无人机java后台代码
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rain
2024-08-15 2927bb498574a0e30bcbb3a9f7ee9468636cf0d8 
 src/main/java/com/dji/sample/droneairport/service/impl/RegistServiceImpl.java


@@ -10,7 +10,7 @@


import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;


import com.dji.sample.common.model.ResponseResult;


import com.dji.sample.component.redis.RedisOpsUtils;


import com.dji.sample.droneairport.dao.DeviceExpanSionDao;


import com.dji.sample.droneairport.dao.DeviceExpanSionMapper;


import com.dji.sample.droneairport.model.Entity.DeviceExpanSionEntity;


import com.dji.sample.droneairport.model.dto.*;


import com.dji.sample.droneairport.model.param.ReturnTaskParam;


@@ -20,6 +20,9 @@


import com.dji.sample.droneairport.utils.SM4Util;


import com.dji.sample.manage.dao.IDeviceMapper;


import com.dji.sample.manage.model.entity.DeviceEntity;


import com.dji.sample.manage.model.enums.DeviceModeCodeEnum;


import com.dji.sample.manage.model.enums.DockModeCodeEnum;


import com.dji.sample.manage.model.receiver.OsdDockReceiver;


import com.dji.sample.manage.model.receiver.OsdSubDeviceReceiver;


import com.dji.sample.manage.service.IDeviceRedisService;


import com.dji.sample.patches.dao.GetPatchesMapper;


@@ -31,6 +34,7 @@


import com.dji.sample.wayline.dao.IWaylineJobMapper;


import com.dji.sample.wayline.model.entity.WaylineFileEntity;


import com.dji.sample.wayline.model.entity.WaylineJobEntity;


import com.dji.sample.wayline.model.enums.WaylineJobStatusEnum;


import com.fasterxml.jackson.core.JsonProcessingException;


import com.fasterxml.jackson.databind.ObjectMapper;


import org.bouncycastle.crypto.InvalidCipherTextException;


@@ -46,6 +50,7 @@


import java.util.*;


import java.util.stream.Collectors;




import static com.dji.sample.droneairport.utils.TaskAllocator.assignTasks;


import static com.dji.sample.patches.utils.TimerUtil.getCurrentTimestampPlus8Hours;




@Service


@@ -55,7 +60,7 @@


    @Autowired


    private IDeviceRedisService redisService;


    @Autowired


    private DeviceExpanSionDao expanSionDao;


    private DeviceExpanSionMapper expanSionMapper;


    @Autowired


    private TaskInfoMapper taskInfoMapper;


    @Autowired


@@ -96,7 +101,7 @@




        } catch (Exception e) {


            // 异常处理


            throw new IllegalArgumentException("Request failed: " + e.getMessage(), e);


            throw new IllegalArgumentException("无人机机场注册失败: " + e.getMessage());


        }


    }




@@ -111,10 +116,10 @@


    @Override


    public String addDrone(String workspaceId) {


        try {


            DeviceExpanSionEntity airport = expanSionDao.selectOne(new LambdaQueryWrapper<DeviceExpanSionEntity>()


            DeviceExpanSionEntity airport = expanSionMapper.selectOne(new LambdaQueryWrapper<DeviceExpanSionEntity>()


                    .eq(DeviceExpanSionEntity::getWorkspaceId, workspaceId)


                    .eq(DeviceExpanSionEntity::getType, 0));


            DeviceExpanSionEntity drone = expanSionDao.selectOne(new LambdaQueryWrapper<DeviceExpanSionEntity>()


            DeviceExpanSionEntity drone = expanSionMapper.selectOne(new LambdaQueryWrapper<DeviceExpanSionEntity>()


                    .eq(DeviceExpanSionEntity::getWorkspaceId, workspaceId)


                    .eq(DeviceExpanSionEntity::getType, 1));


            AddDeviceDto dto = deviceEntityToDto(drone);


@@ -142,17 +147,16 @@




        } catch (Exception e) {


            // 异常处理


            throw new IllegalArgumentException("Request failed: " + e.getMessage(), e);


            throw new IllegalArgumentException("无人机机场设备注册失败: " + e.getMessage());


        }


    }




    @Override


    public ResponseResult getDroneState(String deviceId) throws Exception {


    public String getDroneState(String deviceId) throws Exception {


        DroneStateDto data = getAirportFromCache(deviceId);


        String json = JSON.toJSONString(data);


        String SM4Screct = SM4Util.encrypt("jsimjrby3wqb7dbq", json);


        String SM2Screct = enSM2(SM4Screct, "23E57DA1E4AB865CCBC325B668762207DEF74345B782237808AE0BABDF26734D");


        return ResponseResult.success(SM2Screct);


        return SM4Screct;


