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.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.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.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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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.getDesc().equals(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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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.getPayloadName(), 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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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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