package com.dji.sample.control.service.impl;
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import com.alibaba.fastjson.JSONObject;
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import com.dji.sample.common.error.CommonErrorEnum;
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import com.dji.sample.common.model.ResponseResult;
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import com.dji.sample.common.util.SpringBeanUtils;
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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.component.websocket.model.BizCodeEnum;
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import com.dji.sample.component.websocket.service.ISendMessageService;
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import com.dji.sample.control.model.dto.FlyToProgressReceiver;
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import com.dji.sample.control.model.dto.PointDTO;
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import com.dji.sample.control.model.dto.ResultNotifyDTO;
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import com.dji.sample.control.model.dto.TakeoffProgressReceiver;
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import com.dji.sample.control.model.enums.*;
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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.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.UserTypeEnum;
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import com.dji.sample.manage.service.IDevicePayloadService;
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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.wayline.model.enums.WaylineErrorCodeEnum;
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import com.dji.sample.wayline.model.param.PointPOJO;
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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.messaging.MessageHeaders;
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import org.springframework.stereotype.Service;
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import org.springframework.util.StringUtils;
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import java.util.*;
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/**
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* @author sean
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* @version 1.2
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* @date 2022/7/29
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*/
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@Service
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@Slf4j
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public class ControlServiceImpl implements IControlService {
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@Autowired
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private IMessageSenderService messageSenderService;
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@Autowired
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private ISendMessageService webSocketMessageService;
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@Autowired
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private IDeviceService deviceService;
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@Autowired
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private IDeviceRedisService deviceRedisService;
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@Autowired
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private ObjectMapper mapper;
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@Autowired
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private IDevicePayloadService devicePayloadService;
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private RemoteDebugHandler checkDebugCondition(String sn, RemoteDebugParam param, RemoteDebugMethodEnum controlMethodEnum) {
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RemoteDebugHandler handler = Objects.nonNull(controlMethodEnum.getClazz()) ?
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mapper.convertValue(Objects.nonNull(param) ? param : new Object(), controlMethodEnum.getClazz())
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: new RemoteDebugHandler();
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if (!handler.canPublish(sn)) {
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throw new RuntimeException("当前的机场状态不支持此功能。");
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}
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if (Objects.nonNull(param) && !handler.valid()) {
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throw new RuntimeException(CommonErrorEnum.ILLEGAL_ARGUMENT.getErrorMsg());
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}
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return handler;
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}
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@Override
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public ResponseResult controlDockDebug(String sn, String serviceIdentifier, RemoteDebugParam param) {
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RemoteDebugMethodEnum controlMethodEnum = RemoteDebugMethodEnum.find(serviceIdentifier);
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if (RemoteDebugMethodEnum.UNKNOWN == controlMethodEnum) {
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return ResponseResult.error(" 没有找到" + serviceIdentifier + " 这个指令。");
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}
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RemoteDebugHandler data = checkDebugCondition(sn, param, controlMethodEnum);
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boolean isExist = deviceRedisService.checkDeviceOnline(sn);
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if (!isExist) {
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return ResponseResult.error("设备离线");
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}
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String bid = UUID.randomUUID().toString();
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ServiceReply serviceReply = messageSenderService.publishServicesTopic(sn, serviceIdentifier, data, bid);
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if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {
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return ResponseResult.error(serviceReply.getResult(),
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"error: " + serviceIdentifier + serviceReply.getResult());
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}
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if (controlMethodEnum.getProgress()) {
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RedisOpsUtils.setWithExpire(serviceIdentifier + RedisConst.DELIMITER + bid, sn,
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RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND);
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}
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//当执行返航指令时，删除图斑redis
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if (serviceIdentifier == "return_home"){
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if (RedisOpsUtils.checkExist("tuban:" + sn)){
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RedisOpsUtils.del("tuban:" + sn);
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}
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}
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return ResponseResult.success();
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}
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/**
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* Handles multi-state command progress information.
