From 98836ffb3147894d7f6134e37dfc1344eb67fc54 Mon Sep 17 00:00:00 2001
From: rain <167982779@qq.com>
Date: Wed, 17 Apr 2024 10:09:21 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/ht-dev' into ht-dev
---
src/main/java/com/dji/sample/patches/xml/mode/XMLTemplateModel.java | 38 ++++++++
src/main/java/com/dji/sample/wayline/model/dto/WaylineTaskCreateDTO.java | 3
src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java | 55 +++++++++++--
src/main/java/com/dji/sample/wayline/model/dto/WaylineJobDTO.java | 5 +
src/main/resources/template/waylines.xml | 2
src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/PayloadParamUtils.java | 5 +
src/main/java/com/dji/sample/wayline/model/dto/BreakPointJobDTO.java | 24 ++++++
src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/PlacemarkUtils.java | 2
src/main/java/com/dji/sample/wayline/controller/WaylineJobController.java | 12 +++
src/main/java/com/dji/sample/wayline/model/param/BreakPointJobParam.java | 23 +++++
src/main/java/com/dji/sample/wayline/service/impl/WaylineJobBreakPointServiceImpl.java | 3
src/main/resources/template/template.xml | 12 --
src/main/java/com/dji/sample/wayline/service/IWaylineJobService.java | 2
src/main/java/com/dji/sample/wayline/service/IWaylineJobBreakPointService.java | 3
14 files changed, 165 insertions(+), 24 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 f2a96a1..893c620 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
@@ -1,10 +1,12 @@
package com.dji.sample.patches.xml.mode;
import com.dji.sample.patches.model.entity.LotInfo;
+import com.dji.sample.patches.utils.GeoToolsUtil;
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.action.utils.*;
+import com.dji.sample.patches.xml.utils.CreateWaylineFileUtils;
import freemarker.template.Configuration;
import freemarker.template.Template;
import lombok.Builder;
@@ -56,9 +58,9 @@
// 增加事件组
ActionGroup actionGroup = new ActionGroup();
- actionGroup.setActionGroupId(i);//动作组id从0开始单调连续递增。
- actionGroup.setActionGroupStartIndex(i);//动作组开始生效的航点
- actionGroup.setActionGroupEndIndex(i);//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");
@@ -107,4 +109,34 @@
return xtm;
}
+ 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
+ Coordinate[] 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/PayloadParamUtils.java b/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/PayloadParamUtils.java
index 49ed8c1..5101b16 100644
--- a/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/PayloadParamUtils.java
+++ b/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/PayloadParamUtils.java
@@ -12,6 +12,11 @@
public static PayloadParam setPayloadParam() {
PayloadParam pp = PayloadParam.builder()
+ .focusMode("firstPoint")
+ .meteringMode("average")
+ .returnMode("singleReturnFirst")
+ .samplingRate("240000")
+ .scanningMode("repetitive")
.payloadPositionIndex(0)
.imageFormat("wide,ir")
.build();
diff --git a/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/PlacemarkUtils.java b/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/PlacemarkUtils.java
index 04dca1d..7edb22c 100644
--- a/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/PlacemarkUtils.java
+++ b/src/main/java/com/dji/sample/patches/xml/mode/share/action/utils/PlacemarkUtils.java
@@ -21,6 +21,8 @@
placemark.setUseGlobalHeadingParam(1);
placemark.setUseGlobalTurnParam(1);
placemark.setGimbalPitchAngle(0D);
+ placemark.setWaypointSpeed("10");
+ placemark.setUseStraightLine(1);
return placemark;
}
diff --git a/src/main/java/com/dji/sample/wayline/controller/WaylineJobController.java b/src/main/java/com/dji/sample/wayline/controller/WaylineJobController.java
index 9026fef..b0a3ac9 100644
--- a/src/main/java/com/dji/sample/wayline/controller/WaylineJobController.java
+++ b/src/main/java/com/dji/sample/wayline/controller/WaylineJobController.java
@@ -77,6 +77,18 @@
}
/**
+ * 断点任务
+ * @return
+ */
+ @PostMapping("/{workspace_id}/breakpoint-tasks")
+ @SysLogAnnotation(operModul = "计划库", operType = "断点续飞", operDesc = "创建航路任务(重复定时和连续执行)")
+ public ResponseResult breakPointJob(HttpServletRequest request, @Valid @RequestBody BreakPointJobParam param,
+ @PathVariable(name = "workspace_id") String workspaceId) throws SQLException {
+ Optional<WaylineJobDTO> waylineJobDTO = waylineJobService.getJobByJobId(workspaceId, param.getJobId(),param.isBreakPoint());
