初始
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157
third/plane/wayline/struct/struct.go
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157
third/plane/wayline/struct/struct.go
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package _struct
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import "encoding/xml"
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// 飞向首航点模式
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const (
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Safely = "safely"
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PointToPoint = "pointToPoint"
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)
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// 航线结束动作
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const (
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GoHome = "goHome"
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AutoLand = "autoLand"
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GotoFirstWaypoint = "gotoFirstWaypoint"
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)
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//失控是否继续执行航线
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const (
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GoContinue = "goContinue" //继续执行航线
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ExecuteLostAction = "executeLostAction" //退出航线，执行失控动作
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)
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// 失控动作类型
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const (
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GoBack = "goBack" //返航。飞行器从失控位置飞向起飞点
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Landing = "landing" //降落。飞行器从失控位置原地降落
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Hover = "hover" //悬停。飞行器从失控位置悬停
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)
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// 预定义模板类型
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const (
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Waypoint = "waypoint" //航点飞行
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Mapping2d = "mapping2d" //建图航拍
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Mapping3d = "mapping3d" //倾斜摄影
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MappingStrip = "mappingStrip" //航带飞行
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)
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// Placemark 结构表示 KML 的地点标记
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type Placemark struct {
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Point Point `xml:"Point"`
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Index int `xml:"wpml:index"`
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EllipsoidHeight float64 `xml:"wpml:ellipsoidHeight"`
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Height float64 `xml:"wpml:height"`
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UseGlobalSpeed int `xml:"wpml:useGlobalSpeed"`
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UseGlobalHeadingParam int `xml:"wpml:useGlobalHeadingParam"`
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UseGlobalTurnParam int `xml:"wpml:useGlobalTurnParam"`
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UseStraightLine int `xml:"wpml:useStraightLine"`
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//ActionGroup ActionGroup `xml:"wpml:actionGroup"`
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}
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// Point 结构表示地点坐标
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type Point struct {
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Coordinates string `xml:"coordinates"`
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}
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type PayloadParam struct {
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PayloadPositionIndex int `xml:"wpml:payloadPositionIndex"`
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ImageFormat string `xml:"wpml:imageFormat"`
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}
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type Doc struct {
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Author string `xml:"wpml:author"`
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UpdateTime int64 `xml:"wpml:updateTime"`
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CreateTime int64 `xml:"wpml:createTime"`
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MissionConfig MissionConfig `xml:"wpml:missionConfig"`
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Folder interface{} `xml:"Folder"`
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}
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type PublicTemplate struct {
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TemplateType string `xml:"wpml:templateType"`
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TemplateId int `xml:"wpml:templateId"`
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AutoFlightSpeed float64 `xml:"wpml:autoFlightSpeed"`
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WaylineCoordinateSysParam struct {
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CoordinateMode string `xml:"wpml:coordinateMode"`
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HeightMode string `xml:"wpml:heightMode"`
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GlobalShootHeight float64 `xml:"wpml:globalShootHeight"`
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PositioningType string `xml:"wpml:positioningType"`
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SurfaceFollowModeEnable int `xml:"wpml:surfaceFollowModeEnable"`
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SurfaceRelativeHeight string `xml:"wpml:surfaceRelativeHeight"`
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} `xml:"wpml:waylineCoordinateSysParam"`
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}
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type ActionGroup struct {
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ActionGroupId int `xml:"wpml:actionGroupId"`
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ActionGroupStartIndex int `xml:"wpml:actionGroupStartIndex"`
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ActionGroupEndIndex int `xml:"wpml:actionGroupEndIndex"`
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ActionGroupMode string `xml:"wpml:actionGroupMode"`
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ActionTrigger struct {
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ActionTriggerType string `xml:"actionTriggerType"`
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} `xml:"actionTrigger"`
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Action Action `xml:"action"`
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}
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type Action struct {
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ActionId int `xml:"actionId"`
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ActionActuatorFunc string `xml:"actionActuatorFunc"`
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ActionActuatorFuncParam ActionActuatorFuncParam `xml:"actionActuatorFuncParam"`
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}
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type ActionActuatorFuncParam struct {
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FileSuffix string `xml:"fileSuffix"`
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PayloadPositionIndex string `xml:"payloadPositionIndex"`
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}
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type MissionConfig struct {
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FlyToWaylineMode string `xml:"wpml:flyToWaylineMode"`
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FinishAction string `xml:"wpml:finishAction"`
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ExitOnRCLost string `xml:"wpml:exitOnRCLost"`
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ExecuteRCLostAction string `xml:"wpml:executeRCLostAction"`
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TakeOffSecurityHeight float64 `xml:"wpml:takeOffSecurityHeight"`
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GlobalTransitionalSpeed float64 `xml:"wpml:globalTransitionalSpeed"`
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GlobalRTHHeight float64 `xml:"wpml:globalRTHHeight"`
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//TakeOffRefPoint xml.Name `xml:"wpml:takeOffRefPoint"`
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//
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//TakeOffRefPointAGLHeight xml.Name `xml:"wpml:takeOffRefPointAGLHeight"`
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//DroneInfo struct {
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// DroneEnumValue xml.Name `xml:"wpml:droneEnumValue"`
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// DroneSubEnumValue xml.Name `xml:"wpml:droneSubEnumValue"`
