288 lines
14 KiB
Java
288 lines
14 KiB
Java
package com.aros.apron.tools;
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import android.text.TextUtils;
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import android.util.Log;
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import com.aros.apron.entity.FlightMission;
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import com.aros.apron.entity.MissionPoint;
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import org.dom4j.Document;
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import org.dom4j.DocumentHelper;
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import org.dom4j.Element;
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import org.dom4j.io.XMLWriter;
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import java.io.File;
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import java.io.FileWriter;
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import java.util.List;
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public class DomParserWPML {
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private static final String TAG = "DomParserWPML";
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private String wpmlFilePath = "";
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private String wpmlFileName = "";
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private Element docElement;
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int actionGroupId = 0;
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/**
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* 构造
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*/
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public DomParserWPML(String wpmlFilePath, String wpmlFileName) {
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this.wpmlFilePath = wpmlFilePath;
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this.wpmlFileName = wpmlFileName;
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}
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/**
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* 创建kml文件
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*/
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public void createWpml(FlightMission mission) {
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String fileName = wpmlFilePath + wpmlFileName;
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Document document = DocumentHelper.createDocument();// 建立document对象，用来操作xml文件
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Element kmlElement = document.addElement("kml", "http://www.opengis.net/kml/2.2");// 建立根节点
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kmlElement.addAttribute("xmlns:wpml", "http://www.dji.com/wpmz/1.0.2");
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kmlElement.addNamespace("wpml", "http://www.dji.com/wpmz/1.0.2");
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docElement = kmlElement.addElement("Document");// 添加一个Document节点
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createMissionConfig(mission);
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createFolder(mission);
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try {
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// 设置生成xml的格式
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XMLWriter writer = new XMLWriter(new FileWriter(new File(fileName)));
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writer.write(document); //写入
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writer.close();
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} catch (Exception e) {
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e.printStackTrace();
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Log.e("createWpml","-------");
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}
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}
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/**
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* 创建任务信息
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*
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* @return
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*/
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private int createMissionConfig(FlightMission flightMission) {
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if (docElement != null) {
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try {
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Element missionConfigElement = docElement.addElement("wpml:missionConfig");
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//飞向起始点模式
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missionConfigElement.addElement("wpml:flyToWaylineMode").setText("safely");
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//航线结束动作
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// missionConfigElement.addElement("wpml:finishAction").setText("autoLand");
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missionConfigElement.addElement("wpml:finishAction").setText(flightMission.getFinishAction());
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//失控是否继续执行航线
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missionConfigElement.addElement("wpml:exitOnRCLost").setText("executeLostAction");
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//失控执行失控动作时下面元素是必须的的
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missionConfigElement.addElement("wpml:executeRCLostAction").setText("goBack");
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//安全起飞高度
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missionConfigElement.addElement("wpml:takeOffSecurityHeight").setText(String.valueOf(flightMission.getTakeOffSecurityHeight()));
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//全局航线过渡速度(飞向航线起点的速度)
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missionConfigElement.addElement("wpml:globalTransitionalSpeed").setText(String.valueOf(flightMission.getSpeed()));
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//飞行器机型信息
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Element droneInfoElement = missionConfigElement.addElement("wpml:droneInfo");
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droneInfoElement.addElement("wpml:droneEnumValue").setText(String.valueOf(77));
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droneInfoElement.addElement("wpml:droneSubEnumValue").setText(String.valueOf(1));
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//飞行器挂载信息
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Element payloadInfoElement = missionConfigElement.addElement("wpml:payloadInfo");
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payloadInfoElement.addElement("wpml:payloadEnumValue").setText(String.valueOf(66));
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payloadInfoElement.addElement("wpml:payloadSubEnumValue").setText(String.valueOf(0));
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payloadInfoElement.addElement("wpml:payloadPositionIndex").setText(String.valueOf(0));
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} catch (Exception e) {
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Log.e(TAG, e.getMessage());
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return -1;
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}
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return 0;
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} else {
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return -1;
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}
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}
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/**
