package com.dji.sample.wayline.service.impl;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
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import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
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import com.baomidou.mybatisplus.core.toolkit.Wrappers;
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import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapper;
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import com.baomidou.mybatisplus.extension.conditions.update.LambdaUpdateChainWrapper;
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import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
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import com.dji.sample.common.error.CommonErrorEnum;
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import com.dji.sample.common.model.CustomClaim;
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import com.dji.sample.common.model.Pagination;
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import com.dji.sample.common.model.PaginationData;
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import com.dji.sample.common.model.ResponseResult;
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import com.dji.sample.common.util.MinioUrlUtils;
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import com.dji.sample.component.mqtt.model.*;
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import com.dji.sample.component.mqtt.service.IMessageSenderService;
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import com.dji.sample.component.redis.RedisConst;
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import com.dji.sample.component.redis.RedisOpsUtils;
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import com.dji.sample.control.model.dto.PointDTO;
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import com.dji.sample.control.model.param.*;
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import com.dji.sample.control.service.IControlService;
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import com.dji.sample.control.service.IDrcService;
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import com.dji.sample.geo.entity.GeoJson;
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import com.dji.sample.log.dao.IDroneFlightLogMapper;
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import com.dji.sample.log.model.entity.DroneFlightLogEntity;
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import com.dji.sample.manage.model.dto.DeviceDTO;
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import com.dji.sample.manage.model.enums.DeviceModeCodeEnum;
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import com.dji.sample.manage.model.enums.DockModeCodeEnum;
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import com.dji.sample.manage.model.enums.DroneRcLostActionEnum;
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import com.dji.sample.manage.model.enums.WaylineRcLostActionEnum;
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import com.dji.sample.manage.model.receiver.OsdDockReceiver;
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import com.dji.sample.manage.model.receiver.OsdSubDeviceReceiver;
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import com.dji.sample.manage.service.IDeviceRedisService;
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import com.dji.sample.manage.service.IDeviceService;
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import com.dji.sample.media.model.MediaFileCountDTO;
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import com.dji.sample.media.model.MediaMethodEnum;
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import com.dji.sample.media.service.IFileService;
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import com.dji.sample.geo.utils.GeoUtils;
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import com.dji.sample.wayline.dao.IWaylineJobMapper;
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import com.dji.sample.wayline.model.dto.*;
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import com.dji.sample.wayline.model.entity.WaylineJobBreakPointEntity;
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import com.dji.sample.wayline.model.entity.WaylineJobEntity;
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import com.dji.sample.wayline.model.enums.*;
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import com.dji.sample.wayline.model.param.*;
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import com.dji.sample.wayline.service.IWaylineFileService;
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import com.dji.sample.wayline.service.IWaylineJobBreakPointService;
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import com.dji.sample.wayline.service.IWaylineJobService;
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import com.dji.sample.wayline.service.IWaylineRedisService;
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import com.dji.sample.wayline.util.ErrorCodeUtil;
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import com.fasterxml.jackson.core.type.TypeReference;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.integration.annotation.ServiceActivator;
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import org.springframework.integration.mqtt.support.MqttHeaders;
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import org.springframework.messaging.MessageHeaders;
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import org.springframework.stereotype.Service;
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import org.springframework.transaction.annotation.Isolation;
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import org.springframework.transaction.annotation.Transactional;
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import org.springframework.util.CollectionUtils;
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import org.springframework.util.StringUtils;
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import java.net.URL;
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import java.sql.SQLException;
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import java.time.*;
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import java.util.*;
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import java.util.stream.Collectors;
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/**
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* @author sean
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* @version 1.1
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* @date 2022/6/1
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*/
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@Service
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@Transactional
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@Slf4j
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public class WaylineJobServiceImpl implements IWaylineJobService {
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@Autowired
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private IWaylineJobMapper mapper;
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@Autowired
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private IWaylineFileService waylineFileService;
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@Autowired
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private IDeviceService deviceService;
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@Autowired
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private IMessageSenderService messageSender;
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@Autowired
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private ObjectMapper objectMapper;
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@Autowired
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private IFileService fileService;
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@Autowired
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private IDrcService drcService;
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@Autowired
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private IDeviceRedisService deviceRedisService;
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@Autowired
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private IWaylineRedisService waylineRedisService;
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@Autowired
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private IControlService controlService;
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@Autowired
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private IDroneFlightLogMapper flightLogMapper;
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@Autowired
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private IWaylineJobBreakPointService waylineJobBreakPointService;
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private Optional<WaylineJobDTO> insertWaylineJob(WaylineJobEntity jobEntity) {
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int id = mapper.insert(jobEntity);
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if (id <= 0) {
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return Optional.empty();
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}
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return Optional.ofNullable(this.entity2Dto(jobEntity));
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}
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@Override
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public Optional<WaylineJobDTO> createWaylineJob(CreateJobParam param, String workspaceId, String username, Long beginTime, Long endTime) {
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if (Objects.isNull(param)) {
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return Optional.empty();
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}
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// Immediate tasks, allocating time on the backend.
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WaylineJobEntity jobEntity = WaylineJobEntity.builder()
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.name(param.getName())
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.dockSn(param.getDockSn())
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.fileId(param.getFileId())
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.username(username)
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.workspaceId(workspaceId)
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.jobId(UUID.randomUUID().toString())
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.beginTime(beginTime)
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.endTime(endTime)
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.status(WaylineJobStatusEnum.PENDING.getVal())
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.taskType(param.getTaskType().getVal())
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.waylineType(param.getWaylineType().getVal())
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.outOfControlAction(param.getOutOfControlAction())
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.rthAltitude(param.getRthAltitude())
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.mediaCount(0)
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.build();
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if (StringUtils.hasText(param.getJobId())) {
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jobEntity.setJobId(param.getJobId());
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}
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return insertWaylineJob(jobEntity);
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}
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@Override
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public Optional<WaylineJobDTO> createWaylineJobByParent(String workspaceId, String parentId) {
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Optional<WaylineJobDTO> parentJobOpt = this.getJobByJobId(workspaceId, parentId);
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if (parentJobOpt.isEmpty()) {
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return Optional.empty();
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}
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WaylineJobEntity jobEntity = this.dto2Entity(parentJobOpt.get());
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jobEntity.setJobId(UUID.randomUUID().toString());
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jobEntity.setErrorCode(null);
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jobEntity.setCompletedTime(null);
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jobEntity.setExecuteTime(null);
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jobEntity.setStatus(WaylineJobStatusEnum.PENDING.getVal());
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jobEntity.setParentId(parentId);
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return this.insertWaylineJob(jobEntity);
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}
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@Override
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public String getWaylineId(String jobId){
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WaylineJobEntity waylineJob=mapper.selectOne(new LambdaQueryWrapper<WaylineJobEntity>().select(WaylineJobEntity::getFileId).eq(WaylineJobEntity::getJobId,jobId));
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return waylineJob.getFileId();
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}
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/**
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* 对于即时任务，以服务器时间为准。
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*
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* @param param
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*/
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private void fillImmediateTime(CreateJobParam param) {
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if (WaylineTaskTypeEnum.IMMEDIATE != param.getTaskType()) {
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return;
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}
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long now = System.currentTimeMillis() / 1000 - 10;
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// param.setTaskDays(Collections.singletonList(now));
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// param.setTaskPeriods(Collections.singletonList(Collections.singletonList(now)));
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param.setTaskDays(List.of(now));
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param.setTaskPeriods(List.of(List.of(now)));
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}
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@Override
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public ResponseResult publishFlightTask(CreateJobParam param, CustomClaim customClaim) throws SQLException {
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fillImmediateTime(param);
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// param.getTaskDays().sort((a, b) -> (int) (a - b));
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// param.getTaskPeriods().sort((a, b) -> (int) (a.get(0) - b.get(0)));
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for (Long taskDay : param.getTaskDays()) {
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LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(taskDay), ZoneId.systemDefault());
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for (List<Long> taskPeriod : param.getTaskPeriods()) {
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long beginTime = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(taskPeriod.get(0)), ZoneId.systemDefault()))
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.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
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long endTime = taskPeriod.size() > 1 && Objects.nonNull(taskPeriod.get(1)) ?
