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@ -22,6 +22,7 @@
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<airPolygon
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@setFlyPoint="setFlyPoint"
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:airInfo="airInfo"
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:editModel="props.editMode"
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:polygonAirForm="polygonAirForm"
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:airLineForm="props.airLineForm"
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:waylineInfo="props.waylineInfo"
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@ -42,7 +43,7 @@
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<script lang="ts" setup>
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import { ref, onMounted, defineProps, watch, defineEmits } from 'vue';
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import { message } from 'ant-design-vue';
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import { GeojsonToWkt } from '@/components/MapboxMaps/src/WktGeojsonTransform';
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import { GeojsonToWkt,WktToGeojson } from '@/components/MapboxMaps/src/WktGeojsonTransform';
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import { buildUUID } from '@/utils/uuid';
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import airPoint from './airPoint.vue';
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import * as mars3d from 'mars3d';
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@ -103,6 +104,97 @@
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},
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"waylineInfo":{
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type:Object,
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default: () => ({
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"missionConfig":{
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"flyToWaylineMode": "safely", // 爬升模式 safely pointToPoint
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"finishAction": "goHome", // 航线结束动作
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"exitOnRCLost": "executeLostAction", // 失控是否继续执行航线
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"executeRCLostAction": "goBack", // 失控动作类型
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"takeOffSecurityHeight": 20, // 安全起飞高度
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"globalTransitionalSpeed": 15, // 全局航线过渡速度
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"globalRTHHeight": 100, // 全局返航高度
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"droneInfo": { // 飞行器机型信息
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"droneEnumValue": 100,
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"droneSubEnumValue": 1
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},
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"autoRerouteInfo": { // 航线绕行
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"transitionalAutoRerouteMode": 1,
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"missionAutoRerouteMode": 1
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},
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"waylineAvoidLimitAreaMode": 0,
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"payloadInfo": { // 负载机型信息
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"payloadEnumValue": 99, // 负载机型主类型
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"payloadSubEnumValue": 2,
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"payloadPositionIndex": 0 // 负载挂载位置
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}
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},
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"Folder":{
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"templateId": 0,
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"executeHeightMode": "WGS84",
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"waylineId": 0,
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"distance": 1391.755859375,
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"duration": 200.941531419754,
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"autoFlightSpeed": 8.2, // 全局航线飞行速度
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"startActionGroup": {
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"action": [
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{
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"actionId": 0,
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"actionActuatorFunc": "gimbalRotate",
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"actionActuatorFuncParam": {
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"gimbalHeadingYawBase": "aircraft",
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"gimbalRotateMode": "absoluteAngle",
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"gimbalPitchRotateEnable": 1,
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"gimbalPitchRotateAngle": -90,
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"gimbalRollRotateEnable": 0,
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"gimbalRollRotateAngle": 0,
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"gimbalYawRotateEnable": 1,
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"gimbalYawRotateAngle": 0,
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"gimbalRotateTimeEnable": 0,
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"gimbalRotateTime": 10,
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"payloadPositionIndex": 0
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}
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},
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{
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"actionId": 1,
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"actionActuatorFunc": "hover",
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"actionActuatorFuncParam": {
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"hoverTime": 0.5
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}
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},
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{
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"actionId": 2,
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"actionActuatorFunc": "setFocusType",
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"actionActuatorFuncParam": {
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"cameraFocusType": "manual",
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"payloadPositionIndex": 0
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}
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},
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{
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"actionId": 3,
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"actionActuatorFunc": "focus",
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"actionActuatorFuncParam": {
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"focusX": 0,
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"focusY": 0,
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"focusRegionWidth": 0,
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"focusRegionHeight": 0,
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"isPointFocus": 0,
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"isInfiniteFocus": 1,
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"payloadPositionIndex": 0,
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"isCalibrationFocus": 0
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}
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},
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{
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"actionId": 4,
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"actionActuatorFunc": "hover",
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"actionActuatorFuncParam": {
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"hoverTime": 1
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}
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}
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]
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},
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Placemark:[]
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}
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})
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},
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"workPlanFormShow":{
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type:Boolean
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@ -273,20 +365,27 @@ const generatePreviewPoint = (placemark)=>{
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airPointConfigShow.value = true;
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};
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///////////////////////////////图层中心////////////////////////////////////////////
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let map: mars3d.Map; // 地图对象
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let graphicLayer: mars3d.layer.GraphicLayer;
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// 设置参考起飞点图层
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let drawGraphicLayer:mars3d.layer.GraphicLayer;
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let takeOffPointGraphicLayer:mars3d.layer.GraphicLayer;
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let uavGraphicLayer: mars3d.layer.GraphicLayer;
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// 面航线图层
