无人机java后台代码
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aix
2024-08-08 39ffdf5754b4ebca682bd3c925f7a500e8a1bbda 
 src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java


@@ -1,8 +1,9 @@


package com.dji.sample.wayline.service.impl;




import com.alibaba.druid.stat.TableStat;


import com.alibaba.fastjson.JSON;


import com.alibaba.fastjson.JSONObject;


import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;


import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;


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


import com.baomidou.mybatisplus.core.toolkit.Wrappers;


import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapper;


@@ -13,16 +14,18 @@


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


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


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


import com.dji.sample.common.util.MinioUrlUtils;


import com.dji.sample.component.mqtt.model.*;


import com.dji.sample.component.mqtt.service.IMessageSenderService;


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


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


import com.dji.sample.control.model.dto.PointDTO;


import com.dji.sample.control.model.param.DrcModeParam;


import com.dji.sample.control.model.param.FlyToPointParam;


import com.dji.sample.control.model.param.TakeoffToPointParam;


import com.dji.sample.control.model.param.*;


import com.dji.sample.control.service.IControlService;


import com.dji.sample.control.service.IDrcService;


import com.dji.sample.geo.entity.GeoJson;


import com.dji.sample.log.dao.IDroneFlightLogMapper;


import com.dji.sample.log.model.entity.DroneFlightLogEntity;


import com.dji.sample.manage.model.dto.DeviceDTO;


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


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


@@ -35,15 +38,18 @@


import com.dji.sample.media.model.MediaFileCountDTO;


import com.dji.sample.media.model.MediaMethodEnum;


import com.dji.sample.media.service.IFileService;


import com.dji.sample.utils.GeoUtils;


import com.dji.sample.geo.utils.GeoUtils;


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


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


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


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


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


import com.dji.sample.wayline.model.param.*;


import com.dji.sample.wayline.service.IWaylineFileService;


import com.dji.sample.wayline.service.IWaylineJobBreakPointService;


import com.dji.sample.wayline.service.IWaylineJobService;


import com.dji.sample.wayline.service.IWaylineRedisService;


import com.dji.sample.wayline.util.ErrorCodeUtil;


import com.fasterxml.jackson.core.type.TypeReference;


import com.fasterxml.jackson.databind.ObjectMapper;


import lombok.extern.slf4j.Slf4j;


@@ -103,6 +109,12 @@


    @Autowired


    private IControlService controlService;




    @Autowired


    private IDroneFlightLogMapper flightLogMapper;




    @Autowired


    private IWaylineJobBreakPointService waylineJobBreakPointService;




    private Optional<WaylineJobDTO> insertWaylineJob(WaylineJobEntity jobEntity) {


        int id = mapper.insert(jobEntity);


        if (id <= 0) {


@@ -131,9 +143,12 @@


                .waylineType(param.getWaylineType().getVal())


                .outOfControlAction(param.getOutOfControlAction())


                .rthAltitude(param.getRthAltitude())


                .rthMode(param.getRthMode())


                .mediaCount(0)


                .build();




        if (StringUtils.hasText(param.getJobId())) {


            jobEntity.setJobId(param.getJobId());


        }


        return insertWaylineJob(jobEntity);


    }




@@ -152,6 +167,11 @@


        jobEntity.setParentId(parentId);




        return this.insertWaylineJob(jobEntity);


    }


    @Override


    public String getWaylineId(String jobId){


        WaylineJobEntity waylineJob=mapper.selectOne(new LambdaQueryWrapper<WaylineJobEntity>().select(WaylineJobEntity::getFileId).eq(WaylineJobEntity::getJobId,jobId));


        return waylineJob.getFileId();


    }




    /**


@@ -320,7 +340,7 @@


        if (WaylineTaskTypeEnum.IMMEDIATE == waylineJob.getTaskType()) {


            boolean isExecuted = executeFlightTask(waylineJob.getWorkspaceId(), waylineJob.getJobId());


            if (!isExecuted) {


                return ResponseResult.error("执行任务失败");


                return ResponseResult.error("当前状态不支持飞行，请检查是否已有正在执行的飞行任务！");


            }


        }




@@ -329,10 +349,10 @@




    private Boolean prepareFlightTask(WaylineJobDTO waylineJob) throws SQLException {




        boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.getDockSn());


        /*boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.getDockSn());


        if (!isOnline) {


            throw new RuntimeException("设备离线。");


