[add] 新增无人机模块后端项目

[refactor] 重构后端项目

drone/ruoyi-wayline/src/main/java/com/ruoyi/wayline/controller/WaypointController.java

@@ -0,0 +1,350 @@
+package com.ruoyi.wayline.controller;
+
+import com.ruoyi.system.domain.FlightPaths;
+import com.ruoyi.system.domain.ManageDeviceDictionary;
+import com.ruoyi.system.service.IFlightPathsService;
+import com.ruoyi.system.service.IManageDeviceDictionaryService;
+import com.ruoyi.wayline.domain.AddWaypointVo;
+import com.ruoyi.wayline.domain.RenameVo;
+import com.ruoyi.wayline.domain.WaypointData;
+import com.ruoyi.wayline.utils.HttpResult;
+import com.ruoyi.wayline.utils.MD5Util;
+import com.ruoyi.wayline.waypoint.WayPointKmlProcessorModify;
+import com.ruoyi.wayline.waypoint.WayPointWpmlProcessorModify;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.core.env.Environment;
+import org.springframework.http.*;
+import org.springframework.web.bind.annotation.*;
+import org.springframework.web.multipart.MultipartFile;
+
+import javax.annotation.Resource;
+import java.io.*;
+import java.net.InetAddress;
+import java.nio.charset.StandardCharsets;
+import java.nio.file.*;
+import java.security.MessageDigest;
+import java.security.NoSuchAlgorithmException;
+import java.util.*;
+import java.util.zip.*;
+
+@Slf4j
+@RestController
+@Api(tags = "航线文件管理")
+public class WaypointController {
+
+    @Resource
+    private IFlightPathsService flightPathsService;
+    @Resource
+    private IManageDeviceDictionaryService manageDeviceDictionaryService;
+    @Resource
+    private Environment environment;
+
+    private static final String UPLOAD_DIR = System.getProperty("user.dir") + "/upload";
+
+    // 工具方法：使用 flag 和 fileName 组合计算 MD5 值
+    private String calculateMD5(String flag, String fileName) {
+        String input = flag + fileName;
+        MessageDigest md = null;
+        try {
+            md = MessageDigest.getInstance("MD5");
+        } catch (NoSuchAlgorithmException e) {
+            throw new RuntimeException(e);
+        }
+        byte[] digest = md.digest(input.getBytes(StandardCharsets.UTF_8));
+        StringBuilder sb = new StringBuilder();
+        for (byte b : digest) sb.append(String.format("%02x", b));
+        log.info("MD5: {}", sb.toString());
+        return sb.toString();
+    }
+
+    // 工具方法：检查文件是否已存在并返回错误信息
+    private ResponseEntity<HttpResult> checkFileExistence(String fileName, String flag) {
+        FlightPaths flightPaths = new FlightPaths();
+        flightPaths.setFileName(fileName);
+        flightPaths.setFlag(flag);
+        List<FlightPaths> pathsList = flightPathsService.selectByCondition(flightPaths);
+        if (pathsList != null && !pathsList.isEmpty()) {
+            HttpResult httpResult = HttpResult.error();
+            httpResult.setMessage("文件名重复，请重新命名");
+            return ResponseEntity.ok(httpResult);
+        }
+        return null;
+    }
+
+    private boolean checkFileExistenceWithBool(String fileName, String flag) {
+        FlightPaths flightPaths = new FlightPaths();
+        flightPaths.setFileName(fileName);
+        flightPaths.setFlag(flag);
+        List<FlightPaths> pathsList = flightPathsService.selectByCondition(flightPaths);
+        return pathsList != null && !pathsList.isEmpty();
+    }
+
+    @ApiOperation("导入航线文件")
+    @PostMapping("/dj/router/import")
+    public ResponseEntity<HttpResult> importWaypoint(@RequestParam("file") MultipartFile file, @RequestParam("flag") String flag) {
+        if (file.isEmpty()) {
+            HttpResult httpResult = HttpResult.error();
+            httpResult.setMessage("文件为空");
+            return ResponseEntity.ok(httpResult);
+        }
+
+        try {
+            String fileName = file.getOriginalFilename();
+            ResponseEntity<HttpResult> existenceCheck = checkFileExistence(fileName, flag);
+            if (existenceCheck != null) return existenceCheck;
+
+            // 创建上传目录
+            Path uploadPath = Paths.get(UPLOAD_DIR);
+            Files.createDirectories(uploadPath);
+
+            byte[] fileBytes = file.getBytes();
+            String md5 = calculateMD5(flag, fileName);  // 使用 flag 和 fileName 组合生成 MD5
+            String md5FileNameWithExtension = md5 + ".kmz";
+            Path serverPath = uploadPath.resolve(md5FileNameWithExtension);
+
+            Files.write(serverPath, fileBytes);
+
+            String downloadLink = buildDownloadLink(md5FileNameWithExtension);
+            saveFlightPath(fileName, flag, md5, downloadLink, true);
+
+            HttpResult httpResult = HttpResult.ok();
+            httpResult.setMessage("文件导入成功");
+            return ResponseEntity.ok(httpResult);
+        } catch (Exception e) {
+            log.error("文件保存失败: {}", e.getMessage());
+            HttpResult httpResult = HttpResult.error();
+            httpResult.setMessage("保存失败");
+            return ResponseEntity.ok(httpResult);
+        }
+    }
+
+    private void saveFlightPath(String fileName, String flag, String md5, String fileUrl, boolean isImport) {
+        FlightPaths flightPath = new FlightPaths();
+        flightPath.setFileName(fileName);
+        flightPath.setFlag(flag);
+        flightPath.setFileMd5(md5);
+        flightPath.setFileUrl(fileUrl);
+        flightPath.setIsImport(isImport ? "true" : "false");
+        flightPath.setCreatedAt(new Date());
+        flightPath.setUpdatedAt(new Date());
+        flightPathsService.insertFlightPaths(flightPath);
+    }
+
+    private String buildDownloadLink(String md5FileNameWithExtension) throws IOException {
+        String ip = environment.getProperty("server.host", InetAddress.getLocalHost().getHostAddress());
+        int port = environment.getProperty("server.port", Integer.class, 8080);
+        return "http://" + ip + ":" + port + "/dj/router/download/" + md5FileNameWithExtension;
+    }
+
+    @ApiOperation("新增航线文件")
+    @PostMapping("/dj/router/add")
+    public ResponseEntity<HttpResult> addWaypoint(@RequestBody AddWaypointVo addWaypointVo) {
+        ResponseEntity<HttpResult> existenceCheck = checkFileExistence(addWaypointVo.getFilename(), addWaypointVo.getFlag());
+        if (existenceCheck != null) return existenceCheck;
+
+        FlightPaths flightPaths = new FlightPaths();
+        flightPaths.setFileName(addWaypointVo.getFilename());
+        flightPaths.setFlag(addWaypointVo.getFlag());
+        flightPaths.setIsImport("false");
+        flightPaths.setGlobalPointHeight(addWaypointVo.getGlobalPointHeight());
+        flightPaths.setCreatedAt(new Date());
+        flightPaths.setUpdatedAt(new Date());
+
+        // 获取飞机类型
+        String[] split = addWaypointVo.getRemark().split("-");
+        ManageDeviceDictionary manageDeviceDictionary = manageDeviceDictionaryService
+                .selectManageDeviceDictionaryByCondition(split[0], split[1], split[2]);
+        flightPaths.setDeviceType(manageDeviceDictionary.getDeviceName());
+
+        flightPathsService.insertFlightPaths(flightPaths);
+        return ResponseEntity.ok(HttpResult.ok());
+    }
+
+    @ApiOperation("根据参数追数据到加航线文件")
+    @PostMapping("/dj/router/waypoint")
+    public ResponseEntity<HttpResult> downloadWaypoint(@RequestBody WaypointData dataRequest) {
+        HttpResult httpResult = HttpResult.ok();
+        Map<String, Object> map = new HashMap<>();
+        String fileName = flightPathsService.selectFlightPathsById(Long.valueOf(dataRequest.getId())).getFileName();
+        Path uploadPath = Paths.get(UPLOAD_DIR);
+
+        try {
+            Files.createDirectories(uploadPath);
+            String md5FileName = calculateMD5(dataRequest.getFlag(), fileName);  // 使用 flag 和 fileName 组合生成 MD5
+            String md5FileNameWithExtension = md5FileName + ".kmz";
+            Path serverPath = uploadPath.resolve(md5FileNameWithExtension);
+
+            // 日志：显示生成的文件路径
+            log.info("下载航线文件路径: {}", serverPath);
+
+            // 创建并压缩文件
+            try (ByteArrayOutputStream byteArrayOutputStream = new ByteArrayOutputStream();
