无人机java后台代码
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rain
2024-08-16 3430a3dd889ba51d06cbdb77014aa63d0a070e48 
 src/main/java/com/dji/sample/droneairport/service/impl/RegistServiceImpl.java


@@ -10,7 +10,9 @@


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.DbUploadMapper;


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


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


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


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


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


@@ -47,11 +49,15 @@


import java.io.File;


import java.io.IOException;


import java.security.NoSuchAlgorithmException;


import java.time.LocalDate;


import java.time.ZoneId;


import java.time.ZonedDateTime;


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;


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




@Service


public class RegistServiceImpl implements RegistService {


@@ -73,13 +79,13 @@


    private IWaylineJobMapper waylineJobMapper;


    @Autowired


    private IWaylineFileMapper fileMapper;


    @Autowired


    private DbUploadMapper dbUploadMapper;




    public String registPort(DeviceExpanSionEntity airport) {


        try {


            RegistDto registDto = airportEntityToDto(airport);


            // 构建请求体


            String jsonBody = buildRequestBody(registDto);


            // 设置请求头


            String base64 = SM4Util.encrypt("jsimjrby3wqb7dbq", jsonBody);


            // 设置请求头


            HttpHeaders headers = new HttpHeaders();


@@ -87,13 +93,13 @@


            headers.setAccept(List.of(MediaType.APPLICATION_JSON, MediaType.TEXT_PLAIN, MediaType.ALL));


            headers.set("Accept-Language", "zh-CN,zh;q=0.9");


            headers.setConnection("keep-alive");


            headers.set("x-lc-token", AuthUtil.getToken());


            headers.set("x-lc-secret", Utils.hexToBase64(Utils.encrypt("jsimjrby3wqb7dbq", "044D6061FC08A19D3F32CEAA8CF6679B40500008FD741FC26DE7E50AEBF3A9115D47274437730EADEDAEF0CCC4853C5F0B35B30C6AEA83A5F6FBCA4ABEAC9E3B98")));


            headers.set("x-auth-token", "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ3b3Jrc3BhY2VfaWQiOiJlM2RlYTBmNS0zN2YyLTRkNzktYWU1OC00OTBhZjMyMjgwNjkiLCJzdWIiOiJDbG91ZEFwaVNhbXBsZSIsInVzZXJfdHlwZSI6IjEiLCJuYmYiOjE3MjA2NTg3NDMsImxvZyI6IkxvZ2dlcltjb20uZGppLnNhbXBsZS5jb21tb24ubW9kZWwuQ3VzdG9tQ2xhaW1dIiwiaXNzIjoiREpJIiwiaWQiOiI5Y2MwMGY3Zi0yODMwLTRmM2UtYjdmNC1lN2E1ZjIzYjNjNGYiLCJleHAiOjE4MDcwNTg3NDMsImlhdCI6MTcyMDY1ODc0MywidXNlcm5hbWUiOiJhZG1pbkRQIn0.CrRFYUTK357HleqrrfL7nLdwFJw5Bcv3ms33n_Or8eM");


            headers.set("x-lc-token", "");


            // 构建请求实体


            HttpEntity<String> requestEntity = new HttpEntity<>(base64, headers);


            // 发送请求


            ResponseEntity<String> response = restTemplate.exchange(


                    "https://xcx.geoway.com.cn:8033/v1/droneAirport/RegistService",


                    "http://localhost:6789/droneAirport/test",


                    HttpMethod.POST,


                    requestEntity,


                    String.class);


@@ -105,11 +111,19 @@


        }


    }




    private String buildRequestBody(RegistDto dto) {


//    private String buildRequestBody(RegistDto dto) {


//        try {


//            return objectMapper.writeValueAsString(dto);


//        } catch (JsonProcessingException e) {


//            throw new RuntimeException("数据有误", e);


//        }


//    }




    public <T> String buildRequestBody(T obj) {


        try {


            return objectMapper.writeValueAsString(dto);


            return objectMapper.writeValueAsString(obj);


        } catch (JsonProcessingException e) {


            throw new RuntimeException("数据有误", e);


            throw new RuntimeException("对象转换为JSON字符串时发生错误", e);


