zmkgC/third/plane/wayline/struct/struct.go

package _struct

import "encoding/xml"

// 飞向首航点模式
const (
	Safely       = "safely"
	PointToPoint = "pointToPoint"
)

// 航线结束动作
const (
	GoHome            = "goHome"
	AutoLand          = "autoLand"
	GotoFirstWaypoint = "gotoFirstWaypoint"
)

//失控是否继续执行航线

const (
	GoContinue        = "goContinue"        //继续执行航线
	ExecuteLostAction = "executeLostAction" //退出航线，执行失控动作
)

// 失控动作类型
const (
	GoBack  = "goBack"  //返航。飞行器从失控位置飞向起飞点
	Landing = "landing" //降落。飞行器从失控位置原地降落
	Hover   = "hover"   //悬停。飞行器从失控位置悬停
)

// 预定义模板类型
const (
	Waypoint     = "waypoint"     //航点飞行
	Mapping2d    = "mapping2d"    //建图航拍
	Mapping3d    = "mapping3d"    //倾斜摄影
	MappingStrip = "mappingStrip" //航带飞行
)

// Placemark 结构表示 KML 的地点标记
type Placemark struct {
	Point                 Point   `xml:"Point"`
	Index                 int     `xml:"wpml:index"`
	EllipsoidHeight       float64 `xml:"wpml:ellipsoidHeight"`
	Height                float64 `xml:"wpml:height"`
	UseGlobalSpeed        int     `xml:"wpml:useGlobalSpeed"`
	UseGlobalHeadingParam int     `xml:"wpml:useGlobalHeadingParam"`
	UseGlobalTurnParam    int     `xml:"wpml:useGlobalTurnParam"`
	UseStraightLine       int     `xml:"wpml:useStraightLine"`
	//ActionGroup           ActionGroup `xml:"wpml:actionGroup"`
}

// Point 结构表示地点坐标
type Point struct {
	Coordinates string `xml:"coordinates"`
}

type PayloadParam struct {
	PayloadPositionIndex int    `xml:"wpml:payloadPositionIndex"`
	ImageFormat          string `xml:"wpml:imageFormat"`
}

type Doc struct {
	Author        string        `xml:"wpml:author"`
	UpdateTime    int64         `xml:"wpml:updateTime"`
	CreateTime    int64         `xml:"wpml:createTime"`
	MissionConfig MissionConfig `xml:"wpml:missionConfig"`
	Folder        interface{}   `xml:"Folder"`
}

type PublicTemplate struct {
	TemplateType              string  `xml:"wpml:templateType"`
	TemplateId                int     `xml:"wpml:templateId"`
	AutoFlightSpeed           float64 `xml:"wpml:autoFlightSpeed"`
	WaylineCoordinateSysParam struct {
		CoordinateMode          string  `xml:"wpml:coordinateMode"`
		HeightMode              string  `xml:"wpml:heightMode"`
		GlobalShootHeight       float64 `xml:"wpml:globalShootHeight"`
		PositioningType         string  `xml:"wpml:positioningType"`
		SurfaceFollowModeEnable int     `xml:"wpml:surfaceFollowModeEnable"`
		SurfaceRelativeHeight   string  `xml:"wpml:surfaceRelativeHeight"`
	} `xml:"wpml:waylineCoordinateSysParam"`
}

type ActionGroup struct {
	ActionGroupId         int    `xml:"wpml:actionGroupId"`
	ActionGroupStartIndex int    `xml:"wpml:actionGroupStartIndex"`
	ActionGroupEndIndex   int    `xml:"wpml:actionGroupEndIndex"`
	ActionGroupMode       string `xml:"wpml:actionGroupMode"`
	ActionTrigger         struct {
		ActionTriggerType string `xml:"actionTriggerType"`
	} `xml:"actionTrigger"`
	Action Action `xml:"action"`
}

