package com.dji.sample.control.service.impl;
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import com.dji.sample.common.model.ResponseResult;
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import com.dji.sample.component.mqtt.config.MqttConfiguration;
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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.*;
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import com.dji.sample.control.model.enums.DrcMethodEnum;
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import com.dji.sample.control.model.enums.DrcStatusErrorEnum;
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import com.dji.sample.control.model.enums.DroneAuthorityEnum;
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import com.dji.sample.control.model.enums.MqttAclAccessEnum;
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import com.dji.sample.control.model.param.DrcConnectParam;
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import com.dji.sample.control.model.param.DrcModeParam;
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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.manage.model.dto.DeviceDTO;
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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.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.wayline.model.dto.WaylineTaskProgressReceiver;
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import com.dji.sample.wayline.model.enums.WaylineJobStatusEnum;
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import com.dji.sample.wayline.model.enums.WaylineTaskStatusEnum;
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import com.dji.sample.wayline.model.param.UpdateJobParam;
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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.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.Collections;
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import java.util.List;
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import java.util.Map;
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import java.util.Optional;
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/**
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* @author sean
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* @version 1.3
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* @date 2023/1/11
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*/
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@Service
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@Slf4j
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public class DrcServiceImpl implements IDrcService {
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@Autowired
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private IMessageSenderService messageSenderService;
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@Autowired
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private ObjectMapper objectMapper;
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@Autowired
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private IWaylineJobService waylineJobService;
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@Autowired
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private IDeviceService deviceService;
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@Autowired
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private ObjectMapper mapper;
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@Autowired
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private ISendMessageService webSocketMessageService;
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@Autowired
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private IControlService controlService;
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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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@Override
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public void setDrcModeInRedis(String dockSn, String clientId) {
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RedisOpsUtils.setWithExpire(RedisConst.DRC_PREFIX + dockSn, clientId, RedisConst.DRC_MODE_ALIVE_SECOND);
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}
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@Override
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public String getDrcModeInRedis(String dockSn) {
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return (String) RedisOpsUtils.get(RedisConst.DRC_PREFIX + dockSn);
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}
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@Override
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public Boolean delDrcModeInRedis(String dockSn) {
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return RedisOpsUtils.del(RedisConst.DRC_PREFIX + dockSn);
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}
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@Override
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public MqttBrokerDTO userDrcAuth(String workspaceId, String userId, String username, DrcConnectParam param) {
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// refresh token
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String clientId = param.getClientId();
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// first time
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if (!StringUtils.hasText(clientId) || !RedisOpsUtils.checkExist(RedisConst.MQTT_ACL_PREFIX + clientId)) {
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clientId = userId + "-" + System.currentTimeMillis();
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RedisOpsUtils.hashSet(RedisConst.MQTT_ACL_PREFIX + clientId, "", MqttAclAccessEnum.ALL.getValue());
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}
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String key = RedisConst.MQTT_ACL_PREFIX + clientId;
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try {
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RedisOpsUtils.expireKey(key, RedisConst.DRC_MODE_ALIVE_SECOND);
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return MqttConfiguration.getMqttBrokerWithDrc(
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clientId, username, param.getExpireSec(), Collections.emptyMap());
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} catch (RuntimeException e) {
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RedisOpsUtils.del(key);
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throw e;
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}
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}
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private void checkDrcModeCondition(String workspaceId, String dockSn) {
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Optional<EventsReceiver<WaylineTaskProgressReceiver>> runningOpt = waylineRedisService.getRunningWaylineJob(dockSn);
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if (runningOpt.isPresent() && WaylineJobStatusEnum.IN_PROGRESS == waylineJobService.getWaylineState(dockSn)) {
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waylineJobService.updateJobStatus(workspaceId, runningOpt.get().getBid(),
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UpdateJobParam.builder().status(WaylineTaskStatusEnum.PAUSE).build());
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}
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DockModeCodeEnum dockMode = deviceService.getDockMode(dockSn);
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Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
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if (dockOpt.isPresent() && (DockModeCodeEnum.IDLE == dockMode || DockModeCodeEnum.WORKING == dockMode)) {
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Optional<OsdSubDeviceReceiver> deviceOsd = deviceRedisService.getDeviceOsd(dockOpt.get().getChildDeviceSn(), OsdSubDeviceReceiver.class);
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if (deviceOsd.isEmpty() || deviceOsd.get().getElevation() <= 0) {
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throw new RuntimeException("无人机不在空中，不能进入指挥飞行模式。");
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}
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} else {
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throw new RuntimeException("当前状态不支持进入命令飞行模式。");
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}
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ResponseResult result = controlService.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 JwtAclDTO deviceDrcEnter(String workspaceId, DrcModeParam param) {
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String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + param.getDockSn() + TopicConst.DRC;
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String pubTopic = topic + TopicConst.DOWN;
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String subTopic = topic + TopicConst.UP;
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// If the dock is in drc mode, refresh the permissions directly.
