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.control.model.param.DrcModeParam;
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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.DeviceModeCodeEnum;
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import com.dji.sample.manage.model.enums.DockModeCodeEnum;
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import com.dji.sample.manage.model.receiver.OsdDockReceiver;
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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.media.model.MediaFileCountDTO;
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import com.dji.sample.media.model.MediaMethodEnum;
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import com.dji.sample.media.service.IFileService;
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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.*;
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import com.dji.sample.wayline.model.param.CreateJobParam;
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import com.dji.sample.wayline.model.param.UpdateJobParam;
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import com.dji.sample.wayline.model.param.WaylineJobQueryParam;
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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.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.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 org.springframework.util.StringUtils;
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import java.net.URL;
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import java.sql.SQLException;
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import java.time.*;
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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 ObjectMapper objectMapper;
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@Autowired
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private IFileService fileService;
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@Autowired
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private IDrcService drcService;
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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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private Optional<WaylineJobDTO> insertWaylineJob(WaylineJobEntity jobEntity) {
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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 Optional<WaylineJobDTO> createWaylineJob(CreateJobParam param, String workspaceId, String username, Long beginTime, Long endTime) {
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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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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(username)
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.workspaceId(workspaceId)
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.jobId(UUID.randomUUID().toString())
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.beginTime(beginTime)
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.endTime(endTime)
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.status(WaylineJobStatusEnum.PENDING.getVal())
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.taskType(param.getTaskType().getVal())
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.waylineType(param.getWaylineType().getVal())
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.outOfControlAction(param.getOutOfControlAction())
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.rthAltitude(param.getRthAltitude())
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.mediaCount(0)
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.build();
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return insertWaylineJob(jobEntity);
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}
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@Override
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public Optional<WaylineJobDTO> createWaylineJobByParent(String workspaceId, String parentId) {
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Optional<WaylineJobDTO> parentJobOpt = this.getJobByJobId(workspaceId, parentId);
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if (parentJobOpt.isEmpty()) {
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return Optional.empty();
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}
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WaylineJobEntity jobEntity = this.dto2Entity(parentJobOpt.get());
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jobEntity.setJobId(UUID.randomUUID().toString());
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jobEntity.setErrorCode(null);
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jobEntity.setCompletedTime(null);
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jobEntity.setExecuteTime(null);
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jobEntity.setStatus(WaylineJobStatusEnum.PENDING.getVal());
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jobEntity.setParentId(parentId);
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return this.insertWaylineJob(jobEntity);
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}
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/**
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* 对于即时任务，以服务器时间为准。
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* @param param
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*/
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private void fillImmediateTime(CreateJobParam param) {
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if (WaylineTaskTypeEnum.IMMEDIATE != param.getTaskType()) {
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return;
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}
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long now = System.currentTimeMillis() / 1000 - 10;
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// param.setTaskDays(Collections.singletonList(now));
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// param.setTaskPeriods(Collections.singletonList(Collections.singletonList(now)));
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param.setTaskDays(List.of(now));
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param.setTaskPeriods(List.of(List.of(now)));
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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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fillImmediateTime(param);
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// param.getTaskDays().sort((a, b) -> (int) (a - b));
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// param.getTaskPeriods().sort((a, b) -> (int) (a.get(0) - b.get(0)));
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for (Long taskDay : param.getTaskDays()) {
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LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(taskDay), ZoneId.systemDefault());
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for (List<Long> taskPeriod : param.getTaskPeriods()) {
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long beginTime = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(taskPeriod.get(0)), ZoneId.systemDefault()))
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.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
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long endTime = taskPeriod.size() > 1 && Objects.nonNull(taskPeriod.get(1)) ?
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LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(taskPeriod.get(1)), ZoneId.systemDefault()))
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.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli() : beginTime;
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if (WaylineTaskTypeEnum.IMMEDIATE != param.getTaskType() && endTime < System.currentTimeMillis()) {
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return ResponseResult.error("任务已过期");
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}
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Optional<WaylineJobDTO> waylineJobOpt = this.createWaylineJob(param, customClaim.getWorkspaceId(), customClaim.getUsername(), beginTime, endTime);
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if (waylineJobOpt.isEmpty()) {
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throw new SQLException("任务创建失败");
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}
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WaylineJobDTO waylineJob = waylineJobOpt.get();
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// If it is a conditional task type, add conditions to the job parameters.
