图斑飞行途中进入控制

guoshilong

2023-11-16 3823dc87eb8ef4d5cd25390ec9b17c856d10fafd

 src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java

@@ -1,7 +1,9 @@
package com.dji.sample.control.service.impl;

import com.alibaba.fastjson.JSONObject;
import com.dji.sample.common.error.CommonErrorEnum;
import com.dji.sample.common.model.ResponseResult;
import com.dji.sample.common.util.SpringBeanUtils;
import com.dji.sample.component.mqtt.model.*;
import com.dji.sample.component.mqtt.service.IMessageSenderService;
import com.dji.sample.component.redis.RedisConst;
@@ -9,11 +11,10 @@
import com.dji.sample.component.websocket.model.BizCodeEnum;
import com.dji.sample.component.websocket.service.ISendMessageService;
import com.dji.sample.control.model.dto.FlyToProgressReceiver;
import com.dji.sample.control.model.dto.PointDTO;
import com.dji.sample.control.model.dto.ResultNotifyDTO;
import com.dji.sample.control.model.dto.TakeoffProgressReceiver;
import com.dji.sample.control.model.enums.DroneAuthorityEnum;
import com.dji.sample.control.model.enums.DroneControlMethodEnum;
import com.dji.sample.control.model.enums.RemoteDebugMethodEnum;
import com.dji.sample.control.model.enums.*;
import com.dji.sample.control.model.param.*;
import com.dji.sample.control.service.IControlService;
import com.dji.sample.manage.model.dto.DeviceDTO;
@@ -24,6 +25,7 @@
import com.dji.sample.manage.service.IDeviceRedisService;
import com.dji.sample.manage.service.IDeviceService;
import com.dji.sample.wayline.model.enums.WaylineErrorCodeEnum;
import com.dji.sample.wayline.model.param.PointPOJO;
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import lombok.extern.slf4j.Slf4j;
@@ -32,9 +34,7 @@
import org.springframework.messaging.MessageHeaders;
import org.springframework.stereotype.Service;

import java.util.Objects;
import java.util.Optional;
import java.util.UUID;
import java.util.*;

/**
 * @author sean
@@ -97,14 +97,25 @@
                    "error: " + serviceIdentifier + serviceReply.getResult());
        }
        if (controlMethodEnum.getProgress()) {
            RedisOpsUtils.setWithExpire(serviceIdentifier + RedisConst.DELIMITER +  bid, sn,
            RedisOpsUtils.setWithExpire(serviceIdentifier + RedisConst.DELIMITER + bid, sn,
                    RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND);
        }

        //当执行返航指令时，删除图斑redis
        if (serviceIdentifier == "return_home"){
            if (RedisOpsUtils.checkExist("tuban:" + sn)){
                RedisOpsUtils.del("tuban:" + sn);
            }
        }



        return ResponseResult.success();
    }

    /**
     * Handles multi-state command progress information.
     *
     * @param receiver
     * @param headers
     * @return
@@ -118,7 +129,8 @@
        String sn = RedisOpsUtils.get(key).toString();

        EventsReceiver<EventsOutputProgressReceiver> eventsReceiver = mapper.convertValue(receiver.getData(),
                new TypeReference<EventsReceiver<EventsOutputProgressReceiver>>(){});
                new TypeReference<EventsReceiver<EventsOutputProgressReceiver>>() {
                });
        eventsReceiver.setBid(receiver.getBid());
        eventsReceiver.setSn(sn);

@@ -185,8 +197,8 @@
    }

    @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_FLY_TO_POINT_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS)
    public CommonTopicReceiver handleFlyToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
        String dockSn  = receiver.getGateway();
    public CommonTopicReceiver handleFlyToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers) throws Exception {
        String dockSn = receiver.getGateway();

        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn);
        if (deviceOpt.isEmpty()) {
@@ -194,7 +206,8 @@
            return null;
        }

        FlyToProgressReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<FlyToProgressReceiver>(){});
        FlyToProgressReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<FlyToProgressReceiver>() {
        });
        webSocketMessageService.sendBatch(deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(),
                BizCodeEnum.FLY_TO_POINT_PROGRESS.getCode(),
                ResultNotifyDTO.builder().sn(dockSn)
@@ -202,8 +215,110 @@
                                eventsReceiver.getStatus().getMessage() : eventsReceiver.getResult().getErrorMsg())
                        .result(eventsReceiver.getResult().getErrorCode())
                        .build());
        //当飞向目标点成功后
        if (eventsReceiver.getStatus().equals(FlyToStatusEnum.WAYLINE_OK)) {
            JSONObject jsonObject = (JSONObject) RedisOpsUtils.get("tuban:" + dockSn);
            if (jsonObject != null) {
                List<PointPOJO> targetList = (List<PointPOJO>) jsonObject.get("targetList");
                int curIndex = (Integer) jsonObject.get("curIndex");
                String payloadIndex = jsonObject.getString("payloadIndex");
                flyToNextPoint(targetList, curIndex+1, dockSn, payloadIndex);
            }
        }
        return receiver;
    }