        }


        }*/




        // get wayline file


        Optional<WaylineFileDTO> waylineFile = waylineFileService.getWaylineByWaylineId(waylineJob.getWorkspaceId(), waylineJob.getFileId());


@@ -343,19 +363,28 @@


        // get file url


        //获取航线文件地址


        URL url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getWaylineId());




        WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder()


                .flightId(waylineJob.getJobId())


        WaylineTaskCreateDTO.WaylineTaskCreateDTOBuilder flightTaskBuilder = WaylineTaskCreateDTO.builder().flightId(waylineJob.getJobId())


                .executeTime(waylineJob.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli())


                .taskType(waylineJob.getTaskType())


                .waylineType(waylineJob.getWaylineType())


                .rthAltitude(waylineJob.getRthAltitude())


                .rthMode(waylineJob.getRthMode())


                .outOfControlAction(waylineJob.getOutOfControlAction())


                .file(WaylineTaskFileDTO.builder()


                        .url(url.toString())


                        .url(MinioUrlUtils.getUrl(url))


                        .fingerprint(waylineFile.get().getSign())


                        .build())


                .build();


                        .build());


        WaylineJobBreakPointEntity entity = waylineJob.getWaylineJobBreakPointEntity();


        if (null != entity) {


            flightTaskBuilder.breakPoint(BreakPointJobDTO.builder()


                    .index(entity.getBpIndex())


                    .state(entity.getState())


                    .progress(entity.getProgress())


                    .waylineId(entity.getWaylineId())


                    .build());


        }




        WaylineTaskCreateDTO flightTask = flightTaskBuilder.build();




        //当任务类型为条件时


        if (WaylineTaskTypeEnum.CONDITION == waylineJob.getTaskType()) {


@@ -410,7 +439,7 @@


                    .status(WaylineJobStatusEnum.FAILED.getVal())


                    .completedTime(LocalDateTime.now())


                    .code(serviceReply.getResult()).build());


            // The conditional task fails and enters the blocking status.


            // 条件任务失败，进入阻塞状态。


            if (WaylineTaskTypeEnum.CONDITION == job.getTaskType()


                    && WaylineErrorCodeEnum.find(serviceReply.getResult()).isBlock()) {


                waylineRedisService.setBlockedWaylineJob(job.getDockSn(), jobId);


@@ -491,13 +520,32 @@


    }




    @Override


    public Boolean updateJob(WaylineJobDTO dto){


    public Optional<WaylineJobDTO> getJobByJobId(String workspaceId, String jobId, Boolean isBreakPoint) {


        WaylineJobEntity jobEntity = mapper.selectOne(


                new LambdaQueryWrapper<WaylineJobEntity>()


                        .eq(WaylineJobEntity::getWorkspaceId, workspaceId)


                        .eq(WaylineJobEntity::getJobId, jobId));


        WaylineJobDTO waylineJobDTO = entity2Dto(jobEntity);


        if (isBreakPoint) {


            QueryWrapper queryWrapper = new QueryWrapper();


            queryWrapper.eq("job_id", jobId);


            WaylineJobBreakPointEntity waylineJobBreakPointEntity = waylineJobBreakPointService.getOne(queryWrapper);


            waylineJobDTO.setWaylineJobBreakPointEntity(waylineJobBreakPointEntity);


        }




        //设置当前时间为执行时间


        waylineJobDTO.setBeginTime(LocalDateTime.now());


        return Optional.ofNullable(waylineJobDTO);


    }




    @Override


    public Boolean updateJob(WaylineJobDTO dto) {




        try {


            if (dto.getStatus() == 3){


            if (dto.getStatus() == 3) {


                this.checkNextJob(dto);


            }


        }catch (SQLException e) {


        } catch (SQLException e) {


            throw new RuntimeException(e);


        }




@@ -520,10 +568,27 @@


    }




    @Override


    public PaginationData<WaylineJobDTO> getJobsByWorkspaceIdNew(String workspaceId, long page, long pageSize, WaylineJobQueryParam waylineJobQueryParam, String order) {


        Page<WaylineJobEntity> pageData = mapper.getPageNew(new Page<WaylineJobEntity>(page, pageSize), waylineJobQueryParam, workspaceId, order);




        List<WaylineJobDTO> records = pageData.getRecords()


                .stream()


                .map(this::entity2Dto)


                .collect(Collectors.toList());




        // 是否需要断点续飞


        records.forEach(wjd -> wjd.setBreakPoint(waylineJobBreakPointService.count(


                new LambdaQueryWrapper<WaylineJobBreakPointEntity>().eq(WaylineJobBreakPointEntity::getJobId, wjd.getJobId())) > 0));






        return new PaginationData<WaylineJobDTO>(records, new Pagination(pageData));