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//} `xml:"wpml:droneInfo"`
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//PayloadInfo struct {
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// PayloadEnumValue xml.Name `xml:"wpml:payloadEnumValue"`
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// PayloadSubEnumValue xml.Name `xml:"wpml:payloadSubEnumValue"`
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// PayloadPositionIndex xml.Name `xml:"wpml:payloadPositionIndex"`
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//} `xml:"wpml:payloadInfo"`
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}
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type WayPointTemplate struct {
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PublicTemplate
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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
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GlobalUseStraightLine int `xml:"wpml:globalUseStraightLine"` //全局航段轨迹是否尽量贴合直线
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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，
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// 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。
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//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。
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GlobalHeight float64 `xml:"wpml:globalHeight"` //全局航线高度（相对起飞点高度
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Placemark []Placemark `xml:"Placemark"`
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//UseGlobalTransitionalSpeed string `xml:"wpml:useGlobalTransitionalSpeed"`
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//TransitionalSpeed string `xml:"wpml:transitionalSpeed"`
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//GlobalWaypointHeadingParam struct {
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// WaypointHeadingMode string `xml:"wpml:waypointHeadingMode"`
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// WaypointHeadingAngle string `xml:"wpml:waypointHeadingAngle"`
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// WaypointPoiPoint string `xml:"wpml:waypointPoiPoint"`
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// WaypointHeadingPathMode string `xml:"wpml:waypointHeadingPathMode"`
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//} `xml:"wpml:globalWaypointHeadingParam"` //全局偏航角模式参数
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}
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// KML 结构表示完整的 KML 文件
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type KML struct {
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//XMLName xml.Attr `xml:"kml"`
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XMLName xml.Name `xml:"http://www.opengis.net/kml/2.2 kml"`
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XmlnsStream string `xml:"xmlns:wpml,attr"`
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//Test []Test `xml:"test"`
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Document Doc `xml:"Document"`
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}
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78
third/plane/wayline/template/template.go
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78
third/plane/wayline/template/template.go
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@ -0,0 +1,78 @@
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package template
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import (
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"encoding/xml"
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"fmt"
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"github.com/gogf/gf/v2/os/gtime"
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"github.com/tiger1103/gfast/v3/third/plane/wayline/struct"
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"os"
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)
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func CreateWayPointTempalteWpml() {
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}
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func CreateWayPointTempalteKml() {
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kml := _struct.KML{
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//XmlnsStream: "http://www.dji.com/wpmz/1.0.3",
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Document: _struct.Doc{
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Author: "重庆远界大数据研究院有限公司",
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CreateTime: gtime.Now().TimestampMilli(),
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UpdateTime: gtime.Now().TimestampMilli(),
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},
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}
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msconfig := _struct.MissionConfig{
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FlyToWaylineMode: _struct.Safely,
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FinishAction: _struct.GoHome,
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ExitOnRCLost: _struct.ExecuteLostAction,
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ExecuteRCLostAction: _struct.Hover,
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TakeOffSecurityHeight: 5,
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GlobalTransitionalSpeed: 5,
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GlobalRTHHeight: 5,
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}
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//设置公共配置
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kml.Document.MissionConfig = msconfig
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tp := _struct.WayPointTemplate{}
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tp.TemplateType = _struct.Waypoint //航点飞行
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tp.TemplateId = 0 //模板ID * 注：在一个kmz文件内该ID唯一。建议从0开始单调连续递增。在template.kml和waylines.wpml文件中，将使用该id将模板与所生成的可执行航线进行关联。
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tp.AutoFlightSpeed = 5 //全局航线飞行速度
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tp.WaylineCoordinateSysParam.CoordinateMode = "WGS84"
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tp.WaylineCoordinateSysParam.HeightMode = "EGM96"
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tp.WaylineCoordinateSysParam.PositioningType = "GPS"
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tp.WaylineCoordinateSysParam.SurfaceFollowModeEnable = 0
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tp.GlobalHeight = 100
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kml.Document.Folder = tp
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createXML(kml, "template.xml")
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}
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func createXML(v interface{}, file string) {
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// 生成 XML
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xmlBytes, err := xml.MarshalIndent(v, "", " ")
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if err != nil {
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fmt.Println("生成XML失败:", err)
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return
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}
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// 将 XML 写入文件
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xmlFile, err := os.Create(file)
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if err != nil {
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fmt.Println("创建文件失败:", err)
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return
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}
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defer xmlFile.Close()
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xmlWithVersion := []byte(xml.Header + string(xmlBytes))
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_, err = xmlFile.Write(xmlWithVersion)
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if err != nil {
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fmt.Println("写入文件失败:", err)
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return
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}
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fmt.Println("生成的KML文件：output.kml")
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}
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//func CreateWayPointTempalte(points []globe.Point) {
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//
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//}
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1
third/plane/wayline/wayline.go
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1
third/plane/wayline/wayline.go
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@ -0,0 +1 @@
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package wayline
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