无人机控制接口

tuoheng-admin/src/main/java/com/tuoheng/admin/enums/DroneControlEnum.java

@@ -0,0 +1,93 @@
+package com.tuoheng.admin.enums;
+
+import lombok.Getter;
+
+/**
+ * @Author: 汪维
+ * @CreateTime: 2023-06-13  11:09
+ * @Description: 机场控制类型 枚举
+ * @Version: 1.0
+ */
+public enum DroneControlEnum {
+
+
+    MODELOITER("01", "悬停","zhilin","loiter"),
+
+    MODERTL("02", "返航","zhilin","rtl"),
+
+    MODEAUTO("04", "任务","zhilin","auto"),
+
+    MODECHECK("05", "环境检查","zhilin","check"),
+
+//云台控制
+    CAMERAUP("01","俯仰（上）","yuntai","cameraup"),
+
+    CAMERADOMN("02","俯仰（下）","yuntai","cameradown"),
+
+    CAMERALEFT("03","左移","yuntai","cameraleft"),
+
+    CAMERARIGHT("04","右移","yuntai","cameraright"),
+
+    CAMERABIG("05","放大","yuntai","camerabig"),
+
+    CAMERASMALL("06","缩小","yuntai","camerasmall"),
+
+    CAMERAPHOTO("07","拍照","yuntai","cameraphoto"),
+
+    CAMERARECORDING("08","录像","yuntai","camerarecording"),
+
+    CAMERARESET("09","云台复位","yuntai","camerareset"),
+
+    CAMERASTOP("10","云台停止","yuntai","camerastop"),
+
+    CAMERASTOPRECORDING("20","停止录像","yuntai","camerastoprecording"),
+
+    CAMERLIGHT("20","可见光","yuntai","cameralight"),
+
+    CAMERABLANKHOT("20","黑热","yuntai","camerablackhot"),
+
+    CAMERACOLOR("20","彩色","yuntai","cameracolor"),
+
+    CAMERAWHITE("20","白热","yuntai","camerawhite"),
+    ;
+
+
+
+    DroneControlEnum(String value, String desc,String code,String requestCode) {
+        this.value = value;
+        this.desc = desc;
+        this.code=code;
+        this.requsetCode=requestCode;
+    }
+
+
+    /**
+     * 控制类型
+     */
+    @Getter
+    private String value;
+
+    /**
+     * 描述
+     */
+    @Getter
+    private String desc;
+    @Getter
+    private String code;
+    @Getter
+    private String requsetCode;
+
+    /**
+     * 根据请求的code查询
+     * @param requestCode
+     * @return
+     */
+    public static DroneControlEnum findEnumByValue(String requestCode) {
+        for (DroneControlEnum statusEnum : DroneControlEnum.values()) {
+            if (statusEnum.getRequsetCode() == requestCode) {
+                return statusEnum;
+            }
+        }
+        throw new IllegalArgumentException("请求值不支持");
+    }
+}

tuoheng-admin/src/main/java/com/tuoheng/admin/enums/ServiceExceptionEnum.java

@@ -19,6 +19,9 @@ public enum ServiceExceptionEnum implements ExceptionInterface {
      */
     AIRPORT_ENVIORMENT_ERROR(5555, "机场环境检查异常！"),
 
+    HTTP_RETURN_EMPTY(5556,"请求返回空"),
+
+    HTTP_RETURN_ERROR(5557,"请求返回错误"),
     ;
 
     @Getter

tuoheng-admin/src/main/java/com/tuoheng/admin/pojo/entity/Point.java

@@ -0,0 +1,29 @@
+package com.tuoheng.admin.pojo.entity;
+
+import com.tuoheng.common.common.BaseEntity;
+import lombok.Data;
+
+/**
+ * @Author: 吴彬
+ * @CreateTime: 2023-05-22  19:09
+ * @Description: 机场表
+ * @Version: 1.0
+ */
+@Data
+public class Point{
+
+    /**
+     * 经纬度
+     */
+    private String zlat;
+
+    /**
+     * 经纬度
+     */
+    private String zlon;
+
+    /**
+     * 高度
+     */
+    private String zalt;
+}

tuoheng-admin/src/main/java/com/tuoheng/admin/service/drone/IDroneControlService.java