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* 创建模板信息
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*
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* @return
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*/
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public int createFolder(FlightMission mission) {
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if (docElement != null) {
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Element folderElement = docElement.addElement("Folder");
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//模板ID,范围：[0, 65535]
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folderElement.addElement("wpml:templateId").setText(String.valueOf(mission.getMissionId()));
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folderElement.addElement("wpml:executeHeightMode").setText("relativeToStartPoint");
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folderElement.addElement("wpml:waylineId").setText("2");
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folderElement.addElement("wpml:autoFlightSpeed").setText(String.valueOf(mission.getSpeed()));
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if (mission.getPoints() != null && mission.getPoints().size() > 0) {
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//航点信息（包括航点经纬度和高度等）
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for (int i = 0; i < mission.getPoints().size(); i++) {
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addPointToPlacemark(folderElement, mission.getPoints().get(i), i);
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}
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}
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return 0;
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} else {
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return -1;
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}
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}
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/**
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* 向 Placemark添加航点信息
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* @param parentElement
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*/
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private boolean addPointToPlacemark(Element parentElement, MissionPoint missionPoint, int index) {
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if (missionPoint == null || TextUtils.isEmpty(missionPoint.getLat())||TextUtils.isEmpty(missionPoint.getLng())) {
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return false;
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} else {
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Element placemarkElement = parentElement.addElement("Placemark");
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Element point = placemarkElement.addElement("Point");
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//航点经纬度<经度,纬度>
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point.addElement("coordinates")
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.setText(missionPoint.getLng() + "," + missionPoint.getLat());
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//航点序号
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placemarkElement.addElement("wpml:index")
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.setText(String.valueOf(index));
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//航点高度（EGM96海拔高度/相对起飞点高度/AGL相对地面高度）useGlobalHeight 为0是必需
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placemarkElement.addElement("wpml:executeHeight")
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.setText(String.valueOf(missionPoint.getExecuteHeight()));
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//航点飞行速度
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placemarkElement.addElement("wpml:waypointSpeed")
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.setText(String.valueOf(missionPoint.getSpeed()));
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//该航段是否贴合直线
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placemarkElement.addElement("wpml:useStraightLine")
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.setText(String.valueOf(1));
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//偏航角模式参数,当且仅当“wpml:useGlobalHeadingParam”为“0”时必需
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Element waypointHeadingParamElement = placemarkElement.addElement("wpml:waypointHeadingParam");
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waypointHeadingParamElement.addElement("wpml:waypointHeadingMode").setText("followWayline");
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//航点类型（航点转弯模式）,当且仅当“wpml:useGlobalTurnParam”为“0”时必需
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Element waypointTurnParamElement = placemarkElement.addElement("wpml:waypointTurnParam");
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waypointTurnParamElement.addElement("wpml:waypointTurnMode").setText("toPointAndStopWithDiscontinuityCurvature");
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waypointTurnParamElement.addElement("wpml:waypointTurnDampingDist").setText("0");
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if (missionPoint.getActions() != null && missionPoint.getActions().size() > 0) {
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Element actionGroup = placemarkElement.addElement("wpml:actionGroup");
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actionGroup.addElement("wpml:actionGroupId").setText(String.valueOf(actionGroupId++));
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actionGroup.addElement("wpml:actionGroupStartIndex").setText(String.valueOf(index));
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actionGroup.addElement("wpml:actionGroupEndIndex").setText(String.valueOf(index));
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actionGroup.addElement("wpml:actionGroupMode").setText("sequence");
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actionGroup.addElement("wpml:actionTrigger").addElement("wpml:actionTriggerType")
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.setText("reachPoint");
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//添加航点动作
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addActionToPoint(actionGroup, index, missionPoint.getActions());
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}
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return true;
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}
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}
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private void addActionToPoint(Element actionGroup, int index, List<MissionPoint.Action> actions) {
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for (int i = 0; i < actions.size(); i++) {
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Element action = actionGroup.addElement("wpml:action");
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action.addElement("wpml:actionId").setText(String.valueOf(i));
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Element actionActuatorFunc = action.addElement("wpml:actionActuatorFunc");
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Element actionActuatorFuncParam = action.addElement("wpml:actionActuatorFuncParam");
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switch (actions.get(i).getType()) {
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//变焦
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case 1:
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actionActuatorFunc.setText("zoom");
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actionActuatorFuncParam.addElement("wpml:focalLength").setText(String.valueOf(Math.round(actions.get(i).getZoom() * 0.2375f)));