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//如果是条件任务类型，需要在任务参数中添加条件。
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addPreparedJob(waylineJob, param, beginTime, endTime);
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ResponseResult response = this.publishOneFlightTask(waylineJob);
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if (ResponseResult.CODE_SUCCESS != response.getCode()) {
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return response;
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}
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}
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}
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return ResponseResult.success();
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}
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private void addPreparedJob(WaylineJobDTO waylineJob, CreateJobParam param, Long beginTime, Long endTime) {
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if (WaylineTaskTypeEnum.CONDITION == param.getTaskType()) {
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waylineJob.setConditions(
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WaylineTaskConditionDTO.builder()
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.executableConditions(Objects.nonNull(param.getMinStorageCapacity()) ?
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WaylineTaskExecutableConditionDTO.builder().storageCapacity(param.getMinStorageCapacity()).build() : null)
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.readyConditions(WaylineTaskReadyConditionDTO.builder()
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.batteryCapacity(param.getMinBatteryCapacity())
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.beginTime(beginTime)
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.endTime(endTime)
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.build())
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.build());
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waylineRedisService.setConditionalWaylineJob(waylineJob);
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}
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// value: {workspace_id}:{dock_sn}:{job_id}
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boolean isAdd = waylineRedisService.addPreparedWaylineJob(waylineJob);
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if (!isAdd) {
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throw new RuntimeException("创建任务失败。");
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}
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}
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public ResponseResult publishOneFlightTask(WaylineJobDTO waylineJob) throws SQLException {
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boolean isSuccess = this.prepareFlightTask(waylineJob);
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if (!isSuccess) {
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return ResponseResult.error("任务准备失败");
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}
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// Issue an immediate task execution command.
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//发出立即任务执行命令
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if (WaylineTaskTypeEnum.IMMEDIATE == waylineJob.getTaskType()) {
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boolean isExecuted = executeFlightTask(waylineJob.getWorkspaceId(), waylineJob.getJobId());
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if (!isExecuted) {
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return ResponseResult.error("执行任务失败");
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}
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}
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return ResponseResult.success();
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}
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private Boolean prepareFlightTask(WaylineJobDTO waylineJob) throws SQLException {
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boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.getDockSn());
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if (!isOnline) {
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throw new RuntimeException("设备离线。");
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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("航线文件不存在。");
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}
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// get file url
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//获取航线文件地址
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URL url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getWaylineId());
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WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder()
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.flightId(waylineJob.getJobId())
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.executeTime(waylineJob.getBeginTime().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(WaylineTaskFileDTO.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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//当任务类型为条件时
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if (WaylineTaskTypeEnum.CONDITION == waylineJob.getTaskType()) {
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if (Objects.isNull(waylineJob.getConditions())) {
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throw new IllegalArgumentException();
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}
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flightTask.setReadyConditions(waylineJob.getConditions().getReadyConditions());
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flightTask.setExecutableConditions(waylineJob.getConditions().getExecutableConditions());
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}
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//发布飞行指令
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ServiceReply serviceReply = messageSender.publishServicesTopic(
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waylineJob.getDockSn(), WaylineMethodEnum.FLIGHT_TASK_PREPARE.getMethod(), flightTask, waylineJob.getJobId());
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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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//飞行失败，更新数据库信息
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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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.executeTime(LocalDateTime.now())
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.status(WaylineJobStatusEnum.FAILED.getVal())
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.completedTime(LocalDateTime.now())
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.code(serviceReply.getResult()).build());
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return false;
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}
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return true;
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}
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@Override
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public Boolean executeFlightTask(String workspaceId, String jobId) {
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// get job
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Optional<WaylineJobDTO> waylineJob = this.getJobByJobId(workspaceId, jobId);
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if (waylineJob.isEmpty()) {
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throw new IllegalArgumentException("任务不存在");
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}
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boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.get().getDockSn());
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if (!isOnline) {
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throw new RuntimeException("设备离线");
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}
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WaylineJobDTO job = waylineJob.get();
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WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder().flightId(jobId).build();
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ServiceReply serviceReply = messageSender.publishServicesTopic(
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job.getDockSn(), WaylineMethodEnum.FLIGHT_TASK_EXECUTE.getMethod(), flightTask, jobId);
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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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.executeTime(LocalDateTime.now())
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.status(WaylineJobStatusEnum.FAILED.getVal())
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.completedTime(LocalDateTime.now())
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.code(serviceReply.getResult()).build());
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// The conditional task fails and enters the blocking status.