@@ -0,0 +1,32 @@
+package com.tuoheng.admin.service.drone;
+
+import com.tuoheng.admin.pojo.entity.Point;
+import com.tuoheng.common.utils.JsonResult;
+
+/**
+ * @Author: 汪维
+ * @CreateTime: 2023-06-12  19:09
+ * @Description: 无人机控制 服务类
+ * @Version: 1.0
+ */
+public interface IDroneControlService {
+    /**
+     * 无人机模式动作 如悬停 返航
+     * @return
+     */
+    JsonResult doAction(String action,int airportId);
+
+    /**
+     * 指点飞行
+     * @return
+     */
+    JsonResult toPiont(Point point, int airportId) throws Exception;
+
+    /**
+     * 航线上传加载
+     * @return
+     */
+    JsonResult uploadFlyLine(String url,int airportId);
+
+
+}

tuoheng-admin/src/main/java/com/tuoheng/admin/service/drone/impl/DroneControlServiceImpl.java

@@ -0,0 +1,131 @@
+package com.tuoheng.admin.service.drone.impl;
+
+
+import com.alibaba.fastjson.JSONObject;
+import com.tuoheng.admin.enums.DroneControlEnum;
+import com.tuoheng.admin.enums.ServiceExceptionEnum;
+import com.tuoheng.admin.pojo.entity.Airport;
+import com.tuoheng.admin.pojo.entity.Point;
+
+import com.tuoheng.admin.service.drone.IDroneControlService;
+import com.tuoheng.admin.service.airport.impl.AirportServiceImpl;
+import com.tuoheng.admin.utils.HTTPUtils;
+import com.tuoheng.common.utils.JsonResult;
+import com.tuoheng.common.utils.StringUtils;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+
+
+/**
+ * @Author: 汪维
+ * @CreateTime: 2023-06-12  19:09
+ * @Description: 无人机控制 服务实现类
+ * @Version: 1.0
+ */
+@Service
+@Slf4j
+public class DroneControlServiceImpl implements IDroneControlService {
+    @Autowired
+    AirportServiceImpl airportService;
+
+    /**
+     * 根据指令 执行无人机控制模式及通道
+     * @param action
+     * @param airportId
+     * @return
+     */
+    @Override
+    public JsonResult doAction(String action, int airportId) {
+        try {
+            Airport airport = airportService.getById(airportId);
+            if (airport==null){
+                return JsonResult.error(ServiceExceptionEnum.HTTP_RETURN_ERROR);
+            }
+            JSONObject parm = new JSONObject();
+            DroneControlEnum droneControlEnum = DroneControlEnum.findEnumByValue(action);
+            parm.put(droneControlEnum.getCode(), droneControlEnum.getValue());
+            String result = HTTPUtils.requestHTTPContent(airport.getGroundStationUrl(),"post",HTTPUtils.headers,parm);
+            return returnResult(result,airport.getGroundStationUrl(),JSONObject.toJSONString(parm));
+        } catch (Exception e) {
+            log.error("异常",e);
+            e.printStackTrace();
+        }
+        return null;
+    }
+
+    /**
+     * 指点飞行
+     * @param point
+     * @param airportId
+     * @return
+     */
+    @Override
+    public JsonResult toPiont(Point point, int airportId) {
+        Airport airport = airportService.getById(airportId);
+        if (airport==null){
+            return JsonResult.error(ServiceExceptionEnum.HTTP_RETURN_ERROR);
+        }
+        JSONObject parm = (JSONObject)JSONObject.toJSON(point);
+        String result = null;
+        try {
+            result = HTTPUtils.requestHTTPContent(airport.getGroundStationUrl(),"post",HTTPUtils.headers,parm);
+        } catch (Exception e) {
+            log.error("异常",e);
+            e.printStackTrace();
+        }
+        return returnResult(result,airport.getGroundStationUrl(),JSONObject.toJSONString(parm));
+    }
+
+    /**
+     * 上传航线并加载
+     * @param url
+     * @param airportId
+     * @return
+     */
+    @Override
+    public JsonResult uploadFlyLine(String url, int airportId) {
+        Airport airport = airportService.getById(airportId);
+        if (airport==null){
+            return JsonResult.error(ServiceExceptionEnum.HTTP_RETURN_ERROR);
+        }
+        JSONObject parm = new JSONObject();
+        parm.put("hangdian",url);
+        String result = null;
+        try {
+            result = HTTPUtils.requestHTTPContent(airport.getGroundStationUrl(),"post",HTTPUtils.headers,parm);
+        } catch (Exception e) {
+            log.error("异常",e);
+            e.printStackTrace();
+        }
+        return returnResult(result,airport.getGroundStationUrl(),JSONObject.toJSONString(parm));
+    }
+
+    /**
+     * 请求返回处理
+     * @param result
+     * @param url
+     * @param parm
+     * @return
+     */
+    public JsonResult returnResult(String result,String url,String parm){
+        if (StringUtils.isNotNull(result)){
+            JSONObject resultObject =  JSONObject.parseObject(result);
+            if(resultObject.getInteger("code")==200){
+                if ("".equals(resultObject.getString("class"))){
+                    return JsonResult.success();
+                }else {
+                    log.info("请求url:{},参数:{},返回值:{}",url,parm,result);
+                    return JsonResult.error(ServiceExceptionEnum.HTTP_RETURN_ERROR.getCode(),resultObject.getString("class"));
+                }
+            }else {
+                log.info("请求url:{},参数:{},返回值:{}",url,parm,result);
+                return JsonResult.error(ServiceExceptionEnum.HTTP_RETURN_ERROR.getCode(),ServiceExceptionEnum.HTTP_RETURN_ERROR.getMessage());
+            }
+        }else {
+            log.info("请求url:{},参数:{},返回值:{}",url,parm,result);
+            return JsonResult.error(ServiceExceptionEnum.HTTP_RETURN_EMPTY.getCode(),ServiceExceptionEnum.HTTP_RETURN_EMPTY.getMessage());
+        }
+    }
+}