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LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(taskPeriod.get(1)), ZoneId.systemDefault()))
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.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli() : beginTime;
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if (WaylineTaskTypeEnum.IMMEDIATE != param.getTaskType() && endTime < System.currentTimeMillis()) {
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return ResponseResult.error("任务已过期");
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}
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Optional<WaylineJobDTO> waylineJobOpt = this.createWaylineJob(param, customClaim.getWorkspaceId(), customClaim.getUsername(), beginTime, endTime);
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if (waylineJobOpt.isEmpty()) {
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throw new SQLException("任务创建失败");
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}
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WaylineJobDTO waylineJob = waylineJobOpt.get();
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// If it is a conditional task type, add conditions to the job parameters.
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//如果是条件任务类型，需要在任务参数中添加条件。
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addPreparedJob(waylineJob, param, beginTime, endTime);
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ResponseResult response = this.publishOneFlightTask(waylineJob);
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if (ResponseResult.CODE_SUCCESS != response.getCode()) {
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return response;
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}
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}
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}
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return ResponseResult.success();
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}
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@Override
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public ResponseResult publishFlightTaskCondition(CreateJobParam param, CustomClaim customClaim) throws SQLException {
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//开始日期
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LocalDate startDate = LocalDate.ofInstant(Instant.ofEpochSecond(param.getTaskDays().get(0)), ZoneId.systemDefault());
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long start = LocalDateTime.of(startDate, LocalTime.ofInstant(Instant.ofEpochSecond(param.getExecuteStartTimeArr().get(0).get(0)), ZoneId.systemDefault()))
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.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
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//结束日期
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LocalDate endDate = LocalDate.ofInstant(Instant.ofEpochSecond(param.getTaskDays().get(1)), ZoneId.systemDefault());
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long end = LocalDateTime.of(endDate, LocalTime.ofInstant(Instant.ofEpochSecond(param.getExecuteStartTimeArr().get(param.getExecuteStartTimeArr().size() - 1).get(0)), ZoneId.systemDefault()))
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.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
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//保存数据
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WaylineJobEntity waylineJobEntity = WaylineJobEntity.builder()
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.jobId(UUID.randomUUID().toString())
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.name(param.getName())
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.dockSn(param.getDockSn())
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.fileId(param.getFileId())
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.username(customClaim.getUsername())
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.workspaceId(customClaim.getWorkspaceId())
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.beginTime(start)
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.endTime(end)
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.status(WaylineJobStatusEnum.PENDING.getVal())
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.taskType(param.getTaskType().getVal())
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.waylineType(param.getWaylineType().getVal())
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.outOfControlAction(param.getOutOfControlAction())
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.batteryCapacity(param.getMinBatteryCapacity())
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.rthAltitude(param.getRthAltitude())
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.mediaCount(0)
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.repFreVal(param.getRepFreVal())
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.repFreType(param.getRepFreType())
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.repRuleType(param.getRepRuleType())
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.repRuleVal(param.getRepRuleVal())
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.executeTimeArr(param.getTaskPeriods())
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.executeStartTimeArr(param.getExecuteStartTimeArr())
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.build();
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Optional<WaylineJobDTO> waylineJobOpt = insertWaylineJob(waylineJobEntity);
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if (waylineJobOpt.isEmpty()) {
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throw new SQLException("任务创建失败");
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}
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WaylineJobDTO waylineJob = waylineJobOpt.get();
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//存一条记录,
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List<Long> timeArr = param.getExecuteStartTimeArr().get(0);
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LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault());
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LocalDateTime beginTime = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault()));
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LocalDateTime endTime = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
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LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault())) : beginTime;
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if (WaylineTaskTypeEnum.IMMEDIATE != param.getTaskType() && endTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli() < System.currentTimeMillis()) {
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return ResponseResult.error("任务已过期");
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}
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//条件任务
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if (param.getTaskType() == WaylineTaskTypeEnum.CONDITION) {
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//如果是条件任务类型，需要在任务参数中添加条件。
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waylineJob.setConditions(
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WaylineTaskConditionDTO.builder()
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.executableConditions(Objects.nonNull(param.getMinStorageCapacity()) ? WaylineTaskExecutableConditionDTO.builder().storageCapacity(param.getMinStorageCapacity()).build() : null)
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.readyConditions(WaylineTaskReadyConditionDTO.builder()
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.batteryCapacity(param.getMinBatteryCapacity())
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.beginTime(beginTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli())
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.endTime(endTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli())
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.build())
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.build());
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} else {
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waylineJob.setBeginTime(beginTime);
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}
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ResponseResult response = this.publishOneFlightTask(waylineJob);
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if (ResponseResult.CODE_SUCCESS != response.getCode()) {
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return response;
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}
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return ResponseResult.success();
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}
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private void addPreparedJob(WaylineJobDTO waylineJob, CreateJobParam param, Long beginTime, Long endTime) {
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if (WaylineTaskTypeEnum.CONDITION == param.getTaskType()) {
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waylineJob.setConditions(
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WaylineTaskConditionDTO.builder()
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.executableConditions(Objects.nonNull(param.getMinStorageCapacity()) ? WaylineTaskExecutableConditionDTO.builder().storageCapacity(param.getMinStorageCapacity()).build() : null)
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.readyConditions(WaylineTaskReadyConditionDTO.builder()
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.batteryCapacity(param.getMinBatteryCapacity())
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.beginTime(beginTime)
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.endTime(endTime)
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.build())
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.build());
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waylineRedisService.setConditionalWaylineJob(waylineJob);
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}
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// value: {workspace_id}:{dock_sn}:{job_id}
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boolean isAdd = waylineRedisService.addPreparedWaylineJob(waylineJob);
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if (!isAdd) {
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throw new RuntimeException("创建任务失败。");
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}
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}
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public ResponseResult publishOneFlightTask(WaylineJobDTO waylineJob) throws SQLException {
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boolean isSuccess = this.prepareFlightTask(waylineJob);
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if (!isSuccess) {
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return ResponseResult.error("任务准备失败");
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}
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// Issue an immediate task execution command.