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if (deviceService.checkDockDrcMode(param.getDockSn())
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&& param.getClientId().equals(this.getDrcModeInRedis(param.getDockSn()))) {
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refreshAcl(param.getDockSn(), param.getClientId(), topic, subTopic);
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return JwtAclDTO.builder().sub(List.of(subTopic)).pub(List.of(pubTopic)).build();
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}
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checkDrcModeCondition(workspaceId, param.getDockSn());
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ServiceReply reply = messageSenderService.publishServicesTopic(
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param.getDockSn(), DrcMethodEnum.DRC_MODE_ENTER.getMethod(),
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DrcModeDTO.builder()
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.mqttBroker(MqttConfiguration.getMqttBrokerWithDrc(param.getDockSn() + "-" + System.currentTimeMillis(), param.getDockSn(),
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RedisConst.DRC_MODE_ALIVE_SECOND.longValue(),
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Map.of(MapKeyConst.ACL, objectMapper.convertValue(JwtAclDTO.builder()
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.pub(List.of(subTopic))
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.sub(List.of(pubTopic))
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.build(), new TypeReference<Map<String, ?>>() {}))))
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.build());
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if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
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throw new RuntimeException("SN: " + param.getDockSn() + "; Error Code:" + reply.getResult() + "; 进入命令飞行控制模式失败，请稍后再试!");
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}
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refreshAcl(param.getDockSn(), param.getClientId(), pubTopic, subTopic);
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return JwtAclDTO.builder().sub(List.of(subTopic)).pub(List.of(pubTopic)).build();
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}
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private void refreshAcl(String dockSn, String clientId, String pubTopic, String subTopic) {
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this.setDrcModeInRedis(dockSn, clientId);
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// assign acl，Match by clientId. https://www.emqx.io/docs/zh/v4.4/advanced/acl-redis.html
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// scheme: HSET mqtt_acl:[clientid] [topic] [access]
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String key = RedisConst.MQTT_ACL_PREFIX + clientId;
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RedisOpsUtils.hashSet(key, pubTopic, MqttAclAccessEnum.PUB.getValue());
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RedisOpsUtils.hashSet(key, subTopic, MqttAclAccessEnum.SUB.getValue());
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}
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@Override
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public void deviceDrcExit(String workspaceId, DrcModeParam param) {
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if (!deviceService.checkDockDrcMode(param.getDockSn())) {
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throw new RuntimeException("The dock is not in flight control mode.");
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}
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ServiceReply reply = messageSenderService.publishServicesTopic(
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param.getDockSn(), DrcMethodEnum.DRC_MODE_EXIT.getMethod(), "");
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if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
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throw new RuntimeException("SN: " + param.getDockSn() + "; Error Code:" +
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reply.getResult() + "; Failed to exit command flight control mode, please try again later!");
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}
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String jobId = waylineRedisService.getPausedWaylineJobId(param.getDockSn());
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if (StringUtils.hasText(jobId)) {
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waylineJobService.updateJobStatus(workspaceId, jobId, UpdateJobParam.builder().status(WaylineTaskStatusEnum.RESUME).build());
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}
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this.delDrcModeInRedis(param.getDockSn());
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RedisOpsUtils.del(RedisConst.MQTT_ACL_PREFIX + param.getClientId());
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}
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@ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_DRC_STATUS_NOTIFY, outputChannel = ChannelName.OUTBOUND_EVENTS)
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public CommonTopicReceiver handleDrcStatusNotify(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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return null;
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}
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DrcStatusNotifyReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<DrcStatusNotifyReceiver>(){});
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if (DrcStatusErrorEnum.SUCCESS != eventsReceiver.getResult()) {
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webSocketMessageService.sendBatch(
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deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(), BizCodeEnum.DRC_STATUS_NOTIFY.getCode(),
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ResultNotifyDTO.builder().sn(dockSn)
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.message(eventsReceiver.getResult().getErrorMsg())
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.result(eventsReceiver.getResult().getErrorCode()).build());
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}
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return receiver;
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}
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@ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_DRC_MODE_EXIT_NOTIFY, outputChannel = ChannelName.OUTBOUND_EVENTS)
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public CommonTopicReceiver handleDrcModeExitNotify(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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return null;
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}
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DrcModeReasonReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<DrcModeReasonReceiver>(){});
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webSocketMessageService.sendBatch(
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deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(), BizCodeEnum.JOYSTICK_INVALID_NOTIFY.getCode(),
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ResultNotifyDTO.builder().sn(dockSn)
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.message(eventsReceiver.getReason().getMessage())
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.result(eventsReceiver.getReason().getVal()).build());
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return receiver;
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}
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}
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