package com.aros.apron.tools; import android.util.Log; import com.aros.apron.base.BaseManager; import com.aros.apron.entity.MissionDataBean; import com.aros.apron.entity.Movement; import com.aros.apron.manager.TakeOffToPointManager; import com.aros.apron.manager.TaskFailManager; import com.dji.wpmzsdk.common.data.Template; import com.dji.wpmzsdk.common.utils.kml.GeoidManager; import com.dji.wpmzsdk.common.utils.kml.GpsUtils; import com.dji.wpmzsdk.manager.WPMZManager; import java.io.File; import java.util.ArrayList; import java.util.List; import dji.sdk.keyvalue.key.FlightControllerKey; import dji.sdk.keyvalue.key.KeyTools; import dji.sdk.keyvalue.value.common.LocationCoordinate3D; import dji.sdk.wpmz.value.mission.*; import dji.v5.manager.KeyManager; /** * 单航点起飞→目标点→返航 * 纯 Java、无 Builder、无 WaypointHeadingParam */ public class Generakmzaltheratools extends BaseManager { private Generakmzaltheratools() {} private static class Holder { private static final Generakmzaltheratools INSTANCE = new Generakmzaltheratools(); } public static Generakmzaltheratools getInstance() { return Holder.INSTANCE; } public Boolean generateKmz() { LogUtil.log(TAG, "备降点经纬度:" + PreferenceUtils.getInstance().getAlternatePointLat() + "/" + PreferenceUtils.getInstance().getAlternatePointLon()); LogUtil.log("qwq","开始生成备降点航线"); sendEvent2Server("开始生成备降点航线", 1); LocationCoordinate3D lat = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey. KeyAircraftLocation3D)); int retryCount = 0; final int MAX_RETRY = 60; while (retryCount < MAX_RETRY) { lat = KeyManager.getInstance().getValue(KeyTools.createKey(FlightControllerKey.KeyAircraftLocation3D)); if (lat != null) { break; } retryCount++; sendEvent2Server("生成失败：未获取到飞机当前位置（重试" + retryCount + "次）", 1); if (retryCount >= MAX_RETRY) { sendEvent2Server("生成失败：未获取到飞机当前位置（重试" + MAX_RETRY + "次超时）", 1); TaskFailManager.getInstance().sendTaskFailMsg2Server(-1); return false; } try { Thread.sleep(1000); // 休眠1秒 } catch (InterruptedException e) { Thread.currentThread().interrupt(); LogUtil.log("qwq", "获取位置线程被中断"); sendEvent2Server("生成失败：获取位置被中断", 1); TaskFailManager.getInstance().sendTaskFailMsg2Server(-1); return false; } } if (lat == null) { LogUtil.log("qwq", "当前位置为空，无法生成航线"); sendEvent2Server("生成失败：未获取到飞机当前位置", 1); return false; } if (lat.getLatitude() == null || lat.getLongitude() == null|| lat.getAltitude() == null) { LogUtil.log("qwq", "当前位置坐标无效"); sendEvent2Server("生成失败：位置坐标无效", 1); return false; } File root = new File("/storage/self/primary/DJIDemo/cache/kmz"); if (!root.exists()) root.mkdirs(); File kmz = new File(root, "alternate.kmz"); LogUtil.log(TAG,"高度："+lat.getAltitude()); /* 1. 基本信息 */ WaylineMission mission = new WaylineMission(); mission.setAuthor("aros"); double now = System.currentTimeMillis(); mission.setCreateTime(now); mission.setUpdateTime(now); /* 2. 全局策略 */ WaylineMissionConfig config = new WaylineMissionConfig(); //飞向目标点的模式 config.setFlyToWaylineMode(WaylineFlyToWaylineMode.SAFELY); //航线结束后的动作 config.setFinishAction(WaylineFinishedAction.AUTO_LAND); config.setExitOnRCLostBehavior(WaylineExitOnRCLostBehavior.GO_ON); config.setExitOnRCLostType(WaylineExitOnRCLostAction.LANDING); //全局过度速度 config.setGlobalTransitionalSpeed(7.0); //全局返航高度 double wpellheight=GpsUtils.wgs84Altitude(Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointSecurityHeight()),Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointLat()),Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointLon())); LogUtil.log(TAG,"全局返航高度wpellheight"+wpellheight); config.setGlobalRTHHeight(wpellheight); config.setIsGlobalRTHHeightSet(true); //安全起飞高度 if(wpellheight<100.0){ config.setSecurityTakeOffHeight(wpellheight); }else{ config.setSecurityTakeOffHeight(100.0); } config.setIsSecurityTakeOffHeightSet(true); //为400准备的 WaylineDroneInfo droneInfo = new WaylineDroneInfo(); droneInfo.setDroneType(WaylineDroneType.PM440); config.setDroneInfo(droneInfo); //这个航点列表 WaylineWaypoint wp1 = new WaylineWaypoint(); WaylineWaypoint wp = new