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//发出立即任务执行命令
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if (WaylineTaskTypeEnum.IMMEDIATE == waylineJob.getTaskType()) {
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boolean isExecuted = executeFlightTask(waylineJob.getWorkspaceId(), waylineJob.getJobId());
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if (!isExecuted) {
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return ResponseResult.error("当前状态不支持飞行，请检查是否已有正在执行的飞行任务！");
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}
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}
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return ResponseResult.success();
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}
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private Boolean prepareFlightTask(WaylineJobDTO waylineJob) throws SQLException {
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/*boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.getDockSn());
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if (!isOnline) {
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throw new RuntimeException("设备离线。");
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}*/
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// get wayline file
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Optional<WaylineFileDTO> waylineFile = waylineFileService.getWaylineByWaylineId(waylineJob.getWorkspaceId(), waylineJob.getFileId());
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if (waylineFile.isEmpty()) {
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throw new SQLException("航线文件不存在。");
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}
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// get file url
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//获取航线文件地址
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URL url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getWaylineId());
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WaylineTaskCreateDTO.WaylineTaskCreateDTOBuilder flightTaskBuilder = WaylineTaskCreateDTO.builder().flightId(waylineJob.getJobId())
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.executeTime(waylineJob.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli())
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.taskType(waylineJob.getTaskType())
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.waylineType(waylineJob.getWaylineType())
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.rthAltitude(waylineJob.getRthAltitude())
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.outOfControlAction(waylineJob.getOutOfControlAction())
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.file(WaylineTaskFileDTO.builder()
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.url(MinioUrlUtils.getUrl(url))
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.fingerprint(waylineFile.get().getSign())
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.build());
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WaylineJobBreakPointEntity entity = waylineJob.getWaylineJobBreakPointEntity();
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if (null != entity) {
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flightTaskBuilder.breakPoint(BreakPointJobDTO.builder()
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.index(entity.getBpIndex())
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.state(entity.getState())
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.progress(entity.getProgress())
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.waylineId(entity.getWaylineId())
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.build());
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}
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WaylineTaskCreateDTO flightTask = flightTaskBuilder.build();
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//当任务类型为条件时
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if (WaylineTaskTypeEnum.CONDITION == waylineJob.getTaskType()) {
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if (Objects.isNull(waylineJob.getConditions())) {
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throw new IllegalArgumentException();
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}
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flightTask.setReadyConditions(waylineJob.getConditions().getReadyConditions());
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flightTask.setExecutableConditions(waylineJob.getConditions().getExecutableConditions());
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}
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//发布飞行指令
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ServiceReply serviceReply = messageSender.publishServicesTopic(
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waylineJob.getDockSn(), WaylineMethodEnum.FLIGHT_TASK_PREPARE.getMethod(), flightTask, waylineJob.getJobId());
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if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {
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log.info("Prepare task ====> Error code: {}", serviceReply.getResult());
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//飞行失败，更新数据库信息
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this.updateJob(WaylineJobDTO.builder()
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.workspaceId(waylineJob.getWorkspaceId())
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.jobId(waylineJob.getJobId())
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.executeTime(LocalDateTime.now())
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.status(WaylineJobStatusEnum.FAILED.getVal())
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.completedTime(LocalDateTime.now())
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.code(serviceReply.getResult()).build());
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return false;
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}
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return true;
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}
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@Override
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public Boolean executeFlightTask(String workspaceId, String jobId) {
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// get job
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Optional<WaylineJobDTO> waylineJob = this.getJobByJobId(workspaceId, jobId);
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if (waylineJob.isEmpty()) {
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throw new IllegalArgumentException("任务不存在");
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}
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boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.get().getDockSn());
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if (!isOnline) {
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throw new RuntimeException("设备离线");
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}
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WaylineJobDTO job = waylineJob.get();
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WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder().flightId(jobId).build();
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ServiceReply serviceReply = messageSender.publishServicesTopic(
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job.getDockSn(), WaylineMethodEnum.FLIGHT_TASK_EXECUTE.getMethod(), flightTask, jobId);
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if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {
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log.info("Execute job ====> Error code: {}", serviceReply.getResult());
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this.updateJob(WaylineJobDTO.builder()
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.jobId(jobId)
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.executeTime(LocalDateTime.now())
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.status(WaylineJobStatusEnum.FAILED.getVal())
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.completedTime(LocalDateTime.now())
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.code(serviceReply.getResult()).build());
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// 条件任务失败，进入阻塞状态。
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if (WaylineTaskTypeEnum.CONDITION == job.getTaskType()
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&& WaylineErrorCodeEnum.find(serviceReply.getResult()).isBlock()) {
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waylineRedisService.setBlockedWaylineJob(job.getDockSn(), jobId);
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}
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return false;
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}
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this.updateJob(WaylineJobDTO.builder()
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.jobId(jobId)
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.executeTime(LocalDateTime.now())
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.status(WaylineJobStatusEnum.IN_PROGRESS.getVal())
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.build());
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waylineRedisService.setRunningWaylineJob(job.getDockSn(), EventsReceiver.<WaylineTaskProgressReceiver>builder().bid(jobId).sn(job.getDockSn()).build());
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return true;
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}
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@Override
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public void cancelFlightTask(String workspaceId, Collection<String> jobIds) {
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List<WaylineJobDTO> waylineJobs = getJobsByConditions(workspaceId, jobIds, WaylineJobStatusEnum.PENDING);
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Set<String> waylineJobIds = waylineJobs.stream().map(WaylineJobDTO::getJobId).collect(Collectors.toSet());
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// Check if the task status is correct.