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*
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* @param receiver
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* @param headers
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* @return
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*/
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@ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_CONTROL_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS)
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public CommonTopicReceiver handleControlProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
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String key = receiver.getMethod() + RedisConst.DELIMITER + receiver.getBid();
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if (RedisOpsUtils.getExpire(key) <= 0) {
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return receiver;
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}
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String sn = RedisOpsUtils.get(key).toString();
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EventsReceiver<EventsOutputProgressReceiver> eventsReceiver = mapper.convertValue(receiver.getData(),
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new TypeReference<EventsReceiver<EventsOutputProgressReceiver>>() {
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});
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eventsReceiver.setBid(receiver.getBid());
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eventsReceiver.setSn(sn);
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log.info("SN: {}, {} ===> Control progress: {}",
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sn, receiver.getMethod(), eventsReceiver.getOutput().getProgress().toString());
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if (eventsReceiver.getResult() != ResponseResult.CODE_SUCCESS) {
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log.error("SN: {}, {} ===> Error code: {}", sn, receiver.getMethod(), eventsReceiver.getResult());
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}
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if (eventsReceiver.getOutput().getProgress().getPercent() == 100 ||
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EventsResultStatusEnum.find(eventsReceiver.getOutput().getStatus()).getEnd()) {
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RedisOpsUtils.del(key);
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}
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Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(sn);
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if (deviceOpt.isEmpty()) {
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throw new RuntimeException("设备离线.");
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}
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DeviceDTO device = deviceOpt.get();
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webSocketMessageService.sendBatch(device.getWorkspaceId(), UserTypeEnum.WEB.getVal(),
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receiver.getMethod(), eventsReceiver);
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return receiver;
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}
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private void checkFlyToCondition(String dockSn) {
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// TODO 设备固件版本不兼容情况
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Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
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if (dockOpt.isEmpty()) {
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throw new RuntimeException("机场离线请重启机场");
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}
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DeviceModeCodeEnum deviceMode = deviceService.getDeviceMode(dockOpt.get().getChildDeviceSn());
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if (DeviceModeCodeEnum.MANUAL != deviceMode) {
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throw new RuntimeException("无人机当前状态不支持此功能，请稍后再试");
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}
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ResponseResult result = seizeAuthority(dockSn, DroneAuthorityEnum.FLIGHT, null);
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if (ResponseResult.CODE_SUCCESS != result.getCode()) {
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throw new IllegalArgumentException(result.getMessage());
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}
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}
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@Override
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public ResponseResult flyToPoint(String sn, FlyToPointParam param) {
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checkFlyToCondition(sn);
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param.setFlyToId(UUID.randomUUID().toString());
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ServiceReply reply = messageSenderService.publishServicesTopic(sn, DroneControlMethodEnum.FLY_TO_POINT.getMethod(), param, param.getFlyToId());
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return ResponseResult.CODE_SUCCESS != reply.getResult() ?
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ResponseResult.error("飞向目标点失败。" + reply.getResult())
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: ResponseResult.success();
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}
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@Override
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public ResponseResult flyToPointStop(String sn) {
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ServiceReply reply = messageSenderService.publishServicesTopic(sn, DroneControlMethodEnum.FLY_TO_POINT_STOP.getMethod(), null);
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return ResponseResult.CODE_SUCCESS != reply.getResult() ?
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ResponseResult.error("飞向目标点的无人机停止失败" + reply.getResult())
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: ResponseResult.success();
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}
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@ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_FLY_TO_POINT_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS)
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public CommonTopicReceiver handleFlyToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers) throws Exception {
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String dockSn = receiver.getGateway();
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Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn);
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if (deviceOpt.isEmpty()) {
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log.error("机场离线");
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return null;
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}
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FlyToProgressReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<FlyToProgressReceiver>() {
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});
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webSocketMessageService.sendBatch(deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(),
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BizCodeEnum.FLY_TO_POINT_PROGRESS.getCode(),
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ResultNotifyDTO.builder().sn(dockSn)
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.message(WaylineErrorCodeEnum.SUCCESS == eventsReceiver.getResult() ?