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if (WaylineTaskTypeEnum.CONDITION == job.getTaskType()
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&& WaylineErrorCodeEnum.find(serviceReply.getResult()).isBlock()) {
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waylineRedisService.setBlockedWaylineJob(job.getDockSn(), jobId);
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}
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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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.executeTime(LocalDateTime.now())
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.status(WaylineJobStatusEnum.IN_PROGRESS.getVal())
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.build());
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waylineRedisService.setRunningWaylineJob(job.getDockSn(), EventsReceiver.<WaylineTaskProgressReceiver>builder().bid(jobId).sn(job.getDockSn()).build());
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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<WaylineJobDTO> waylineJobs = getJobsByConditions(workspaceId, jobIds, WaylineJobStatusEnum.PENDING);
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Set<String> waylineJobIds = waylineJobs.stream().map(WaylineJobDTO::getJobId).collect(Collectors.toSet());
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// Check if the task status is correct.
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boolean isErr = !jobIds.removeAll(waylineJobIds) || !jobIds.isEmpty() ;
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if (isErr) {
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throw new IllegalArgumentException("以下任务状态不正确，不能取消" + Arrays.toString(jobIds.toArray()));
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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(WaylineJobDTO::getDockSn,
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Collectors.mapping(WaylineJobDTO::getJobId, Collectors.toList())));
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dockJobs.forEach((dockSn, idList) -> this.publishCancelTask(workspaceId, dockSn, idList));
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}
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public void publishCancelTask(String workspaceId, String dockSn, List<String> jobIds) {
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boolean isOnline = deviceRedisService.checkDeviceOnline(dockSn);
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if (!isOnline) {
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throw new RuntimeException("设备离线");
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}
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ServiceReply serviceReply = messageSender.publishServicesTopic(
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dockSn, WaylineMethodEnum.FLIGHT_TASK_CANCEL.getMethod(), Map.of(MapKeyConst.FLIGHT_IDS, jobIds));
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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("航路作业取消失败 " + 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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.completedTime(LocalDateTime.now())
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.build());
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}
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}
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public List<WaylineJobDTO> getJobsByConditions(String workspaceId, Collection<String> jobIds, WaylineJobStatusEnum status) {
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return mapper.selectList(
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new LambdaQueryWrapper<WaylineJobEntity>()
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.eq(WaylineJobEntity::getWorkspaceId, workspaceId)
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.eq(Objects.nonNull(status), WaylineJobEntity::getStatus, status.getVal())
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.in(!CollectionUtils.isEmpty(jobIds), WaylineJobEntity::getJobId, jobIds))
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.stream()
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.map(this::entity2Dto)
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.collect(Collectors.toList());
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}
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@Override
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public Optional<WaylineJobDTO> getJobByJobId(String workspaceId, String jobId) {
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WaylineJobEntity jobEntity = mapper.selectOne(