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boolean isErr = !jobIds.removeAll(waylineJobIds) || !jobIds.isEmpty();
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if (isErr) {
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throw new IllegalArgumentException("以下任务状态不正确，不能取消" + Arrays.toString(jobIds.toArray()));
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}
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// Group job id by dock sn.
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Map<String, List<String>> dockJobs = waylineJobs.stream()
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.collect(Collectors.groupingBy(WaylineJobDTO::getDockSn,
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Collectors.mapping(WaylineJobDTO::getJobId, Collectors.toList())));
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dockJobs.forEach((dockSn, idList) -> this.publishCancelTask(workspaceId, dockSn, idList));
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}
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public void publishCancelTask(String workspaceId, String dockSn, List<String> jobIds) {
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boolean isOnline = deviceRedisService.checkDeviceOnline(dockSn);
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if (!isOnline) {
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throw new RuntimeException("设备离线");
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}
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ServiceReply serviceReply = messageSender.publishServicesTopic(
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dockSn, WaylineMethodEnum.FLIGHT_TASK_CANCEL.getMethod(), Map.of(MapKeyConst.FLIGHT_IDS, jobIds));
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if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {
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log.info("Cancel job ====> Error code: {}", serviceReply.getResult());
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throw new RuntimeException("航路作业取消失败 " + dockSn);
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}
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for (String jobId : jobIds) {
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this.updateJob(WaylineJobDTO.builder()
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.workspaceId(workspaceId)
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.jobId(jobId)
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.status(WaylineJobStatusEnum.CANCEL.getVal())
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.completedTime(LocalDateTime.now())
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.build());
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}
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}
|
|
public List<WaylineJobDTO> getJobsByConditions(String workspaceId, Collection<String> jobIds, WaylineJobStatusEnum status) {
|
return mapper.selectList(
|
new LambdaQueryWrapper<WaylineJobEntity>()
|
.eq(WaylineJobEntity::getWorkspaceId, workspaceId)
|
.eq(Objects.nonNull(status), WaylineJobEntity::getStatus, status.getVal())
|
.in(!CollectionUtils.isEmpty(jobIds), WaylineJobEntity::getJobId, jobIds))
|
.stream()
|
.map(this::entity2Dto)
|
.collect(Collectors.toList());
|
}
|
|
@Override
|
public Optional<WaylineJobDTO> getJobByJobId(String workspaceId, String jobId) {
|
WaylineJobEntity jobEntity = mapper.selectOne(
|
new LambdaQueryWrapper<WaylineJobEntity>()
|
.eq(WaylineJobEntity::getWorkspaceId, workspaceId)
|
.eq(WaylineJobEntity::getJobId, jobId));
|
return Optional.ofNullable(entity2Dto(jobEntity));
|
}
|
|
@Override
|
public Optional<WaylineJobDTO> getJobByJobId(String workspaceId, String jobId, Boolean isBreakPoint) {
|
WaylineJobEntity jobEntity = mapper.selectOne(
|
new LambdaQueryWrapper<WaylineJobEntity>()
|
.eq(WaylineJobEntity::getWorkspaceId, workspaceId)
|
.eq(WaylineJobEntity::getJobId, jobId));
|
WaylineJobDTO waylineJobDTO = entity2Dto(jobEntity);
|
if (isBreakPoint) {
|
QueryWrapper queryWrapper = new QueryWrapper();
|
queryWrapper.eq("job_id", jobId);
|
WaylineJobBreakPointEntity waylineJobBreakPointEntity = waylineJobBreakPointService.getOne(queryWrapper);
|
waylineJobDTO.setWaylineJobBreakPointEntity(waylineJobBreakPointEntity);
|
}
|
|
//设置当前时间为执行时间
|
waylineJobDTO.setBeginTime(LocalDateTime.now());
|
return Optional.ofNullable(waylineJobDTO);
|
}
|
|
@Override
|
public Boolean updateJob(WaylineJobDTO dto) {
|
|
try {
|
if (dto.getStatus() == 3) {
|
this.checkNextJob(dto);
|
}
|
} catch (SQLException e) {
|
throw new RuntimeException(e);
|
}
|
|
|
return mapper.update(this.dto2Entity(dto),
|
new LambdaUpdateWrapper<WaylineJobEntity>()
|
.eq(WaylineJobEntity::getJobId, dto.getJobId())) > 0;
|
}
|
|
@Override
|
public PaginationData<WaylineJobDTO> getJobsByWorkspaceId(String workspaceId, long page, long pageSize, WaylineJobQueryParam waylineJobQueryParam) {
|
Page<WaylineJobEntity> pageData = mapper.getPage(new Page<WaylineJobEntity>(page, pageSize), waylineJobQueryParam, workspaceId);
|
|
List<WaylineJobDTO> records = pageData.getRecords()
|
.stream()
|
.map(this::entity2Dto)
|
.collect(Collectors.toList());
|
|
return new PaginationData<WaylineJobDTO>(records, new Pagination(pageData));
|
}
|
|
@Override
|
public PaginationData<WaylineJobDTO> getJobsByWorkspaceIdNew(String workspaceId, long page, long pageSize, WaylineJobQueryParam waylineJobQueryParam, String order) {
|