+ return waylineJobService.publishOneFlightTask(waylineJobDTO.get());
+ }
+
+ /**
* 分页查询
*
* @param page
diff --git a/src/main/java/com/dji/sample/wayline/model/dto/BreakPointJobDTO.java b/src/main/java/com/dji/sample/wayline/model/dto/BreakPointJobDTO.java
new file mode 100644
index 0000000..1b30175
--- /dev/null
+++ b/src/main/java/com/dji/sample/wayline/model/dto/BreakPointJobDTO.java
@@ -0,0 +1,24 @@
+package com.dji.sample.wayline.model.dto;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import lombok.Builder;
+import lombok.Data;
+
+/**
+ * @PROJECT_NAME: drone
+ * @DESCRIPTION:
+ * @USER: aix
+ * @DATE: 2024/4/16 10:28
+ */
+@Builder
+@Data
+public class BreakPointJobDTO {
+
+ private Integer index;
+
+ private Integer state;
+
+ private Double progress;
+
+ private Integer waylineId;
+}
diff --git a/src/main/java/com/dji/sample/wayline/model/dto/WaylineJobDTO.java b/src/main/java/com/dji/sample/wayline/model/dto/WaylineJobDTO.java
index cb03a05..d9aee0a 100644
--- a/src/main/java/com/dji/sample/wayline/model/dto/WaylineJobDTO.java
+++ b/src/main/java/com/dji/sample/wayline/model/dto/WaylineJobDTO.java
@@ -1,5 +1,6 @@
package com.dji.sample.wayline.model.dto;
+import com.dji.sample.wayline.model.entity.WaylineJobBreakPointEntity;
import com.dji.sample.wayline.model.enums.WaylineTaskTypeEnum;
import com.dji.sample.wayline.model.enums.WaylineTemplateTypeEnum;
import lombok.AllArgsConstructor;
@@ -69,4 +70,8 @@
private String parentId;
private String hasChildren;
+
+ private WaylineJobBreakPointEntity waylineJobBreakPointEntity;
+
+ private Boolean breakPoint;
}
diff --git a/src/main/java/com/dji/sample/wayline/model/dto/WaylineTaskCreateDTO.java b/src/main/java/com/dji/sample/wayline/model/dto/WaylineTaskCreateDTO.java
index 04cde89..7f2e332 100644
--- a/src/main/java/com/dji/sample/wayline/model/dto/WaylineTaskCreateDTO.java
+++ b/src/main/java/com/dji/sample/wayline/model/dto/WaylineTaskCreateDTO.java
@@ -35,4 +35,7 @@
private WaylineTaskReadyConditionDTO readyConditions;
private WaylineTaskExecutableConditionDTO executableConditions;
+
+ private BreakPointJobDTO breakPoint;
+
}
diff --git a/src/main/java/com/dji/sample/wayline/model/param/BreakPointJobParam.java b/src/main/java/com/dji/sample/wayline/model/param/BreakPointJobParam.java
new file mode 100644
index 0000000..32dc313
--- /dev/null
+++ b/src/main/java/com/dji/sample/wayline/model/param/BreakPointJobParam.java
@@ -0,0 +1,23 @@
+package com.dji.sample.wayline.model.param;
+
+import lombok.Data;
+
+import javax.validation.constraints.NotBlank;
+import javax.validation.constraints.NotNull;
+
+/**
+ * @PROJECT_NAME: drone
+ * @DESCRIPTION:
+ * @USER: aix
+ * @DATE: 2024/4/16 10:01
+ */
+@Data
+public class BreakPointJobParam {
+
+ @NotBlank
+ private String jobId;
+
+ @NotNull
+ private boolean breakPoint;//是否断点续飞
+
+}
diff --git a/src/main/java/com/dji/sample/wayline/service/IWaylineJobBreakPointService.java b/src/main/java/com/dji/sample/wayline/service/IWaylineJobBreakPointService.java
index b5bfc38..8f74661 100644
--- a/src/main/java/com/dji/sample/wayline/service/IWaylineJobBreakPointService.java
+++ b/src/main/java/com/dji/sample/wayline/service/IWaylineJobBreakPointService.java
@@ -1,5 +1,6 @@
package com.dji.sample.wayline.service;
+import com.baomidou.mybatisplus.extension.service.IService;
import com.dji.sample.wayline.model.entity.WaylineJobBreakPointEntity;
/**
@@ -8,7 +9,7 @@
* @USER: aix
* @DATE: 2024/3/23 11:07
*/
-public interface IWaylineJobBreakPointService {
+public interface IWaylineJobBreakPointService extends IService<WaylineJobBreakPointEntity> {
public boolean addWaylineJobBreakPoint(WaylineJobBreakPointEntity entity);
}
diff --git a/src/main/java/com/dji/sample/wayline/service/IWaylineJobService.java b/src/main/java/com/dji/sample/wayline/service/IWaylineJobService.java
index ba4833b..29fc99b 100644
--- a/src/main/java/com/dji/sample/wayline/service/IWaylineJobService.java
+++ b/src/main/java/com/dji/sample/wayline/service/IWaylineJobService.java
@@ -112,6 +112,8 @@
*/
Optional<WaylineJobDTO> getJobByJobId(String workspaceId, String jobId);
+ Optional<WaylineJobDTO> getJobByJobId(String workspaceId, String jobId,Boolean isBreakPoint);
+
/**
* Update job data.