    }




    @Override


@@ -179,8 +183,6 @@


        AddTaskDto addTaskDto = jsonToDto(jsonObject);


        TaskInfo taskInfo = new TaskInfo();


        List<String> listx = convertStringToList(addTaskDto.getDeviceid());


        String sn = listx.get(0);


        String workspaceId = getWorkspaceId(sn);


        taskInfo.setId(traceid);


        taskInfo.setTaskId(taskId);


        taskInfo.setName(addTaskDto.getBizidname());


@@ -188,47 +190,53 @@


        taskInfo.setCreateUser(username);


        param.setTraceId(traceid);


        taskInfoMapper.insert(taskInfo);




        // 转换 TaskListDto 为 LotInfo


        List<LotInfo> lotInfos = new ArrayList<>();


        List<TaskListDto> tasklist = addTaskDto.getTasklist();


        for (TaskListDto taskListDto : tasklist) {


            LotInfo lotInfo = new LotInfo();


            lotInfo = convertToLotInfo(taskListDto);


            LotInfo lotInfo = convertToLotInfo(taskListDto);


            lotInfo.setTaskId(taskId);


            lotInfo.setType(0);


            lotInfo.setTaskName(addTaskDto.getBizidname());


            lotInfo.setUserName(username);


            lotInfo.setWorkspaceId(workspaceId);


            lotInfos.add(lotInfo);


            patchesMapper.insert(lotInfo);


        }


        Long time = getCurrentTimestampPlus8Hours(14);




//        获取未规划的图斑集合


        List<List<LotInfo>> lists = timerUtil.getNoPlan(workspaceId);


        List<List<LotInfo>> convertedLists = TimerUtil.convertToLists(lists);


        for (List<LotInfo> list : convertedLists) {


            String waylineName = TimerUtil.getTimeName();


            //根据获取的图斑集合获得kmz航线文件


            MultipartFile multipartFile = null;


            try {


                multipartFile = timerUtil.getFile(waylineName, list, 28.62452712442823, 115.85666327144976);


            } catch (IOException e) {


                throw new RuntimeException(e);


        // 获取机场信息


        List<Airport> airports = getAirportsBySn(listx);


        List<AirportTasks> airportTasks = assignTasks(airports, lotInfos);




        // 处理并插入图斑到数据库


        processAndInsertTasks(airportTasks);




        // 根据机场位置生成航线任务


        for (AirportTasks airportTask : airportTasks) {


            Airport airport = airportTask.getAirport();


            List<LotInfo> lotInfosForAirport = airportTask.getTasks();




            if (!lotInfosForAirport.isEmpty()) {


                String waylineName = TimerUtil.getTimeName();


                MultipartFile multipartFile = timerUtil.getFile(waylineName, lotInfosForAirport, airport.getLat(), airport.getLon());


                WaylineFileEntity waylineFile = timerUtil.backWayline(multipartFile, waylineName, airport.getWorkspaceId(), username);


                Long time = getCurrentTimestampPlus8Hours(14);


                List<List<Long>> listOfLists = new ArrayList<>();


                List<Long> sublist = new ArrayList<>();


                sublist.add(time);


                listOfLists.add(sublist);


                List<Long> lists1 = new ArrayList<>();


                lists1.add(time);


                String times = TimerUtil.convertTimestampToFormattedString(time);


                param.setJobId(taskId);


                timerUtil.sendPostWithParameters(waylineName, waylineFile.getWaylineId(), times, lists1, listOfLists, taskId + "~" + airport.getWorkspaceId(), airport.getDockSn());


                timerUtil.updatePatchesStatu(lotInfosForAirport);


            }


            //上传航线文件


            WaylineFileEntity waylineFile = timerUtil.backWayline(multipartFile, waylineName, workspaceId, username);


            //将为规划的图斑状态更新为已规划


            List<List<Long>> listOfLists = new ArrayList<>();


            List<Long> sublist = new ArrayList<>();


            sublist.add(time); // 添加整数值


            listOfLists.add(sublist);


            List<Long> lists1 = new ArrayList<>();


            lists1.add(time);


            String times = TimerUtil.convertTimestampToFormattedString(time);


            param.setWaylineId(taskId);


            TimerUtil.sendPostWithParameters(waylineName, waylineFile.getWaylineId(), times, lists1, listOfLists, taskId);


            timerUtil.updatePatchesStatu(list);


        }




        return param;


    }






    @Override


    public ReturnTaskParam updateTask(String base64, String Secret, String username) throws Exception {


