());
+
+ list.add(actionMode);
+ list.add(actionMode2);
+ list.add(actionMode3);
+ actionGroup.setActions(list);
+
+ placemark.setActionGroup(actionGroup);
+
+ } else if(pointListIndex == pointList.size()) { // 结尾需要添加事件
+
+ waypointTurnParam.setWaypointTurnMode("toPointAndStopWithDiscontinuityCurvature");
+ waypointTurnParam.setWaypointTurnDampingDist("0");
+
+ // 增加事件组
+ ActionGroup actionGroup = new ActionGroup();
+ actionGroup.setActionGroupId(1);
+ actionGroup.setActionGroupStartIndex(pointListIndex - 1);//动作组开始生效的航点
+ actionGroup.setActionGroupEndIndex(pointList.size()-1);//动作组结束生效的航点
+ actionGroup.setActionGroupMode("sequence");
+ ActionTrigger at = new ActionTrigger();
+ at.setActionTriggerType("reachPoint");
+ actionGroup.setActionTrigger(at);
+ // 开始增加事件
+ List<ActionMode> list = new ArrayList<>();
+
+ ActionMode actionMode = new ActionMode();
+ actionMode.setActionId(0);
+ actionMode.setActionActuatorFunc("stopTimeLapse");
+ actionMode.setActionActuatorFuncParam(ActionUtils.setStopTimeLapseByPlane());
+
+ ActionMode actionMode2 = new ActionMode();
+ actionMode2.setActionId(1);
+ actionMode2.setActionActuatorFunc("gimbalAngleUnlock");
+
+ list.add(actionMode);
+ list.add(actionMode2);
+ actionGroup.setActions(list);
+
+ placemark.setActionGroup(actionGroup);
+ }
+
+ placemark.setWaypointTurnParam(waypointTurnParam);
+
+ placemarkList.add(placemark);
+ }
+
+ //距离和时间
+ folder.setDistance((distance - distanceOne) + "");
+ folder.setDuration((distance / param.getAutoFlightSpeed()) + "");//时间 = 长度 / 速度
+
+ 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);
+ param.setDroneHeight(14.731968792284789);
+ 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);
+ param.setExecuteHeightMode("relativeToStartPoint");
// 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\\wpmz\\template.kml");
+ CreateWaylineFileUtils.createWaylineFileByPolygon(xmlModel, "src\\main\\resources\\template\\waylines-polygon.xml", "src\\main\\resources\\template\\wpmz\\waylines.wpml");
}
+ //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.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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