+                 ZipOutputStream zipOut = new ZipOutputStream(byteArrayOutputStream)) {
+
+                byte[] file1 = new WayPointKmlProcessorModify().processKml(dataRequest, new Random().nextInt(9000) + 1000);
+                zipOut.putNextEntry(new ZipEntry("wpmz/template.kml"));
+                zipOut.write(file1);
+                zipOut.closeEntry();
+
+                byte[] file2 = new WayPointWpmlProcessorModify().processWpml(dataRequest, new Random().nextInt(9000) + 1000);
+                zipOut.putNextEntry(new ZipEntry("wpmz/waylines.wpml"));
+                zipOut.write(file2);
+                zipOut.closeEntry();
+
+                zipOut.finish();
+                Files.write(serverPath, byteArrayOutputStream.toByteArray());
+            }
+
+            // 构建下载链接并更新数据库
+            String downloadLink = buildDownloadLink(md5FileNameWithExtension);
+            map.put("downloadLink", downloadLink);
+            map.put("flag", true);
+            map.put("signature", md5FileName);
+            httpResult.setData(map);
+            httpResult.setMessage("生成航线文件并转存至服务器成功!");
+
+            // 更新数据库中的航线文件记录，保存生成的MD5值
+            FlightPaths flightPaths = new FlightPaths();
+            flightPaths.setId(Long.valueOf(dataRequest.getId()));
+            flightPaths.setFileName(fileName);
+            flightPaths.setFileUrl(downloadLink);
+            flightPaths.setFileMd5(md5FileName);  // 存储 MD5 值
+            flightPaths.setPhotoNum(Long.valueOf(dataRequest.getPhotoNum()));
+            flightPaths.setEstimateTime(dataRequest.getEstimateTime());
+            flightPaths.setType(dataRequest.getType());
+            flightPaths.setWaylineLen(dataRequest.getWaylineLen());
+            flightPaths.setPoints(dataRequest.getPoints());
+            flightPaths.setUpdatedAt(new Date());
+            flightPathsService.updateFlightPaths(flightPaths);
+
+        } catch (Exception e) {
+            httpResult = HttpResult.error();
+            httpResult.setMessage("生成航线文件并转存至服务器失败,原因:" + e.getMessage());
+        }
+        return ResponseEntity.ok(httpResult);
+    }
+
+    @ApiOperation("下载航线文件")
+    @GetMapping("/dj/router/download/{fileName}")
+    public ResponseEntity<byte[]> downloadFile(@PathVariable String fileName) {
+        Path filePath = Paths.get(UPLOAD_DIR, fileName);
+        if (!Files.exists(filePath)) {
+            return ResponseEntity.notFound().build();
+        }
+        try {
+            byte[] fileContent = Files.readAllBytes(filePath);
+            HttpHeaders headers = new HttpHeaders();
+            headers.setContentType(MediaType.APPLICATION_OCTET_STREAM);
+            headers.setContentDisposition(ContentDisposition.builder("attachment").filename(fileName, StandardCharsets.UTF_8).build());
+            return ResponseEntity.ok().headers(headers).body(fileContent);
+        } catch (IOException e) {
+            log.error("文件下载失败, 原因: {}", e.getMessage());
+            return ResponseEntity.status(500).build();
+        }
+    }
+
+    @ApiOperation("复制航线文件")
+    @PostMapping("/dj/router/copy/{id}")
+    public ResponseEntity<HttpResult> copyWaypoint(@PathVariable Long id) {
+        FlightPaths originalFlightPaths = flightPathsService.selectFlightPathsById(id);
+        if (originalFlightPaths == null) return ResponseEntity.notFound().build();
+
+        String originalFileName = originalFlightPaths.getFileName();
+        String originalMd5 = originalFlightPaths.getFileMd5();
+        Path originalFilePath = Paths.get(UPLOAD_DIR, originalMd5 + ".kmz");
+
+        // 日志：显示待复制的原始文件路径
+        log.info("复制航线文件路径: {}", originalFilePath);
+
+        if (!Files.exists(originalFilePath)) {
+            HttpResult httpResult = HttpResult.error();
+            httpResult.setMessage("请先生成航线文件再执行复制");
+            return ResponseEntity.ok(httpResult);
+        }
+
+        String newFileName = originalFileName + "(1)";
+
+        // 查询文件是否已存在
+        if (checkFileExistenceWithBool(newFileName, originalFlightPaths.getFlag())) {
+            HttpResult httpResult = HttpResult.error();
+            httpResult.setMessage("航线文件" + newFileName + "已存在");
+            return ResponseEntity.ok(httpResult);
+        }
+
+        String newMd5 = calculateMD5(originalFlightPaths.getFlag(), newFileName);
+        Path newFilePath = Paths.get(UPLOAD_DIR, newMd5 + ".kmz");
+
+        try {
+            Files.copy(originalFilePath, newFilePath);
+            FlightPaths newFlightPaths = new FlightPaths();
+            newFlightPaths.setFileName(newFileName);
+            newFlightPaths.setFileUrl(buildDownloadLink(newMd5 + ".kmz"));
+            newFlightPaths.setFileMd5(newMd5);
+            newFlightPaths.setFlag(originalFlightPaths.getFlag());
+            newFlightPaths.setIsImport(originalFlightPaths.getIsImport());
+            newFlightPaths.setPoints(originalFlightPaths.getPoints());
+            newFlightPaths.setDeviceType(originalFlightPaths.getDeviceType());
+            newFlightPaths.setPhotoNum(originalFlightPaths.getPhotoNum());
+            newFlightPaths.setEstimateTime(originalFlightPaths.getEstimateTime());
+            newFlightPaths.setType(originalFlightPaths.getType());
+            newFlightPaths.setWaylineLen(originalFlightPaths.getWaylineLen());
+            newFlightPaths.setRemark(originalFlightPaths.getRemark());
+
+            newFlightPaths.setCreatedAt(new Date());
+            newFlightPaths.setUpdatedAt(new Date());
+
+            flightPathsService.insertFlightPaths(newFlightPaths);
+
+            HttpResult httpResult = HttpResult.ok();
+            httpResult.setMessage("复制航线文件成功!");
+            return ResponseEntity.ok(httpResult);
+        } catch (IOException e) {
+            HttpResult httpResult = HttpResult.error();
+            httpResult.setMessage("复制航线文件失败, 原因:" + e.getMessage());
+            return ResponseEntity.ok(httpResult);
+        }
+    }
+
+    @ApiOperation("重命名航线文件")
+    @PostMapping("/dj/router/rename")
+    public ResponseEntity<HttpResult> renameWaypoint(@RequestBody RenameVo renameVo) {
+        FlightPaths flightPaths = flightPathsService.selectFlightPathsById(renameVo.getId());
+        if (flightPaths == null) return ResponseEntity.notFound().build();
+
+        // 如果文件名称和现在已有的名称相同则不进行任何处理
+        if (flightPaths.getFileName().equals(renameVo.getNewFileName())) {
+            HttpResult httpResult = HttpResult.ok();
+            return ResponseEntity.ok(httpResult);
+        }
+        if (checkFileExistenceWithBool(renameVo.getNewFileName(), flightPaths.getFlag())) {
+            HttpResult httpResult = HttpResult.error();
+            httpResult.setMessage("航线文件" + renameVo.getNewFileName() + "已存在，请重新命名");
+            return ResponseEntity.ok(httpResult);
+        }
+
+        String newMd5 = calculateMD5(flightPaths.getFlag(), renameVo.getNewFileName());
+        String originalMd5 = flightPaths.getFileMd5();
+        Path originalFilePath = Paths.get(UPLOAD_DIR, originalMd5 + ".kmz");
+        Path newFilePath = Paths.get(UPLOAD_DIR, newMd5 + ".kmz");
+
+        try {
+            Files.move(originalFilePath, newFilePath);
+            flightPaths.setFileName(renameVo.getNewFileName());
+            flightPaths.setFileUrl(buildDownloadLink(newMd5 + ".kmz"));
+            flightPaths.setFileMd5(newMd5);
+            flightPaths.setGlobalPointHeight(flightPaths.getGlobalPointHeight());
+            flightPaths.setUpdatedAt(new Date());
+            flightPathsService.updateFlightPaths(flightPaths);
+
+            HttpResult httpResult = HttpResult.ok();
+            httpResult.setMessage("重命名航线文件成功!");
+            return ResponseEntity.ok(httpResult);
+        } catch (IOException e) {
+            HttpResult httpResult = HttpResult.error();
+            httpResult.setMessage("重命名航线文件失败, 原因: " + e.getMessage());
+            return ResponseEntity.ok(httpResult);
+        }
+    }
+}