@@ -239,57 +247,88 @@


        JSONObject jsonObject = new JSONObject(decryptedJson);


        UpdataTaskDto addTaskDto = UpjsonToDto(jsonObject);


        String taskId = addTaskDto.getTaskid();


        String Bizidname = getBizidnameByTask(taskId);


        delPatchesByTaskId(taskId);


//        delWaylineJob(taskId);


        delTaskInfo(taskId);


        delWaylineJob(taskId);


        TaskInfo taskInfo = new TaskInfo();


        List<String> listx = convertStringToList(addTaskDto.getDeviceid());


        String sn = listx.get(0);


        String workspaceId = getWorkspaceId(sn);


        taskInfo.setId(traceid);


        taskInfo.setTaskId(taskId);


        taskInfo.setName(Bizidname);


        taskInfo.setDeviceIds(addTaskDto.getDeviceid());


        taskInfo.setCreateUser(username);


        param.setTraceId(traceid);


        updateTaskInfo(traceid, taskId, addTaskDto.getDeviceid(), username);


        taskInfoMapper.insert(taskInfo);




        // 转换 TaskListDto 为 LotInfo


        List<LotInfo> lotInfos = new ArrayList<>();


        List<TaskListDto> tasklist = addTaskDto.getTasklist();


        for (TaskListDto taskListDto : tasklist) {


            LotInfo lotInfo = new LotInfo();


            lotInfo = convertToLotInfo(taskListDto);


            lotInfo.setUserName(username);


            LotInfo lotInfo = convertToLotInfo(taskListDto);


            lotInfo.setTaskId(taskId);


            lotInfo.setWorkspaceId(workspaceId);


            lotInfo.setType(0);


            lotInfo.setTaskName(Bizidname);


            lotInfo.setUserName(username);


            lotInfos.add(lotInfo);


            patchesMapper.insert(lotInfo);


        }


        Long time = getCurrentTimestampPlus8Hours(14);




//        获取未规划的图斑集合


        List<List<LotInfo>> lists = timerUtil.getNoPlan(workspaceId);


        List<List<LotInfo>> convertedLists = TimerUtil.convertToLists(lists);


        for (List<LotInfo> list : convertedLists) {


            String waylineName = TimerUtil.getTimeName();


            //根据获取的图斑集合获得kmz航线文件


            MultipartFile multipartFile = null;


            try {


                multipartFile = timerUtil.getFile(waylineName, list, 28.62452712442823, 115.85666327144976);


            } catch (IOException e) {


                throw new RuntimeException(e);


        // 获取机场信息


        List<Airport> airports = getAirportsBySn(listx);


        List<AirportTasks> airportTasks = assignTasks(airports, lotInfos);




        // 处理并插入图斑到数据库


        processAndInsertTasks(airportTasks);




        // 根据机场位置生成航线任务


        for (AirportTasks airportTask : airportTasks) {


            Airport airport = airportTask.getAirport();


            List<LotInfo> lotInfosForAirport = airportTask.getTasks();




            if (!lotInfosForAirport.isEmpty()) {


                String waylineName = TimerUtil.getTimeName();


                MultipartFile multipartFile = timerUtil.getFile(waylineName, lotInfosForAirport, airport.getLat(), airport.getLon());


                WaylineFileEntity waylineFile = timerUtil.backWayline(multipartFile, waylineName, airport.getWorkspaceId(), username);




                // 将为规划的图斑状态更新为已规划


                Long time = getCurrentTimestampPlus8Hours(14);


                List<List<Long>> listOfLists = new ArrayList<>();


                List<Long> sublist = new ArrayList<>();


                sublist.add(time);


                listOfLists.add(sublist);


                List<Long> lists1 = new ArrayList<>();


                lists1.add(time);


                String times = TimerUtil.convertTimestampToFormattedString(time);


                param.setJobId(taskId);


                timerUtil.sendPostWithParameters(waylineName, waylineFile.getWaylineId(), times, lists1, listOfLists, airport.getWorkspaceId() + "~" + taskId, airport.getDockSn());


                timerUtil.updatePatchesStatu(lotInfosForAirport);


            }


            //上传航线文件


            WaylineFileEntity waylineFile = timerUtil.backWayline(multipartFile, waylineName, workspaceId, username);


            updateJob(taskId, waylineFile.getWaylineId());


            param.setWaylineId(taskId);


            timerUtil.updatePatchesStatu(list);


        }




        return param;


    }




    @Override


    public ResponseResult cancelTask(String taskId) {


        LambdaUpdateWrapper<WaylineJobEntity> updateWrapper = new LambdaUpdateWrapper<>();


        updateWrapper.eq(WaylineJobEntity::getJobId, taskId)


        updateWrapper.like(WaylineJobEntity::getJobId, taskId)