        }


    }




@@ -126,24 +140,25 @@


            // 构建请求体


            String jsonBody = buildRequestBody(dto);


            String base64 = SM4Util.encrypt("jsimjrby3wqb7dbq", jsonBody);


            String secret = enSM2("jsimjrby3wqb7dbq", "044D6061FC08A19D3F32CEAA8CF6679B40500008FD741FC26DE7E50AEBF3A9115D47274437730EADEDAEF0CCC4853C5F0B35B30C6AEA83A5F6FBCA4ABEAC9E3B98");


            // 设置请求头




            HttpHeaders headers = new HttpHeaders();


            headers.setContentType(MediaType.APPLICATION_JSON);


            headers.setAccept(List.of(MediaType.APPLICATION_JSON, MediaType.TEXT_PLAIN, MediaType.ALL));


            headers.set("Accept-Language", "zh-CN,zh;q=0.9");


            headers.setConnection("keep-alive");


            headers.set("x-lc-token", AuthUtil.getToken());


            headers.set("x-lc-secret", secret);




            headers.set("x-auth-token", "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ3b3Jrc3BhY2VfaWQiOiJlM2RlYTBmNS0zN2YyLTRkNzktYWU1OC00OTBhZjMyMjgwNjkiLCJzdWIiOiJDbG91ZEFwaVNhbXBsZSIsInVzZXJfdHlwZSI6IjEiLCJuYmYiOjE3MjA2NTg3NDMsImxvZyI6IkxvZ2dlcltjb20uZGppLnNhbXBsZS5jb21tb24ubW9kZWwuQ3VzdG9tQ2xhaW1dIiwiaXNzIjoiREpJIiwiaWQiOiI5Y2MwMGY3Zi0yODMwLTRmM2UtYjdmNC1lN2E1ZjIzYjNjNGYiLCJleHAiOjE4MDcwNTg3NDMsImlhdCI6MTcyMDY1ODc0MywidXNlcm5hbWUiOiJhZG1pbkRQIn0.CrRFYUTK357HleqrrfL7nLdwFJw5Bcv3ms33n_Or8eM");


            headers.set("x-lc-token", "");


            // 构建请求实体


            HttpEntity<String> requestEntity = new HttpEntity<>(base64, headers);




            // 发送请求


            RestTemplate restTemplate = new RestTemplate();


            String response = restTemplate.postForObject("https://xcx.geoway.com.cn:8033/v1/droneAirport/addDevice", requestEntity, String.class);


            ResponseEntity<String> response = restTemplate.exchange(


                    "http://localhost:6789/droneAirport/test",


                    HttpMethod.POST,


                    requestEntity,


                    String.class);


            registPort(airport);


            return response;


            return response.getBody();




        } catch (Exception e) {


            // 异常处理


@@ -159,17 +174,66 @@


        return SM4Screct;


    }




    //    @Override


//    public ResponseResult authorization(String base64, String Secret) throws Exception {


//        String sm4Secrect = deSM2(Secret, "23E57DA1E4AB865CCBC325B668762207DEF74345B782237808AE0BABDF26734D");


//        String decryptedJson = SM4Util.decrypt(sm4Secrect, base64);


//        JSONObject jsonObject = new JSONObject(decryptedJson);


//        String deviceId = jsonObject.getStr("deviceid");


//        boolean online = redisService.checkDeviceOnline(deviceId);


//        if (online) {


//            return ResponseResult.success(200, "无人机机场授权成功！", "", "");


//        }


//        return ResponseResult.error(500, "无人机机场授权失败！");


//    }


    @Override


    public ResponseResult authorization(String base64, String Secret) throws Exception {


        String sm4Secrect = deSM2(Secret, "23E57DA1E4AB865CCBC325B668762207DEF74345B782237808AE0BABDF26734D");


        String decryptedJson = SM4Util.decrypt(sm4Secrect, base64);


        JSONObject jsonObject = new JSONObject(decryptedJson);


        String deviceId = jsonObject.getStr("deviceid");


        boolean online = redisService.checkDeviceOnline(deviceId);


        if (online) {


            return ResponseResult.success(200, "无人机机场授权成功！", "", "");


    public void noAuthorization(String sn) {


        AuthorDto dto = new AuthorDto();


        dto.setSn(sn);


        dto.setStatus(0);


