package com.dji.sample.wayline.service.impl;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
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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.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.manage.model.dto.DeviceDTO;
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import com.dji.sample.manage.service.IDeviceService;
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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.WaylineJobEntity;
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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.IWaylineFileService;
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import com.dji.sample.wayline.service.IWaylineJobService;
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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 java.net.URL;
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import java.sql.SQLException;
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import java.time.Instant;
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import java.time.LocalDateTime;
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import java.time.ZoneId;
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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 RedisOpsUtils redisOps;
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@Autowired
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private ObjectMapper objectMapper;
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@Override
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public Optional<WaylineJobDTO> createWaylineJob(CreateJobParam param, CustomClaim customClaim) {
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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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if (Objects.isNull(param.getExecuteTime())) {
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param.setExecuteTime(System.currentTimeMillis());
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}
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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(customClaim.getUsername())
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.workspaceId(customClaim.getWorkspaceId())
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.jobId(UUID.randomUUID().toString())
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.executeTime(param.getExecuteTime())
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.status(WaylineJobStatusEnum.PENDING.getVal())
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.taskType(param.getTaskType())
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.waylineType(param.getWaylineType())
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.outOfControlAction(param.getOutOfControlAction())
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.rthAltitude(param.getRthAltitude())
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.build();
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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 ResponseResult publishFlightTask(CreateJobParam param, CustomClaim customClaim) throws SQLException {
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Optional<WaylineJobDTO> waylineJobOpt = this.createWaylineJob(param, customClaim);
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if (waylineJobOpt.isEmpty()) {
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throw new SQLException("Failed to create wayline job.");
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}
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WaylineJobDTO waylineJob = waylineJobOpt.get();
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boolean isOnline = deviceService.checkDeviceOnline(waylineJob.getDockSn());
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if (!isOnline) {
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throw new RuntimeException("Dock is offline.");
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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("Wayline file doesn't exist.");
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}
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// get file url
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URL url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getWaylineId());
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FlightTaskCreateDTO flightTask = FlightTaskCreateDTO.builder()
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.flightId(waylineJob.getJobId())
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.executeTime(waylineJob.getExecuteTime().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(FlightTaskFileDTO.builder()
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.url(url.toString())
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.fingerprint(waylineFile.get().getSign())
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.build())
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.build();
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String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT +
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waylineJob.getDockSn() + TopicConst.SERVICES_SUF;
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CommonTopicResponse<Object> response = CommonTopicResponse.builder()
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.tid(UUID.randomUUID().toString())
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.bid(waylineJob.getJobId())
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.timestamp(System.currentTimeMillis())
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.data(flightTask)
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.method(WaylineMethodEnum.FLIGHT_TASK_PREPARE.getMethod())
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.build();
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ServiceReply serviceReply = messageSender.publishWithReply(topic, response);
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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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this.updateJob(WaylineJobDTO.builder()
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.workspaceId(waylineJob.getWorkspaceId())
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.jobId(waylineJob.getJobId())
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.status(WaylineJobStatusEnum.FAILED.getVal())
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.endTime(LocalDateTime.now())
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.code(serviceReply.getResult()).build());
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return ResponseResult.error("Prepare task ====> Error code: " + serviceReply.getResult());
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}
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// Issue an immediate task execution command.
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if (WaylineTaskTypeEnum.IMMEDIATE.getVal() == waylineJob.getTaskType()) {
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if (!executeFlightTask(waylineJob.getJobId())) {
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return ResponseResult.error("Failed to execute job.");
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}
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}
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if (WaylineTaskTypeEnum.TIMED.getVal() == waylineJob.getTaskType()) {
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boolean isAdd = redisOps.zAdd(RedisConst.WAYLINE_JOB, waylineJob.getJobId(),
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waylineJob.getExecuteTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
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if (!isAdd) {
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return ResponseResult.error("Failed to create scheduled job.");
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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 Boolean executeFlightTask(String jobId) {
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// get job
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Optional<WaylineJobDTO> waylineJob = this.getJobByJobId(jobId);
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if (waylineJob.isEmpty()) {
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throw new IllegalArgumentException("Job doesn't exist.");
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}
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boolean isOnline = deviceService.checkDeviceOnline(waylineJob.get().getDockSn());
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if (!isOnline) {
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throw new RuntimeException("Dock is offline.");
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}
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WaylineJobDTO job = waylineJob.get();
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FlightTaskCreateDTO flightTask = FlightTaskCreateDTO.builder().flightId(jobId).build();
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String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT +
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job.getDockSn() + TopicConst.SERVICES_SUF;
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CommonTopicResponse<Object> response = CommonTopicResponse.builder()
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.tid(UUID.randomUUID().toString())
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.bid(jobId)
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.timestamp(System.currentTimeMillis())
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.data(flightTask)
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.method(WaylineMethodEnum.FLIGHT_TASK_EXECUTE.getMethod())
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.build();
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ServiceReply serviceReply = messageSender.publishWithReply(topic, response);
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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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.status(WaylineJobStatusEnum.FAILED.getVal())
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.endTime(LocalDateTime.now())
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.code(serviceReply.getResult()).build());
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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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.status(WaylineJobStatusEnum.IN_PROGRESS.getVal())
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.build());
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redisOps.setWithExpire(jobId,
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EventsReceiver.<FlightTaskProgressReceiver>builder().bid(jobId).sn(job.getDockSn()).build(),
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RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND);
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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<WaylineJobEntity> waylineJobs = mapper.selectList(
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new LambdaQueryWrapper<WaylineJobEntity>()
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.or(wrapper -> jobIds.forEach(id -> wrapper.eq(WaylineJobEntity::getJobId, id))));
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// Check if the job have ended.