drone/ruoyi-wayline/src/main/java/com/ruoyi/wayline/domain/Action.java

@@ -0,0 +1,20 @@
+package com.ruoyi.wayline.domain;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.Map;
+
+/**
+ * @auther 周志雄
+ * @date 2024/8/30 16:36
+ */
+@Data
+@ApiModel("航点动作")
+public class Action {
+    @ApiModelProperty(value = "动作类型")
+    private String type;
+    @ApiModelProperty(value = "动作参数")
+    private Map<String, String> params;
+}

drone/ruoyi-wayline/src/main/java/com/ruoyi/wayline/domain/ActionTrigger.java

@@ -0,0 +1,13 @@
+package com.ruoyi.wayline.domain;
+
+import lombok.Data;
+
+/**
+ * @auther 周志雄
+ * @date 2024/9/11 14:24
+ */
+@Data
+public class ActionTrigger {
+    private String actionTriggerType;
+    private String actionTriggerParam;
+}

drone/ruoyi-wayline/src/main/java/com/ruoyi/wayline/domain/AddWaypointVo.java

@@ -0,0 +1,22 @@
+package com.ruoyi.wayline.domain;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * @auther 周志雄
+ * @date 2024/9/6 9:53
+ */
+@Data
+@ApiModel("航点文件创建参数")
+public class AddWaypointVo {
+    @ApiModelProperty(value = "文件名称")
+    private String filename;
+    @ApiModelProperty(value = "标识、例如 0-67-1")
+    private String remark;
+    @ApiModelProperty(value = "画航线的全局高度")
+    private Double globalPointHeight;
+    @ApiModelProperty(value = "标识")
+    private String flag;
+}

drone/ruoyi-wayline/src/main/java/com/ruoyi/wayline/domain/DroneInfo.java

@@ -0,0 +1,18 @@
+package com.ruoyi.wayline.domain;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * @Author zhouzhixiong
+ * @Date 2023/12/2 16:39
+ */
+@Data
+@ApiModel("飞行器信息")
+public class DroneInfo {
+    @ApiModelProperty(value = "飞行器枚举值")
+    private int droneEnumValue;
+    @ApiModelProperty(value = "飞行器子枚举值")
+    private int droneSubEnumValue;
+}

drone/ruoyi-wayline/src/main/java/com/ruoyi/wayline/domain/PayloadInfo.java

@@ -0,0 +1,20 @@
+package com.ruoyi.wayline.domain;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * @Author zhouzhixiong
+ * @Date 2023/12/2 16:39
+ */
+@Data
+@ApiModel("负载信息")
+public class PayloadInfo {
+    @ApiModelProperty(value = "负载枚举值")
+    private int payloadEnumValue;
+    @ApiModelProperty(value = "负载子枚举值")
+    private int payloadSubEnumValue;
+    @ApiModelProperty(value = "负载位置索引")
+    private int payloadPositionIndex;
+}

drone/ruoyi-wayline/src/main/java/com/ruoyi/wayline/domain/Placemark.java

@@ -0,0 +1,24 @@
+package com.ruoyi.wayline.domain;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.List;
+
+/**
+ * @Author zhouzhixiong
+ * @Date 2023/12/4 11:45
+ */
+@Data
+@ApiModel("航点信息")
+public class Placemark {
+    @ApiModelProperty(value = "经度")
+    private String longitude;
+    @ApiModelProperty(value = "纬度")
+    private String latitude;
+    @ApiModelProperty(value = "高度")
+    private String altitude;
+    @ApiModelProperty(value = "每个航点的动作列表")
+    private List<Action> actions;
+}

drone/ruoyi-wayline/src/main/java/com/ruoyi/wayline/domain/RenameVo.java

@@ -0,0 +1,13 @@
+package com.ruoyi.wayline.domain;
+
+import lombok.Data;
+
+/**
+ * @auther 周志雄
+ * @date 2024/9/6 11:26
+ */
+@Data
+public class RenameVo {
+    private Long id;
+    private String newFileName;
+}

drone/ruoyi-wayline/src/main/java/com/ruoyi/wayline/domain/WaypointData.java

@@ -0,0 +1,50 @@
+package com.ruoyi.wayline.domain;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.List;
+
+/**
+ * @auther 周志雄
+ * @date 2024/7/12 14:30
+ */
+@Data
+@ApiModel("航点文件数据")
+public class WaypointData {
+    @ApiModelProperty(value = "航线ID")
+    private String id;
+    @ApiModelProperty(value = "起飞安全高度")
+    private int takeOffSecurityHeight;
+    @ApiModelProperty(value = "参考起飞点")
+    private String takeOffRefPoint;
+    @ApiModelProperty(value = "全局航线过渡速度")
+    private int globalTransitionalSpeed;
+    @ApiModelProperty(value = "飞行器信息")
+    private DroneInfo droneInfo;
+    @ApiModelProperty(value = "负载信息")
+    private PayloadInfo payloadInfo;
+    @ApiModelProperty(value = "全局航线飞行速度")
+    private int autoFlightSpeed;
+    @ApiModelProperty(value = "全局航线高度")
+    private int globalHeight;
+    @ApiModelProperty(value = "飞行器离被摄面高度")
+    private int globalShootHeight;
+    @ApiModelProperty(value = "图片格式列表")
+    private String imageFormat;
+    @ApiModelProperty(value = "预计执行时间")
+    private String estimateTime;
+    @ApiModelProperty(value = "航点信息列表")
+    private List<Placemark> placemarkList;
+    @ApiModelProperty(value = "航线类型 0为航点航线")
+    private Long type;
+    @ApiModelProperty(value = "航点照片数量")
+    private int photoNum;
+    @ApiModelProperty(value = "航线长度")
+    private String waylineLen;
+    @ApiModelProperty(value = "标识【前端要】")
+    private String flag;
+    @ApiModelProperty(value = "航点数据【前端要】")
+    private String points;
+}

drone/ruoyi-wayline/src/main/java/com/ruoyi/wayline/utils/FileUtil.java

@@ -0,0 +1,63 @@
+package com.ruoyi.wayline.utils;
+
+import cn.hutool.core.lang.Console;
+import cn.hutool.core.thread.ConcurrencyTester;
+import cn.hutool.core.thread.ThreadUtil;
+import cn.hutool.http.HttpRequest;
+
+import java.io.FileOutputStream;
+import java.io.IOException;
+import java.nio.file.Path;
+import java.nio.file.Paths;
+
+public class FileUtil {
+
+    private static final String FILE_EXTENSION = ".kmz";
+
+    /**
+     * 获取文件名并拼接后缀
+     * @param path 文件的路径
+     * @return 完整的文件名
+     */
+    public static String getFileName(Path path) {
+        String fileName = path.getFileName().toString();
+        if (!fileName.endsWith(FILE_EXTENSION)) {
+            fileName += FILE_EXTENSION;
+        }
+        return fileName;
+    }
+
+    /**
+     * 获取文件所在的目录路径
+     * @param path 文件的完整路径
+     * @return 目录路径
+     */
+    public static Path getDirectoryPath(Path path) {
+        return path.getParent();
+    }
+
+    /**
+     * 把 byte[] 中的内容写入指定路径的文件
+     * @param path 文件路径
+     * @param bytes 要写入的字节数据
+     * @throws IOException
+     */
+    public static void transferStreamToFile(Path path, byte[] bytes) throws IOException {
+        try (FileOutputStream fileOutputStream = new FileOutputStream(path.toFile())) {
+            fileOutputStream.write(bytes);
+        }
+    }
+
+
+    public static void main(String[] args) {
+        ConcurrencyTester tester = ThreadUtil.concurrencyTest(10000, () -> {
+            String body = HttpRequest.get("http://192.168.110.23:9099/ruoyi/system/books/list")
+                    .header("authorization",
+                            "eyJhbGciOiJIUzUxMiJ9.eyJsb2dpbl91c2VyX2tleSI6IjVkMjNlZWFjLTQ5MmItNDIyZS1hMzBhLWM1MzZjNDU5OGQyZiJ9._UQYWmYQGddpgjzhczoh_C5HpxMVUUKJRIPvVOQFsrfHIG8-EBMwW7VM3pS6yaQwjzOCE-upSX1JwTa86LdAbw")
+                    .execute().body();
+            Console.log(body);
+        });
+        // 获取总的执行时间，单位毫秒
+        Console.log(tester.getInterval());
+    }
+}