    @Override
    public ResponseResult flyToNextPoint(List<PointPOJO> targetList, int curIndex, String sn, String payloadIndex) throws Exception {
        //当无人机状态为人工时再发布下一个命令
        while (true) {
            Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(sn);
            DeviceModeCodeEnum deviceMode = deviceService.getDeviceMode(dockOpt.get().getChildDeviceSn());

            if (DeviceModeCodeEnum.MANUAL == deviceMode) {

                //执行拍照
                ResponseResult responseResult = takePhoto(sn, payloadIndex);

                //发布飞行指令
                if (curIndex == targetList.size()) {
                    //当前是最后一个点，返航
                    ResponseResult returnHome = controlDockDebug(sn, "return_home", null);

                    RedisOpsUtils.del("tuban:" + sn);

                    return returnHome;
                } else {
                    //当前不是最后一个点，飞行到下一个点
                    FlyToPointParam flyToPointParam = new FlyToPointParam();
                    flyToPointParam.setMaxSpeed(14);
                    List<PointDTO> pointDTOS = new ArrayList<>();

                    PointDTO pointDTO = new PointDTO();
                    pointDTO.setHeight(150.0);
                    pointDTO.setLongitude(targetList.get(curIndex).getLon());
                    pointDTO.setLatitude(targetList.get(curIndex).getLat());
                    pointDTOS.add(pointDTO);
                    flyToPointParam.setPoints(pointDTOS);

                    //发布下一个飞行指令
                    ResponseResult flyToRes = flyToPoint(sn, flyToPointParam);
                    if (flyToRes.getCode() == ResponseResult.CODE_SUCCESS) {
                        JSONObject jsonObject = new JSONObject();
                        jsonObject.put("targetList", targetList);
                        jsonObject.put("curIndex", curIndex);
                        jsonObject.put("payloadIndex",payloadIndex);
                        RedisOpsUtils.set("tuban:" + sn, jsonObject);
                    }
                    return flyToRes;

                }
            }
        }
    }

    @Override
    public ResponseResult takePhoto(String sn, String payloadIndex) throws Exception {

        //获取负载控制权
        DronePayloadParam dronePayloadParam = new DronePayloadParam();
        dronePayloadParam.setPayloadIndex(payloadIndex);

        ResponseResult seizeAuthorityRes = seizeAuthority(sn, DroneAuthorityEnum.PAYLOAD, dronePayloadParam);

        //切换为相机模式
        if (seizeAuthorityRes.getCode() != ResponseResult.CODE_SUCCESS) {
            return seizeAuthorityRes;
        }

        PayloadCommandsParam payloadCommandsParam = new PayloadCommandsParam();

//            DronePayloadParam switchParam = new DronePayloadParam();
//            switchParam.setCameraMode(CameraModeEnum.PHOTO);
//            switchParam.setPayloadIndex(payloadIndex);

//            payloadCommandsParam.setSn(sn);
//            payloadCommandsParam.setCmd(PayloadCommandsEnum.CAMERA_MODE_SWitCH);
//            payloadCommandsParam.setData(switchParam);
//
//            ResponseResult switchModeRes = payloadCommands(payloadCommandsParam);

//            if (switchModeRes.getCode() != ResponseResult.CODE_SUCCESS){
//                return  switchModeRes;
//            }
        //拍照
        payloadCommandsParam.setCmd(PayloadCommandsEnum.CAMERA_PHOTO_TAKE);
        DronePayloadParam takePhotoParam = new DronePayloadParam();
        takePhotoParam.setPayloadIndex(payloadIndex);

        payloadCommandsParam.setData(takePhotoParam);
        payloadCommandsParam.setSn(sn);

        ResponseResult responseResult = payloadCommands(payloadCommandsParam);

        return responseResult;
    }


    private void checkTakeoffCondition(String dockSn) {
        Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
@@ -231,14 +346,15 @@

    @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_TAKE_OFF_TO_POINT_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS)
    public CommonTopicReceiver handleTakeoffToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
        String dockSn  = receiver.getGateway();
        String dockSn = receiver.getGateway();

        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn);
        if (deviceOpt.isEmpty()) {
            log.error("机场离线");
            return null;
        }
        TakeoffProgressReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<TakeoffProgressReceiver>(){});
        TakeoffProgressReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<TakeoffProgressReceiver>() {
        });

        webSocketMessageService.sendBatch(deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(),
                BizCodeEnum.TAKE_OFF_TO_POINT_PROGRESS.getCode(),
@@ -299,7 +415,7 @@
    }

    @Override
    public ResponseResult requestsConfig(String sn,String method, RequestsParam param) {
    public ResponseResult requestsConfig(String sn, String method, RequestsParam param) {
        ServiceReply serviceReply = messageSenderService.publishRequestsTopic(sn, method, param);
        return ResponseResult.CODE_SUCCESS != serviceReply.getResult() ?
                ResponseResult.error(serviceReply.getResult(), "错误码：" + serviceReply.getResult())