        String jsonBody = buildRequestBody(dto);


        String base64 = SM4Util.encrypt("jsimjrby3wqb7dbq", jsonBody);


        // 设置请求头


        HttpHeaders headers = new HttpHeaders();


        headers.setContentType(MediaType.APPLICATION_JSON);


        headers.setAccept(List.of(MediaType.APPLICATION_JSON, MediaType.TEXT_PLAIN, MediaType.ALL));


        headers.set("Accept-Language", "zh-CN,zh;q=0.9");


        headers.setConnection("keep-alive");


        headers.set("x-auth-token", "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ3b3Jrc3BhY2VfaWQiOiJlM2RlYTBmNS0zN2YyLTRkNzktYWU1OC00OTBhZjMyMjgwNjkiLCJzdWIiOiJDbG91ZEFwaVNhbXBsZSIsInVzZXJfdHlwZSI6IjEiLCJuYmYiOjE3MjA2NTg3NDMsImxvZyI6IkxvZ2dlcltjb20uZGppLnNhbXBsZS5jb21tb24ubW9kZWwuQ3VzdG9tQ2xhaW1dIiwiaXNzIjoiREpJIiwiaWQiOiI5Y2MwMGY3Zi0yODMwLTRmM2UtYjdmNC1lN2E1ZjIzYjNjNGYiLCJleHAiOjE4MDcwNTg3NDMsImlhdCI6MTcyMDY1ODc0MywidXNlcm5hbWUiOiJhZG1pbkRQIn0.CrRFYUTK357HleqrrfL7nLdwFJw5Bcv3ms33n_Or8eM");


        headers.set("x-lc-token", "");


        // 构建请求实体


        HttpEntity<String> requestEntity = new HttpEntity<>(base64, headers);


        // 发送请求


        ResponseEntity<String> response = restTemplate.exchange(


                "http://localhost:6789/droneAirport/test",


                HttpMethod.POST,


                requestEntity,


                String.class);


        }


        return ResponseResult.error(500, "无人机机场授权失败！");




    @Override


    public void Authorization(String sn) {


        AuthorDto dto = new AuthorDto();


        dto.setSn(sn);


        dto.setStatus(1);


        String jsonBody = buildRequestBody(dto);


        String base64 = SM4Util.encrypt("jsimjrby3wqb7dbq", jsonBody);


        // 设置请求头


        HttpHeaders headers = new HttpHeaders();


        headers.setContentType(MediaType.APPLICATION_JSON);


        headers.setAccept(List.of(MediaType.APPLICATION_JSON, MediaType.TEXT_PLAIN, MediaType.ALL));


        headers.set("Accept-Language", "zh-CN,zh;q=0.9");


        headers.setConnection("keep-alive");


        headers.set("x-auth-token", "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ3b3Jrc3BhY2VfaWQiOiJlM2RlYTBmNS0zN2YyLTRkNzktYWU1OC00OTBhZjMyMjgwNjkiLCJzdWIiOiJDbG91ZEFwaVNhbXBsZSIsInVzZXJfdHlwZSI6IjEiLCJuYmYiOjE3MjA2NTg3NDMsImxvZyI6IkxvZ2dlcltjb20uZGppLnNhbXBsZS5jb21tb24ubW9kZWwuQ3VzdG9tQ2xhaW1dIiwiaXNzIjoiREpJIiwiaWQiOiI5Y2MwMGY3Zi0yODMwLTRmM2UtYjdmNC1lN2E1ZjIzYjNjNGYiLCJleHAiOjE4MDcwNTg3NDMsImlhdCI6MTcyMDY1ODc0MywidXNlcm5hbWUiOiJhZG1pbkRQIn0.CrRFYUTK357HleqrrfL7nLdwFJw5Bcv3ms33n_Or8eM");


        headers.set("x-lc-token", "");


        // 构建请求实体


        HttpEntity<String> requestEntity = new HttpEntity<>(base64, headers);


        // 发送请求


        ResponseEntity<String> response = restTemplate.exchange(


                "http://localhost:6789/droneAirport/test",


                HttpMethod.POST,


                requestEntity,


                String.class);