drone/ruoyi-wayline/src/main/java/com/ruoyi/wayline/utils/HttpResult.java

@@ -0,0 +1,100 @@
+package com.ruoyi.wayline.utils;
+
+import lombok.Data;
+
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * @author ZZX
+ */
+@Data
+public class HttpResult {
+    private Boolean success;
+    private Integer code;
+    private String message;
+    private Map<String, Object> data = new HashMap<>();
+
+    /**
+     * 成功，缺乏数据
+     *
+     * @return
+     */
+    public static HttpResult ok() {
+        HttpResult httpResult = new HttpResult();
+        httpResult.setSuccess(HttpResultEnum.SUCCESS.getSuccess());
+        httpResult.setCode(HttpResultEnum.SUCCESS.getCode());
+        httpResult.setMessage(HttpResultEnum.SUCCESS.getMessage());
+        return httpResult;
+    }
+
+    /**
+     * 失败，缺乏数据
+     *
+     * @return
+     */
+    public static HttpResult error() {
+        HttpResult httpResult = new HttpResult();
+        httpResult.setSuccess(HttpResultEnum.FAIL.getSuccess());
+        httpResult.setCode(HttpResultEnum.FAIL.getCode());
+        httpResult.setMessage(HttpResultEnum.FAIL.getMessage());
+        return httpResult;
+    }
+
+    /**
+     * 设置泛型，缺乏数据
+     *
+     * @param httpResultEnum
+     * @return
+     */
+    public static HttpResult setResult(HttpResultEnum httpResultEnum) {
+        HttpResult httpResult = new HttpResult();
+        httpResult.setSuccess(httpResultEnum.getSuccess());
+        httpResult.setCode(httpResultEnum.getCode());
+        httpResult.setMessage(httpResultEnum.getMessage());
+        return httpResult;
+    }
+
+    /**
+     * 设置成功标志位
+     *
+     * @return
+     */
+    public HttpResult success() {
+        this.setSuccess(HttpResultEnum.SUCCESS.getSuccess());
+        return this;
+    }
+
+    /**
+     * 设置失败标志位
+     *
+     * @return
+     */
+    public HttpResult fail() {
+        this.setSuccess(HttpResultEnum.FAIL.getSuccess());
+        return this;
+    }
+
+    /**
+     * 添加单个键值对数据
+     *
+     * @param key
+     * @param value
+     * @return
+     */
+    public HttpResult data(String key, Object value) {
+        this.data.put(key, value);
+        return this;
+    }
+
+    /**
+     * 添加集合数据
+     *
+     * @param map
+     * @return
+     */
+    public HttpResult data(Map<String, Object> map) {
+        this.setData(map);
+        return this;
+    }
+}

drone/ruoyi-wayline/src/main/java/com/ruoyi/wayline/utils/HttpResultEnum.java

@@ -0,0 +1,44 @@
+package com.ruoyi.wayline.utils;
+
+/**
+ * @author ZZX
+ */
+
+public enum HttpResultEnum {
+    SUCCESS(true, 200, "成功"),
+    FAIL(false, 500, "失败");
+
+    private Boolean success;
+    private Integer code;
+    private String message;
+
+    HttpResultEnum(Boolean success, Integer code, String message) {
+        this.success = success;
+        this.code = code;
+        this.message = message;
+    }
+
+    public Boolean getSuccess() {
+        return success;
+    }
+
+    public void setSuccess(Boolean success) {
+        this.success = success;
+    }
+
+    public Integer getCode() {
+        return code;
+    }
+
+    public void setCode(Integer code) {
+        this.code = code;
+    }
+
+    public String getMessage() {
+        return message;
+    }
+
+    public void setMessage(String message) {
+        this.message = message;
+    }
+}

drone/ruoyi-wayline/src/main/java/com/ruoyi/wayline/utils/IpUtil.java

@@ -0,0 +1,34 @@
+package com.ruoyi.wayline.utils;
+
+import lombok.extern.slf4j.Slf4j;
+
+import java.io.BufferedReader;
+import java.io.InputStreamReader;
+import java.net.*;
+import java.util.Collections;
+import java.util.Enumeration;
+
+/**
+ * @auther 周志雄
+ * @date 2024/7/12 18:55
+ */
+@Slf4j
+public class IpUtil {
+    public static String getSystemIP() {
+        try {
+            Enumeration<NetworkInterface> networkInterfaces = NetworkInterface.getNetworkInterfaces();
+            for (NetworkInterface ni : Collections.list(networkInterfaces)) {
+                Enumeration<InetAddress> inetAddresses = ni.getInetAddresses();
+                while (inetAddresses.hasMoreElements()) {
+                    InetAddress ia = inetAddresses.nextElement();
+                    if (!ia.isLoopbackAddress() && ia.isSiteLocalAddress()) {
+                        return ia.getHostAddress();
+                    }
+                }
+            }
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        return "127.0.0.1"; // 默认回退到本地地址
+    }
+}

drone/ruoyi-wayline/src/main/java/com/ruoyi/wayline/utils/MD5Util.java

@@ -0,0 +1,42 @@
+package com.ruoyi.wayline.utils;
+
+import java.security.MessageDigest;
+import java.security.NoSuchAlgorithmException;
+
+/**
+ * @Author zhouzhixiong
+ * @Date 2023/12/12 11:33
+ */
+public class MD5Util {
+    /**
+     * 将字符串转换为MD5哈希。
+     *
+     * @param input 需要转换的字符串
+     * @return MD5哈希字符串
+     */
+    public static String getMD5(String input) {
+        try {
+            // 创建MD5摘要算法实例
+            MessageDigest md = MessageDigest.getInstance("MD5");
+
+            // 对字符串进行哈希处理
+            byte[] messageDigest = md.digest(input.getBytes());
+
+            // 将哈希值转换为十六进制数
+            StringBuilder hexString = new StringBuilder();
+            for (byte b : messageDigest) {
+                String hex = Integer.toHexString(0xff & b);
+                if (hex.length() == 1) {
+                    hexString.append('0');
+                }
+                hexString.append(hex);
+            }
+
+            return hexString.toString();
+        }
+        // 处理NoSuchAlgorithmException异常
+        catch (NoSuchAlgorithmException e) {
+            throw new RuntimeException(e);
+        }
+    }
+}

drone/ruoyi-wayline/src/main/java/com/ruoyi/wayline/waypoint/WayPointKmlProcessorModify.java