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new LambdaQueryWrapper<WaylineJobEntity>()
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.eq(WaylineJobEntity::getWorkspaceId, workspaceId)
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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, WaylineJobQueryParam waylineJobQueryParam) {
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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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// .eq(waylineJobDTO.getTaskType() !=null, WaylineJobEntity::getTaskType, waylineJobDTO.getTaskType())
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// .eq(waylineJobDTO.getStatus()!=null, WaylineJobEntity::getStatus, waylineJobDTO.getStatus())
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// .like(StringUtils.hasText(waylineJobDTO.getJobName()),WaylineJobEntity::getName,waylineJobDTO.getJobName())
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//
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//
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// .orderByDesc(WaylineJobEntity::getId));
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Page<WaylineJobEntity> pageData = mapper.getPage(new Page<WaylineJobEntity>(page, pageSize),waylineJobQueryParam,workspaceId);
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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<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(receiver.getGateway());
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if (deviceOpt.isEmpty()) {
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return;
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}
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Optional<WaylineJobDTO> waylineJobOpt = this.getJobByJobId(deviceOpt.get().getWorkspaceId(), 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(WaylineTaskCreateDTO.builder()
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.file(WaylineTaskFileDTO.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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@Override
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public void uploadMediaHighestPriority(String workspaceId, String jobId) {
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Optional<WaylineJobDTO> jobOpt = getJobByJobId(workspaceId, jobId);
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if (jobOpt.isEmpty()) {
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throw new RuntimeException(CommonErrorEnum.ILLEGAL_ARGUMENT.getErrorMsg());
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}
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String dockSn = jobOpt.get().getDockSn();
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String key = RedisConst.MEDIA_HIGHEST_PRIORITY_PREFIX + dockSn;
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if (RedisOpsUtils.checkExist(key) && jobId.equals(((MediaFileCountDTO) RedisOpsUtils.get(key)).getJobId())) {
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return;
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}
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ServiceReply reply = messageSender.publishServicesTopic(
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dockSn, MediaMethodEnum.UPLOAD_FLIGHT_TASK_MEDIA_PRIORITIZE.getMethod(), Map.of(MapKeyConst.FLIGHT_ID, jobId));
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if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
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throw new RuntimeException("设置媒体作业上传优先级失败. 错误码: " + reply.getResult());
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}
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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.getBeginTime())) {
|
builder.beginTime(dto.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
|
}
|
if (Objects.nonNull(dto.getEndTime())) {
|
builder.endTime(dto.getEndTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
|
}
|
if (Objects.nonNull(dto.getExecuteTime())) {
|
builder.executeTime(dto.getExecuteTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
|
}
|
if (Objects.nonNull(dto.getCompletedTime())) {
|
builder.completedTime(dto.getCompletedTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
|
}
|
return builder.status(dto.getStatus())
|
.mediaCount(dto.getMediaCount())
|
.name(dto.getJobName())
|
.errorCode(dto.getCode())
|
.jobId(dto.getJobId())
|
.fileId(dto.getFileId())
|
.dockSn(dto.getDockSn())
|
.workspaceId(dto.getWorkspaceId())
|
.taskType(Optional.ofNullable(dto.getTaskType()).map(WaylineTaskTypeEnum::getVal).orElse(null))
|
.waylineType(Optional.ofNullable(dto.getWaylineType()).map(WaylineTemplateTypeEnum::getVal).orElse(null))