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//强制使用飞行器1号挂载位置。M300 RTK机型，对应机身左前方。其它机型，对应主云台。
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actionActuatorFuncParam.addElement("wpml:payloadPositionIndex").setText("0");
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actionActuatorFuncParam.addElement("isUseFocalFactor").setText("0");
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break;
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//拍照
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case 2:
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actionActuatorFunc.setText("takePhoto");
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actionActuatorFuncParam.addElement("wpml:fileSuffix").setText("point" + index);
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actionActuatorFuncParam.addElement("wpml:payloadPositionIndex").setText("0");
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break;
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//开始录像
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case 3:
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actionActuatorFunc.setText("startRecord");
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actionActuatorFuncParam.addElement("wpml:fileSuffix").setText("航点" + index);
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actionActuatorFuncParam.addElement("wpml:payloadPositionIndex").setText("0");
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break;
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//结束录像
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case 4:
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actionActuatorFunc.setText("stopRecord");
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actionActuatorFuncParam.addElement("wpml:payloadPositionIndex").setText("0");
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break;
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//云台偏航角
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case 5:
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actionActuatorFunc.setText("gimbalRotate");
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actionActuatorFuncParam.addElement("wpml:gimbalRotateMode")
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.setText("absoluteAngle");
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actionActuatorFuncParam.addElement("wpml:gimbalPitchRotateEnable").setText("0");
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actionActuatorFuncParam.addElement("wpml:gimbalPitchRotateAngle").setText("0");
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actionActuatorFuncParam.addElement("wpml:gimbalRollRotateEnable").setText("0");
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actionActuatorFuncParam.addElement("wpml:gimbalRollRotateAngle").setText("0");
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actionActuatorFuncParam.addElement("wpml:gimbalYawRotateEnable").setText("1");
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actionActuatorFuncParam.addElement("wpml:gimbalYawRotateAngle").setText(String.valueOf(actions.get(i).getGimbalYawAngle() ));
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actionActuatorFuncParam.addElement("wpml:gimbalRotateTimeEnable").setText("0");
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actionActuatorFuncParam.addElement("wpml:gimbalRotateTime").setText("0");
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actionActuatorFuncParam.addElement("wpml:payloadPositionIndex").setText("0");
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break;
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//云台俯仰角
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case 6:
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actionActuatorFunc.setText("gimbalRotate");
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actionActuatorFuncParam.addElement("wpml:gimbalRotateMode").setText("absoluteAngle");
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actionActuatorFuncParam.addElement("wpml:gimbalPitchRotateEnable").setText("1");
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actionActuatorFuncParam.addElement("wpml:gimbalPitchRotateAngle").setText(String.valueOf(actions.get(i).getGimbalPitchAngle()));
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actionActuatorFuncParam.addElement("wpml:gimbalRollRotateEnable").setText("0");
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actionActuatorFuncParam.addElement("wpml:gimbalRollRotateAngle").setText("0");
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actionActuatorFuncParam.addElement("wpml:gimbalYawRotateEnable").setText("0");
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actionActuatorFuncParam.addElement("wpml:gimbalYawRotateAngle").setText("0");
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actionActuatorFuncParam.addElement("wpml:gimbalRotateTimeEnable").setText("0");
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actionActuatorFuncParam.addElement("wpml:gimbalRotateTime").setText("0");
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actionActuatorFuncParam.addElement("wpml:payloadPositionIndex").setText("0");
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break;
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//飞行器偏航角
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case 7:
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actionActuatorFunc.setText("rotateYaw");
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actionActuatorFuncParam.addElement("wpml:aircraftHeading").setText(String.valueOf(actions.get(i).getAircraftHeading()));
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//强制逆时针旋转
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actionActuatorFuncParam.addElement("wpml:aircraftPathMode").setText("counterClockwise");
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break;
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//悬停
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case 8:
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actionActuatorFunc.setText("hover");
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actionActuatorFuncParam.addElement("wpml:hoverTime").setText(String.valueOf(actions.get(i).getHoverTime()));
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break;
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default:
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}
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}
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}
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/**
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* 获取航点任务
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* @return
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*/
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private String getActionActuatorFunc(String action) {
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if (action.equals("0")) {
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return "startRecord";
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} else if (action.equals("2")) {
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return "hover";
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} else if (action.equals("3")) {
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return "stopRecord";
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} else {
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return "takePhoto";
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}
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}
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} |