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


@@ -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;


@@ -97,7 +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());


        }


    }




@@ -143,17 +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


@@ -225,7 +228,7 @@


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


                lists1.add(time);


                String times = TimerUtil.convertTimestampToFormattedString(time);


                param.setWaylineId(taskId);


                param.setJobId(taskId);


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


                timerUtil.updatePatchesStatu(lotInfosForAirport);


            }


@@ -233,7 +236,6 @@




        return param;


    }








    @Override


@@ -298,7 +300,7 @@


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


                lists1.add(time);


                String times = TimerUtil.convertTimestampToFormattedString(time);


                param.setWaylineId(taskId);


                param.setJobId(taskId);


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


                timerUtil.updatePatchesStatu(lotInfosForAirport);


            }


@@ -395,6 +397,7 @@


    public void delTaskInfo(String taskId){


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


    }




    private String buildRequestBody(AddDeviceDto dto) {


        try {


            return objectMapper.writeValueAsString(dto);


@@ -413,6 +416,7 @@


       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 {


        String encrypt = Utils.encrypt(data, pubKey);


        encrypt = Utils.hexToBase64(encrypt);


@@ -423,8 +427,6 @@


        String hex = Utils.convertBase64ToHex(Base64);


        return Utils.decrypt(hex, priKey);


    }










    public static Map<String, String> createKey() throws NoSuchAlgorithmException {


@@ -463,49 +465,72 @@


        return builder.build();


    }




    public String getDroneFromCache(String sn) {


    public OsdSubDeviceReceiver getDroneFromCache(String sn) {


        String key = "osd:" + sn;


        return  RedisOpsUtils.get(key).toString();


        return (OsdSubDeviceReceiver) RedisOpsUtils.get(key);


    }




    public void delWaylineJob(String taskId) {


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


    }




    public DroneStateDto getAirportFromCache(String deviceId) {


        String  receiver = getDroneFromCache(deviceId);


        double gimbalYaw =0.0;


        double gimbalPitch=0.0;


        com.alibaba.fastjson.JSONObject jsonObject = JSON.parseObject(receiver);


        double latitude = jsonObject.getDoubleValue("latitude");


        double longitude = jsonObject.getDoubleValue("longitude");


        int modeCode = jsonObject.getInteger("mode_code");


        double elevation = jsonObject.getDoubleValue("elevation");


        double height = jsonObject.getDoubleValue("height");


        com.alibaba.fastjson.JSONArray payloads = jsonObject.getJSONArray("payloads");


        if (payloads != null && payloads.size() > 1) {


            com.alibaba.fastjson.JSONArray payloadArray = payloads.getJSONArray(1);


            for (int i = 0; i < payloadArray.size(); i++) {


                com.alibaba.fastjson.JSONObject payload = payloadArray.getJSONObject(i);


                 gimbalYaw = payload.getDoubleValue("gimbal_yaw");


                 gimbalPitch = payload.getDoubleValue("gimbal_pitch");


            }


        }


        com.alibaba.fastjson.JSONObject battery = jsonObject.getJSONObject("battery");


        int batteryCapacityPercent = battery.getInteger("capacity_percent");


        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.gimbalYal(gimbalYaw)


                .gimbalPitch(gimbalPitch)


                .batteryCapacityPercent(batteryCapacityPercent)


                .height(height)


                .latitude(latitude)


                .longitude(longitude)


                .modeCode(modeCode)


                .elevation(elevation)


                .gpsState(3);




                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();


@@ -635,6 +660,7 @@


        // 执行更新操作


        taskInfoMapper.update(taskInfo, updateWrapper);


    }




    public void updateJob(String jobid, String waylineId) {


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


        updateWrapper.eq(WaylineJobEntity::getJobId, jobid)