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List<String> endJobs = waylineJobs.stream()
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.filter(job -> WaylineJobStatusEnum.find(job.getStatus()).getEnd())
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.map(WaylineJobEntity::getName)
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.collect(Collectors.toList());
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if (!CollectionUtils.isEmpty(endJobs)) {
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throw new IllegalArgumentException("There are jobs that have ended." + Arrays.toString(endJobs.toArray()));
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}
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Set<String> ids = waylineJobs.stream().map(WaylineJobEntity::getJobId).collect(Collectors.toSet());
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for (String id : jobIds) {
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if (!ids.contains(id)) {
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throw new IllegalArgumentException("Job id " + id + " doesn't exist.");
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}
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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(WaylineJobEntity::getDockSn,
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Collectors.mapping(WaylineJobEntity::getJobId, Collectors.toList())));
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dockJobs.forEach((dockSn, idList) -> this.publishCancelTask(workspaceId, dockSn, idList));
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}
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private void publishCancelTask(String workspaceId, String dockSn, List<String> jobIds) {
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boolean isOnline = deviceService.checkDeviceOnline(dockSn);
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if (isOnline) {
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throw new RuntimeException("Dock is offline.");
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}
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String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + dockSn + TopicConst.SERVICES_SUF;
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CommonTopicResponse<Object> response = CommonTopicResponse.builder()
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.tid(UUID.randomUUID().toString())
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.bid(UUID.randomUUID().toString())
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.timestamp(System.currentTimeMillis())
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.data(Map.of(MapKeyConst.FLIGHT_IDS, jobIds))
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.method(WaylineMethodEnum.FLIGHT_TASK_CANCEL.getMethod())
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.build();
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ServiceReply serviceReply = messageSender.publishWithReply(topic, response);
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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("Failed to cancel the wayline job of " + 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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.endTime(LocalDateTime.now())
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.build());
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redisOps.zRemove(RedisConst.WAYLINE_JOB, jobId);
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}
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}
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@Override
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public Optional<WaylineJobDTO> getJobByJobId(String jobId) {
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WaylineJobEntity jobEntity = mapper.selectOne(
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new LambdaQueryWrapper<WaylineJobEntity>()
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.eq(WaylineJobEntity::getJobId, jobId));
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return Optional.ofNullable(entity2Dto(jobEntity));
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}
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@Override
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public Boolean updateJob(WaylineJobDTO dto) {
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return mapper.update(this.dto2Entity(dto),
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new LambdaUpdateWrapper<WaylineJobEntity>()
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.eq(WaylineJobEntity::getJobId, dto.getJobId())) > 0;
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}
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@Override
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public PaginationData<WaylineJobDTO> getJobsByWorkspaceId(String workspaceId, long page, long pageSize) {
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Page<WaylineJobEntity> pageData = mapper.selectPage(
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new Page<WaylineJobEntity>(page, pageSize),
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new LambdaQueryWrapper<WaylineJobEntity>()
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.eq(WaylineJobEntity::getWorkspaceId, workspaceId)
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.orderByDesc(WaylineJobEntity::getId));
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List<WaylineJobDTO> records = pageData.getRecords()
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.stream()
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.map(this::entity2Dto)
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.collect(Collectors.toList());
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return new PaginationData<WaylineJobDTO>(records, new Pagination(pageData));
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}
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@Override
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@ServiceActivator(inputChannel = ChannelName.INBOUND_REQUESTS_FLIGHT_TASK_RESOURCE_GET, outputChannel = ChannelName.OUTBOUND)
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@Transactional(isolation = Isolation.READ_UNCOMMITTED)
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public void flightTaskResourceGet(CommonTopicReceiver receiver, MessageHeaders headers) {
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Map<String, String> jobIdMap = objectMapper.convertValue(receiver.getData(), new TypeReference<Map<String, String>>() {});
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String jobId = jobIdMap.get(MapKeyConst.FLIGHT_ID);
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CommonTopicResponse.CommonTopicResponseBuilder<RequestsReply> builder = CommonTopicResponse.<RequestsReply>builder()
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.tid(receiver.getTid())
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.bid(receiver.getBid())
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.method(RequestsMethodEnum.FLIGHT_TASK_RESOURCE_GET.getMethod())
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.timestamp(System.currentTimeMillis());
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String topic = headers.get(MqttHeaders.RECEIVED_TOPIC).toString() + TopicConst._REPLY_SUF;