    }




    @Override


    public List<WaylineJobDTO> getChildrenJobs(String workspaceId, WaylineJobQueryParam waylineJobQueryParam) {




        List<WaylineJobEntity> list= mapper.getJobs(workspaceId, waylineJobQueryParam);


        List<WaylineJobDTO> records =list


        List<WaylineJobEntity> list = mapper.getJobs(workspaceId, waylineJobQueryParam);


        List<WaylineJobDTO> records = list


                .stream()


                .map(this::entity2Dto)


                .collect(Collectors.toList());


@@ -575,7 +640,7 @@


            url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getWaylineId());


            builder.data(RequestsReply.success(WaylineTaskCreateDTO.builder()


                    .file(WaylineTaskFileDTO.builder()


                            .url(url.toString())


                            .url(MinioUrlUtils.getUrl(url))


                            .fingerprint(waylineFile.get().getSign())


                            .build())


                    .build()));


@@ -590,6 +655,17 @@


        messageSender.publish(topic, builder.build());




    }




    @Override


    public List<String> selectJobIdByName(String name) {


        List<WaylineJobEntity> waylineJobs = mapper.selectList(new LambdaQueryWrapper<WaylineJobEntity>()


                .select(WaylineJobEntity::getJobId)


                .like(WaylineJobEntity::getName, name));


        return waylineJobs.stream()


                .map(WaylineJobEntity::getJobId)


                .collect(Collectors.toList());


    }






    @Override


    public void uploadMediaHighestPriority(String workspaceId, String jobId) {


@@ -668,6 +744,15 @@




    }




    @Override


    public List<String> getJobNamesByPartialName(String partialJobName) {


        LambdaQueryWrapper<WaylineJobEntity> queryWrapper = new LambdaQueryWrapper<>();


        queryWrapper.like(WaylineJobEntity::getName, partialJobName);


        return mapper.selectList(queryWrapper).stream()


                .map(WaylineJobEntity::getName)


                .collect(Collectors.toList());


    }




    public WaylineJobStatusEnum getWaylineState(String dockSn) {


        Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);


        if (dockOpt.isEmpty() || !StringUtils.hasText(dockOpt.get().getChildDeviceSn())) {


@@ -694,45 +779,98 @@


    }




    @Override


    public String getName(String jobId) {


        WaylineJobEntity entity = mapper.selectOne(


                new LambdaQueryWrapper<WaylineJobEntity>()


                        .select(WaylineJobEntity::getName)


                        .eq(WaylineJobEntity::getJobId, jobId)


        );


        return entity != null ? entity.getName() : null;


    }




    @Override


    public List<String> getJobIds(String jobNames) {


        List<String> names = getJobNamesByPartialName(jobNames);




        // 如果 names 列表为空，直接返回空的 jobIdStringList


        if (names.isEmpty()) {


            return new ArrayList<>();


        }




        // 使用 LambdaQueryWrapper 进行查询


        List<Object> jobIdList = mapper.selectObjs(


                new LambdaQueryWrapper<WaylineJobEntity>()


                        .select(WaylineJobEntity::getJobId)


                        .in(WaylineJobEntity::getName, names) // 使用 IN 子句


        );




        // 将 Object 类型的 jobId 转换为 String 类型，并放入 List<String> 中


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


        for (Object jobIdObj : jobIdList) {


            jobIdStringList.add(String.valueOf(jobIdObj));


        }


        return jobIdStringList;


    }






    @Override


    public WaylineJobEntity getLatestJob(String workspaceId, WaylineJobQueryParam waylineJobQueryParam) {


        WaylineJobEntity waylineJobEntity = mapper.getLatest(workspaceId, waylineJobQueryParam);


        return waylineJobEntity;


    }




    @Override


    public ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam) {


    public ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam, String deviceSn) throws Exception {




        List<List<PointPOJO>> areaList = flyAreaParam.getAreaList();


        //获取所有中心点


//        List<PointPOJO> targetList = GeoUtils.caculatePointList(flyAreaParam);


        PointPOJO dockPoint = flyAreaParam.getDockPoint();


        Double radius = flyAreaParam.getRadius();


        GeoJson geoJson = GeoUtils.readJsonFile(flyAreaParam.getJsonPath());


        List<PointPOJO> targetList = GeoUtils.caculatePointList(geoJson, dockPoint, flyAreaParam.getRadius());