    }




    @Override


@@ -197,7 +261,7 @@


        for (TaskListDto taskListDto : tasklist) {


            LotInfo lotInfo = convertToLotInfo(taskListDto);


            lotInfo.setTaskId(taskId);


            lotInfo.setType(0);


            lotInfo.setType(1);


            lotInfo.setTaskName(addTaskDto.getBizidname());


            lotInfo.setUserName(username);


            lotInfos.add(lotInfo);


@@ -220,7 +284,7 @@


                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);


                Long time = getNextDayEightAMTimestamp(countDistinctTaskIdsForToday(airport.getWorkspaceId()));


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


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


                sublist.add(time);


@@ -228,7 +292,7 @@


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


                lists1.add(time);


                String times = TimerUtil.convertTimestampToFormattedString(time);


                param.setJobId(taskId);


                param.setJobId(SM4Util.encrypt("jsimjrby3wqb7dbq", taskId));


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


                timerUtil.updatePatchesStatu(lotInfosForAirport);


            }


@@ -267,7 +331,7 @@


        for (TaskListDto taskListDto : tasklist) {


            LotInfo lotInfo = convertToLotInfo(taskListDto);


            lotInfo.setTaskId(taskId);


            lotInfo.setType(0);


            lotInfo.setType(1);


            lotInfo.setTaskName(Bizidname);


            lotInfo.setUserName(username);


            lotInfos.add(lotInfo);


@@ -292,7 +356,7 @@


                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);


                Long time = getNextDayEightAMTimestamp(countDistinctTaskIdsForToday(airport.getWorkspaceId()));


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


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


                sublist.add(time);


@@ -333,28 +397,28 @@




    @Override


    public ResponseResult queryTaskStatus(String taskid) {


        WaylineJobEntity jobEntity = waylineJobMapper.selectOne(new LambdaQueryWrapper<WaylineJobEntity>().eq(WaylineJobEntity::getJobId, taskid));


        if (jobEntity == null) {


        List<WaylineJobEntity> jobEntity = waylineJobMapper.selectList(new LambdaQueryWrapper<WaylineJobEntity>().like(WaylineJobEntity::getJobId, taskid));




        if (jobEntity == null || jobEntity.isEmpty()) {


            return ResponseResult.error(201, "查询无人机机场任务状态失败！");


        }


        int code = jobEntity.getStatus();




        //1: 待执行; 2: 执行中; 3: 完成; 4: 取消; 5: 失败


        if (code == 1) {


            return ResponseResult.success(200, "查询无人机机场任务状态成功！", "", "");


        } else if (code == 2) {


            return ResponseResult.success(202, "查询无人机机场任务状态成功！", "", "");


        } else if (code == 3) {


            return ResponseResult.success(203, "查询无人机机场任务状态成功！", "", "");


        } else if (code == 4) {


            return ResponseResult.success(204, "查询无人机机场任务状态成功！", "", "");


        } else if (code == 5) {


            return ResponseResult.success(205, "查询无人机机场任务状态成功！", "", "");


        }


        return null;


    }


        // 检查是否所有 status 都等于 4


        boolean allStatusAreFour = jobEntity.stream()


                .allMatch(job -> job.getStatus() == 4);




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


        // 检查是否所有 status 都等于 3


        boolean allStatusAreThree = jobEntity.stream()


                .allMatch(job -> job.getStatus() == 3);




        if (allStatusAreFour) {


            return ResponseResult.error(204, "查询无人机机场任务状态成功！");


        } else if (allStatusAreThree) {


            return ResponseResult.error(200, "查询无人机机场任务状态成功！");


        } else {


            return ResponseResult.error(202, "查询无人机机场任务状态成功！");


        }


    }




    /**


     * 根据任务 ID 查找对应的 DB 文件路径


@@ -362,49 +426,65 @@


     * @param taskId 任务 ID


     * @return 匹配的 DB 文件路径列表


     */


    public List<String> findDbFilesByTaskId(String taskId) {


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


        File baseDir = new File(BASE_DIR);


    public String findDbFilesByTaskId(String taskId) {


        DbUploadEntity entity = dbUploadMapper.selectOne(new LambdaQueryWrapper<DbUploadEntity>()