@@ -0,0 +1,297 @@
+package com.ruoyi.wayline.waypoint;
+
+/**
+ * @Author zhouzhixiong
+ * @Date 2023/12/2 17:04
+ */
+
+
+import com.ruoyi.wayline.domain.Action;
+import com.ruoyi.wayline.domain.Placemark;
+import com.ruoyi.wayline.domain.WaypointData;
+import org.w3c.dom.Document;
+import org.w3c.dom.Element;
+import org.w3c.dom.Node;
+import org.w3c.dom.NodeList;
+import org.xml.sax.SAXException;
+
+import javax.xml.parsers.DocumentBuilder;
+import javax.xml.parsers.DocumentBuilderFactory;
+import javax.xml.parsers.ParserConfigurationException;
+import javax.xml.transform.OutputKeys;
+import javax.xml.transform.Transformer;
+import javax.xml.transform.TransformerException;
+import javax.xml.transform.TransformerFactory;
+import javax.xml.transform.dom.DOMSource;
+import javax.xml.transform.stream.StreamResult;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.StringWriter;
+import java.nio.charset.StandardCharsets;
+import java.util.List;
+import java.util.Map;
+
+public class WayPointKmlProcessorModify {
+
+    /**
+     * 根据提供的数据请求处理并生成航点飞行的 KML 文件
+     *
+     * @param dataRequest
+     * @return
+     */
+    public byte[] processKml(WaypointData dataRequest, int templateId) {
+        try {
+            // 创建文件的编辑对象
+            DocumentBuilderFactory factory = DocumentBuilderFactory.newInstance();
+            DocumentBuilder builder = factory.newDocumentBuilder();
+
+            // 从资源中读取 KML 模板文件
+            InputStream inputStream = getClass().getClassLoader().getResourceAsStream("waypoint/template.kml");
+            Document document = builder.parse(inputStream);
+
+            // 使用提供的数据请求更新文档
+            updateDocumentWithRequestData(document, dataRequest, templateId);
+
+            // 将更新后的文档转换为字节数组
+            return convertDocumentToByteArray(document);
+        } catch (ParserConfigurationException | SAXException | IOException | TransformerException e) {
+            throw new RuntimeException(e);
+        }
+    }
+
+    /**
+     * 根据请求中的信息来更新文档内容
+     *
+     * @param document
+     * @param dataRequest
+     */
+    private void updateDocumentWithRequestData(Document document, WaypointData dataRequest, int templateId) {
+        // 更新安全起飞高度
+        document.getElementsByTagName("wpml:takeOffSecurityHeight").item(0).setTextContent(String.valueOf(dataRequest.getTakeOffSecurityHeight()));
+
+        // 更新参考起飞点
+        document.getElementsByTagName("wpml:takeOffRefPoint").item(0).setTextContent(dataRequest.getTakeOffRefPoint());
+
+        // 更新飞向首航点速度
+        document.getElementsByTagName("wpml:globalTransitionalSpeed").item(0).setTextContent(String.valueOf(dataRequest.getGlobalTransitionalSpeed()));
+
+        // 更新无人机的信息和负载的信息
+        updateDroneAndPayloadInfo(document, dataRequest);
+
+        // 生成并设置 templateId
+        document.getElementsByTagName("wpml:templateId").item(0).setTextContent(String.valueOf(templateId));
+
+        // 更新全局航线速度
+        document.getElementsByTagName("wpml:autoFlightSpeed").item(0).setTextContent(String.valueOf(dataRequest.getAutoFlightSpeed()));
+
+        // 更新相对起飞点高度
+        document.getElementsByTagName("wpml:globalHeight").item(0).setTextContent(String.valueOf(dataRequest.getGlobalHeight()));
+
+        // 更新飞行器离被摄面高度（相对地面高）
+        document.getElementsByTagName("wpml:globalShootHeight").item(0).setTextContent(String.valueOf(dataRequest.getGlobalShootHeight()));
+
+        // 更新图片格式列表
+        document.getElementsByTagName("wpml:imageFormat").item(0).setTextContent(dataRequest.getImageFormat());
+
+        // 删除模板中现有的所有 <Placemark> 节点
+        removeExistingPlacemarks(document);
+
+        // TODO 根据提供的位置列表添加若干新的 <Placemark> 节点
+        Element folderElement = (Element) document.getElementsByTagName("Folder").item(0);
+        for (int index = 0; index < dataRequest.getPlacemarkList().size(); index++) {
+            Placemark location = dataRequest.getPlacemarkList().get(index);
+            folderElement.appendChild(createPlacemarkElement(document, index, location, dataRequest));
+        }
+
+        // 更新文档中全部的负载位置索引标签
+        updateAllPayloadPositionIndexes(document, dataRequest);
+    }
+
+    /**
+     * 更新所有 <wpml:payloadPositionIndex> 标签
+     *
+     * @param document
+     * @param dataRequest
+     */
+    private void updateAllPayloadPositionIndexes(Document document, WaypointData dataRequest) {
+        NodeList payloadPositionIndexes = document.getElementsByTagName("wpml:payloadPositionIndex");
+        for (int i = 0; i < payloadPositionIndexes.getLength(); i++) {
+            payloadPositionIndexes.item(i).setTextContent(String.valueOf(dataRequest.getPayloadInfo().getPayloadPositionIndex()));
+        }
+    }
+
+    /**
+     * 创建一个新的 <Placemark> 元素
+     *
+     * @param document
+     * @param index
+     * @param location
+     * @return
+     */
+    private Element createPlacemarkElement(Document document, int index, Placemark location, WaypointData dataRequest) {
+        // 创建 <Placemark> 根节点
+        Element placemark = document.createElement("Placemark");
+
+        // 设置 <Point> 元素及其坐标
+        Element point = document.createElement("Point");
+        Element coordinatesElement = document.createElement("coordinates");
+        String coordinates = location.getLongitude() + "," + location.getLatitude();
+        coordinatesElement.setTextContent(coordinates);
+        point.appendChild(coordinatesElement);
+        placemark.appendChild(point);
+
+        // 设置 <wpml:index> 元素
+        placemark.appendChild(createElementWithTextContent(document, "wpml:index", String.valueOf(index)));
+
+        // 设置其他 <Placemark> 元素的属性
+        placemark.appendChild(createElementWithTextContent(document, "wpml:ellipsoidHeight", String.valueOf(location.getAltitude())));
+        placemark.appendChild(createElementWithTextContent(document, "wpml:height", String.valueOf(location.getAltitude())));
+        placemark.appendChild(createElementWithTextContent(document, "wpml:useGlobalHeight", "0"));
+        placemark.appendChild(createElementWithTextContent(document, "wpml:useGlobalSpeed", "1"));
+        placemark.appendChild(createElementWithTextContent(document, "wpml:useGlobalHeadingParam", "1"));
+        placemark.appendChild(createElementWithTextContent(document, "wpml:useGlobalTurnParam", "1"));
+        placemark.appendChild(createElementWithTextContent(document, "wpml:useStraightLine", "1"));
+        placemark.appendChild(createElementWithTextContent(document, "wpml:gimbalPitchAngle", "0.0"));
+        placemark.appendChild(createElementWithTextContent(document, "wpml:waypointSpeed", String.valueOf(dataRequest.getAutoFlightSpeed())));
+
+        // 根据每个 Placemark 的动作列表创建动作组
+        createActionGroup(document, location, placemark, index);
+
+        return placemark;
+    }
+
+
+    /**
+     * 更新无人机的信息和负载信息
+     *
+     * @param document
+     * @param dataRequest
+     */
+    public void updateDroneAndPayloadInfo(Document document, WaypointData dataRequest) {
+        // 更新飞行器的信息
+        NodeList droneInfoNodes = document.getElementsByTagName("wpml:droneInfo").item(0).getChildNodes();
+        for (int i = 0; i < droneInfoNodes.getLength(); i++) {
+            Node node = droneInfoNodes.item(i);
+            if (node.getNodeName().equals("wpml:droneEnumValue")) {
+                node.setTextContent(String.valueOf(dataRequest.getDroneInfo().getDroneEnumValue()));
+            } else if (node.getNodeName().equals("wpml:droneSubEnumValue")) {
+                node.setTextContent(String.valueOf(dataRequest.getDroneInfo().getDroneSubEnumValue()));
+            }
+        }
+
+        // 更新负载的信息
+        NodeList payloadInfoNodes = document.getElementsByTagName("wpml:payloadInfo").item(0).getChildNodes();
+        for (int i = 0; i < payloadInfoNodes.getLength(); i++) {
+            Node node = payloadInfoNodes.item(i);
+            if (node.getNodeName().equals("wpml:payloadEnumValue")) {
+                node.setTextContent(String.valueOf(dataRequest.getPayloadInfo().getPayloadEnumValue()));
+            } else if (node.getNodeName().equals("wpml:payloadSubEnumValue")) {
+                node.setTextContent(String.valueOf(dataRequest.getPayloadInfo().getPayloadSubEnumValue()));
+            } else if (node.getNodeName().equals("wpml:payloadPositionIndex")) {
+                node.setTextContent(String.valueOf(dataRequest.getPayloadInfo().getPayloadPositionIndex()));
+            }
+        }
+    }
+
+    /**
+     * 从文档中移除所有现有的 <Placemark> 节点
+     *
+     * @param document
+     */
+    public void removeExistingPlacemarks(Document document) {
+        NodeList placemarks = document.getElementsByTagName("Placemark");
+        int length = placemarks.getLength();
+        for (int i = length - 1; i >= 0; i--) {
+            Node placemark = placemarks.item(i);
+            placemark.getParentNode().removeChild(placemark);
+        }
+    }
+
+    /**
+     * 创建带文本内容的新元素
+     *
+     * @param document
+     * @param tagName
+     * @param textContent
+     * @return
+     */
+    public Element createElementWithTextContent(Document document, String tagName, String textContent) {
+        Element element = document.createElement(tagName);
+        element.setTextContent(textContent);
+        return element;
+    }
+
+    /**
+     * 创建动作组
+     *
+     * @param document
+     * @param placemark
+     */
+    private void createActionGroup(Document document, Placemark placemark, Element placemarkElement, int index) {
+        // 创建 <wpml:actionGroup> 节点
+        Element actionGroup = document.createElement("wpml:actionGroup");
+        actionGroup.appendChild(createElementWithTextContent(document, "wpml:actionGroupId", "0"));
+        actionGroup.appendChild(createElementWithTextContent(document, "wpml:actionGroupStartIndex", String.valueOf(index)));
+        actionGroup.appendChild(createElementWithTextContent(document, "wpml:actionGroupEndIndex", String.valueOf(index)));
+        actionGroup.appendChild(createElementWithTextContent(document, "wpml:actionGroupMode", "sequence"));
+
+        Element actionTrigger = document.createElement("wpml:actionTrigger");
+        actionTrigger.appendChild(createElementWithTextContent(document, "wpml:actionTriggerType", "reachPoint"));
+        actionGroup.appendChild(actionTrigger);
+
+        // 添加每个动作到动作组中
+        List<Action> actions = placemark.getActions();
+        if (actions == null || actions.isEmpty()) {
+            return;
+        }
+        for (int i = 0; i < actions.size(); i++) {
+            Action action = actions.get(i);
+            Element actionElement = createActionElement(document, i, action.getType(), action.getParams());
+            actionGroup.appendChild(actionElement);
+        }
+
+        // 将动作组添加到 Placemark
+        placemarkElement.appendChild(actionGroup);
+    }
+
+    private Element createActionElement(Document document, int actionId, String actionActuatorFunc, Map<String, String> actionParams) {
+        Element actionElement = document.createElement("wpml:action");
+
+        // 设置动作ID
+        actionElement.appendChild(createElementWithTextContent(document, "wpml:actionId", String.valueOf(actionId)));
+
+        // 设置动作类型
+        actionElement.appendChild(createElementWithTextContent(document, "wpml:actionActuatorFunc", actionActuatorFunc));
+
+        // 创建并设置动作参数
+        Element actionParamsElement = document.createElement("wpml:actionActuatorFuncParam");
+        for (Map.Entry<String, String> param : actionParams.entrySet()) {
+            actionParamsElement.appendChild(createElementWithTextContent(document, "wpml:" + param.getKey(), param.getValue()));
+        }
+        actionElement.appendChild(actionParamsElement);
+
+        return actionElement;
+    }
+
+    /**
+     * 将文档转换为字节数组
+     *
+     * @param document 要转换的文档
+     * @return 转换后的字节数组
+     * @throws TransformerException
+     */
+    public byte[] convertDocumentToByteArray(Document document) throws TransformerException {
+        TransformerFactory transformerFactory = TransformerFactory.newInstance();
+        Transformer transformer = transformerFactory.newTransformer();
+        transformer.setOutputProperty(OutputKeys.INDENT, "yes");
+        transformer.setOutputProperty("{http://xml.apache.org/xslt}indent-amount", "2");
+        DOMSource source = new DOMSource(document);
+        StringWriter stringWriter = new StringWriter();
+        StreamResult result = new StreamResult(stringWriter);
+        transformer.transform(source, result);
+        String xmlString = stringWriter.toString();
+        // 使用正则表达式移除空白行
+        xmlString = xmlString.replaceAll("(?m)^[ \t]*\r?\n", "");
+        return xmlString.getBytes(StandardCharsets.UTF_8);
+    }
+}

