feat:航线增加新的航点动作保存

src/main/java/com/ruoyi/airline/domain/model/kml/KmlActionActuatorFuncParam.java

@@ -158,4 +158,18 @@ public class KmlActionActuatorFuncParam {
 
     @XStreamAlias("wpml:recordPointCloudOperate")
     private String recordPointCloudOperate;
+
+    // 间隔拍照参数
+
+    @XStreamAlias("wpml:photoTime")
+    private String photoTime;
+
+    @XStreamAlias("wpml:photoDistance")
+    private String photoDistance;
+
+    @XStreamAlias("wpml:photoType")
+    private String photoType;
+
+    @XStreamAlias("wpml:droneYaw")
+    private String droneYaw;
 }

src/main/java/com/ruoyi/airline/domain/uitl/WayPointUitls.java

@@ -165,6 +165,29 @@ public class WayPointUitls {
             case 20: // 返航 （使用的是第一个航点的经纬度和高度）
                 return String.format("%d\t0\t3\t20\t0\t0\t0\t0\t%s\t%s\t%d.000000\t1", index, point.getLat(), point.getLon(), point.getAlt());
 
+            case 4000: // 飞行器偏航角
+                return String.format(Locale.US,
+                        "%d\t0\t3\t531\t0\t%s\t0\t0\t0\t0\t0.000000\t1",
+                        index, point.getDroneYaw());
+
+            case 5000: // 开始等时间隔拍照
+                return String.format(Locale.US,
+                        "%d\t0\t3\t205\t%s\t0\t%s\t0\t0\t0\t0.000000\t1",
+                        index, point.getPhotoTime(), point.getPhotoType());
+
+            case 6000: // 开始等间距隔拍照
+                return String.format(Locale.US,
+                        "%d\t0\t3\t205\t%s\t0\t%s\t0\t0\t0\t0.000000\t1",
+                        index, point.getPhotoDistance(), point.getPhotoType());
+
+            case 7000: // 结束间隔拍照
+                return String.format(Locale.US,
+                        "%d\t0\t3\t2501\t0\t0\t0\t0\t0\t0\t0.000000\t1", index);
+
+            case 8000: // 全景拍照
+                return String.format(Locale.US,
+                        "%d\t0\t3\t2501\t0\t0\t0\t0\t0\t0\t0.000000\t1", index);
+ 
             default:
                 throw new IllegalArgumentException("未知命令: " + point.getCommand());
         }
@@ -274,6 +297,66 @@ public class WayPointUitls {
                 ));
                 break;
 
+            case "panoPhoto":
+                // 全景拍照（命令8000）
+                linePoints.add(buildPoint(
+                        8000,
+                        "0", "0", 0,
+                        "0", "0", "0", "0",
+                        0, 0, 0
+                ));
+                break;
+
+            case "startTimeIntervalPhoto":
+                // 开始等时间隔拍照（命令5000）
+                linePoints.add(buildPoint(
+                        5000,
+                        "0", "0", 0,
+                        "0", "0", "0", "0",
+                        0, 0, 0,
+                        actionActuatorFuncParam.getPhotoTime(),
+                        null,
+                        actionActuatorFuncParam.getPhotoType(),
+                        null
+                ));
+                break;
+
+            case "startDistanceIntervalPhoto":
+                // 开始等间距隔拍照（命令6000）
+                linePoints.add(buildPoint(
+                        6000,
+                        "0", "0", 0,
+                        "0", "0", "0", "0",
+                        0, 0, 0,
+                        null,
+                        actionActuatorFuncParam.getPhotoDistance(),
+                        actionActuatorFuncParam.getPhotoType(),
+                        null
+                ));
+                break;
+
+            case "stopIntervalPhoto":
+                // 结束间隔拍照（命令7000）
+                linePoints.add(buildPoint(
+                        7000,
+                        "0", "0", 0,
+                        "0", "0", "0", "0",
+                        0, 0, 0
+                ));
+                break;
+
+            case "aircraftYaw":
+                // 飞行器偏航角（命令4000）
+                linePoints.add(buildPoint(
+                        4000,
+                        "0", "0", 0,
+                        "0", "0", "0", "0",
+                        0, 0, 0,
+                        null, null, null,
+                        actionActuatorFuncParam.getDroneYaw()
+                ));
+                break;
+
             default:
                 log.error("未知动作类型: {}", actionType);
         }
@@ -299,5 +382,19 @@ public class WayPointUitls {
         return point;
     }
 
+    //构建waypoint航点（带间隔拍照参数）
+    public static AirLinePointDTO buildPoint(int command, String lat, String lon, int alt,
+                                            String loiterTime, String cameraPitch, String cameraRoll, String cameraYaw,
+                                            int sessionControl, int zoomAbsolute, int rotateDirection,
+                                            String photoTime, String photoDistance, String photoType, String droneYaw) {
+        AirLinePointDTO point = buildPoint(command, lat, lon, alt, loiterTime, cameraPitch, cameraRoll, cameraYaw,
+                sessionControl, zoomAbsolute, rotateDirection);
+        point.setPhotoTime(photoTime);
+        point.setPhotoDistance(photoDistance);
+        point.setPhotoType(photoType);
+        point.setDroneYaw(droneYaw);
+        return point;
+    }
+
 
 }

src/main/java/com/ruoyi/airline/service/dto/AirLinePointDTO.java

@@ -75,4 +75,24 @@ public class AirLinePointDTO implements Serializable {
      * 转动方向  -1逆时针   1相对机场方向  （硬件定义的）
      */
     private Integer rotateDirection;
+
+    /**
+     * 间隔拍照时间（秒）- 命令5000
+     */
+    private String photoTime;
+
+    /**
+     * 间隔拍照距离（米）- 命令6000
+     */
+    private String photoDistance;
+
+    /**
+     * 照片类型（数组1,2,3）- 命令5000/6000
+     */
+    private String photoType;
+
+    /**
+     * 飞行器偏航角 - 命令4000
+     */
+    private String droneYaw;
 }