* @param dto
diff --git a/src/main/java/com/dji/sample/wayline/service/impl/WaylineJobBreakPointServiceImpl.java b/src/main/java/com/dji/sample/wayline/service/impl/WaylineJobBreakPointServiceImpl.java
index e456ed2..f8b418f 100644
--- a/src/main/java/com/dji/sample/wayline/service/impl/WaylineJobBreakPointServiceImpl.java
+++ b/src/main/java/com/dji/sample/wayline/service/impl/WaylineJobBreakPointServiceImpl.java
@@ -1,5 +1,6 @@
package com.dji.sample.wayline.service.impl;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.dji.sample.wayline.dao.IWaylineJobBreakPointMapper;
import com.dji.sample.wayline.model.entity.WaylineJobBreakPointEntity;
import com.dji.sample.wayline.service.IWaylineJobBreakPointService;
@@ -15,7 +16,7 @@
*/
@Service
@Transactional
-public class WaylineJobBreakPointServiceImpl implements IWaylineJobBreakPointService {
+public class WaylineJobBreakPointServiceImpl extends ServiceImpl<IWaylineJobBreakPointMapper,WaylineJobBreakPointEntity> implements IWaylineJobBreakPointService {
@Autowired
private IWaylineJobBreakPointMapper mapper;
diff --git a/src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java b/src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java
index b40ba98..3806eea 100644
--- a/src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java
+++ b/src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java
@@ -3,6 +3,7 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
import com.baomidou.mybatisplus.core.toolkit.Wrappers;
import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapper;
@@ -44,10 +45,12 @@
import com.dji.sample.geo.utils.GeoUtils;
import com.dji.sample.wayline.dao.IWaylineJobMapper;
import com.dji.sample.wayline.model.dto.*;
+import com.dji.sample.wayline.model.entity.WaylineJobBreakPointEntity;
import com.dji.sample.wayline.model.entity.WaylineJobEntity;
import com.dji.sample.wayline.model.enums.*;
import com.dji.sample.wayline.model.param.*;
import com.dji.sample.wayline.service.IWaylineFileService;
+import com.dji.sample.wayline.service.IWaylineJobBreakPointService;
import com.dji.sample.wayline.service.IWaylineJobService;
import com.dji.sample.wayline.service.IWaylineRedisService;
import com.fasterxml.jackson.core.type.TypeReference;
@@ -112,6 +115,9 @@
@Autowired
private IDroneFlightLogMapper flightLogMapper;
+
+ @Autowired
+ private IWaylineJobBreakPointService waylineJobBreakPointService;
private Optional<WaylineJobDTO> insertWaylineJob(WaylineJobEntity jobEntity) {
int id = mapper.insert(jobEntity);
@@ -355,8 +361,7 @@
// get file url
//获取航线文件地址
URL url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getWaylineId());
- WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder()
- .flightId(waylineJob.getJobId())
+ WaylineTaskCreateDTO.WaylineTaskCreateDTOBuilder flightTaskBuilder = WaylineTaskCreateDTO.builder().flightId(waylineJob.getJobId())
.executeTime(waylineJob.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli())
.taskType(waylineJob.getTaskType())
.waylineType(waylineJob.getWaylineType())
@@ -365,8 +370,18 @@
.file(WaylineTaskFileDTO.builder()
.url(MinioUrlUtils.getUrl(url))
.fingerprint(waylineFile.get().getSign())
- .build())