drone/ruoyi-wayline/src/main/java/com/ruoyi/wayline/waypoint/WayPointWpmlProcessorModify.java

@@ -0,0 +1,210 @@
+package com.ruoyi.wayline.waypoint;
+
+import com.ruoyi.wayline.domain.Placemark;
+import com.ruoyi.wayline.domain.WaypointData;
+import com.ruoyi.wayline.domain.Action;
+import org.w3c.dom.Document;
+import org.w3c.dom.Element;
+import org.w3c.dom.Node;
+import org.w3c.dom.NodeList;
+import org.xml.sax.SAXException;
+
+import javax.xml.parsers.DocumentBuilder;
+import javax.xml.parsers.DocumentBuilderFactory;
+import javax.xml.parsers.ParserConfigurationException;
+import javax.xml.transform.OutputKeys;
+import javax.xml.transform.Transformer;
+import javax.xml.transform.TransformerException;
+import javax.xml.transform.TransformerFactory;
+import javax.xml.transform.dom.DOMSource;
+import javax.xml.transform.stream.StreamResult;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.StringWriter;
+import java.nio.charset.StandardCharsets;
+import java.util.List;
+import java.util.Map;
+
+public class WayPointWpmlProcessorModify {
+
+    public byte[] processWpml(WaypointData dataRequest, int templateId) {
+        try {
+            DocumentBuilderFactory factory = DocumentBuilderFactory.newInstance();
+            DocumentBuilder builder = factory.newDocumentBuilder();
+            InputStream inputStream = getClass().getClassLoader().getResourceAsStream("waypoint/waylines.wpml");
+            Document document = builder.parse(inputStream);
+
+            updateDocumentWithRequest(document, dataRequest, templateId);
+
+            return convertDocumentToByteArray(document);
+        } catch (ParserConfigurationException | SAXException | IOException | TransformerException e) {
+            throw new RuntimeException(e);
+        }
+    }
+
+    private void updateDocumentWithRequest(Document document, WaypointData dataRequest, int templateId) {
+        document.getElementsByTagName("wpml:takeOffSecurityHeight").item(0).setTextContent(String.valueOf(dataRequest.getTakeOffSecurityHeight()));
+        document.getElementsByTagName("wpml:globalTransitionalSpeed").item(0).setTextContent(String.valueOf(dataRequest.getGlobalTransitionalSpeed()));
+        updateDroneAndPayloadInfo(document, dataRequest);
+        document.getElementsByTagName("wpml:templateId").item(0).setTextContent(String.valueOf(templateId));
+        document.getElementsByTagName("wpml:autoFlightSpeed").item(0).setTextContent(String.valueOf(dataRequest.getAutoFlightSpeed()));
+
+        removeExistingPlacemarks(document);
+
+        Element folderElement = (Element) document.getElementsByTagName("Folder").item(0);
+        List<Placemark> placemarkList = dataRequest.getPlacemarkList();
+        for (int index = 0; index < placemarkList.size(); index++) {
+            Placemark location = placemarkList.get(index);
+            String coordinates = location.getLongitude() + "," + location.getLatitude();
+            String height = String.valueOf(dataRequest.getGlobalHeight());
+            folderElement.appendChild(createPlacemarkElement(document, coordinates, location, dataRequest, index, height));
+        }
+
+        updateAllPayloadPositionIndexes(document, dataRequest);
+    }
+
+    private void updateAllPayloadPositionIndexes(Document document, WaypointData dataRequest) {
+        NodeList payloadPositionIndexes = document.getElementsByTagName("wpml:payloadPositionIndex");
+        for (int i = 0; i < payloadPositionIndexes.getLength(); i++) {
+            payloadPositionIndexes.item(i).setTextContent(String.valueOf(dataRequest.getPayloadInfo().getPayloadPositionIndex()));
+        }
+    }
+
+    private Element createPlacemarkElement(Document document, String coordinates, Placemark placemarkData, WaypointData dataRequest, int index, String height) {
+        Element placemark = document.createElement("Placemark");
+
+        Element point = document.createElement("Point");
+        Element coordinatesElement = document.createElement("coordinates");
+        coordinatesElement.setTextContent(coordinates);
+        point.appendChild(coordinatesElement);
+        placemark.appendChild(point);
+
+        placemark.appendChild(createElementWithTextContent(document, "wpml:index", String.valueOf(index)));
+        placemark.appendChild(createElementWithTextContent(document, "wpml:executeHeight", placemarkData.getAltitude()));
+        placemark.appendChild(createElementWithTextContent(document, "wpml:waypointSpeed", String.valueOf(dataRequest.getAutoFlightSpeed())));
+
+        addWaypointHeadingParam(placemark, document);
+        addWaypointTurnParam(placemark, document);
+        addWaypointGimbalHeadingParam(placemark, document);
+
+        placemark.appendChild(createElementWithTextContent(document, "wpml:useStraightLine", "1"));
+
+        createActionGroup(document, placemark, placemarkData, index);
+
+        return placemark;
+    }
+
+    private void createActionGroup(Document document, Element placemarkElement, Placemark placemarkData, int index) {
+        Element actionGroup = document.createElement("wpml:actionGroup");
+
+        actionGroup.appendChild(createElementWithTextContent(document, "wpml:actionGroupId", "0"));
+        actionGroup.appendChild(createElementWithTextContent(document, "wpml:actionGroupStartIndex", String.valueOf(index)));
+        actionGroup.appendChild(createElementWithTextContent(document, "wpml:actionGroupEndIndex", String.valueOf(index)));
+        actionGroup.appendChild(createElementWithTextContent(document, "wpml:actionGroupMode", "sequence"));
+
+        Element actionTrigger = document.createElement("wpml:actionTrigger");
+        actionTrigger.appendChild(createElementWithTextContent(document, "wpml:actionTriggerType", "reachPoint"));
+        actionGroup.appendChild(actionTrigger);
+
+        // 动态添加动作
+        List<Action> actions = placemarkData.getActions();
+        if (actions == null || actions.isEmpty()) {
+            return;
+        }
+        for (int i = 0; i < actions.size(); i++) {
+            Action action = actions.get(i);
+            Element actionElement = createActionElement(document, i, action.getType(), action.getParams());
+            actionGroup.appendChild(actionElement);
+        }
+
+        placemarkElement.appendChild(actionGroup);
+    }
+
+    private Element createActionElement(Document document, int actionId, String actionActuatorFunc, Map<String, String> actionParams) {
+        Element actionElement = document.createElement("wpml:action");
+        actionElement.appendChild(createElementWithTextContent(document, "wpml:actionId", String.valueOf(actionId)));
+        actionElement.appendChild(createElementWithTextContent(document, "wpml:actionActuatorFunc", actionActuatorFunc));
+
+        Element actionParamsElement = document.createElement("wpml:actionActuatorFuncParam");
+        for (Map.Entry<String, String> param : actionParams.entrySet()) {
+            actionParamsElement.appendChild(createElementWithTextContent(document, "wpml:" + param.getKey(), param.getValue()));
+        }
+        actionElement.appendChild(actionParamsElement);
+
+        return actionElement;
+    }
+
+    private void addWaypointHeadingParam(Element placemark, Document document) {
+        Element waypointHeadingParam = document.createElement("wpml:waypointHeadingParam");
+        waypointHeadingParam.appendChild(createElementWithTextContent(document, "wpml:waypointHeadingMode", "followWayline"));
+        waypointHeadingParam.appendChild(createElementWithTextContent(document, "wpml:waypointHeadingAngle", "0"));
+        waypointHeadingParam.appendChild(createElementWithTextContent(document, "wpml:waypointHeadingPathMode", "followBadArc"));
+        placemark.appendChild(waypointHeadingParam);
+    }
+
+    private void addWaypointTurnParam(Element placemark, Document document) {
+        Element waypointTurnParam = document.createElement("wpml:waypointTurnParam");
+        waypointTurnParam.appendChild(createElementWithTextContent(document, "wpml:waypointTurnMode", "toPointAndStopWithDiscontinuityCurvature"));
+        waypointTurnParam.appendChild(createElementWithTextContent(document, "wpml:waypointTurnDampingDist", "0.0"));
+        placemark.appendChild(waypointTurnParam);
+    }
+
+    private void addWaypointGimbalHeadingParam(Element placemark, Document document) {
+        Element waypointGimbalHeadingParam = document.createElement("wpml:waypointGimbalHeadingParam");
+        waypointGimbalHeadingParam.appendChild(createElementWithTextContent(document, "wpml:waypointGimbalPitchAngle", "0.0"));
+        placemark.appendChild(waypointGimbalHeadingParam);
+    }
+
+    public void updateDroneAndPayloadInfo(Document document, WaypointData dataRequest) {
+        NodeList droneInfoNodes = document.getElementsByTagName("wpml:droneInfo").item(0).getChildNodes();
+        for (int i = 0; i < droneInfoNodes.getLength(); i++) {
+            Node node = droneInfoNodes.item(i);
+            if (node.getNodeName().equals("wpml:droneEnumValue")) {
+                node.setTextContent(String.valueOf(dataRequest.getDroneInfo().getDroneEnumValue()));
+            } else if (node.getNodeName().equals("wpml:droneSubEnumValue")) {
+                node.setTextContent(String.valueOf(dataRequest.getDroneInfo().getDroneSubEnumValue()));
+            }
+        }
+
+        NodeList payloadInfoNodes = document.getElementsByTagName("wpml:payloadInfo").item(0).getChildNodes();
+        for (int i = 0; i < payloadInfoNodes.getLength(); i++) {
+            Node node = payloadInfoNodes.item(i);
+            if (node.getNodeName().equals("wpml:payloadEnumValue")) {
+                node.setTextContent(String.valueOf(dataRequest.getPayloadInfo().getPayloadEnumValue()));
+            } else if (node.getNodeName().equals("wpml:payloadSubEnumValue")) {
+                node.setTextContent(String.valueOf(dataRequest.getPayloadInfo().getPayloadSubEnumValue()));
+            } else if (node.getNodeName().equals("wpml:payloadPositionIndex")) {
+                node.setTextContent(String.valueOf(dataRequest.getPayloadInfo().getPayloadPositionIndex()));
+            }
+        }
+    }
+
+    public void removeExistingPlacemarks(Document document) {
+        NodeList placemarks = document.getElementsByTagName("Placemark");
+        int length = placemarks.getLength();
+        for (int i = length - 1; i >= 0; i--) {
+            Node placemark = placemarks.item(i);
+            placemark.getParentNode().removeChild(placemark);
+        }
+    }
+
+    public Element createElementWithTextContent(Document document, String tagName, String textContent) {
+        Element element = document.createElement(tagName);
+        element.setTextContent(textContent);
+        return element;
+    }
+
+    public byte[] convertDocumentToByteArray(Document document) throws TransformerException {
+        TransformerFactory transformerFactory = TransformerFactory.newInstance();
+        Transformer transformer = transformerFactory.newTransformer();
+        transformer.setOutputProperty(OutputKeys.INDENT, "yes");
+        transformer.setOutputProperty("{http://xml.apache.org/xslt}indent-amount", "2");
+        DOMSource source = new DOMSource(document);
+        StringWriter stringWriter = new StringWriter();
+        StreamResult result = new StreamResult(stringWriter);
+        transformer.transform(source, result);
+        String xmlString = stringWriter.toString();
+        xmlString = xmlString.replaceAll("(?m)^[ \t]*\r?\n", "");
+        return xmlString.getBytes(StandardCharsets.UTF_8);
+    }
+}

