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


@@ -3,6 +3,7 @@


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;


@@ -14,15 +15,11 @@


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.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;


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


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


import com.dji.sample.control.model.enums.CameraModeEnum;


import com.dji.sample.control.model.enums.DroneAuthorityEnum;


import com.dji.sample.control.model.enums.PayloadCommandsEnum;


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


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


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


@@ -44,12 +41,15 @@


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;


@@ -63,7 +63,6 @@


import org.springframework.util.CollectionUtils;


import org.springframework.util.StringUtils;




import java.io.File;


import java.net.URL;


import java.sql.SQLException;


import java.time.*;


@@ -113,6 +112,9 @@


    @Autowired


    private IDroneFlightLogMapper flightLogMapper;




    @Autowired


    private IWaylineJobBreakPointService waylineJobBreakPointService;




    private Optional<WaylineJobDTO> insertWaylineJob(WaylineJobEntity jobEntity) {


        int id = mapper.insert(jobEntity);


        if (id <= 0) {


@@ -141,9 +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);


    }




@@ -162,6 +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();


    }




    /**


@@ -330,7 +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！");


            }


        }




@@ -339,10 +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());


@@ -353,18 +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(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()) {


@@ -419,7 +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);


@@ -500,6 +520,25 @@


    }




    @Override


    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 {


@@ -524,6 +563,23 @@


                .stream()


                .map(this::entity2Dto)


                .collect(Collectors.toList());




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


    }




    @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));


    }


@@ -599,6 +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) {


@@ -677,6 +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())) {


@@ -701,6 +777,41 @@


        }


        return WaylineJobStatusEnum.UNKNOWN;


    }




    @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) {


@@ -747,10 +858,10 @@


                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);


                    jsonObject.put("targetList", targetList);


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


                    jsonObject.put("curIndex", 0);


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


                }


                break;


            }


@@ -900,23 +1011,23 @@






    @Override


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


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


        WaylineJobCountDTO waylineJobCountDTO = new WaylineJobCountDTO();


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


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


        if (!CollectionUtils.isEmpty(list)) {


            waylineJobCountDTO.setTotalNumber(list.size());


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


            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;


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


            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;


               }


                if (totalFlightDistance != null) {


                    sum += totalFlightDistance;


                }


            }


            waylineJobCountDTO.setTotalDistance((int) sum);


        }


@@ -976,6 +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())


@@ -999,6 +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());