                .set(WaylineJobEntity::getStatus, 4);


        waylineJobMapper.update(null, updateWrapper);


        return null;


    }




    public void processAndInsertTasks(List<AirportTasks> airportTasks) {


        for (AirportTasks airportTasksEntry : airportTasks) {


            Airport airport = airportTasksEntry.getAirport();


            List<LotInfo> tasks = airportTasksEntry.getTasks();




            // 处理每个任务


            for (LotInfo lotInfo : tasks) {


                lotInfo.setWorkspaceId(airport.getWorkspaceId()); // 设置 workspaceId


                patchesMapper.updateById(lotInfo);


            }


        }


    }




    @Override


@@ -314,6 +353,7 @@


        }


        return null;


    }




    private static final String BASE_DIR = "src/main/resources/tmp";




    /**


@@ -322,7 +362,7 @@


     * @param taskId 任务 ID


     * @return 匹配的 DB 文件路径列表


     */


    public  List<String> findDbFilesByTaskId(String taskId) {


    public List<String> findDbFilesByTaskId(String taskId) {


        List<String> dbFilePaths = new ArrayList<>();


        File baseDir = new File(BASE_DIR);




@@ -354,6 +394,10 @@


        patchesMapper.delete(new LambdaUpdateWrapper<LotInfo>().eq(LotInfo::getTaskId, taskId));


    }




    public void delTaskInfo(String taskId) {


        taskInfoMapper.delete(new LambdaUpdateWrapper<TaskInfo>().eq(TaskInfo::getTaskId, taskId));


    }




    private String buildRequestBody(AddDeviceDto dto) {


        try {


            return objectMapper.writeValueAsString(dto);


@@ -366,6 +410,11 @@


        DeviceEntity entity = deviceMapper.selectOne(new LambdaQueryWrapper<DeviceEntity>()


                .eq(DeviceEntity::getDeviceSn, devicesn));


        return entity.getWorkspaceId();


    }




    public String getBizidnameByTask(String taskId) {


        TaskInfo taskInfo = taskInfoMapper.selectOne(new LambdaQueryWrapper<TaskInfo>().eq(TaskInfo::getTaskId, taskId));


        return taskInfo.getName();


    }




    public static String enSM2(String data, String pubKey) throws InvalidCipherTextException, IOException {


@@ -397,7 +446,7 @@


                    .latitude(entity.getLatitude())


                    .radius(entity.getRadius())


                    .regioncode(entity.getRegioncode())


                    .deviceid(entity.getDeviceId())


                    .deviceid(entity.getDeviceSn())


                    .model(entity.getModel())


                    .build();


        }


@@ -421,29 +470,67 @@


        return (OsdSubDeviceReceiver) RedisOpsUtils.get(key);


    }






    public DroneStateDto getAirportFromCache(String deviceId) {


        OsdSubDeviceReceiver receiver = getDroneFromCache(deviceId);




        if (receiver == null) {


            throw new IllegalArgumentException("Receiver data not found for device ID: " + deviceId);


        }




        DroneStateDto.DroneStateDtoBuilder builder = DroneStateDto.builder();




        builder.gimbalYal(receiver.getAttitudeHead() != null ? receiver.getAttitudeHead() : 0.0)


                .gimbalPitch(receiver.getAttitudePitch() != null ? receiver.getAttitudePitch() : 0.0)


                .batteryCapacityPercent(receiver.getBattery() != null ? receiver.getBattery().getCapacityPercent() : 0)


                .height(receiver.getHeight() != null ? receiver.getHeight() : 0.0)


                .latitude(receiver.getLatitude() != null ? receiver.getLatitude() : 0.0)


                .longitude(receiver.getLongitude() != null ? receiver.getLongitude() : 0.0)


                .modeCode(receiver.getModeCode() != null ? receiver.getModeCode().getVal() : 0)


                .elevation(receiver.getElevation() != null ? receiver.getElevation() : 0.0)


                .gpsState(2);




        return builder.build();


    public void delWaylineJob(String taskId) {


        waylineJobMapper.delete(new LambdaQueryWrapper<WaylineJobEntity>().like(WaylineJobEntity::getJobId, taskId));


    }




    public DroneStateDto getAirportFromCache(String deviceId) {


        Optional<OsdSubDeviceReceiver> deviceOsdOpt = redisService.getDeviceOsd(deviceId, OsdSubDeviceReceiver.class);


        boolean result = deviceOsdOpt.isPresent();


        if (!result) {


            String sn = deviceMapper.selectOne(new LambdaQueryWrapper<DeviceEntity>().eq(DeviceEntity::getChildSn, deviceId)).getDeviceSn();