Page<WaylineJobEntity> pageData = mapper.getPageNew(new Page<WaylineJobEntity>(page, pageSize), waylineJobQueryParam, workspaceId, order);
|
|
List<WaylineJobDTO> records = pageData.getRecords()
|
.stream()
|
.map(this::entity2Dto)
|
.collect(Collectors.toList());
|
|
// 是否需要断点续飞
|
records.forEach(wjd -> wjd.setBreakPoint(waylineJobBreakPointService.count(
|
new LambdaQueryWrapper<WaylineJobBreakPointEntity>().eq(WaylineJobBreakPointEntity::getJobId, wjd.getJobId())) > 0));
|
|
|
return new PaginationData<WaylineJobDTO>(records, new Pagination(pageData));
|
}
|
|
@Override
|
public List<WaylineJobDTO> getChildrenJobs(String workspaceId, WaylineJobQueryParam waylineJobQueryParam) {
|
|
List<WaylineJobEntity> list = mapper.getJobs(workspaceId, waylineJobQueryParam);
|
List<WaylineJobDTO> records = list
|
.stream()
|
.map(this::entity2Dto)
|
.collect(Collectors.toList());
|
|
return records;
|
}
|
|
|
@Override
|
@ServiceActivator(inputChannel = ChannelName.INBOUND_REQUESTS_FLIGHT_TASK_RESOURCE_GET, outputChannel = ChannelName.OUTBOUND)
|
@Transactional(isolation = Isolation.READ_UNCOMMITTED)
|
public void flightTaskResourceGet(CommonTopicReceiver receiver, MessageHeaders headers) {
|
Map<String, String> jobIdMap = objectMapper.convertValue(receiver.getData(), new TypeReference<Map<String, String>>() {
|
});
|
String jobId = jobIdMap.get(MapKeyConst.FLIGHT_ID);
|
|
CommonTopicResponse.CommonTopicResponseBuilder<RequestsReply> builder = CommonTopicResponse.<RequestsReply>builder()
|
.tid(receiver.getTid())
|
.bid(receiver.getBid())
|
.method(RequestsMethodEnum.FLIGHT_TASK_RESOURCE_GET.getMethod())
|
.timestamp(System.currentTimeMillis());
|
|
String topic = headers.get(MqttHeaders.RECEIVED_TOPIC).toString() + TopicConst._REPLY_SUF;
|
|
Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(receiver.getGateway());
|
if (deviceOpt.isEmpty()) {
|
return;
|
}
|
Optional<WaylineJobDTO> waylineJobOpt = this.getJobByJobId(deviceOpt.get().getWorkspaceId(), jobId);
|
if (waylineJobOpt.isEmpty()) {
|
builder.data(RequestsReply.error(CommonErrorEnum.ILLEGAL_ARGUMENT));
|
messageSender.publish(topic, builder.build());
|
return;
|
}
|
|
WaylineJobDTO waylineJob = waylineJobOpt.get();
|
|
// get wayline file
|
Optional<WaylineFileDTO> waylineFile = waylineFileService.getWaylineByWaylineId(waylineJob.getWorkspaceId(), waylineJob.getFileId());
|
if (waylineFile.isEmpty()) {
|
builder.data(RequestsReply.error(CommonErrorEnum.ILLEGAL_ARGUMENT));
|
messageSender.publish(topic, builder.build());
|
return;
|
}
|
|
// get file url
|
URL url = null;
|
try {
|
url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getWaylineId());
|
builder.data(RequestsReply.success(WaylineTaskCreateDTO.builder()
|
.file(WaylineTaskFileDTO.builder()
|
.url(MinioUrlUtils.getUrl(url))
|
.fingerprint(waylineFile.get().getSign())
|
.build())
|
.build()));
|
|
} catch (SQLException | NullPointerException e) {
|
e.printStackTrace();
|
builder.data(RequestsReply.error(CommonErrorEnum.ILLEGAL_ARGUMENT));
|
messageSender.publish(topic, builder.build());
|
return;
|
}
|
|
messageSender.publish(topic, builder.build());
|
|
}
|
|
@Override
|
public List<String> selectJobIdByName(String name) {
|
List<WaylineJobEntity> waylineJobs = mapper.selectList(new LambdaQueryWrapper<WaylineJobEntity>()
|
.select(WaylineJobEntity::getJobId)
|
.like(WaylineJobEntity::getName, name));
|
return waylineJobs.stream()
|
.map(WaylineJobEntity::getJobId)
|
.collect(Collectors.toList());
|
}
|
|
|
@Override
|
public void uploadMediaHighestPriority(String workspaceId, String jobId) {
|
Optional<WaylineJobDTO> jobOpt = getJobByJobId(workspaceId, jobId);
|
if (jobOpt.isEmpty()) {
|
throw new RuntimeException(CommonErrorEnum.ILLEGAL_ARGUMENT.getErrorMsg());
|
}
|
|
String dockSn = jobOpt.get().getDockSn();
|
String key = RedisConst.MEDIA_HIGHEST_PRIORITY_PREFIX + dockSn;
|
if (RedisOpsUtils.checkExist(key) && jobId.equals(((MediaFileCountDTO) RedisOpsUtils.get(key)).getJobId())) {
|
return;
|
}
|
|
ServiceReply reply = messageSender.publishServicesTopic(
|
dockSn, MediaMethodEnum.UPLOAD_FLIGHT_TASK_MEDIA_PRIORITIZE.getMethod(), Map.of(MapKeyConst.FLIGHT_ID, jobId));
|
if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
|
throw new RuntimeException("设置媒体作业上传优先级失败. 错误码: " + reply.getResult());
|
}
|
}
|
|
private WaylineJobEntity dto2Entity(WaylineJobDTO dto) {
|
WaylineJobEntity.WaylineJobEntityBuilder builder = WaylineJobEntity.builder();
|
if (dto == null) {
|
return builder.build();
|
}
|
if (Objects.nonNull(dto.getBeginTime())) {
|
builder.beginTime(dto.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
|
}
|
if (Objects.nonNull(dto.getEndTime())) {
|
builder.endTime(dto.getEndTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
|
}
|
if (Objects.nonNull(dto.getExecuteTime())) {
|
builder.executeTime(dto.getExecuteTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
|
}
|
if (Objects.nonNull(dto.getCompletedTime())) {
|
builder.completedTime(dto.getCompletedTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
|
}
|
return builder.status(dto.getStatus())
|
.mediaCount(dto.getMediaCount())
|
.name(dto.getJobName())
|
.errorCode(dto.getCode())
|
.jobId(dto.getJobId())
|
.fileId(dto.getFileId())
|
.dockSn(dto.getDockSn())
|
.workspaceId(dto.getWorkspaceId())
|
.taskType(Optional.ofNullable(dto.getTaskType()).map(WaylineTaskTypeEnum::getVal).orElse(null))
|
.waylineType(Optional.ofNullable(dto.getWaylineType()).map(WaylineTemplateTypeEnum::getVal).orElse(null))
