无人机 -手动飞行设置飞行ID

shenyijian

2023-12-28 72d180bb01d926c01c753051b6f53aec969bcc1f

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package com.dji.sample.control.service.impl;
 
import com.dji.sample.common.util.SpringBeanUtils;
import com.dji.sample.control.model.param.DronePayloadParam;
import com.dji.sample.manage.model.dto.DeviceDTO;
import com.dji.sample.manage.model.receiver.OsdCameraReceiver;
import com.dji.sample.manage.model.receiver.OsdSubDeviceReceiver;
import com.dji.sample.manage.service.IDevicePayloadService;
import com.dji.sample.manage.service.IDeviceRedisService;
 
import java.util.Optional;
 
/**
 * @author sean
 * @version 1.4
 * @date 2023/4/23
 */
public abstract class PayloadCommandsHandler {
 
    DronePayloadParam param;
 
    OsdCameraReceiver osdCamera;
 
    PayloadCommandsHandler(DronePayloadParam param) {
        this.param = param;
    }
 
    public boolean valid() {
        return true;
    }
 
    public boolean canPublish(String deviceSn) {
        Optional<OsdSubDeviceReceiver> deviceOpt = SpringBeanUtils.getBean(IDeviceRedisService.class)
                .getDeviceOsd(deviceSn, OsdSubDeviceReceiver.class);
        if (deviceOpt.isEmpty()) {
            throw new RuntimeException("设备离线");
        }
        osdCamera = deviceOpt.get().getCameras().stream()
                .filter(osdCamera -> param.getPayloadIndex().equals(osdCamera.getPayloadIndex()))
                .findAny()
                .orElseThrow(() -> new RuntimeException("没有收到相机osd信息，请检查缓存数据"));
        return true;
    }
 
    private String checkDockOnline(String dockSn) {
        Optional<DeviceDTO> deviceOpt = SpringBeanUtils.getBean(IDeviceRedisService.class).getDeviceOnline(dockSn);
        if (deviceOpt.isEmpty()) {
            throw new RuntimeException("设备离线");
        }
        return deviceOpt.get().getChildDeviceSn();
    }
 
    private void checkDeviceOnline(String deviceSn) {
        boolean isOnline = SpringBeanUtils.getBean(IDeviceRedisService.class).checkDeviceOnline(deviceSn);
        if (!isOnline) {
            throw new RuntimeException("设备离线");
        }
    }
 
    private void checkAuthority(String deviceSn) {
        boolean hasAuthority = SpringBeanUtils.getBean(IDevicePayloadService.class)
                .checkAuthorityPayload(deviceSn, param.getPayloadIndex());
        if (!hasAuthority) {
            throw new RuntimeException("设备没有有效载荷控制权限");
        }
    }
 
    public final void checkCondition(String dockSn) {
        if (!valid()) {
            throw new RuntimeException("非法参数");
        }
 
        String deviceSn = checkDockOnline(dockSn);
        checkDeviceOnline(deviceSn);
        checkAuthority(deviceSn);
 
        if (!canPublish(deviceSn)) {
            throw new RuntimeException("无人机当前状态不支持此功能，请稍后再试");
        }
    }
 
}