- .build();
+ .build());
+ WaylineJobBreakPointEntity entity = waylineJob.getWaylineJobBreakPointEntity();
+ if (null != entity) {
+ flightTaskBuilder.breakPoint(BreakPointJobDTO.builder()
+ .index(entity.getBpIndex())
+ .state(entity.getState())
+ .progress(entity.getProgress())
+ .waylineId(entity.getWaylineId())
+ .build());
+ }
+
+ WaylineTaskCreateDTO flightTask = flightTaskBuilder.build();
//当任务类型为条件时
if (WaylineTaskTypeEnum.CONDITION == waylineJob.getTaskType()) {
@@ -502,6 +517,25 @@
}
@Override
+ public Optional<WaylineJobDTO> getJobByJobId(String workspaceId, String jobId,Boolean isBreakPoint) {
+ WaylineJobEntity jobEntity = mapper.selectOne(
+ new LambdaQueryWrapper<WaylineJobEntity>()
+ .eq(WaylineJobEntity::getWorkspaceId, workspaceId)
+ .eq(WaylineJobEntity::getJobId, jobId));
+ WaylineJobDTO waylineJobDTO = entity2Dto(jobEntity);
+ if (isBreakPoint) {
+ QueryWrapper queryWrapper = new QueryWrapper();
+ queryWrapper.eq("job_id", jobId);
+ WaylineJobBreakPointEntity waylineJobBreakPointEntity = waylineJobBreakPointService.getOne(queryWrapper);
+ waylineJobDTO.setWaylineJobBreakPointEntity(waylineJobBreakPointEntity);
+ }
+
+ //设置当前时间为执行时间
+ waylineJobDTO.setBeginTime(LocalDateTime.now());
+ return Optional.ofNullable(waylineJobDTO);
+ }
+
+ @Override
public Boolean updateJob(WaylineJobDTO dto) {
try {
@@ -538,6 +572,11 @@
.stream()
.map(this::entity2Dto)
.collect(Collectors.toList());
+
+ // 是否需要断点续飞
+ records.forEach(wjd -> wjd.setBreakPoint(waylineJobBreakPointService.count(
+ new LambdaQueryWrapper<WaylineJobBreakPointEntity>().eq(WaylineJobBreakPointEntity::getJobId,wjd.getJobId())) > 0));
+
return new PaginationData<WaylineJobDTO>(records, new Pagination(pageData));
}
@@ -916,7 +955,7 @@
@Override
public WaylineJobCountDTO patrolStatistics(String workspaceId, String queryTime,String deviceSn) {
WaylineJobCountDTO waylineJobCountDTO = new WaylineJobCountDTO();
- List<DroneFlightLogEntity> list = flightLogMapper.patrolStatistics(workspaceId,queryTime,deviceSn);
+ List<DroneFlightLogEntity> list = flightLogMapper.patrolStatistics(workspaceId,queryTime,deviceSn);
if (!CollectionUtils.isEmpty(list)) {
waylineJobCountDTO.setTotalNumber(list.size());
long totalTime = list.stream().filter(task -> task.getEndTime()!= null && task.getStartTime()!= null).mapToLong(s -> s.getEndTime() - s.getStartTime()).sum() / 1000;
@@ -928,9 +967,9 @@
for (String sn : deviceSns) {
Double totalFlightDistance = new LambdaQueryChainWrapper<>(flightLogMapper)
.eq(DroneFlightLogEntity::getDeviceSn, sn).orderByDesc(DroneFlightLogEntity::getEndTime).last("limit 1").one().getTotalFlightDistance();
- if (totalFlightDistance!= null){
- sum+=totalFlightDistance;
- }
+ if (totalFlightDistance!= null){
+ sum+=totalFlightDistance;
+ }
}
waylineJobCountDTO.setTotalDistance((int) sum);
}
diff --git a/src/main/resources/template/template.xml b/src/main/resources/template/template.xml
index d812a51..f220453 100644
--- a/src/main/resources/template/template.xml
+++ b/src/main/resources/template/template.xml
@@ -1,11 +1,9 @@
<?xml version="1.0" encoding="UTF-8"?>
-<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.3">