tuoheng-admin/src/main/java/com/tuoheng/admin/service/mqttService/MqHttp.java

@@ -1,34 +0,0 @@
-package com.tuoheng.admin.service.mqttService;
-
-import org.springframework.beans.factory.annotation.Value;
-import org.springframework.stereotype.Controller;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.ResponseBody;
-
-
-@Controller
-public class MqHttp {
-
-    @Value("${spring.mqtt.onlineUrl}")
-    String url;
-    @RequestMapping("/doGetClient")
-    @ResponseBody
-    public String doGetClient(){
-        HttpURLConnectionUtil httpURLConnectionUtil = new HttpURLConnectionUtil();
-        //String urls=url.replace("tcp","http").replace("1883","18083");
-        //String urls="https://mqtt.t-aaron.com";
-        String a = httpURLConnectionUtil.doGet(""+url+"/api/v4/clients?_page=1&_limit=100&_=1657249001745");
-        return  a;
-    }
-    //http://124.223.218.130:18083/api/v4/nodes/emqx@127.0.0.1/subscriptions/001497326DAA2502?_=1657257768467
-    @RequestMapping("/doGetClientById")
-    @ResponseBody
-    public String doGetClientById(String clientId){
-        HttpURLConnectionUtil httpURLConnectionUtil = new HttpURLConnectionUtil();
-        //String urls=url.replace("tcp","http").replace("1883","18083");
-        //String urls="https://mqtt.t-aaron.com";
-        String a = httpURLConnectionUtil.doGet(""+url+"/api/v4/clients/"+clientId+"?_=1657257768467");
-        return  a;
-    }
-}
-

tuoheng-admin/src/main/java/com/tuoheng/admin/service/mqttpush/impl/MqttPushServiceImpl.java

@@ -26,7 +26,7 @@ public class MqttPushServiceImpl implements IMqttPushService {
         message.put("DeviceID",edgId);
         message.put("logID",time);
         message.put("type", AlarmTypeEnum.ALARM_CRITICAL.getType());
-        message.put("Result",1);
+        message.put("Result",command);
         log.info("告警数据：{}，控制面板ID:{}，告警处理已回复",time,edgId);
         client.publish(2,false,"/v1/"+edgId+"/log",message.toJSONString());
     }

