package com.dji.sample.wayline.service.impl;
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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.EventsReceiver;
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import com.dji.sample.component.mqtt.model.ServiceReply;
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import com.dji.sample.component.mqtt.service.IMessageSenderService;
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import com.dji.sample.manage.service.IDeviceRedisService;
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import com.dji.sample.wayline.model.dto.*;
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import com.dji.sample.wayline.model.enums.WaylineErrorCodeEnum;
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import com.dji.sample.wayline.model.enums.WaylineJobStatusEnum;
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import com.dji.sample.wayline.model.enums.WaylineMethodEnum;
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import com.dji.sample.wayline.model.enums.WaylineTaskTypeEnum;
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import com.dji.sample.wayline.model.param.CreateJobParam;
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import com.dji.sample.wayline.service.IWayLineTaskService;
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import com.dji.sample.wayline.service.IWaylineFileService;
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import lombok.extern.slf4j.Slf4j;
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import org.checkerframework.checker.units.qual.A;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Service;
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import java.net.URL;
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import java.sql.SQLException;
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import java.time.LocalDateTime;
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import java.time.ZoneId;
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import java.util.Objects;
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import java.util.Optional;
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@Service
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@Slf4j
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public class IWayLineTaskServiceImpl implements IWayLineTaskService {
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@Autowired
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private IDeviceRedisService deviceRedisService;
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@Autowired
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private IWaylineFileService waylineFileService;
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@Autowired
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private IMessageSenderService messageSender;
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@Override
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public ResponseResult executeTask(CreateJobParam param,String workspaceId) throws SQLException {
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WaylineJobDTO waylineJob = param2DTO(param,workspaceId);
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Integer result = this.prepareFlightTask(waylineJob);
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boolean isSuccess = result.equals(0);
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if (!isSuccess) {
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return ResponseResult.error("任务准备失败,错误码:"+result);
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}
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//发出立即任务执行命令
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Integer executeFlightTask = executeFlightTask(waylineJob);
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boolean isExecuted = executeFlightTask.equals(0);
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if (!isExecuted) {
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return ResponseResult.error("执行任务失败，错误码:"+executeFlightTask);
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}
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return ResponseResult.success();
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}
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private WaylineJobDTO param2DTO(CreateJobParam param,String workspaceId) {
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return WaylineJobDTO.builder()
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.jobId(param.getJobId())
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.fileId(param.getFileId())
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.dockSn(param.getDockSn())
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.workspaceId(workspaceId)
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.executeTime(LocalDateTime.now())
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.beginTime(LocalDateTime.now())
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.taskType(param.getTaskType())
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.waylineType(param.getWaylineType())
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.rthAltitude(param.getRthAltitude())
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.outOfControlAction(param.getOutOfControlAction()).build();
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}
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private Integer executeFlightTask(WaylineJobDTO waylineJob) {
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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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String jobId = waylineJob.getJobId();
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WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder().flightId(waylineJob.getJobId()).build();
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ServiceReply serviceReply = messageSender.publishServicesTopic(
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waylineJob.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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return serviceReply.getResult();
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}
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return ResponseResult.CODE_SUCCESS ;
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}
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public Integer 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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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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URL url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getWaylineId());
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WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder()
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.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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.build();
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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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return serviceReply.getResult();
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}
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return ResponseResult.CODE_SUCCESS;
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}
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}
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