|
.username(dto.getUsername())
|
.rthAltitude(dto.getRthAltitude())
|
.outOfControlAction(dto.getOutOfControlAction())
|
.parentId(dto.getParentId())
|
.build();
|
}
|
|
@Override
|
public void updateJobStatus(String workspaceId, String jobId, UpdateJobParam param) {
|
Optional<WaylineJobDTO> waylineJobOpt = this.getJobByJobId(workspaceId, jobId);
|
if (waylineJobOpt.isEmpty()) {
|
throw new RuntimeException("任务不存在");
|
}
|
WaylineJobDTO waylineJob = waylineJobOpt.get();
|
WaylineJobStatusEnum statusEnum = this.getWaylineState(waylineJob.getDockSn());
|
if (statusEnum.getEnd() || WaylineJobStatusEnum.PENDING == statusEnum) {
|
throw new RuntimeException("航路线作业状态不匹配，无法执行操作.");
|
}
|
|
switch (param.getStatus()) {
|
case PAUSE:
|
pauseJob(workspaceId, waylineJob.getDockSn(), jobId, statusEnum);
|
break;
|
case RESUME:
|
resumeJob(workspaceId, waylineJob.getDockSn(), jobId, statusEnum);
|
break;
|
}
|
|
}
|
|
public WaylineJobStatusEnum getWaylineState(String dockSn) {
|
Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
|
if (dockOpt.isEmpty() || !StringUtils.hasText(dockOpt.get().getChildDeviceSn())) {
|
return WaylineJobStatusEnum.UNKNOWN;
|
}
|
Optional<OsdDockReceiver> dockOsdOpt = deviceRedisService.getDeviceOsd(dockSn, OsdDockReceiver.class);
|
Optional<OsdSubDeviceReceiver> deviceOsdOpt = deviceRedisService.getDeviceOsd(dockOpt.get().getChildDeviceSn(), OsdSubDeviceReceiver.class);
|
if (dockOsdOpt.isEmpty() || deviceOsdOpt.isEmpty() || DockModeCodeEnum.WORKING != dockOsdOpt.get().getModeCode()) {
|
return WaylineJobStatusEnum.UNKNOWN;
|
}
|
|
OsdSubDeviceReceiver osdDevice = deviceOsdOpt.get();
|
if (DeviceModeCodeEnum.WAYLINE == osdDevice.getModeCode()
|
|| DeviceModeCodeEnum.MANUAL == osdDevice.getModeCode()
|
|| DeviceModeCodeEnum.TAKEOFF_AUTO == osdDevice.getModeCode()) {
|
if (StringUtils.hasText(waylineRedisService.getPausedWaylineJobId(dockSn))) {
|
return WaylineJobStatusEnum.PAUSED;
|
}
|
if (waylineRedisService.getRunningWaylineJob(dockSn).isPresent()) {
|
return WaylineJobStatusEnum.IN_PROGRESS;
|
}
|
}
|
return WaylineJobStatusEnum.UNKNOWN;
|
}
|
|
private void pauseJob(String workspaceId, String dockSn, String jobId, WaylineJobStatusEnum statusEnum) {
|
if (WaylineJobStatusEnum.PAUSED == statusEnum && jobId.equals(waylineRedisService.getPausedWaylineJobId(dockSn))) {
|
waylineRedisService.setPausedWaylineJob(dockSn, jobId);
|
return;
|
}
|
|
ServiceReply reply = messageSender.publishServicesTopic(
|
dockSn, WaylineMethodEnum.FLIGHT_TASK_PAUSE.getMethod(), "", jobId);
|
if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
|
throw new RuntimeException("未能恢复航路作业。错误码： " + reply.getResult());
|
}
|
waylineRedisService.delRunningWaylineJob(dockSn);
|
waylineRedisService.setPausedWaylineJob(dockSn, jobId);
|
}
|
|
private void resumeJob(String workspaceId, String dockSn, String jobId, WaylineJobStatusEnum statusEnum) {
|
Optional<EventsReceiver<WaylineTaskProgressReceiver>> runningDataOpt = waylineRedisService.getRunningWaylineJob(dockSn);
|
if (WaylineJobStatusEnum.IN_PROGRESS == statusEnum && jobId.equals(runningDataOpt.map(EventsReceiver::getSn).get())) {
|
waylineRedisService.setRunningWaylineJob(dockSn, runningDataOpt.get());
|
return;
|
}
|
ServiceReply reply = messageSender.publishServicesTopic(
|
dockSn, WaylineMethodEnum.FLIGHT_TASK_RESUME.getMethod(), "", jobId);
|
if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
|
throw new RuntimeException("未能恢复航路作业。错误码：: " + reply.getResult());
|
}
|
|
runningDataOpt.ifPresent(runningData -> waylineRedisService.setRunningWaylineJob(dockSn, runningData));
|
waylineRedisService.delPausedWaylineJob(dockSn);
|
|
if (deviceService.checkDockDrcMode(dockSn)) {
|
drcService.deviceDrcExit(workspaceId, DrcModeParam.builder().dockSn(dockSn)
|
.clientId(drcService.getDrcModeInRedis(dockSn)).build());
|
}
|
|
}
|
|
private WaylineJobDTO entity2Dto(WaylineJobEntity entity) {
|
if (entity == null) {
|
return null;
|
}
|
|
WaylineJobDTO.WaylineJobDTOBuilder builder = WaylineJobDTO.builder()
|
.jobId(entity.getJobId())
|
.jobName(entity.getName())
|
.fileId(entity.getFileId())
|
.fileName(waylineFileService.getWaylineByWaylineId(entity.getWorkspaceId(), entity.getFileId())
|
.orElse(WaylineFileDTO.builder().build()).getName())
|
.dockSn(entity.getDockSn())
|
.dockName(deviceService.getDeviceBySn(entity.getDockSn())
|
.orElse(DeviceDTO.builder().build()).getNickname())
|
.username(entity.getUsername())
|
.workspaceId(entity.getWorkspaceId())
|
.status(WaylineJobStatusEnum.IN_PROGRESS.getVal() == entity.getStatus() &&
|
entity.getJobId().equals(waylineRedisService.getPausedWaylineJobId(entity.getDockSn())) ?