        List<PointPOJO> centerPointList = new ArrayList<>();


        //一键起飞


        TakeoffToPointParam takeoffToPointParam = buildTakeoffToPointParam(dockPoint);




        //根据区域获取中心点


        areaList.forEach(area -> {


            PointPOJO centerPoint = GeoUtils.getCenterPoint(area);


            centerPointList.add(centerPoint);


        });


        ResponseResult takeoffToPointRes = controlService.takeoffToPoint(sn, takeoffToPointParam);




        //巡逻目标集合


        List<PointPOJO> targetList = new ArrayList<>();


        //获取所有中心点之后,


        centerPointList.forEach(centerPoint -> {


            //判断各个中心点和机场点的距离


            double distance = GeoUtils.distance(dockPoint.getLon(), dockPoint.getLat(), centerPoint.getLon(), centerPoint.getLat());


        //设置飞向第一个点


        while (takeoffToPointRes.getCode() == ResponseResult.CODE_SUCCESS) {


            //获取无人机状态


            DeviceModeCodeEnum deviceMode = deviceService.getDeviceMode(deviceSn);




            //当距离小于半径时,添加到目标集合中


            if (distance <= radius) {


                centerPoint.setDistance(distance);


                targetList.add(centerPoint);


            //当无人机状态为手动飞行


            if (deviceMode == DeviceModeCodeEnum.MANUAL) {


                //飞向目标点


                FlyToPointParam flyToPointParam = new FlyToPointParam();


                flyToPointParam.setMaxSpeed(14);


                List<PointDTO> pointDTOS = new ArrayList<>();




                PointDTO pointDTO = new PointDTO();


                pointDTO.setHeight(120.0);


                pointDTO.setLongitude(targetList.get(0).getLon());


                pointDTO.setLatitude(targetList.get(0).getLat());


                pointDTOS.add(pointDTO);


                flyToPointParam.setPoints(pointDTOS);






                ResponseResult flyToRes = controlService.flyToPoint(sn, flyToPointParam);




                if (flyToRes.getCode() == ResponseResult.CODE_SUCCESS) {


                    //第一个点指令飞行成功后，把数组存到redis中


                    JSONObject jsonObject = new JSONObject();


                    jsonObject.put("targetList", targetList);


                    jsonObject.put("payloadIndex", flyAreaParam.getPayloadIndex());


                    jsonObject.put("curIndex", 0);


                    RedisOpsUtils.set("tuban:" + sn, jsonObject);


                }


                break;


            }


        });


        }




        //按距离从近到远排序


        targetList.sort(Comparator.comparing(PointPOJO::getDistance));


        return ResponseResult.success(targetList);


    }




        //后续为无人机操作逻辑


        //先飞到空中


    public TakeoffToPointParam buildTakeoffToPointParam(PointPOJO dockPoint) {


        TakeoffToPointParam takeoffToPointParam = new TakeoffToPointParam();




        takeoffToPointParam.setTargetLatitude(dockPoint.getLat());


@@ -749,43 +887,12 @@


        takeoffToPointParam.setMaxSpeed(10.0);


        takeoffToPointParam.setExitWaylineWhenRcLost(WaylineRcLostActionEnum.EXECUTE_RC_LOST_ACTION);




        return ResponseResult.success();


//        //起飞


//        ResponseResult responseResult = controlService.takeoffToPoint(sn, takeoffToPointParam);


//


//        if (responseResult.getCode() != ResponseResult.CODE_SUCCESS) {


//            return responseResult;


//        }


//        //向目标点飞行


//


//        FlyToPointParam flyToPointParam = new FlyToPointParam();


//        flyToPointParam.setMaxSpeed(14);


//        List<PointDTO> pointDTOS = new ArrayList<>();


//        targetList.forEach(pointPOJO -> {


//            PointDTO pointDTO = new PointDTO();


//            pointDTO.setHeight(150.0);


//            pointDTO.setLongitude(pointPOJO.getLon());


//            pointDTO.setLatitude(pointPOJO.getLat());


//


//            pointDTOS.add(pointDTO);


//        });


//        flyToPointParam.setPoints(pointDTOS);


//        ResponseResult responseResult1 = controlService.flyToPoint(sn, flyToPointParam);


//


//        if (responseResult1.getCode() != ResponseResult.CODE_SUCCESS) {


//            return responseResult1;


//        }


//


//        //返航


//        //return_home


//


//


//        return ResponseResult.success();


        return takeoffToPointParam;