                .eq(DbUploadEntity::getTaskId, taskId));


        if (entity!=null){


            DbUploadDto dto=DbEntityToDto(entity);


           return SM4Util.encrypt("jsimjrby3wqb7dbq",buildRequestBody(dto));


        }


        return null;




        // 检查基础目录是否存在


        if (!baseDir.exists() || !baseDir.isDirectory()) {


            throw new IllegalStateException("Base directory does not exist or is not a directory.");


//        File baseDir = new File(BASE_DIR);


//


//        // 检查基础目录是否存在并且是目录


//        if (!baseDir.exists() || !baseDir.isDirectory()) {


//            throw new IllegalStateException("Base directory does not exist or is not a directory.");


//        }


//


//        // 构建文件路径


//        File targetDir = new File(baseDir, taskId);


//        File dbFile = new File(targetDir, ".db");


//


//        // 如果文件存在，则返回文件路径


//        if (dbFile.exists()) {


//            return dbFile.getAbsolutePath();


//        }


//


//        return null; // 或者抛出异常，视需求而定


        }




        // 遍历基础目录下的所有文件夹


        File[] subDirs = baseDir.listFiles(File::isDirectory);


        if (subDirs != null) {


            for (File subDir : subDirs) {


                // 如果文件夹名称包含任务 ID，则查找该文件夹中的 DB 文件


                if (subDir.getName().contains(taskId)) {


                    File[] files = subDir.listFiles((dir, name) -> name.endsWith(".db"));


                    if (files != null) {


                        for (File file : files) {


                            dbFilePaths.add(file.getAbsolutePath());


                        }


                    }


                }


            }


        }




        return dbFilePaths;


    }




    public void delPatchesByTaskId(String taskId) {


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


    }




    public DbUploadDto DbEntityToDto(DbUploadEntity entity) {


        DbUploadDto dto = new DbUploadDto();


        dto.setAttachmentCount(entity.getAttachmentCount());


        dto.setCount(entity.getCount());


        dto.setSign(entity.getDataSign());


        dto.setExtension(entity.getExtension());


        dto.setHash(entity.getHash());


        dto.setRegioncode(entity.getRegioncode());


        dto.setTaskId(entity.getTaskId());


        dto.setKey(entity.getDecrypt());


        dto.setTimestamp(entity.getTimestamp());


        dto.setSize(entity.getSize());


        dto.setUrl(entity.getUrl());


        return dto;


    }


    public void delTaskInfo(String taskId) {


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


    }




    private String buildRequestBody(AddDeviceDto dto) {


        try {


            return objectMapper.writeValueAsString(dto);


        } catch (JsonProcessingException e) {


            throw new RuntimeException("数据有误", e);


        }


    }


//    private String buildRequestBody(AddDeviceDto dto) {


//        try {


//            return objectMapper.writeValueAsString(dto);


//        } catch (JsonProcessingException e) {


//            throw new RuntimeException("数据有误", e);


//        }


//    }




    public String getWorkspaceId(String devicesn) {


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


@@ -499,9 +579,8 @@


            int mode;


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


            if (sne==0){


                mode=1;


            }


            else {


                mode = 0;


            } else {


                mode=2;


            }


            DroneStateDto.DroneStateDtoBuilder builder = DroneStateDto.builder();


@@ -669,4 +748,19 @@


        // 调用 update 方法进行更新操作


        waylineJobMapper.update(null, updateWrapper);


    }


    public int countDistinctTaskIdsForToday(String workspaceId) {


        // 获取当天的开始和结束时间戳


        long startOfDay = LocalDate.now().atStartOfDay(ZoneId.systemDefault()).toInstant().toEpochMilli();


        long startOfNextDay = LocalDate.now().plusDays(1).atStartOfDay(ZoneId.systemDefault()).toInstant().toEpochMilli();




        // 查询数据库，计算不同 taskId 的数量


        return patchesMapper.selectCount(new LambdaQueryWrapper<LotInfo>()


                .eq(LotInfo::getWorkspaceId, workspaceId)


                .ge(LotInfo::getCreateTime, startOfDay)


                .lt(LotInfo::getCreateTime, startOfNextDay)


                .select(LotInfo::getTaskId)


                .groupBy(LotInfo::getTaskId)


        );


    }




}