+<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.5">
<Document>
- <!-- 步骤1:实现文件创建信息 -->
<wpml:author>${author!''}</wpml:author>
<wpml:createTime>${createTime!''}</wpml:createTime>
<wpml:updateTime>${updateTime!''}</wpml:updateTime>
- <!-- 步骤2:设置任务配置 -->
<wpml:missionConfig>
<wpml:flyToWaylineMode>${missionConfig.flyToWaylineMode!''}</wpml:flyToWaylineMode>
<wpml:finishAction>${missionConfig.finishAction!''}</wpml:finishAction>
@@ -17,18 +15,15 @@
<wpml:globalTransitionalSpeed>${missionConfig.globalTransitionalSpeed!''}</wpml:globalTransitionalSpeed>
<wpml:globalRTHHeight>${missionConfig.globalRTHHeight!''}</wpml:globalRTHHeight>
<wpml:droneInfo>
- <!-- 用M30申报无人机型号 -->
<wpml:droneEnumValue>${missionConfig.droneInfo.droneEnumValue!''}</wpml:droneEnumValue>
<wpml:droneSubEnumValue>${missionConfig.droneInfo.droneSubEnumValue!''}</wpml:droneSubEnumValue>
</wpml:droneInfo>
<wpml:payloadInfo>
- <!-- 用M30声明有效载荷模型 -->
<wpml:payloadEnumValue>${missionConfig.payloadInfo.payloadEnumValue!''}</wpml:payloadEnumValue>
<wpml:payloadSubEnumValue>${missionConfig.payloadInfo.payloadSubEnumValue!''}</wpml:payloadSubEnumValue>
<wpml:payloadPositionIndex>${missionConfig.payloadInfo.payloadPositionIndex!''}</wpml:payloadPositionIndex>
</wpml:payloadInfo>
</wpml:missionConfig>
- <!-- 步骤3:设置路径点模板文件夹 -->
<Folder>
<wpml:templateType>${folder.templateType!''}</wpml:templateType>
<wpml:templateId>${folder.templateId!''}</wpml:templateId>
@@ -54,7 +49,6 @@
<#list folder.placemarkList as placemark>
<Placemark>
<Point>
- <!-- 经度和纬度 -->
<coordinates>
${placemark.coordinates!''}
</coordinates>
@@ -80,7 +74,6 @@
<wpml:useGlobalHeadingParam>${placemark.useGlobalHeadingParam!''}</wpml:useGlobalHeadingParam>
<wpml:useGlobalTurnParam>${placemark.useGlobalTurnParam!''}</wpml:useGlobalTurnParam>
<wpml:useStraightLine>${placemark.useStraightLine!''}</wpml:useStraightLine>
- <!-- 宣布航路点1#的行动组 -->
<#if placemark.actionGroup??>
<wpml:actionGroup>
<wpml:actionGroupId>${placemark.actionGroup.actionGroupId!''}</wpml:actionGroupId>
@@ -93,7 +86,6 @@
<#if placemark.actionGroup.actions??>
<#assign idx = 0>
<#list placemark.actionGroup.actions as action>
- <!-- 动作 -->
<wpml:action>
<wpml:actionId>${idx!''}</wpml:actionId>
<wpml:actionActuatorFunc>${action.actionActuatorFunc!''}</wpml:actionActuatorFunc>
@@ -163,10 +155,10 @@
</#if>
</wpml:actionGroup>
</#if>
+ <wpml:isRisky>0</wpml:isRisky>
</Placemark>
</#list>
</#if>
- <!-- 负载设置 -->
<wpml:payloadParam>
<wpml:payloadPositionIndex>${folder.payloadParam.payloadPositionIndex!''}</wpml:payloadPositionIndex>
<wpml:focusMode>${folder.payloadParam.focusMode!''}</wpml:focusMode>
diff --git a/src/main/resources/template/waylines.xml b/src/main/resources/template/waylines.xml
index 8140d2f..bbd6dc3 100644
--- a/src/main/resources/template/waylines.xml
+++ b/src/main/resources/template/waylines.xml
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8"?>
-<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.3">
+<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.5">
<Document>
<wpml:missionConfig>
<wpml:flyToWaylineMode>${missionConfig.flyToWaylineMode!''}</wpml:flyToWaylineMode>
--
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