drone/ruoyi-wayline/src/main/resources/waypoint/template.kml

@@ -0,0 +1,119 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.2">
+    <Document>
+        <wpml:missionConfig>
+            <wpml:flyToWaylineMode>safely</wpml:flyToWaylineMode>
+            <wpml:finishAction>goHome</wpml:finishAction>
+            <wpml:exitOnRCLost>executeLostAction</wpml:exitOnRCLost>
+            <wpml:executeRCLostAction>goBack</wpml:executeRCLostAction>
+            <!-- 安全起飞高度 -->
+            <wpml:takeOffSecurityHeight>?</wpml:takeOffSecurityHeight>
+            <!-- 参考起飞点 -->
+            <wpml:takeOffRefPoint>?</wpml:takeOffRefPoint>
+            <!-- 全局航线过渡速度[飞向首航点速度] -->
+            <wpml:globalTransitionalSpeed>?</wpml:globalTransitionalSpeed>
+            <!-- 飞行器信息 -->
+            <wpml:droneInfo>
+                <wpml:droneEnumValue>?</wpml:droneEnumValue>
+                <wpml:droneSubEnumValue>?</wpml:droneSubEnumValue>
+            </wpml:droneInfo>
+            <!-- 负载信息 -->
+            <wpml:payloadInfo>
+                <wpml:payloadEnumValue>?</wpml:payloadEnumValue>
+                <wpml:payloadSubEnumValue>?</wpml:payloadSubEnumValue>
+                <wpml:payloadPositionIndex>?</wpml:payloadPositionIndex>
+            </wpml:payloadInfo>
+        </wpml:missionConfig>
+
+        <Folder>
+            <wpml:templateType>waypoint</wpml:templateType>
+            <!-- 模板ID -->
+            <wpml:templateId>?</wpml:templateId>
+            <!-- 全局航线飞行速度 -->
+            <wpml:autoFlightSpeed>?</wpml:autoFlightSpeed>
+            <wpml:globalWaypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:globalWaypointTurnMode>
+            <wpml:globalUseStraightLine>1</wpml:globalUseStraightLine>
+            <wpml:gimbalPitchMode>usePointSetting</wpml:gimbalPitchMode>
+            <!-- 全局航线高度（相对起飞点高度）-->
+            <wpml:globalHeight>?</wpml:globalHeight>
+            <wpml:waylineCoordinateSysParam>
+                <wpml:coordinateMode>WGS84</wpml:coordinateMode>
+                <wpml:heightMode>relativeToStartPoint</wpml:heightMode>
+                <wpml:positioningType>GPS</wpml:positioningType>
+                <!-- 飞行器离被摄面高度（相对地面高）-->
+                <wpml:globalShootHeight>?</wpml:globalShootHeight>
+            </wpml:waylineCoordinateSysParam>
+            <wpml:globalWaypointHeadingParam>
+                <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
+                <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
+                <wpml:waypointHeadingPathMode>followBadArc</wpml:waypointHeadingPathMode>
+            </wpml:globalWaypointHeadingParam>
+            <Placemark>
+                <Point>
+                    <!-- 经度,纬度 -->
+                    <coordinates>?</coordinates>
+                </Point>
+                <!-- 递增的 index -->
+                <wpml:index>?</wpml:index>
+                <!-- 全局航线高度（椭球高）选用相对起飞点高度则和下面一致 -->
+                <wpml:ellipsoidHeight>?</wpml:ellipsoidHeight>
+                <!-- 全局航线高度（EGM96海拔高）-->
+                <wpml:height>?</wpml:height>
+                <wpml:useGlobalHeight>1</wpml:useGlobalHeight>
+                <wpml:useGlobalSpeed>1</wpml:useGlobalSpeed>
+                <wpml:useGlobalHeadingParam>1</wpml:useGlobalHeadingParam>
+                <wpml:useGlobalTurnParam>1</wpml:useGlobalTurnParam>
+                <wpml:useStraightLine>1</wpml:useStraightLine>
+                <wpml:gimbalPitchAngle>0.0</wpml:gimbalPitchAngle>
+                <!-- 航点飞行速度 -->
+                <wpml:waypointSpeed>?</wpml:waypointSpeed>
+                <wpml:actionGroup>
+                    <wpml:actionGroupId>0</wpml:actionGroupId>
+                    <wpml:actionGroupStartIndex>0</wpml:actionGroupStartIndex>
+                    <wpml:actionGroupEndIndex>0</wpml:actionGroupEndIndex>
+                    <wpml:actionGroupMode>sequence</wpml:actionGroupMode>
+                    <wpml:actionTrigger>
+                        <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
+                    </wpml:actionTrigger>
+                    <wpml:action>
+                        <wpml:actionId>0</wpml:actionId>
+                        <wpml:actionActuatorFunc>gimbalRotate</wpml:actionActuatorFunc>
+                        <wpml:actionActuatorFuncParam>
+                            <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
+                            <wpml:gimbalPitchRotateEnable>1</wpml:gimbalPitchRotateEnable>
+                            <wpml:gimbalPitchRotateAngle>-90.0</wpml:gimbalPitchRotateAngle>
+                            <wpml:gimbalRollRotateEnable>0</wpml:gimbalRollRotateEnable>
+                            <wpml:gimbalRollRotateAngle>0.0</wpml:gimbalRollRotateAngle>
+                            <wpml:gimbalYawRotateEnable>0</wpml:gimbalYawRotateEnable>
+                            <wpml:gimbalYawRotateAngle>0.0</wpml:gimbalYawRotateAngle>
+                            <wpml:gimbalRotateTimeEnable>1</wpml:gimbalRotateTimeEnable>
+                            <wpml:gimbalRotateTime>0.0</wpml:gimbalRotateTime>
+                        </wpml:actionActuatorFuncParam>
+                    </wpml:action>
+                    <wpml:action>
+                        <wpml:actionId>1</wpml:actionId>
+                        <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
+                        <wpml:actionActuatorFuncParam>
+                            <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
+                            <!-- 图片格式列表 -->
+                            <wpml:payloadLensIndex>?</wpml:payloadLensIndex>
+                            <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
+                        </wpml:actionActuatorFuncParam>
+                    </wpml:action>
+                </wpml:actionGroup>
+            </Placemark>
+            <wpml:payloadParam>
+                <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
+                <wpml:focusMode>firstPoint</wpml:focusMode>
+                <wpml:meteringMode>average</wpml:meteringMode>
+                <wpml:dewarpingEnable>0</wpml:dewarpingEnable>
+                <wpml:returnMode>singleReturnStrongest</wpml:returnMode>
+                <wpml:samplingRate>160000</wpml:samplingRate>
+                <wpml:modelColoringEnable>0</wpml:modelColoringEnable>
+                <!-- 图片格式列表 -->
+                <wpml:imageFormat>?</wpml:imageFormat>
+            </wpml:payloadParam>
+            <Circle></Circle>
+        </Folder>
+    </Document>
+</kml>