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// 测区面图层
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let polygonGraphicLayer: mars3d.layer.GraphicLayer;
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// 面航线图层
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let polygonLineGraphicLayer: mars3d.layer.GeoJsonLayer;
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// 航点地面投影点
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// 文本标注图层
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let textLabelGraphicLayer: mars3d.layer.GraphicLayer;
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// 航点地面投影点图层
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let stickGroundPointLayer: mars3d.layer.GraphicLayer;
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// 航点连接线
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@ -294,6 +393,7 @@ const generatePreviewPoint = (placemark)=>{
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// 项目首页机场位置
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let homeStartGraphic;
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let homeStartGraphicLive;
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let graphic = null;
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@ -302,16 +402,23 @@ const generatePreviewPoint = (placemark)=>{
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// 清空数据
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graphicLayer ? graphicLayer.clear() : null;
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drawGraphicLayer ? drawGraphicLayer.clear() : null;
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takeOffPointGraphicLayer ? takeOffPointGraphicLayer.clear() : null;
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stickGroundPointLayer ? stickGroundPointLayer.clear() : null;
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lineGroundPointLayer ? lineGroundPointLayer.clear() : null;
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labelGraphicLayer ? labelGraphicLayer.clear() : null;
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textLabelGraphicLayer ? textLabelGraphicLayer.clear() : null;
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polygonGraphicLayer ? polygonGraphicLayer.clear() : null;
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polygonLineGraphicLayer ? polygonLineGraphicLayer.clear() : null;
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airPoints.value = [];
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props.airLineForm.airLineType = null;
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airPointConfigShow.value = false;
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emits('exitDraw');
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@ -536,15 +643,15 @@ const initMap = () => {
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// 参考起飞点图层
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drawGraphicLayer = new mars3d.layer.GraphicLayer({
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takeOffPointGraphicLayer = new mars3d.layer.GraphicLayer({
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isAutoEditing:true,
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})
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drawGraphicLayer.on(mars3d.EventType.editMovePoint, function (event) {
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takeOffPointGraphicLayer.on(mars3d.EventType.editMovePoint, function (event) {
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flyPointMove(event);
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});
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map.addLayer(drawGraphicLayer);
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map.addLayer(takeOffPointGraphicLayer);
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// 航点地面投影点
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stickGroundPointLayer = new mars3d.layer.GraphicLayer({
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@ -566,7 +673,7 @@ const initMap = () => {
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});
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// 面状航线
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// 面测区图层
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polygonGraphicLayer = new mars3d.layer.GraphicLayer({
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isAutoEditing: true, // 是否自动激活编辑
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});
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@ -586,6 +693,7 @@ const initMap = () => {
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})
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map.addLayer(polygonGraphicLayer);
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// 绘制起点
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// handlerDrawStartPoint();
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@ -671,13 +779,15 @@ const loadChangGuangLayer = ()=>{
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///////////////////////////////参考起飞点////////////////////////////////////////////
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// 全局参考起飞点
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const startPosition = ref(null);
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// 全局参考起飞点 数据格式：[lng,lat,alt]
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const startPosition = ref(null);
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// 设置起飞点
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const setFlyPoint = async () => {
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drawGraphicLayer ? drawGraphicLayer.clear() : null;
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const graphic = await drawGraphicLayer.startDraw({
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takeOffPointGraphicLayer ? takeOffPointGraphicLayer.clear() : null;
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const graphic = await takeOffPointGraphicLayer.startDraw({
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type: 'billboardP',
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style: {
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image: '/map/start.png',
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@ -742,6 +852,7 @@ const handlerGetLngLatHeight = (e)=>{
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const polygonGeoJson = ref();
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// 计算参数
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const polygonCalculateParams = ref({
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"gsd": 0,
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"overlapY": 70,
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@ -755,7 +866,6 @@ const polygonCalculateParams = ref({
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// 绘制面状测区
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const handlerDrawPolygon = async () => {
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const graphic = await polygonGraphicLayer.startDraw({
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type: 'polygon',
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style: {
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@ -776,6 +886,13 @@ const handlerDrawPolygon = async () => {
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let polygon = turf.polygon([coordinates]);
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let polygonWkt = GeojsonToWkt(polygon['geometry']);
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props.airLineForm.flyToFirstPointMode = polygonWkt;
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console.log("props.airLineForm",props.airLineForm);
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let spceing = parseFloat(polygonCalculateParams.value?.spacing) / 10000;
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let lines = generateScanLines(polygon,spceing, 0);
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@ -792,7 +909,11 @@ const handlerPolygonEdit = (e)=>{
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let coordinates = e.graphic.toJSON().positions;
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coordinates.push(coordinates[0]);
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if(props.editMode == 'add'){
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coordinates.push(coordinates[0]);
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}
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console.log("coordinates",coordinates);
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polygonGeoJson.value = coordinates;
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@ -859,14 +980,18 @@ const handlerDrawPolygonLine = (lines) => {
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polygonGraphicLayer.addGraphic(graphic);
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}
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// 添加起飞点
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// 判断飞行模式
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lines.geometry.coordinates.unshift([
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polygonAirForm.value.startingPoint[0],
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polygonAirForm.value.startingPoint[1],
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polygonAirForm.value.startingPoint[2] + parseFloat(polygonCalculateParams.value.safeyFlyHeight),
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]);
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// 链接起点
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lines.geometry.coordinates.unshift(polygonAirForm.value.startingPoint);
