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DJI-Mission-Parser is a tool that provides mutual conversion between DJI route files and javabean objects, based on the standard of route format documents provided by Cloud API (dji.com), which can be used for the development of DJI Cloud API (dji.com) to draw DJI route functions.
Key Features
Currently, DJI-Mission-Parser offers the following main methods:
- Mapping of route parameters to javabean objects
- javabean to route file:
- Route file to javabean
DJI-Mission-Parser is compiled and run using JDK 17.
git clone https://github.com/hqzqaq/DJI-Mission-Parser.gitBefore installing DJI-Mission-Parser, make sure you have Maven installed: Maven – Download Apache Maven
If you already have Maven installed, just compile the project:
A jar package dji-mission-parser-1.0.jar will appear in the target directory
After compilation, you can refer to the jar package directly in the project or installed to the local maven repository, with the maven way to refer to the following maven way to refer to:
mvn install:install-file -DgroupId=cn.beidou.scnu -DartifactId=dji-mission-parser -Dversion=1.0 -Dfile=dji-mission-parser-1.0.jar -Dpackaging=jar
One thing to keep in mind：-Dfile=[jar path]
<dependencies>
<dependency>
<groupId>cn.beidou.scnu</groupId>
<artifactId>dji-mission-parser</artifactId>
<version>1.0</version>
</dependency>
</dependencies>The following example shows how to convert a javabean object to a route file using the DJI-Mission-Parser tool
public class GererateKml {
public static void main(String[] args) throws JAXBException, ParserConfigurationException, SAXException {
String path = "./data";
File saveFolder = new File(path);
if (!saveFolder.exists()) {
saveFolder.mkdirs();
}
XmlUtil.objectToXML(buildMission(), Paths.get(path, "template.kml").toString());
}
public static Kml buildMission() {
Kml kml = new Kml();
Document document = new Document();
MissionConfig missionConfig = new MissionConfig();
missionConfig.setFlyToWaylineMode("safely");
missionConfig.setFinishAction("goHome");
missionConfig.setExitOnRCLost("executeLostAction");
missionConfig.setExecuteRCLostAction("goBack");
missionConfig.setTakeOffSecurityHeight(50D);
missionConfig.setTakeOffRefPoint("23.148073,113.022773,23.300000");
missionConfig.setTakeOffRefPointAGLHeight(0D);
missionConfig.setGlobalTransitionalSpeed(10D);
missionConfig.setGlobalRTHHeight(70);
document.setMissionConfig(missionConfig);
// missionConfig.setGlobalTransitionalSpeed(10D);
// missionConfig.setGlobalRTHHeight(60);
DroneInfo droneInfo = new DroneInfo(67, 1);
PayloadInfo payloadInfo = new PayloadInfo(53, 0, 0);
missionConfig.setDroneInfo(droneInfo);
missionConfig.setPayloadInfo(payloadInfo);
Folder folder = new Folder();
folder.setTemplateId(0);
folder.setTemplateType("waypoint");
WaylineCoordinateSysParam waylineCoordinateSysParam = new WaylineCoordinateSysParam();
waylineCoordinateSysParam.setCoordinateMode("WGS84");
waylineCoordinateSysParam.setHeightMode("relativeToGround");
folder.setWaylineCoordinateSysParam(waylineCoordinateSysParam);
folder.setAutoFlightSpeed(10D);
folder.setGlobalHeight(70D);
folder.setCaliFlightEnable(0);
folder.setGimbalPitchMode("usePointSetting");
folder.setExecuteHeightMode("relativeToStartPoint");
folder.setGlobalWaypointTurnMode("toPointAndStopWithDiscontinuityCurvature");
folder.setGlobalUseStraightLine(1);
Placemark placemark1 = new Placemark();
Point point = new Point();
point.setCoordinates("113.02284812154,23.1479920050768");
placemark1.setPoint(point);
placemark1.setIndex(0);
placemark1.setExecuteHeight(70D);
placemark1.setWaypointSpeed(10D);
WaypointHeadingParam waypointHeadingParam = new WaypointHeadingParam();
waypointHeadingParam.setWaypointHeadingMode("followWayline");
waypointHeadingParam.setWaypointHeadingAngle(0);
waypointHeadingParam.setWaypointPoiPoint("0.000000,0.000000,0.000000");
waypointHeadingParam.setWaypointHeadingAngleEnable(0);
waypointHeadingParam.setWaypointHeadingPathMode("followBadArc");
waypointHeadingParam.setWaypointHeadingPoiIndex(0);
placemark1.setWaypointHeadingParam(waypointHeadingParam);
WaypointTurnParam waypointTurnParam = new WaypointTurnParam();
waypointTurnParam.setWaypointTurnMode("toPointAndStopWithDiscontinuityCurvature");
waypointTurnParam.setWaypointTurnDampingDist(0D);
placemark1.setWaypointTurnParam(waypointTurnParam);
placemark1.setUseStraightLine(1);
ActionGroup actionGroup = new ActionGroup();
actionGroup.setActionGroupId(1);
actionGroup.setActionGroupStartIndex(0);
actionGroup.setActionGroupEndIndex(0);
actionGroup.setActionGroupMode("sequence");
ActionTrigger actionTrigger = new ActionTrigger();
actionTrigger.setActionTriggerType("reachPoint");
actionGroup.setActionTrigger(actionTrigger);
Action action = new Action();
action.setActionId(0);
action.setActionActuatorFunc("takePhoto");
ActionActuatorFuncParam actionActuatorFuncParam = new ActionActuatorFuncParam();
actionActuatorFuncParam.setFileSuffix("Waypoint1");
actionActuatorFuncParam.setPayloadPositionIndex(0);
actionActuatorFuncParam.setUseGlobalPayloadLensIndex(1);
actionActuatorFuncParam.setPayloadLensIndex("ir,wide,zoom");
List<ActionGroup> actionGroups = new ArrayList<>();
actionGroups.add(actionGroup);
placemark1.setActionGroup(actionGroups);
List<Placemark> placemarks = new ArrayList<>();
placemarks.add(placemark1);
folder.setPlacemark(placemarks);
document.setFolder(folder);
kml.setDocument(document);
return kml;
}
}public class ReadKml {
public static void main(String[] args) throws JAXBException {
String path = "./data/wpmz/waylines.wpml";
Kml kml = readKmlContent(path);
System.out.println(XmlUtil.objectToXML(kml));
}
public static Kml readKmlContent(String kmlPath) throws JAXBException {
File kmlFile = new File(kmlPath);
if (!kmlFile.exists()) {
return null;
}
return XmlUtil.xmlToBean(kmlFile, Kml.class);
}
}- DJI Cloud API Route Documentation： https://developer.dji.com/doc/cloud-api-tutorial/cn/feature-set/dock-feature-set/dock-wayline-management.html