WaylineWaypoint(); //初始点 double wp1heighet= GpsUtils.egm96Altitude(lat.getAltitude(),lat.getLatitude(),lat.getLongitude()); //double wpheight=GpsUtils.egm96Altitude(data.getTargetHeight(),data.getTargetLatitude(),data.getTargetLongitude()); //double wp1ellheighet=GpsUtils.wgs84Altitude(); //double wpellheight=GpsUtils.wgs84Altitude(Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointSecurityHeight()),Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointLat()),Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointLon())); wp1.setWaypointIndex(0); wp1.setLocation(new WaylineLocationCoordinate2D(lat.getLatitude(), lat.getLongitude())); //wp1.setLocation(new WaylineLocationCoordinate2D(data.getTargetLatitude(), data.getTargetLongitude())); //wp1.setHeight((double)data.getCommanderFlightHeight()); wp1.setHeight(Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointSecurityHeight())); //wp.setUseGlobalFlightHeight(true); wp1.setEllipsoidHeight(wpellheight); wp1.setUseStraightLine(true); wp1.setUseGlobalTurnParam(true); wp1.setUseGlobalYawParam(true); wp1.setUseGlobalGimbalHeadingParam(true); wp1.setUseGlobalAutoFlightSpeed(true); wp1.setIsRisky(false); //基础设置 wp.setWaypointIndex(1); wp.setLocation(new WaylineLocationCoordinate2D(Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointLat()), Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointLon()))); //wp.setHeight((double)data.getCommanderFlightHeight()); wp.setHeight(Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointSecurityHeight())); //wp.setUseGlobalFlightHeight(true); //椭球高 wp.setEllipsoidHeight(wpellheight); wp.setUseStraightLine(true); wp.setUseGlobalTurnParam(true); wp.setUseGlobalYawParam(true); wp.setUseGlobalGimbalHeadingParam(true); wp.setUseGlobalAutoFlightSpeed(true); wp.setIsRisky(false); List wpList = new ArrayList<>(); wpList.add(wp1); wpList.add(wp); /* 4. */ WaylineTemplateWaypointInfo waypointInfo = new WaylineTemplateWaypointInfo(); waypointInfo.setGlobalFlightHeight(Double.parseDouble(PreferenceUtils.getInstance().getAlternatePointSecurityHeight())); waypointInfo.setIsGlobalFlightHeightSet(true); WaylineWaypointYawParam waypointYawParam=new WaylineWaypointYawParam(); waypointYawParam.setYawMode(WaylineWaypointYawMode.FOLLOW_WAYLINE); waypointInfo.setGlobalYawParam(waypointYawParam); waypointInfo.setIsTemplateGlobalYawParamSet(true); WaylineWaypointGimbalHeadingParam waypointGimbalHeadingParam=new WaylineWaypointGimbalHeadingParam(); waypointGimbalHeadingParam.setHeadingMode(WaylineWaypointGimbalHeadingMode.FOLLOW_WAYLINE); waypointGimbalHeadingParam.setYawAngle(0.0); waypointGimbalHeadingParam.setPitchAngle(0.0); waypointInfo.setGlobalGimbalHeadingParam(waypointGimbalHeadingParam); waypointInfo.setGlobalTurnMode(WaylineWaypointTurnMode.COORDINATE_TURN); waypointInfo.setIsTemplateGlobalTurnModeSet(true); waypointInfo.setWaypoints(wpList); waypointInfo.setUseStraightLine(true); /* 5. */ WaylineCoordinateParam coordParam = new WaylineCoordinateParam(); coordParam.setCoordinateMode(WaylineCoordinateMode.WGS84); coordParam.setAltitudeMode(WaylineAltitudeMode.EGM96); coordParam.setPositioningType(WaylinePositioningType.GPS); /* 6. */ Template template = new Template(); template.setTemplateId(0); template.setCoordinateParam(coordParam); template.setTransitionalSpeed(10.0); template.setWaypointInfo(waypointInfo); template.setUseGlobalTransitionalSpeed(true); template.setAutoFlightSpeed(10.0); //不写就报错 template.setPayloadParam(new ArrayList<>()); /* 7. 生成文件 */ WPMZManager.getInstance().generateKMZFile(kmz.getAbsolutePath(), mission, config, template); //验证这个kmz WaylineCheckErrorMsg result= WPMZManager.getInstance().checkValidation(kmz.getAbsolutePath()); LogUtil.log("qwq",result.toString()); if (result.getValue().isEmpty()) { LogUtil.log("qwq", "KMZ 校验通过"); sendEvent2Server("备降点航线生成成功", 1); return true; } else { // 其他错误码照旧报错 LogUtil.log("qwq", "校验失败，错误码：" + result.getValue()); sendEvent2Server("备降点航线文件生成失败错误码："+result.getValue(), 1); return false; } } }