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if (polygonLineGraphicLayer) {
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polygonLineGraphicLayer.clear();
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polygonLineGraphicLayer.loadGeoJSON(lines);
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@ -881,6 +1006,7 @@ const handlerDrawPolygonLine = (lines) => {
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width: 2.0,
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color: '#0aed8b',
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// clampToGround: true,
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extrudedHeight: 100, // 相对于地形的高度（米）
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},
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},
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flyTo: true,
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@ -1062,7 +1188,7 @@ const handlerRemovePolygonArea = () => {
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polygonLineGraphicLayer.clear();
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}
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labelGraphicLayer ? labelGraphicLayer.clear() : null;
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textLabelGraphicLayer ? textLabelGraphicLayer.clear() : null;
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polygonGeoJson.value = null;
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@ -1114,7 +1240,6 @@ const updatePolygonLineByParams = ()=>{
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// 计算绘制的多边形每条线的长度和中心点
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const polygonBorderInfo = ref([]);
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let labelGraphicLayer:mars3d.layer.GraphicLayer;
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// 计算测区各边长
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const handlerGetPolygonBorderInfo = (polygonCoords) => {
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@ -1139,22 +1264,22 @@ const handlerGetPolygonBorderInfo = (polygonCoords) => {
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});
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}
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handlerLoadLabelGraphicLayer(edgeLengths);
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handlerLoadtextLabelGraphicLayer(edgeLengths);
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return edgeLengths;
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}
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// 绘制文本标注
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const handlerLoadLabelGraphicLayer = (info) => {
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const handlerLoadtextLabelGraphicLayer = (info) => {
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if(labelGraphicLayer == null){
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labelGraphicLayer = new mars3d.layer.GraphicLayer({
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if(textLabelGraphicLayer == null){
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textLabelGraphicLayer = new mars3d.layer.GraphicLayer({
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isAutoEditing:false
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})
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map.addLayer(labelGraphicLayer);
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map.addLayer(textLabelGraphicLayer);
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}else{
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labelGraphicLayer.clear();
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textLabelGraphicLayer.clear();
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}
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info?.forEach((item,index)=>{
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const graphic = new mars3d.graphic.LabelEntity({
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position: [item.center[0], item.center[1], 0],
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@ -1174,7 +1299,7 @@ const handlerLoadLabelGraphicLayer = (info) => {
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},
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attr: { remark: "示例1" }
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})
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labelGraphicLayer.addGraphic(graphic)
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textLabelGraphicLayer.addGraphic(graphic)
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})
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}
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@ -1185,7 +1310,7 @@ const handlerEditPolygonAirLine =async () => {
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polygonAirForm.value.startingPoint = [props.airLineForm.taskOffLng,props.airLineForm.taskOffLat];
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// 起点
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drawGraphicLayer ? drawGraphicLayer.clear() : null;
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takeOffPointGraphicLayer ? takeOffPointGraphicLayer.clear() : null;
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let startFlyGraphic = new mars3d.graphic.BillboardEntity({
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position:[props.airLineForm.taskOffLng,props.airLineForm.taskOffLat],
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style: {
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@ -1203,9 +1328,43 @@ const handlerEditPolygonAirLine =async () => {
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clampToGround: true,
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},
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})
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drawGraphicLayer.addGraphic(startFlyGraphic);
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takeOffPointGraphicLayer.addGraphic(startFlyGraphic);
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startPosition.value = [props.airLineForm.taskOffLng,props.airLineForm.taskOffLat,71]
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// 测区
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let areaJson = WktToGeojson(props.airLineForm.flyToFirstPointMode)
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polygonGeoJson.value = areaJson.coordinates[0];
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let geojsonData = {
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"type": "FeatureCollection",
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"features": [
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{
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"type": "Feature",
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"geometry": areaJson,
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},
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]
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}
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polygonGraphicLayer ? polygonGraphicLayer.clear() : null;
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polygonGraphicLayer.loadGeoJSON(geojsonData,{
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type: 'polygon',
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flyTo:true,
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style: {
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color: '#408eff',
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opacity: 0.3,
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outline: true,
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outlineColor: '#408eff',
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outlineWidth: 3.0,
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clampToGround: true,
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},
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})
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// 文本标注
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handlerGetPolygonBorderInfo(areaJson.coordinates[0])
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// 航线
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let placemark = props.waylineInfo?.Folder?.Placemark
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@ -1235,11 +1394,6 @@ const handlerEditPolygonAirLine =async () => {
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handlerDrawPolygonLine(line);
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// 文本标注
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// 更新航线
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updatePolygonLineByParams();
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}
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///////////////////////////////航点航线计算////////////////////////////////////////////
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@ -1984,7 +2138,7 @@ const clearAllLayer = () => {
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polygonLineGraphicLayer ? polygonLineGraphicLayer.clear() : null;
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// 文字标注
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labelGraphicLayer ? labelGraphicLayer.clear() : null;
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textLabelGraphicLayer ? textLabelGraphicLayer.clear() : null;
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airPoints.value = [];
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polygonGeoJson.value = null;
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