tuoheng-admin/src/main/java/com/tuoheng/admin/utils/HTTPUtils.java

@@ -0,0 +1,352 @@
+package com.tuoheng.admin.utils;
+
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import org.w3c.dom.*;
+import org.xml.sax.InputSource;
+
+import javax.imageio.ImageIO;
+import javax.net.ssl.*;
+import javax.swing.*;
+import javax.xml.parsers.DocumentBuilder;
+import javax.xml.parsers.DocumentBuilderFactory;
+import java.awt.*;
+import java.awt.image.BufferedImage;
+import java.io.*;
+import java.net.HttpURLConnection;
+import java.net.URL;
+import java.net.URLEncoder;
+import java.security.KeyManagementException;
+import java.security.NoSuchAlgorithmException;
+import java.security.cert.X509Certificate;
+import java.util.Collections;
+import java.util.HashMap;
+import java.util.Map;
+import java.util.concurrent.CompletableFuture;
+
+public class HTTPUtils {
+
+    // 请求头示例
+    public static Map<String, String> headers = new HashMap<String, String>() {{
+        // 设置接收内容类型
+        put("Accept", "application/json");
+        // 设置发送内容类型
+        put("Content-Type", "application/json;charset=UTF-8");
+        // 设置字符集
+        put("charset", "UTF-8");
+        // 设置访问者系统引擎版本、浏览器信息的字段信息，此处伪装成用户通过浏览器访问
+        put("User-Agent", "Mozilla/4.0 (compatible; MSIE 5.0; Windows NT; DigExt)");
+    }};
+
+    // 禁用 SSL 验证
+    public static void disableSSLVerification() {
+        try {
+            // 创建不验证证书链的 TrustManager
+            TrustManager[] trustAllCerts = new TrustManager[]{new X509TrustManager() {
+                public java.security.cert.X509Certificate[] getAcceptedIssuers() {
+                    return null;
+                }
+
+                public void checkClientTrusted(X509Certificate[] certs, String authType) {
+                }
+
+                public void checkServerTrusted(X509Certificate[] certs, String authType) {
+                }
+            }
+            };
+
+            // 安装 TrustManager
+            SSLContext sc = SSLContext.getInstance("SSL");
+            sc.init(null, trustAllCerts, new java.security.SecureRandom());
+            HttpsURLConnection.setDefaultSSLSocketFactory(sc.getSocketFactory());
+
+            // 创建验证所有主机名的 HostnameVerifier
+            HostnameVerifier allHostsValid = new HostnameVerifier() {
+                public boolean verify(String hostname, SSLSession session) {
+                    return true;
+                }
+            };
+
+            // 安装 HostnameVerifier
+            HttpsURLConnection.setDefaultHostnameVerifier(allHostsValid);
+        } catch (NoSuchAlgorithmException e) {
+            e.printStackTrace();
+        } catch (KeyManagementException e) {
+            e.printStackTrace();
+        }
+    }
+
+    // 将请求头键值对添加到 HTTP 请求中
+    public static void addHeadersToRequest(HttpURLConnection httpConn, Map<String, ?> headers) {
+        if (headers != null) {
+            for (Map.Entry<String, ?> entry : headers.entrySet()) {
+                String key = entry.getKey();
+                Object value = entry.getValue();
+
+                if (value.getClass().isArray()) {
+                    // 如果是数组类型，则遍历数组并添加请求头
+                    for (Object v : (Object[]) value) {
+                        httpConn.setRequestProperty(key, v.toString());
+                    }
+                } else {
+                    // 如果不是数组类型，则直接添加请求头
+                    httpConn.setRequestProperty(key, value.toString());
+                }
+            }
+        }
+    }
+
+
+    // 将请求参数拼接进 URL
+    public static String concatParamsToURL(String staticURL, String paramsStr){
+        return staticURL + paramsStr;
+    }
+
+    public static String concatParamsToURL(String staticURL, Map<String, ?> params) throws Exception {
+        // staticURL 是字符串形式的静态 URL
+        // params 键与值分别是参数名与参数值，URL 有重复同名参数时将多个值放进数组
+
+        // 判断参数是否为空
+        if (params.isEmpty()) {
+            return staticURL;
+        }
+
+        StringBuilder sb = new StringBuilder(staticURL);
+
+        // 判断 URL 中是否已经包含参数
+        boolean hasParams = staticURL.indexOf("?") != -1;
+
+        // 遍历参数
+        for (Map.Entry<String, ?> entry : params.entrySet()) {
+            String key = entry.getKey(); // 参数名
+            Object value = entry.getValue(); // 参数值
+
+            // 判断参数值是否为数组