drone/ruoyi-wayline/src/main/resources/waypoint/waylines.wpml

@@ -0,0 +1,93 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:wpml="http://www.dji.com/wpmz/1.0.2">
+    <Document>
+        <wpml:missionConfig>
+            <wpml:flyToWaylineMode>safely</wpml:flyToWaylineMode>
+            <wpml:finishAction>goHome</wpml:finishAction>
+            <wpml:exitOnRCLost>executeLostAction</wpml:exitOnRCLost>
+            <wpml:executeRCLostAction>goBack</wpml:executeRCLostAction>
+            <!-- 安全起飞高度 -->
+            <wpml:takeOffSecurityHeight>?</wpml:takeOffSecurityHeight>
+            <!-- 全局航线过渡速度[飞向首航点速度] -->
+            <wpml:globalTransitionalSpeed>?</wpml:globalTransitionalSpeed>
+            <!-- 飞行器信息 -->
+            <wpml:droneInfo>
+                <wpml:droneEnumValue>?</wpml:droneEnumValue>
+                <wpml:droneSubEnumValue>?</wpml:droneSubEnumValue>
+            </wpml:droneInfo>
+            <!-- 负载信息 -->
+            <wpml:payloadInfo>
+                <wpml:payloadEnumValue>?</wpml:payloadEnumValue>
+                <wpml:payloadSubEnumValue>?</wpml:payloadSubEnumValue>
+                <wpml:payloadPositionIndex>?</wpml:payloadPositionIndex>
+            </wpml:payloadInfo>
+        </wpml:missionConfig>
+        <Folder>
+            <!-- 模板ID -->
+            <wpml:templateId>?</wpml:templateId>
+            <wpml:waylineId>0</wpml:waylineId>
+            <!-- 全局航线飞行速度 -->
+            <wpml:autoFlightSpeed>?</wpml:autoFlightSpeed>
+            <wpml:executeHeightMode>relativeToStartPoint</wpml:executeHeightMode>
+            <Placemark>
+                <Point>
+                    <!-- 经度,纬度 -->
+                    <coordinates>?</coordinates>
+                </Point>
+                <!-- 递增的 index -->
+                <wpml:index>?</wpml:index>
+                <!-- 航点执行高度 -->
+                <wpml:executeHeight>?</wpml:executeHeight>
+                <!-- 航点飞行速度,当前航点飞向下一个航点的速度 -->
+                <wpml:waypointSpeed>?</wpml:waypointSpeed>
+                <wpml:waypointHeadingParam>
+                    <wpml:waypointHeadingMode>followWayline</wpml:waypointHeadingMode>
+                    <wpml:waypointHeadingAngle>0</wpml:waypointHeadingAngle>
+                    <wpml:waypointHeadingPathMode>followBadArc</wpml:waypointHeadingPathMode>
+                </wpml:waypointHeadingParam>
+                <wpml:waypointTurnParam>
+                    <wpml:waypointTurnMode>toPointAndStopWithDiscontinuityCurvature</wpml:waypointTurnMode>
+                    <wpml:waypointTurnDampingDist>0.0</wpml:waypointTurnDampingDist>
+                </wpml:waypointTurnParam>
+                <wpml:waypointGimbalHeadingParam>
+                    <wpml:waypointGimbalPitchAngle>0.0</wpml:waypointGimbalPitchAngle>
+                </wpml:waypointGimbalHeadingParam>
+                <wpml:useStraightLine>1</wpml:useStraightLine>
+                <wpml:actionGroup>
+                    <wpml:actionGroupId>0</wpml:actionGroupId>
+                    <wpml:actionGroupStartIndex>0</wpml:actionGroupStartIndex>
+                    <wpml:actionGroupEndIndex>0</wpml:actionGroupEndIndex>
+                    <wpml:actionGroupMode>sequence</wpml:actionGroupMode>
+                    <wpml:actionTrigger>
+                        <wpml:actionTriggerType>reachPoint</wpml:actionTriggerType>
+                    </wpml:actionTrigger>
+                    <wpml:action>
+                        <wpml:actionId>0</wpml:actionId>
+                        <wpml:actionActuatorFunc>gimbalRotate</wpml:actionActuatorFunc>
+                        <wpml:actionActuatorFuncParam>
+                            <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
+                            <wpml:gimbalPitchRotateEnable>1</wpml:gimbalPitchRotateEnable>
+                            <wpml:gimbalPitchRotateAngle>-90.0</wpml:gimbalPitchRotateAngle>
+                            <wpml:gimbalRollRotateEnable>0</wpml:gimbalRollRotateEnable>
+                            <wpml:gimbalRollRotateAngle>0.0</wpml:gimbalRollRotateAngle>
+                            <wpml:gimbalYawRotateEnable>0</wpml:gimbalYawRotateEnable>
+                            <wpml:gimbalYawRotateAngle>0.0</wpml:gimbalYawRotateAngle>
+                            <wpml:gimbalRotateTimeEnable>0</wpml:gimbalRotateTimeEnable>
+                            <wpml:gimbalRotateTime>0.0</wpml:gimbalRotateTime>
+                        </wpml:actionActuatorFuncParam>
+                    </wpml:action>
+                    <wpml:action>
+                        <wpml:actionId>1</wpml:actionId>
+                        <wpml:actionActuatorFunc>takePhoto</wpml:actionActuatorFunc>
+                        <wpml:actionActuatorFuncParam>
+                            <wpml:payloadPositionIndex>0</wpml:payloadPositionIndex>
+                            <!-- 图片格式列表 -->
+                            <wpml:payloadLensIndex>?</wpml:payloadLensIndex>
+                            <wpml:useGlobalPayloadLensIndex>1</wpml:useGlobalPayloadLensIndex>
+                        </wpml:actionActuatorFuncParam>
+                    </wpml:action>
+                </wpml:actionGroup>
+            </Placemark>
+        </Folder>
+    </Document>
+</kml>