type Action struct {
	ActionId                int                     `xml:"actionId"`
	ActionActuatorFunc      string                  `xml:"actionActuatorFunc"`
	ActionActuatorFuncParam ActionActuatorFuncParam `xml:"actionActuatorFuncParam"`
}

type ActionActuatorFuncParam struct {
	FileSuffix           string `xml:"fileSuffix"`
	PayloadPositionIndex string `xml:"payloadPositionIndex"`
}

type MissionConfig struct {
	FlyToWaylineMode        string  `xml:"wpml:flyToWaylineMode"`
	FinishAction            string  `xml:"wpml:finishAction"`
	ExitOnRCLost            string  `xml:"wpml:exitOnRCLost"`
	ExecuteRCLostAction     string  `xml:"wpml:executeRCLostAction"`
	TakeOffSecurityHeight   float64 `xml:"wpml:takeOffSecurityHeight"`
	GlobalTransitionalSpeed float64 `xml:"wpml:globalTransitionalSpeed"`
	GlobalRTHHeight         float64 `xml:"wpml:globalRTHHeight"`

	//TakeOffRefPoint         xml.Name `xml:"wpml:takeOffRefPoint"`
	//
	//TakeOffRefPointAGLHeight xml.Name `xml:"wpml:takeOffRefPointAGLHeight"`

	//DroneInfo struct {
	//	DroneEnumValue    xml.Name `xml:"wpml:droneEnumValue"`
	//	DroneSubEnumValue xml.Name `xml:"wpml:droneSubEnumValue"`
	//} `xml:"wpml:droneInfo"`
	//PayloadInfo struct {
	//	PayloadEnumValue     xml.Name `xml:"wpml:payloadEnumValue"`
	//	PayloadSubEnumValue  xml.Name `xml:"wpml:payloadSubEnumValue"`
	//	PayloadPositionIndex xml.Name `xml:"wpml:payloadPositionIndex"`
	//} `xml:"wpml:payloadInfo"`
}

type WayPointTemplate struct {
	PublicTemplate
	GlobalWaypointTurnMode string `xml:"wpml:globalWaypointTurnMode"` //全局航点类型（全局航点转弯模式）coordinateTurn：协调转弯，不过点，提前转弯 toPointAndStopWithDiscontinuityCurvature：直线飞行，飞行器到点停 toPointAndStopWithContinuityCurvature：曲线飞行，飞行器到点停 toPointAndPassWithContinuityCurvature：曲线飞行，飞行器过点不停
	GlobalUseStraightLine  int    `xml:"wpml:globalUseStraightLine"`  //全局航段轨迹是否尽量贴合直线
	GimbalPitchMode        string `xml:"wpml:gimbalPitchMode"`        //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。
	GlobalHeight float64     `xml:"wpml:globalHeight"` //全局航线高度（相对起飞点高度
	Placemark    []Placemark `xml:"Placemark"`
	//UseGlobalTransitionalSpeed string `xml:"wpml:useGlobalTransitionalSpeed"`
	//TransitionalSpeed          string  `xml:"wpml:transitionalSpeed"`
	//GlobalWaypointHeadingParam struct {
	//	WaypointHeadingMode     string `xml:"wpml:waypointHeadingMode"`
	//	WaypointHeadingAngle    string `xml:"wpml:waypointHeadingAngle"`
	//	WaypointPoiPoint        string `xml:"wpml:waypointPoiPoint"`
	//	WaypointHeadingPathMode string `xml:"wpml:waypointHeadingPathMode"`
	//} `xml:"wpml:globalWaypointHeadingParam"` //全局偏航角模式参数
}

// KML 结构表示完整的 KML 文件
type KML struct {
	//XMLName xml.Attr `xml:"kml"`
	XMLName     xml.Name `xml:"http://www.opengis.net/kml/2.2 kml"`
	XmlnsStream string   `xml:"xmlns:wpml,attr"`
	//Test    []Test   `xml:"test"`
	Document Doc `xml:"Document"`
}