+            if (value.getClass().isArray()) {
+                // 如果是数组，遍历数组并添加参数
+                for (Object v : (Object[]) value) {
+                    sb.append(hasParams ? "&" : "?")
+                            .append(URLEncoder.encode(key, "utf-8"))
+                            .append("=")
+                            .append(URLEncoder.encode(v.toString(), "utf-8"));
+                    hasParams = true;
+                }
+            } else {
+                // 如果不是数组，直接添加参数
+                sb.append(hasParams ? "&" : "?")
+                        .append(URLEncoder.encode(key, "utf-8"))
+                        .append("=")
+                        .append(URLEncoder.encode(value.toString(), "utf-8"));
+                hasParams = true;
+            }
+        }
+
+        return sb.toString();
+    }
+
+    // 发起 HTTP 请求并获取响应内容
+    // 重载 requestHTTPContent()，相当于参数有默认值
+    public static String requestHTTPContent(String strURL) throws Exception {
+        return requestHTTPContent(strURL, "GET", null, null);
+    }
+    public static String requestHTTPContent(String strURL, String method) throws Exception {
+        return requestHTTPContent(strURL, method, null, null);
+    }
+    public static String requestHTTPContent(String strURL, String method, Map<String, ?> headers) throws Exception {
+        return requestHTTPContent(strURL, method, headers, null);
+    }
+    public static String requestHTTPContent(String strURL, String method, Map<String, ?> headers, Map<String, ?> params) throws Exception {
+        // strURL 是 String 类型的 URL
+        // method 是 String 类型的请求方法，为 "GET" 或 "POST"
+        // headers 键与值分别是请求头名与请求头值，有重复同名请求头时将多个值放进数组
+        // params 键与值分别是参数名与参数值，URL 有重复同名参数时将多个值放进数组
+
+        // 忽略验证 https 中 SSL 证书
+        disableSSLVerification();
+
+        // GET 方法下，query 参数拼接在 URL 字符串末尾
+        if(method.equals("GET") && params != null) {
+            strURL = concatParamsToURL(strURL, params);
+        }
+
+        System.out.println(strURL);
+
+        URL url = new URL(strURL);
+        HttpURLConnection httpConn = (HttpURLConnection) url.openConnection();
+        httpConn.setRequestMethod(method);
+
+        // 添加 HTTP 请求头
+        addHeadersToRequest(httpConn, headers);
+
+        // 请求时是否使用缓存
+        httpConn.setUseCaches(false);
+
+        // POST 方法请求必须设置下面两项
+        // 设置是否从 HttpUrlConnection 的对象写
+        httpConn.setDoOutput(true);
+        // 设置是否从 HttpUrlConnection 的对象读入
+        httpConn.setDoInput(true);
+
+        // 此处默认 POST 方法发送的内容就是 JSON 形式的 body 参数，可以自行更改
+        if(method.equals("POST") && params!=null) {
+            // 发送请求
+            OutputStream out = new DataOutputStream(httpConn.getOutputStream());
+            // getBytes() 作用为根据参数给定的编码方式，将一个字符串转化为一个字节数组
+            out.write(JSON.toJSONString(params).getBytes("UTF-8"));
+            out.flush();
+        }
+        else{
+            //发送请求
+            httpConn.connect();
+        }
+
+        String contentType = httpConn.getContentType();
+        String result = readResponseContent(httpConn);
+
+        // 输出响应内容
+        // outputResponseContent(result, contentType);
+
+        return result;
+    }
+
+    // 异步 HTTP 请求
+    public static CompletableFuture<String> asyncHTTPRequest(String strURL, String method, Map<String, ?> headers, Map<String, ?> params) {
+        return CompletableFuture.supplyAsync(() -> {
+            try {
+                return requestHTTPContent(strURL, method, headers, params);
+            } catch (Exception e) {
+                e.printStackTrace();
+                return null;
+            }
+        });
+    }
+
+    // 读取响应内容
+    public static String readResponseContent(HttpURLConnection httpConn) throws Exception {
+        try (BufferedReader reader = new BufferedReader(new InputStreamReader(httpConn.getInputStream()))) {
+            // 此处不用 StringBuffer 而用 StringBuilder 是出于线程安全的考虑
+            StringBuilder builder = new StringBuilder();
+            String line;
+            while ((line = reader.readLine()) != null) {
+                builder.append(line);
+            }
+            return builder.toString();
+        }
+    }
+
+    // 输出响应内容
+    public static void outputResponseContent(String responseContent, String contentType) throws Exception {
+        // contentType 是接收内容类型