|
.username(dto.getUsername())
|
.rthAltitude(dto.getRthAltitude())
|
.outOfControlAction(dto.getOutOfControlAction())
|
.parentId(dto.getParentId())
|
.build();
|
}
|
|
@Override
|
public void updateJobStatus(String workspaceId, String jobId, UpdateJobParam param) {
|
Optional<WaylineJobDTO> waylineJobOpt = this.getJobByJobId(workspaceId, jobId);
|
if (waylineJobOpt.isEmpty()) {
|
throw new RuntimeException("任务不存在");
|
}
|
WaylineJobDTO waylineJob = waylineJobOpt.get();
|
WaylineJobStatusEnum statusEnum = this.getWaylineState(waylineJob.getDockSn());
|
if (statusEnum.getEnd() || WaylineJobStatusEnum.PENDING == statusEnum) {
|
throw new RuntimeException("航路线作业状态不匹配，无法执行操作.");
|
}
|
|
switch (param.getStatus()) {
|
case PAUSE:
|
pauseJob(workspaceId, waylineJob.getDockSn(), jobId, statusEnum);
|
break;
|
case RESUME:
|
resumeJob(workspaceId, waylineJob.getDockSn(), jobId, statusEnum);
|
break;
|
}
|
|
}
|
|
@Override
|
public List<String> getJobNamesByPartialName(String partialJobName) {
|
LambdaQueryWrapper<WaylineJobEntity> queryWrapper = new LambdaQueryWrapper<>();
|
queryWrapper.like(WaylineJobEntity::getName, partialJobName);
|
return mapper.selectList(queryWrapper).stream()
|
.map(WaylineJobEntity::getName)
|
.collect(Collectors.toList());
|
}
|
|
public WaylineJobStatusEnum getWaylineState(String dockSn) {
|
Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
|
if (dockOpt.isEmpty() || !StringUtils.hasText(dockOpt.get().getChildDeviceSn())) {
|
return WaylineJobStatusEnum.UNKNOWN;
|
}
|
Optional<OsdDockReceiver> dockOsdOpt = deviceRedisService.getDeviceOsd(dockSn, OsdDockReceiver.class);
|
Optional<OsdSubDeviceReceiver> deviceOsdOpt = deviceRedisService.getDeviceOsd(dockOpt.get().getChildDeviceSn(), OsdSubDeviceReceiver.class);
|
if (dockOsdOpt.isEmpty() || deviceOsdOpt.isEmpty() || DockModeCodeEnum.WORKING != dockOsdOpt.get().getModeCode()) {
|
return WaylineJobStatusEnum.UNKNOWN;
|
}
|
|
OsdSubDeviceReceiver osdDevice = deviceOsdOpt.get();
|
if (DeviceModeCodeEnum.WAYLINE == osdDevice.getModeCode()
|
|| DeviceModeCodeEnum.MANUAL == osdDevice.getModeCode()
|
|| DeviceModeCodeEnum.TAKEOFF_AUTO == osdDevice.getModeCode()) {
|
if (StringUtils.hasText(waylineRedisService.getPausedWaylineJobId(dockSn))) {
|
return WaylineJobStatusEnum.PAUSED;
|
}
|
if (waylineRedisService.getRunningWaylineJob(dockSn).isPresent()) {
|
return WaylineJobStatusEnum.IN_PROGRESS;
|
}
|
}
|
return WaylineJobStatusEnum.UNKNOWN;
|
}
|
|
@Override
|
public String getName(String jobId) {
|
WaylineJobEntity entity = mapper.selectOne(
|
new LambdaQueryWrapper<WaylineJobEntity>()
|
.select(WaylineJobEntity::getName)
|
.eq(WaylineJobEntity::getJobId, jobId)
|
);
|
return entity != null ? entity.getName() : null;
|
}
|
|
@Override
|
public List<String> getJobIds(String jobNames) {
|
List<String> names = getJobNamesByPartialName(jobNames);
|
// 使用 LambdaQueryWrapper 进行查询
|
List<Object> jobIdList = mapper.selectObjs(
|
new LambdaQueryWrapper<WaylineJobEntity>()
|
.select(WaylineJobEntity::getJobId)
|
.in(WaylineJobEntity::getName, names) // 使用 IN 子句
|
);
|
|
// 将 Object 类型的 jobId 转换为 String 类型，并放入 List<String> 中
|
List<String> jobIdStringList = new ArrayList<>();
|
for (Object jobIdObj : jobIdList) {
|
jobIdStringList.add(String.valueOf(jobIdObj));
|
}
|
return jobIdStringList;
|
}
|
|
@Override
|
public WaylineJobEntity getLatestJob(String workspaceId, WaylineJobQueryParam waylineJobQueryParam) {
|
WaylineJobEntity waylineJobEntity = mapper.getLatest(workspaceId, waylineJobQueryParam);
|
return waylineJobEntity;
|
}
|
|
@Override
|
public ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam, String deviceSn) throws Exception {
|
|
//获取所有中心点
|
// List<PointPOJO> targetList = GeoUtils.caculatePointList(flyAreaParam);
|
PointPOJO dockPoint = flyAreaParam.getDockPoint();
|
GeoJson geoJson = GeoUtils.readJsonFile(flyAreaParam.getJsonPath());
|
List<PointPOJO> targetList = GeoUtils.caculatePointList(geoJson, dockPoint, flyAreaParam.getRadius());
|
|
//一键起飞
|
TakeoffToPointParam takeoffToPointParam = buildTakeoffToPointParam(dockPoint);
|
|
ResponseResult takeoffToPointRes = controlService.takeoffToPoint(sn, takeoffToPointParam);
|
|
//设置飞向第一个点
|
while (takeoffToPointRes.getCode() == ResponseResult.CODE_SUCCESS) {
|
//获取无人机状态
|
DeviceModeCodeEnum deviceMode = deviceService.getDeviceMode(deviceSn);
|
|
//当无人机状态为手动飞行
|
if (deviceMode == DeviceModeCodeEnum.MANUAL) {
|
//飞向目标点
|
FlyToPointParam flyToPointParam = new FlyToPointParam();
|
flyToPointParam.setMaxSpeed(14);
|
List<PointDTO> pointDTOS = new ArrayList<>();
|
|
PointDTO pointDTO = new PointDTO();
|
pointDTO.setHeight(120.0);
|
pointDTO.setLongitude(targetList.get(0).getLon());
|
pointDTO.setLatitude(targetList.get(0).getLat());
|
pointDTOS.add(pointDTO);
|
flyToPointParam.setPoints(pointDTOS);
|
|
|
ResponseResult flyToRes = controlService.flyToPoint(sn, flyToPointParam);
|
|
if (flyToRes.getCode() == ResponseResult.CODE_SUCCESS) {
|
//第一个点指令飞行成功后，把数组存到redis中
|
JSONObject jsonObject = new JSONObject();
|
jsonObject.put("targetList", targetList);
|
jsonObject.put("payloadIndex", flyAreaParam.getPayloadIndex());
|
jsonObject.put("curIndex", 0);
|
RedisOpsUtils.set("tuban:" + sn, jsonObject);
|
}
|
break;
|
}
|
}
|
|
return ResponseResult.success(targetList);
|
}
|
|
public TakeoffToPointParam buildTakeoffToPointParam(PointPOJO dockPoint) {
|
TakeoffToPointParam takeoffToPointParam = new TakeoffToPointParam();
|
|
takeoffToPointParam.setTargetLatitude(dockPoint.getLat());