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Optional<WaylineJobDTO> waylineJobOpt = this.getJobByJobId(jobId);
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if (waylineJobOpt.isEmpty()) {
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builder.data(RequestsReply.error(CommonErrorEnum.ILLEGAL_ARGUMENT));
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messageSender.publish(topic, builder.build());
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return;
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}
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WaylineJobDTO waylineJob = waylineJobOpt.get();
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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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builder.data(RequestsReply.error(CommonErrorEnum.ILLEGAL_ARGUMENT));
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messageSender.publish(topic, builder.build());
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return;
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}
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// get file url
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URL url = null;
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try {
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url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getWaylineId());
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builder.data(RequestsReply.success(FlightTaskCreateDTO.builder()
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.file(FlightTaskFileDTO.builder()
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.url(url.toString())
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.fingerprint(waylineFile.get().getSign())
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.build())
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.build()));
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} catch (SQLException | NullPointerException e) {
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e.printStackTrace();
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builder.data(RequestsReply.error(CommonErrorEnum.ILLEGAL_ARGUMENT));
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messageSender.publish(topic, builder.build());
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return;
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}
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messageSender.publish(topic, builder.build());
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}
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private WaylineJobEntity dto2Entity(WaylineJobDTO dto) {
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WaylineJobEntity.WaylineJobEntityBuilder builder = WaylineJobEntity.builder();
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if (dto == null) {
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return builder.build();
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}
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if (Objects.nonNull(dto.getEndTime())) {
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builder.endTime(dto.getEndTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
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}
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if (Objects.nonNull(dto.getExecuteTime())) {
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builder.executeTime(dto.getExecuteTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
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}
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return builder.status(dto.getStatus())
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.mediaCount(dto.getMediaCount())
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.name(dto.getJobName())
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.errorCode(dto.getCode())
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.build();
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}
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private WaylineJobDTO entity2Dto(WaylineJobEntity entity) {
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if (entity == null) {
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return null;
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}
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WaylineJobDTO.WaylineJobDTOBuilder builder = WaylineJobDTO.builder()
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.jobId(entity.getJobId())
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.jobName(entity.getName())
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.fileId(entity.getFileId())
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.fileName(waylineFileService.getWaylineByWaylineId(entity.getWorkspaceId(), entity.getFileId())
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.orElse(WaylineFileDTO.builder().build()).getName())
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.dockSn(entity.getDockSn())
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.dockName(deviceService.getDeviceBySn(entity.getDockSn())
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.orElse(DeviceDTO.builder().build()).getNickname())
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.username(entity.getUsername())
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.workspaceId(entity.getWorkspaceId())
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.status(entity.getStatus())
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.code(entity.getErrorCode())
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.executeTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getExecuteTime()), ZoneId.systemDefault()))
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.taskType(entity.getTaskType())
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.waylineType(entity.getWaylineType())
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.rthAltitude(entity.getRthAltitude())
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.outOfControlAction(entity.getOutOfControlAction())
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.mediaCount(entity.getMediaCount());
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if (Objects.nonNull(entity.getEndTime())) {
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builder.endTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getEndTime()), ZoneId.systemDefault()));
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}
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if (WaylineJobStatusEnum.IN_PROGRESS.getVal() == entity.getStatus() && redisOps.getExpire(entity.getJobId()) > 0) {
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EventsReceiver<FlightTaskProgressReceiver> taskProgress = (EventsReceiver<FlightTaskProgressReceiver>) redisOps.get(entity.getJobId());
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if (Objects.nonNull(taskProgress.getOutput()) && Objects.nonNull(taskProgress.getOutput().getProgress())) {
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builder.progress(taskProgress.getOutput().getProgress().getPercent());
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}
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}
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return builder.build();
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}
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}
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