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eventsReceiver.getStatus().getMessage() : eventsReceiver.getResult().getErrorMsg())
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.result(eventsReceiver.getResult().getErrorCode())
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.build());
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//当飞向目标点成功后
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if (eventsReceiver.getStatus().equals(FlyToStatusEnum.WAYLINE_OK)) {
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JSONObject jsonObject = (JSONObject) RedisOpsUtils.get("tuban:" + dockSn);
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if (jsonObject != null) {
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List<PointPOJO> targetList = (List<PointPOJO>) jsonObject.get("targetList");
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int curIndex = (Integer) jsonObject.get("curIndex");
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String payloadIndex = jsonObject.getString("payloadIndex");
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flyToNextPoint(targetList, curIndex+1, dockSn, payloadIndex);
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}
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}
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return receiver;
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}
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@Override
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public ResponseResult flyToNextPoint(List<PointPOJO> targetList, int curIndex, String sn, String payloadIndex) throws Exception {
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//当无人机状态为人工时再发布下一个命令
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while (true) {
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Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(sn);
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DeviceModeCodeEnum deviceMode = deviceService.getDeviceMode(dockOpt.get().getChildDeviceSn());
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if (DeviceModeCodeEnum.MANUAL == deviceMode) {
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//执行拍照
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ResponseResult responseResult = takePhoto(sn, payloadIndex);
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//发布飞行指令
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if (curIndex == targetList.size()) {
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//当前是最后一个点，返航
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ResponseResult returnHome = controlDockDebug(sn, "return_home", null);
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RedisOpsUtils.del("tuban:" + sn);
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return returnHome;
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} else {
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//当前不是最后一个点，飞行到下一个点
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FlyToPointParam flyToPointParam = new FlyToPointParam();
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flyToPointParam.setMaxSpeed(14);
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List<PointDTO> pointDTOS = new ArrayList<>();
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PointDTO pointDTO = new PointDTO();
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pointDTO.setHeight(150.0);
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pointDTO.setLongitude(targetList.get(curIndex).getLon());
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pointDTO.setLatitude(targetList.get(curIndex).getLat());
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pointDTOS.add(pointDTO);
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flyToPointParam.setPoints(pointDTOS);
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//发布下一个飞行指令
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ResponseResult flyToRes = flyToPoint(sn, flyToPointParam);
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if (flyToRes.getCode() == ResponseResult.CODE_SUCCESS) {
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JSONObject jsonObject = new JSONObject();
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jsonObject.put("targetList", targetList);
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jsonObject.put("curIndex", curIndex);
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jsonObject.put("payloadIndex",payloadIndex);
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RedisOpsUtils.set("tuban:" + sn, jsonObject);
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}
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return flyToRes;
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}
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}
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}
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}
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@Override
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public ResponseResult takePhoto(String sn, String payloadIndex) throws Exception {
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//获取负载控制权
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DronePayloadParam dronePayloadParam = new DronePayloadParam();
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dronePayloadParam.setPayloadIndex(payloadIndex);
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ResponseResult seizeAuthorityRes = seizeAuthority(sn, DroneAuthorityEnum.PAYLOAD, dronePayloadParam);
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//切换为相机模式
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if (seizeAuthorityRes.getCode() != ResponseResult.CODE_SUCCESS) {
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return seizeAuthorityRes;
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}
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PayloadCommandsParam payloadCommandsParam = new PayloadCommandsParam();
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// DronePayloadParam switchParam = new DronePayloadParam();
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// switchParam.setCameraMode(CameraModeEnum.PHOTO);
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// switchParam.setPayloadIndex(payloadIndex);
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// payloadCommandsParam.setSn(sn);
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// payloadCommandsParam.setCmd(PayloadCommandsEnum.CAMERA_MODE_SWitCH);
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// payloadCommandsParam.setData(switchParam);
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//
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// ResponseResult switchModeRes = payloadCommands(payloadCommandsParam);
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// if (switchModeRes.getCode() != ResponseResult.CODE_SUCCESS){
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// return switchModeRes;
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// }
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//拍照
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payloadCommandsParam.setCmd(PayloadCommandsEnum.CAMERA_PHOTO_TAKE);
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DronePayloadParam takePhotoParam = new DronePayloadParam();
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takePhotoParam.setPayloadIndex(payloadIndex);
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payloadCommandsParam.setData(takePhotoParam);
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payloadCommandsParam.setSn(sn);
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ResponseResult responseResult = payloadCommands(payloadCommandsParam);
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return responseResult;
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}
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private void checkTakeoffCondition(String dockSn) {
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Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
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if (dockOpt.isEmpty() || DockModeCodeEnum.IDLE != deviceService.getDockMode(dockSn)) {
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throw new RuntimeException("当前状态不支持起飞");
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}
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ResponseResult result = seizeAuthority(dockSn, DroneAuthorityEnum.FLIGHT, null);
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if (ResponseResult.CODE_SUCCESS != result.getCode()) {
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throw new IllegalArgumentException(result.getMessage());
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}
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}
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@Override
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public ResponseResult takeoffToPoint(String sn, TakeoffToPointParam param) {
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checkTakeoffCondition(sn);
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if (!StringUtils.hasText(param.getFlightId())){
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param.setFlightId(UUID.randomUUID().toString());
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}
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ServiceReply reply = messageSenderService.publishServicesTopic(sn, DroneControlMethodEnum.TAKE_OFF_TO_POINT.getMethod(), param, param.getFlightId());
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return ResponseResult.CODE_SUCCESS != reply.getResult() ?