|
takeoffToPointParam.setTargetLongitude(dockPoint.getLon());
|
//设置飞行高度
|
takeoffToPointParam.setTargetHeight(120.0);
|
//设置安全起飞高度
|
takeoffToPointParam.setSecurityTakeoffHeight(100.0);
|
//设置返航高度
|
takeoffToPointParam.setRthAltitude(100.0);
|
//设置失控操作
|
takeoffToPointParam.setRcLostAction(DroneRcLostActionEnum.RETURN_HOME);
|
//设置起飞速度
|
takeoffToPointParam.setMaxSpeed(10.0);
|
takeoffToPointParam.setExitWaylineWhenRcLost(WaylineRcLostActionEnum.EXECUTE_RC_LOST_ACTION);
|
|
return takeoffToPointParam;
|
}
|
|
|
@Override
|
public ResponseResult checkNextJob(WaylineJobDTO job) throws SQLException {
|
|
WaylineJobEntity params = new WaylineJobEntity();
|
params.setJobId(job.getJobId());
|
|
|
WaylineJobEntity job1 = mapper.selectOne(Wrappers.query(params));
|
|
WaylineJobEntity currentJob = JSON.parseObject(JSON.toJSONString(job1), WaylineJobEntity.class);
|
|
if (currentJob == null) {
|
return ResponseResult.error("该任务不存在");
|
}
|
|
//该任务没有多次时间
|
if (currentJob.getExecuteStartTimeArr() == null) {
|
return ResponseResult.success();
|
}
|
|
List<List<Long>> executeStartTimeArr = currentJob.getExecuteStartTimeArr();
|
int indexTime = -1;
|
|
long currentTime = System.currentTimeMillis();
|
for (int i = 0; i < executeStartTimeArr.size(); i++) {
|
Long startTime = executeStartTimeArr.get(i).get(0) * 1000;
|
//如果当前时间小于开始时间
|
if (currentTime < startTime) {
|
//当前索引就是下一次要执行的时间
|
indexTime = i;
|
break;
|
}
|
}
|
|
if (indexTime == -1) {
|
return ResponseResult.success();
|
}
|
|
|
List<Long> timeArr = currentJob.getExecuteStartTimeArr().get(indexTime);
|
LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault());
|
LocalDateTime beginDate = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault()));
|
LocalDateTime endDate = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
|
LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault()))
|
: beginDate;
|
|
long beginTime = beginDate
|
.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
|
long endTime = endDate
|
.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
|
|
|
//添加一条新数据
|
WaylineJobEntity waylineJobEntity = WaylineJobEntity.builder()
|
.jobId(UUID.randomUUID().toString())
|
//大于1则拿前面的parentId,为1则拿第0个的id
|
.parentId(indexTime > 1 ? currentJob.getParentId().toString() : currentJob.getId().toString())
|
.name(currentJob.getName())
|
.dockSn(currentJob.getDockSn())
|
.fileId(currentJob.getFileId())
|
.username(currentJob.getUsername())
|
.workspaceId(currentJob.getWorkspaceId())
|
|
.beginTime(beginTime)
|
.endTime(endTime)
|
.status(WaylineJobStatusEnum.PENDING.getVal())
|
.taskType(currentJob.getTaskType())
|
.waylineType(currentJob.getWaylineType())
|
.outOfControlAction(currentJob.getOutOfControlAction())
|
.batteryCapacity(currentJob.getBatteryCapacity())
|
.rthAltitude(currentJob.getRthAltitude())
|
.mediaCount(0)
|
.repFreVal(currentJob.getRepFreVal())
|
.repFreType(currentJob.getRepFreType())
|
.repRuleType(currentJob.getRepRuleType())
|
.repRuleVal(currentJob.getRepRuleVal())
|
.executeTimeArr(currentJob.getExecuteTimeArr())
|
.executeStartTimeArr(currentJob.getExecuteStartTimeArr())
|
.build();
|
|
Optional<WaylineJobDTO> waylineJobOpt = insertWaylineJob(waylineJobEntity);
|
|
if (waylineJobOpt.isEmpty()) {
|
return ResponseResult.error("任务创建失败");
|
}
|
|
WaylineJobDTO waylineJob = waylineJobOpt.get();
|
|
LocalDateTime beginTimeNext = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault()));
|
|
LocalDateTime endTimeNext = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
|
LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault())) : beginTimeNext;
|
|
|
//条件任务
|
if (currentJob.getTaskType() == 2) {
|
//如果是条件任务类型，需要在任务参数中添加条件。
|
waylineJob.setConditions(
|
WaylineTaskConditionDTO.builder()
|
.executableConditions(null)
|
.readyConditions(WaylineTaskReadyConditionDTO.builder()
|
.batteryCapacity(currentJob.getBatteryCapacity())
|
.beginTime(beginTime)
|
.endTime(endTime)
|
.build())
|
.build());
|
} else {
|
waylineJob.setBeginTime(beginDate);
|
}
|
|
ResponseResult response = this.publishOneFlightTask(waylineJob);
|
if (ResponseResult.CODE_SUCCESS != response.getCode()) {
|
return response;
|
}
|
|
return ResponseResult.success();
|
}
|
|
|
@Override
|
public WaylineJobCountDTO patrolStatistics(String workspaceId, String queryTime, String deviceSn) {
|
WaylineJobCountDTO waylineJobCountDTO = new WaylineJobCountDTO();
|
List<DroneFlightLogEntity> list = flightLogMapper.patrolStatistics(workspaceId, queryTime, deviceSn);
|
if (!CollectionUtils.isEmpty(list)) {
|
waylineJobCountDTO.setTotalNumber(list.size());
|
long totalTime = list.stream().filter(task -> task.getEndTime() != null && task.getStartTime() != null).mapToLong(s -> s.getEndTime() - s.getStartTime()).sum() / 1000;
|
long h = totalTime / 3600;
|
long m = (totalTime % 3600) / 60;
|
waylineJobCountDTO.setTotalDuration(String.format("%02d h %02d min", h, m));
|
List<String> deviceSns = list.stream().map(DroneFlightLogEntity::getDeviceSn).distinct().collect(Collectors.toList());
|
double sum = 0.0;
|
for (String sn : deviceSns) {
|
Double totalFlightDistance = new LambdaQueryChainWrapper<>(flightLogMapper)
|
.eq(DroneFlightLogEntity::getDeviceSn, sn).orderByDesc(DroneFlightLogEntity::getEndTime).last("limit 1").one().getTotalFlightDistance();
|
if (totalFlightDistance != null) {
|
sum += totalFlightDistance;
|
}
|
}
|
waylineJobCountDTO.setTotalDistance((int) sum);
|
}
|
return waylineJobCountDTO;
|
}
|
|
@Override
|