|
WaylineJobStatusEnum.PAUSED.getVal() : entity.getStatus())
|
.code(entity.getErrorCode())
|
.beginTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getBeginTime()), ZoneId.systemDefault()))
|
.endTime(Objects.nonNull(entity.getEndTime()) ?
|
LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getEndTime()), ZoneId.systemDefault()) : null)
|
.executeTime(Objects.nonNull(entity.getExecuteTime()) ?
|
LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getExecuteTime()), ZoneId.systemDefault()) : null)
|
.completedTime(WaylineJobStatusEnum.find(entity.getStatus()).getEnd() ?
|
LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getUpdateTime()), ZoneId.systemDefault()) : null)
|
.taskType(WaylineTaskTypeEnum.find(entity.getTaskType()))
|
.waylineType(WaylineTemplateTypeEnum.find(entity.getWaylineType()))
|
.rthAltitude(entity.getRthAltitude())
|
.outOfControlAction(entity.getOutOfControlAction())
|
.mediaCount(entity.getMediaCount());
|
|
if (Objects.nonNull(entity.getEndTime())) {
|
builder.endTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getEndTime()), ZoneId.systemDefault()));
|
}
|
if (WaylineJobStatusEnum.IN_PROGRESS.getVal() == entity.getStatus()) {
|
builder.progress(waylineRedisService.getRunningWaylineJob(entity.getDockSn())
|
.map(EventsReceiver::getOutput)
|
.map(WaylineTaskProgressReceiver::getProgress)
|
.map(WaylineTaskProgress::getPercent)
|
.orElse(null));
|
}
|
|
if (entity.getMediaCount() == 0) {
|
return builder.build();
|
}
|
|
// sync the number of media files
|
String key = RedisConst.MEDIA_HIGHEST_PRIORITY_PREFIX + entity.getDockSn();
|
String countKey = RedisConst.MEDIA_FILE_PREFIX + entity.getDockSn();
|
Object mediaFileCount = RedisOpsUtils.hashGet(countKey, entity.getJobId());
|
if (Objects.nonNull(mediaFileCount)) {
|
builder.uploadedCount(((MediaFileCountDTO) mediaFileCount).getUploadedCount())
|
.uploading(RedisOpsUtils.checkExist(key) && entity.getJobId().equals(((MediaFileCountDTO)RedisOpsUtils.get(key)).getJobId()));
|
return builder.build();
|
}
|
|
int uploadedSize = fileService.getFilesByWorkspaceAndJobId(entity.getWorkspaceId(), entity.getJobId()).size();
|
// All media for this job have been uploaded.
|
if (uploadedSize >= entity.getMediaCount()) {
|
return builder.uploadedCount(uploadedSize).build();
|
}
|
RedisOpsUtils.hashSet(countKey, entity.getJobId(),
|
MediaFileCountDTO.builder()
|
.jobId(entity.getJobId())
|
.mediaCount(entity.getMediaCount())
|
.uploadedCount(uploadedSize).build());
|
return builder.build();
|
}
|
}
|
