package com.dji.sample.manage.service.impl;
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import com.dji.sample.component.mqtt.model.CommonTopicReceiver;
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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.config.ConcurrentWebSocketSession;
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import com.dji.sample.component.websocket.model.BizCodeEnum;
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import com.dji.sample.component.websocket.model.CustomWebSocketMessage;
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import com.dji.sample.log.model.entity.DroneFlightLogEntity;
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import com.dji.sample.log.model.entity.DroneFlightLogInfoEntity;
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import com.dji.sample.log.service.IDroneFlightLogInfoService;
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import com.dji.sample.log.service.IDroneFlightLogService;
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import com.dji.sample.manage.model.dto.DeviceDTO;
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import com.dji.sample.manage.model.dto.DevicePayloadDTO;
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import com.dji.sample.manage.model.dto.TelemetryDTO;
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import com.dji.sample.manage.model.dto.TelemetryDeviceDTO;
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import com.dji.sample.manage.model.enums.DeviceDomainEnum;
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import com.dji.sample.manage.model.enums.DeviceModeCodeEnum;
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import com.dji.sample.manage.model.receiver.OsdPayloadReceiver;
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import com.dji.sample.manage.model.receiver.OsdSubDeviceReceiver;
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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.beans.factory.annotation.Qualifier;
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import org.springframework.stereotype.Service;
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import java.util.Collection;
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import java.util.List;
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import java.util.Map;
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import java.util.stream.Collectors;
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/**
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* @author sean
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* @version 0.3
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* @date 2022/2/21
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*/
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@Service
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@Slf4j
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public class DeviceOSDServiceImpl extends AbstractTSAService {
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@Autowired
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private IDroneFlightLogService droneFlightLogService;
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@Autowired
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private IDroneFlightLogInfoService droneFlightLogInfoService;
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protected DeviceOSDServiceImpl(@Autowired @Qualifier("dockOSDServiceImpl") AbstractTSAService tsaService) {
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super(tsaService);
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}
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@Override
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public void pushTelemetryData(Collection<ConcurrentWebSocketSession> sessions,
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CustomWebSocketMessage<TelemetryDTO> message, Object osdData) {
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if (osdData instanceof OsdSubDeviceReceiver) {
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OsdSubDeviceReceiver data = (OsdSubDeviceReceiver) osdData;
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TelemetryDTO telemetry = message.getData();
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telemetry.setHost(TelemetryDeviceDTO.builder()
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.latitude(data.getLatitude())
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.longitude(data.getLongitude())
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.altitude(data.getElevation())
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.attitudeHead(data.getAttitudeHead())
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.elevation(data.getElevation())
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.horizontalSpeed(data.getHorizontalSpeed())
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.verticalSpeed(data.getVerticalSpeed())
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.build());
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this.sendMessageService.sendBatch(sessions, message);
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}
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}
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@Override
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public void handleOSD(CommonTopicReceiver receiver, DeviceDTO device,
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Collection<ConcurrentWebSocketSession> webSessions,
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CustomWebSocketMessage<TelemetryDTO> wsMessage) {
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if (DeviceDomainEnum.SUB_DEVICE.getVal() == device.getDomain()) {
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wsMessage.setBizCode(BizCodeEnum.DEVICE_OSD.getCode());
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OsdSubDeviceReceiver data = mapper.convertValue(receiver.getData(), OsdSubDeviceReceiver.class);
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//保存飞行日志 状态启动 "3":"手动飞行","4":"自动起飞","5":"航线飞行"
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if (DeviceModeCodeEnum.MANUAL.getVal() == data.getModeCode().getVal() ||
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DeviceModeCodeEnum.TAKEOFF_AUTO.getVal() == data.getModeCode().getVal() ||
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DeviceModeCodeEnum.WAYLINE.getVal() == data.getModeCode().getVal() ) {
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if (!RedisOpsUtils.checkExist(RedisConst.FLIGHT_LOG + device.getDeviceSn())) {
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// 开始记录日志
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DroneFlightLogEntity dflPo = DroneFlightLogEntity.builder()
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.deviceSn(device.getDeviceSn())
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.deviceName(device.getDeviceName())
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.nickname(device.getNickname())
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.workspaceId(device.getWorkspaceId())
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.title(data.getModeCode().getVal() == 3?"手动飞行":data.getModeCode().getVal() == 4?"自动起飞":data.getModeCode().getVal() == 5?"航线飞行":"未知")
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.startTime(System.currentTimeMillis())
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.trackId(data.getTrackId())
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.build();
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droneFlightLogService.save(dflPo);
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//缓存对象用于关联数据
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RedisOpsUtils.set(RedisConst.FLIGHT_LOG + device.getDeviceSn(),dflPo);
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}
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}
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//状态0时取消
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if (DeviceModeCodeEnum.IDLE.getVal() == data.getModeCode().getVal()) {
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//如果存在则删除并保存结束时间
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if (RedisOpsUtils.checkExist(RedisConst.FLIGHT_LOG + device.getDeviceSn())) {
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DroneFlightLogEntity dflPo = (DroneFlightLogEntity) RedisOpsUtils.get(RedisConst.FLIGHT_LOG + device.getDeviceSn());
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dflPo.setEndTime(System.currentTimeMillis());
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dflPo.setTotalFlightDistance(data.getTotalFlightDistance());
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droneFlightLogService.update(dflPo);
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RedisOpsUtils.del(RedisConst.FLIGHT_LOG + device.getDeviceSn());
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}
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}
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//保存无人机实时位置信息
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if (RedisOpsUtils.checkExist(RedisConst.FLIGHT_LOG + device.getDeviceSn())) {
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DroneFlightLogEntity dflPo = (DroneFlightLogEntity) RedisOpsUtils.get(RedisConst.FLIGHT_LOG + device.getDeviceSn());
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DroneFlightLogInfoEntity dfliPo = DroneFlightLogInfoEntity.builder()
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.latitude(data.getLatitude())
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.longitude(data.getLongitude())
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.flightId(dflPo.getId())
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.height(data.getHeight())
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.elevation(data.getElevation())
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.build();
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droneFlightLogInfoService.save(dfliPo);
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}
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List<DevicePayloadDTO> payloadsList = device.getPayloadsList();
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try {
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Map<String, Object> receiverData = (Map<String, Object>) receiver.getData();
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data.setPayloads(payloadsList.stream()
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.map(payload -> mapper.convertValue(
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receiverData.getOrDefault(payload.getPayloadIndex(), Map.of()),
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OsdPayloadReceiver.class))
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.collect(Collectors.toList()));
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} catch (NullPointerException e) {
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log.warn("Please remount the payload, or restart the drone. Otherwise the data of the payload will not be received.");
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}
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RedisOpsUtils.setWithExpire(RedisConst.OSD_PREFIX + device.getDeviceSn(), data, RedisConst.DEVICE_ALIVE_SECOND);
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wsMessage.getData().setHost(data);
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sendMessageService.sendBatch(webSessions, wsMessage);
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this.pushTelemetryData(device.getWorkspaceId(), data, device.getDeviceSn());
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}
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tsaService.handleOSD(receiver, device, webSessions, wsMessage);
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}
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}
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