+        // 响应内容为 JSON 格式
+        if (contentType.contains("application/json")) {
+            // 解析 JSON 字符串为 JSON 对象
+            JSONObject jsonObj = JSON.parseObject(responseContent);
+            printJSON(jsonObj,0);
+        }
+        // 响应内容为 XML 格式
+        else if (contentType.contains("application/xml")) {
+            // 创建 DocumentBuilderFactory 对象
+            DocumentBuilderFactory factory = DocumentBuilderFactory.newInstance();
+            // 创建 DocumentBuilder 对象
+            DocumentBuilder builder = factory.newDocumentBuilder();
+            // 将 XML 解析成 Document 对象
+            Document doc = builder.parse(new InputSource(new StringReader(responseContent)));
+            printXML(doc);
+        }
+        // 响应内容为图像
+        else if (contentType.contains("image/jpeg") || contentType.contains("image/png")) {
+            // 将响应内容解码为图片
+            byte[] imageBytes = responseContent.getBytes();
+            ByteArrayInputStream bis = new ByteArrayInputStream(imageBytes);
+            BufferedImage image = ImageIO.read(bis);
+            viewImage(new ImageIcon(image));
+        }
+        // 响应内容为 PDF 文档
+        else if (contentType.contains("application/pdf")) {
+            System.out.println("[PDF document]");
+        }
+        // 响应内容为二进制数据流
+        else if (contentType.contains("application/octet-stream")) {
+            System.out.println("[Binary data]");
+        }
+        // 响应内容为 HTML 格式、纯文本格式
+        else if (contentType.contains("text/html") || contentType.contains("text/plain")) {
+            System.out.println(responseContent);
+        }
+        // 响应内容为其他格式
+        else {
+            System.out.println(responseContent);
+        }
+
+    }
+
+    // 打印 JSON
+    public static void printJSON(JSONObject jsonObj, int level) {
+        if (jsonObj != null) {
+            for (Map.Entry<String, Object> entry : jsonObj.entrySet()) {
+                String key = entry.getKey();
+                Object value = entry.getValue();
+                String indent = String.join("", Collections.nCopies(level, "\t")); // 缩进
+                if (value instanceof JSONObject) {
+                    // 嵌套对象
+                    System.out.println(indent + key + " = {");
+                    printJSON((JSONObject) value, level + 1); // 增加嵌套层级
+                    System.out.println(indent + "}");
+                } else {
+                    // 非嵌套对象
+                    System.out.println(indent + key + " = " + value.toString());
+                }
+            }
+        }
+    }
+
+
+    // 打印 XML
+    public static void printXML(Document doc) {
+        Element root = doc.getDocumentElement();
+        printXML(System.out, root, 0);
+    }
+
+    // 打印 XML
+    private static void printXML(PrintStream ps, Element element, int indent) {
+        printTrunk(ps, indent);
+        ps.printf("├─ 元素: %s\n", element.getNodeName());
+
+        NamedNodeMap attributes = element.getAttributes();
+        for (int i = 0; i < attributes.getLength(); i++) {
+            Attr attribute = (Attr) attributes.item(i);
+            printTrunk(ps, indent + 1);
+            ps.printf("├─ 属性: %s = %s\n", attribute.getName(), attribute.getValue());
+        }
+
+        NodeList children = element.getChildNodes();
+        for (int i = 0; i < children.getLength(); i++) {
+            Node child = children.item(i);
+            if (child.getNodeType() == Node.ELEMENT_NODE) {
+                printXML(ps, (Element) child, indent + 1);
+            } else if (child.getNodeType() == Node.TEXT_NODE) {
+                String text = child.getNodeValue().trim();
+                if (!text.isEmpty()) {
+                    printTrunk(ps, indent + 1);
+                    ps.printf("└─ 文本: %s\n", text);
+                }
+            }
+        }
+    }
+
+    // 打印 XML
+    private static void printTrunk(PrintStream ps, int indent) {
+        for (int i = 0; i < indent; i++) {
+            ps.print("|   ");
+        }
+    }
+
+    // 浏览图像
+    private static void viewImage(ImageIcon imageIcon) {
+        JLabel label = new JLabel(imageIcon);
+        JFrame frame = new JFrame("图片显示");
+        frame.getContentPane().add(label, BorderLayout.CENTER);
+        frame.pack();
+        frame.setVisible(true);
+    }
+}