            Optional<OsdDockReceiver> dockOsdOpt = redisService.getDeviceOsd(sn, OsdDockReceiver.class);


            boolean results = dockOsdOpt.isPresent();


            if (!results){


                DroneStateDto.DroneStateDtoBuilder builder = DroneStateDto.builder();


                builder.gimbalYaw(0.0)


                        .gimbalPitch(0.0)


                        .batteryCapacityPercent(0)


                        .height(0)


                        .latitude(0)


                        .longitude(0)


                        .modeCode(1)


                        .elevation(0.0)


                        .gpsState(0)


                        .build();


                return builder.build();


            }


            OsdDockReceiver osdDockReceiver = objectMapper.convertValue(dockOsdOpt.get(), OsdDockReceiver.class);


            int mode;


            int sne = osdDockReceiver.getModeCode().getVal();


            if (sne==0){


                mode=1;


            }


            else {


                mode=2;


            }


            DroneStateDto.DroneStateDtoBuilder builder = DroneStateDto.builder();


            builder.gimbalYaw(0.0)


                    .gimbalPitch(0.0)


                    .batteryCapacityPercent(osdDockReceiver.getDroneChargeState().getCapacityPercent())


                    .height(osdDockReceiver.getHeight())


                    .latitude(osdDockReceiver.getLatitude())


                    .longitude(osdDockReceiver.getLongitude())


                    .modeCode(mode)


                    .elevation(0.0)


                    .gpsState(2)


                    .build();


            return builder.build();


        }


        OsdSubDeviceReceiver receiver = objectMapper.convertValue(deviceOsdOpt.get(), OsdSubDeviceReceiver.class);


        DroneStateDto.DroneStateDtoBuilder builder = DroneStateDto.builder();


        builder.gimbalYaw(receiver.getPayloads().get(0).getGimbalYaw())


                .gimbalPitch(receiver.getPayloads().get(0).getGimbalPitch())


                .batteryCapacityPercent(receiver.getBattery().getCapacityPercent())


                .height(receiver.getHeight())


                .latitude(receiver.getLatitude())


                .longitude(receiver.getLongitude())


                .modeCode(2)


                .elevation(receiver.getElevation())


                .gpsState(2)


                .build();


        return builder.build();


    }




    public static AddTaskDto jsonToDto(JSONObject jsonObject) {


        AddTaskDto dto = new AddTaskDto();


@@ -523,6 +610,32 @@


    }






    public List<Airport> getAirportsBySn(List<String> snList) {


        List<Airport> airports = new ArrayList<>();


        // 查询所有设备


        List<DeviceExpanSionEntity> entities = expanSionMapper.selectList(


                new LambdaQueryWrapper<DeviceExpanSionEntity>().in(DeviceExpanSionEntity::getDeviceSn, snList)


        );




        // 使用一个Map来存储SN和经纬度的对应关系


        Map<String, DeviceExpanSionEntity> entityMap = new HashMap<>();


        for (DeviceExpanSionEntity entity : entities) {


            entityMap.put(entity.getDeviceSn(), entity);


        }




        // 遍历SN列表，创建Airport对象


        for (String sn : snList) {


            DeviceExpanSionEntity entity = entityMap.get(sn);


            if (entity != null) {


                DeviceEntity deviceEntity = deviceMapper.selectOne(new LambdaQueryWrapper<DeviceEntity>().eq(DeviceEntity::getChildSn, sn));


                Airport airport = new Airport(entity.getWorkspaceId(), deviceEntity.getDeviceSn(), entity.getLatitude(), entity.getLongitude());


                airports.add(airport);


            }


        }




        return airports;


    }




    public static List<String> convertStringToList(String input) {


        // 使用 Hutool 解析字符串


        JSONArray jsonArray = JSONUtil.parseArray(input);


@@ -548,10 +661,6 @@


        taskInfoMapper.update(taskInfo, updateWrapper);


    }




    public void delWaylineFile(String waylineId) {


        fileMapper.delete(new LambdaUpdateWrapper<WaylineFileEntity>().eq(WaylineFileEntity::getWaylineId, waylineId));


    }




    public void updateJob(String jobid, String waylineId) {


        LambdaUpdateWrapper<WaylineJobEntity> updateWrapper = new LambdaUpdateWrapper<>();


        updateWrapper.eq(WaylineJobEntity::getJobId, jobid)


@@ -560,5 +669,4 @@


        // 调用 update 方法进行更新操作


        waylineJobMapper.update(null, updateWrapper);


    }




}


}