    }






    @Override


    public ResponseResult checkNextJob(WaylineJobDTO job)  throws SQLException  {


    public ResponseResult checkNextJob(WaylineJobDTO job) throws SQLException {




        WaylineJobEntity params = new WaylineJobEntity();


        params.setJobId(job.getJobId());


@@ -809,7 +916,7 @@




        long currentTime = System.currentTimeMillis();


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


            Long startTime = executeStartTimeArr.get(i).get(0)*1000;


            Long startTime = executeStartTimeArr.get(i).get(0) * 1000;


            //如果当前时间小于开始时间


            if (currentTime < startTime) {


                //当前索引就是下一次要执行的时间


@@ -903,21 +1010,26 @@


    }










    @Override


    public WaylineJobCountDTO patrolStatistics(String workspaceId,String queryTime) {


    public WaylineJobCountDTO patrolStatistics(String workspaceId, String queryTime, String deviceSn) {


        WaylineJobCountDTO waylineJobCountDTO = new WaylineJobCountDTO();


        List<WaylineJobEntity> list = mapper.patrolStatistics(workspaceId,queryTime);


        if (!CollectionUtils.isEmpty(list)){


        List<DroneFlightLogEntity> list = flightLogMapper.patrolStatistics(workspaceId, queryTime, deviceSn);


        if (!CollectionUtils.isEmpty(list)) {


            waylineJobCountDTO.setTotalNumber(list.size());


            long totalTime = list.stream().mapToLong(s -> s.getEndTime() - s.getBeginTime()).sum() / 1000;


            StringBuffer buffer = new StringBuffer();


            long totalTime = list.stream().filter(task -> task.getEndTime() != null && task.getStartTime() != null).mapToLong(s -> s.getEndTime() - s.getStartTime()).sum() / 1000;


            long h = totalTime / 3600;


            long m = (totalTime % 3600) / 60;


            buffer.append(h).append(" h ");


            buffer.append(m).append(" min");


            waylineJobCountDTO.setTotalDuration(buffer.toString());


            waylineJobCountDTO.setTotalDuration(String.format("%02d h %02d min", h, m));


            List<String> deviceSns = list.stream().map(DroneFlightLogEntity::getDeviceSn).distinct().collect(Collectors.toList());


            double sum = 0.0;


            for (String sn : deviceSns) {


                Double totalFlightDistance = new LambdaQueryChainWrapper<>(flightLogMapper)


                        .eq(DroneFlightLogEntity::getDeviceSn, sn).orderByDesc(DroneFlightLogEntity::getEndTime).last("limit 1").one().getTotalFlightDistance();


                if (totalFlightDistance != null) {


                    sum += totalFlightDistance;


                }


            }


            waylineJobCountDTO.setTotalDistance((int) sum);


        }


        return waylineJobCountDTO;


    }


@@ -925,9 +1037,9 @@


    @Override


    public void updateJobCollect(WaylineJobEntity waylineJob) {


        new LambdaUpdateChainWrapper<>(mapper)


                .eq(WaylineJobEntity::getJobId,waylineJob.getJobId())


                .set(WaylineJobEntity::getCollectStatus,waylineJob.getCollectStatus())


                .set(WaylineJobEntity::getUserId,waylineJob.getUserId())


                .eq(WaylineJobEntity::getJobId, waylineJob.getJobId())


                .set(WaylineJobEntity::getCollectStatus, waylineJob.getCollectStatus())


                .set(WaylineJobEntity::getUserId, waylineJob.getUserId())


                .update();


    }




@@ -975,6 +1087,7 @@




        WaylineJobDTO.WaylineJobDTOBuilder builder = WaylineJobDTO.builder()


                .jobId(entity.getJobId())


                .reason(ErrorCodeUtil.codeToReason(entity.getErrorCode()))


                .jobName(entity.getName())


                .fileId(entity.getFileId())


                .fileName(waylineFileService.getWaylineByWaylineId(entity.getWorkspaceId(), entity.getFileId())


@@ -998,6 +1111,7 @@


                .taskType(WaylineTaskTypeEnum.find(entity.getTaskType()))


                .waylineType(WaylineTemplateTypeEnum.find(entity.getWaylineType()))


                .rthAltitude(entity.getRthAltitude())


                .rthMode(entity.getRthMode())


                .outOfControlAction(entity.getOutOfControlAction())


                .mediaCount(entity.getMediaCount())


                .hasChildren(entity.getHasChildren());