public void updateJobCollect(WaylineJobEntity waylineJob) {
|
new LambdaUpdateChainWrapper<>(mapper)
|
.eq(WaylineJobEntity::getJobId, waylineJob.getJobId())
|
.set(WaylineJobEntity::getCollectStatus, waylineJob.getCollectStatus())
|
.set(WaylineJobEntity::getUserId, waylineJob.getUserId())
|
.update();
|
}
|
|
private void pauseJob(String workspaceId, String dockSn, String jobId, WaylineJobStatusEnum statusEnum) {
|
if (WaylineJobStatusEnum.PAUSED == statusEnum && jobId.equals(waylineRedisService.getPausedWaylineJobId(dockSn))) {
|
waylineRedisService.setPausedWaylineJob(dockSn, jobId);
|
return;
|
}
|
|
ServiceReply reply = messageSender.publishServicesTopic(
|
dockSn, WaylineMethodEnum.FLIGHT_TASK_PAUSE.getMethod(), "", jobId);
|
if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
|
throw new RuntimeException("未能恢复航路作业。错误码： " + reply.getResult());
|
}
|
waylineRedisService.delRunningWaylineJob(dockSn);
|
waylineRedisService.setPausedWaylineJob(dockSn, jobId);
|
}
|
|
private void resumeJob(String workspaceId, String dockSn, String jobId, WaylineJobStatusEnum statusEnum) {
|
Optional<EventsReceiver<WaylineTaskProgressReceiver>> runningDataOpt = waylineRedisService.getRunningWaylineJob(dockSn);
|
if (WaylineJobStatusEnum.IN_PROGRESS == statusEnum && jobId.equals(runningDataOpt.map(EventsReceiver::getSn).get())) {
|
waylineRedisService.setRunningWaylineJob(dockSn, runningDataOpt.get());
|
return;
|
}
|
ServiceReply reply = messageSender.publishServicesTopic(
|
dockSn, WaylineMethodEnum.FLIGHT_TASK_RESUME.getMethod(), "", jobId);
|
if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
|
throw new RuntimeException("未能恢复航路作业。错误码：: " + reply.getResult());
|
}
|
|
runningDataOpt.ifPresent(runningData -> waylineRedisService.setRunningWaylineJob(dockSn, runningData));
|
waylineRedisService.delPausedWaylineJob(dockSn);
|
|
if (deviceService.checkDockDrcMode(dockSn)) {
|
drcService.deviceDrcExit(workspaceId, DrcModeParam.builder().dockSn(dockSn)
|
.clientId(drcService.getDrcModeInRedis(dockSn)).build());
|
}
|
|
}
|
|
private WaylineJobDTO entity2Dto(WaylineJobEntity entity) {
|
if (entity == null) {
|
return null;
|
}
|
|
WaylineJobDTO.WaylineJobDTOBuilder builder = WaylineJobDTO.builder()
|
.jobId(entity.getJobId())
|
.reason(ErrorCodeUtil.codeToReason(entity.getErrorCode()))
|
.jobName(entity.getName())
|
.fileId(entity.getFileId())
|
.fileName(waylineFileService.getWaylineByWaylineId(entity.getWorkspaceId(), entity.getFileId())
|
.orElse(WaylineFileDTO.builder().build()).getName())
|
.dockSn(entity.getDockSn())
|
.dockName(deviceService.getDeviceBySn(entity.getDockSn())
|
.orElse(DeviceDTO.builder().build()).getNickname())
|
.username(entity.getUsername())
|
.workspaceId(entity.getWorkspaceId())
|
.status(WaylineJobStatusEnum.IN_PROGRESS.getVal() == entity.getStatus() &&
|
entity.getJobId().equals(waylineRedisService.getPausedWaylineJobId(entity.getDockSn())) ?
|
WaylineJobStatusEnum.PAUSED.getVal() : entity.getStatus())
|
.code(entity.getErrorCode())
|
.beginTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getBeginTime()), ZoneId.systemDefault()))
|
.endTime(Objects.nonNull(entity.getEndTime()) ?
|
LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getEndTime()), ZoneId.systemDefault()) : null)
|
.executeTime(Objects.nonNull(entity.getExecuteTime()) ?
|
LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getExecuteTime()), ZoneId.systemDefault()) : null)
|
.completedTime(WaylineJobStatusEnum.find(entity.getStatus()).getEnd() ?
|
LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getUpdateTime()), ZoneId.systemDefault()) : null)
|
.taskType(WaylineTaskTypeEnum.find(entity.getTaskType()))
|
.waylineType(WaylineTemplateTypeEnum.find(entity.getWaylineType()))
|
.rthAltitude(entity.getRthAltitude())
|
.outOfControlAction(entity.getOutOfControlAction())
|
.mediaCount(entity.getMediaCount())
|
.hasChildren(entity.getHasChildren());
|
|
if (Objects.nonNull(entity.getEndTime())) {
|
builder.endTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getEndTime()), ZoneId.systemDefault()));
|
}
|
if (WaylineJobStatusEnum.IN_PROGRESS.getVal() == entity.getStatus()) {
|
builder.progress(waylineRedisService.getRunningWaylineJob(entity.getDockSn())
|
.map(EventsReceiver::getOutput)
|
.map(WaylineTaskProgressReceiver::getProgress)
|
.map(WaylineTaskProgress::getPercent)
|
.orElse(null));
|
}
|
|
if (entity.getMediaCount() == 0) {
|
return builder.build();
|
}
|
|
// sync the number of media files
|
String key = RedisConst.MEDIA_HIGHEST_PRIORITY_PREFIX + entity.getDockSn();
|
String countKey = RedisConst.MEDIA_FILE_PREFIX + entity.getDockSn();
|
Object mediaFileCount = RedisOpsUtils.hashGet(countKey, entity.getJobId());
|
if (Objects.nonNull(mediaFileCount)) {
|
builder.uploadedCount(((MediaFileCountDTO) mediaFileCount).getUploadedCount())
|
.uploading(RedisOpsUtils.checkExist(key) && entity.getJobId().equals(((MediaFileCountDTO) RedisOpsUtils.get(key)).getJobId()));
|
return builder.build();
|
}
|
|
int uploadedSize = fileService.getFilesByWorkspaceAndJobId(entity.getWorkspaceId(), entity.getJobId()).size();
|
// All media for this job have been uploaded.
|
if (uploadedSize >= entity.getMediaCount()) {
|
return builder.uploadedCount(uploadedSize).build();
|
}
|
RedisOpsUtils.hashSet(countKey, entity.getJobId(),
|
MediaFileCountDTO.builder()
|
.jobId(entity.getJobId())
|
.mediaCount(entity.getMediaCount())
|
.uploadedCount(uploadedSize).build());
|
return builder.build();
|
}
|
}
|