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ResponseResult.error("无人机起飞失败 " + reply.getResult())
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: ResponseResult.success();
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}
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@ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_TAKE_OFF_TO_POINT_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS)
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public CommonTopicReceiver handleTakeoffToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
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String dockSn = receiver.getGateway();
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Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn);
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if (deviceOpt.isEmpty()) {
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log.error("机场离线");
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return null;
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}
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TakeoffProgressReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<TakeoffProgressReceiver>() {
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});
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webSocketMessageService.sendBatch(deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(),
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BizCodeEnum.TAKE_OFF_TO_POINT_PROGRESS.getCode(),
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ResultNotifyDTO.builder().sn(dockSn)
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.message(WaylineErrorCodeEnum.SUCCESS == eventsReceiver.getResult() ?
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eventsReceiver.getStatus().getMessage() : eventsReceiver.getResult().getErrorMsg())
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.result(eventsReceiver.getResult().getErrorCode())
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.build());
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return receiver;
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}
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@Override
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public ResponseResult seizeAuthority(String sn, DroneAuthorityEnum authority, DronePayloadParam param) {
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String method;
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switch (authority) {
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case FLIGHT:
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if (deviceService.checkAuthorityFlight(sn)) {
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return ResponseResult.success();
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}
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method = DroneControlMethodEnum.FLIGHT_AUTHORITY_GRAB.getMethod();
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break;
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case PAYLOAD:
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if (checkPayloadAuthority(sn, param.getPayloadIndex())) {
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return ResponseResult.success();
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}
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method = DroneControlMethodEnum.PAYLOAD_AUTHORITY_GRAB.getMethod();
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break;
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default:
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return ResponseResult.error(CommonErrorEnum.ILLEGAL_ARGUMENT);
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}
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ServiceReply serviceReply = messageSenderService.publishServicesTopic(sn, method, param);
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return ResponseResult.CODE_SUCCESS != serviceReply.getResult() ?
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ResponseResult.error(serviceReply.getResult(), "方法: " + method + " 错误码：" + serviceReply.getResult())
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: ResponseResult.success();
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}
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private Boolean checkPayloadAuthority(String sn, String payloadIndex) {
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Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(sn);
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if (dockOpt.isEmpty()) {
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throw new RuntimeException("机场离线请重启机场");
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}
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return devicePayloadService.checkAuthorityPayload(dockOpt.get().getChildDeviceSn(), payloadIndex);
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}
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@Override
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public ResponseResult payloadCommands(PayloadCommandsParam param) throws Exception {
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param.getCmd().getClazz()
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.getDeclaredConstructor(DronePayloadParam.class)
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.newInstance(param.getData())
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.checkCondition(param.getSn());
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ServiceReply serviceReply = messageSenderService.publishServicesTopic(param.getSn(), param.getCmd().getCmd(), param.getData());
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return ResponseResult.CODE_SUCCESS != serviceReply.getResult() ?
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ResponseResult.error(serviceReply.getResult(), "错误码：" + serviceReply.getResult())
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: ResponseResult.success();
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}
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@Override
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public ResponseResult requestsConfig(String sn, String method, RequestsParam param) {
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ServiceReply serviceReply = messageSenderService.publishRequestsTopic(sn, method, param);
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return ResponseResult.CODE_SUCCESS != serviceReply.getResult() ?
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ResponseResult.error(serviceReply.getResult(), "错误码：" + serviceReply.getResult())
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: ResponseResult.success();
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}
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}
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